KR20070090097A - Attitude detection device and attitude control device for work vehicle - Google Patents

Abstract

A position detection device and a position control device for a work vehicle are provided to detect the tilt angle of the work vehicle properly based on a horizontal base surface even when there are effects of acceleration or pivoting. A position detection device for a work vehicle includes a gravity type tilt angle sensor(24), an acceleration detecting unit(200) and a tilt angle detecting unit(300). The acceleration detecting unit(200) detects acceleration when the vehicle moves in front and rear directions of the vehicle. The tilt angle computing unit(300) obtains a tilt angle of the vehicle based on a horizontal base surface. The tile angle computing unit(300) obtains the tilt angle based on the tilt angle correction information and the detected value of the tilt angle sensor(24) that are obtained based on the acceleration detected by the acceleration detecting unit(200).

Description

Attitude detection device of work vehicle and attitude control device of work vehicle {ATTITUDE DETECTION DEVICE AND ATTITUDE CONTROL DEVICE FOR WORK VEHICLE}

1 is a side view showing the front portion of a combine;

Fig. 2 is a side view showing the lift operation structure of the traveling device.

3 is a side view showing a lift operation configuration of a traveling device.

4 is a side view showing a lift operation configuration of a traveling device.

Fig. 5 is a side view showing the lifting operation structure of the traveling device.

6 is a power transmission diagram of the combine.

Fig. 7 is a perspective view showing the configuration of the inclination angle detecting means.

Fig. 8 is a side view showing the detection operation of the inclination angle detecting means.

9 is a block diagram showing a control configuration.

10 is a flowchart showing a control operation.

11 is a flowchart showing a control operation.

12 is a flowchart showing a control operation.

Fig. 13 is a flowchart showing a control configuration according to the second embodiment.

Fig. 14 is a flowchart showing control operation according to the second embodiment.

Fig. 15 is a flowchart showing control operation according to the second embodiment.

Fig. 16 is a block diagram showing the arithmetic processing configuration according to the second embodiment.

Fig. 17 is a diagram showing a transfer function according to the second embodiment.

18 is a flowchart showing control operations according to the second embodiment.

Fig. 19 is a block diagram showing a second embodiment calculation processing configuration.

20 is a view showing a handle portion of the operation lever according to the third embodiment.

Fig. 21 is a block diagram showing a control configuration according to the third embodiment.

Fig. 22 is a flowchart showing control operation according to the third embodiment.

Fig. 23 is a flowchart showing control operation according to the third embodiment.

24 is a flowchart showing control operations according to the third embodiment.

25 is a flowchart showing control operations according to the third embodiment.

Fig. 26 is a power transmission diagram of the combine according to the fourth embodiment.

Fig. 27 is a control block diagram for traveling driving according to the fourth embodiment.

Fig. 28 is a diagram showing a speed change output of the linear continuously variable transmission device according to the fourth embodiment.

Fig. 29 is a diagram showing a target speed ratio in the turning traveling state according to the fourth embodiment.

30 is a control block diagram for attitude change according to a fourth embodiment.

Fig. 31 is a diagram showing a switch unit for attitude change according to the fourth embodiment.

32 is a diagram showing a set inclination angle according to the fourth embodiment.

33 is a side view illustrating a detection operation of an inclination angle sensor according to a fourth embodiment.

34 is a flowchart showing control operations according to the fourth embodiment.

35 is a flowchart showing control operations according to the fourth embodiment.

36 is a flowchart showing control operations according to the fourth embodiment.

Fig. 37 is a block diagram of the attitude change operation means according to the fourth embodiment.

38 is a diagram showing a transfer function according to a fourth embodiment.

39 is a power transmission diagram of the combine according to the fourth embodiment.

40 is a flowchart showing control operations according to the fourth embodiment.

Fig. 41 is a flowchart showing control operation according to the fourth embodiment.

<Explanation of symbols for main parts of the drawings>

1L, 1R: traveling device

24: front and rear inclination angle detection means

50: traveling speed detection means

51: target vehicle speed command means

100: posture change operation means

200: acceleration detection means

300: inclination angle calculation means

400: attitude control means

V: body

[Document 1] Japanese Unexamined Patent Application Publication No. 2002-204613

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture detection device for a work vehicle provided with a gravity inclination angle sensor that detects a tilt angle of a vehicle body, and a posture control device for a work vehicle having the same.

The posture detection device of the work vehicle detects the inclination angle in the front-rear direction of the vehicle body by a gravity type inclination angle sensor. As a conventional example of such a posture detection device, there have been configurations as follows. That is, in the combine which is an example of a work vehicle, it is comprised so that the front-back inclination posture of a vehicle body may be detected by a gravity type inclination sensor, and the detected value of this gravity type inclination sensor is intact as information corresponding to the inclination angle of the front-back direction of a vehicle body from a horizontal reference plane. It was an output structure (for example, refer to Unexamined-Japanese-Patent No. 2002-204613).

The gravitational inclination sensor includes a pair of electrodes for storing a liquid having a predetermined viscosity in a container provided in the vehicle body and immersing the liquid in a liquid level. Since the inclination of the pair of electrodes changes as the inclination amount of the pair of electrodes changes, the change in the capacitance between the pair of electrodes is electrically detected as information on the left and right tilt angles of the vehicle body. It is.

Moreover, there existed the thing comprised as follows as a conventional attitude control apparatus of the work vehicle.

That is, the posture change control means which can change the front-back inclination angle of the vehicle body with respect to the ground part of a traveling device, and the posture control means which controls the posture change operation means are provided, and this posture control means detects the attitude | position of the said work vehicle. An attitude detecting process for controlling the attitude changing operation means such that the front and rear inclination angles of the vehicle body with respect to the horizontal reference plane detected by the apparatus are maintained at the set inclination angle, the acceleration detection means for detecting acceleration when the vehicle body moves forward and backward Is provided, and the attitude control means executes the attitude control process when the acceleration detected by the acceleration detection means is smaller than the setting allowable value. However, if the acceleration exceeds the setting allowable value, the attitude control process is performed during the set time. (For example, Japanese Patent Application Laid-Open No. 2 002-204613).

In the conventional attitude detection apparatus of a work vehicle, since the detection value of the gravity type inclination sensor is output as it is as information corresponding to the inclination angle of the front-back direction of the vehicle body from a horizontal reference plane, there existed the following disadvantages.

That is, the gravity-type inclination sensor as described above can properly detect the inclination angle of the vehicle body forward and backward when only gravity is applied.However, in a work vehicle provided with the attitude detection device, the vehicle body is moved in the forward direction and the backward direction. Since moving travels, for example, when oscillating in the forward direction or the backward direction from the state where the vehicle body is stopped, or when increasing or decreasing the speed during the driving, acceleration in the moving direction occurs.

When acceleration occurs when the vehicle body moves forward and backward in this manner, the liquid level of the liquid in the container in the gravity inclination sensor due to the acceleration is, for example, at the time of increasing speed, the liquid level on the side of the vehicle moving direction is low, and Becomes the inclined posture with the liquid level on the opposite side increasing. In addition, at the time of deceleration, it becomes inclined attitude in the state in which the liquid level on the side of the moving direction of a vehicle body becomes high, and the liquid level on the opposite side to a moving direction becomes low.

As a result, in the conventional attitude detection apparatus of a work vehicle, there has been a disadvantage that the detection value of the inclination angle sensor is output in a state including an error due to acceleration generated when the vehicle body moves forward and backward.

Therefore, in the conventional attitude control device of a work vehicle, the vehicle body is provided with acceleration detecting means for detecting acceleration when the vehicle body moves in the forward direction and the backward direction, and if the acceleration exceeds the set allowable value, an incorrect detection result is caused due to the acceleration. Although the detected value of the output attitude detecting device is not used for the attitude control processing, if the acceleration when the vehicle body moves forward and backward exceeds the set allowable value, the configuration is not performed if the above attitude control processing is performed. There are the same disadvantages.

That is, there is no problem as long as the front and rear inclination angles from the actual horizontal reference plane of the vehicle body are maintained at the set inclination angle when the acceleration occurs when the vehicle body moves forward and backward, but the pavement in which a work vehicle such as a combine travels is carried out. Since there are many irregularities, even if the acceleration occurs when the vehicle moves forward and backward, the front and rear inclination angles of the vehicle body from the horizontal reference plane may be out of the set inclination angle. If the acceleration at the time of reversing exceeds the set allowable value, the attitude control process is not executed. Therefore, there is a disadvantage that the actual forward and backward inclination angle of the vehicle body from the horizontal reference plane is continued as it is out of the set inclination angle.

Moreover, also about the inclination angle of a left-right direction, the attitude | position of the vehicle body could not be detected correctly by the influence, for example, when a vehicle body turns.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object thereof is to provide a vehicle attitude detection device capable of properly detecting an inclination angle of a vehicle body with respect to a horizontal reference plane even when an influence of acceleration or turning occurs when the vehicle body moves. In that it provides.

Another object of the present invention is to maintain the forward and backward inclination angle of the vehicle body with respect to the horizontal reference plane at the set inclination angle based on the inclination angle of the vehicle body with respect to the horizontal reference plane that is properly detected even when the acceleration occurs when the vehicle body moves. It is at the point of providing the attitude control apparatus of the working vehicle which becomes possible.

The specific means for solving the subject in this invention is as follows.

That is, the feature configuration of the present invention,

It is a posture detection device of the work vehicle,

In the thing provided with the gravity type inclination sensor which detects the inclination angle of the front-back direction of a vehicle body,

Acceleration detection means for detecting acceleration when the vehicle body moves in the front-rear direction, and inclination angle calculation means for obtaining an inclination angle of the vehicle body with respect to the horizontal reference plane,

The inclination angle calculation means obtains the inclination angle correction information obtained based on the acceleration detected by the acceleration detection means and the inclination angle based on the detected value of the inclination angle sensor.

According to the above-described configuration, the acceleration when the vehicle body moves in the front-rear direction by the acceleration detection means is detected, and the inclination angle calculation means corrects the inclination angle with respect to the detection value of the gravity type tilt angle sensor based on the acceleration detected by the acceleration detection means. The information is obtained, and the inclination angle with respect to the horizontal reference plane of the vehicle body is obtained based on the inclination angle correction information and the detection value of the gravity type inclination angle sensor.

That is, if acceleration occurs when the vehicle moves in the front-back direction, the gravity tilt angle sensor includes a detection value different from the detection value corresponding to the actual tilt angle of the vehicle body due to the acceleration, that is, an error generated due to the acceleration. The detected value is output, and the magnitude of the error becomes larger as the acceleration increases. Thus, the inclination angle calculating means obtains the inclination angle correction information corresponding to the error of the gravity type inclination angle sensor generated due to the acceleration based on the acceleration detected by the acceleration detection means, and detects the inclination angle correction information and the inclination angle sensor. To determine the angle of inclination with respect to the horizontal reference plane of the body. As a result, even when acceleration is occurring, it becomes possible to obtain the inclination angle with respect to the horizontal reference plane of the vehicle body appropriately.

Therefore, even when the acceleration occurs when the vehicle body moves in the front-rear direction, it is possible to provide the attitude detection device of the work vehicle that enables the vehicle to properly detect the inclination angle with respect to the horizontal reference plane.

In the above-described configuration, the shift lever is configured to operate a traveling speed change gear that shifts the traveling speed of the travel device when the vehicle body moves forward and backward, and the acceleration detection means is based on the information on the operation position of the shift lever. It is suitable to obtain the acceleration as described above.

With this configuration, when the shift lever is operated, the traveling transmission is operated to shift the traveling speed of the traveling device when the vehicle body moves forward and backward. That is, when the operation position of the shift lever is changed, the traveling speed of the traveling device is changed, so that acceleration occurs in the forward direction or the reverse direction at that time. Therefore, since the traveling speed of the traveling device corresponding to the operating position of the shift lever is determined, the acceleration can be obtained from the method of changing the operating position of the shift lever.

And as a structure for detecting the operation position of a shift lever, it is possible to detect using the sensor of a simple structure, such as a potentiometer, for example, and it is possible to complete the structure for detecting acceleration with simple. Become.

In the above-described configuration, a traveling speed detecting means is provided for detecting a driving speed of the traveling device when the vehicle body moves forward and backward, and the acceleration detecting means is configured based on the detection information of the traveling speed detecting means. It is suitable to obtain.

With the above-described configuration, the acceleration detecting means obtains the acceleration based on the detection information of the traveling speed detecting means for detecting the driving speed of the traveling device when the vehicle body moves forward and backward, but the traveling speed detecting means travels. Since the driving speed of the device is detected, the information of the vehicle speed can be detected most accurately.

When the description is added, the power of the engine as the driving source is shifted from the traveling transmission, and then the driving apparatus is driven to drive the traveling apparatus. However, when the traveling load such as the traveling resistance of the traveling road surface changes, the speed change state of the traveling transmission apparatus becomes Even if the same, the output of the engine may fluctuate. In other words, since the drive speed of a traveling apparatus may fluctuate even if the operating position of the transmission lever which operates a traveling transmission device is the same, there exists a possibility that acceleration may not be obtained suitably from the operating position of a transmission lever. On the other hand, by setting it as the structure which detects the drive speed of a traveling device, it becomes possible to detect actual acceleration precisely, regardless of the change of a running load.

Another feature configuration of the posture detection device according to the present invention includes a gravity inclination sensor for detecting the inclination angle of the front and rear directions of the vehicle body, an angular velocity sensor for detecting the angular velocity in the front and rear inclination directions of the vehicle body, and What is claimed is: 1. An acceleration detection means for detecting acceleration, and an inclination angle calculation means for obtaining a forward and backward inclination angle of a vehicle body based on a detection value of the inclination angle sensor and a detection value of the angular velocity sensor,

When the inclination angle calculating means is larger than the set value detected by the acceleration detecting means and when the set acceleration state returns from a state larger than the set value to a small state until the set time for returning to the detection state elapses, On the basis of the detected value detected by the front and rear inclination angle of the vehicle body or the inclination angle sensor obtained when the acceleration is greater than the set value or before the set time, and based on the detected value of the angular velocity sensor which is sequentially detected as time passes. To obtain the front and rear inclination angles of the vehicle body,

When the acceleration detected by the acceleration detecting means is smaller than the set value and outside the set time for returning to the detection state, based on the detected value of the inclination angle sensor sequentially detected with time, or the detected value and The front and rear inclination angles of the vehicle body are obtained on the basis of the detection values of the angular velocity sensors which are sequentially detected as time passes.

With the above-described configuration, the inclination angle calculating means is allowed to pass the setting time for the detection state return when the acceleration detected by the acceleration detecting means is larger than the set value and after the acceleration becomes smaller from the state larger than the set value. Until then, when the acceleration is greater than the set value or before the set time, the detected value detected by the front and rear inclination angle of the vehicle body or the inclination angle sensor, and the angular velocity sensor which is sequentially detected as time passes. Based on the detected value, the front and rear inclination angles of the vehicle body are obtained. The set value is set to the smallest acceleration that is expected to cause an error due to the acceleration in the detection value of the inclination angle sensor.

That is, when the acceleration is greater than the set value or before the set time, the detected value detected by the front and rear inclination angle of the vehicle body or the inclination angle sensor is a state before the acceleration becomes larger than the set value, that is, the acceleration Since it corresponds to the latest forward / backward inclination angle obtained in a state where the error is small, the detection value of the angular velocity sensor which is sequentially detected with the passage of time with respect to the latest forward / backward inclination angle is integrated, for example, from the latest forward / backward inclination angle. The current front and rear inclination angle can be obtained by calculating the amount of change in the inclination angle of and adding the amount of change in the inclination angle obtained from the detected value of the angular velocity sensor to the latest front and rear inclination angle.

As the angular velocity sensor, for example, a vibrating gyro-type angular velocity sensor or the like can be used. Since the angular velocity sensor detects the angular velocity in the inclination direction of the vehicle body, the possibility of being affected by the acceleration of the vehicle body in the front-rear direction is unlikely to be affected. There is little, and it is possible to detect the displacement of the angle in the vehicle body front-back inclination direction with high precision.

In addition, not only when the acceleration is larger than the set value, but also when the acceleration is larger than the set value and when the acceleration time becomes smaller than the set value and until the set time for returning to the detection state elapses, Similarly, since the front and rear inclination angles are detected, the detection error due to acceleration can be made smaller.

If the description is added, when the state in which the acceleration when the vehicle body moves in the front-rear direction is greater than the set value, and the inclination angle sensor, for example, the liquid is contained in the container as the gravity inclination sensor, if the liquid has a predetermined viscosity, Even when the acceleration returns to a state smaller than the set value, it takes time for the liquid level to return to the horizontal posture by viscosity instead of eliminating the inclined state due to the acceleration. There exists a possibility of including a back surface detection error.

Therefore, the front and rear inclination angles are detected in the same manner as when the acceleration is larger than the set value while the detection state return setting time corresponding to the above-described recovery delay time in the gravitational tilt angle sensor is elapsed. Front and rear inclination angles can be detected.

When the acceleration detected by the acceleration detecting means is smaller than a set value and outside the set time for returning to the detection state, based on the detection value of the inclination angle sensor sequentially detected with time, or the detected value and time The inclination angle of the front and rear of the vehicle body is determined based on the detected value of the angular velocity sensor which is sequentially detected with passage.

That is, since the acceleration is smaller than the set value, even if the detected value of the inclination angle sensor is used as it is, the error due to acceleration is small. Therefore, it is possible to accurately detect the front and rear inclination angles, and the detection value of the inclination angle sensor and the angular velocity sensor are detected. Can also determine the front and rear inclination angles of the car body. Thus, if it is the structure which calculates the front-back inclination angle of a vehicle body based on each detected value of the inclination-angle sensor and the angular velocity sensor, for example, in the state which the inclination angle of the front-back direction of a vehicle body does not change, or the vehicle body inclines back and forth in slow motion, In this case, it is possible to accurately detect the front and rear inclination angles of the vehicle body by a gravity type inclination angle sensor that detects the front and rear inclination angles of the vehicle body by the action of gravity. The vehicle body by integrating the detected value of the angular velocity sensor to detect the supplementary value, or by using the integrated value of the detected value of the angular velocity sensor as the front and rear inclination angle and correcting the detected value of the front and rear inclination angle sensor. It is possible to detect the inclination angle of the back and forth accurately All.

Therefore, according to the above-mentioned characteristic structure, even when acceleration generate | occur | produces when a vehicle body moves to the front-back direction, the attitude | position detection apparatus of the work vehicle which becomes possible to detect the inclination angle with respect to the horizontal reference plane of a vehicle body appropriately can be provided.

In the above-described configuration, there is provided a lever position detecting means for detecting an operation position of a shift lever that operates a traveling speed change gear that shifts the traveling speed of the traveling device,

It is suitable for the acceleration detecting means to detect the acceleration when the vehicle body moves in the front-back direction based on the amount of change per unit time of the operating position of the shift lever determined by the detection information of the lever position detecting means.

According to the above-described configuration, when the shift lever is operated, the traveling transmission device is operated so that the traveling speed of the traveling device when the vehicle body moves forward and backward is shifted to generate acceleration when the vehicle body moves in the front-back direction. In addition, the larger the amount of change per unit time of the operating position of the shift lever, the larger the acceleration. Thus, the lever position detecting means detects the operating position of the shift lever, obtains the change amount per unit time of the operating position of the shift lever based on the detection information of the lever position detecting means, and the unit of the operating position of the shift lever. It detects as acceleration when a vehicle body moves to the front-back direction based on the change amount per time. As the lever position detecting means for detecting the operating position of the shift lever, for example, it is possible to detect using a sensor having a simple configuration such as a potentiometer.

Therefore, according to the above-described configuration, it is possible to detect the acceleration when the vehicle body moves in the front-back direction, and to simplify the configuration for detecting the acceleration.

In the above-described configuration, the traveling speed detecting means for detecting the driving speed of the traveling device is provided,

It is suitable for the acceleration detecting means to detect the acceleration when the vehicle body moves in the front-rear direction based on the amount of change per unit time of the traveling speed determined by the detection information of the traveling speed detecting means.

According to the above-described configuration, the acceleration detecting means detects the driving speed of the traveling device when the vehicle body moves forward and backward, and calculates the amount of change per unit time of the traveling speed based on the detection information. Since it detects as acceleration when a vehicle body moves to the front-back direction based on the change amount per unit time of the running speed, it becomes possible to detect actual acceleration with high precision.

When the description is added, the power of the engine as the driving source is shifted from the traveling transmission, and then the driving apparatus is driven to drive the traveling apparatus. However, when the traveling load such as the traveling resistance of the traveling road surface changes, the shifting state of the traveling transmission apparatus becomes Even if the same, the output of the engine may fluctuate. In other words, since the drive speed of a traveling apparatus may fluctuate even if the operating position of the transmission lever which operates a traveling transmission device is the same, there exists a possibility that acceleration may not be calculated suitably from the operating position of a transmission lever. On the other hand, by setting it as the structure which detects the drive speed of a traveling device, it becomes possible to detect actual acceleration precisely, regardless of the change of a running load.

Therefore, according to the above-described configuration, it becomes possible to accurately detect the acceleration when the vehicle body moves in the front-rear direction.

The feature structure of the attitude control apparatus of the work vehicle which concerns on this invention is a posture change control means which is provided with the attitude detection apparatus of any one of said work vehicles, and which can change the front-back inclination angle of the vehicle body with respect to the ground part of a traveling apparatus, and And a posture control means for controlling the posture change manipulation means such that the front and rear inclination angles of the vehicle body with respect to the horizontal reference plane detected by the posture detection device are maintained at the set inclination angle.

According to the above-described configuration, the posture control means controls the posture change operation means to maintain the front and rear inclination angles of the vehicle body obtained by the inclination angle calculation means at a set inclination angle. Since the inclination angle calculation means can properly detect the front and rear inclination angles of the vehicle body even when the acceleration occurs when the vehicle body moves in the front-back direction, the attitude control means controls the attitude change based on the front and rear inclination angles of the vehicle body that are properly detected. The means can be controlled.

In this way, even when acceleration occurs when the vehicle body moves in the front-rear direction, the attitude change operating means can be controlled to maintain the vehicle front-back inclination angle at the set inclination angle based on the front-back inclination angle of the vehicle body which is properly detected.

Therefore, according to the above-described configuration, even when acceleration occurs when the vehicle body moves in the front-rear direction, it is possible to provide the attitude control apparatus for the work vehicle that enables the front and rear inclination angles of the vehicle body to be maintained at the set inclination angle.

Another characteristic structure of the control apparatus of the work vehicle which concerns on this invention is

The attitude change operation means operable to change the inclination attitude of the vehicle body with respect to the traveling device, the inclination angle detection means for detecting the inclination angle of the vehicle body with respect to the horizontal reference plane, and the vehicle body with respect to the horizontal reference plane based on the detection information of the inclination angle detection means. A posture control means for executing posture change control for controlling the operation of the posture change operation means so that the inclination angle is maintained at the target inclination angle,

Manually operated attitude change command means for selectively instructing one side attitude change command for changing the inclination attitude of the vehicle body with respect to the traveling device to one side of the inclination angle changing direction and the other side attitude change command for changing the inclination angle changing direction to the other side. With

While the attitude control means is executing the attitude change control,

When the one side attitude change command or the other side attitude change command is instructed by the attitude change command means, the inclination attitude of the vehicle body with respect to the traveling device to one side or the other side of the inclination angle change direction is based on the command. To control the operation of the posture change manipulation means to change,

When the command of the one side attitude change command or the other side attitude change command by the attitude change command means ends, the inclination angle of the vehicle body with respect to the horizontal reference plane detected by the inclination angle detection means at the end thereof is the target inclination angle. It is configured to control the operation of the posture change operation means based on the set target inclination angle thereafter.

According to the above-described configuration, the posture control means is configured to perform the posture change control means for controlling the operation of the posture change manipulation means such that the inclination angle with respect to the horizontal reference plane of the vehicle body is maintained at the target inclination angle. When the one side posture change command or the other side posture change command is commanded, the posture change to change the inclination posture of the vehicle body with respect to the traveling device to one side or the other in the inclination angle change direction based on the command. It is to control the operation of the control means. For example, when it is necessary for the operator to change the inclination posture of the vehicle body so as not to contact the ground which is inclined near the field bank or the sediment near the field bank while the working vehicle is driving the field, the operator manually operates the posture change command means. Thus, the inclination posture of the vehicle body can be changed.

Since the posture change operation based on the command of the posture change command means is to incline the vehicle body from the posture of the vehicle body to one side or the other side, one side of the vehicle body operator checks the inclination state of the vehicle body. Since the vehicle body can be inclined to the side or the other side, it is easy to sense, and it is easy to make the inclined posture desired by the operator.

Then, when the command of the one side attitude change command or the other side attitude change command by the attitude change command means ends, the inclination angle with respect to the horizontal reference plane of the vehicle body detected by the inclination angle detection means at the time of the termination is determined. It is set as a target inclination angle, and after that, the operation | movement of the said attitude | position change operation means is controlled based on the set target inclination angle. In this way, when the operator changes the inclination posture of the vehicle body by manually operating the posture change command means, the inclination angle with respect to the horizontal reference plane of the vehicle in the changed inclination posture is set as the target inclination angle. Even if the inclination posture of the grounding part of the traveling device is fluctuated due to the above, the attitude control can be performed to maintain the inclination posture after the change.

Therefore, according to this structure, the attitude | position control apparatus of the work vehicle which becomes easy to perform the operation which adjusts a target inclination-angle to a desired inclination-angle in a troublesome state can be provided easily.

In the above configuration, the posture control means,

Switchable between an automatic control mode for executing the posture change control and a manual operation mode for operating the posture change operation means by manual operation,

In the manual operation mode, when the one side attitude change command or the other side attitude change command is commanded by the attitude change command means, the inclination angle of the vehicle body with respect to the traveling device is changed based on the command. The posture change operation means is operated when the posture change operation means is changed to change to one side or the other side in the direction, and when the command of the one side posture change instruction or the other side posture change instruction by the posture change command means ends. It is suitable if it is configured to stop the operation of the means.

According to this configuration, in the manual operation mode, when the one side posture change instruction or the other side posture change instruction is commanded by the posture change command means, the traveling device is based on the command. The operation of changing the inclination attitude of the vehicle body with respect to the inclination angle changing direction on one side or the other side is terminated, and the operation of the attitude changing operation means is stopped when the instruction is completed, thereby maintaining the inclination attitude of the vehicle body at that time.

Therefore, according to this configuration, in the automatic control mode, the inclination angle with respect to the horizontal reference plane of the vehicle body can be automatically controlled to maintain the target inclination angle, and in the manual operation mode, the inclination attitude of the vehicle body can be made to the desired inclination attitude by manual operation. It can be switched to different modes according to the working situation, making it convenient to use.

In the above-described configuration, in the automatic control mode, it is preferable that a manually operated horizontal target inclination angle command means for instructing a horizontal inclination target inclination angle in which the inclination angle with respect to the horizontal reference plane becomes zero is provided.

According to this configuration, in the automatic control mode, when the horizontal target tilt angle command means is commanded by the horizontal posture target inclination angle, the target tilt angle for the horizontal posture in which the inclination angle with respect to the horizontal reference plane becomes zero as the target inclination angle is commanded. For example, if there are many work cars which work in a horizontal attitude, the target inclination angle can be set by simple operation only by instructing the horizontal inclination target inclination command by the horizontal target inclination angle command means.

Therefore, according to this structure, the setting operation of a target inclination angle can be performed easily, and the working vehicle excellent in operability can be provided.

In the above-described configuration, the horizontal target inclination angle command means is also used in the manual operation reference attitude command means for instructing the vehicle to change the inclination attitude of the vehicle body to the reference inclination attitude in the manual operation mode. It is suitable if it is configured.

According to this structure, the said horizontal target inclination-angle instruction means is also comprised by the manual-operation reference attitude instruction means which instructs to change the inclination attitude of the vehicle body with respect to the said traveling device to a reference inclination attitude in the said manual operation mode. have. For this reason, compared with the case where the horizontal target inclination-angle instruction means and the manually operated reference | standard attitude | position instruction means are each provided separately, the structure can be simplified by the combined use of a member.

In the above-described configuration, the posture changing operation means includes a plurality of driving means capable of lifting each of the one end portion side portion and the other end side portion spaced apart in the inclination angle change direction in the vehicle body with respect to the ground portion of the traveling device. Become,

The posture control means is configured to operate the plurality of drive means such that each of the one end side portion and the other end side portion is changed to a lower limit position of the lift operation range with respect to the ground portion of the traveling device as the reference posture. If it is, it is suitable.

According to this structure, in the said manual operation mode, when it is commanded to change to a reference inclination posture by the horizontal target inclination-angle instruction means, each of the said one end side part and the said other end side part of a vehicle body may be connected to the ground part of a traveling device. The lower limit position of the elevating operation range is changed. As described above, when each of the one end side portion and the other end side portion of the vehicle body is in the lower limit position, the center of gravity of the vehicle body is at a very low position, so that the vehicle can travel in a stable state and travel uneven terrain. Even in this case, it becomes possible to travel in a very stable posture.

In the above-described configuration, it is preferable that the posture change command means and the horizontal target inclination angle command means are provided so that the finger can be operated by the handle portion of the control operation lever provided in the driving portion of the vehicle body.

According to this configuration, since the posture change command means and the horizontal target inclination angle command means are provided to be finger-operable to the handle portion of the steering operation lever provided in the driving portion of the vehicle body, the operator performs the steering operation of the vehicle body. The one side posture change command or the other side posture change command can be commanded by finger operation without removing the hand from the operation lever, and the target inclination angle for the horizontal posture can also be commanded.

Therefore, according to this structure, the inclination posture of a vehicle body can be changed in the state which has little operation | work troublesome.

In the above-described configuration, the posture changing operation means is configured to change and operate the left and right tilt angles of the vehicle body with respect to the horizontal reference plane,

The inclination angle detecting means is configured to detect the left and right inclination angles of the vehicle body with respect to a horizontal reference plane,

And the attitude control means is configured to control the operation of the attitude change operation means such that the left and right inclination angles of the vehicle body with respect to the horizontal reference plane are maintained at the target inclination angle based on the detection information of the inclination angle detection means as the attitude change control. It is suitable if there is.

According to this configuration, since the attitude change operation means is controlled such that the left and right inclination angles with respect to the horizontal reference plane of the vehicle body are the target inclination angles based on the detection information of the left and right inclination angle detection means, the left and right attitudes of the vehicle body are changed to be the horizontal attitude. do.

For example, as an example of a work vehicle, when applied to a combine for mowing in a field, a mowing operation or a field bank near a horizontal reference plane with a target inclination angle with respect to the horizontal reference plane of the vehicle body as an appropriate value is performed. It can be used suitably when performing mowing work in the state inclined at.

Another characteristic configuration of the attitude control device of the work vehicle according to the present invention includes: attitude changing operation means capable of changing and operating the left and right tilt angles of the vehicle body with respect to the ground portion of the traveling device; In the attitude control apparatus of the work vehicle provided with the attitude control means which controls the operation | movement of the said attitude | position change operation means so that the left-right inclination-angle of a vehicle body may be maintained at a set inclination-angle based on the detection information of the said left-right inclination-angle detection means,

A gravity inclination sensor for detecting the left and right inclination angles of the vehicle body by the action of gravity, an angular velocity sensor for detecting the angular velocity in the left and right inclination directions of the vehicle body, a detection value of the inclination angle sensor, and detection of the angular velocity sensor The inclination angle calculating means for obtaining the left and right inclination angles of the vehicle body based on the

Turning state detecting means for detecting whether or not the vehicle body is in the turning driving state, and reference value updating means for updating the reference value of the angular velocity corresponding to the state where the angular velocity is zero;

The reference value updating means,

When it is detected by the turning state detecting means that the vehicle is not in the turning running state, the reference value is updated on the basis of a value obtained by averaging a plurality of detected values of the detected values of the angular velocity sensor. In this way, when it is detected that the vehicle is in the turning travel state, the reference value is configured not to be executed.

According to this configuration, the left and right inclination-angle detecting means detects the left and right inclination angle of the vehicle body by the action of gravity, the angular velocity sensor for detecting the angular velocity in the left and right inclination direction of the vehicle body, the detection value and the angular velocity sensor of the inclination angle sensor. Since the inclination angle calculation means which calculates the left and right inclination angles of the vehicle body on the basis of the detected value of, is provided, for example, in a state where the inclination angle of the vehicle body in the left and right directions is not changed, or the vehicle body is slowly inclined left and right, The gravitational inclination angle sensor which detects the left and right inclination angles of the vehicle body by the action of gravity makes it possible to accurately detect the left and right inclination angles of the vehicle body, and detects the angular velocity in the left and right inclination directions of the vehicle body when the vehicle body is rapidly inclined left and right. The detection value of the inclination angle sensor by integrating the detection value of the angular velocity sensor Or to be made up, it is possible to detect with high accuracy the left-right inclination angle of the vehicle body by a value of the integral value of the detection of the angular velocity sensor will be used as the left and right tilt angles.

Although the reference value corresponding to the state in which the angular velocity is zero may deviate from an appropriate value due to a change in temperature or the like, the angular velocity sensor is provided with reference value updating means for updating the reference value of the angular velocity, and the reference value updating means By updating, the deviation of the reference value as described above can be reduced and it can be corrected to a very appropriate value. Specifically, the reference value updating means updates the reference value on the basis of a value obtained by averaging a plurality of detection values for sampling the detection values of the angular velocity sensor.

By the way, although the angular velocity sensor needs to be installed so that the magnetic detection axis of the magnetic body at the time of detecting the angular velocity is along the axis when the vehicle body is inclined left and right, that is, the axis along the vehicle front and rear directions, the vehicle body due to assembly errors, etc. The detection shaft center may be provided in the state which shifted slightly with respect to the shaft center along front-back direction. In such a case, not only the angular velocity in the left and right inclination directions around the shaft center along the vehicle body front-back direction, but also the shaft core orthogonal to the shaft center along the vehicle body front-back direction, for example, the angular velocity component around the vertical shaft center may be detected.

When detecting the angular velocity around the upper and lower shaft centers as described above, when the vehicle body turns around, an angular velocity around the upper and lower shaft centers along with the turning movement is generated, but the reference value updating means updates the reference value even during the turning movement. In this case, even though the vehicle body is not inclined left and right, the detection value including the angular velocity component around the vertical axis detected incorrectly is detected as a reference value corresponding to the state where the angular velocity is zero, and the updated reference value includes an error.

Thus, the reference value updating means updates the reference value when it is detected by the turning state detection means that it is not in the turning running state, and updates the reference value when it is detected by the turning state detecting means that the turning driving state is in the turning state detection means. Do not run. With this configuration, the deviation of the reference value can be reduced in a state that does not include an error occurring along the turning run, and the reference value of the angular speed corresponding to the state where the angular speed is zero can be updated to an appropriate value in the straight run, The angular velocity sensor can detect the angular velocity in the left and right inclination directions of the vehicle body very accurately in a state where there is little error.

As a result, even when the vehicle body is rapidly inclined left and right by using the responsive angular velocity sensor, it is possible to eliminate the error caused by the response delay of the inclination angle sensor by using the detection value of the angular velocity sensor. The angular velocity can be detected very accurately in a state where the detection error of the accompanying angular velocity sensor is reduced.

Therefore, the attitude control apparatus of the work vehicle which can detect the left and right inclination angles of the vehicle body with high precision in a state where the detection error is small, and can perform the operation control in the left and right inclination directions of the vehicle body by the posture change control means can be provided favorably. .

In the above-described configuration, a manually operated swing command means for instructing the turning run of the vehicle body is provided.

It is suitable if the turning state detecting means detects whether or not the vehicle body is in the turning running state based on the presence or absence of the command of the turning command means.

According to this configuration, when the turning travel of the vehicle body is commanded by the manually operated swing command means, the turning travel is performed, and if the turning travel of the vehicle body is not commanded, the turning travel is not performed. It is to detect whether the vehicle is in the turning driving state based on the presence or absence of the command. Since the swing command means is conventionally provided in the work vehicle, by effectively utilizing the existing operation tool, it is possible to detect the swing state with a simple configuration without providing a special operation means.

In the above-described configuration, a pair of left and right traveling devices are provided as the traveling device.

The turning state detection means,

Discriminating whether or not the vehicle body is in a turning traveling state based on the pair of traveling speed detecting means for detecting each driving speed of the pair of left and right traveling devices and the detection information of the pair of traveling speed detecting means. It is suitable to have a means.

According to this structure, each drive speed of a pair of left and right traveling apparatuses is detected by a pair of traveling speed detecting means, and whether a vehicle body is in a turning traveling state based on the detection information of a pair of traveling speed detecting means. To determine. Since the driving speeds of the left and right traveling devices are detected by the pair of traveling speed detecting means, it is possible to accurately detect the actual running state of the left and right traveling devices, and to determine whether a speed difference is generated in the left and right traveling devices. This makes it possible to accurately detect whether the vehicle is in the turning travel state.

In the above-described configuration, the inclination angle calculation unit includes a low pass filter for removing high frequency components in the detection value of the inclination angle sensor, an integration means for integrating the detection value of the angular velocity sensor, and an integral value integrated by the integration means. It is suitable to include a high pass filter for removing low frequency components, and to configure the left and right tilt angles of the vehicle body by adding the output value of the low pass filter and the output value of the high pass filter.

According to this structure, since the low pass filter which removes a high frequency component among the detection values of an inclination-angle sensor is provided, the high-frequency noise which arises from the fine vibration of a vehicle body, etc. in an inclination-angle sensor can be effectively removed. On the other hand, the detection value of the angular velocity sensor is integrated by the integrating means and changed into the information of the inclination angle. However, since a high pass filter is provided to remove low frequency components among the integrated values integrated by the integrating means, the normal error is integrated and accumulated by integrating. Increasing integration errors can be effectively eliminated.

EMBODIMENT OF THE INVENTION Hereinafter, the case where application of the embodiment of this invention to the combine as an example of a work vehicle is demonstrated based on drawing.

[First Embodiment]

EMBODIMENT OF THE INVENTION Hereinafter, 1st Embodiment of this invention is described based on drawing.

As shown in Fig. 1, the combine includes a pair of right and left crawler-type traveling devices 1L and 1R, a threshing apparatus 3 for threshing harvested grain stems, and a grain tank for storing threshed grains ( 4) The lifting section 10 which harvests the grain stem of rice, barley, etc. and supplies it to the threshing apparatus 3 with respect to the vehicle body V provided with the boarding driver 2 etc. is provided so that raising and lowering is possible. It is composed.

The harvesting section 10 includes a standing grass 5, a standing device 5 for standing up a grain stem, which is installed at the tip, and a barrican for cutting the bottom of the standing grain. And a vertical conveying device 8 for conveying to the rear side while gradually changing the mowing blade 7 of the mold and the mowing grain stem to the laterally collapsed posture, and the hydraulic mowing cylinder ( C1) is installed to allow swinging up and down.

At the start end of the longitudinal conveying device 8, a bottom sensor 53 is provided when the state is in the ON state when it is in contact with the harvesting grain stem, and in the OFF state when it is not in contact with the harvest grain grains. Moreover, the ultrasonic mowing height sensor 9 which detects the height with respect to the ground of the mowing part 10 is provided in the back side part of the said grass dividing element 6. Although not described in detail, the cutting height sensor 9 is configured in a non-contact manner to detect the height of the cutting unit 10 with respect to the ground by measuring the time from transmitting the ultrasonic wave toward the lower side until receiving the ultrasonic wave. have.

In this combine, the posture change operation means 100 which can change the forward and backward inclination angle and the left and right inclination angle of the vehicle body V with respect to the ground parts of the left and right traveling apparatuses 1L and 1R is provided. The configuration will be described below.

First, the installation structure of the left and right traveling apparatuses 1L and 1R to the vehicle body V will be described. In addition, since the left and right traveling apparatuses 1L and 1R are respectively the same structure, the left traveling apparatus 1L is demonstrated below, and the description is abbreviate | omitted about the right traveling apparatus 1R.

As shown in Fig. 2, the drive sprocket 13 is rotatably supported on the front end side of the support frame 12 fixed to the main frame 11 in the front-back orientation posture constituting the vehicle body V. The track frame 16 which pivotally supports the plurality of idling wheel bodies 14 in the front-to-rear direction, and supported the tension wheel body 15 at the rear end is mounted so as to be movable upward and downward with respect to the support frame 12. It is. And the crawler belt which is an endless rotating body is wound over the said drive sprocket 13, the tension wheel body 15, and each idling wheel body 14. As shown in FIG.

On the front side of the support frame 12 is pivotally supported a front bell crank 17a, which is rotatably around the horizontal axis P2, which is formed in an approximately L shape from the side, and on the rear side of the support frame 12. A rear bell crank 17b, which is rotatably circumferentially (P3) and formed in an approximately L-shape from the side, is pivotally supported. Then, the lower end of the front bell crank 17a is pivotally supported to the front side portion of the track frame 16, and the lower end of the rear bell crank 17b is tracked through the stroke absorption auxiliary link 17b1. It is pivotally supported by the back part of frame 16.

On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are linked to the upper end portions of the front and rear bell cranks 17a and 17b, respectively. The cylinder main body side of each said hydraulic cylinder C2, C3 is pivotally connected to the horizontal frame part in the main frame 11, and each said hydraulic cylinder C2, C3 is a double-acting type, respectively. It consists of a hydraulic cylinder.

Then, 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) corresponding to the rear bell crank 17b. 2), the track frame 16 is received and supported by the support frame 12, and the track frame 16 is closest to and substantially parallel to the main frame 11, as shown in FIG. It becomes a state. This state is called a lower limit reference attitude.

Then, when the left front cylinder C2 is short-actuated while the left rear cylinder C3 is kept intact from the state of the lower limit reference posture, as shown in Fig. 3, the front side of the vehicle body V is closed. The attitude change (ie, forward ascending operation) is performed in a direction away from the ground.

Further, when the left rear cylinder C3 is extended and operated while the left front cylinder C2 is kept intact from the state in the lower limit reference posture, as shown in Fig. 4, the rear side of the vehicle body V is opened. The attitude change (rear upward operation) is performed in a direction away from the ground.

In addition, when the left front cylinder C2 is short-actuated and the left rear cylinder C3 is extended and operated from the state of the said lower limit reference posture, as shown in FIG. The posture is changed (ascending) in the direction in which the parallel posture is spaced apart.

In addition, in the right traveling apparatus 1R, the right front cylinder C4 located on the apparatus main body front side side and the right rear cylinder C5 located on the apparatus main body rear side side are similarly provided, respectively, and the left traveling apparatus 1L is provided. ) Is performed.

Therefore, the posture change operation means 100 is a ground part of the left and right traveling apparatuses 1L and 1R in each of the left front part, left rear part, right front part, and right rear part in the vehicle body V. FIG. And four hydraulic cylinders C2 to C5 for changing the posture of the main body of the apparatus as four driving means each of which can change and adjust the height with respect to each other.

Corresponding to each of the four hydraulic cylinders C2, C3, C4, and C5, the parts corresponding to the rotational movement supporting points of the bell cranks 17a and 17b in the left and right traveling apparatuses 1L and 1R, respectively. Potentiometer type stroke sensors 18, 19, 20, 21 for detecting the manipulated amount (i.e., the amount of stretched stroke) of the hydraulic cylinders C2, C3, C4, C5 are installed on the basis of the rotation amount. (See Fig. 9).

Next, a 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 apparatus 3 via the threshing clutch 45, and the traveling clutch 46 and the continuously variable transmission 47 as the traveling transmission apparatus are provided. The power is transmitted to the mission unit 48 of the left and right traveling devices 1L and 1R, and the power transmitted to the mission unit 48 is transmitted to the traveling devices 1L and 1R, and at the same time through the mowing clutch 49. 10 is passed. In the figure, reference numeral 50 denotes a vehicle speed sensor that detects the vehicle speed based on the input rotation speed to the mission unit 48.

The continuously variable transmission device 47 is configured to be shifted by a shift lever 51 provided in the boarding driver 2, and a shift lever sensor of a potentiometer type that detects an operation position of the shift lever 51 ( 52) is installed. That is, the trunnion shaft for shift operation and the shift lever 51 which are not shown in the continuously variable transmission 4 are mechanically linked through a link, and the continuously variable transmission apparatus 4 is carried out by making the shift lever 51 manual. ) Can be shifted steplessly in each of the forward and reverse directions.

The combine has a gravity inclination angle sensor 24 that detects the inclination angle in the front-rear direction of the vehicle body V, acceleration detection means 200 that detects the acceleration when the vehicle body V moves in the front-rear direction, and the acceleration thereof. Inclination angle calculation means 300 which calculates the inclination angle of the vehicle body V with respect to the horizontal reference plane based on the inclination angle correction information obtained based on the acceleration detected by the detection means 200 and the detection value of the inclination angle sensor 24. A posture detection device is provided that is configured to include.

In addition, the gravity type front and rear inclination angle sensor 24 which detects the front and rear inclination angle of the vehicle body V with respect to a horizontal reference plane by the action of gravity is provided in the vehicle body V, and this front and rear inclination angle sensor 24 is the following. It is composed as follows.

That is, as shown in Fig. 7, a liquid 42 having a predetermined viscosity made of silicone oil or the like is inserted into a rectangular container 41 fixed to the vehicle body V, and metal plates having the same shape are spaced at equal intervals. The pair of detection electrodes 43 standing up in parallel are arranged in two sets in the state fixed to the container 41 at intervals in the inclination-angle detection direction (left-right direction in FIG. 7). Then, when the liquid body 42 is returned to the initial position (liquid level state) by gravity, when the vehicle body V is not inclined, the two sets of detection electrodes 43 are in the same immersion state (state of FIG. 7). In the state in which the vehicle body V is inclined, the immersion states of the two sets of detection electrodes 43 are different (state of Fig. 8A), and the capacitance of each of the detection electrodes 43 is measured and A conversion circuit section 44 for converting the difference of the measured values (zero when the vehicle body V is not inclined) into a detection value corresponding to the inclination angle information is provided.

In addition, a gravity-type left and right inclination angle sensor 23 that detects the left and right inclination angle of the vehicle body V with respect to the horizontal reference plane by the action of gravity is also provided, and the left and right inclination angle sensors 23 have different detection directions, It is the same structure as the front-back inclination-angle sensor 24. FIG.

As shown in Fig. 9, a control device 22 using a microcomputer is provided, and each of the stroke sensors 18 to 21, the cutting height sensor 9, and the left and right inclination angle sensors 23 are provided on the control device 22. ), The detection information of the front and rear inclination angle sensor 24, the vehicle speed sensor 50, the shift lever sensor 52, and the bottom sensor 53 is input. Moreover, the automatic on-off switch 27, the front raise switch 40a, and the rear raise switch 40b which instruct the on-off of automatic posture control mentioned later are provided in the operation panel of the boarding part 2, These Each operation information is also input to the control apparatus 22. In addition, the operation panel of the boarding driver 2 has a volume-type mowing height setter 39 and a mowing unit 10 for setting the height of the cutting unit 10 with respect to the vehicle body V, that is, the cutting height. A rising switch SW1 for commanding the harvesting section ascending, a descending position SW2 for commanding the harvesting section lowering, and the like, based on the operation of the harvesting elevating lever 28 for commanding the rising command and the descending command of Information is also input to the control device 22.

On the other hand, from the control apparatus 22, the drive signal to the hydraulic control electromagnetic valves 29-33 for hydraulically controlling the harvesting cylinder C1 and the four machine main body attitude-change hydraulic cylinders C2 to C5 is output, respectively. It is. Further, the control device 22 performs mowing height control for operating the mowing cylinder C1 such that the detection value of the mowing height sensor 9 is maintained at the set mowing height set in the mowing height setter 39 during mowing operations. Run

And as shown in FIG. 9, the acceleration detection means 200 which detects the acceleration when the vehicle body V moves to the front-back direction is comprised using the control apparatus 22 and the shift lever sensor 52. As shown in FIG. . Specifically, the control device 22 is configured to calculate the acceleration when the vehicle body V moves in the front-back direction from the temporal change rate of the detection value of the shift lever sensor 52.

In addition, the description of the vehicle body V with respect to the temporal change rate of the detection value of the shift lever sensor 52 from each element of the vehicle body transmission system, such as the gear drive system in the continuously variable transmission 47 and the mission unit 48, is added. The formula corresponding to the model showing the relationship with the acceleration in the front-rear direction is obtained. In addition, in the front and rear inclination angle sensor 24, a calculation formula corresponding to a model representing the behavior of how the liquid 42 is inclined when acceleration is actually applied is obtained. Further, the relationship between the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24 and the value corresponding to the detected value output from the front and rear inclination angle sensor 24, that is, the inclination angle from the horizontal state of the liquid 42. And an arithmetic expression representing these relations are obtained based on a model representing the relation with the actual output values detected for the inclination angle.

And the control apparatus 22 memorize | stores the various calculation formulas mentioned above in a memory, and the vehicle body V is moved back and forth from the temporal change rate of the detection value of the shift lever sensor 52 using these various calculation formulas. Calculate the acceleration at the time of movement by the calculation, and obtain the inclination angle correction information corresponding to the error of the front and rear inclination angle sensor 24 generated due to the acceleration, and the inclination angle correction information and the detected value of the front and rear inclination angle sensor 24 It is comprised so that the inclination angle of the vehicle body V with respect to a horizontal reference plane may be calculated | required from the

When the acceleration when the vehicle body V moves in the forward direction and the backward direction occurs, the gravity type front and rear inclination angle sensor 24 causes the liquid (in the container 41) to rise due to the acceleration even if the vehicle body is not inclined in the front and rear directions from the horizontal reference plane. The liquid level in 42 becomes a position where the moving direction side of the vehicle body V is at a low position, and the side opposite to the moving direction is at an inclined posture. For example, FIG. 8B shows a state in which the rear side liquid level of the liquid 42 becomes higher than the front side when acceleration occurs in the left direction (for example, in front of the apparatus main body) of the figure. In this case, although the vehicle body V is not actually inclined from the horizontal reference plane, the front and rear inclination angle sensor 24 outputs an incorrect detection result that the vehicle body V is inclined to the rear inclination side by the set angle from the horizontal reference plane. do. This state occurs even when the vehicle body V moves backward.

Therefore, the controller 22 obtains the inclination angle correction information corresponding to the error of the front and rear inclination angle sensor 24 generated due to the acceleration, and obtains the inclination angle with respect to the horizontal reference plane of the vehicle body V precisely. Therefore, the inclination angle calculation means 300 is comprised using the control apparatus 22. As shown in FIG.

Further, by using the control device 22, the posture change operation means 100 of the vehicle body V with respect to the horizontal reference plane is maintained at the set inclination angle based on the detection information of the front and rear inclination angle sensor 24. Posture change control means for maintaining the left and right inclination angles of the vehicle body V with respect to the horizontal reference plane based on the front and rear attitude control (hereinafter, referred to as pitching control) for controlling the operation and the detection information of the left and right inclination angle sensors 23. The attitude control means 400 which performs left-right attitude control (henceforth a rolling control) which controls operation | movement of 100 is comprised.

In the pitching control, the posture control means 400 includes two hydraulic cylinders (left front cylinder C2 and right front cylinder C4) located at the left front side and the right front side of the four hydraulic cylinders C2 to C5. ) And two hydraulic cylinders C2 to C5 of any one of the two hydraulic cylinders (left rear cylinder C3 and right rear cylinder C5) located at the left rear part and the right rear part. In the state, it is comprised so that the other two hydraulic cylinders C2 to C5 may drive operation, and in rolling control, it is located in a left front part and a left rear part among the said four hydraulic cylinders C2 to C5. Two hydraulic cylinders (left front cylinder C2 and left rear cylinder C3) and two hydraulic cylinders (right front cylinder C4 and right rear cylinder C5) located at the right front side and the right rear side. Two hydraulic cylinders of either In a state in which the C5) a drive stop, and the two hydraulic cylinders (C2 to C5) and the other is configured to operate the drive.

Next, the specific control operation of the pitching control by the control device 22 will be described based on the flowcharts of FIGS. 10 and 11. This pitching control is configured to be executed in a state where the threshing clutch 45 is turned on. That is, it is executed when the threshing clutch switch (not shown) which detects the on-off of the threshing clutch 45 is turned on.

In this pitching control, first, the detection value of the shift lever sensor 52 corresponding to the target vehicle speed commanded by the shift lever 51 is read out at set time intervals, and the temporal change rate of the detected value is obtained. And the vehicle body V is moved to the front-rear direction from the calculation formula regarding the relationship with the acceleration in the front-back direction of the vehicle body V with respect to the temporal change rate of the detection value of the shift lever sensor 52 previously memorized as mentioned above. Calculate the acceleration when moving to.

Next, due to the acceleration from the formula for the relationship between the acceleration obtained as described above and the acceleration stored in advance as described above and the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24, The liquid 42 in the inclination angle sensor 24 is converted to the inclination angle at which the inclination is inclined. In addition, the relationship between the inclination angle and the value corresponding to the detected value output from the front and rear inclination angle sensor 24 and the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24 previously stored as described above. The inclination angle correction information is obtained from the equation. The tilt angle correction information is a value corresponding to an error generated by the front and rear tilt angle sensors 24 due to the acceleration. The correct front and rear inclination angles of the vehicle body V with respect to the horizontal reference plane are obtained from the inclination angle correction information and the actual detection values of the front and rear inclination angle sensors 24.

Next, a posture change operation process is performed based on the inclination angle of the vehicle body V with respect to the horizontal reference plane obtained in this way.

That is, as shown in FIG. 11, if the deviation of the detected value of the front-back inclination-angle sensor 24 calculated | required as mentioned above, and the setting front-back inclination-angle is out of pitching dead band to the front inclination side of the vehicle body V, the apparatus main body On the basis of the detection information of the left and right stroke sensors 19 and 21 located in the rear part, it is judged whether any one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position, If either of (C3, C5) is not operated at the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are moved until either one of the cylinders C3, C5 reaches the lower limit position. Short run. When either one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position, the left front cylinder until either one of the left front cylinder C2 and the right front cylinder C4 reaches the upper limit position. (C2) and the right front cylinder (C4) is short-actuated.

When the deviation between the detected value of the front and rear inclination angle sensor 24 and the set front and rear inclination angle is outside the pitch dead band toward the rear inclination side of the vehicle body V, detection of the left and right stroke sensors 18 and 20 located in the front part of the apparatus main body. Based on the information, it is determined whether either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, and either of the cylinders C2 and C4 is operated to the lower limit position. Otherwise, the left front cylinder C2 and the right front cylinder C4 are extended and operated until either one of the cylinders C2 and C4 reaches the lower limit position. When either one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position, the left rear cylinder until either one of the left rear cylinder C3 and the right rear cylinder C5 reaches the upper limit position. (C3) and the right rear cylinder (C5) are extended. In addition, as the inclination angle before and after the setting, a value at which the vehicle body V becomes the horizontal attitude when the ground portions of the traveling devices 1L and 1R are in the horizontal attitude is set.

In this way, the attitude change operation is executed so that the angle shift between the front and rear inclination angle of the vehicle body V and the front and rear inclination angle corresponding to the horizontal state is suppressed into the dead zone while the height of the vehicle body V is as low as possible. In addition, when driving two hydraulic cylinders as mentioned above, when there is a difference in the speed of change of the operation amount (cylinder expansion amount) by the two hydraulic cylinders which drive operation, for example, the hydraulic cylinder of the slower speed is changed. By controlling the operation state of two hydraulic cylinders, such as intermittently driving the drive of the hydraulic cylinder of a higher speed while driving continuously, operation is controlled to suppress the difference of the operation amount between two hydraulic cylinders which drive operation into a set value. It becomes the structure to say.

Therefore, according to the above structure, even when the acceleration occurs when the vehicle body V moves in the front-rear direction, the vehicle body V with respect to the horizontal reference plane of the vehicle body V in the state in which the error in the front-back inclination-angle sensor 24 is small is small. Accurate front and rear inclination angles can be obtained, and the front and rear inclination angles with respect to the horizontal reference plane of the vehicle body can be maintained at the set inclination angle.

Next, another embodiment of the first embodiment will be described.

(1) In this embodiment, although the structure which detects the acceleration by the said acceleration detection means 200 is different, since the other structure is the same as 1st embodiment, only another structure is demonstrated and the same structure is demonstrated. Omit.

In this embodiment, the said acceleration detection means 200 comprised using the said control apparatus 22 is comprised so that the said acceleration may be calculated | required based on the detection information of the vehicle speed sensor 50. FIG. That is, the vehicle speed sensor 50 detects the vehicle speed based on the rotation speed of the power transmitted to the mission unit 48 via the continuously variable transmission 47 as shown in FIG. It functions as a traveling speed detection means for detecting the drive speed of the traveling apparatuses 1L and 1R when reversing.

In the present embodiment, the acceleration in the front-rear direction of the vehicle body V is calculated by calculation from the temporal change rate of the detected value of the vehicle speed sensor 50. In the same manner as in the first embodiment, in the front-rear inclination angle sensor 24, An arithmetic equation corresponding to a model representing how the liquid 42 inclines when the acceleration is actually applied is obtained, and the inclination angle and the inclination angle sensor of the liquid 42 in the front and rear inclination angle sensor 24 are obtained. On the basis of the model showing the relationship with the value corresponding to the detection value output from (24), that is, the relationship with the detection value actually output when the inclination angle from the state in which the liquid 42 is horizontal is changed. To calculate arithmetic expressions representing these relationships.

And the control apparatus 22 memorize | stores the various calculation formulas mentioned above in a memory, and the vehicle body V moves to the front-back direction from the temporal change rate of the detection value of the vehicle speed sensor 50 using these various calculation formulas. After calculating the acceleration at the time of movement by calculation, the inclination angle correction information corresponding to the error of the front and rear inclination angle sensor 24 generated due to the acceleration is obtained, and from the inclination angle correction information and the detected value of the front and rear inclination angle sensor 24 It is comprised so that the inclination angle of the vehicle body V with respect to a horizontal reference plane may be calculated | required.

Hereinafter, the specific control operation | movement in pitching control of the said control apparatus 22 is demonstrated.

As shown in Fig. 12, the control device 22 reads the detected value of the vehicle speed sensor 50 at set time intervals, and based on the difference value of the detected value of the vehicle speed sensor 50, the vehicle body V The acceleration when moving forward and backward is calculated by calculation. Next, from the calculated equation for the relationship between the obtained acceleration and the previously stored acceleration as described above and the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24, the front and rear inclination angle sensor ( The inclination angle at which the liquid 42 in 24 is inclined is obtained. In addition, the relationship between the inclination angle and the value corresponding to the detected value output from the front and rear inclination angle sensor 24 and the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24 previously stored as described above. The inclination angle correction information is obtained from the equation. This tilt angle correction information is a value corresponding to an error generated by the front and rear tilt angle sensors 24 due to the acceleration. Then, the correct inclination angle with respect to the horizontal reference plane of the vehicle body V is obtained from the inclination angle correction information and the actual detected value of the front and rear inclination angle sensors 24. Then, in the same manner as in the first embodiment, the posture change manipulation process is executed based on the front and rear inclination angles with respect to the horizontal reference plane of the correct vehicle body thus obtained.

Further, in the above-described embodiment, the relationship between the temporal change rate of the detection value of the shift lever sensor and the acceleration, the relationship between the acceleration and the inclination angle of the front and rear inclination angle sensors, the value corresponding to the detection value of the inclination angle of the front and rear inclination angle sensors and the front and rear inclination angle sensors Although the arithmetic expression corresponding to the model showing the behavior is stored in each of the relations with each other, the respective arithmetic processing is performed separately, but instead of such a configuration, it may be configured as follows.

That is, in the front-rear direction of the vehicle body V with respect to the temporal change rate of the detected value of the shift lever sensor 52 from each element of the vehicle body transmission system, such as the gear drive system in the continuously variable transmission 47 and the mission unit 48,. A model showing the relationship between the acceleration and the angle, the model showing the behavior of how the liquid 42 is inclined when the acceleration is actually applied to the front and rear inclination angle sensor 24, the liquid 42 in the front and rear inclination angle sensor 24 Is generated due to the temporal rate of change of the detection value of the shift lever sensor and the acceleration by simulation by soft processing, using a model indicating the relationship between the inclination angle of the sensor) and the detected value output from the front and rear inclination angle sensor 24, and the like. The relationship between the inclination angle correction information corresponding to the error of the front and rear inclination angle sensor 24 to be obtained is obtained as map data, the map data is stored, and the shift lever From the temporal change rate of the detected value of the sensor, the inclination angle correction information corresponding to the error of the front and rear inclination angle sensor 24 generated due to the acceleration is obtained at once, and the vehicle body is obtained from the inclination angle correction information and the detected value of the front and rear inclination angle sensor 24. You may comprise so that the inclination angle with respect to the horizontal reference plane of (V) may be calculated | required.

In the above-described embodiment, the relationship between the temporal rate of change of the detected value of the vehicle speed sensor and the acceleration, the relationship between the acceleration and the inclination angle of the front and rear inclination angle sensors, the value corresponding to the inclination angle of the front and rear inclination angle sensors and the detection value of the front and rear inclination angle sensors For each of the relations, the expressions corresponding to the models representing the behaviors are stored, and each calculation processing is performed separately, but instead of such a configuration, it may be configured as follows.

That is, a model representing the behavior of how the liquid 42 is inclined when the acceleration is actually applied to the front and rear inclination angle sensor 24, the inclination angle and the inclination angle of the liquid 42 in the front and rear inclination angle sensor 24. Inclination angle corresponding to the error of the front and rear inclination angle sensor 24 generated due to the acceleration and the acceleration by simulation by soft processing using a model or the like indicating a relationship with the detected value output from the sensor 24. The relationship with the correction information is obtained as map data, the map data is stored, the acceleration is obtained from the detected value of the vehicle speed sensor, and the front and rear inclination angle sensors 24 generated at one time from the acceleration are generated from the acceleration. The angle of inclination correction information corresponding to the error of the reference) is obtained, and the horizontal reference of the vehicle body V is determined from the angle of inclination correction information and the detected value of the front and rear inclination angle sensors 24. It may be configured to obtain the tilt angle for.

In the above embodiment, acceleration is detected using a shift lever sensor or a vehicle speed sensor as the acceleration detection means. However, instead of such a configuration, an acceleration sensor that directly detects the acceleration when the vehicle body V moves in the front-rear direction. It is good also as a structure which uses.

In addition, in the above embodiment, the transmission operation trunnion shaft and the transmission lever of the continuously variable transmission as the traveling transmission apparatus are configured to be mechanically linked, but instead of such a configuration, the continuously variable transmission is shifted by an actuator. It is good also as a structure which detects with the shift lever sensor which detects the operation position of a shift lever, and controls an actuator so that it may become a shift state corresponding to a shift position based on the detection result of the shift lever sensor.

Further, in the above embodiment, the posture such that the front and rear inclination angles with respect to the horizontal reference plane of the vehicle body is maintained at the set inclination angle based on the information of the accurate inclination angle with respect to the horizontal reference plane of the vehicle body obtained based on the inclination angle correction information and the detected value of the inclination angle sensor. Although the posture control means which controls a change operation means is provided, it is not limited to such a structure, For example, it is made to display the information of the exact inclination-angle with respect to the horizontal reference plane of a vehicle body by a display apparatus, or by audio | voice information. It is good also as a form which outputs it so that an operator can identify by an output means, for example, to make it notify.

(2nd embodiment)

Next, 2nd Embodiment of this invention is described based on drawing. In addition, description is abbreviate | omitted about the structure similar to 1st Embodiment.

This combine is equipped with a posture detection device for obtaining the front and rear inclination angles of the vehicle body V as shown in Fig. 13, and the posture detection device is a gravity type front and rear inclination angle sensor for detecting the inclination angle of the vehicle body V in the front and rear directions. (24), the angular velocity sensor 25 for detecting the angular velocity in the front and rear inclination directions of the vehicle body V, the acceleration detection means 200 for detecting the acceleration when the vehicle body V moves in the front and rear directions, and the front and rear, It is comprised by the inclination-angle calculation means 300 which calculates the front-back inclination-angle of the vehicle body V based on the detection value of the inclination-angle sensor 24, and the detected value of the angular velocity sensor 25. As shown in FIG.

Then, when the inclination angle calculation means 300 detects when the acceleration detected by the acceleration detection means 200 is larger than the set value and the acceleration becomes smaller from the state larger than the set value, the set time for returning to the detection state is During the elapsed time, the forward and backward inclination angles of the vehicle body are determined based on the front and rear inclination angles of the vehicle body obtained when the acceleration is greater than the set value and the detected values of the angular velocity sensor 25 which are sequentially detected with the passage of time. When the acceleration detected by the acceleration detecting means 200 is smaller than the set value and is outside the set time for returning to the detection state, the detected value and time elapse of the front and rear inclination angle sensor 24 which are sequentially detected in accordance with the passage of time. On the basis of the detected value of the angular velocity sensor 25 which is sequentially detected with It is adapted to obtain the angle of inclination. The set value is set to the smallest acceleration that is expected to cause an error due to the acceleration in the detected value of the front and rear inclination angle sensor 24.

Although the said angular velocity sensor 25 is not described in detail, it is comprised by the vibration gyro system, and is a main state in the state which is located in the center position of the substantially left-right direction of the vehicle body V, and is located in the substantially center position of the front-back direction of the vehicle body V. It is provided in the frame 11 in the fixed state, and it is set as the structure which can detect the angular velocity when the vehicle body V inclines in the front-back direction.

As shown in Fig. 13, a control device 22 for use with a microcomputer is provided, and each of the stroke sensors 18 to 21, the cutting height sensor 9, and the left and right inclination angle sensors are mounted on the control device 22. 23) The detection information of the front-back inclination-angle sensor 24, the angular-speed sensor 25, the vehicle speed sensor 50, the shift lever sensor 52, and the bottom sensor 53 is input. Moreover, the automatic on-off switch 27 which instructs on-off of automatic posture control mentioned later is provided in the operation panel of the boarding part 2, and the operation information is also input into the control apparatus 22. As shown in FIG. In addition, the operation panel of the boarding driver 2 has a volume-type mowing height setter 39 and a mowing unit 10 for setting the height of the cutting unit 10 with respect to the vehicle body V, that is, the cutting height. A rising switch SW1 for commanding the harvesting section ascending, a descending switch SW2 for commanding the harvesting section lowering and the like based on the operation of the operation lever 28 for commanding the rising command and the descending command of It is input to the control device 22, too.

As described also in the first embodiment, if the acceleration when the vehicle body V moves in the forward direction and the backward direction occurs, the gravity front and rear inclination angle sensor 24 does not have to incline the vehicle body in the front and rear directions from the horizontal reference plane. Due to the acceleration, the liquid level in the liquid 42 in the container 41 is in a low position in the lower direction in the moving direction of the vehicle body V, and becomes an inclined posture in a state in which the upper direction in the moving direction is higher. In this case, although the vehicle body V is not actually inclined from the horizontal reference plane, the front and rear inclination angle sensor 24 outputs an incorrect detection result that the vehicle body V is inclined to the rear inclination side by the set angle from the horizontal reference plane. do. This state occurs even when the vehicle body V moves backward.

Therefore, the control device 22 is configured to change the calculation method when calculating the front and rear inclination angles in accordance with the detection result of the acceleration detected by the acceleration detection means 200 when detecting the front and rear inclination postures. That is, basically, when the acceleration is smaller than the set value, the front and rear inclination angles of the vehicle body are determined based on the detection value of the front and rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25. The front and rear inclination angles of the vehicle body are determined on the basis of the latest front and rear inclination angles before the increase in size and the detected value of the angular velocity sensor 25. In addition, even when switching to a small state after the acceleration is large, the same method as that when the acceleration is large is performed while the set time elapses from the switching time point.

In addition, when obtaining the forward and backward inclination angle of the vehicle body based on the detected value of the front and rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25, the low frequency component of the detected value of the front and rear inclination angle sensor 24 and the detected value of the angular velocity sensor 25 The inclination angle of the front and rear of the vehicle body is determined using the high frequency component of the integrated value.

In addition to the explanation, as shown in Fig. 15A, the low pass filter process for removing the high frequency component among the detection values of the front and rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25 are shown. Each of the integral processing to integrate and the high pass filter processing to remove the low frequency components among the integrated values by the soft processing, and the output value and the high pass filter 1 processing after performing the low pass filter processing It is comprised so that the process which calculates the front and rear inclination angle of a vehicle body by adding a subsequent output value may be performed. That is, the low pass filter LPF, the integrating means 500, the high pass filter HPF, etc. are comprised using the control apparatus 22, and the inclination-angle calculation means 300 is comprised by these.

Also, the attitude change operation is performed such that the front and rear inclination angles of the vehicle body V with respect to the horizontal reference plane are maintained at the set inclination angle based on the detection information of the front and rear inclination angles of the vehicle body obtained by the inclination angle calculation means 300 using the control device 22. The attitude control means 400 which performs pitching control which controls the operation | movement of the means 100 is comprised. In addition, although not described in detail, the attitude control means 400 is based on the detection information of the left and right inclination-angle sensor 23, and the attitude change operation means so that the left and right inclination angle of the vehicle body V with respect to the horizontal reference plane is maintained at the set inclination angle ( Left and right posture control that controls the operation of 100) is also executed.

Next, a specific control operation of pitching control by the control device 22 will be described based on the flowchart in FIG. This pitching control is configured to be executed in a state where the threshing clutch 45 is turned on. That is, it is executed when the threshing clutch switch (not shown) which detects the on-off of the threshing clutch 45 is turned on.

In this pitching control, first, the detected value of the shift lever sensor 52 corresponding to the target vehicle speed commanded by the shift lever 51 is read out at set time intervals, and the amount of change per unit time of the detected value is calculated from the vehicle body ( The acceleration when V) moves in the front-rear direction is calculated by calculation.

When the acceleration obtained in this manner is smaller than the set value, and when the acceleration time has elapsed more than the set time (300 msec) for the detection state return from the switching time point from which the acceleration is larger than the set value to a small state, for example, the acceleration When the constant speed travel is performed in a small state, the front and rear inclination angles of the vehicle body V are calculated based on the detected values of the front and rear inclination angle sensors 24 and the detected values of the angular velocity sensor 25.

Specifically, as shown in Fig. 15A, a low pass filter process for removing high frequency components among the detected values of the front and rear inclination angle sensors 24 which are sequentially detected, and the detected value of the angular velocity sensor 25 which are sequentially detected. Each of the integral processing for integration and the high pass filter processing for removing low frequency components among the integrated integrals is executed, and the output value after performing the low pass filter processing and the output value after performing the high pass filter processing are added to the vehicle body ( The inclination angle of V) is obtained.

The signal processing of the control at the time of obtaining the front and rear inclination angles is represented by the transfer function as shown in FIG. The actual front and rear inclination angle θ of the vehicle body is detected by the front and rear inclination angle sensor 24, and the inclination angle detection value is output, but the front and rear inclination angle sensor 24 is a primary delay element [1 / (T1S + 1)] (T1 is a coefficient ). Then, the inclination angle detection value is subjected to the low pass filter process having the primary delay element [1 / (T2S + 1)] (T2 is a coefficient), whereby the front and rear inclination angle sensors 24 have fine vibrations or the like. Due to this, high frequency noise generated can be effectively eliminated, and the detected value is stabilized.

On the other hand, the detected value of the angular velocity sensor 25 is a value obtained by differentiating the actual forward and backward inclination angle θ of the vehicle body V, and after integrating the detected value, the first delay element and the low pass of the forward and backward inclination angle sensor 24 have. A high pass component of the inverse characteristic [1-1 / (T1S + 1) × 1 / (T2S + 1)] of the characteristics of the sum of the delay elements by the filter process is performed to thereby remove the high frequency component in a state where the integral error is effectively removed. A detection value including the can be obtained. By adding the output value after the low pass filter process and the output value after the high pass filter process, the inclination angle of the vehicle body V relative to the horizontal reference plane can be detected with little error.

Then, when the acceleration detected by the acceleration detecting means 200 is larger than a set value and when the acceleration is switched from a state larger than the set value to a smaller state, the set time for detecting state return (300 msec) may elapse. In the meantime, the front and rear inclination angles of the vehicle body are obtained based on the front and rear inclination angles of the vehicle body obtained when the acceleration exceeds the set value and the detection values of the angular velocity sensor 25 which are sequentially detected with the passage of time.

During the period from when the acceleration is switched from the state larger than the set value to the state smaller than the set time (300 msec) for returning to the detection state, the liquid contained in the front and rear inclination angle sensor 24 is caused by viscosity. There is a possibility that there is a delay time until the return to the horizontal position and measurement errors may occur. Therefore, the same processing as that when the acceleration is large is performed.

Specifically, when the acceleration does not exceed the set value as shown in Fig. 15B, the detection value of the front and rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25 are described as described above. The value of the forward and backward inclination angles when the acceleration exceeds the set value among the forward and backward inclination angles of the vehicle body, which are sequentially calculated, is integrated, and the detected value of the angular velocity sensor 25 is sequentially detected with the passage of time. The integral of the means 500 is added to determine the front and rear inclination angles of the vehicle body.

Next, as shown in FIG. 11, the posture change operation process is performed based on the front-back inclination angle of the vehicle body V with respect to the horizontal reference plane calculated | required in this way. In addition, since it is the same as that of 1st Embodiment, the detail of a posture change operation process is abbreviate | omitted.

In 2nd Embodiment, you may comprise the inclination-angle calculation means as follows.

That is, in this embodiment, although the structure of the inclination-angle calculation means which calculates the front and rear inclination angle of a vehicle body is different, since the other structure is the same as 2nd Embodiment, only another structure is demonstrated and the same structure is abbreviate | omitted.

In this embodiment, the setting for returning to the detection state after the inclination angle calculating means 300 is greater than the set value when the acceleration detected by the acceleration detecting means 200 and the acceleration becomes smaller from the state larger than the set value is set. The vehicle body is based on the detection value detected by the front and rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25 which are sequentially detected with the passage of time when the acceleration becomes larger than the set value until the time elapses. A forward and backward inclination angle of 24, and when the acceleration detected by the acceleration detection means 200 is smaller than the set value and outside the set time for returning to the detection state, the front and rear inclination angle sensors 24 which are sequentially detected as time passes. It is configured to determine the front and rear inclination angles of the vehicle body based on the detected value of).

That is, in this embodiment, the control apparatus 22 performs the following processes.

As shown in Fig. 17, the control device 22 obtains the acceleration when the vehicle body moves in the front-back direction as in the first embodiment, and the acceleration is smaller than the set value and the acceleration is larger than the set value. When more than the set time for detecting state return (300 msec) has elapsed from the time point when the state is switched from the small state to the small state, as shown in Fig. 18A, the detection value of the front and rear inclination angle sensor 24 is based on the detected value. Calculate the front and rear inclination angles.

And when the acceleration detected by the acceleration detecting means 200 is larger than a set value, and when the set time for detecting state return (300 msec) elapses after the acceleration becomes smaller from a state larger than the set value. In the meantime, before and after the vehicle body is based on the detected value detected by the front and rear inclination angle sensor 24 when the acceleration becomes larger than the set value, and the detected value of the angular velocity sensor 25 sequentially detected with time. Find the angle of inclination.

Specifically, as shown in Fig. 18B, the detected value when the acceleration exceeds the set value among the detected values of the front and rear inclination angle sensors 24 which are sequentially detected when the acceleration does not exceed the set value. It is to be remembered that the value obtained by integrating the detection value of the angular velocity sensor 25 sequentially detected with the passage of time is integrated with the integrating means 500 to obtain the front and rear inclination angles of the vehicle body.

The posture change operation process performed based on the front-back inclination angle calculated | required as mentioned above is the same as that of the case of 1st Embodiment.

In addition, in 2nd Embodiment, you may comprise the acceleration detection means 200 as follows. In this embodiment, although the structure which detects the acceleration by the said acceleration detection means 200 is different, since other structure is the same as 1st embodiment, only another structure is demonstrated and the same structure is demonstrated. Omit.

That is, in this embodiment, the said acceleration detection means 200 comprised using the said control apparatus 22 is comprised so that the said acceleration may be calculated | required based on the detection information of the vehicle speed sensor 50. FIG. That is, the vehicle speed sensor 50 detects the vehicle speed based on the rotation speed of the power transmitted to the mission unit 48 via the continuously variable transmission 47, as shown in FIG. And a traveling speed detecting means for detecting the driving speeds of the traveling devices 1L and 1R when reversing. In the present embodiment, the vehicle body V is determined from the amount of change per unit time of the detected value of the vehicle speed sensor 50. The acceleration in the front-rear direction is calculated by calculation. Subsequent control based on the detection result of acceleration is the same as that of 1st Embodiment.

Moreover, in the said embodiment, when the acceleration detected by the said acceleration detection means is larger than a setting value, and until the setting time for returning to a detection state has passed after the acceleration became a state smaller than a setting value larger than the said setting value, In the meantime, in determining the front and rear inclination angles of the vehicle body, when the acceleration was greater than the set value, the front and rear inclination angles of the vehicle body or the detected value detected by the inclination angle sensor were used. You may make it use the front-back inclination-angle of the vehicle body calculated | required or the detected value detected by the said inclination-angle sensor rather than when it became larger than before.

That is, in the first embodiment, the detection value of the shift lever sensor 52 is read at a set time interval, and the acceleration value when the vehicle body moves in the front-rear direction is calculated from the amount of change per unit time of the detection value and a preset calculation formula. In the third embodiment, the acceleration in the front-rear direction of the vehicle body V is calculated by calculation from the amount of change per unit time of the detected value of the vehicle speed sensor 50. It is the structure calculated | required by sequential operation every unit time. Therefore, you may make it use the front-back inclination-angle of the vehicle body or the detection value detected by the said inclination-angle sensor before the said unit time for measurement rather than when the said acceleration became larger than setting value.

In addition, in the said embodiment, although acceleration was detected using a shift lever sensor or a vehicle speed sensor as acceleration detection means, instead of this structure, the acceleration sensor which directly detects the acceleration when the vehicle body V moves to the front-back direction. It is good also as a structure which uses.

In addition, in the said embodiment, although the trunnion shaft for the shift operation of the continuously variable transmission as a traveling transmission apparatus and the transmission lever were comprised mechanically, instead of such a structure, it is the structure which shifts a continuously variable transmission by an actuator. It is good also as a structure which detects with the shift lever sensor which detects the operation position of a shift lever, and controls an actuator so that it may become a shift state corresponding to a shift position based on the detection result of the shift lever sensor.

[Third Embodiment]

Next, 3rd Embodiment of this invention is described based on drawing. In addition, description is abbreviate | omitted about the structure similar to embodiment mentioned above.

In the work vehicle according to the third embodiment, as shown in FIGS. 19 and 22, a control device 22 using a microcomputer is provided, and the control devices 22 are each of the stroke sensors 18 to 21. The detection information of the cutting height sensor 9, the left and right inclination-angle sensor 23, the front and rear inclination-angle sensor 24, and the bottom sensor 53 is input. Moreover, the automatic on-off switch 27 which instructs on-off of automatic posture change control mentioned later is provided in the operation panel of the boarding part 2, and each operation information thereof is also input to the control apparatus 22, have. In addition, a volume-type cutting height setter 39 for setting the height, ie, cutting height, of the cutting portion 10 with respect to the vehicle body V, the rising switch SW1 for commanding the cutting portion rising, and the cutting portion lowering The lower switch SW2 etc. which instruct | indicate is provided, and these information are also input into the control apparatus 22. FIG.

The rising switch SW1 and the lowering switch SW2 are configured to be turned on and off by the front and rear rocking operation of the cross lever swingable operation lever 28 provided in the operation panel of the boarding and driving unit 2. In other words, the upward switch SW1 is turned on when the operating lever 28 swings more than the set amount on the rear side, and the lowering switch SW2 is turned on when the operating lever 28 is swung more than the set amount on the front side. .

20, the left inclination switch 60 which instructs the left inclination of the vehicle body and the right inclination switch which instructs the right inclination of the vehicle body in the upper part of the handle part 28a of the said operation lever 28 as shown in FIG. 61 and each of the horizontal switches 62 which instruct the horizontal attitude of the vehicle body are provided so as to be operable with a finger.

The left inclination switch 60 and the right inclination switch 61 change the inclination angle of the inclination attitude of the vehicle body V with respect to the traveling devices 1R and 1L when performing the posture change control (rolling control) in the left and right directions. A posture change command means of a manual operation type for selectively instructing one side posture change command to be changed to one direction and the other side posture change command to be changed to the other side of the inclination angle change direction. On the other hand, the horizontal switch 62 constitutes a manually operated horizontal target inclination angle command means for instructing a target inclination angle for a horizontal posture in which the inclination angle with respect to the horizontal reference plane becomes zero. The detection information of each of these switches 60 to 62 is also input to the control device 22.

When the explanation is added, each of the left inclined switch 60, the right inclined switch 61, and the horizontal switch 62 is turned on by the pressing operation, and the off-push-type pressing operation that turns off when the pressing is released. When the left inclination switch 60 is turned on, the left downward instruction for inclining the left side is commanded as one side attitude change instruction, and when the right inclination switch 61 is on, the other side attitude change is made. As a command, it is a structure which the right lower instruction | command which inclines so that it may descend right may be commanded. When the horizontal switch 62 is turned on, the horizontal command is instructed, and in the rolling control, the inclination angle with respect to the horizontal reference plane becomes a command for the target inclination angle for the horizontal posture.

On the other hand, from the control apparatus 22, the drive signal to the electromagnetic valves 29-33 for hydraulic control for hydraulically controlling the mowing cylinder C1 and the hydraulic cylinders C2 to C5 for changing the four machine main body attitudes. Are output respectively. In addition, the control device 22, during the mowing operation, the mowing height for operating the mowing cylinder C1 such that the detection value of the mowing height sensor 9 is maintained at the set mowing height set in the mowing height setter 39. Take control.

By using the control device 22, the attitude change operation means 100 so that the left and right inclination angles of the vehicle body V with respect to the horizontal reference plane are maintained at the target left and right inclination angles based on the detection information of the left and right inclination angle sensors 23. The attitude control means 400 which performs rolling control as an example of the attitude change control which controls the operation | movement of the is comprised. In addition, the attitude | position control means 400 is a posture change control means 100 so that the front-back inclination angle of the vehicle body V with respect to a horizontal reference plane is maintained at the target front-back inclination angle based on the detection information of the front-back inclination-angle sensor 23. As shown in FIG. It is also to perform the posture control before and after controlling the operation of.

In addition, the attitude control means 400 is comprised so that switching to the automatic control mode which performs the said rolling control, and the manual operation mode which operates the posture change operation means 100 by manual operation is carried out, and the automatic control mode is set, In this state, the rolling control is executed. The switching of the control mode is configured to switch by turning on or off the automatic on / off switch 27. That is, when the automatic on / off switch 27 is turned on and the automatic on mode is commanded, the automatic on / off switch 27 is switched to the automatic control mode.

And the said attitude | position control means 400 is carrying out the said rolling control WHEREIN: The left lower instruction | command as the one side attitude | position change instruction by the said left inclination switch 60, or the said other by the said right inclination switch 61. When the right descending command as the side attitude change command is commanded, the left and right inclination posture of the vehicle body V with respect to the traveling devices 1R and 1L is based on the command. In order to change to the right inclined side, the operation of the posture change control means 100 is controlled, and when the command of the left lowering command or the right lowering command ends, the horizontal reference plane detected by the inclination angle sensor 23 at the end thereof. The inclination angle of the vehicle body V is set as the target inclination angle, and thereafter, the posture change operation means based on the set target inclination angle. It is configured to control the operation of 100.

And the control apparatus 22 is based on the command, if the left lower instruction | command by the said left inclination switch 60 or the right lower instruction | command by the said right inclination switch 61 is commanded in the said manual operation mode. The posture changing operation means 100 is operated to change the left and right inclination posture of the vehicle body V with respect to the traveling devices 1R and 1L to the left inclination side or the right inclination side. When it finishes, it is comprised so that operation | movement of the attitude | position change operation means 100 may be stopped. In addition, when the horizontal command by the horizontal switch 62 is instructed in the manual operation mode, the control device 22 uses the inclination attitude of the vehicle body V relative to the traveling devices 1R and 1L as the reference inclination attitude. It is configured to operate the posture change operation means 100 to change to.

That is, the manual-operation type reference attitude command means for instructing the horizontal switch 62 to change the inclination attitude of the vehicle body V with respect to the traveling devices 1R and 1L to the reference inclination attitude in the manual operation mode. It is a combined use.

Next, a specific control operation of the posture change in the left and right directions by the control device 22 will be described based on the flowcharts of FIGS. 22 to 24. This control is configured to be executed in a state where the threshing clutch 45 is turned on. That is, it is performed when the threshing clutch switch (not shown) which detects the on-off of the threshing clutch 45 is turned on.

As shown in Fig. 22, when the automatic on / off switch 27 is turned on and the on state is commanded, it is switched to the state of executing rolling control, and when the automatic on / off switch 27 is turned off and the automatic off is commanded, the manual The operation mode is switched, and the manual operation process is executed in this manual operation mode. In addition, when switching to the state which performs rolling control, 0 is initially set as a target inclination angle for rolling.

As shown in Fig. 23, in the rolling control, if there is no manual posture change operation command, the following processing is executed. In other words, if the deviation between the detected value of the left and right inclination angle sensor 23 and the signal value corresponding to the target inclination angle deviates the dead zone for rolling control to the left inclination side of the vehicle body V, the front and rear stroke sensors positioned on the right side of the main body of the apparatus On the basis of the detection information of (20, 21), it is determined whether any one of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, and both cylinders C4 and C5 are both If not operated to the lower limit position, the right front cylinder 4 is extended and the right rear cylinder C5 is shortened to operate until either one reaches the lower limit position. If either of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, then based on the detection information of the front and rear stroke sensors 18 and 19 located on the left side of the apparatus main body, It is determined whether any one of the left front cylinder C2 and the left rear cylinder C3 is operated to the upper limit position, and if both cylinders C2 and C3 are not operated to the lower limit position, either one is the upper limit position. The left front cylinder C2 is shortened and the left rear cylinder C3 is extended.

If the deviation between the detected value of the left and right inclination angle sensor 23 and the target inclination angle deviates the dead zone of the rolling control to the right inclination side of the vehicle body V, the front and rear stroke sensors 18 and 20 located on the left side of the apparatus main body. On the basis of the detection information of, it is determined whether any one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, and both cylinders C2 and C3 are operated to the lower limit position. If not, the left front cylinder C2 is extended and the left rear cylinder C3 is short-actuated until either one reaches the lower limit position. When either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, the right side is next based on the detection information of the front and rear stroke sensors 19 and 21 located on the right side of the apparatus main body. It is determined whether any one of the front cylinder C4 and the right rear cylinder C5 is operated at the upper limit position, and if both cylinders C4 and C5 are not operated at the upper limit position, either one is at the upper limit position. Until it reaches, the right front cylinder C4 is short-actuated and the right rear cylinder C5 is extended-actuated.

In this way, while changing the height of the vehicle body V as low as possible, the attitude change operation is automatically executed so that the angle shift between the left and right inclination angles of the vehicle body V and the target inclination angle falls within the dead zone. In addition, when driving two hydraulic cylinders as mentioned above, when there is a difference in the speed of change of the operation amount (cylinder expansion amount) by the two hydraulic cylinders which drive operation, for example, the hydraulic cylinder of the slower side The operation amount of the two hydraulic cylinders is adjusted within the set value by adjusting the operation state of the two hydraulic cylinders such as intermittently driving the hydraulic cylinder of the higher speed while driving the engine continuously. It is configured to control the operation.

Next, when a manual posture change operation instruction is made, the following processing is executed.

That is, if the command of the manual posture change operation by the manual is the right downward command by the right inclination switch 61, the right side is based on the detection information of the front and rear stroke sensors 20 and 21 located on the right side of the apparatus main body. It is determined whether any one of the front cylinder 4 and the right rear cylinder C5 is operated at the lower limit position, and if both cylinders C4 and C5 are not operated at the lower limit position, either is at the lower limit position. Until it reaches, the right front cylinder 4 is extended and the right rear cylinder C5 is short-actuated. When either of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, the left side is then based on the detection information of the front and rear stroke sensors 18 and 19 located on the left side of the apparatus main body. It is determined whether any one of the front cylinder C2 and the left rear cylinder C3 is operated to the upper limit position, and if both cylinders C2 and C3 are not operated to the lower limit position, either one is at the upper limit position. Until it reaches, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended.

That is, when the right lowering instruction continues, any one of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, and any one of the left front cylinder C2 and the left rear cylinder C3 is operated. One is operated to an upper limit position. However, if the instruction of the right lower instruction | command stops in the middle, operation will be stopped in the state when the instruction | command stopped.

If there is a left descending command by the left inclined switch 60, it is determined whether any one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, so that both cylinders C2 and C3 If neither of them is operated to the lower limit position, the left front cylinder C2 is extended and operated and the left rear cylinder C3 is shortened to operate until either one reaches the lower limit position. When either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, the right side is next based on the detection information of the front and rear stroke sensors 19 and 21 located on the right side of the apparatus main body. It is determined whether any one of the front cylinder C4 and the right rear cylinder C5 is operated at the upper limit position, and if both cylinders C4 and C5 are not operated at the upper limit position, either one is at the upper limit position. Until it reaches, the right front cylinder C4 is short-actuated and the right rear cylinder C5 is extended-actuated.

Therefore, when the left lowering command continues to be commanded, either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, and among the right front cylinder C4 and the right rear cylinder C5. Either one is operated to an upper limit position. However, if the command of the left lower command stops on the way, the operation is stopped in the state when the command is stopped.

Then, when the right lowering command by the right inclined switch 61 or the left lowering command by the left inclined switch 60 is commanded and the posture change operation is performed, the left and right tilt angle sensors at the end of the command are terminated. The detected value of (23) is set as the target inclination angle for rolling control. In other words, the target inclination angle for rolling control is updated.

Although neither the right falling instruction | command and the left descending instruction | command are commanded, when the horizontal instruction | command by the horizontal switch 62 is commanded, the target inclination angle for rolling control is set to zero based on the instruction | command. In other words, the target inclination angle for rolling control is updated.

In this way, when the target inclination angle is updated, rolling control is executed based on the updated target inclination angle in subsequent control.

As shown in Fig. 25, in the manual operation processing in the manual operation mode, the following processing is executed.

That is, if there is a right descending command by the right inclined switch 61, as in the case of rolling control, if either one of the right front cylinder 4 and the right rear cylinder C5 is not operated to the lower limit position, either The right front cylinder 4 is extended and the right rear cylinder C5 is short-actuated until is reached the lower limit position. If either of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, then either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the upper limit position. Otherwise, the left front cylinder C2 is short-actuated and either the left rear cylinder C3 is extended-actuated until either one reaches the upper limit position.

If the right lowering command continues to be commanded, either one of the right front cylinder 4 and the right rear cylinder C5 is operated to the lower limit position, and either one of the left front cylinder C2 and the left rear cylinder C3 is operated. It is operated to an upper limit position. When the instruction of the right falling instruction stops, the operation is stopped in the state when the instruction was stopped.

In addition, when there is a left descending command by the left inclined switch 60, when either one of the left front cylinder C2 and the left rear cylinder C3 is not operated to the lower limit position, when either one reaches the lower limit position. Until then, the left front cylinder C2 is extended and actuated and the left rear cylinder C3 is shortened. If either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, then either one of the right front cylinder C4 and the right rear cylinder C5 is not operated to the upper limit position. , The right front cylinder C4 is short-actuated and either the right rear cylinder C5 is extended and operated until either one reaches the upper limit position.

If the left lower command continues to be commanded, either one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, and either one of the right front cylinder C4 and the right rear cylinder C5 is operated. It is operated to an upper limit position. When the command of the left falling command is stopped, the operation is stopped in the state when the command is stopped.

In this manual operation mode, when the horizontal command by the horizontal switch 62 is instructed, the inclination attitude of the vehicle body V with respect to the traveling devices 1R and 1L is changed to the reference inclination attitude. And as said reference attitude, each said hydraulic cylinder C2-C5 so that each of the left side part and the right side part of the vehicle body V may change to the lower limit position of the lifting operation range with respect to the ground part of the traveling apparatus 1R, 1L. It is configured to operate.

That is, as shown in Fig. 25, when the horizontal command is commanded, the right front cylinder 4 is extended until one of the right front cylinder C4 and the right rear cylinder C5 reaches the lower limit position. And short-acting the right rear cylinder C5. Furthermore, the left front cylinder C2 is extended and the left rear cylinder C3 is short-actuated until either one of the left front cylinder C2 and the left rear cylinder C3 reaches the lower limit position. Therefore, each of the hydraulic cylinders C2 to C5 is operated so that each of the left side portion and the right side portion of the vehicle body V changes to the lower limit position of the lift operation range with respect to the ground portions of the traveling devices 1R, 1L. .

In the above embodiment, the posture control means is configured to be switchable between an automatic control mode and a manual operation mode, and in the automatic control mode, instructs a target inclination angle for a horizontal posture in which the inclination angle with respect to the horizontal reference plane becomes zero. The structure which combines the horizontal target inclination-angle instruction means of a manual operation type, and the manual-operation reference posture command means which instructs to change the inclination attitude of the vehicle body with respect to the said traveling apparatus into a reference inclination attitude in the said manual operation mode. However, it is good also as a structure which separately arranges these.

Moreover, in the said embodiment, in the said automatic control mode, the horizontal target inclination-angle instruction means of the manual operation type which instructs the target inclination angle for the horizontal attitude | position in which the inclination angle with respect to the said horizontal reference plane becomes zero, and the said manual operation mode. In addition, although the structure which combines the manual-operation type | standard reference attitude command means which instructs to change the inclination posture of the vehicle body with respect to the said traveling apparatus into a reference inclination attitude is good, you may make it the structure provided with these separately, respectively.

Moreover, in the said embodiment, the left inclination switch, the right inclination switch, and the horizontal switch as the said horizontal target inclination-angle command means as a said posture change command means are fingers in the handle part of the operation lever for control provided in the drive part of a vehicle body. Although the structure provided so that operation is illustrated was good, it is good also as a structure provided in another site | part, such as a control part panel.

Moreover, in the said embodiment, although the case of rolling control was shown as said attitude change control, it changes based on the instruction | command of the manual-operation type attitude change command means in pitching control which changes back and forth inclination angle instead of rolling control. It is good also as a structure which sets the front and rear inclination angle after an operation as a target inclination angle.

[4th Embodiment]

Next, 4th Embodiment of this invention is described based on drawing. In addition, description is abbreviate | omitted about the structure similar to embodiment mentioned above.

As shown in FIG. 26, the combine which concerns on 4th Embodiment is the linear continuously variable transmission 70 which can change the traveling speed in the straight traveling state at high and low speeds, and is located on the turning side at the time of turning driving. A swing continuously variable transmission 80 capable of high and low speed shifting of the apparatus is provided, and an electric system is configured such that power from the continuously variable transmissions 70 and 80 is output to the left and right traveling apparatuses 1R and 1L. have. The continuously variable transmission 70 for turning and the continuously variable transmission 80 for turning are respectively provided from the variable hydraulic pumps 70A and 80A to which power from the engine E is input, and the variable hydraulic pumps 70A and 80A. It is comprised by the hydrostatic continuously variable transmission HST of the well-known structure comprised by the pair of the hydraulic motors 70B and 80B which are rotationally driven by the supply oil of the oil.

Specifically, while the output of the continuously variable transmission for the straight line 70 is transmitted to the left and right pair of traveling devices 1R, 1L via the two-stage switchable secondary transmission 122, The power of the transmission 70 is configured to be transmitted to the harvesting section 10. The output gear 22b is fixed to the output shaft 22a of the sub transmission, and the center gear 24 which is integrally provided with the support shaft 123 is attached to this output gear 122b at all times. It is.

And a pair of left and right straight electric clutches which can be switched to an electric state and a shut-off state in order to separately control the transmission of power from the straight continuously variable transmission 70 to each of the left and right pair of traveling devices 1R and 1L, respectively. And the shut-off clutches 127 and 127 and the power transmission from the turning continuously variable transmission 80 to each of the left and right pair of traveling devices 1R and 1L, respectively, to separately control the electric state and the cutoff. A left and right pair of multi-plate friction clutches 25 and 25 as a left and right pair of turning electric clutches which can be switched to a state are comprised.

That is, a pair of left and right straight lines formed on both sides of the support shaft 123 between the center gear 124 between the two side surfaces of the center gear 124 and the shift gear 126 opposite to the support shaft 123. The left and right pair of right and left swinging pairs including left and right engagement clutches 127 and 127 as electric clutches and outer peripheral gear portions 125a and 125b connected to the electric system of the continuously variable transmission 80 for swinging on the outer peripheral portion. A pair of left and right multi-plate friction clutches 125 and 125 as electric clutches are provided.

The left and right shift gears 126 can be shifted in the rotational axis direction in a state where they are not engaged with the center gear 124, respectively, and the left side shift gear 126 is engaged with the center gear 124. Of the engagement clutch 127 is turned on, and when the shift gear 126 on the right side is engaged with the center gear 24, the switching clutch 127 on the right side is configured to be switched on, and the engagement clutch 127 is turned on. And 127 are switched to the on state, respectively, the left and right shift gears 126 are both engaged with the center gear 124, and the left and right traveling devices 1R and 1L are connected via the shift gear 126. The apparatus main body driven at the same speed in the same direction is in a straight state.

In addition, when the explanation is added, the left and right shift gears 126 and 126 are pressed in the ON state in which the engagement clutches 127 and 127 are engaged by the pressing force by the pressing springs 129 and 129, respectively. The gears 126 and 126 are engaged by supplying a pressure oil to the shutoff hydraulic cylinders 31L and 31R made up of a single-acting hydraulic cylinder against the pressing force by the pressing springs 129 and 129 to shift the gears. The clutch 127, 127 is comprised so that switching operation is possible in the OFF state. As shown in Fig. 27, the shutoff hydraulic cylinders 31L and 31R are configured to be operated by switching the shutoff electromagnetic valves 63 and 64 into a pressure oil supply state and an oil drain state. By the way, the shutoff electromagnetic valves 63 and 64 are configured to be pressed back to the pressure oil supply state by the springs 63a and 64a, and pressurize the springs 63a and 64a by energizing and energizing the solenoids 63b and 64b. The valve body is operated to switch over to the oiling state.

Pressure sensors 68 and 69 as operation state detection means for detecting whether the shutoff hydraulic cylinders 31L and 31R detect whether the hydraulic oil supply state is supplied with hydraulic oil in the oil chamber or the oil supply state from which hydraulic oil is discharged, respectively. It is installed. When the explanation is added, the left engagement clutch 127 is in an off state when the shutoff hydraulic cylinder 31L is in the hydraulic oil supply state, and the left engagement clutch 27 is in an on state when the shutoff hydraulic cylinder 31L is in the hydraulic oil supply state. In addition, when the shutoff hydraulic cylinder 31R is in the hydraulic oil supply state, the right engagement clutch 127 is in an off state, and in the oil discharge state, the right engagement clutch 127 is in an on state. Therefore, the pressure sensors 68 and 69 can detect whether the engagement clutches 127 and 127 are in the on state or in the off state by the pressure of the loss in the shutoff hydraulic cylinders 31L and 31R. Can be.

In addition, the oil pressure is supplied to the steering hydraulic cylinder 30L on the left side of the pair of left and right steering hydraulic cylinders 30L and 30R, each of which is a single-acting hydraulic cylinder, to shift the friction plate in the shift gear 126. Thus, it is configured to be switchable in the electric-on state where the friction clutch 125 on the left side is in pressure contact, and on the other hand, the hydraulic plate is supplied to the hydraulic steering cylinder 30R on the right side to provide a friction plate in the shift gear 126. By shift operation, it is comprised so that switching operation is possible in the electric-on state which the friction clutch 125 of the right side contacts by pressure contact. The operation of the pair of steering hydraulic cylinders 30L and 30R is configured to be performed by switching the shutoff electromagnetic valves 32 and 33 to the hydraulic oil supply state and the oil supply state, as shown in FIG. have.

Power from the shift gear 126 is transmitted to the left and right pair of traveling devices 1R and 1L via the final gear 135, but this shift gear 126 is engaged even when the engagement clutch 127 is engaged. Even when it is not, it is comprised so that it may engage with the relay gear 134 of the electric system to a constant traveling apparatus.

That is, when the left and right engagement clutches 127 and 127 are turned on, respectively, and the left and right friction clutches 125 and 125 are turned off, respectively, a straight forward transmission state is established and the left engagement clutch is moved from the straight forward transmission state. When the left side clutch 127 is turned off and the left side friction clutch 125 is turned on, a left turning transmission state is obtained. From the straight forward transmission state, the right side engagement clutch 27 is turned off, and the right side clutch clutch ( When 125) is turned on, it becomes a priority electric motor state.

When the description is added, the transmission gears 80b1 and 80b2 are fixed to the output shaft 80b of the continuously variable transmission 80 for swing, and the respective friction clutches are attached to each of the two transmission gears 80b1 and 80b2. The outer gear portions 125a and 125a of 125 and 125 are engaged. Then, one of the left and right shift gears 126, 126 is shifted to the side for releasing engagement with the center gear 124 by operating and shifting one of the hydraulic cylinders 31L and 31R for blocking. The friction clutch 125 on the side of the shift gear 126 is pressed by shifting the friction plate in the shift gear 126 by either of the steering hydraulic cylinders 30L and 30R. It is brought into contact with each other, the power of the continuously variable transmission 80 for swing is transmitted to the shift gear 126 via the friction clutch 125, and the relay gear 34 and the final gear (from the shift gear 126). It is transmitted to one traveling apparatus via 35), and it turns to an apparatus main body rotation state. The shift gear 126 is also a relay gear of the electric system to the traveling device even when the shift gear 126 is engaged with the center gear 124 and when the shift gear 126 is operated on the clutch inlet side of the friction clutch 125. 134).

The continuously variable transmission 70 for straight movement is configured to be steplessly shifted from the neutral position to the electrostatic direction and the reverse direction respectively, and the boarding unit 2 has a predetermined front and rear operation range along the front and rear directions. The main shift lever 40 is provided as a shift operation tool that can be swung by manual operation. As shown in Fig. 27, the inclined plate 41 of the variable hydraulic pump 70A is connected to the main shift lever 40 via the hydraulic servo mechanism SV, and the operation command of the main shift lever 40 is given. It is comprised so that the output state of the hydraulic motor 70B side may be changed steplessly by changing the angle of the inclination plate 41 as a basis. That is, when the main shift lever 40 is operated by manual operation, it becomes the structure which can operate a shifting operation lightly by performing an assist operation by hydraulic operation force by the action of the hydraulic servo mechanism SV with respect to the operation. . In addition, since the hydraulic servo mechanism SV is a well-known structure, detailed description is abbreviate | omitted here.

Next, a shift operation configuration of the linear continuously variable transmission 70 will be described.

As shown in Fig. 28, when the main shift lever 40 is in the neutral region and the neutral state is commanded, the inclined plate 41 is in the neutral state, and the hydraulic motor 70B is kept in the stopped state without rotation. If the command from the main shift lever 40 is a shift command to the forward speed increasing side or the reverse speed increasing side, the hydraulic servo mechanism SV as described above according to the operation command of the main shift lever 40 is used to The angle is assisted by the hydraulic operation force in the electrostatic direction (forward increasing direction) or reverse direction (forward increasing direction), and shifted so that the hydraulic motor 70B is rotationally driven in the electrostatic direction or the reverse direction at a speed according to the command position. It is composed.

On the other hand, the swingless continuously variable transmission device 80 is configured to be steplessly shifted in each of the electrostatic direction and the reverse direction, similarly to the linear continuously variable transmission device 70. However, the swing continuously variable transmission 80 does not shift by manual operation, and the inclined plate 42 of the variable hydraulic pump 80A is linked to the hydraulic swing operation mechanism 43, and this swing operation The mechanism 43 is configured to change the output state of the hydraulic motor 80B side by changing the inclined plate angle. As shown in Fig. 27, the swing operation mechanism 43 includes a reciprocating type shift hydraulic cylinder 44 as an actuator linked to an inclined plate 15 of the swing continuously variable transmission device 80, and The hydraulic control unit (VU) which performs hydraulic pressure control with respect to the transmission hydraulic cylinder 44 is comprised. The transmission hydraulic cylinder 44 is configured to return to the neutral position by the pressing force of the pair of left and right springs 44a and 44b to be built in.

Although the hydraulic control unit VU is not described in detail above, the inclined plate 42 in the continuously variable transmission 80 for turning is moved forward on the basis of the control command from the control device H and the reverse side. It is comprised so that the shift hydraulic cylinder 44 may be controlled to move in each of the speed increasing directions, and to hold the inclined plate 42 at an arbitrary shift position.

Referring to the shifting operation of the continuously variable transmission device 70, 80 as described above, as shown in Fig. 28, the shift positions of the inclined plates 41, 42 have a predetermined width including the neutral position (N). When it is in the neutral region, the shift output (output rotational speed) becomes 0, and when the shift positions of the inclined plates 41 and 42 are rotated and moved in the predetermined direction from the neutral region, the shift output in the forward direction is increased steplessly, When the inclined plates 41 and 42 are operated in the direction opposite to the predetermined direction from the neutral region, the shift output in the reverse direction is continuously increased in speed.

And the boarding drive part 2 is provided with the potentiometer-type shift lever sensor 65 which detects a shift command position by directly detecting the oscillation operation amount of the main shift lever 40. As shown in FIG. Moreover, in addition to the main shift lever 40, the neutral operation area | region for the direct instruction | command which has a predetermined | prescribed width including a neutral position N, the left turning operation area | region for left turning commands operated from the neutral operation area | region in the forward direction, and the said The turning lever 56 is provided as the turning instruction means which is movable and moved over each of the priority turning operation regions for the priority turning instruction operated in the reverse direction from the neutral operating region, and this turning lever 56 is the left turning operating region and priority. It is comprised so that the movement speed can be moved over the whole range of the predetermined | prescribed operation area | region in each of the disposable operation area | regions, and the target speed ratio for turning as command information is commanded so that it may become small so that the movement amount to the direction away from a neutral operation area | region is large. .

When the explanation is added, the turning lever sensor 57 is provided as a turning state detection means which consists of a rotary potentiometer which detects the operating position of the said turning lever 56, and is located in the direction away from a neutral area in a turning command operation area | region. In other words, the larger the movement amount is, for example, the larger the angle of fall from one of the left and right positions from the neutral position N, the higher the ratio of the speeds of the left and right traveling apparatuses 1L and 1R, which becomes a large turning force, is instructed.

Fig. 29 shows a change in the target speed ratio of the left and right traveling apparatuses 1L and 1R when the swing lever 56 is operated. Line L1 represents the speed X of the traveling device located outside the swing, and lines L2, L3, L4 represent the speed of the traveling device inside the swing relative to the speed X of the traveling device located outside the swing. The change in the ratio (target speed ratio) is shown. That is, the traveling device on the turning side changes to the low speed side as the amount of movement in the direction away from the neutral region of the turning lever 56 changes, and the line L2 is 1 / time of the speed X of the traveling device located outside the turning. The change of the target speed ratio in the complete turning mode decelerated to 3, the line L3 shows the change of the target speed ratio in the pivot turning mode decelerated to zero speed, and the line L4. Indicates the change of the target speed ratio in the spin turning mode in which the speed in the reversing direction is increased beyond zero speed. And it is comprised so that switching to any mode of the lines L2-L4 is carried out by operation of a mode switching switch.

The shift position detection sensor 60 for the straight line which detects the operation position of the inclination plate 41 in the said continuously variable transmission 70 and the inclination plate 42 in the continuously variable transmission 80 for rotation. The shift position detection sensor 61 for turning which detects an operation position is provided. On the other hand, the straight traveling speed sensor 58 for detecting the output rotational speed of the linear continuously variable transmission 70 by counting the number of teeth of the output gear 22b and the continuously variable transmission 80 for turning A traveling speed sensor 59 for detecting the output rotational speed by counting the number of teeth of the transmission gear 80b1 is provided.

On the basis of the input information of various sensors as described above, the operation of the variable speed hydraulic cylinder 44 is controlled to shift the swing continuously variable transmission device 80, and the blocking electromagnetic valves 32 and 33 are provided. And switching the shutoff electromagnetic valves 63 and 64 to control operation of the steering hydraulic cylinders 30R and 30L and the shutoff hydraulic cylinders 31L and 31R, thereby allowing the left and right engagement clutches 127 and 127 to be left and right. The traveling drive control device H using a microcomputer for switching the electric states of the friction clutches 125 and 125 is provided.

When the traveling drive control device H is commanded by the turning lever 56 to transmit the shift output of the straight continuously variable transmission 70 to each of the left and right pairs of traveling devices 1R and 1L, The pair of left and right engagement clutches 127 and 127 are set to the electric state, respectively, and the pair of left and right friction clutches 125 and 125 are set to the cutoff state, thereby switching to the straight traveling state.

When the priority turn is commanded by the turning lever 56, the shift output of the continuously variable transmission 70 for straight travel is transmitted to the traveling device 1L on the left side, and the shift output of the continuously variable transmission 80 for right is transferred to the right side. In order to transmit to the traveling device 1R, the left engagement clutch 127 and the right friction clutch 125 are brought into an electric state, and the right engagement clutch 127 and the left friction clutch 125 are blocked. The state is switched to the turning run state for priority use.

When the left turn is commanded by the turning lever 56, the shift output of the continuously variable transmission 70 for straight traveling is transmitted to the traveling device 1R on the right side, and the shift output of the continuously variable transmission 80 for turning is provided. In order to transfer the gear to the traveling device 1L on the left side, the right engagement clutch 127 and the left friction clutch 125 are switched to the electric state, and the left engagement clutch 127 and the right friction clutch 125 are rotated. Is switched to the turning running state for left turning.

In either of the turning travel state for the priority turning and the turning travel state for the left turning, the turning state of the pair of left and right traveling devices 1L and 1R, i.e., turning, with the change of the operating position of the turning lever 56. The radius is changed corresponding to the speed ratio.

Next, the structure for attitude control of the vehicle body V is demonstrated.

In other words, in this combine, the left and right inclination angle detection means SK for detecting the left and right inclination angle of the vehicle body V and the left and right inclination angle of the vehicle body V are set to the set inclination angle based on the detection information of the left and right inclination angle detection means SK. The posture control means 200 which controls the operation | movement of the said posture change operation means 100 is provided so that it may be maintained.

The left and right inclination angle detecting means SK includes a gravity type left and right inclination angle sensor 23 which detects the left and right inclination angle from the horizontal reference plane of the vehicle body by the action of gravity as shown in FIGS. 30 and 38 and the vehicle body V. Inclination angle calculation means for calculating the left and right inclination angles of the vehicle body V based on the angular velocity sensor 25 for detecting the angular velocity in the left and right inclination directions of the light, and the detected value of the left and right inclination angle sensors 23 and the detected value of the angular velocity sensor 25. It is comprised with 300.

When it is detected that the inclination angle calculation means 300 is not in the turning travel state on the basis of the detection information of the turning lever sensor 57 as the turning state detection means, the left and right inclination angle sensors 23 and the angular velocity sensor 25 When the left and right inclination angles of the vehicle body V are determined based on the respective detected values of (see FIG. 37 (a)), and when it is detected that the vehicle is in the turning driving state based on the detection information of the turning lever sensor 57, It is comprised so that the left and right inclination angles of a vehicle body may be calculated | required based on the detected value of the inclination angle sensor 23 (refer FIG. 37 (b)).

Incidentally, the inclination angle calculation means 300 includes a low pass filter LPF for removing high frequency components in the detected values of the left and right inclination angle sensors 23 and the angular velocity sensor 46 as shown in FIG. An integrating means 400 for integrating the detected value, and a high pass filter (HPF) for removing low frequency components in the integrated value integrated by the integrating means 400, the left and right inclination angle sensor 23 and the angular velocity sensor 25 When calculating the left and right inclination angles of the vehicle body V based on the respective detected values of), the output values of the low pass filter LPF and the output values of the high pass filter HPF are added to the left and right inclination angles with respect to the vehicle body V. It is configured to obtain.

The gravitational left and right tilt angle sensor 23 is a central position in the left and right directions of the vehicle body V, and is provided in a fixed position in the main frame 11 in a state located slightly on the front side of the vehicle body rather than a substantially center position in the front and rear direction of the vehicle body. Specifically, it is comprised as follows.

Then, the vehicle body V turns based on the command information of the swing lever 56 detected by the swing lever sensor 57 and the command information of the main shift lever 40 detected by the shift lever sensor 65. Centrifugal force detecting means (600) for detecting centrifugal force applied to the vehicle body (V) when traveling is provided, and it is detected that the inclination angle calculating means (300) is in a turning traveling state based on the detection information of the turning lever sensor (57). When it is, the inclination angle change amount in the inclination angle sensor 23 which is changed due to the centrifugal force detected by the centrifugal force detecting means 600 is calculated, and the detection value of the inclination angle sensor 23 is corrected to correspond to the inclination angle change amount. It is comprised so that the right and left inclination angle of the vehicle body V may be calculated | required by the inclination angle.

As shown in Fig. 30, a control device H1 for use with a microcomputer is provided, and the control device H1 includes the respective stroke sensors 18 to 21, left and right tilt angle sensors 23, angular velocity sensors 25, In addition to the attitude change switch unit SU, the respective information of the shift lever sensor 65 and the swing lever sensor 57 is input.

As shown in Fig. 31, the posture change switch unit SU includes the left and right inclination angle setter 25 for setting the left and right inclination angle (set inclination angle) as the target of the vehicle body V, and the horizontal control (rolling control described later). The right upward switch 50a for the manual command operated by the horizontal automatic switch 48 to be turned on and off, the horizontal ramp 48a indicating the on state of the horizontal control, and the cross lever lever operation tool 50, and the left upward switch. 50b, the apparatus main body up switch 50c, and the apparatus main body down switch 50d are provided.

In addition, the left and right inclination angle setter 47 is provided with a horizontal switch 47a, a left inclination switch 47b and a right inclination switch 47c. That is, when the horizontal switch 47a is pressed, the inclination angle corresponding to the horizontal state is set as the set left and right inclination angles, and when the left inclination switch 47b is pressed, the currently set left and right inclination angles are corrected in the left inclination direction by the set angles. When the right inclination switch 47c is pressed, the currently set inclination angle is corrected in the right inclination direction by the set angle. The left and right inclination angles set by the left and right inclination angle setters 47 are displayed in a display device (not shown) provided on the front side of the boarding and driving unit 2 as shown in FIG. Any one of the steps (step 4 of angle 0 represents a horizontal state, a positive angle represents a right oblique direction, and a negative angle represents a left oblique direction, respectively) is displayed.

On the other hand, from the control apparatus H1, the drive signal to the electromagnetic valves 29-32 for oil pressure control for hydraulically controlling the hydraulic cylinders C2 to C5 for four apparatus main body attitude change is output, respectively.

The inclination angle calculating means for obtaining the left and right inclination angles of the vehicle body V with respect to the horizontal reference plane based on the detection values of the left and right inclination angle sensors 45 and the detected values of the angular velocity sensor 25 using the control device H1 ( 300) is configured. That is, the low pass component of the low pass filter process which removes the high frequency component in the detection value of the left and right inclination-angle sensor 23, the integration process which integrates the detection value of the angular velocity sensor 25, and the low frequency component in the integrated integral value, Each of the high pass filter processes to be removed is executed by a soft process, and the output value after performing the low pass filter process and the output value after performing the high pass filter process are added to perform a process for obtaining the left and right tilt angles of the vehicle body. have.

Further, reference value updating means 500 for updating the reference value of the angular velocity corresponding to the state where the angular velocity is zero is provided. This reference value updating means 500 is constituted using the control device H1, and when it is detected that it is not in the turning traveling state based on the detection information of the turning lever sensor 57 as the turning state detecting means, the angular velocity sensor When the reference value is updated on the basis of the average value of the plurality of detected values sampled by the detected value of (25), and based on the detection information of the turning lever sensor 57, the above-described turning value is detected. It is comprised so that update of a reference value may not be performed. In addition, since the reference value corresponds to a state in which the angular velocity is 0, it may be referred to as 0 point.

When the description is added, when the vehicle body V changes its posture in the left and right directions, it does not rotate in one direction (horizontal rotation), but it always returns to the horizontal posture and repeats the inclination of the left and right sides. By sampling and averaging over a period longer than the period of unevenness, the output value due to the left and right inclination cancels out, and it is possible to obtain an almost accurate reference value (zero point).

Then, the control device H1 calculates the turning radius and the turning traveling speed as the turning states of the traveling devices 1L and 1R based on the detected value of the turning lever sensor 57 and the detected value of the shift lever sensor 65. And the centrifugal force applied to the vehicle body V when the vehicle body V travels from the turning radius and the traveling speed of the vehicle, and based on the detection information of the swing lever sensor 57, Is detected, the amount of inclination angle change in the inclination angle sensor 45 that is changed due to the centrifugal force, that is, the corrected inclination angle is calculated, and the detected value of the inclination angle sensor 45 is corrected by the inclination inclination angle so that the left and right sides of the vehicle body V It is configured to obtain the inclination angle. That is, the centrifugal force calculating means 600 is comprised using the control apparatus H1.

That is, when the vehicle body V is turning, as shown in Fig. 33 (b), the gravity type left and right inclination angle sensor 45 is caused by the centrifugal force, and the liquid body V is not inclined even though the vehicle body V is not inclined. Since the liquid level of 45b is inclined and a detection error occurs, the error caused by such centrifugal force is removed, and the right and left inclination angles of the vehicle body V are detected.

Further, by using the control device H1, the posture is maintained so that the left and right inclination angle of the vehicle body V is maintained at the set inclination angle set by the left and right inclination angle setter 47 based on the detection information of the left and right inclination angle sensor 23. The attitude control means 200 which performs rolling control which controls the operation | movement of the change operation means 100 is comprised.

When the explanation is given, the relationship between the turning radius of the vehicle body V and the command information (target speed ratio) of the turning lever 56 detected by the turning lever sensor 57 from each mechanical element of the vehicle body V is shown. Obtain arithmetic expressions corresponding to the model representing. In addition, in the calculation formula and the left and right inclination-angle sensor 23 corresponding to the model showing the relationship between the turning radius of the vehicle body V and the centrifugal force applied to the vehicle body V with respect to the turning speed, when the centrifugal force is actually applied, the liquid ( A formula corresponding to a model representing how the 23b) is inclined and a value corresponding to the inclination angle of the liquid 23b in the left and right inclination angle sensor 23 and the detected value output from the left and right inclination angle sensor 23 Based on the model representing the relationship between the angle of inclination, that is, the inclination angle from the horizontal state of the liquid 23b, and the detected output value with respect to the angle of inclination, the respective expressions of the equation representing the relationship are obtained in advance.

And the control apparatus H1 memorize | stores the various arithmetic expressions mentioned above in a memory, and uses the various arithmetic expressions, and the detection value of the turning lever sensor 57 and the detection value of the shift lever sensor 65 are stored. On the basis of this, the error caused by the centrifugal force is eliminated so that the right and left inclination angles of the vehicle body V can be detected.

Next, the specific control operation of rolling control by the said control apparatus H1 is demonstrated based on the flowchart of FIG.

That is, based on the detection information of the turning lever sensor 57, it determines whether the turning instruction which turns the vehicle body V by the turning lever 56 is commanded. When it is determined that the straight traveling state is commanded instead of the turning traveling state, the angular velocity sensor 25 updates the reference value (zero point) of the angular velocity corresponding to the state where the angular velocity is zero. That is, the detection value of the set number which sampled the detection value of the angular velocity sensor 25 by setting time interval is averaged, and a reference value is updated based on the average value which the average processing processed. Incidentally, the time for sampling the detected value of the set number is set to a time sufficiently longer than the period of undulation and unevenness of the package, for example, a time longer than a few seconds.

Then, the difference between the reference value (0 point) updated as described above and the actual detection value detected by the angular velocity sensor 25 is calculated as the angular velocity, and so from the detected value of the angular velocity sensor 66. Based on the obtained angular velocity and the detected value of the left and right inclination-angle sensor 23, a process of calculating the left and right inclination angles of the vehicle body is executed.

Specifically, as shown in Fig. 37A, a low pass filter process for removing high frequency components in the detected values of the left and right tilt angle sensors 23, and the detected values of the angular velocity sensor 25 (the above reference values and angular velocity sensors ( An output value after performing each of the integrating process for integrating the difference of the actual detected value detected by the step 25) and the high pass filter process for removing the low frequency component in the integrated integral value, and the low pass filter process. The left and right inclination angles of the vehicle body V are obtained by adding the output values after the high pass filter process is performed.

38 is obtained as a transfer function for the signal processing of control when obtaining the left and right tilt angles. While the actual left and right inclination angle θ of the vehicle body is detected by the left and right inclination angle sensor 23 and the inclination angle detection value is output, the left and right inclination angle sensor 23 is the primary delay element 1 / (T1S + 1) (T1 is a coefficient ). Then, the inclination angle detection value is generated due to fine vibration of the vehicle body in the left and right inclination angle sensor 45 by performing the low pass filter process having the primary delay element 1 / (T2S + 1) (T2 is the coefficient). The high frequency noise can be effectively removed to stabilize the detection value.

On the other hand, the detection value of the angular velocity sensor 25 is a value obtained by differentiating the actual left and right inclination angles of the vehicle body, and after integrating the detection values, the inverse characteristics of the first delay element of the inclination angle sensor and the delay element by the low pass filter process ( High-pass filter processing of 1-1 / (T1S + 1) × 1 / (T2S + 1)) includes high frequency components of left and right inclination angles that cannot be detected by the inclination angle sensor while the integral error is effectively removed. The detected value can be obtained.

By adding the output value after the low pass filter process and the output value after the high pass filter process, the left and right inclination angles of the vehicle body V are detected in a state with little error, and based on the left and right inclination angles of the vehicle body V thus obtained. The posture change operation process as described later is executed.

On the basis of the detection information of the turning lever sensor 57, when it is determined that the vehicle is in the turning driving state, as shown in Fig. 37B, the processing for updating the reference value as described above is not executed. Moreover, it is set as the structure which calculates the left and right inclination-angle of the vehicle body V based on the detection value of the left-right inclination-angle sensor 23, without using the detected value of the angular velocity sensor 25. FIG.

Moreover, if it determines with the turning traveling state, it becomes the structure which performs the centrifugal force calculation process which calculates the centrifugal force applied to a vehicle body by making the vehicle body V turn and run. This centrifugal force calculation process reads the detection value of the turning lever sensor 57 and the detection value of the shift lever sensor 65, as shown in FIG. 35, and sets the target speed ratio and preset by the turning lever 56. The turning radius is calculated from a formula representing the relationship between the stored target speed ratio and the turning radius of the vehicle body V. In addition, the turning speed is calculated based on the target vehicle speed by the main shift lever 40 detected by the shift lever sensor 65, and the turning radius and the turning speed, and by the turning travel from the previously stored formula Calculate the centrifugal force applied to the car body.

Due to the centrifugal force, the liquid 23b of the left and right inclination-angle sensor 23 is inclined, and is calculated from a calculation formula that stores information on the corrected inclination angle corresponding to the electrical output value output. The corrected inclination angle is a value corresponding to an error generated by the inclination angle sensor 23 due to the centrifugal force (see Fig. 33 (b)). Further, from the corrected inclination angle and the actual detection value of the inclination angle sensor 23, the detection value of the right and left inclination angle of the vehicle body based on the detection value of the inclination angle sensor 45 is calculated, and the left and right sides of the vehicle body V thus obtained are obtained. Based on the inclination angle, the posture change operation process is executed as in the third embodiment described above.

In the fourth embodiment, the determination of whether or not the vehicle body is in a turning state may be performed as follows. Since the other structure is the same as that of 4th Embodiment, only another structure is demonstrated and description is abbreviate | omitted about the same structure.

That is, in this embodiment, as shown in Fig. 39, the traveling speed as a pair of traveling speed detecting means for separately detecting the rotational speeds of the drive shafts 136L, 136R of the left and right traveling devices 1L, 1R, respectively. Sensors 137L and 137R are provided. The traveling speed sensors 137L and 137R are configured to detect by counting the number of teeth of the fixed final gears 135 and 135 on the drive shafts 136L and 136R.

As shown in Fig. 40, the control device H1 is in the turning travel state depending on whether the difference between the detected values of the pair of traveling speed sensors 137L and 137R in the rolling control is equal to or larger than a set amount. It is configured to determine. Therefore, the discriminating means for discriminating whether or not the vehicle body of the control device H1 is in the turning traveling state is configured. In addition, the attitude control at the time of determining that it is a turning run state, and the attitude control at the time of determining that it is not a turning run state are the same as that of 4th Embodiment.

Moreover, in each said embodiment, the said inclination-angle calculation means integrates the low pass filter which removes the high frequency component in the detection value of the said inclination-angle sensor, the integration means which integrates the detection value of the said angular velocity sensor 46, and the integration means A high pass filter is provided to remove low frequency components in an integral value, and the output value of the low pass filter and the output value of the high pass filter are added to determine the left and right inclination angles of the vehicle body. It is good also as a structure which does not provide a pass filter and the said high pass filter, and calculates the left-right inclination-angle of a vehicle body by adding the output value of an inclination-angle sensor and the output value of an integrating means.

In each of the above embodiments, in the centrifugal force calculation processing, the centrifugal force applied to the vehicle body by turning travel is calculated from the detected value of the swing lever sensor 57 and the shift lever sensor 65. Instead of such a configuration, for example, a pair of traveling speed sensors that separately detect respective travel speeds of the left and right travel devices 1L and 1R in the turning travel state as described in the first embodiment. By using the detection result by (58, 59), the centrifugal force applied to the vehicle body V is calculated based on the detection information of the pair of traveling speed sensors 58, 59 as shown in FIG. It is good also as a structure to make.

In each of the embodiments described above, the formula corresponding to the model showing the relationship with the turning radius of the vehicle body to the command information (target speed ratio) of the turning lever, the turning radius of the vehicle body, and the centrifugal force applied to the vehicle body with respect to the turning speed. Calculation formula corresponding to the model showing the relationship, Calculation formula corresponding to the model showing how the liquid is inclined when centrifugal force is actually applied in the left and right tilt angle sensor, the inclination angle of the liquid in the left and right tilt angle sensor Based on the model representing the relationship of the value corresponding to the detected value output from the inclination angle sensor, each equation of the equation representing the relationship is obtained and stored in advance, and the correction inclination angle as the inclination angle change amount is calculated using this equation. However, instead of such a configuration, the configuration may be as follows.

That is, in the model which shows the relationship of the turning radius of a vehicle body with respect to the command information (target speed ratio) of a turning lever, the model which shows the relationship of the turning radius of a vehicle body, and the centrifugal force applied to a vehicle body, and the right and left inclination-angle sensor Indeed, a model representing the behavior of how the liquid is inclined when centrifugal force is applied, a model representing the relationship between the liquid inclination angle and the value corresponding to the detected value output from the left and right inclination angle sensor, etc. By simulation by soft processing, the relationship between the detection value of the turning lever sensor and the shift lever sensor and the correction inclination angle corresponding to the error of the left and right inclination angle sensor caused by the centrifugal force is correlated and obtained as map data. Map data is stored and used as detection values of the turning lever sensor and the shift lever sensor. It may be configured emitter at a time to obtain the correct tilt angle.

[Other Embodiments]

In the first to fourth embodiments, the traveling device is constituted by a pair of right and left crawler-type traveling devices. However, the traveling device is not limited thereto. For example, a single traveling device may be used. The traveling device may be sufficient.

In addition, in the said 1st-4th embodiment, although the attitude change operation means 100 was comprised by four hydraulic cylinders C2-C5 located in four places of the front, back, left, and right sides of the apparatus main body V, it is other than a hydraulic cylinder. You may comprise with other drive means which consist of an electric motor, a screw feed mechanism, etc. Further, the traveling device may be configured to change the left and right inclination angles of the vehicle body with respect to the ground portion by one driving means.

Moreover, in the said 1st-4th embodiment, as a motorized structure, it is equipped with the continuous continuously variable transmission for speed and the continuously variable transmission for turning, and when it drives straight, it drives the left and right traveling apparatus by the continuous continuously variable transmission, In this configuration, the left and right traveling devices are separately driven by each continuously variable transmission, but instead of such a configuration, an output shifted by one continuously variable transmission is transmitted to one traveling device, and the other traveling device is braked. You may use another motorized structure, such as the structure which makes a turning run by the form.

In addition, although the combine was illustrated as a working vehicle in the said 1st-4th embodiment, if it is a structure which changes and operates the inclination angle of the vehicle body with respect to the ground part of a traveling device, various harvesters, such as a vinegar harvester and an onion harvester, are used. Alternatively, work vehicles other than combines such as construction machinery may be used.

According to the present invention, even when acceleration or turning influence occurs when the vehicle body moves, it is possible to provide an attitude detection device for a work vehicle that enables the vehicle body to properly detect the inclination angle of the vehicle body with respect to the horizontal reference plane.

In addition, even when acceleration occurs when the vehicle body moves, the attitude control of the work vehicle that makes it possible to maintain the front and rear inclination angles of the vehicle body with respect to the horizontal reference plane based on the inclination angle of the vehicle body relative to the horizontal reference plane that is properly detected. A device can be provided.

Claims (18)

It is a posture detection device of the work vehicle, In the thing provided with the gravity type inclination sensor which detects the inclination angle of the front-back direction of a vehicle body, Acceleration detection means for detecting acceleration when the vehicle body moves in the front-rear direction, and inclination angle calculation means for obtaining an inclination angle of the vehicle body with respect to the horizontal reference plane, The inclination angle calculation device calculates the inclination angle based on the inclination angle correction information obtained based on the acceleration detected by the acceleration detection means, and the detected value of the inclination angle sensor. . The shift lever for operating a traveling transmission device for shifting the traveling speed of the traveling device when the vehicle body moves forward and backward, wherein the acceleration detecting means is based on information on the operation position of the shift lever. And the acceleration is calculated as follows. 2. The driving apparatus according to claim 1, further comprising traveling speed detecting means for detecting a driving speed of the traveling device when the vehicle body moves forward and backward, wherein the acceleration detecting means is configured based on the detection information of the traveling speed detecting means. The attitude detection device of the work vehicle, characterized by obtaining the. It is a posture detection device of the work vehicle, Gravity-type inclination sensor for detecting the inclination angle of the front and rear direction of the vehicle body, an angular velocity sensor for detecting the angular velocity in the inclination direction of the vehicle body, acceleration detection means for detecting the acceleration when the vehicle moves in the front and rear direction, detection of the inclination angle sensor In the inclination angle calculation means for calculating the forward and backward inclination angle of the vehicle body on the basis of the value and the detected value of the angular velocity sensor, When the inclination angle calculating means is larger than the set value detected by the acceleration detecting means and when the set acceleration state returns from a state larger than the set value to a small state until the set time for returning to the detection state elapses, On the basis of the detected value detected by the front and rear inclination angle of the vehicle body or the inclination angle sensor obtained when the acceleration is greater than the set value or before the set time, and based on the detection value of the angular velocity sensor which is sequentially detected as time passes. To obtain the front and rear inclination angles of the vehicle body, When the acceleration detected by the acceleration detecting means is smaller than the set value and outside the set time for returning to the detection state, the detection value is based on the detected value of the inclination angle sensor which is sequentially detected with time. And a forward / backward inclination angle of the vehicle body based on the detected values of the angular velocity sensors sequentially detected as time passes. 5. The lever position detecting means according to claim 4, further comprising a lever position detecting means for detecting an operation position of a shift lever for operating a traveling speed change gear that shifts the traveling speed of the traveling device, The acceleration detecting means detects the acceleration when the vehicle body moves in the front-rear direction based on the amount of change per unit time of the operation position of the shift lever determined by the detection information of the lever position detecting means. Posture detection device of the car. The traveling speed detecting means for detecting a driving speed of the traveling device is provided, The acceleration detection means detects the acceleration when the vehicle body moves in the front-rear direction based on the amount of change per unit time of the traveling speed determined by the detection information of the traveling speed detection means. Device. It is an attitude control apparatus of the work vehicle provided with the attitude detection apparatus of the work vehicle of any one of Claims 1-6, Posture change control means capable of changing and operating the front and rear inclination angles of the vehicle body with respect to the ground of the traveling device, and controlling the posture change control means such that the front and rear inclination angles of the vehicle body with respect to the horizontal reference plane detected by the posture detection device are maintained at the set inclination angle. And a posture control means. It is a posture control device of the work vehicle, The vehicle body with respect to the horizontal reference plane based on the attitude change operation means operable to change the inclination attitude of the vehicle body with respect to the traveling device, the inclination angle detection means for detecting the inclination angle of the vehicle body with respect to the horizontal reference plane, and the detection information of the inclination angle detection means. A posture control means for executing posture change control for controlling the operation of the posture change manipulation means so that the inclination angle of Manually operated attitude change command means for selectively instructing one side attitude change command for changing the inclination attitude of the vehicle body with respect to the traveling device to one side of the inclination angle changing direction and the other side attitude change command for changing the inclination angle changing direction to the other side. With The posture control means is executing the posture change control, When the one side attitude change command or the other side attitude change command is instructed by the attitude change command means, the inclination attitude of the vehicle body with respect to the traveling device to one side or the other side of the inclination angle change direction is based on the command. To control the operation of the posture change manipulation means to change, When the one side attitude change instruction by the attitude change command means or the instruction of the other side attitude change instruction ends, the inclination angle of the vehicle body with respect to the horizontal reference plane detected by the inclination angle detection means at the end thereof is the target inclination angle. And controlling the operation of the posture change operating means on the basis of the set target inclination angle thereafter. According to claim 8, wherein the attitude control means, Switchable between an automatic control mode for executing the posture change control and a manual operation mode for operating the posture change operation means by manual operation, In the manual operation mode, when the one side attitude change command or the other side attitude change command is commanded by the attitude change command means, the inclination angle of the vehicle body with respect to the traveling device is changed based on the command. The posture change operation means is operated when the posture change operation means is changed to change to one side or the other side in the direction, and when the command of the one side posture change instruction or the other side posture change instruction by the posture change command means is finished. Attitude control apparatus for a work vehicle characterized in that it is configured to stop the operation of the means. 10. The work vehicle according to claim 9, wherein in the automatic control mode, a manually operated horizontal target inclination angle command means for instructing a horizontal inclination target inclination angle in which the inclination angle with respect to the horizontal reference plane becomes zero is provided. Posture control device. 11. The manually operated reference attitude command means according to claim 10, wherein the horizontal target inclination angle command means instructs to change the inclination attitude of the vehicle body with respect to the traveling device to a reference inclination attitude in the manual operation mode. A posture control device for a work vehicle, which is configured for a combined use. The said posture change operation means is comprised by the some drive means which can raise and lower each of the one end part site | part and the other end part site | part which moved away from the inclination-angle change direction in a vehicle body with respect to the ground part of the said traveling device. Become, The posture control means operates the plurality of drive means such that, as the reference posture, each of the one end side portion and the other end side portion changes to a lower limit position of the lift operation range with respect to the ground portion of the traveling device. The attitude control apparatus of the work vehicle characterized by the above-mentioned. 12. The attitude control of the work vehicle according to claim 11, wherein the posture change command means and the horizontal target inclination angle command means are provided so that a finger can be operated by a handle part of a control operation lever provided in a driving part of the vehicle body. Device. The said attitude | position change operation means is comprised so that the left and right inclination-angle of a vehicle body with respect to a horizontal reference plane may be changed and operated, The inclination angle detecting means is configured to detect the left and right inclination angles of the vehicle body with respect to the horizontal reference plane, The attitude control means is configured to control the operation of the attitude change operation means such that the left and right inclination angles of the vehicle body with respect to a horizontal reference plane are maintained at a target inclination angle based on the detection information of the inclination angle detection means as the attitude change control. Attitude control device of the work vehicle, characterized in that. The left and right inclination angle of the vehicle body based on the detection information of the left and right inclination angle detection means which detects the left and right inclination angle of the vehicle body with respect to the ground part of the traveling device, the left and right inclination angle detection means which detects the left and right inclination angle of the vehicle body, and the left and right inclination angle detection means. In the posture control device of a work vehicle provided with a posture control means for controlling the operation of the posture change operation means so as to be maintained at the set inclination angle, The left and right inclination angle detecting means includes a gravity inclination angle sensor for detecting the left and right inclination angles of the vehicle body by the action of gravity, an angular velocity sensor for detecting the angular velocity in the left and right inclination directions of the vehicle body, a detection value of the inclination angle sensor and the angular velocity sensor And inclination angle calculation means for obtaining the left and right inclination angles of the vehicle body based on the detected values, Turning state detection means for detecting whether or not the vehicle body is in the turning travel state, and reference value updating means for updating the reference value of the angular velocity corresponding to the state where the angular velocity is zero; The reference value updating means, When it is detected by the turning state detecting means that the turning travel state is not in the turning state, the reference value is updated based on a value obtained by averaging a plurality of detection values that sample the detected values of the angular velocity sensor. The attitude control apparatus of the working vehicle characterized by the above-mentioned. 16. The swing-operating turning command means according to claim 15, which instructs turning travel of the vehicle body, And the turning state detecting means detects whether or not the vehicle body is in the turning running state on the basis of the presence or absence of an instruction of the turning command means. The traveling device according to claim 16, wherein the traveling device includes a pair of left and right travel devices, The turning state detection means, Discriminating whether or not the vehicle body is in a turning traveling state based on the pair of traveling speed detecting means for detecting each driving speed of the pair of left and right traveling devices and the detection information of the pair of traveling speed detecting means. And a means for controlling the attitude of the work vehicle. The inclination angle calculating means according to any one of claims 15 to 17, A low pass filter for removing high frequency components among the detected values of the inclination angle sensor, an integration means for integrating the detected values of the angular velocity sensor, and a high pass filter for removing low frequency components among the integrated values integrated by the integration means; And an output value of the low pass filter and an output value of the high pass filter to obtain the left and right inclination angles of the vehicle body.

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