JP4053053B2 - Attitude control device for mowing harvester - Google Patents

Description

  The present invention includes a posture change operation means that can freely change the front / rear inclination angle of the airframe body relative to the grounding portion of the traveling device, a front / rear inclination angle detection means that detects a front / rear inclination angle with respect to a horizontal reference plane of the airframe body, and the inclination Control means for executing front / rear posture control for controlling the operation of the posture change operation means so that the front / rear inclination angle with respect to the horizontal reference plane of the airframe body is maintained at a set inclination angle based on detection information of the angle detection means. The present invention relates to an attitude control device for a harvesting and harvesting machine.

  In the attitude control device for a harvesting and harvesting machine having the above-described configuration, conventionally, as shown in, for example, Japanese Patent No. 2529735 (Japanese Patent Laid-Open No. 3-61421), the left and right provided in the body body in the combine as a harvesting and harvesting machine. Each of the pair of crawler type traveling devices moves up and down in parallel with the aircraft main body by the expansion and contraction operation of the rolling hydraulic cylinder, thereby changing the left and right inclination angle of the aircraft main body with respect to the grounding portion of the traveling device, The left and right traveling devices swing up and down relative to the aircraft body around the horizontal axis on the front side as a result of the expansion and contraction operation of the hydraulic cylinder for pitching. Was configured to be modified. Therefore, the posture changing operation means that can freely change the front / rear inclination angle of the body main body with respect to the grounding portion of the traveling device is constituted by the pitching hydraulic cylinder.

Further, the combine includes a left / right tilt angle sensor for detecting a left / right tilt angle with respect to a horizontal reference plane of the machine body, and a front / rear tilt angle sensor as a front / back tilt angle detection means for detecting a front / back tilt angle with respect to the horizontal reference plane of the machine body And are provided.
Each of the tilt angle sensors detects the tilt angle of the main body using, for example, the action of gravity. Specifically, as shown in FIG. 6 and FIG. 7 (note that FIG. 6 and FIG. 7 are diagrams for explaining the embodiment of the present invention), silicon is placed inside the container 41 fixed to the body body. A liquid 42 having a predetermined viscosity such as oil is put, and a detection electrode 43 in which metal plates having the same shape are arranged in parallel at the same interval is placed in an initial posture (liquid level) by gravity while the body is not inclined. In order to be in the same immersion state when returning to the (horizontal state), a pair of sensors are arranged at intervals in the tilt angle detection direction (left and right direction in the figure), and the capacitance of each detection electrode 43 is measured. A conversion circuit unit 44 is provided for converting the difference between the measured values (zero when the machine body is not tilted) into tilt angle information.
Note that the detection signal of the tilt angle sensor is subjected to filter processing in order to remove noise caused by airframe vibration during traveling, and the filtered tilt angle detection signal is used for actual posture control.

  Then, the combine control device operates the rolling hydraulic cylinder based on the detection information of the left / right tilt angle sensor so that the left / right tilt angle with respect to the horizontal reference plane of the main body is maintained at the set left / right tilt angle. Rolling control and pitching control for operating the pitching hydraulic cylinder so that the front / rear tilt angle with respect to the horizontal reference plane of the airframe body is maintained at the set front / rear tilt angle based on the detection information of the front / rear tilt angle sensor. is doing. That is, based on the detection information of the front / rear tilt angle sensor, the front / rear posture control for controlling the operation of the posture change operation means (above described) so that the front / rear tilt angle with respect to the horizontal reference plane of the body is maintained at the set tilt angle. The control means for executing (pitching control) is constituted by the combine control device.

  A specific example of the front / rear posture control will be described. A dead zone for posture control within a predetermined range centered on the set signal value corresponding to the set tilt angle is provided, and the detection signal of the front / rear tilt angle detection means and the set signal value are set. If the deviation is out of the dead zone, the attitude change operation means is operated so that the deviation falls within the dead zone, and the angular deviation between the front and rear tilt angle of the machine body and the set tilt angle is the dead zone. It is controlled so as to be within an allowable angle corresponding to the width of.

  By the way, when the farm scene where the combine is traveling is in a wet paddy state, the traveling surface becomes softer than that in a dry paddy state, so that the body posture may be greatly inclined in the front-rear direction depending on the traveling state. For example, as shown in FIG. 19, after the combine harvests and travels along one work stroke of the field, the forward travel is stopped when the forward / backward movement is switched and the next work stroke is changed while changing the direction by 90 degrees. When the vehicle is switched to reverse travel, the body posture tends to be forward tilted, and conversely, when the reverse travel is stopped and switched to forward travel, the aircraft posture tends to be backward tilted. And if the body posture is greatly inclined in the front-rear direction in this way, the ride comfort of the driver is reduced, and the inconvenience that the body and the cutting part attached to the body come into contact with the field scene or are damaged by thrusting. May occur.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to control the attitude of a harvesting and harvesting machine that makes it possible to execute appropriate front-and-back attitude control in a wet paddy field in order to eliminate the above-described conventional disadvantages. The point is to provide a device.

According to claim 1, the control means is configured to be switchable between a normal control mode and a wetland control mode as the front-rear posture control.
The posture changing operation means is configured to freely change and operate a right and left inclination angle of the airframe body with respect to a grounding portion of the traveling device,
A left / right inclination angle detecting means for detecting a left / right inclination angle with respect to a horizontal reference plane of the airframe body, and a work state detecting means for detecting whether the state is a cutting work state or a non-cutting work state;
The control means controls the operation of the attitude changing operation means based on the detection information of the left / right inclination angle detection means so that the right / left inclination angle with respect to the horizontal reference plane of the main body is maintained at the set inclination angle. Configured to perform left and right attitude control,
In the normal control mode, when the work state detection means detects that the state is a non-reaping work state, the left-right posture control is executed with priority over the front-rear posture control, and the wetland control In the mode, the front / rear posture control is executed with priority over the left / right posture control.

In other words, when the control means is detected to be in the non-reaping work state by the work state detection means, in the normal control mode, the right / left inclination angle for detecting the right / left inclination angle with respect to the horizontal reference plane of the body body Based on the detection information of the detecting means, the left-right attitude control for controlling the operation of the attitude changing operation means so that the left-right inclination angle with respect to the horizontal reference plane of the airframe body is maintained at a set inclination angle, In the wet pad control mode, the front / rear posture control is performed with priority over the left / right posture control.
  Therefore, if the front / rear posture control and the left / right posture control are executed at the same time, the aircraft posture changes irregularly and the ride comfort of the driver decreases, so priority is given to the execution of the front / rear posture control and the left / right posture control, When one of the controls is prioritized and then the other control is executed, in the cutting operation state, the aircraft body is usually driven straight at a constant speed to perform the cutting operation. In the non-trimming work state, for example, after finishing the mowing work along one work process, an operation is performed to switch between forward travel and reverse travel while changing the direction of the main body on a headland or the like. When switching between running and reverse running, the change in the forward / backward inclination angle of the aircraft is not so large in the dry field, so by giving priority to the left / right posture control over the front / back posture control, The body posture can be appropriately prevented from tilting in the left-right direction, while in the wet field, the forward / backward tilt angle of the fuselage may change significantly with the switching between forward travel and reverse travel. By giving priority to the control over the left-right attitude control, it is possible to appropriately avoid the body attitude from being greatly inclined in the front-rear direction.

According to claim 2, in claim 1, when the control means is detected to be in the cutting work state by the work state detection means, in the normal control mode and the wet field control mode, The left / right posture control is executed with priority over the front / rear posture control .

According to claim 3, in claim 1 or 2, as the control sensitivity of the posture control in the normal mode and the wet field mode, the control means sets the control sensitivity in the wet field mode to be higher than the control sensitivity in the normal mode. It is configured to set a sensitive control sensitivity .

In other words, when the control means switches to the wetland control mode, the control sensitivity set to a control sensitivity that is more sensitive than the control sensitivity in the normal control mode, with respect to the horizontal reference plane of the body main body detected by the front / rear inclination angle detection means. The operation of the posture changing means is controlled so that the front-rear inclination angle is maintained at the set inclination angle.
  Therefore, in the wetland control mode, if the front / rear tilt angle with respect to the horizontal reference plane of the aircraft body deviates from the set tilt angle, control is performed so that the front / rear tilt angle becomes the set tilt angle with a sensitive control sensitivity. When running on a field with a soft running surface, even if the aircraft posture is greatly tilted in the front-rear direction depending on the running state, it can be maintained in the proper aircraft posture, so that appropriate front-back posture control in wetland conditions can be achieved. It becomes possible to execute.

According to Claim 4, in any one of Claims 1 to 3 , the posture changing operation means is the travel in each of a left front part, a left rear part, a right front part, and a right rear part in the main body. It is composed of four drive means that can change and adjust the height relative to the grounding part of the device separately,
In the front-rear posture control, the control means includes two drive means located at the left front part and the right front part, and two drive means located at the left rear part and the right rear part among the four drive means. The other two driving means are driven and operated while either one of the two driving means is stopped, and in the left-right posture control, among the four driving means The two drive means located at the left front part and the left rear part and the two drive means located at the right front part and the right rear part are driven and stopped in the other state. These two driving means are configured to drive.

  That is, in the front-and-rear posture control for maintaining the front-rear inclination angle with respect to the horizontal reference plane of the airframe body at the set front-rear inclination angle, the two driving means located at the left front part and the right front part of the airframe body, the left rear part, Only one of the two driving means located at the right rear part is driven to change the front / rear inclination angle with respect to the horizontal reference plane of the machine body, and the right / left inclination with respect to the horizontal reference plane of the machine body In the left / right attitude control for maintaining the angle at the set left / right tilt angle, two drive means located at the left front part and left rear part of the aircraft body and two drive means located at the right front part and right rear part are used. Only one of the two driving means is driven to change the right / left inclination angle with respect to the horizontal reference plane of the main body.

  Therefore, in the front / rear posture control and the left / right posture control, only two drive units located on either the front / rear side or the left / right side of the four drive units located on the front / rear / left / right sides of the aircraft are simultaneously controlled. Since the remaining two driving means are driven and stopped, for example, if three or more of the four driving means are driven at the same time, the attitude of the airframe body becomes unstable. The load applied to each drive means fluctuates, and the operation speed of each drive means changes due to the fluctuation of the load load, and the other drive means influence each other. However, as described above, if only two driving means are driven at the same time and the remaining two driving means are driven to stop, the posture of the main body does not become unstable. It is possible to perform appropriate front-rear posture control and left-right posture control while driving the two drive units as smoothly as possible so as not to cause a decrease in riding comfort. It is done.

[First Embodiment]
Hereinafter, the case where 1st Embodiment of this invention is applied to the combine as a harvesting harvester is described based on drawing.
As shown in FIG. 1, a pair of left and right crawler travel devices 1L and 1R (corresponding to travel devices), a threshing device 3 for threshing the harvested cereal, a grain tank 4 for storing the threshed grain, and boarding operation For the traveling machine body V (corresponding to the machine body) provided with the part 2 and the like, a reaping part 10 for harvesting planted cereal such as rice and wheat and supplying it to the threshing device 3 is provided so as to be adjustable up and down, Combine is configured.

The cutting unit 10 includes a weeding tool 6 provided at the tip, a pulling device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. The cutting blade 7, the vertical conveying device 8 that conveys the harvested cereal rice cake to the rear side while gradually changing to the sideways posture, etc., are hydraulically cut around the horizontal axis P <b> 1 at the front part of the traveling machine body V. The cylinder CY is provided so as to be swingable up and down.
A stock sensor 53 is provided at the starting end of the vertical conveying device 8 so as to be turned on when it comes into contact with the harvested cereal basket and turned off when not brought into contact with the harvested cereal meal. . Therefore, the stock state sensor 53 includes a work state detection means 300 that detects whether the state is a cutting work state or a non-cutting work state.
Further, an ultrasonic cutting height sensor 9 for detecting the height of the cutting unit 10 with respect to the ground is provided at the rear side portion of the weeding tool 6. Although not described in detail, the cutting height sensor 9 detects the height of the cutting unit 10 with respect to the ground by measuring the time from when the ultrasonic wave is transmitted downward to when it is received. It is configured in a non-contact manner.

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

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

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

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended, the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened. As shown in FIG. 2, the track frame 16 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel. This state is called the lower limit reference posture.

When the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 as it is in the lower limit reference posture, as shown in FIG. On the other hand, the posture is changed (that is, the front ascending operation) in the direction of separating.
Further, when the left rear cylinder C3 is extended while maintaining the left front cylinder C2 as it is from the lower limit reference posture, as shown in FIG. Therefore, the posture is changed in the direction of separating (backward raising operation).
Further, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the lower limit reference posture, as shown in FIG. The posture is changed (raising operation) in the direction of separation.

As shown in FIG. 9, the crawler travel device 1R on the right side is similarly provided with a right front cylinder C4 located on the front side of the machine body and a right rear cylinder C5 located on the rear side of the machine body. The same operation as the crawler traveling device 1L is performed.
Therefore, the posture changing operation means 100 changes the height of the left and right crawler travel devices 1L and 1R with respect to the ground contact portions at the left front portion, left rear portion, right front portion, and right rear portion of the traveling machine body V, respectively. It comprises four hydraulic cylinders C2 to C5 for changing the attitude of the four bodies as four adjustable drive means.

Corresponding to each of the four hydraulic cylinders C2, C3, C4, C5, the rotation amount is set at a position corresponding to the rotation fulcrum of each of the bell cranks 17a, 17b in the left and right crawler travel devices 1L, 1R. Based on this, potentiometer-type stroke sensors 18, 19, 20, and 21 are provided for detecting the operation amount of each of the hydraulic cylinders C2, C3, C4, and C5 (that is, the stroke amount that has been expanded and contracted).
Further, a gravity-type left / right inclination angle sensor 23 as a right / left inclination angle detecting means for detecting a right / left inclination angle with respect to the horizontal reference plane of the traveling machine body V by the action of gravity, and a horizontal reference plane of the traveling machine body V by the action of gravity. A gravity-type front / rear inclination angle sensor 24 as a gravity-type front / rear inclination angle detecting means for detecting a front / rear inclination angle with respect to the vehicle is provided in the traveling machine body V. The left / right inclination angle sensor 23 and the front / rear inclination angle sensor 24 are the same. This will be described below with reference to FIGS. 6 and 7. FIG.
A liquid 42 having a predetermined viscosity such as silicon oil is placed in a rectangular container 41 fixed to the traveling machine body V, and a detection electrode 43 in which metal plates having the same shape are erected in parallel at the same interval is inclined at an inclination angle. A pair is arranged at intervals in the detection direction (left-right direction in FIG. 6). In the state where the traveling machine body V is not inclined, the pair of detection electrodes 43 are in the same immersion state (state shown in FIG. 6) when the liquid 42 is returned to the initial posture (liquid level horizontal state) due to gravity. When the traveling machine body V is inclined, the immersion state of the pair of detection electrodes 43 is different (the state shown in FIG. 7A), and the capacitance of each of the detection electrodes 43 is measured to obtain the measured value. A conversion circuit unit 44 that converts the difference (zero when the traveling machine body V is not inclined) into inclination angle information is provided. In FIG. 7 (b), when acceleration occurs in the left direction of the figure (for example, in front of the aircraft), the rear side liquid level of the liquid 42 becomes higher than the front side, and the rearward tilt state is erroneously detected. Indicates the state.

  Next, the power transmission system is shown in FIG. The power output from the engine E mounted on the traveling machine body V is transmitted to the threshing device 3 via the threshing clutch 45, and the left and right crawler traveling devices 1L, The power transmitted to the 1R mission unit 48 and transmitted to the mission unit 48 is transmitted to the crawler travel devices 1L and 1R, and is also transmitted to the cutting unit 10 via the cutting clutch 49. In the figure, reference numeral 50 denotes a vehicle speed sensor that detects the vehicle speed based on the input rotational speed to the mission unit 48. The continuously variable transmission 47 is operated by a shift lever 51 provided in the boarding operation unit 2, and a neutral switch 52 (see FIG. 9) for detecting whether or not the shift lever 51 is operated to a neutral position. Is provided.

As shown in FIG. 9, a microcomputer-based control device 22 is provided. The control device 22 includes the stroke sensors 18 to 21, a cutting height sensor 9, a left / right tilt angle sensor 23, a front / rear tilt angle sensor 24, Detection information of the vehicle speed sensor 50, the neutral switch 52, and the stock sensor 53 is input.
The operation panel of the boarding operation unit 2 is provided with a posture change switch unit SU, a front raising switch 40a and a rear raising switch 40b, and each piece of operation information is also input to the control device 22.

  Further, the operation panel of the boarding operation unit 2 includes a volume-type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the ground relative to the traveling vehicle body V, that is, a cutting height, and a lifting command and a lowering command for the cutting unit 10. Based on the operation of the cutting lift lever 28 for instructing, a raising switch SW1 for instructing raising of the cutting part, a lowering switch SW2 for instructing lowering of the cutting part, etc. are provided, and these information are also input to the control device 22. .

  As shown in FIG. 10, the posture change switch unit SU includes a horizontal inclination angle setting unit 25 that sets a horizontal inclination angle with respect to the horizontal reference plane of the traveling machine body V, a horizontal automatic that turns on and off horizontal control (rolling control described later). Switch 26, horizontal lamp 26a indicating the on / off state of the horizontal control, automatic front / rear switch 27 for turning on / off the front / rear control (to be described later), front / rear lamp 27a for indicating the on / off state of the front / rear control, 35 and a wetland lamp 35a indicating that the wetland control mode is provided, and further, a right-up switch 37a, a left-up switch 37b, a body-up switch 38a, and a body-down switch that are operated by a cross lever type operation tool 36. 38b is provided.

  The operation of the cross lever type operation tool 36 will be described. When the operation tool 36 is tilted to the left side, the right raising switch 37a is turned on to command a right raising operation (left tilting operation). When tilted to the right, the left raising switch 37b is turned on and a left raising operation (right tilting operation) is commanded. Also, when the operating tool 36 is tilted backward, the airframe raising switch 38a is turned on to command the airframe raising operation, and when the operating tool 36 is tilted forward, the airframe lowering switch 38b is turned on. Command to lower the aircraft.

  The left / right tilt angle setting device 25 includes a horizontal switch 25a, a left tilt switch 25b, and a right tilt switch 25c. That is, when the horizontal switch 25a is pressed, the tilt angle corresponding to the horizontal state is set as the set left / right tilt angle, and when the left tilt switch 25b is pressed, the currently set left / right tilt angle is set to the left tilt direction by the set angle. When the right tilt switch 25c is pressed, the currently set left / right tilt angle is corrected to the right tilt direction by the set angle. And about the right-and-left inclination angle set by the right-and-left inclination angle setting device 25, as shown in FIG. 11, 7 of 1-7 shown in the display apparatus (not shown) provided in the front side of the boarding operation part 2. It is displayed whether it is a stage (stage 4 with an angle of 0 represents a horizontal state, a positive angle represents a right tilt direction, and a negative angle represents a left tilt direction). In addition, about the front-back inclination angle, the inclination angle 0 (horizontal state) is preset as the set front-back inclination angle.

On the other hand, the control device 22 outputs driving signals for the hydraulic valves 29 to 33 for hydraulic control for hydraulic control of the cutting cylinder CY and the four hydraulic cylinders C2 to C5 for changing the body posture. Yes.
The control device 22 operates the cutting cylinder CY so that the value detected by the cutting height sensor 9 is maintained at the set cutting height set by the cutting height setting device 39 during the cutting operation. Perform height control.

  Using the control device 22, based on the detection information of the front / rear inclination angle sensor 24, the posture change operation means 100 is maintained such that the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body V is maintained at the set inclination angle. The left / right inclination angle with respect to the horizontal reference plane of the traveling machine body V is maintained at the set inclination angle based on the front / rear attitude control (hereinafter referred to as pitching control) for controlling the operation of the vehicle and the detection information of the left / right inclination angle sensor 23. As described above, the control means 200 is configured to execute left and right attitude control (hereinafter referred to as rolling control) for controlling the operation of the attitude changing operation means 100.

  In the pitching control, the control unit 200 includes two hydraulic cylinders (a left front cylinder C2 and a right front cylinder C4) positioned at the left front part and the right front part among the four hydraulic cylinders C2 to C5. The other two hydraulic cylinders C2 to C5 are stopped while driving any one of the two hydraulic cylinders (left rear cylinder C3 and right rear cylinder C5) located at the left rear and right rear. Of the four hydraulic cylinders C2 to C5, the two hydraulic cylinders (the front left side) positioned at the left front part and the left rear part among the four hydraulic cylinders C2 to C5. Cylinder C2 and left rear cylinder C3) and one of two hydraulic cylinders (right front cylinder C4 and right rear cylinder C5) located at the right front and right rear. In two states hydraulic cylinders C2-C5 was driven stop the square, and is configured to drive the operation of the other two hydraulic cylinders C2-C5.

  When the rolling control and the pitching control are executed, the control unit 200 includes the traveling devices 1L of the two hydraulic cylinders C2 to C5 that are stopped from driving among the four hydraulic cylinders C2 to C5. The reference plane KH including each height position with respect to the grounding portion of 1R is set, and the other two hydraulic cylinders C2 to C5 have the same operation amount (the amount of stroke that is expanded and contracted) from the reference plane KH. By performing the driving operation as described above, the plane maintaining posture changing operation is performed to maintain the state in which the four hydraulic cylinders C2 to C5 form a plane at each height position with respect to the grounding portions of the traveling devices 1L and 1R. It is configured.

With respect to the setting of the reference plane KH, the pitching operation for driving the left rear cylinder C3 and the right rear cylinder C5 located at the rear of the fuselage with the left front cylinder C2 and the right front cylinder C4 located at the front of the fuselage stopped. A case will be described as an example.
As shown in FIG. 12, a plane indicated by slant lines is formed by the height positions of the four hydraulic cylinders C2 to C5, and the height positions of the left front part and the right front part in the plane are a1, c1 respectively. Is shown. It should be noted that the height change operation range at the left front, left rear, right front, and right rear by the four hydraulic cylinders C2 to C5 (corresponding to the drive operation possible range of each hydraulic cylinder C2 to C5). Are indicated by a0, b0, c0, and d0, and upper limit positions are indicated by a2, b2, c2, and d2, respectively.
In this case, a straight line a1-b1 is drawn from the height position a1 of the left front part toward the left rear part in parallel to the straight line connecting the lower limit position a0 of the left front part and the lower limit position b0 of the left rear part. A straight line c1-d1 is drawn from the height position c1 of the right front part toward the right rear part in parallel to the straight line connecting the lower limit position c0 of the front part and the lower limit position d0 of the right rear part, and the straight line a1-b1 and the straight line c1- A reference plane KH is set by a plane a1-b1-c1-d1 including d1.

  When executing the plane maintaining posture changing operation, the control device 22 determines each of the two hydraulic cylinders C2 to C5 to be driven and operated per unit time based on the detection information of the stroke sensors 18 to 21. A change in the operation amount is obtained, and among the two hydraulic cylinders C2 to C5, the operation amount in the hydraulic cylinders C2 to C5 on the large change speed side where the change in the operation amount per unit time is large is the per unit time. As the operation amount of the hydraulic cylinders C2 to C5 on the larger change speed side becomes larger than the operation amount in the hydraulic cylinders C2 to C5 on the lower change speed side, the operation amount in the hydraulic cylinders C2 to C5 on the larger change speed side becomes the change speed. The drive operation of the hydraulic cylinders C2 to C5 on the large change speed side is stopped until the set value becomes smaller than the operation amount in the small hydraulic cylinders C2 to C5, and the front As the operation amount in the hydraulic cylinders C2 to C5 on the large change speed side becomes smaller than the set value by the operation amount in the hydraulic cylinders C2 to C5 on the small change speed side, the hydraulic cylinders C2 to C2 on the large change speed side. By starting the driving operation of C5, the operation amounts from the reference plane KH of the two hydraulic cylinders C2 to C5 to be driven are made the same.

That is, when there is a difference in the change speed of the operation amount (cylinder expansion / contraction amount) by the two hydraulic cylinders C2 to C5 to be driven, the faster one is driven while continuously driving the slower cylinder. By turning on / off the driving of the cylinder, the difference in the operation amount between the two hydraulic cylinders C2 to C5 to be driven is kept within a set value so that each operation amount from the reference plane KH becomes the same. To control.
In this case, first, the expansion / contraction amount W, which is the operation amount of the cylinder from the reference plane KH, is set to the difference between the current cylinder position and the reference position corresponding to the reference plane KH, as shown in the following equation. C2 to C5 drive operation possible range, that is, defined by the ratio (percentage) when divided by the total stroke ST from the upper limit position to the lower limit position, and the set value is set to 3% of the total stroke ST Yes. That is, the difference in the expansion / contraction amount W between the two hydraulic cylinders C2 to C5 to be driven is kept within 3% of the total stroke ST at which each hydraulic cylinder C2 to C5 can be driven. When the cylinder expansion / contraction amount W is positive, it indicates that the current cylinder position is located above the reference plane KH, and when it is negative, the current cylinder position is higher than the reference plane KH. Indicates that it is located on the lower side.
[Equation 1]
Cylinder expansion / contraction amount W = [(cylinder position−reference position) / ST] × 100

Next, the posture changing operation by the rolling control and the pitching control will be specifically described.
That is, in the case of rolling control, if the traveling surface is in a left-down state, the left front cylinder C2 is shortened in the left crawler traveling device 1L from the state in the lower limit reference posture (FIG. 2), and the left When the rear cylinder C3 is extended, the traveling vehicle body V changes to a left-upward inclined posture (right inclined posture) with respect to the grounding portion, and the horizontal inclination angle of the traveling vehicle body V with respect to the horizontal reference plane can be made horizontal. it can. Further, if the traveling surface is in the right-down state, when the right front cylinder C4 is shortened and the right rear cylinder C5 is extended in the right crawler traveling device 1R from the state in the lower limit reference posture, the traveling is performed. The airframe V changes to an upper right tilt posture (left tilt posture) with respect to the ground contact portion, and the left and right tilt angles with respect to the horizontal reference plane of the traveling vehicle body V can be made horizontal.

In the case of the pitching control, if the traveling surface is in the front lowering state, the left rear cylinder C3 and the right rear cylinder C5 are maintained as they are from the state in the lower limit reference posture (FIG. 2), respectively. When the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened, the front side of the traveling machine body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R, and the posture changes to a backward inclined posture. The front / rear inclination angle with respect to the horizontal reference plane of the airframe V can be made horizontal. Further, if the traveling surface is in the forwardly raised state, the left rear cylinder C3 and the right rear cylinder C5 are maintained from the state in the lower limit reference posture while the left front cylinder C2 and the right front cylinder C4 are maintained as they are. When the extension operation is performed simultaneously, the rear side of the traveling vehicle body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R and changes its posture to a forward tilting posture. Corners can be leveled.
Further, the control means 200 is configured to be switchable between the normal control mode and the wetland control mode as the pitching control, and the control sensitivity in the wetland control mode is used as the control sensitivity in the normal control mode and the wetland control mode. Is set to a control sensitivity that is more sensitive than the control sensitivity in the normal control mode. That is, when the wet pad lamp 35a is turned off (normal control mode state) and the wet pad switch 35 is pressed, the wet pad lamp control mode is switched to and the wet pad lamp 35a is turned on (wet pad control mode state). ) To switch to the normal control mode.

  Specifically, in the pitching control, the control unit 200 determines that the deviation between the detection signal of the front / rear tilt angle sensor 24 and the set signal value corresponding to the set tilt angle (set front / rear tilt angle) is for posture control. When it is out of the dead zone, the posture change operation means 100 is configured to operate so that the deviation falls within the dead zone, and in the normal control mode, the dead zone for the posture control is used for the normal control mode. In the wetland control mode, the deadband F2 for the wetland control mode having a narrower width than the deadband F1 for the normal control mode is used as the deadband for the posture control in the wetland control mode. The control sensitivity is set to a control sensitivity that is more sensitive than the control sensitivity in the normal control mode.

  Next, the setting of the dead zone F1 for the normal control mode and the dead zone F2 for the wetland control mode will be described with reference to FIGS. The set signal value is indicated by ks, and the predetermined range on the increase side and the decrease side of the detection signal is set as the dead zone F1 for the normal control mode with the set signal value ks as the center, and inside the dead zone F1, The dead zone F2 for the wetland control mode is set with a width narrower than the width of the dead zone F1. The detection signal of the front / rear inclination angle sensor 24 described below is a signal after filtering from which the noise component has been removed. When the detection signal of the front / rear inclination angle sensor 24 increases, the traveling machine body V assumes a forward ascending posture. Suppose. The set signal value ks is a value corresponding to the horizontal state. As the filter processing, the detection signal of the front / rear inclination angle sensor 24 is sampled at predetermined time intervals, and the set number of front / rear inclination angle data is averaged.

  In the normal control mode, as shown in FIG. 13, when the deviation between the detection signal of the front / rear inclination angle sensor 24 and the set signal value ks deviates from the dead zone F1 for the normal control mode, the deviation becomes the dead zone for the normal control mode. Each of the two cylinders C2 to C5 to be driven is operated so as to enter F1. When the deviation enters the dead zone F1 for the normal control mode by the operation of the cylinder, the operation of the cylinder is stopped. In the wet field control mode, as shown in FIG. 14, if the deviation between the detection signal of the front / rear inclination angle sensor 24 and the set signal value ks is out of the dead band F2 for the wet field control mode, the deviation is the dead band for the wet field control mode. Each of the two cylinders C2 to C5 to be driven is operated so as to enter into F2. When the deviation enters the dead zone F2 for the wetland control mode by the operation of the cylinder, the operation of the cylinder is stopped.

  Although not shown, even in rolling control, if the deviation between the detection signal of the left / right tilt angle sensor 23 and the set signal value corresponding to the set left / right tilt angle deviates from the dead zone for rolling, the deviation is for the normal control mode. The two cylinders C2 to C5 to be driven are operated so as to enter the dead zone F1.

  As shown in FIG. 9, an acceleration detecting means 400 for detecting the acceleration of the traveling machine body V is configured using the control device 22 and the vehicle speed sensor 50. Specifically, the control device 22 samples the detection value of the vehicle speed sensor 50 at predetermined time intervals, and obtains the acceleration from the difference between the respective sampling data.

  When the acceleration detected by the acceleration detection unit 400 exceeds the attitude control stop determination value for the normal control mode in the normal control mode, the control unit 200 stops the execution of the pitching control, and In the wet pad control mode, the control sensitivity in the wet pad control mode is made higher than the control sensitivity in the normal control mode by executing the pitching control regardless of the acceleration value detected by the acceleration detecting means 400. It is configured to set a sensitive control sensitivity.

  The case where the crawler travel devices 1L and 1R start the forward travel from the travel stop state will be described as an example. As shown in FIG. 15, in the travel stop state, the vehicle speed and the acceleration are both zero, and the travel starts. Along with this, the vehicle speed increases and the acceleration increases. Even during traveling, if the vehicle speed is increased or decreased, acceleration occurs accordingly. In the acceleration graph, plus (+) represents acceleration in the forward direction, and minus (−) represents acceleration in the backward direction.

  In the normal control mode, the control unit 200 executes the pitching control as the acceleration of the traveling machine body V detected by the acceleration detection unit 400 exceeds the attitude control stop determination value for the normal control mode. Is stopped during the set stop time Ts. The posture control stop determination value for the normal control mode is set to k1 for acceleration in the forward direction and to -k1 for acceleration in the reverse direction (provided that k1> 0).

  The control means 200 is configured to change the set stop time Ts to a longer time side as the acceleration of the traveling machine body V detected by the acceleration detection means 400 is larger. Specifically, a peak value kp when the acceleration of the traveling machine body V increases beyond the attitude control stop determination value k1 for the normal control mode is detected, and the peak value kp of the acceleration and the determination value k1 are detected. According to the difference, as shown in FIG. 16, the set stop time Ts is lengthened. The minimum value of the set stop time Ts is set so that the execution of the pitching control is not started immediately after the acceleration of the traveling machine body V becomes smaller than the attitude control stop determination value k for the normal control mode. Yes.

  Further, the control means 200 is configured to set the set stop time Ts based on the detection response characteristic of the front / rear inclination angle sensor 24. Specifically, as shown in FIG. 17, the set stop time Ts is set to be longer as the time constant of the front / rear inclination angle sensor 24 is larger. Note that the time constant of the front / rear inclination angle sensor 24 in this case is such that the front / rear inclination angle when the front / rear inclination angle of the traveling machine body V suddenly changes from 0 degrees (horizontal state) to the angle θ as shown in FIG. This represents the rise time ts when the output signal of the sensor 24 reaches the detection value θs corresponding to the angle θ.

  In addition, the control unit 200 controls the pitching control in the normal control mode when it is detected by the work state detection unit 300 (stock sensor 53) that it is in a non-reaping work state. In the wet pad control mode, the pitching control is executed with priority over the rolling control.

  A specific example will be described. As shown in FIG. 19, when the operation process along each side M <b> 1 to M <b> 4 is harvested and traveled in a so-called surrounding trimming manner with respect to the field M of the rectangular section, In order to align the cutting height, the rolling control is executed with priority over the pitching control. When the airframe V reaches the end of one work process, it switches between forward travel and reverse travel while changing the direction of the airframe V by 90 degrees and moves to the start end of the next work process. When the stock sensor 53 is changed from the on state to the off state when reaching the end portion, and it is detected that the stock cutting sensor 53 is in the non-reaching work state, and the cutting operation is started from the start end portion of the next work process In addition, it is detected that the stock sensor 53 has changed from the off state to the on state and has entered the cutting operation state. If the mode is switched to the normal control mode, the rolling control is executed with priority over the pitching control from the end of the work process to the start of the next work process, and the control is switched to the wet pad control mode. If so, the pitching control is executed with priority over the rolling control from the end of the work process to the start of the next work process.

Next, the posture changing operation by the control device 22 will be described based on the flowcharts of FIGS.
First, it is determined whether or not a manual operation command (right / left tilt, front / back tilt, up / down ascending / descending) has been issued, and when a manual operation command is issued, manual posture change processing is executed.
When the manual operation command is not issued, the state of the horizontal automatic switch 26 is checked. When the horizontal automatic switch 26 is not turned on, neither rolling control nor pitching control is executed. If the horizontal automatic switch 26 is on and the front / rear automatic switch 27 is not on, only rolling control is executed. When both the horizontal automatic switch 26 and the front / rear automatic switch 27 are turned on, it is determined whether the normal control mode or the wetland control mode has been switched.

In the normal control mode, it is checked whether the pitching control stop flag is turned on. If the pitching control stop flag is not turned on, the acceleration of the traveling machine body V is the posture control stop for the normal control mode. It is determined whether or not the discriminant value k1 has been exceeded. If the acceleration of the traveling vehicle V does not exceed the attitude control stop discriminant value k1 for the normal control mode, the rolling control is preferentially executed first, and then pitching is performed. Execute control.
When the pitching control stop flag is on, whether or not the set stop time Ts has elapsed after the acceleration of the traveling machine body V exceeds the attitude control stop determination value k1 for the normal control mode. As a result, if the set stop time Ts has not elapsed, only rolling control is executed, and if the set stop time Ts has elapsed, the pitching control stop flag is turned off.

  In the wet pad control mode, it is checked whether or not the cutting work state is detected. If it is the cutting work state, the rolling control is preferentially executed first, and then the pitching control is executed. On the other hand, if it is in the non-reaping work state, the pitching control is executed first, and then the rolling control is executed.

  In the manual posture change process (FIG. 22), if the left-up switch 37b is instructed to raise the left, the right-inclination process is executed. In the right inclination process, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened while performing the stroke adjustment process described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the lower limit position. If either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the stroke adjustment process described later is executed until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position, The left front cylinder C2 is shortened and the left rear cylinder C3 is extended.

  On the other hand, if a right-up switch is instructed by the right-up switch 37a, a left tilt process is executed. In the left inclination process, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened while performing a stroke adjustment process described later until either the left front cylinder C2 or the left rear cylinder C3 reaches the lower limit position. When either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, while performing stroke adjustment processing described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position, The right front cylinder C4 is shortened and the right rear cylinder C5 is extended.

  Further, if the rear raising is instructed by the rear raising switch 40b, the forward inclination process is executed. In the front inclination process, the left front cylinder C2 and the right front cylinder C4 are extended to perform the stroke adjustment process described later until either the left front cylinder C2 or the right front cylinder C4 reaches the lower limit position. If any of the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C3 and the right rear cylinder are executed while performing the stroke adjustment process described later until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. The rear cylinder C5 is extended.

  Further, if the front-up switch 40a is instructed to perform the front-up, the rear tilt process is executed. In the rearward tilt process, the left rear cylinder C3 and the right rear cylinder C5 are shortened while executing a stroke adjustment process described later until either the left rear cylinder C3 or the right rear cylinder C5 reaches the lower limit position. If either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, a stroke adjustment process as described later is executed until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position. The left front cylinder C2 and the right front cylinder C4 are shortened.

  Also, if the aircraft raising command is given by the aircraft raising switch 38a, the aircraft raising process is executed. In the airframe rising process, the left front cylinder C2 is shortened until it reaches the upper limit position, the left rear cylinder C3 is extended until it reaches the upper limit position, and the right front cylinder C4 is shortened until it reaches the upper limit position. The extension operation is performed until C5 reaches the upper limit position.

  If the aircraft lowering switch 38b is instructed to lower the aircraft, the aircraft lowering process is executed. In the airframe lowering process, the left front cylinder C2 is extended until it reaches the lower limit position, the left rear cylinder C3 is shortened until it reaches the lower limit position, and the right front cylinder C4 is extended until it reaches the lower limit position. The shortening operation is performed until C5 reaches the lower limit position.

  In the rolling control (FIG. 23), if the deviation between the detected value of the left / right tilt angle sensor 23 and the set signal value deviates from the dead zone for rolling to the left tilt side of the traveling vehicle body V, the respective positions located on the front and rear of the right side of the vehicle body Based on the detection information of the stroke sensors 20, 21, it is determined whether either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, and both the cylinders C4, C5 are operated to the lower limit position. If not, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened while performing stroke adjustment processing described later until either of the cylinders C4, C5 reaches the lower limit position. If either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder is executed while performing stroke adjustment processing described later until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position. C2 is shortened and the left rear cylinder C3 is extended.

If the deviation between the detection value of the left / right inclination angle sensor 23 and the set signal value is out of the rolling dead zone to the right inclination side of the traveling vehicle body V, the detection of the stroke sensors 18 and 19 positioned at the front and rear of the vehicle body left side is detected. Based on the information, it is determined whether either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position. If both the cylinders C2 and C3 are not operated to the lower limit position, both cylinders Until either one of C2 and C3 reaches the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened while performing stroke adjustment processing described later. If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, the right front cylinder is executed while performing stroke adjustment processing described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. C4 is shortened and the right rear cylinder C5 is extended.
In this way, while the height of the traveling machine body V is made as low as possible, the angular deviation between the left / right inclination angle of the traveling machine body V and the set left / right inclination angle set by the left / right inclination angle setting device 25 is within the dead zone F. The rolling control is executed so as to fall within the range.

In the pitching control (FIG. 24), as the dead zone for pitching, the dead zone F1 for the normal control mode is used if switched to the normal control mode, and the dead zone F2 for the wetland control mode is used if switched to the wet field control mode. The following processing is executed using
If the deviation between the detected value of the front / rear inclination angle sensor 24 and the set signal value ks deviates from the pitching dead zone to the front inclination side of the traveling vehicle body V, the detection information of the left and right stroke sensors 19 and 21 located at the rear of the vehicle body is included. Based on this, it is determined whether any of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position. If both the cylinders C3 and C5 are not operated to the lower limit position, both the cylinders C3 are determined. , C5, the left rear cylinder C3 and the right rear cylinder C5 are shortened while performing the stroke adjustment process described later until one of the lower limit positions is reached. If either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder is executed while performing stroke adjustment processing described later until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position. C2 and the right front cylinder C4 are shortened.

If the deviation between the detected value of the front / rear inclination angle sensor 24 and the set signal value ks deviates from the pitching dead zone to the rear inclination side of the traveling vehicle body V, the detection information of the left and right stroke sensors 18 and 20 located at the front of the vehicle body V Based on the above, it is determined whether either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position. If both the cylinders C2, C4 are not operated to the lower limit position, both the cylinders C2, Until either one of C4 reaches the lower limit position, the left front cylinder C2 and the right front cylinder C4 are extended while performing stroke adjustment processing described later. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, a stroke adjustment process as described later is executed until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. The left rear cylinder C3 and the right rear cylinder C5 are extended.
In this way, the pitching operation process is performed so that the angular deviation between the front and rear inclination angle of the traveling machine body V and the front and rear inclination angle corresponding to the horizontal state is within the dead zone while minimizing the height of the traveling machine body V. Do it.

Next, the stroke adjustment process performed when the two cylinders are driven as described above will be described.
As shown in FIG. 25, the two cylinders to be driven are C (A) and C (B), and if one of both cylinders is not stopped, it is based on the detection information of each stroke sensor 18-21. Thus, the expansion / contraction amounts W1 and W2 for each cylinder and the expansion / contraction amounts per unit time by each cylinder, that is, the changing speeds V1 and V2 of the expansion / contraction amount of each cylinder are obtained by the equation shown in the equation (1). When one of the cylinders is stopped, only the expansion / contraction amounts W1 and W2 for each cylinder are obtained.

  When it is detected that the changing speed V1 of one cylinder C (A) is larger than the changing speed V2 of the other cylinder C (B), the cylinder C (B) on the smaller speed side is continuously connected. While operating, the operation of the cylinder C (A) on the high speed side is turned on / off. That is, the expansion / contraction amount W1 of the cylinder C (A) on the high speed side is compared with the expansion / contraction amount W2 of the cylinder C (B) on the high speed side. If the expansion / contraction amount W2 of the cylinder C (B) on the low speed side is larger and the difference is larger than 3% of the total stroke, the operation of the cylinder C (A) on the large speed side is stopped. If the difference is smaller than 3%, the operation of the cylinder C (A) on the higher speed side is not stopped. On the other hand, if the expansion / contraction amount W1 of the cylinder C (A) on the high speed side is smaller than the expansion / contraction amount W2 of the cylinder C (B) on the low speed side, and the difference is larger than 3% of the total stroke, The operation of the cylinder C (A) on the high speed side being stopped is started.

  Conversely, when it is detected that the change speed V1 of the expansion / contraction amount W1 of the cylinder C (A) is smaller than the change speed V2 of the expansion / contraction amount W2 of the cylinder C (B), The cylinder C (A) is set to the cylinder C (A), and the cylinder C (B) on the large speed side is turned on / off while the cylinder C (A) on the small speed side is continuously operated.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. The second embodiment is configured in the same manner as in the first embodiment, except that the content of front and rear posture control (pitching control) in the wet pad control mode is different from that in the first embodiment.
That is, in the second embodiment, in the normal control mode, when the acceleration detected by the acceleration detection unit 400 exceeds the posture control stop determination value k1 for the normal control mode, the front-rear posture is determined. In the wet pad control mode, the posture for the wet pad control mode in which the acceleration detected by the acceleration detecting means 400 is larger than the posture control stop determination value k1 for the normal control mode is stopped. When the control stop determination value k2 is exceeded, the control sensitivity in the wetland control mode is set to be more sensitive than the control sensitivity in the normal control mode by stopping the execution of the front-rear posture control. Yes.

  Specifically, as shown in FIG. 26 corresponding to FIG. 15 in the normal control mode, the acceleration of the traveling vehicle body V detected by the acceleration detecting means 400 increases as the vehicle speed increases and the acceleration increases. Is configured to stop the execution of the pitching control for a set stop time Ts1 as it exceeds the attitude control stop determination value k2 for the wetland control mode. Although explanation is omitted, the attitude control stop discriminating value k2 for the wetland control mode is also changed according to the vehicle speed in the same manner as the attitude control stop discriminating value k1 for the normal control mode. It is set according to the detection response characteristic (time constant) of the sensor 24.

FIG. 27 shows a processing flow of pitching control in the wetland control mode in the second embodiment. The process flow of FIG. 27 is executed by replacing the process flow part of the pitching control in the wet pad control mode in FIG.
That is, first, it is checked whether the pitching control stop flag is turned on. If the pitching control stop flag is not turned on, whether the acceleration of the traveling vehicle body V has exceeded the attitude control stop determination value k2 for the wetland control mode. If the acceleration of the traveling machine body V does not exceed the attitude control stop determination value k2 for the wetland control mode, it is further checked whether a cutting work state is detected. The rolling control is executed first, and then the pitching control is executed. On the other hand, if it is in the non-reaping work state, the pitching control is executed first, and then the rolling control is executed.
When the pitching control stop flag is on, it is determined whether or not the set stop time Ts1 has elapsed after the acceleration of the traveling vehicle body V exceeds the attitude control stop determination value k2 for the wetland control mode. As a result, if the set stop time Ts1 has not elapsed, only rolling control is executed. If the set stop time Ts1 has elapsed, the pitching control stop flag is turned off.

[Another embodiment]
Next, another embodiment will be listed.
In the pitching control, the control means 200 sets the control sensitivity in the wetland control mode to a control sensitivity that is more sensitive than the control sensitivity in the normal control mode. The control configuration is limited to that in the first and second embodiments. Absent.
For example, by increasing the operating speed for operating the posture changing operation means 100 (hydraulic cylinders C2 to C5) in the wet pad control mode, the operating speed in the normal control mode is made faster, thereby increasing the control sensitivity in the wet pad control mode. The control sensitivity may be set to be more sensitive than the control sensitivity in the normal control mode.
Further, when the detection signal of the front / rear inclination angle detecting means 24 is filtered, different processing configurations may be used in the normal control mode and in the wet pad control mode. For example, by increasing the number of data to be processed when performing average value processing as a filter process in the normal control mode and decreasing in the wet field control mode, the control sensitivity in the wet field control mode is increased in the normal control mode. The control sensitivity can be set to be more sensitive than the control sensitivity.

  In the above embodiment, the right / left inclination angle detection means 23 and the front / rear inclination angle detection means 24 are constituted by the gravity-type inclination angle sensors 23, 24. However, the present invention is not limited to this, and an angular velocity such as a laser gyro is detected. Means for detecting the tilt angle by integrating the detection signal of the sensor to be used.

  In the above-described embodiment, the traveling device is configured by the pair of left and right crawler traveling devices 1L and 1R. However, the traveling device is not limited to this. For example, a single traveling device may be used. It may be a device.

In the above-described embodiment, the posture changing operation means 100 is configured by the four driving means C2 to C5 positioned at the four front, rear, left and right positions of the machine body V. For example, the left and right traveling devices are driven up and down separately. A pair of left and right drive means (rolling hydraulic cylinder) and a single drive means (pitching hydraulic cylinder) for integrally tilting the left and right traveling devices in the front-rear direction may be used.
Also, when the four drive means C2 to C5 are configured, other drive means including an electric motor and a screw feed mechanism may be used in addition to the hydraulic cylinder.

In the above-described embodiment, the work state detection means 300 is configured by the stock sensor 53, which is in a cutting work state when the stock sensor 53 is on, and in a non-reaching work state when the stock sensor 53 is off. In addition to this, for example, the work state detection means 300 is configured using the control device 22 and the stock sensor 53, and changes from off to on when the stock sensor 53 is off. After that, it may be detected that the vehicle is in a non-reaping work state until it travels a set distance.
Therefore, in this case, in the wetland control mode, the pitching control takes precedence over the rolling control until the aircraft is released from the uneven headland after the combine has started running from the headland and harvested the grain cereal. Will be executed.

  In the said embodiment, although the combine was illustrated as a harvesting harvester, a harvesting harvester other than a combine may be sufficient.

Side view showing the front of the combine Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device The perspective view which shows the structure of an inclination angle detection means. Side view showing the detection operation of the tilt angle detection means Combine power transmission diagram Block diagram showing control configuration Front view of switch unit for posture change operation The figure which shows the setting value of the horizontal inclination Perspective view showing plane maintenance posture change operation Time chart showing detection signal and posture change operation of tilt angle detection means Time chart showing detection signal and posture change operation of tilt angle detection means Time chart showing acceleration detection processing and attitude control stop processing Graph showing change characteristics of attitude control stop time Graph showing posture control stop time setting Graph showing the detection response characteristics of the tilt angle detection means Top view of the field showing the harvesting condition of the combine Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Time chart showing acceleration detection processing and attitude control processing in the second embodiment The flowchart which shows the control action in 2nd Embodiment.

Explanation of symbols

1L, 1R Traveling device 23 Left / right inclination angle detection means 24 Front / rear inclination angle detection means 24 Gravity type inclination angle detection means 100 Posture change operation means 200 Control means 300 Work state detection means 400 Acceleration detection means C2 to C5 Driving means V Machine body

Claims (4)

Attitude changing operation means capable of changing and changing the front / rear inclination angle of the aircraft body relative to the grounding portion of the traveling device;
A front / rear inclination angle detecting means for detecting a front / rear inclination angle with respect to a horizontal reference plane of the aircraft body;
Based on the detection information of the front / rear inclination angle detection means, the front / rear attitude control is performed to control the operation of the attitude change operation means so that the front / rear inclination angle with respect to the horizontal reference plane of the airframe body is maintained at the set inclination angle. A harvesting and harvesting machine attitude control device provided with a control means,
The control means is configured to be switchable between a normal control mode and a wetland control mode as the front-rear posture control,
The posture changing operation means is configured to freely change and operate a right and left inclination angle of the airframe body with respect to a grounding portion of the traveling device,
A left / right inclination angle detecting means for detecting a left / right inclination angle with respect to a horizontal reference plane of the airframe body, and a work state detecting means for detecting whether the state is a cutting work state or a non-cutting work state;
The control means controls the operation of the attitude changing operation means based on the detection information of the left / right inclination angle detection means so that the right / left inclination angle with respect to the horizontal reference plane of the main body is maintained at the set inclination angle. Configured to perform left and right attitude control,
In the normal control mode, when the work state detection means detects that the state is a non-reaping work state, the left-right posture control is executed with priority over the front-rear posture control, and the wetland control In a mode, the posture control device for a harvesting and harvesting machine is configured to execute the front-rear posture control in preference to the left-right posture control. In the normal control mode and the wetland control mode, when the control means is detected to be in the cutting work state by the work state detection means, the left / right posture control is given priority over the front / rear posture control. The posture control device for a harvesting and harvesting machine according to claim 1, wherein the posture control device is configured to be executed . The control means is configured to set the control sensitivity in the wet paddy mode more sensitive than the control sensitivity in the normal mode as the control sensitivity of the posture control in the normal mode and the wet paddy mode. Item 3. The attitude control device for a harvesting harvester according to item 1 or 2. Four driving means that can change and adjust the height with respect to the grounding portion of the traveling device at each of the left front part, left rear part, right front part, and right rear part in the body body. Configured with
In the front-rear posture control, the control means includes two drive means located at the left front part and the right front part, and two drive means located at the left rear part and the right rear part among the four drive means. The other two driving means are driven and operated while either one of the two driving means is stopped, and in the left-right posture control, among the four driving means The two drive means located at the left front part and the left rear part and the two drive means located at the right front part and the right rear part are driven and stopped in the other state. The posture control device for a harvesting and harvesting machine according to any one of claims 1 to 3, wherein the two driving means are driven to operate .

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