JP6460740B2 - Ground work vehicle - Google Patents

Description

  The present invention relates to a ground work vehicle that performs work at a predetermined depth from the ground surface with respect to a ground surface layer.

  In farmland or the like, an operation of stripping the surface layer at a predetermined depth may be performed. As this type of work method, there are a method using a construction machine such as a bulldozer and a hydraulic excavator and a method using an agricultural machine such as a tractor (for example, see Patent Document 1).

  For example, when working to remove the surface layer using a construction machine such as a bulldozer or hydraulic excavator, the depth of the surface layer is adjusted manually by the operator, while using an agricultural machine such as a tractor. When the surface layer is peeled off, automatic depth control that automatically moves the work implement up and down according to the height of the ground can be used, so it can be said that the work accuracy of the stripping depth is superior to the construction machine. .

Japanese Patent Application Laid-Open No. 2004-236583

  However, when working on the ground layer at a predetermined depth from the ground surface using the work equipment attached to the rear of the tractor, the work equipment height is automatically controlled using the tractor's work equipment automatic lifting function. In this case, it is effective to detect the height of the field scene immediately before the ground work by the work implement, but it becomes difficult to accurately detect the height of the ground at the site where the ground surface is extremely uneven, If automatic control is used, the working depth may be unstable. Further, when the ground layer is hard, there is a problem that the working depth becomes shallow because a large lifting force acts on the working machine.

The present invention was created in view of the above-described circumstances to solve these problems. The invention of claim 1 is connected to a traveling machine body and a rear part of the traveling machine body so as to be movable up and down. A ground work vehicle that performs work on a ground layer at a predetermined depth from the ground surface, the work machine being a travel trace that has been solidified by the traveling machine body in front of a work position. grounded, the pair of rolling wheel which moves up and down according to the ground height of the working machine, the ground height detecting means for detecting the ground height of the working machine on the basis of the vertical position of said transfer wheel, whereas The rolling wheel is movable up and down in accordance with the ground height of the work machine, and the ground height detection means for detecting the ground height of the work machine based on the vertical position, and the other wheel is moved up and down. The work implement is pushed down by a pressure-sensitive sensor provided on the support portion of the wheel. A load detecting means depressed for detecting a load, the vehicle body includes a hydraulic cylinder for raising and lowering of the double-acting forcibly elevating the working machine, according to ground height the ground height detecting means detects And a lift control means for forcibly controlling the work implement to move up and down.
The invention according to claim 2 is the ground work vehicle according to claim 1, wherein the rolling wheel can be switched between a vertically movable state and a vertically unmovable state.
According to a third aspect of the present invention, the work implement includes a right / left inclination detecting unit that detects a right / left inclination of the work implement based on a vertical position of the pair of left and right wheels, and the traveling machine body moves the work implement to the left / right The ground working vehicle according to claim 1, further comprising a tilt hydraulic cylinder for tilting, and a tilt control unit that controls a left-right tilt of the work implement according to a left-right tilt detected by the left-right tilt detection unit. It is.

According to the first aspect of the present invention, the rolling machine is provided with a rolling wheel that is grounded on the running trace that the traveling machine body has stepped down and moves up and down in accordance with the height of the working machine with respect to the ground. Since the ground height is detected, it is possible to accurately detect the ground height of the work implement even on a site with severe unevenness, and to control the work implement to be raised and lowered with high accuracy based on the detected ground height. In addition, since the working machine is forcibly raised and lowered by the double-acting lifting hydraulic cylinder, even when the ground layer is hard, the working machine can be prevented from rising and the working depth can be stabilized. . In addition, only one of the pair of left and right wheels can be moved up and down, and the ground clearance of the work implement is detected based on the vertical position. Can be suppressed, and the lifting control of the work machine can be stabilized. In addition, since the pressing load of the work implement is detected at the other wheel that cannot move up and down, the work implement can be controlled to move up and down so as to maintain a certain level or more of the pressing load.
According to the second aspect of the invention, since the wheel can be switched between a vertically movable state and a non-movable state, the roller wheel is fixed so that it cannot move vertically on a ground surface. Efficient ground work.
According to the invention of claim 3 , since the left and right inclination of the work implement is detected based on the vertical position of the pair of left and right wheels, the left and right inclination of the work implement is controlled according to the detected left and right inclination. It is also possible to suppress the variation of the working depth caused by the right and left inclination of the working machine.

It is the whole left side view of a ground work vehicle. It is a whole top view of a ground work vehicle. (A) is a principal part right view of a working machine, (B) is a principal part front view of a working machine, (C) is a principal part left side view of a working machine. It is explanatory drawing of an example of ground work. It is a block diagram which shows the input / output of a control part. It is a flowchart of a working machine raising / lowering control. It is a flowchart of blade angle control. It is a whole top view of the ground work vehicle which concerns on 2nd Embodiment. It is a block diagram which shows the input / output of the control part which concerns on 2nd Embodiment. It is a flowchart of the working machine raising / lowering control which concerns on 2nd Embodiment. It is a flowchart of the working machine level control which concerns on 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2, reference numeral 1 denotes a traveling machine body of a ground work vehicle. The traveling machine body 1 includes an engine mounting portion 2 on which an engine (not shown) is mounted, and a transmission case (see FIG. (Not shown), a driving unit 3 on which an operator gets on, a traveling unit 4 that supports the machine body, and a work machine connection unit 6 provided at the rear part of the machine body. As an example of the work machine, a work machine 7 that peels off the ground layer at a predetermined depth is connected.

  The traveling unit 4 includes a pair of left and right crawler traveling devices 8, and each crawler traveling device 8 is wound around a ring body such as a drive wheel 9, an idler 10, a lower wheel 11, an upper wheel 12, and the like. And an endless crawler 13 that is rotated. The crawler traveling device 8 causes the traveling machine body 1 to travel in accordance with the driving of the drive wheels 9 and forms a travel trace corresponding to the left and right width of the crawler 13 on the ground surface. This travel trace is compacted by the load of the traveling machine body 1, and even in a site where the ground surface has irregularities, the irregularities are compacted and the flatness is improved in the travel trace. In addition, although it was set as the crawler type traveling part 4 in this embodiment, a wheeled traveling part may be sufficient.

  The work machine connection unit 6 includes a lift link mechanism 14 that connects the work machine 7 so as to freely move up and down, a pair of left and right lift arms 16 that suspends the lift link mechanism 14 via a pair of left and right lift rods 15, and a lift arm 16. A lift cylinder (lifting hydraulic cylinder) 17 that raises and lowers the work machine 7 based on the hydraulic operation of the left and right and one of the left and right lift rods 15 are configured, and a lift that tilts the work machine 7 left and right based on the hydraulic expansion and contraction action. A rod cylinder (tilting hydraulic cylinder) 18 is provided. The lift cylinder 17 and the lift rod cylinder 18 are both double-acting hydraulic cylinders, and the working machine 7 can be forcibly moved up and down and tilted. For example, even when a lifting force is applied to the work machine 7 from the surface layer, the work machine 7 can be forcibly lowered to maintain a predetermined ground height.

  The work machine 7 is grounded on the rotary 19 that crushes the ground layer, the dozer 20 that cuts the ground layer behind the rotary 19 and collects the soil on the left and right sides of the work machine 7, and the front of the rotary 19. A pair of left and right wheels 21 are provided.

  The rotary 19 includes a rotary shaft 22 that is rotatable along the left-right direction, a plurality of tilling claws 23 provided on the rotary shaft 22, a rotary cover 24 that covers the top of the tilling claws 23, and a PTO supplied from the traveling machine body 1 side. A chain case 25 that transmits power to the rotary shaft 22 is configured, and the tilling claws 23 crush the ground layer according to the rotation of the rotary shaft 22.

  The dozer 20 includes a pair of left and right blades 26 that can swing back and forth (openable and closable) with the left and right center portion of the work machine 7 as a fulcrum, and a blade right opening and closing cylinder 27R that changes the front and rear swing angle (opening) of each blade 26. And a blade left open / close cylinder 27L. When not working, the pair of left and right blades 26 are stored in a posture parallel to the rotary shaft 22. However, in the work of stripping the ground layer, as shown in FIG. Incline. As a result, the pair of left and right blades 26 cuts the ground layer crushed by the rotary 19 to a predetermined depth, and moves the cut soil to the left and right sides along the inclination of the blade 26. The soil can be collected on both the left and right sides of the machine 7. Note that the dozer 20 of the present embodiment collects the earth that has been cut into the left and right sides of the work machine 7, but may collect the earth on either the left or right side of the work machine 7. You may make it collect in the center part of the machine 7. Further, the blade right opening / closing cylinder 27R and the blade left opening / closing cylinder 27L of the present embodiment are configured using electric cylinders, but may be hydraulic cylinders.

  The wheel 21 is configured to come into contact with the traveling trace that the traveling machine body 1 (the traveling unit 4) has stepped on in front of the rotary 19 and to move up and down according to the ground height of the work machine 7. For example, as shown in FIGS. 1 to 3, the working machine 7 of the present embodiment includes a wheel bracket 28 that protrudes forward from the rotary 19, and a wheel rod 29 that is supported by the wheel bracket 28 so as to be vertically slidable. And a pressure spring 30 that urges the wheel rod 29 downward, and a wheel support shaft 31 that extends laterally from the lower end of the wheel rod 29 and rotatably supports the wheel 21.

  The work machine 7 is provided with ground height detection means for detecting the height of the work machine 7 with respect to the ground based on the vertical position of the wheel 21. In the present embodiment, a ground surface sensor 33 including a stroke sensor is provided between a spring receiver 32 provided at the upper end portion of the wheel rod 29 and the wheel bracket 28, and work is performed based on a detection value of the ground surface sensor 33. The ground height of the machine 7 is detected. In the present embodiment, the ground surface sensor 33 is provided on only one of the pair of left and right wheels 21, but the left and right wheels 21 are provided as in the second embodiment to be described later. A ground surface sensor 33 may be provided.

  It is preferable that the wheel 21 can be switched between a vertically movable state and a vertically unmovable state. For example, in the present embodiment, as shown in FIG. 3, a lock pin 34 that can be freely inserted into and removed from the wheel bracket 28 is provided, and the lock pin 34 is selectively used as a lock hole 29 a formed in a plurality of wheel rods 29. By inserting the roller wheel 21, the wheel 21 can be fixed at an arbitrary height so as not to move up and down. If it does in this way, in the field where the ground surface is flat, it becomes possible to fix the right and left wheel 21 so that it cannot move up and down, and to perform an efficient stripping work.

  In the present embodiment, of the pair of left and right wheels 21, the left wheel 21 can be moved up and down according to the ground height of the work implement 7, and the vertical position is detected by the ground surface sensor 33, while The wheel 21 is not allowed to move up and down, and the pressure load of the work implement 7 is detected by a pressure-sensitive sensor 35 (push-down load detecting means) provided on the support portion of the wheel 21. For example, a strain sensor is provided as the pressure sensor 35 on the wheel support shaft 31, and the push-down load of the work machine 7 is detected based on the detection value of the strain sensor. In this way, compared to the case where the left and right rolling wheels 21 are movable up and down, it is possible to suppress excessive vertical movement of the rolling wheels 21 on the ground surface with severe unevenness, and based on the detection of the pressing load of the work implement 7, It is also possible to control the work implement 7 to move up and down so as to maintain a certain amount of pressing load.

  Next, an outline of the surface layer peeling work using the ground work vehicle according to the embodiment of the present invention will be described with reference to FIG.

  When the ground layer is peeled off using the ground work vehicle, the work machine 7 is grounded while the pair of left and right blades 26 are inclined in a plan view, and the traveling machine body 1 is moved forward. The rotary 19 of the work machine 7 rotates the rotary shaft 22 with the PTO power supplied from the traveling machine body 1 side, and the ground layer is crushed at a predetermined depth by the tilling claws 23 provided on the rotary shaft 22. Further, in the dozer 20 provided at the rear of the rotary 19, a pair of left and right blades 26 cut the ground layer crushed by the rotary 19 to a predetermined depth, and the ground soil is inclined to the blades 26. The left and right sides are moved along the left and right sides of the work machine 7 and collected. If such a stripping operation is applied to the entire site while reciprocating, the stripped soil will be collected in parallel in parallel with a predetermined interval as shown in FIG. The removed soil can be easily removed using, for example, a bulldozer or a hydraulic excavator. Hereinafter, automatic control executed in the above-described peeling operation will be described.

  The traveling machine body 1 is provided with a control unit 36 configured using a microcomputer or the like. As shown in FIG. 5, on the input side of the control unit 36, in addition to the ground surface sensor 33 and the pressure sensor 35 described above, a depth setting device for setting a target depth for automatic lifting control (cultivation depth automatic control). 37a, a lift automatic switch 37 for turning on / off the automatic lift control, a horizontal automatic switch 38 for turning on / off the horizontal automatic control, a blade opening setting device 39 for setting the opening degree (tilt angle) of the blade 26 to be described later, the right side Right blade opening detection sensor 40R that detects the opening of the blade 26, right load sensor 41R that detects the load acting on the right blade 26, left blade opening detection sensor 40L that detects the opening of the left blade 26, and left blade A left side load sensor 41L for detecting a load acting on the lift 26, a lift arm sensor 43 for detecting a vertical swing angle of the lift arm 16, a lift rod system A lift rod sensor 44 that detects the operating length of the motor 18, a steering sensor 45 that detects the steering angle of the traveling machine body 1, a speed sensor 46 that detects the traveling speed of the traveling machine body 1, and the like are connected. On the output side, in addition to the blade right open / close cylinder 27R and the blade left open / close cylinder 27L, the lift cylinder solenoid valve 47 for extending and retracting the lift cylinder 17 and the lift rod cylinder solenoid valve 48 for extending and retracting the lift rod cylinder 18 are provided. Etc. are connected.

  The control unit 36 of the present embodiment is detected by the work machine lifting control (lifting control means) for forcibly lifting the work machine 7 according to the ground height detected by the ground surface sensor 33 and the load sensors 41R and 41L. Blade angle control is performed to control the angle of the blade 26 in accordance with the blade load. Hereinafter, control procedures of the work implement lifting control and blade angle control will be described with reference to FIGS. 6 and 7. .

  As shown in FIG. 6, in the work implement elevating control, first, after reading data from sensors, switches, etc. (S101), the elevating automatic control is turned ON / OFF based on the operating state of the elevating automatic switch 37. Judgment is made (S102). If the determination result is OFF, the process returns to the upper routine as it is. If the determination result is ON, the deviation of the detection value of the ground surface sensor 33 from the setting value of the depth setting device 37a is calculated (S103). Then, it is determined whether or not the absolute value of the deviation is equal to or less than the dead zone (S104). If the determination result is YES, the lifting / lowering of the work implement 7 is stopped (S105).

  On the other hand, when the absolute value of the ground surface sensor deviation exceeds the dead zone, it is determined to which side (rising side or descending side) the ground surface sensor deviation has deviated (S106), and the ground surface sensor deviation deviates to the ascending side. When it is determined that the work implement 7 is lowered, the work implement 7 is forcibly lowered (S107). When it is determined that the work implement 7 is disengaged, the work implement 7 is forcibly raised (S108). However, in the work implement lifting control of the present embodiment, when the work implement 7 is forcibly raised or lowered based on the detection value of the ground surface sensor 33, the detection value of the pressure sensor 35 is referred to (S109, S110). When the detection value of the pressure sensor 35 is equal to or greater than the dead zone, the work machine 7 is forcibly lowered. When the detection value of the pressure sensor 35 is equal to or less than the dead band, the work machine 7 is forced to rise. In order to avoid this, by stopping the raising / lowering of the work implement 7 (S111), a moderate push-down load of the work implement 7 is maintained.

  As shown in FIG. 7, in blade angle control, first, data is read from sensors, switches, etc. (S201), and whether or not a blade angle setting operation is performed by the blade opening degree setting device 39 (S202). Then, ON / OFF of automatic blade angle control (S203), and the working machine height are determined (S204). Here, when there is a blade angle setting operation by the blade opening setting device 39, when the blade angle automatic control is OFF, or when the work implement height is higher than the predetermined value, the blade angle becomes the set angle. Then, the blade right opening / closing cylinder 27R and the blade left opening / closing cylinder 27L are operated (S205).

  On the other hand, when the blade angle setting operation is not performed, the blade angle automatic control is ON, and the work implement height is equal to or lower than the predetermined value, it is determined whether the traveling speed is equal to or higher than the predetermined value (S206), It is determined whether or not the load is equal to or greater than a predetermined value (S207). If both the determination results are YES, the blade right opening / closing cylinder 27R and the blade left opening / closing cylinder 27L are extended to open the blade 26 in the opening direction. Operate (S208). This makes it possible to perform stable earth cutting and soil collection while maintaining an appropriate load on the blade 26. The blade angle is returned to the set angle when the work implement 7 is raised to a predetermined value or more during turning at the field end.

  According to the present embodiment configured as described, the ground work including the traveling machine body 1 and the work machine 7 connected to the rear part of the traveling machine body 1 so as to be movable up and down, and stripping the ground layer at a predetermined depth. The working machine 7 includes a rotary 19 that crushes the ground layer, a dozer 20 that cuts the ground layer behind the rotary 19 and collects the soil on the side of the working machine 7, and a rotary 19 A wheel 21 that touches the traveling track that the traveling machine body 1 has stepped on in front and moves up and down according to the height of the work machine 7 with respect to the ground, and the height of the work machine 7 with respect to the ground according to the vertical position of the wheel 21. The traveling machine body 1 includes a double-acting lift cylinder 17 that forcibly raises and lowers the work implement 7, and the work implement 7 according to the ground height detected by the ground surface sensor 33. And a work machine lifting control for forcibly lifting and lowering. In other words, the rolling machine body 1 is provided with a rolling wheel 21 that is grounded on a running trace that has been stepped and solidified, and moves up and down according to the ground height of the work machine 7, and the ground height of the work machine 7 based on the vertical position of the rolling wheel 21. Therefore, it is possible to detect the height of the work machine 7 with respect to the ground with high accuracy even on a site with severe unevenness, and to control the work machine 7 to move up and down with high accuracy based on the detected height of the ground. Moreover, since the work implement 7 is forcibly raised and lowered by a lift cylinder 17 composed of a double-acting lift hydraulic cylinder, even if the ground layer is hard, the work implement 7 is prevented from being lifted and peeled off. The depth can be stabilized.

  In addition, since the wheel 21 can be switched between a vertically movable state and a non-movable state, the roller 21 is fixed so that it cannot move vertically on the ground surface, and the stripping work is efficiently performed. It can be performed.

  In addition, the work machine 7 includes a pair of left and right rolling wheels 21 that come in contact with a running trace that the traveling machine body 1 has stepped on in front of the rotary 19, and the one rolling wheel 21 is moved up and down according to the height of the working machine 7 with respect to the ground. Based on the vertical position, the height of the work implement 7 is detected. On the other hand, the other wheel 21 is not movable up and down, and the pressure sensor 35 provided on the support portion of the wheel 21 is used for work. Since the pressing load of the machine 7 is detected, it is possible not only to suppress the excessive vertical movement of the rolling wheels 21 on the ground surface where the unevenness is severe, and to stabilize the raising / lowering control of the work machine 7, but also to the other roll that cannot move up and down. It is possible to detect the push-down load of the work implement 7 on the wheel 21 and to control the lift of the work implement 7 in accordance with the push-down load.

  Next, a ground work vehicle according to a second embodiment of the present invention will be described with reference to FIGS. However, about the part which is common in the said embodiment, description of the said embodiment is used by providing the same code | symbol as the said embodiment.

  As shown in FIG. 8, the ground work vehicle according to the second embodiment includes a pair of left and right wheels 21 and a pair of left and right wheels that are grounded to a running track where the work machine 7 is stepped and solidified in front of the rotary 19. Left and right inclination detecting means for detecting the right and left inclination of the work machine 7 based on the vertical position of the wheel 21, and the traveling machine body 1 is a lift rod cylinder 18 (inclination hydraulic cylinder) for inclining the work machine 7 left and right. The present embodiment is different from the above-described embodiment in that it includes work implement horizontal control (tilt control means) that controls the left / right tilt of the work implement 7 according to the left / right tilt detected by the left / right tilt detection means. According to such a ground work vehicle, the left and right inclination of the work implement is detected based on the vertical position of the pair of left and right wheels 21 and the left and right inclination of the work implement 7 is controlled according to the detected right and left inclination. Thereby, the fluctuation | variation of the peeling depth resulting from the right-and-left inclination of the working machine 7 can also be suppressed.

  More specifically, as shown in FIGS. 8 and 9, the ground work vehicle according to the second embodiment includes a pair of left and right ground surface sensors 33L and 33R. Performs work machine level control. Hereinafter, control procedures of work implement lifting control and work implement horizontal control according to the second embodiment will be described with reference to FIGS. 10 and 11.

  As shown in FIG. 10, in the work implement lifting control of the second embodiment, after reading data from sensors, switches, etc. (S301), the lifting automatic control is turned on based on the operating state of the lifting automatic switch 37. -OFF is determined (S302). If the determination result is OFF, the process returns to the upper routine as it is. If the determination result is ON, the detection value of the ground surface sensor 33 provided on the lower wheel 21 side is acquired (S303), and the depth The deviation of the detected value with respect to the set value of the setter 37a is calculated (S304). After calculating the deviation, it is determined whether or not the absolute value of the deviation is equal to or less than the dead zone (S305). If the determination result is YES, the lifting / lowering of the work implement 7 is stopped (S306).

  On the other hand, when the absolute value of the ground surface sensor deviation exceeds the dead zone, it is further determined whether or not the absolute value of the ground surface sensor deviation is larger than a predetermined value (abnormality determination value) (S307). Even when the result is YES, the lifting and lowering of the work implement 7 is stopped (S306). If this determination result is NO, it is determined to which side (rising side or descending side) the ground surface sensor deviation has deviated (S308). The machine 7 is forcibly lowered (S309), and when it is determined that the machine 7 is deviated, the work machine 7 is forcibly raised (S310).

  As shown in FIG. 11, in the work implement horizontal control, after reading data from sensors, switches, and the like (S401), it is determined whether horizontal automatic control is ON or OFF based on the operation state of the horizontal automatic switch 38. (S402). When the determination result is OFF, the process returns to the upper routine as it is. When the determination result is ON, the right and left inclination value α of the work implement 7 is acquired based on the difference between the left and right ground surface sensors 33L and 33R. (S403), the deviation of the horizontal inclination value α with respect to the horizontal value (0) is calculated (S404). When the deviation is calculated, it is determined whether or not the absolute value of the deviation is equal to or less than the dead zone (S405). If the determination result is YES, the right and left tilt drive of the work implement 7 is stopped (S406).

  On the other hand, if the absolute value of the deviation exceeds the dead zone, it is determined which side of the dead zone (left inclined side or right inclined side) the deviation is deviated (S407), and if it is out of the left inclined side. When it is determined, the work implement 7 is driven downward (S408), and when it is determined that the work implement 7 is deviated to the right side, the work implement 7 is driven downward (S409).

  Although the surface layer stripping work has been described as an example of the ground work of the present invention, the present invention is not limited to the work, and the present invention is based on the field scene before the work rather than the finish of the field scene after the ground work. It can be used for all ground work that requires a precise working depth.

DESCRIPTION OF SYMBOLS 1 ... Traveling machine body 4 ... Traveling part 6 ... Work machine connection part 7 ... Work machine 14 ... Elevating link mechanism 17 ... Lift cylinder 18 ... Lift rod cylinder 19 ... Rotary 20 ... Dozer 21 ... Roller wheel 26 ... Blade 33 ... Ground surface sensor 34 ... Lock pin 35 ... Pressure sensor 36 ... Control unit

Claims (3)

A ground work vehicle comprising a traveling machine body and a work machine connected to a rear part of the traveling machine body so as to be movable up and down, and performing work on a ground layer of a predetermined depth from the ground surface,
The working machine is
A pair of left and right wheels that are grounded to the running trace of the traveling machine body in front of the working position and move up and down according to the ground height of the working machine;
Ground height detection means for detecting the ground height of the work implement based on the vertical position of the wheel;
One of the rolling wheels is movable up and down according to the ground height of the work implement, and the ground height detection means for detecting the ground height of the work implement based on the vertical position;
A pressing load detecting means for making the other wheel incapable of moving up and down and detecting a pressing load of the work implement with a pressure-sensitive sensor provided at a support portion of the wheel,
The traveling aircraft is
A double-acting lifting hydraulic cylinder that forcibly lifts the working machine;
A ground work vehicle comprising: lift control means for forcibly lifting and lowering the work implement according to the ground height detected by the ground height detection means.   The ground work vehicle according to claim 1, wherein the rolling wheel can be switched between a vertically movable state and a vertically unmovable state. The working machine is
A right / left inclination detecting means for detecting a right / left inclination of the work implement based on a vertical position of the pair of right and left wheels;
The traveling aircraft is
A tilting hydraulic cylinder for tilting the working machine left and right;
The ground work vehicle according to claim 1, further comprising a tilt control unit that controls a left / right tilt of the work implement according to a left / right tilt detected by the left / right tilt detection unit.

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