JP2020156388A - Tractor - Google Patents

Abstract

To provide a tractor capable of executing accurate horizontal control.SOLUTION: A tractor comprises: a vehicle body; a tractor side inclination sensor; a communication part; a correction amount calculation part; and a horizontal control part. An implement can be attached to a vehicle body. The tractor side inclination sensor is arranged on the vehicle body and detects an inclination angle of the vehicle body in a roll direction. The communication part receives from the implement, the inclination angle of the implement in the roll direction detected by an implement side inclination sensor provided on the implement. The correction amount calculation part compares a detection value of the tractor side inclination sensor with a detection value of the implement side inclination sensor for calculating a correction amount, during change or after the change of a state of the implement from a non-work state to a work state. The horizontal control part performs horizontal control for changing the inclination angle of the implement so that the implement approximates to a horizontal state, on the basis of the detection value of the tractor side inclination sensor and the correction amount, during the work using the implement.SELECTED DRAWING: Figure 5

Description

The present invention mainly relates to a tractor to which a working machine can be attached.

Patent Document 1 discloses a tractor to which a working machine can be attached by using a three-point link mechanism including a top link and a pair of lower links provided on the left and right. Further, the tractor is provided with left and right horizontal cylinders. The left and right horizontal cylinders can change the tilt angle of the work equipment by moving either the left or right lower link up or down. Further, the working machine is equipped with a sensor for detecting the inclination angle of the working machine. The tractor uses the detected value of this sensor to perform control (horizontal control) for keeping the working machine in a horizontal state.

Patent Document 2 discloses a system in which a sensor for detecting an inclination angle is provided in a working machine and the detection result is displayed on a display device.

Japanese Unexamined Patent Publication No. 2007-289131 JP-A-2019-9600

However, since the tilt sensor on the work equipment side has a large response delay, there is a possibility that a delay will occur in the horizontal control. Further, when the tilt sensor on the tractor side is used, there is a possibility that accurate horizontal control cannot be performed because an error is included in the tilt angle between the work machine and the tractor due to an angle deviation between the work machine and the tractor.

The present invention has been made in view of the above circumstances, and a main object thereof is to provide a tractor capable of performing highly accurate horizontal control.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a tractor having the following configuration is provided. That is, this tractor includes a vehicle body, a tractor-side tilt sensor, a communication unit, a correction amount calculation unit, and a horizontal control unit. A working machine can be attached to the vehicle body. The tractor-side tilt sensor is arranged on the vehicle body and detects the tilt angle of the vehicle body in the roll direction. The communication unit receives from the work machine the tilt angle in the roll direction of the work machine detected by the work machine side tilt sensor arranged on the work machine. The correction amount calculation unit corrects by comparing the detected value of the tractor side tilt sensor with the detected value of the working machine side tilt sensor while the work machine is changing from the non-working state to the working state or after the change. Calculate the amount. The horizontal control unit changes the tilt angle of the work machine so that the work machine approaches horizontal based on the detected value of the tractor side tilt sensor and the correction amount during the work using the work machine. Perform horizontal control.

As a result, by correcting the detection value of the tractor side tilt sensor with the detection value of the work machine side tilt sensor, horizontal control can be performed in consideration of the influence of the angle deviation between the tractor and the work machine. In particular, an appropriate correction amount can be calculated by performing this correction during or after the change from the non-working state to the working state.

The tractor preferably has the following configuration. That is, the working machine is a halo for scraping. The non-working state is a stored state in which a part of the tillage portion is stored. The working state is a used state in which the tillage unit stored in the stored state can be used. The correction amount calculation unit calculates the correction amount after determining that the halo has shifted from the stored state to the used state.

As a result, the correction amount is calculated after the movable portion of the halo is expanded and the state is changed to the used state, so that the correction can be performed based on the inclination angle detected under the same conditions as during the work.

The tractor preferably has the following configuration. That is, the correction amount calculation unit can receive a signal generated by operating the operation unit that can be operated by the operator. The correction amount calculation unit calculates the correction amount after receiving a signal indicating that the tilted state of the working machine is in the reference state and is generated by operating the operation unit.

As a result, the correction amount is calculated when the operator confirms that it is in the reference state, so that the correction amount can be calculated, for example, when the working machine is horizontal.

The tractor preferably has the following configuration. That is, this tractor includes a storage processing unit that performs a process of storing the identification number for identifying the work machine and the correction amount in association with each other. The communication unit receives the identification number of the work machine from the work machine. When the correction amount associated with the identification number of the work machine received by the communication unit exists, the horizontal control unit performs the horizontal control based on the correction amount.

As a result, the process of calculating the correction amount can be omitted or simplified when the work machine for which the correction amount has been calculated is reattached.

The side view which shows the tractor and the working machine which concerns on one Embodiment of this invention. The rear view which shows the retracted state and the used state of a work machine. A block diagram showing a configuration related to horizontal control of a work machine. A flowchart showing a process of determining whether to calculate or omit the correction amount. A flowchart showing a process of calculating and storing a correction amount for horizontal control. The figure which shows the screen about the setting of the work machine displayed on the sub-display. A table showing the amount of correction stored in the storage unit and related information. A flowchart showing the horizontal control of the work equipment.

Next, embodiments of the invention will be described with reference to the drawings. FIG. 1 is a side view showing a tractor 10 and a working machine 3 according to an embodiment of the present invention.

In the tractor 10 shown in FIG. 1, various working machines 3 such as a rotary, a halo, a loader, a plow, and a box scraper are attached to the vehicle body 11 as needed, and various operations are performed by the working machine 3 supported by the vehicle body 11. It can be carried out. FIG. 1 shows an example in which a halo for scraping is used as the working machine 3. In the following description, the terms "left side", "right side", and the like mean the left side and the right side in the direction in which the tractor 10 advances.

As shown in FIG. 1, the tractor 10 includes a vehicle body 11, a pair of left and right front wheels 12, and a pair of left and right rear wheels 13. A bonnet 14 is arranged at the front portion of the vehicle body 11, and an engine 15 is arranged inside the bonnet 14.

A mission case 16 is arranged between the pair of left and right rear wheels 13. The output of the engine 15 is changed by a hydraulic-mechanical transmission arranged in the mission case 16 and transmitted to the front wheels 12 and the rear wheels 13.

At the rear of the mission case 16, lower links 18 are arranged in pairs on the left and right, and one top link 19 is arranged. Further, the PTO shaft 20 is arranged so as to project from the rear portion of the mission case 16. The work machine 3 is connected to the lower link 18 and the top link 19 and is driven by the PTO shaft 20.

A work machine elevating mechanism 25, a work machine angle changing mechanism 26, and a connecting member 28 are provided at the rear portion of the vehicle body 11.

The work equipment elevating mechanism 25 includes a pair of left and right lift arms 21 and a lift cylinder 22 configured as a hydraulic cylinder. The tip of one of the left and right lift arms 21 is connected to one lower link 18 via a link member 23, and the tip of the other lift arm 21 is connected to the other lower link 18 via a rolling cylinder 24 described later. It is connected. With this configuration, the height at which the work machine 3 is supported by the vehicle body 11 can be changed by driving the lift cylinder 22.

The work machine angle changing mechanism 26 includes a rolling cylinder 24 configured as a hydraulic cylinder. The rolling cylinder 24 is arranged so as to connect the lift arm 21 on the right side of the pair on the left and right and the lower link 18 on the right side. With this configuration, by driving the rolling cylinder 24, it is possible to change the tilting posture of the working machine 3 in the left-right direction supported by the vehicle body 11. The position of the cylinder rod of the rolling cylinder 24 (the length of the rolling cylinder 24) is detected by the stroke sensor 43 described later.

The connecting member 28 is a member for connecting the lower link 18, the top link 19, and the working machine 3.

A cabin 31 for an operator to board is arranged above the mission case 16 and behind the bonnet 14. A meter panel 35 capable of displaying a traveling speed, an engine rotation speed, a state of a working machine, a warning light, and the like is provided in the cabin 31. In addition, these information may be displayed on the sub-display 36 arranged in the cabin 31.

Further, a driver's seat 32 is provided inside the cabin 31, and various operating tools are provided in the vicinity of the driver's seat 32. Specifically, a steering handle 33 and an auxiliary transmission lever (auxiliary transmission operation tool) 34 are arranged in the vicinity of the driver's seat 32. The steering handle 33 is an operating tool for the operator to steer. The auxiliary shift lever 34 is an operating tool for instructing, for example, one of two stages (low speed side and high speed side). The operator specifies a rough speed with the auxiliary shift lever 34, and then specifies a fine speed with the main shift lever (not shown). The auxiliary transmission may be switched to three or more steps. In this case, it is preferable that the three or more auxiliary gears are classified into either a gear for field work (low speed side) and a gear for traveling on the road (outside the field) (high speed side). (For example, in the case of 3 stages, low speed 1 stage, high speed 1 stage, high speed 2 stages, etc.).

An inclination sensor (tractor side inclination sensor) 41 and an angular velocity sensor 42 are arranged on the upper side of the mission case 16.

The tilt sensor 41 is attached to the mission case 16 at an appropriate position. The tilt sensor 41 detects the tilt angle of the tractor 10 in the roll direction (rotational direction with the front-rear direction as the rotation axis). Since the tilt sensor 41 has a known configuration, detailed description thereof will be omitted. However, the tilt sensor 41 includes a fixed electrode and a movable electrode attached to a cantilever, and is movable by gravity as the element is tilted. By detecting the movement of the electrodes as a change in capacitance, the inclination of the vehicle body 11 in the left-right direction is detected. However, the tilt sensor is not limited to the above, and for example, a chamber in which a liquid is sealed may be provided, and a change in the liquid level due to the tilt may be detected as a change in capacitance. Further, a known weight type tilt sensor may be used.

The angular velocity sensor 42 is arranged inside the cabin 31 below the driver's seat 32 (near the position of the center of gravity of the tractor 10). The angular velocity sensor 42 is configured as a known vibration gyro sensor, and by detecting the magnitude of the Coriolis force generated when the vibrating element is rotated, the change in the inclination of the vehicle body 11 in the left-right direction (angular velocity). ) Can be detected.

The working machine 3 is a halo for scraping. Scraping is the work of crushing the soil and flattening the surface of the rice field after pouring water into the rice field (field).

As shown in FIG. 1, the working machine 3 includes a connecting member 28 provided at the rear portion of the vehicle body 11 and a connecting portion 71 for connecting the working machine 3. The connecting portion 71 may be configured to be directly connected to the lower link 18 and the top link 19 without the need for the connecting member 28.

A tillage cover 72 is provided behind the connecting member 28. A tillage rotation shaft 73 is rotatably attached to the tillage cover 72. The cultivated rotation shaft 73 rotates about the left-right direction as a rotation axis by the power transmitted from the PTO shaft 20 by the power transmission mechanism (not shown). Further, a plurality of tilling claws 74 are connected to the tilling rotation shaft 73 side by side in the left-right direction. With this configuration, the soil of the rice field can be crushed by rotating the tilling claw 74 together with the tilling rotating shaft 73.

A ground preparation plate 75 is arranged behind the tillage cover 72. The ground leveling plate 75 is attached to the tillage cover 72 so that it can rotate about the left-right direction as a rotation axis. Further, the ground leveling plate 75 is urged downward by an urging member (not shown). With this configuration, the field surface can be flattened. An extended ground leveling plate 76 for widening the ground leveling width is provided on the outside of the ground leveling plate 75 in the left-right direction.

Further, as shown in FIG. 2, the working machine 3 is configured to be openable and closable. More specifically, the working machine 3 has a three-divided structure, and includes a central tillage portion 3a and left and right side tillage portions 3b. A tillage cover 72, a tillage rotation shaft 73, a tillage claw 74, and a ground preparation plate 75 are provided on each of the central tillage portion 3a and the side tillage portion 3b. The side tillage portion 3b is rotatably connected to the central tillage portion 3a via a rotation shaft member (not shown). Further, the central tillage portion 3a and the side tillage portion 3b are connected by an opening / closing cylinder 77. By expanding and contracting the opening / closing cylinder 77, the working machine 3 can switch between a retracted state (upper side of FIG. 3, non-working state) and a used state (lower side of FIG. 3, working state). is there. The stored state is a state in which the two lateral tillage portions 3b are positioned above the central tillage portion 3a, that is, a state in which the two lateral tillage portions 3b are folded and stored. The used state is a state in which the two lateral tillage portions 3b are positioned on the outer side in the left-right direction of the central tillage portion 3a to widen the working width. Further, in the used state, after the lift cylinder 22 is operated to lower the working machine 3 (at the position of the two-dot chain line on the lower side of FIG. 3), the working machine 3 is used for the field.

The non-working state is a state in which work using the working machine 3 cannot be performed at least in part (in other words, a state for purposes other than work such as transportation). In the upper state of FIG. 2, since the tilling work cannot be performed using the side tilling portion 3b, it is a non-working state. Since the side tillage portion 3b is stored in the upper side of FIG. 2, it is also in a stored state. On the other hand, the working state is a state in which the work can be performed in the portion (side cultivated portion 3b) where the work could not be performed in the non-working state. Further, in the lower state of FIG. 2, since the side tillage portion 3b can be used, it is also in the used state. It should be noted that these states are the states of the working machine 3 itself, and the height at which the working machine 3 is set by the tractor 10 is not considered.

As shown in FIG. 2, the work machine 3 is provided with a state detection sensor 81, a work machine side inclination sensor 82, and a ground level plate rotation angle sensor 83.

The state detection sensor 81 is a sensor that detects whether or not the work machine 3 is in the retracted state or in the used state (in other words, whether or not the side tillage portion 3b is expanded). The state detection sensor 81 is a limit switch, and has a configuration in which when the side tillage portion 3b is in the retracted state, it comes into contact with any portion and energizes. Since the state detection sensors 81 are arranged in pairs on the left and right, the states of both the left and right side tillage portions 3b can be individually detected.

The work machine side tilt sensor 82 detects the tilt angle of the work machine 3 in the roll direction (rotation direction with the front-rear direction as the rotation axis). The work equipment side tilt sensor 82 has the same configuration as the tilt sensor 41, but may have another configuration as described above.

The ground leveling plate rotation angle sensor 83 detects the rotation angle of the ground leveling plate 75 (in other words, how much it has moved up and down during leveling). The ground leveling plate rotation angle sensor 83 is, for example, a potentiometer that detects the rotation angle of the ground leveling plate 75 or a link attached to the rotation shaft thereof. Based on the detection result of the ground level plate rotation angle sensor 83, for example, the degree of the size of the soil mass in the field after tilling can be detected. That is, when the soil mass remaining after plowing is large, the ground level plate rotation angle sensor 83 rotates greatly up and down. On the other hand, when the soil mass remaining after plowing is small, the ground level plate rotation angle sensor 83 rotates small up and down. Therefore, it is possible to obtain information on the size of the soil mass remaining in the field after plowing based on the magnitude and frequency of rotation of the ground level plate rotation angle sensor 83.

The structures of the above three sensors are examples, and may have different structures. For example, the state detection sensor 81 may be configured to detect the rotation angle of the rotation shaft of the side tillage portion 3b, or may be configured to detect the expansion / contraction length of the opening / closing cylinder 77.

Next, with reference to FIG. 3, an electrical configuration for performing horizontal control will be described. As shown in FIG. 3, the tractor 10 includes a control device 50 for controlling the work machine 3. The control device 50 controls the operation, height, posture, and the like of the work machine 3. The control device 50 includes an arithmetic unit such as a CPU and a storage device including a ROM, RAM, and the like. By collaborating with these hardware and the work equipment control program stored in the storage device, the control device 50 is combined with the communication unit 51, the correction amount calculation unit 52, the storage processing unit 53, and the horizontal control unit. It can function as 54 and the like.

The communication unit 51 performs a process of communicating with the work machine side control device 80 provided in the work machine 3. The communication unit 51 may be configured to perform wired communication or may be configured to perform wireless communication. As a result, the control device 50 can receive information from the work machine side control device 80. The information received by the control device 50 includes, for example, the type of the work machine 3 (rotary, halo, etc.), the special function of the work machine 3 (for example, the presence / absence of the storage function, etc.), and the identification number of the work machine 3 (work machine). A unique number set for each 3), a detection value of the state detection sensor 81, a detection value of the work machine side inclination sensor 82, a detection value of the ground level plate rotation angle sensor 83, and the like. For example, instead of transmitting the detection value of the state detection sensor 81 to the control device 50 as it is, the work machine side control device 80 determines whether the work machine 3 is in the retracted state or the use state, and transmits the determination result to the control device 50. You may.

The correction amount calculation unit 52 performs the process shown in FIG. 5 described later to calculate the correction amount for correcting the detected value of the tilt sensor 41. This correction amount is calculated by comparing the detection value of the tilt sensor 41 and the detection value of the work equipment side tilt sensor 82 at a predetermined timing.

The storage processing unit 53 performs a process of storing the correction amount calculated by the correction amount calculation unit 52. The storage processing unit 53 may store the correction amount in the storage device included in the control device 50, or may store the correction amount in an external server if wireless communication with the outside is possible.

The horizontal control unit 54 performs the process shown in FIG. 8 described later to correct the left-right inclination of the work machine 3 to bring the work machine 3 closer to the horizontal (horizontal control).

Further, the detection values of the inclination sensor 41, the angular velocity sensor 42, and the stroke sensor 43 described above are output to the control device 50. Further, the control device 50 is electrically connected to the sub-display 36, and may perform a process of displaying information on the sub-display 36, a process of detecting an operation performed on the sub-display 36, and the like. it can.

Further, a rolling control valve 61 is electrically connected to the control device 50. The rolling control valve 61 is arranged between the rolling cylinder 24 and the hydraulic pump. The rolling control valve 61 is configured as a solenoid valve. The horizontal control unit 54 performs horizontal control by controlling the rolling control valve 61.

Next, a process of calculating and storing a correction amount for horizontal control will be described with reference to the flowcharts of FIGS. 4 and 5. In the following description, the tilt angle in the roll direction is simply referred to as the tilt angle.

The correction amount calculated here is for correcting the detected value of the tilt sensor 41. The tilt sensor 41 detects the tilt angle of the tractor 10. Here, the lower link 18 and the top link 19 and the connecting member 28 include a slight deviation in the mounting direction at the mounting location. Further, the mounting portion of the connecting member 28 and the connecting portion 71 also includes a slight deviation in the mounting direction. Therefore, the inclination angles of the tractor 10 and the working machine 3 do not exactly match. Therefore, even if horizontal control is performed based on the inclination angle of the tractor 10, it may not be possible to keep the working machine accurately horizontal. In particular, the halo for scratching as in the present embodiment has a long length in the left-right direction as shown in FIG. Therefore, even if the inclination angle deviates slightly from the horizontal, the influence of this deviation becomes large at the end portion in the left-right direction.

On the other hand, even if the detection value of the work equipment side tilt sensor 82 is used, the horizontal control cannot be properly performed. That is, it takes a relatively long time from the horizontal control unit 54 controlling the rolling control valve 61 until the rolling cylinder 24 expands and contracts and the inclination of the work equipment 3 actually changes (that is, the response delay is large). .. Therefore, it is difficult to control the detection value of the work machine side tilt sensor 82 to be horizontal by using the detection value of the work machine side tilt sensor 82.

In consideration of the above, in the present embodiment, the detection value of the tilt sensor 41 and the detection value of the work equipment side tilt sensor 82 are compared to calculate the correction amount for correcting the detection value of the tilt sensor 41. The process of calculating the correction amount is performed before the work by the working machine 3 is started.

First, the communication unit 51 of the control device 50 communicates with the work machine side control device 80 immediately after mounting the work machine 3, for example, and the work machine 3 is a halo for scraping (type of work machine). The work machine 3 has a storage function (presence or absence of the storage function), and receives the identification number of the work machine 3 (S101).

Next, the control device 50 determines whether or not there is a correction amount corresponding to the received identification number of the work machine 3 (S102). As shown in FIG. 7, which will be described later, the correction amount is stored in association with the identification number of the work machine 3. The control device 50 makes a determination in step S102 by accessing this information.

When there is no correction amount corresponding to the received identification number, the control device 50 performs the process shown in FIG. 5 to calculate the correction amount (S104). When there is a correction amount corresponding to the received identification number, the control device 50 determines whether or not there is an instruction to omit the calculation of the new correction amount (S103). That is, when the past correction amount is used, there is an advantage that the calculation process of the correction amount can be omitted. However, since the angle deviation of the mounting location of the working machine 3 may differ each time the working machine 3 is mounted, it may be better to recalculate the correction amount even when the same working machine 3 is used. Therefore, the work machine side control device 80 makes a determination in step S103 by referring to the settings set in advance by the operator, the maintenance worker, or the like.

When there is an instruction that the calculation of the new correction amount can be omitted, the control device 50 omits the calculation of the correction amount (S105). In this case, the horizontal control unit 54 of the control device 50 performs horizontal control using the previously calculated correction amount. The process of step S103 is a process of referring to the settings of the operator, the maintenance worker, or the like, but the control device 50 may make a determination based on a predetermined determination criterion. As the judgment criteria, for example, if the calculation time of the past correction amount is older than the threshold value, the correction amount is newly calculated, and for the work machine that requires accurate horizontal control, the correction amount is calculated every time. Can be done.

When it is determined to calculate the correction amount, the communication unit 51 of the control device 50 acquires the open / closed state of the work machine 3 from the work machine side control device 80 (S201). The open / closed state is whether the working machine 3 is in the stored state or the used state, in other words, whether or not the side tillage portion 3b is stored. The information acquired by the control device 50 is the detected value of the state detection sensor 81 or the information obtained from the detected value.

Next, the control device 50 determines whether or not the working machine 3 has changed from the stored state to the used state based on the information acquired in step S201 (S202). In the present embodiment, the correction amount is calculated by comparing the detection value of the tilt sensor 41 with the detection value of the work equipment side tilt sensor 82 after the storage state is changed to the use state. Here, the process of changing the working machine 3 from the stored state to the used state usually stops the tractor 10 at a stable position. Further, the lift cylinder 22 and the rolling cylinder 24 are not operated while this state is changed. Therefore, it is a suitable timing for comparing the detected values of the two tilt sensors. In the present embodiment, it is determined whether or not the transition from the stored state to the used state has been completed, but it may be determined whether or not the transition from the stored state to the used state has started. In this case, the detection values of the two tilt sensors may be compared before the transition to the used state is completed.

When the control device 50 determines that the working machine 3 has changed from the stored state to the used state, the control device 50 determines whether or not the reference setting has been made for the inclination of the working machine 3 (S203). This reference setting will be briefly described. The display unit 36a of the sub-display 36 can display the state of the working machine as shown in FIG. In FIG. 6, a display object 91 showing a tractor and a working machine, an inclination meter 92, and a reference setting button 93 are displayed.

The tilt meter 92 indicates whether the work machine 3 is tilted to the left or right. Based on the detection result of the work machine side tilt sensor 82, for example, when it is determined that the work machine 3 is tilted to the left, the bar of the tilt meter 92 moves to the left. Further, by operating the reference setting button 93, the inclination meter 92 is changed so that the inclination of the working machine 3 at the time of operation is displayed as a reference state (horizontal state). Further, also in the horizontal control described later, the inclination angle of the work machine 3 is adjusted so that the inclination of the work machine 3 is maintained as a reference state. After changing the working machine 3 to the operating state, the operator adjusts the left-right inclination of the working machine 3 so that the working machine 3 becomes horizontal, and operates the reference setting button 93, if necessary. By operating the reference setting button 93, for example, a predetermined signal is transmitted from the sub-display 36 to the control device 50. Since this signal includes the operation of the reference setting button 93, it can be regarded as a signal indicating that the tilted state of the working machine 3 is the reference state.

When the sub-display 36 includes a touch panel device (operation unit), the reference state is set by touching the reference setting button 93 on the screen. If not, the reference state is set by operating the operation key (operation unit) 36b provided on the sub-display 36 and selecting the reference setting button 93.

The display unit 36a displays not only the inclination of the work machine 3 in the left-right direction but also the depth meter 94 and the reference setting button 95 in the depth direction.

In this embodiment, these are displayed on the sub-display 36, but may be displayed on another device. As another device, for example, there is a mobile terminal owned by the operator, a meter panel 35, a remote controller for giving an opening / closing instruction to the working machine 3, and the like. In this case, the control device 50 is configured to be able to communicate with these devices.

When the control device 50 determines that the steps S202 and S203 are satisfied, the communication unit 51 of the control device 50 acquires the detection value of the work machine side tilt sensor 82 from the work machine side control device 80 (S204). It is preferable that the detection value of the work machine side tilt sensor 82 is acquired before the work using the work machine 3 is started (before the work machine 3 is lowered and comes into contact with the field).

Next, the correction amount calculation unit 52 of the control device 50 compares the detection value of the tilt sensor 41 with the detection value of the work machine side tilt sensor 82 acquired from the work machine side control device 80 to calculate the difference amount. (S205). The correction amount calculation unit 52 calculates the correction amount based on this difference amount (S206). Since the difference amount detected here indicates the angle deviation between the tractor 10 and the working machine 3, the difference amount may be used as it is as the correction amount. Alternatively, the detected values may be compared a plurality of times, and the average value of the differences may be used as the correction amount.

Next, the storage processing unit 53 of the control device 50 stores the correction amount calculated in step S206 in association with the identification number of the work machine 3 (S207). In addition to the correction amount and the identification number, other information such as the calculation date may be added. As a result, as shown in FIG. 7, the work machine identification number, the correction amount, the calculation date, and the like are stored in association with each other.

Next, the horizontal control performed by the horizontal control unit 54 will be described with reference to FIG.

When working on a field using the work machine 3, the horizontal control unit 54 of the control device 50 corrects the detected value by applying a correction amount to the detected value of the tilt sensor 41 (S301). The corrected detected value indicates the inclination angle of the working machine 3 in consideration of the angle deviation between the tractor 10 and the working machine 3.

Next, the horizontal control unit 54 determines whether or not the corrected detected value indicates a downward movement (S302), and if it is a downward movement, the rolling control valve 61 is set so that the left side of the working machine 3 is higher. Control (S303). Further, the horizontal control unit 54 determines whether or not the corrected detected value indicates a downward movement (S304), and if the detected value is downward downward, controls the rolling control valve 61 so that the right side of the work equipment 3 is higher. (S305). By repeating the above process, the work machine 3 is controlled so that the work machine 3 is always horizontal (close to horizontal). When controlling the rolling control valve 61, the control value may be determined in consideration of not only the detected tilt angle but also the detected value of the angular velocity sensor 42.

As described above, the tractor 10 of the present embodiment includes a vehicle body 11, an inclination sensor 41, a communication unit 51, a correction amount calculation unit 52, and a horizontal control unit 54. The working machine 3 can be attached to the vehicle body 11. The tilt sensor 41 is arranged on the vehicle body 11 and detects the tilt angle of the vehicle body 11 in the roll direction. The communication unit 51 receives from the work machine 3 the tilt angle in the roll direction of the work machine 3 detected by the work machine side tilt sensor 82 arranged on the work machine 3. The correction amount calculation unit 52 compares the detection value of the tilt sensor 41 with the detection value of the work machine side tilt sensor 82 and calculates the correction amount during or after the work machine 3 is changing from the non-working state to the working state. calculate. The horizontal control unit 54 changes the tilt angle of the work machine 3 so that the work machine 3 approaches horizontal based on the detection value and the correction amount of the tilt sensor 41 during the work using the work machine 3. Take control.

As a result, by correcting the detection value of the tilt sensor 41 with the detection value of the work machine side tilt sensor 82, horizontal control can be performed in consideration of the influence of the angle deviation between the tractor 10 and the work machine 3. In particular, an appropriate correction amount can be calculated by performing this correction during or after the change from the non-working state to the working state.

Further, in the tractor 10 of the present embodiment, the working machine 3 is a halo for scraping. The non-working state is a stored state in which a part of the cultivated portion (side cultivated portion 3b) is stored. The working state is a used state in which the side tillage portion 3b can be used. The correction amount calculation unit 52 calculates the correction amount after determining that the halo has shifted from the stored state to the used state.

As a result, the correction amount is calculated after the movable portion of the halo is expanded and the state is changed to the used state, so that the correction can be performed based on the inclination angle detected under the same conditions as during the work.

Further, in the tractor 10 of the present embodiment, the correction amount calculation unit 52 can receive a signal generated by operating the operation key 36b or the touch panel that can be operated by the operator. The correction amount calculation unit 52 calculates the correction amount after receiving a signal indicating that the tilted state of the work machine 3 is the reference state and is generated by operating the operation key 36b or the touch panel. To do.

As a result, the correction amount is calculated when the operator confirms that it is in the reference state, so that the correction amount can be calculated, for example, when the working machine 3 is horizontal.

Further, the tractor 10 of the present embodiment includes a storage processing unit 53 that performs a process of storing the identification number for identifying the work machine 3 and the correction amount in association with each other. The communication unit 51 receives the identification number of the work machine 3 from the work machine 3. If there is a correction amount associated with the identification number of the work machine 3 received by the communication unit 51, the horizontal control unit 54 performs horizontal control based on the correction amount.

As a result, when the working machine 3 for which the correction amount has been calculated is reattached, the process of calculating the correction amount can be omitted or simplified.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

The flowchart shown in the above embodiment is an example, and some processes may be omitted, the contents of some processes may be changed, or new processes may be added. For example, in the present embodiment, the process of step S204 is performed after both steps S202 and S203 are satisfied, but either one of steps S202 and S203 may be omitted, or step S204 may be omitted after either one is performed. It may be configured to perform the processing of.

In the above embodiment, an example in which a halo for scraping is used as the work machine 3 has been described, but if the work machine is a work machine capable of switching between a non-work state and a work state and requires horizontal control, other than the halo. The present invention can also be applied to the working machine of.

3 Work equipment 10 Tractor 41 Tilt sensor (tractor side tilt sensor)
50 Control device 51 Communication unit 52 Correction amount calculation unit 53 Storage processing unit 54 Horizontal control unit 80 Work machine side control device 81 State detection sensor 82 Work machine side tilt sensor 83 Ground plane rotation angle sensor

Claims (4)

A car body to which a work machine can be attached and
A tractor-side tilt sensor that is placed on the vehicle body and detects the tilt angle of the vehicle body in the roll direction,
A communication unit that receives from the work machine the tilt angle in the roll direction of the work machine detected by the work machine side tilt sensor arranged on the work machine.
Correction amount calculation to calculate the correction amount by comparing the detection value of the tractor side tilt sensor with the detection value of the work machine side tilt sensor while the work machine is changing from the non-working state to the working state or after the change. Department and
During work using the work machine, horizontal control is performed to change the tilt angle of the work machine so that the work machine approaches horizontal based on the detected value of the tractor side tilt sensor and the correction amount. Control unit and
A tractor characterized by being equipped with. The tractor according to claim 1.
The working machine is a halo for scraping,
The non-working state is a stored state in which a part of the tillage part is stored.
The working state is a used state in which the tillage unit stored in the stored state can be used.
The tractor is characterized in that the correction amount calculation unit calculates the correction amount after determining that the halo has shifted from the stored state to the used state. The tractor according to claim 1 or 2.
The correction amount calculation unit can receive a signal generated by operating the operation unit that can be operated by the operator.
The correction amount calculation unit calculates the correction amount after receiving a signal indicating that the tilted state of the work machine is in the reference state and is generated by operating the operation unit. A tractor featuring. The tractor according to any one of claims 1 to 3.
A storage processing unit that performs a process of storing the identification number for identifying the work machine and the correction amount in association with each other is provided.
The communication unit receives the identification number of the work machine from the work machine, and receives the identification number of the work machine.
The tractor is characterized in that the horizontal control unit performs the horizontal control based on the correction amount when the correction amount associated with the identification number of the work machine received by the communication unit exists. ..

Images