JP2019041608A - Work vehicle - Google Patents

Abstract

To provide a work vehicle in which a worker can operate an operation tool in the same operation position as the most recent work traveling smoothly and easily, in the work vehicle including a control unit capable of executing the automatic lifting/lowering control for automatically operating the lifting/lowering of a work machine in the turning traveling and provided with the operation tool for operating the automatic lifting/lowering control.SOLUTION: A control unit 50 is configured to execute automatic lifting/lowering control for lifting a work machine 4 to the non-work height at the start of turning and lowering the work machine 4 to the work height in the turning completion. An operation tool 27 is configured to perform the adjustment operation of the lowering timing of the work machine 4 in the turning completion during execution of the automatic lifting/lowering control. The control unit 50 stores an operation position of the operation tool 27, and notifies the most recent operation position in an execution range of the operation tool stored in the memory unit by notification means 31, 53 when detecting that the operation tool 27 is operated from a stop range to the execution range.SELECTED DRAWING: Figure 6

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a work vehicle in which a work machine can be raised and lowered.

  An actuator for vertically moving a working machine connected to a traveling machine with respect to the traveling machine, a turning detection unit for detecting a turning or turning operation of the traveling machine, and a control unit for performing elevation control of the working machine by the actuator And the operation tool, the control unit having the storage unit, raising the work implement to the non-work height based on the start timing of the turning of the traveling machine body, and setting the work implement based on the end timing of the turn DESCRIPTION OF RELATED ART The working vehicle of patent document 1 comprised so that the automatic raising / lowering control made to fall to working height was performed is well-known conventionally.

Patent No. 4605622

  In the above document, by automatically raising and lowering the working machine during turning and traveling of the traveling machine body by the automatic raising and lowering control of the control unit, the time and labor of the operation of the operator is reduced and the turning and running in the field becomes smoother. However, the operator can use the dial-type operating tool to adjust the timing at which the working machine descends, so that the operator can perform the automatic lifting control. When performing work travel by automatic lift control under the same conditions as during the latest work travel, there has been a problem that it is necessary to store the operation position of the operation tool at the time of the last work travel.

  The present invention is provided with a control unit capable of executing automatic lift control for automatically lifting and lowering a working machine at the time of turning, having an execution range for operating the automatic lift control as an operation range. In a work vehicle provided with an operating tool capable of adjusting and adjusting the descent timing of the working machine in elevation control, the operator can operate the operating tool smoothly and easily to the same operating position as at the time of the latest work traveling. An object of the present invention is to provide a work vehicle capable of smoothly performing work travel using the automatic lift control.

  In order to solve the above problems, according to the present invention, first, an actuator 10 for driving the working machine 4 connected to the traveling machine body 3 up and down relative to the traveling machine body 3 and a swing or turning operation of the traveling machine body 3 The control unit 50 includes a swing detection unit 46 that detects, a control unit 50 that performs elevation control of the work machine 4 by the actuator 10, an operation tool 27, and notification units 31 and 53. The control unit 50 has a storage unit. Automatically raising and lowering the work implement 4 to the non-work height based on the start timing of the turning of the traveling machine body 3 and lowering the work implement 4 to the work height based on the end timing of the turn. The operating tool 27 has a stop range in which the automatic lifting control is not performed and an execution range in which the automatic lifting control is performed as an operating range. The control unit 50 is configured to perform the adjusting operation of the lowering timing of the working machine 4 at the end of the turning during the execution of the automatic lift control by changing the operation position, and the control unit 50 performs the work during the execution of the automatic lift control. The operating position within the execution range of the operating tool 27 is stored for each descent under the condition that the machine 4 has been lowered to the working height, and that the operating tool 27 has been operated from the stop range to the execution range When detected, the operation position in the execution range of the latest operating tool stored in the storage unit is notified by the notification means 31 and 53.

  Secondly, the notification means is a notification buzzer 53 and a notification lamp 31.

  Thirdly, the control unit 50 controls the ringing pattern of the notification buzzer 53 or the lighting pattern of the notification lamp 31 according to the state of the traveling machine 3 or the work machine 4 in which the automatic lift control is being performed. It is characterized by being configured.

  The control unit stores, in the storage unit, the operation position within the execution range of the operating tool when the working machine is lowered to the working height by the automatic lift control, and the operation tool operates from the stop range to the execution range The operator is notified by the notification means that the operation position in the execution range of the latest operating tool stored in the storage unit is detected by the notifying means when detecting that the user has done that. In performing automatic lift control, it is possible to smoothly and reliably confirm the operation position within the execution range in which the operation tool has been operated during the previous work traveling.

  Further, according to the notification means being the notification buzzer and the notification lamp, the operator can easily confirm the operation position of the operating tool operated when the previous automatic lift control is performed. Workability is improved because it can be done.

  Further, according to the control unit configured to control the ringing pattern of the notification buzzer or the lighting pattern of the notification lamp in accordance with the state of the work implement in which the automatic lift control is being performed, the operator Workability and safety are further improved since the state of the working machine to be moved up and down can be easily grasped at the time of automatic up and down control.

1 is an overall side view showing an agricultural tractor to which the present invention is applied. It is the perspective view which showed the control part. It is a perspective view showing an operation panel. It is the top view which showed the operation panel. It is explanatory drawing which showed the timing which a working machine raises / lowers operation by automatic raising / lowering control. It is a block diagram of a control part. It is a main flow figure. It is a processing flow figure of the subroutine of control state processing. It is a processing flow figure of the subroutine of machine information acquisition. It is a processing flow figure of a subroutine of machine angle processing. It is a processing flow figure of the subroutine of angle operation. It is a processing flow figure of the subroutine of position operation. It is a processing flow figure of the subroutine of position flag processing. It is a processing flow figure of the subroutine of position judgment. It is a processing flow figure of a subroutine of descent start processing. It is a processing flow figure of the subroutine of automatic end processing.

  FIG. 1 is an overall side view showing an agricultural tractor to which the present invention is applied, FIG. 2 is a perspective view showing a control unit, and FIG. 3 is a perspective view showing an operation panel. 4 is a plan view showing the operation panel. The present tractor, which is a type of work vehicle, includes a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a traveling machine 3 supported by the front and rear wheels 1, 2, and a rotary tilling device (described below) , Work machine 4), and the work machine 4 is moved up and down to a work height on the side of the scene through a lift cylinder (actuator) 10 and the work machine 4 is driven. By driving the traveling body 3 forward in a stationary state, it is possible to carry out the cultivating operation of the field.

  The traveling body 3 is supported by a traveling device including a pair of left and right front wheels 1 and 2 and a rear wheel 2 and is mounted on and fixed to a front portion on the body frame 7 It has a bonnet 8 which covers an engine (not shown) so as to be able to open and close, and a control unit 9 which is disposed at the rear of the bonnet 8 and on which an operator gets on.

  The control unit 9 includes a seat 11 on which an operator is seated, a steering handle 12 disposed on the front side of the seat 11, a front panel 13 disposed on the front side of the steering handle 12, and left and right sides of the seat 11. In the illustrated example, a side operation panel 14 disposed on the right side is provided, and a floor step 16 is formed between the steering handle 12 and the seat 11.

  Further, on the left and right (left in the illustrated example) side of the steering handle 12, shuttle levers 17 are provided which can switch between forward travel, stop and reverse travel of the traveling vehicle, and the steering handle On the other side (right in the illustrated example) of 12 are a quick up lever 18 for raising and lowering the work implement 4 between a preset upper limit height and a lower limit height, and a starter switch 19 for starting the engine. Provided (see Figure 2).

  On the front side of the side operation panel 14, there is provided a main shift lever 21 for performing a traveling shift operation by forward and backward rocking operation, and operating the raising and lowering operation of the working machine parallel to the left and right inside of the main shift lever 21 A position lever 22 is provided. In addition, on the rear side of the position lever 22, a fine adjustment switch 23 for raising and lowering the working machine 4 slightly is provided, and on the rear side of the main shift lever 21, a plowing depth for setting the plow depth of the working machine The adjustment dial 24 is disposed (see FIG. 3).

  On the rear left and right sides of the side operation panel 14, a dial type PTO operation tool 26 and a dial type operating on / off (ON / OFF state) of auto-down control (automatic lift control) by the control unit 50 described later A working tool supported behind the traveling machine body 3, a switching operation tool (operating tool) 27, a raising height volume 28 for operating the rising position of the working machine 4 to be raised and operated by turning and raising control and backup control described later A work implement horizontal volume 29 for operating the horizontal angle in the left-right direction of 4 is arranged in the front-rear direction. Further, a notification lamp 31 for notifying the operator of the execution state of the auto-down control is provided in the vicinity of the switching operation tool (see FIGS. 3 and 4).

  The switching operation tool 27 has, as its operation range, a turning range (stopping range) for stopping the execution of the auto-down control and an entering range (execution range) for executing the auto-down control. The in-range is also an auto-down timing volume (operating tool) 27 that adjusts the timing at which the work implement 4 automatically starts the lowering operation by the auto-down control. The details of the auto-down control by the control unit 50 will be described later.

  Specifically, the switching operation tool (auto-down timing volume) 27 uses a dial operation tool, and the range from 8:00 to 4:00 with the 0 o'clock direction as the reference position (-120 degrees from the reference position) A total of 240 degrees from 0 to +120 degrees) is set as the in range, and the range from 8 o'clock to 6 o'clock (60 degrees from -120 degrees to -180 degrees) is set as the off range, and the rotation angle is It is configured to be able to operate a total of 300 degrees in non-target (see Fig. 4). Further, in the switching operation tool 27, numerals 1 to 9 are arranged at equal intervals along the outer periphery of the dial within the insertion range.

  That is, in the illustrated example, the auto-down timing volume 27 dials clockwise (from 6 to 9 in the illustrated example) from the reference position with the 0 o'clock direction as the reference position (No. 5 in the illustrated example) in the in range. No.), the timing at which the work implement 4 descends by the auto-down control gradually becomes earlier, and the dial-down operation (No. 1 to 4 in the example shown) from the reference position makes the auto-down control The timing at which the working machine is automatically lowered by the operation is gradually delayed.

  According to the switching operation tool (auto down timing volume) 27 of the configuration, the switching operation for switching the presence or absence of the execution of the auto down control by the control unit 50 and the work machine 4 automatically lowers at the time of execution of the auto down control. The adjustment operation for adjusting the timing to be performed can be performed by a single operation tool. Thereby, the operation tool can be made more space-saving and compact.

  Furthermore, when the auto down timing volume 27 is operated to the in range (No. 1 to 4 in the illustrated example) adjacent to the off range, the descent start timing of the working machine is delayed, and in particular, the auto down timing volume 27 Since the descent timing of the working machine is delayed most immediately after the ON / OFF switching of the down control, the operator can turn off the auto down timing volume (switching operation tool) 27 from the on range while turning. When the operation of the work machine is started, it is possible to prevent the case where the work machine automatically lowers and operates by lowering the start timing of lowering the work machine.

  The front panel 13 switches the rear wheel drive and the four-wheel drive 4 by turning on and off the hydraulic clutch, and a backup changeover switch 32 for operating on / off of the backup mode of the traveling vehicle 3 on one side of the steering handle 12. A drive changeover switch 33 and a swing double speed changeover switch 34 for performing an on / off operation of a hydraulic clutch and a braking operation by a brake are provided.

  The backup changeover switch 32 operates ON / OFF of backup control to automatically raise the work implement 4 to the upper limit height when reverse operation is detected in a state where the work implement 4 is not at the upper limit height. Can. Along with this, when the control unit 50 is switched to the ON state in which backup control is executed by the backup switching switch 32, the control unit 50 causes the operator to turn on the backup lamp 36 indicating the state. It is configured to be able to notify that backup control is being executed.

  The four-wheel drive changeover switch 33 can switch between a four-wheel drive mode in which power is transmitted to the front wheel 1 for four-wheel drive, and a two-wheel drive mode in which power is not transmitted to the front wheel 1. Along with this, when the control unit 50 is switched to the four-wheel drive mode by the four-wheel drive switch 33, the control unit 50 causes the operator to operate in the four-wheel drive mode by lighting the four-wheel drive switching lamp 37 indicating the state. It is configured to be able to notify of a certain thing.

  The turning double speed switching switch 34 can operate ON / OFF of turning double speed control that controls the average moving distance of the front wheel 1 per unit time to be approximately twice the vehicle speed. Along with this, when the turning double speed switch 34 is switched to the ON state in which the turning double speed control is executed, the control unit 50 causes the turning double speed lamp 38 indicating the state to light, thereby turning on the turning double speed lamp. It is comprised so that it can alert | report to an operator that turning double speed control is being performed.

  Further, the front panel 13 is switched to the other side of the steering wheel 12 between a traveling mode for performing a tillage operation in the field and a road mode for traveling on a road outside the field, etc. A switch (hereinafter referred to as an automatic changeover switch) 41 and a travel mode display lamp (hereinafter referred to as an automatic changeover lamp) 42 for indicating which of the work travel mode and the road travel mode is selected.

  Next, auto-down control by the control unit will be described based on FIG. FIG. 5 is an explanatory view showing a timing at which the working machine moves up and down by the automatic down control.

  The control unit 50 raises the work implement 4 at the work height to a predetermined non-work height when it is detected that turning at the end of the field is started in the ON state where auto-down control can be performed When it is detected that turning on the field end side has been completed, the work implement 4 at the non-working height is automatically lowered to the working height, and then the auto-down control is automatically turned off It is configured to be switched to As a result, it is possible to perform work traveling in a field more smoothly by reducing the time and effort of lifting and lowering operations of the work machine by the worker when the work vehicle is turning.

  More specifically, as shown in FIG. 5, the control unit 50 determines the position of the work machine when the turning of the work vehicle is started, and resumes work traveling by the work machine after the end of the turn. The position coordinates of the position of the work machine with respect to the direction of movement is the work reference position X0, and the position of the rear wheel when the work vehicle starts turning in the field is the turning start position X1. The position of the rear wheel at the time of resuming work travel after setting the work travel is set as work resumption position X2, and when turning travel is started (the rear wheel starts turning position X1), the work implement rises to a predetermined height The operation is automatically started, and the lowering operation to the working height of the work machine is automatically started when the turning is finished and the position of the rear wheel reaches the work reference position X0. (See Figure 5).

  At this time, the auto-down control is raised to a predetermined height while the rear wheel travels straight between the operation reference position X0 and the operation resumption position X2 (hereinafter, the downward traveling distance D) after the end of turning. The working machine can be lowered again to the working height.

  Incidentally, the control unit 50 sets the position at which the working machine 4 starts the lowering operation by adjusting the timing at which the working machine having the predetermined height starts the lowering operation by the auto-down control by the auto-down timing volume 27. It can be adjusted by the amount (+ S, -S) of the running distance.

  Specifically, when the auto-down timing volume 27 is operated in the counterclockwise direction (No. 1 to 4) from the reference position within the in range, the rear wheel 2 has exceeded the work reference position X0 Since the descent operation of the work implement 4 is started later, the descent operation to the work height of the work implement 4 is completed after the work implement 4 passes the work resume position X2 (inside the field than the work resume position X2) . At this time, as the operation position of the auto-down timing volume 27 is operated farther away from the reference position (No. 5), the timing at which the lowering operation of the work implement 4 starts is delayed.

  On the other hand, before the rear wheel 2 reaches the work reference position X0, when the auto-down timing volume 27 is operated in the clockwise direction (No. 6 to 9) from the reference position within the on range. Since the lowering operation of the working machine is started, the lowering of the working machine 4 to the working height of the working machine 4 is completed before the working machine 4 reaches the work resumption position X2 (from the work resumption position X2). At this time, as the operation position of the auto-down timing volume 27 is operated farther away from the reference position (No. 5), the timing at which the lowering operation of the work implement 4 is started becomes earlier.

  In addition, when the auto-down timing volume 27 is operated to accelerate the lowering operation of the work machine 4 (Nos. 6 to 9), the control unit 50 also performs traveling machine body other than the case where the above conditions are satisfied. 3 has passed the descent start position to start descent of the work implement 4 adjusted by the auto-down timing volume 27 while turning, the traveling machine 3 is traveling rectilinearly, the traveling machine 3 is of the work implement 4 Also when it is detected that the condition that the vehicle does not pass the work reference position X0, which is the reference to start the descent, that the vehicle is traveling and the 180 degree turning is completed, is all satisfied. The lowering operation may be configured to be started. In this case, conditions may be added besides the above.

  According to this configuration, the descent operation is started at an unintended timing of the work implement 4 even if the descent start position is passed during turning, or the straight running is resumed by going backward once by this. Since it is not necessary to establish the descent start condition of the auto-down control again, the operation start after turning can be made smoother.

  Incidentally, the state where the auto-down timing volume (switching operation tool) 27 is operated within the in-range is the auto-down control by the control unit 50 when the engine is started or when the auto-down control is executed and ended automatically. Even if the auto-down control is in the OFF state, the auto-down timing volume 27 is turned off once to switch the auto-down control into the on-range again to switch the auto-down control to the ON state from that state. There is a need.

  On the other hand, when the control unit 50 re-operates the auto-down timing volume 27 into the on-range, the control position of the auto-down timing volume 27 that was most recently operated before the off-operation is described later. The notification buzzer 53 is configured to notify.

  Specifically, the auto-down timing volume 27 is not operated for a predetermined time within the entering range, and a position where the operation position has not changed is stored in the storage device in the control unit 50 as the original position. If the auto-down timing volume 27 is operated to the original position stored in the storage device in the control unit while the turning-off operation 27 is turned on, the notification buzzer 53 notifies the operator.

  When the automatic down timing volume 27 is not operated for a predetermined time (5 seconds in the present embodiment) when it is operated, time-out processing is performed and the notification of the operation position by the notification buzzer 53 is not executed.

  According to this configuration, when the auto-down control is switched to the ON state after the start of the engine or the like, the operator can use the operating position of the auto-down timing volume 27 that was operated when the auto-down control was executed most recently. Since it is not necessary for the operator to store the operation position of the auto-down timing volume 27 by himself, the execution of the auto-down control becomes easier.

  When the auto-down control is turned off in a state where the auto-down timing volume 27 is operated to the in-range, the control unit 50 raises the work implement 4 by the quick-up lever 18 for a predetermined time. If it is detected that the continuous operation has been performed, the auto-down control may be configured to be switched from the OFF state to the ON state without operating the auto-down timing volume 27.

  According to this configuration, since the auto-down control can be switched to the ON state without turning on and off the auto-down timing volume 27, it is possible to work while maintaining the operation position set at the time of the immediately preceding work traveling. You can resume driving. Hereinafter, the details of the auto-down control by the control unit will be described.

  Next, details of the auto-down control by the control unit described above will be described based on FIGS. 6 to 16. FIG. 6 is a block diagram of the control unit. On the input side of the control unit 50, a steering sensor 46 for detecting a steering operation by the steering wheel 12, the quick up lever 18, the main transmission lever 21, an auxiliary transmission lever 20 for performing a transmission operation, and Position lever 22, lift arm sensor 47 for detecting the elevation position of work machine 4, vehicle speed sensor 48 for detecting the vehicle speed of traveling machine body 3, the automatic changeover switch 41, and the switching device (auto-down timing volume) 27 The raising height volume 28, the shuttle lever 17, the turning double speed switching switch 34, the 4WD switching switch 33, and the backup switching switch 32 are connected.

  On the output side of the control unit 50, a lift arm valve 49 that operates a lift arm that raises and lowers the work machine 4, a lift up lamp 51 that notifies that the work machine 4 is moved up and down, and The display device 52 which is liquid crystal or the like for displaying various states, the automatic switching lamp 42, the turning double-speed lamp 38, the 4WD switching lamp 37, the backup lamp 36, and the elevation state of the working machine etc. A notification buzzer 53 for notifying is connected.

  FIG. 7 is a processing flow diagram of a main routine of auto-down control by the control unit. The control unit starts the main flow when the ON state of the starter switch 19 is detected, and the process starts from step S1. In step S1, the control unit confirms the presence or absence of a predetermined work implement raising operation by the traveling machine body, and proceeds to step S2.

  In the step S1, as shown in FIG. 5, the tilling operation is continued using the work machine which the work vehicle is moved up and down to the work height in the field and driven, and the control unit 50 at the field end side When it is detected that a predetermined work implement raising operation has been performed, the start flag of the auto-down control is set.

  Here, the predetermined work implement lifting operation is a case where the steering sensor 46 detects a turning operation of a predetermined or more while the auto-down control is turned on by the auto-down timing volume 27 by the control unit 50. Or when it is detected that the shuttle lever 17 is operated from the neutral position to the reverse position while the backup mode is on and the work implement 4 has not reached the upper limit height, or the work implement 4 The case where the raising operation of the quick up lever 18 for a predetermined time or more is detected in the state where the raising and lowering operation of the above is stopped.

  In step S2, a subroutine of control state processing is executed, and when the processing is completed, the process proceeds to step S3. In step S3, a subroutine for acquiring machine information is executed, and when the process is completed, the process proceeds to step S4. In step S4, a subroutine of aircraft angle processing is executed, and when the processing is completed, the process proceeds to step S5. In step S5, an angle calculation subroutine is executed, and when the process is completed, the process proceeds to step S6.

  In step S6, a subroutine for position calculation is executed, and when the process is completed, the process proceeds to step S7. In step S7, a subroutine of position flag processing is executed, and when the processing is completed, the process proceeds to step S8. In step S8, a position determination subroutine is executed, and when the process is completed, the process proceeds to step S9. In step S9, a subroutine of the descent start process is executed, and when the process is completed, the process proceeds to step S10. In step S10, a subroutine of an automatic end process is executed, and when the process is completed, the process returns to step S1 and the process is repeated. Each subroutine will be described below.

  FIG. 8 is a processing flow diagram of a control state process subroutine. When the control state process subroutine is executed, the process proceeds to step S11. In step S11, it is checked whether or not the auto-down control is in the ON state, which is a state in which the auto-down timing volume 27 is operated into the in range, and if auto-down control is in the ON state, the process proceeds to step S12.

  In step S12, it is checked whether the execution flag of the auto-down control is established or not. If the execution flag of the auto-down control is established, the process proceeds to step S13.

  Here, the execution flag of the auto-down control is a flag that is established in the auto-down execution state in which the control unit 50 calculates the position of the traveling vehicle body during turning and the descent start position. The state in which the auto-down control is ON and the state in which the auto-down execution flag is off is hereinafter referred to as the auto-down cancellation state.

  In step S13, it is confirmed whether the permission condition of the auto-down control is satisfied, and if the permission condition of the auto-down control is satisfied, the process proceeds to step S14.

  Here, the permission condition of the auto-down control means that the main shift lever 21 and the auxiliary gear are set in the front wheel double-speed mode and in the four-wheel drive mode or the auto brake mode by the double speed selector switch 34 and the four wheel drive switch 33. When it is detected that the speed change lever 20 is in a state where the reduction ratio is larger than a predetermined reduction ratio set in advance, it is determined that the permission condition of the auto-down control is satisfied.

  In step S14, whether or not the auto-down control cancellation flag is established is confirmed. If the auto-down control cancellation flag is established, the process proceeds to step S15. In step S15, as the auto-down control reset process, the control unit 50 causes the auto-down cancellation state in which both the auto-down execution flag and the auto-down start flag are turned off in the state where the auto-down control is turned on. , Return the process.

  In step S14, when the cancellation condition of the auto-down control is not satisfied, the process is returned thereafter.

  In step S13, when the permission condition of the auto-down control is not satisfied, the process proceeds to step S16. In step S16, the operator is notified that the display device 52 or the like does not satisfy the permission condition of the auto-down control, and then the process is returned.

  In step S12, when the execution flag of the auto-down control is not established, the process proceeds to step S17. In step S17, it is confirmed whether the above-mentioned start condition of the auto-down control is satisfied, and if the start condition of the auto-down control is satisfied, the process proceeds to step S18. If the start condition of the auto-down control is not satisfied in step S17, the process is returned thereafter.

  In step S18, the control unit 50 clears the auto-down start flag as control restart condition setting cancellation processing, and proceeds to step S19. In step S19, it is confirmed whether or not the permission condition of the auto-down control is satisfied, and when the permission condition of the auto-down control is satisfied, the process proceeds to step S20. If the permission condition for the auto-down control is not satisfied in step S19, the process is returned thereafter.

  In step S20, the control unit 50 sets an auto-down execution flag as an auto-down control condition satisfaction process, and enters an auto-down execution state, and notifies the operator to that effect using the display device 52 and the notification buzzer 53. And then return the process.

  FIG. 9 is a processing flow diagram of a subroutine of machine information acquisition. When the subroutine of the machine information acquisition is executed, the process proceeds to step S21. In step S21, information such as the maximum output of the engine mounted on the traveling body 3 stored in advance in the control unit 50 is read as acquisition of the horsepower setting, and then the process proceeds to step S22.

  In step S22, acquisition of tire settings is executed, and the process proceeds to step S23. At this time, when the traveling device provided on the traveling body 3 is the pair of front and rear wheels 1 and 2, the control unit 50 sets the distance between the front and rear wheels 1 and 2 between the axes, the distance between the left and right wheels, Read information such as diameter. The traveling device used for the traveling body 3 may be a pair of crawler type traveling devices, a combination of a front wheel and a crawler type traveling device, etc. In this case, information such as the length of the crawler is also read.

  In step S23, acquisition of double-speed turning / automatic brake setting is executed, and the process proceeds to step S24. At this time, the control unit 50 confirms that the traveling vehicle 3 is in either the front wheel double speed OFF and the 4 wheel drive mode ON, or the front wheel double speed ON and the 4 wheel drive mode and the auto brake mode ON. .

  In step S24, calculation of the inside and outside of turning is executed, and the process proceeds to step S25. At this time, the control unit 50 stores in advance the inner circumference and the outer circumference corresponding to the information read in the above, and reads the information. The turning inner circumference and the turning outer circumference are the moving distance of the rear wheel 2 when the traveling machine body in a state in which the steering handle 12 is turned to any of the left and right maximum turning angles is turned 360 °. .

  In step S25, calculation of the turning circumference is executed, and the process proceeds to step S26. At this time, the control unit 50 calculates the turning circumference, which is the average value, based on the turning inner circumference and the turning outer circumference.

  In step S26, calculation of the turning radius is performed, and the process proceeds to step S27. At this time, the control unit 50 calculates the turning radius based on the turning circumference described above. The turning radius is the radius of the arc locus drawn by the machine reference point when the traveling machine is turned in a state where the steering handle is turned to either the left or right maximum turning angle.

  In step S27, acquisition of the hitch setting is executed, and the process proceeds to step S28. At this time, the control unit 50 reads the information of the hitch length A which is the distance in plan view between the rotary shaft of the rear wheel 2 and the rotary shaft of the working machine 4 when the rotary of the working machine 4 contacts the mastication scene. Insert (see FIG. 5).

  In step S28, acquisition of vehicle speed data is executed by the vehicle speed sensor 48, and the process proceeds to step S29.

  In step S29, calculation of the movement distance during anti-dashing is performed, and the process proceeds to step S30. At this time, based on the acquired vehicle speed, the control unit 50 calculates the descent traveling distance D in which the traveling machine body 3 moves from when the work machine 4 starts descent to when the work machine 4 lands in the overhead scene. By the way, with the dashing height, the work implement 4 descends to a predetermined height so that the traveling machine body 3 does not accelerate rapidly due to the rotary force of the rotary when the rotary of the work implement 4 is in contact with the ground. It is necessary to reduce the speed, and indicates the height at which the lowering speed of the work implement 4 starts to be reduced.

  In step S30, calculation of the lowering target position is executed, and then the process is returned. At this time, as shown in FIG. 5, the control unit 50 calculates the descent start position where descent operation of the working machine 4 is actually started, with the turning start position X1 at the time of turning start as the origin as the descent target position. The target position to be lowered (work reference position X0) is set.

  FIG. 10 is a processing flow diagram of a subroutine of aircraft angle processing. When the subroutine of the aircraft angle processing is executed, the process proceeds to step S31. In step S31, whether or not the traveling machine body 3 is turning is confirmed by the steering sensor 46 and the vehicle speed sensor 48, and when it is confirmed that turning is being performed, the process proceeds to step S32.

  In step S32, based on the detected vehicle speed and the turning radius, the turning angle of the running body 3 is calculated by calculating the change in the direction (angle change amount) of the running body in a minute time, and the process proceeds to step S33. If the traveling body 3 is not turning at step S31, the process proceeds to step S34. At step S34, the turning angle is set to 0 °, and the process directly proceeds to step S33.

  In step S33, the vehicle body angle is calculated, and the process proceeds to step S35. At this time, the control unit 50 accumulates the amount of change in angle calculated as described above to obtain a vehicle body angle which is an angle formed by the direction of the traveling airframe 3 at the start of turning and the direction of the traveling airframe 3 at the time of calculation. calculate.

  In step S35, whether or not the vehicle body angle from the turning start position of the traveling vehicle body 3 is 90 ° or more is confirmed, and if it is confirmed that the vehicle body angle is 90 ° or more, the process proceeds to step S36. . In step S36, the control unit 50 determines that the traveling machine body 3 has been turned, and proceeds to step S37.

  In step S37, it is confirmed whether or not the turning angle condition of the traveling vehicle is achieved, and when the turning angle condition is achieved, the process proceeds to step S38. In step S38, the control unit 50 determines that the traveling traveling condition of the traveling machine body 3 has been achieved, and that the traveling vehicle body 3 is close to the descent start position by the notification buzzer 53 and the display device 52. Notify the operator and then return the process.

  If it is determined in step S37 that the turning angle condition has not been achieved, the process proceeds to step S39. In step S39, the control unit 50 notifies that by the display device 52, turns off the turning angle condition flag, and then returns the process.

  In step S35, when the body angle from the turning start position of the traveling body 3 is not 90 ° or more, the process proceeds to step S40. In step S40, the control unit 50 notifies the operator that the turning travel of the traveling machine body 3 is in the turning undelivered state (during turning driving) by the display device 52 or the like, and then returns the process.

  FIG. 11 is a processing flow diagram of a subroutine of angle calculation. When the angle calculation subroutine is executed, the process proceeds to step S41. In step S41, the vehicle body angle is acquired, and the process proceeds to step S42. At this time, the control unit 50 reads information such as an angle change amount, an aircraft body angle, and a vehicle speed as a vehicle body angle.

  In step S42, calculation of coordinates (x, y components) at the time of turning is executed, and the process proceeds to step S43. At this time, the control unit 50 calculates a change in the position of the traveling vehicle on the coordinate system in a minute time, that is, a coordinate change, based on the read angle change, the vehicle body angle, and the vehicle speed.

  In step S43, it is confirmed whether the turning speed of the traveling machine is 0 or not. If the turning speed of the traveling body is not 0, the process proceeds to step S44. In step S44, a new coordinate change amount is accumulated at the calculated current position of the traveling body 3 to calculate a new current position of the traveling body 3.

  In step S43, when the turning speed of the traveling machine is 0, the process proceeds to step S45. In step S45, assuming that the turning speed is 0, the processing is returned after that, assuming that the position of the traveling machine body 3 is held at the current position.

  FIG. 12 is a processing flow diagram of a position calculation subroutine. When the position calculation subroutine is executed, the process proceeds to step S51. In step S51, it is confirmed whether or not the auto-down control is being executed. If the auto-down control is not in the execution state, the process proceeds to step S52.

  In step S52, a descent target set value position is set as a descent position to start descent of the work implement 4, and then the process is returned. If it is determined in step S51 that the auto-down control is being performed, the process proceeds to step S53.

  Here, the descent position changes according to the result of calculation based on the descent target reference position, the descent target set value position, the current position, the aircraft angle, and the route of the traveling vehicle 3 by the subroutine of position calculation and position determination processing Indicates the position where the machine starts to descend.

  In step S53, it is confirmed whether the descent target setting value position is equal to or higher than the descent target reference position. If the descent target setting value position is equal to or higher than the descent target reference position, the process proceeds to step S54. In step S54, the descent position at which descent of work implement 4 is started is set to the descent target set value position, and then the process is returned. If it is determined in step S53 that the descent target setting value position is not equal to or more than the descent target reference position, the process proceeds to step S55.

  In step S55, it is confirmed whether the current position is equal to or less than the descent target setting value. If the current position is equal to or less than the descent target setting value, the process proceeds to step S56. In step S56, the descent position at which descent of the work machine is started is set to the descent target set value position, and then the process is returned. In step S55, when the current position is larger than the lowering target setting value, the process proceeds to step S57.

  In step S57, it is confirmed whether the current position is equal to or higher than the descent target reference position. If the current position is equal to or higher than the descent target reference position, the process proceeds to step S58. In step S58, the descent position to start descent of the work machine is set to the descent target reference position, and then the process is returned. In step S57, when the current position is smaller than the lowering reference position, the process proceeds to step S59.

  In step S59, when it is detected by the steering sensor 46 that the vehicle is turning, or whether it is detected that the reverse operation by the shuttle lever 17 is detected, the turning operation of the traveling body or If it is detected that the vehicle is moving backward, the process proceeds to step S60.

  In step S60, the descent position at which descent of the work machine is started is set to a value obtained by adding a predetermined hysteresis value to the current position, and then the process is returned. If it is not detected in step S59 that the traveling body is turning or traveling backward, the lowering position for starting the lowering of the working machine is not set, and then the process is returned.

  FIG. 13 is a processing flow diagram of a subroutine of position flag processing. When the position flag processing subroutine is executed, the process proceeds to step S61. In step S61, it is checked whether the current position of the traveling vehicle 3 is larger than the value obtained by adding the hysteresis value to the lowering start position, and the current position is larger than the value obtained by adding the hysteresis value to the lowering start position. In step S62, the process proceeds to step S62.

  In step S62, the position passage condition satisfaction flag is established, and the position condition flag is cleared, and then the process is returned. Here, the position condition flag is one of the conditions for the control unit 50 to set the descent flag for starting the descent operation of the work machine 4 in the position determination process described later, and the current position of the traveling machine is the descent start position Is a flag indicating that has been reached.

  In step S61, when the current position of the traveling body 3 is not larger than the value obtained by adding the hysteresis value to the descent start position, the process proceeds to step S63. In step S63, it is checked whether the current position of the traveling vehicle 3 is smaller than a value obtained by subtracting the hysteresis value at the descent start position, and a value obtained by subtracting the hysteresis value at the descent start position of the current position of the vehicle 3 If smaller, the process proceeds to step S64.

  In step S64, the position passing condition satisfaction flag is cleared and the position condition flag is also dropped, and then the process is returned.

  In step S63, when the current position of the traveling body 3 is equal to or more than the value obtained by subtracting the hysteresis value from the descent start position, the process proceeds to step S65. In step S65, it is confirmed whether or not the flag of the position passing condition is established, and if the flag of the position passing condition is established, the process proceeds to step S66.

  In step S66, it is checked whether the current position of the traveling vehicle 3 is smaller than the descent start position, and if the current position of the traveling vehicle 3 is less than the descent start position, the process proceeds to step S67, and step S67 is a position The condition flag is established, and then the process is returned. If it is determined in step S66 that the current position is not less than the lowering position, then the process is returned.

  If it is determined in step S65 that the position passage condition flag is off, the process proceeds to step S68. In step S68, it is checked whether the current position of the traveling vehicle 3 exceeds the descent start position. If the current position of the traveling vehicle 3 exceeds the descent start position, the process proceeds to step S67, and in step S67. The flag of the position condition is established, and then the process is returned.

  If it is determined in step S68 that the current position has not exceeded the lowered position, then the process is returned.

  FIG. 14 is a processing flow diagram of a position determination subroutine. When the position determination subroutine is executed, the process proceeds to step S71. In step S71, whether or not the traveling body 3 is in the traveling state is confirmed by the vehicle speed sensor 48, and when it is confirmed that the traveling body 3 is in the traveling state, the process proceeds to step S72. If the vehicle speed is not detected in step S71, then the process is returned.

  In step S72, whether or not the traveling body 3 is traveling forward is confirmed by the steering sensor 46 and the shuttle lever 17. If the traveling body 3 is traveling forward, the process proceeds to step S73. If it is determined in step S72 that the traveling body 3 is traveling other than forward traveling (such as turning), the process is returned thereafter.

  In step S73, the control unit 50 confirms whether the position condition flag and the angle condition flag are satisfied, and if the position condition flag and the angle condition flag are satisfied, the process proceeds to step S74. If at least one of the position condition flag and the angle condition flag is off in step S73, then the process is returned.

  In step S74, the control unit 50 performs the delay operation for delaying the lowering operation of the work implement 4 by performing the upward swing operation of the quick up lever 18 for a certain period of time, and confirms whether the delay operation has timed out. If the delay operation has not timed out, the process proceeds to step S75. In step S75, the control unit 50 sets a work implement lowering flag to start the lowering operation of the work implement 4, and then returns the process.

  In step S74, when the delay operation is timed out by continuing the delay operation by the quick-up lever 18 for a predetermined time, the process proceeds to step S76. In step S76, the control unit 50 sets an auto-down cancellation flag for setting the auto-down cancellation state in which the auto-down control execution flag is turned off when the auto-down control is ON as the time-out process of the delay operation by the quick up lever 18. And notifying the display unit 52 of that effect, and then returning the process.

  FIG. 15 is a processing flow diagram of a subroutine of the descent start process. When the subroutine of the descent start process is executed, the process proceeds to step S81. In step S81, the control unit 50 confirms whether or not the work implement lowering flag is established, and when the work implement downward flag is established, the process proceeds to step S82. If it is determined in step S81 that the work implement lowering flag has not been established, then the process is returned.

  In step S82, whether or not the delay operation for delaying the lowering operation of the work implement 4 by the quick up lever 18 is not detected is confirmed. If the delay operation is not confirmed, the process proceeds to step S83. If it is determined in step 82 that the delay operation by the quick up lever 18 has been confirmed, then the process is returned.

  In step S83, the work implement lowering flag is cleared, and the process proceeds to step S84. In step S84, the descent operation of the work implement 4 is started via the lift arm valve 49, and the process proceeds to step S85. In step S85, the notification buzzer 53 or the like notifies the worker that the work machine 4 is automatically lowered and the process is then returned.

  FIG. 16 is a processing flow diagram of a subroutine of automatic end processing. When the subroutine of the automatic end process is executed, the process proceeds to step S101. In step S101, in the execution state of the auto-down control, it is checked whether the current position of the traveling body 3 is within the end range of the auto-down control, and the current position of the traveling body 3 is within the end range of the auto-down control. If yes, the process proceeds to step S102.

  In step S102, as the automatic end processing of the auto-down control, the operator is notified that the auto-down control is ended due to position restriction to the display device 52, and the auto-down control execution flag is set when the auto-down control is ON. The auto-down cancellation flag is set to bring the auto-down cancellation state to be dropped, and then the process is returned.

  In step S101, when the present position of the traveling body 3 is not within the end range of the auto-down control, the process proceeds to step S103. In step S103, it is confirmed whether or not the current position of the traveling machine body 3 is within a predetermined notification range located at a position shorter than the end range of the auto-down control, and the current position of the traveling body 3 is within the notification range. In step S104, the process proceeds to step S104.

  In step S104, the control unit 50 displays the content for prompting the operator to call attention on the display device 52 as a warning notification process, and then the process proceeds to step S107.

  In step S103, when the current position of the traveling body 3 is not within the notification range, the process proceeds to step S105. In step S105, it is checked whether the traveling machine body 3 is positioned within the automatic end cancellation range having a predetermined range, and if the current position of the traveling machine body 3 is positioned within the automatic termination cancellation range, the process proceeds to step S106. move on.

  In step S106, the control unit displays the engine speed / usage time display on the display device 52 as range automatic end reset processing, and then the process proceeds to step S107. In addition, also in step S105, when the present position of a traveling body is not in the automatic end cancellation | release range, it progresses to step S107.

  In step S107, it is checked whether the body angle of the traveling body 3 exceeds the predetermined end angle λ1 in the execution state of the auto-down control, and the body angle of the traveling body 3 exceeds the end angle λ1. In step S102, the process proceeds to step S102. In step S102, an automatic end process of the auto-down control is performed, and then the process is returned.

  In step S107, when the body angle of the traveling body does not exceed the end angle λ1, the process proceeds to step S108. In step S108, it is checked whether or not the vehicle body angle of the traveling vehicle 3 is within the caution notification angle defined between the end angle λ1 and the predetermined notification angle λ2 smaller than the end angle λ1. If it is confirmed that the aircraft angle of the aircraft 3 is within the caution notification angle, the process proceeds to step S109.

  In step S109, the control unit 50 displays the content for prompting the operator to call attention on the display device 52 as a warning notification process, and then the process proceeds to step S112.

  In step S108, when the body angle of the traveling body 3 is not within the caution notification angle, the process proceeds to step S110. In step S110, it is checked whether the body angle of the traveling body 3 is within the automatic end cancellation angle λ3 having a predetermined range smaller than the notification angle λ2, and the body angle of the traveling body 3 is the automatic end cancellation angle λ3. If it is inside, the process proceeds to step S111.

  In step S111, the control unit 50 displays the engine speed and operating time display on the display device 52 as an angle automatic end reset process, and then the process proceeds to step S112. In addition, also in step S110, when the body angle of a traveling body is not in automatic end cancellation | release angle, it progresses to step S112.

  In step S112, it is checked whether or not the integrated travel distance from the execution state of the auto-down control until the auto-down execution state ceases to exceed the predetermined automatic end integrated distance, and the integrated travel distance is the automatic end integration If the travel distance is exceeded, the process proceeds to step S102. In step S102, an automatic end process of the auto-down control is performed, and then the process is returned.

  If it is determined in step S112 that the integrated travel distance does not exceed the automatic termination integrated travel distance, the process proceeds to step S113. In step S113, it is checked whether the integrated traveling distance of the traveling body 3 is within the notification integrated distance having a predetermined range smaller than the automatic integrated traveling distance, and the integrated traveling distance is within the notification integrated distance. In the case, the process proceeds to step S114.

  In step S114, the control unit 50 displays contents (eg, “travel limit exceeded”, etc.) for giving the operator the advance cancellation of the execution of the auto-down control on the display device 52 as the alert notification process, and proceeds to step S115. . If it is determined in step S113 that the integrated travel distance is not within the notification integrated distance, the process proceeds to step S115.

  In step S115, whether or not the forward / reverse control cancellation condition is satisfied is confirmed. If the forward / reverse control cancellation condition is satisfied, the process proceeds to step S116. Here, the forward / reverse control cancellation condition is a state in which no turning operation is detected by the steering sensor 46 while the traveling machine body 3 is not in the execution state of the auto-down control until the traveling body 3 is in the execution state of the auto-down control. It is a condition to determine whether the forward travel distance or the reverse travel distance, in which only the forward and reverse travel is continuously performed, exceeds the forward and reverse travel control release distance.

  In step S116, the control unit 50 sets an auto-down control cancellation flag as a forward / backward control cancellation process, and notifies the operator of an advance cancellation of the execution of the auto-down control via the display device 52, and then processes Return. If it is determined in step S115 that the forward / reverse control cancellation condition is not satisfied, the process proceeds to step S117.

  In step S117, the control unit 50 confirms whether the forward / reverse control cancellation caution condition is satisfied or not. When the forward / reverse control cancellation caution condition is satisfied, the control unit 50 proceeds to step S118. Here, with the forward / reverse control cancellation caution condition, only the forward / backward traveling of the traveling vehicle is continuously performed in a state where the steering operation is not detected by the steering sensor while the traveling vehicle 3 is stopped from being in the automatic down execution state. Condition that is determined to be satisfied when the forward distance or reverse distance performed is between the forward / reverse control release distance and the forward / backward release caution distance set shorter than the forward / reverse control release distance It is.

  In step S118, the control unit 50 displays the engine speed / usage time display on the display device 52 as the warning notification process, and then returns the process. If it is determined in step S117 that the forward / reverse control cancellation caution condition is not satisfied, the process proceeds to step S119.

  In step S119, the control unit 50 confirms whether the forward / reverse automatic end cancellation condition is satisfied or not. If the forward / reverse automatic end cancellation condition is satisfied, the control unit 50 proceeds to step S120. Here, with the forward / reverse automatic termination cancellation condition, only the forward / backward traveling of the traveling vehicle is continuously performed in a state where the steering operation is not detected by the steering sensor while the traveling vehicle 3 is stopped from being in the autodown executing state. It is a condition that is satisfied when it is confirmed that the forward travel distance or the reverse travel distance performed is less than a predetermined forward / reverse automatic end distance smaller than the forward / backward travel caution distance.

  In step S120, the control unit displays the engine speed / usage time display on the display device 52 as the forward / reverse control cancellation process, and then returns the process. If it is determined in step S119 that the forward / reverse automatic end cancellation condition is not satisfied, then the process is returned.

  From the above, the auto-down control by the control unit 50 is performed by the forward traveling of the traveling body 3 at a predetermined distance determined in advance, the predetermined vehicle angle, or the predetermined integrated movement distance after the auto-down control is executed. Before the automatic end process (step S102, step S116) to be switched to the down release state is performed, the display device 52 notifies the operator of the fact. As a result, the operator can check the state of the traveling machine body 3 automatically before the auto-down control automatically enters the auto-down cancellation state, so it becomes easy to maintain the execution state of the auto-down control continuously. The

  Further, the control unit 50 performs the above-mentioned auto-down control according to the lighting pattern (specifically, the light-off state, the lighting state, the blinking state, etc.) of the notification lamp 31 provided in the vicinity of the auto-down timing volume 27. It is configured to be able to notify the operator of the control state.

  Specifically, when the operation position of the auto-down timing volume 27 is operated in the off range, the control unit 50 causes the work machine 4 to be switched to the road traveling state by the automatic change switch 41. When the hydraulic equipment outside the vehicle is used for raising and lowering control of the lift arm to be moved up and down, the notification lamp 31 is turned off, and the auto-down timing volume 27 is operated from the off range to the on range. In the state where auto-down control is not performed in a state where the notification lamp 31 is turned on and the auto-down timing volume 27 is operated from the off range to the on range, that is, the auto-down release state. The notification lamp 31 is configured to blink.

  As a pattern in which the notification lamp 31 blinks, when the engine is started with the auto-down timing volume 27 operated in the in-range, or the auto-down timing volume 27 is operated in the in-range In the case where it is switched from the road traveling state to the work traveling state by the automatic switching switch 41 or in the case where the control is switched from the state controlled using an external hydraulic device for lift control of the lift arm to position control etc. There is.

  The control state of the auto-down control may be similarly notified to the operator also by the ringing pattern of the notification buzzer 53.

3 Traveling machine 4 Working machine 10 Lifting cylinder (actuator)
27 Switching operation tool, auto-down timing volume (operation tool)
31 Notification lamp (notification means)
46 Steering sensor (turn detection means)
50 control unit 53 notification buzzer (notification means)

Claims (3)

An actuator (10) for raising and lowering a working machine (4) connected to the traveling machine (3) with respect to the traveling machine (3);
Turning detection means (46) for detecting turning or turning operation of the traveling body (3);
A control unit (50) that performs elevation control of the work machine (4) by the actuator (10);
Operation tool (27),
And notification means (31, 53);
The control unit (50) has a storage unit, raises the working machine (4) to the non-working height based on the start timing of the turning of the traveling machine body (3), and the working machine based on the end timing of the turning Configured to perform automatic lift control to lower (4) to the working height,
The operation tool (27) has a stop range in which the automatic lift control is not performed and an execution range in which the automatic lift control is performed as operation ranges.
The operating tool (27) is configured to adjust the lowering timing of the working machine (4) at the end of turning during execution of the automatic lifting control by changing the operating position within the execution range,
The control unit (50) operates the operating tool (27) within the execution range of the operating tool (27) every time the work implement (4) is lowered to the working height during execution of the automatic lift control. The position is stored, and when it is detected that the operating tool (27) has been operated from the stop range to the execution range, the operation means in the execution range of the latest operating tool stored in the storage unit is the notification means Working vehicle notified by (31, 53). The work vehicle according to claim 1, wherein the notification means is a notification buzzer (53) and a notification lamp (31). The control unit (50) lights the ringing pattern of the notification buzzer (53) or the notification lamp (31) according to the state of the traveling machine body (3) or the work machine (4) in which the automatic lift control is being performed. The work vehicle according to claim 2, configured to control a pattern.