JP3583040B2 - Work vehicle lift control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides an elevating operation means for elevating and lowering a working device, and repeatedly detecting a ground height of the working device with a ground height sensor, and detecting the height while traveling a set distance or while a set time has elapsed. Ground height detecting means for repeatedly executing a height calculation process for calculating the calculated ground height of the working device while averaging a plurality of detected ground heights, such that the calculated ground height becomes a target ground height. And a control means for performing a lifting control for controlling the lifting operation means.
[0002]
[Prior art]
In the work vehicle elevating control device having the above-described configuration, conventionally, as disclosed in Japanese Patent Application Laid-Open No. Sho 59-132812, for example, as a work vehicle, as a working device capable of moving up and down with respect to a traveling body of a combine, The reaping unit is configured to be able to move up and down freely by a hydraulic cylinder as a lifting operation means, and the hydraulic cylinder is set so that the ground height of the reaping unit detected by the ground height sensor becomes the target ground height. As a configuration for controlling the operation, the ground height sensor repeatedly detects the ground height of the working device at set intervals, and when the number of detections reaches the set number, that is, when the set time has elapsed, it is detected during that time. All of the plurality of detected values are averaged to obtain an arithmetic ground height (hereinafter, referred to as a first related art).
[0003]
In addition, there has been one configured as disclosed in JP-A-6-319335. In other words, the mowing unit as a working device that can move up and down with respect to the traveling body of the combine, which is an example of a work vehicle, is configured to be able to move up and down with a hydraulic cylinder as a lifting and lowering operation means, and a ground height sensor is The configuration of controlling the operation of the hydraulic cylinder so that the detected ground height of the reaping processing unit becomes the target ground height is the same as that of the above-described first related art. The configuration is as follows.
That is, a stock sensor for detecting whether the harvesting is in the working state or the non-working state is provided based on the presence or absence of the harvested and transported culm, and the ground height sensor detects the ground height every set cycle (20 msec). Is repeatedly detected, while the non-working state is detected after starting the lifting / lowering control, and until a set time (4 seconds) elapses after switching to the cutting work state. Is configured to average all detected values (five) detected by the ground height sensor during a lapse of a set time (100 msec) and obtain an average value as the calculated ground height. After a set time (4 seconds) has passed since the switch to the mowing work state, every time the traveling distance of the traveling body becomes 5 cm, all data of a plurality of detection values detected during the traveling processing are averaged. , It has been a configuration of obtaining the calculation ground height based on the results. (Hereinafter, referred to as a second prior art)
[0004]
That is, in the related art, the averaging process is performed using all data of a plurality of detected ground heights that are repeatedly detected by the ground height sensor during a detection processing period while the vehicle travels a set distance or a set time elapses. However, it was configured to calculate the height to the ground.
[0005]
[Problems to be solved by the invention]
At a work place where a work vehicle such as a combine vehicle travels, the work is performed while sequentially traveling through a plurality of work steps, but at or near a headland where the turning of the vehicle body is performed, the turning operation of the vehicle body is performed. As a result, the ground may be roughened, and there may be many locally protruding projections and locally recessed depressions. On the other hand, at the center side of the work place, etc., that is, at the travel place after the work travel in the work process has progressed to some extent from the headland, the ground is generally a relatively stable flat surface, There are also not a few convex parts and concave parts.
[0006]
However, in the above-described conventional configuration, the arithmetic ground height is obtained while performing the averaging process using all data of a plurality of detected ground heights repeatedly detected by the ground height sensor as described above. In the detection data, there may be data in which the height of the ground at the convex portion or the concave portion as described above is detected. The detection data at such a convex portion or a concave portion is specific data having a large difference from other detection data detecting an average ground height. Then, due to the presence of such specific data, the calculated ground height obtained by averaging as described above is detected as an eye value higher than the actual ground height, or detected as a lower eye value. Sometimes.
[0007]
Therefore, according to the configuration of the related art, when the vehicle body is turned on the headland to start the work travel in the next work process, the work travel in the work process is started and the vehicle travels a little. In the meantime, there is a possibility that the ground near the headland may be rough and large irregularities may exist, so the elevation based on the specific data as described above detected due to such irregularities As a result of free control, there is a risk that the working device may accidentally come into contact with the ground and be damaged.
Also, after the work travel in the work process has progressed to some extent from the headland, the specific data detected due to the unevenness as described above, despite the fact that the ground is a relatively stable flat surface Unnecessary elevating operation is repeated due to the influence of the vehicle, and the vehicle body fluctuates, so that smooth elevating control cannot be performed.
[0008]
The present invention has been made by paying attention to such a point, and an object of the present invention is to provide a work device in contact with the ground or a work in the work process during a period from when the work travel is started in the work process to when the work device travels a little. An object of the present invention is to provide a lift control device for a work vehicle that can eliminate disadvantages of the related art, such as unnecessary lifting operation being repeated after traveling has progressed to some extent.
[0009]
[Means for Solving the Problems]
According to the characteristic configuration of claim 1, the lifting / lowering operation means for lifting / lowering the working device, and repeatedly detecting the ground height of the working device with the ground height sensor, and while traveling the set distance or during the set time Ground height detecting means for repeatedly executing a height calculation process of calculating the operation ground height of the working device while averaging a plurality of detected ground heights detected within a detection processing cycle during which the elapsed time, And a control means for performing a lift control for controlling the lift operation means so that the calculated ground height becomes the target ground height. A work state determination means for determining whether the state is an initial work state until the initial work end condition is satisfied or a normal work state after the initial work end condition is satisfied; When the initial work state is determined by the work state determination means in the height calculation process, the step is used for the initial work among data of a plurality of detected ground heights detected within the detection processing cycle. Averaging processing is performed on the data selected based on the selection condition, and when the normal work state is determined by the work state determination unit, the data of the plurality of detected ground heights detected during the detection processing cycle is output. It is configured to average data selected based on the selection condition for normal work from among the selection condition for the initial work and the selection condition for the normal work, which are detected within the detection processing cycle. The selection rate indicating the ratio of the data to be selected for the averaging process among the data of the plurality of detection ground heights is such that the selection condition for the initial work is more than the selection condition for the normal work. It is set in the large.
[0010]
When the initial work state is determined by the work state determination means, data selected based on a selection condition for the initial work is averaged from a plurality of pieces of detected ground height data detected during the detection processing cycle. To process. Further, when the normal work state is determined, data selected based on the selection condition for normal work is averaged from a plurality of pieces of detected ground height data detected during the detection processing cycle. As described above, the averaging process is not performed using all of the plurality of pieces of detected ground height data detected in the detection processing cycle, but is performed based on the selected data. The selection rate indicating the ratio of the data to be selected for the averaging process among the data of the plurality of detected ground heights is such that the selection condition for the initial work is higher than the selection condition for the normal work. Is also set to a large value, in the initial work state, data is selected with a large selection rate, and in the normal work state, data is selected with a small selection rate.
[0011]
Therefore, for example, after turning the vehicle body on the headland, when the work in the next work process is started, after starting the work traveling in the work process, the ground near the headland is Although there may be a lot of roughness and unevenness, in such an initial work state, data is selected with a large selection rate based on the selection conditions for the initial work, and averaging processing is performed. Calculate ground height by averaging using the average ground height data, excluding specific data that detects the ground height at convex parts that are protruding or concave parts that are locally concave. By selecting as much other data as possible, while minimizing the effects of specific data, and improving the ability to follow variations in ground height as much as possible. The device is incorrectly It becomes easier to avoid the disadvantages of such in contact with.
[0012]
Further, in the normal work state after the work travel in the work process has progressed to some extent, since the ground is a relatively stable plane, data is selected with a small selection rate based on the selection conditions for the normal work. By performing the averaging process to calculate the height to the ground, it is possible to minimize the influence of specific data due to fine irregularities and the like as much as possible, and to easily avoid unnecessary repetition of the elevation operation.
[0013]
In this way, the working device comes into contact with the ground during the work travel in the work process and a short time before the travel, and the unnecessary lifting operation is repeated after the work travel in the work process progresses to some extent. Thus, it is possible to provide an ascent / descent control device for a working vehicle that can eliminate disadvantages of the related art such as the above.
[0014]
According to the characteristic configuration of the second aspect, in the first aspect, the selection condition for the initial operation is such that the ground height is smaller among a plurality of detected ground height data detected during the detection processing cycle. On the sideBeforeSelectivityDataThe selection condition for the normal work is set so that the ground height is the center side of the plurality of detected ground height data detected within the detection processing cycle.BeforeSelectivityDataIt is set to select.
[0015]
Therefore, in the initial work state,BeforeSelectivityDataBy selecting the data, the ground height is higher than the actual height, such as data on the side where the ground height is larger, in particular, the ground height data corresponding to the local depression, etc. By excluding the specific data that results in the average value of the lower eyes, due to such specific data, the working device is controlled to ascend and descend to the lower eye, so that the working device comes into contact with the ground Can be easily avoided.
Also, in normal working conditions, the ground height is the center side.BeforeSelectivityDataBy selecting the data, the averaging process is performed, such as the data on the side where the ground height is large and the data on the side where the ground height is small, especially the ground height data corresponding to the local convex portion or the concave portion. By removing the specific data that causes the calculated average ground height to be higher than the actual height of the eye or the lower eye average, Due to this, it is possible to easily avoid unnecessary repetition of the elevating operation.
[0016]
According to the characteristic configuration described in claim 3, in claim 1 or 2, the ground height detecting means detects a plurality of ground detected in the detection processing cycle as an averaging process in the height calculation process. The height is selected and averaged in the initial work state based on the selection conditions for the initial work, and the data is selected based on the selection conditions for the normal work in the normal work state. A second averaging process for averaging a plurality of average values obtained in the first averaging process for a plurality of previous settings for each of the detection processing cycles. The averaging process is executed, and the average value obtained by the second averaging process is set as the calculated ground height.
[0017]
That is, as the averaging process, a first averaging process for averaging a plurality of detected ground heights detected within the detection process cycle, and a plurality of sets obtained by the first averaging process for a plurality of set times. A second averaging process for averaging the average value is performed. Then, in the first averaging process, data is selected and averaged based on each of the selection conditions as described above, and the average value is further subjected to the second averaging process, so that the initial work can be performed more reliably. In the state, it is easy to avoid disadvantages such as the working device accidentally touching the ground or roughening the ground, and it is possible to easily avoid unnecessary repetition of the elevating operation in the normal working state.
Moreover, for example, it is conceivable to adopt a configuration in which all the detected ground heights that are repeatedly detected are stored over a period of a plurality of times of the setting of the detection processing cycle, and an average value thereof is obtained. In such a configuration, a storage unit having a large storage capacity is required. However, by executing the two-stage averaging process as described above, even when the period for which the averaging process is to be performed is long, the storage unit can be stored. There is an advantage that the capacity of the means can be reduced.
[0018]
According to the characteristic configuration of the fourth aspect, in the third aspect, the detection processing cycle is set as a low-speed traveling detection processing cycle set as a period during which the set time elapses, and set as a period during traveling the set distance. A detection processing cycle for high-speed running is provided, and the ground height detection means determines the first averaging processing based on the detection processing cycle for low-speed running when the vehicle speed is lower than a set running speed for processing cycle determination. And the averaging process is executed when the vehicle speed is equal to or higher than the set traveling speed for determining the processing period.
[0019]
For example, the period until the vehicle travels the set distance is set as the detection processing cycle, and if the cycle of repeatedly detecting the ground height by the ground height sensor is a fixed cycle, the vehicle speed is extremely low. When the vehicle is traveling, the detection data of the ground height repeatedly detected by the ground height sensor until the vehicle travels the set distance becomes very large, so a large-capacity storage means is required.
Further, when the period until the set time elapses is set as the detection processing cycle, when the vehicle body is traveling at a low speed, the calculated ground height is obtained for each short traveling distance, and the ground height is calculated. Although the elevating control can be performed while following the change, when the vehicle speed becomes high, the traveling distance until the calculated ground height is obtained becomes longer, and there is a disadvantage that the followability to the change on the ground becomes low.
Therefore, when the vehicle speed is lower than the set traveling speed for processing cycle discrimination, the averaging process is executed based on the detection processing cycle for low speed running set as the period during which the set time elapses, and the vehicle speed is set for the processing cycle discrimination. When the vehicle speed is higher than the speed, the averaging process is performed based on a high-speed running detection process cycle set as a period during which the vehicle travels the set distance, so that the vehicle can follow the ground when the vehicle speed is high. Even if the vehicle is running at a very low speed without lowering, the averaging process can be executed in a state that does not require a large-capacity storage unit.
[0020]
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the work state determination unit is configured to determine a deviation between the calculated ground height and the target ground height after the elevation control is started. Is set as a condition for ending the initial work.
[0021]
Therefore, after the elevation control is started, data is selected with a large selection rate based on the initial operation selection conditions until the deviation between the calculated ground height and the target ground height falls within the set allowable range and converges. By performing averaging processing, it is possible to improve the followability to variations in ground height as much as possible and to easily avoid disadvantages such as the work equipment accidentally touching the ground and roughening the ground. Become. When the deviation between the calculated ground height and the target ground height falls within a set allowable range, data is selected at a small selection rate based on the selection conditions for normal work and averaged to obtain fine irregularities. And the like, and the influence of specific data is reduced as much as possible.
As described above, the initial work end condition is that the deviation falls within the set allowable range and converges. For example, a set time (4 seconds) elapses after the start of work as in the second related art. In this case, if the ground is rough over a wide area, the ground may be rough even after the set time has elapsed, and there is a high possibility that the work equipment will come into contact with the ground. However, since the deviation must be within the set allowable range and converge, there is no such disadvantage, and it is easy to avoid the disadvantage that the working device comes into contact with the ground.
[0022]
According to the characteristic configuration of the sixth aspect, in any one of the first to fifth aspects, the ground height detecting means is out of an allowable range among the ground heights detected by the ground height sensor. It is configured to select data from the plurality of pieces of detected ground height data after excluding the abnormal value based on the selection condition for the initial work and the selection condition for the normal work.
[0023]
Abnormal values that fall outside the permissible range as described above are abnormal data that is not detected when a normal detection operation is performed, and is, for example, not the height to the ground, that is, the height to the ground. It can be considered to be caused by erroneous detection by straw waste or weeds, or by failure of the height detection sensor itself, so that such abnormal values are excluded from data selection targets to detect ground height. Accuracy can be improved.
[0024]
According to the characteristic configuration of claim 7, in claim 6, the frequency of occurrence of the excluded detection value is determined while the vehicle travels the set distance for abnormality determination or while the set time for abnormality determination elapses. An alarm means is provided for notifying an abnormality when the value exceeds the set value.
[0025]
If the abnormal value occurs at a frequency exceeding the set value while traveling the set distance for abnormality determination or during the elapse of the set time for abnormality determination, there is a high possibility that the ground height cannot be accurately detected. Therefore, in such a case, the abnormality is notified by the alarm means to notify the worker, so that the subsequent measures can be taken promptly.
[0026]
According to the characteristic configuration described in claim 8, in any one of claims 1 to 7, the lifting operation means is configured to perform lifting operation of the working device with respect to a traveling body, and A body height detecting means for detecting a height with respect to the traveling body is provided, and the control means has a deviation between the calculated ground height obtained by the ground height detecting means and the target ground height. In this case, the operation device is provided with an elevation amount calculation process of obtaining a required elevation amount or a target elevation position for elevating and lowering the operation device with respect to the traveling machine body in order to set the calculated elevation to the target elevation. An airframe for operating the elevating operation means based on the detection information of the airframe height detection means so as to elevate the required elevating amount from the current height or to elevate the working device to the target elevating position Rise And it is configured to repeatedly execute the processing.
[0027]
Therefore, if there is a deviation between the ground height of the working device detected by the ground height detecting means and the target ground height, the control means travels to set the detected ground height to the target ground height. A required amount of vertical movement of the working device with respect to the machine body, or a target vertical position of the working device with respect to the traveling machine body for making the detected ground height the target ground height is determined.
Next, based on the detection information of the anti-machine body height detecting means, the lifting / lowering operating means is operated to raise / lower the required lifting / lowering amount from the current height of the working apparatus, or the working apparatus is raised / lowered to the target lifting / lowering position. The anti-aircraft elevating process for operating the elevating operation means is performed to perform the operation. That is, using the detection information of the anti-aircraft height detecting means as feedback information, it is determined whether the actual anti-aircraft height of the working device is at a height corresponding to the required elevating amount or at the target elevating position. Meanwhile, the lifting operation means is controlled. Then, the above-described vertical movement amount calculation processing and the anti-aircraft vertical movement processing are repeatedly executed.
As a result, every time the set time elapses or every time the vehicle travels the set distance, the ground height detecting means that detects the ground height, the fine unevenness of the running surface that is the target of ground height detection, such as straw chips and weeds, etc. While properly detecting the actual ground height of the working device while minimizing the occurrence of variations in ground height due to the above, time delays and the like are less likely to occur as compared to such ground height information. By using the information of the height of the aircraft that is easy to detect in the state as feedback information and executing the control of the elevating operation means, the time delay until it is detected like the conventional height detection means It is possible to perform the lifting and lowering control in a stable state where there is little possibility that the lifting and lowering operation means overshoots due to such a time delay and the lifting and lowering operation of the working device is frequently repeated. It made.
[0028]
According to the characteristic configuration described in claim 9, in any one of claims 1 to 8, the ground height sensor is configured by an ultrasonic ground height sensor.
[0029]
As the above-mentioned ground height sensor, for example, it is also conceivable to provide a ground-type sensor having a configuration in which a contact piece that moves up and down while following the ground is provided and a vertical movement amount of the contact piece is detected by a potentiometer. However, there is a possibility that straw waste and weeds may be present in the field where the ground height is to be detected, and in the case of the above-described ground-type sensor, the waste dust and weeds are caught and accumulated on the contact pieces, Although there are disadvantages such as being unable to be used in a short period of time, the use of the ultrasonic ground height sensor makes it possible to perform good ground height detection for a long time without incurring such disadvantages. it can.
[0030]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a lift control device for a work vehicle according to the present invention will be described with reference to the drawings. FIG. 1 shows the front of a combine as a working vehicle. This combine is a working device that cuts planted grain culms and transports the harvested grain culms rearward to the front of a traveling machine body V configured to be able to travel with a pair of left and right crawler traveling devices 1L and 1R. A mowing processing unit 2 is provided so as to be able to move up and down, and a threshing device 3 for threshing the harvested culm, a Glen tank 4 for storing threshed grains, a boarding operation unit 5 and the like are provided on the rear side of the traveling machine V. Be composed.
[0031]
The cutting processing unit 2 includes a weeding tool 6 for sorting and cultivating the planted cereal culm of the target crop, a raising device 7 for raising the planted cereal culm in an upright position, and cutting the root side of the raised cereal culm. And a vertical transport device 9 for transporting the harvested stalks rearward while gradually changing the harvested culm to a horizontal tilting posture, and the vertical movement of the machine body about the horizontal axis X. It is freely pivoted. The reaping unit 2 is configured to be driven up and down by an expansion and contraction operation of a hydraulic cylinder CY as an up and down operation means.
[0032]
A stock sensor S0 for determining whether or not the cutting processing unit 2 is in a cutting operation state by detecting whether or not a cut grain culm is present at a transfer entrance portion of the vertical transfer device 9 is provided. Provided. In addition, an ultrasonic sensor S1 for detecting a height to the ground is provided at a position on the rear side of the weeding implement 6. As shown in FIG. 2, the ultrasonic sensor S1 is mounted on a cutting frame 12 extended from the traveling machine body to support the weeding implement 6, the raising device 7, and the like, and is directed downward. It is composed of an ultrasonic transmitter 10 for transmitting ultrasonic waves and an ultrasonic receiver 11 for receiving ultrasonic waves reflected on the ground. After the ultrasonic transmitter 10 transmits ultrasonic waves, The non-contact type is configured to detect the height above ground by measuring the elapsed time until the ultrasonic wave receiver 11 receives the reflected wave that is reflected.
In addition, the reception of the ultrasonic wave is determined to be “reception” on condition that the reception intensity is higher than the set intensity (threshold), and the receiver 11 transmits the ultrasonic wave. For the purpose of avoiding erroneous detection by receiving a direct wave from the device 10, the set intensity is set to a large value close to the maximum value until a predetermined time immediately after transmission elapses, It is configured to gradually decrease with the lapse of time thereafter. Therefore, the ultrasonic sensor S1 has a configuration in which it is not determined to be "reception" when the ultrasonic reflection target is very far or extremely close. The ultrasonic sensor is configured to output a detection value of the ground height of the mowing unit 2 every 20 ms (set sampling cycle).
[0033]
As shown in FIG. 3, the hydraulic cylinder CY is constituted by a single-acting type cylinder, and the supply state of the hydraulic oil to the hydraulic cylinder CY is determined by the supply position of the hydraulic oil to the ascending position, the neutral stop position, and the other supply to the hydraulic device. A three-position switching type electromagnetically operated ascending control valve V1 is provided for switching each position, and a pair of drain oils branched in parallel from the hydraulic oil supply passage 18 to the hydraulic cylinder CY from the hydraulic pump P The passage 19 is provided with an orifice 20 through which pressurized oil passes, and a two-position switching type lowering control valve V2 that switches between a discharge position for discharging the pressurized oil and a stop position for stopping the discharge of the pressurized oil. Each of the ascending control valve V1 and the descending control valve V2 is configured to be switched by a control device 14 as an example of a control means including a microcomputer.
[0034]
The hydraulic cylinder CY is configured so that the operation speed can be changed and adjusted. That is, when the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the discharging position, the lowering control valve V2 is switched to the discharging position. The drive state of V2 is repeated at short intervals between the discharge position and the stop position, that is, the so-called duty control is performed, and the duty ratio is changed and adjusted, so that the duty ratio is appropriately changed and adjusted at an intermediate rising speed. be able to. In addition, when the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the stop position, the lowering control valve V2 is switched to the stop position. V2 can be appropriately changed and adjusted at an intermediate descending speed by executing the duty control and changing and adjusting the duty ratio. Accordingly, the operating speed of the hydraulic cylinder CY can be changed and adjusted in each of the raising operation and the lowering operation.
[0035]
The boarding operation unit 5 includes an automatic on / off switch SW3 that can be switched between an on state in which the raising and lowering control of the reaping unit is performed and an off state in which the control is not performed, as described later. A cutting height setting device 15 for setting the height, a lifting lever 16 for raising and lowering the mowing unit 2 based on a manual operation, and a lifting switch SW1 which is turned on when the lifting lever 16 is operated from a neutral position to a raised position. 2, a lowering switch SW2 which is turned on when the raising / lowering lever 16 is operated to the lowering position, and an automatic raising / lowering switch SW4 which is located above the grip portion 16a of the raising / lowering lever 16 and is pushed by the thumb, are provided as shown in FIG. The detection information of the switches SW1, SW2, SW3, and SW4 and the information of the cutting height setting device 15 are configured to be input to the control device 14. It has been. The detection result of the stock switch S0 is also input to the control device 14.
[0036]
A potentiometer type body height sensor S3 as body height detection means for detecting the height of the reaping processing section 2 with respect to the body is provided at a pivot portion of the reaping processing section 2 with respect to the body, and the body height sensor is provided. The detection information of S3 is also inputted to the control device 14. The traveling drive system for the crawler traveling devices 1L and 1R is provided with a revolution speed sensor S2 for detecting the revolution speed of the traveling output shaft, and the control device 14 determines the current traveling speed and traveling speed based on the revolution speed information. The distance is calculated by calculation. Therefore, the rotation speed sensor S2 constitutes a vehicle speed detecting means of the vehicle body.
[0037]
According to the ON operation of the automatic ON / OFF switch SW3, the controller 14 sets the ground height of the reaping processing unit 2 by the cutting height setting device 15 based on the detection information of the above-described ultrasonic sensor. It is configured to switch to an ON state in which elevating control for controlling the hydraulic cylinder CY can be executed so that the target ground height is attained.
At the start or end of the harvesting operation, if there is a command of the lifting lever 16 to raise and lower the reaping processing unit 2 preferentially based on the command of the lifting lever 16, manual lifting based on the command of the lifting lever 16 is performed. The operation is configured to be performed prior to the automatic lifting and lowering. Further, by pressing and operating the automatic lifting and lowering switch SW4, the reaper processing unit 2 is moved to a low position for the reaping operation and a high position close to the maximum ascending position. It can be moved up and down alternately over the position. In other words, when the automatic lifting switch SW4 is pressed (an upward command is issued) while the reaping processing unit 2 is detected to be at a low position for reaping work based on the detection value of the anti-machine height sensor S3, The reaper 2 is automatically raised to a height close to the maximum ascending position, and automatically when the reaper 2 is detected to be at a higher position by the detection value of the anti-aircraft height sensor S3. When the raising / lowering switch SW4 is pressed (a lowering command is issued), the reaper 2 is lowered to a lower position for reaping. Further, when the lowering command is issued in a state where the automatic on / off switch SW3 is set to ON, the control is shifted to the raising / lowering control based on the detection information of the ultrasonic sensor S1.
[0038]
Next, the elevation control of the reaper 2 will be described.
The control device 14 executes a first averaging process for obtaining an average value of a plurality of detection values of ground heights output from the ultrasonic sensor S1 during the averaging process timing, and sets a plurality of previously set values. A plurality of average values obtained in the first averaging process for a plurality of times, that is, a plurality of average values (first average values) obtained while the vehicle travels in a signal processing section Li set as described later is used as a target. And a second averaging process for obtaining a section average value as a calculation ground height is performed. For example, when the vehicle speed is lower than 0.25 m / s which is an example of a set traveling speed for processing cycle determination, the ultrasonic sensor S1 Each time the number of data of the detection value of the ground height output at every set sampling cycle becomes 10, that is, every time 200 ms as the set time set as the low-speed running detection processing cycle elapses, The averaging process is executed. If the vehicle speed is 0.25 m / s or more, the averaging process is performed every time the traveling distance reaches 5 cm as a set distance set as a high-speed traveling detection processing cycle. Is to be executed.
[0039]
Work state determination means is provided for determining whether the state is an initial work state from when the elevation control is started until a predetermined initial work end condition is satisfied or a normal work state after the initial work end condition is satisfied. In the first averaging process, when the initial work state is determined by the work state determination unit, the initial work state data is detected from among the plurality of pieces of detected ground height data detected during the detection processing cycle. Averaging processing is performed on the data selected based on the selection condition, and when the normal work state is determined by the work state determination unit, the data of the plurality of detected ground heights detected during the detection processing cycle is output. Data selected based on the selection condition for the normal operation from among them is averaged, and the selection condition for the initial operation and the selection condition for the normal operation include the detection processing frequency. The selection rate indicating the ratio of the data to be selected for the averaging process among the data of the plurality of detected ground heights detected in the selection condition for the initial work is better than the selection condition for the normal work. It is set to be larger than.
[0040]
Here, the above-mentioned initial work state means that after the lifting control is started, before the reaping processing unit 2 starts the work in the work process, and after the reaper processing unit 2 starts the work in the work process, This refers to a state until the first time that it is determined that the deviation in the elevation control is within the set allowable range (dead zone) and the ground height has converged to the target position. Specifically, when the raising / lowering control is started and the reaping processing unit 2 is detected to be at a low position for reaping work, while the stock sensor S0 is in the OFF state (non-working state), and , From the OFF state to the ON state (working state), until the deviation in the elevation control converges for the first time within the set allowable range as described later.
The normal work state means that the deviation in the elevation control is within the set allowable range and the ground height has converged to the target position after the mowing processing unit 2 starts the work in the work process. It refers to a state after the first discrimination.
Accordingly, the work state determination means 101 is constituted by the determination processing procedure by the stock sensor S0 and the control device 14, and the like.
[0041]
The selection conditions for the initial work described aboveThe, A large selection rate, specifically, the ratio of data selected for averaging processing among multiple dataOn the small sideThat is, selection is made at a selection rate indicating 90%. In addition, the above-mentioned options for normal workCasesIs the targetTheA small selection rate, specifically, the percentage of data selected for averaging processing among multiple dataOn the center sideThat is, selection is made at a selection rate indicating 60%.
[0042]
Further, data is selected based on the above-described selection condition from among a plurality of data obtained after excluding in advance an abnormal value which is out of an allowable range among detected ground heights detected by the ultrasonic sensor. When the occurrence frequency of the excluded detection value becomes larger than the set value while traveling the set distance for abnormality determination, the abnormality is notified by the notification lamp 21 as an alarm means.
[0043]
When there is a deviation between the section average value and the target ground height set by the cutting height setting device 15, the control device 14 sets the detected ground height to the target ground height. An amount-of-elevation calculation process for obtaining a target elevating position for raising and lowering the mowing unit 2 with respect to the traveling machine body V, and moving the mowing unit 2 to the target elevating position based on information detected by the anti-aircraft height sensor S3. The anti-aircraft elevating process for operating the hydraulic cylinder CY is repeatedly executed. Moreover, when the anti-aircraft elevating process is performed, the operation speed is increased as the current position of the mowing processing unit 2 is farther from the target elevating position, and when the mowing process is started, the mowing process is started. The hydraulic cylinder CY is controlled in a state where the operation speed is increased when the distance from the target elevating position is the same as during the harvesting operation in which the state has ended.
[0044]
Hereinafter, the elevation control operation of the control device 14 will be described in detail with reference to the control flowcharts shown in FIGS. 4, 5, and 6.
As described above, when a lowering command is issued by the automatic up / down switch SW4 while the automatic on / off switch SW3 is ON, this up / down control is executed. Then, when the control is started, the detection operation by the ultrasonic sensor S1 is started. The ultrasonic sensor S1 emits an ultrasonic wave every 20 msec, receives a reflected wave reflected on the ground, converts the time from transmission to reception into ground height data, and converts the time from the transmission to the ground height data. Output to
[0045]
If the height detection signal has been output from the ultrasonic sensor S1, the control device 14 receives the signal from the ultrasonic sensor S1 (steps S0 and S1). If the detected ground height data is less than or equal to 200 mm, it is determined to be an abnormal value, and error processing is performed. If it exceeds 200 mm, the data is stored in a memory (steps 1 to 3). At this time, if abnormal, the count value α of the counter is counted up. If the count value α exceeds the set number α0 while the traveling body travels 1 m (distance for abnormality determination), the detection operation of the ultrasonic sensor S1 is performed. Is notified by the notification lamp 21 provided in the boarding operation section 5 that the vehicle is abnormal (steps 4 to 7). Even when there is no output of the height detection signal from the ultrasonic sensor S1, if the control information for raising and lowering the hydraulic cylinder CY as described later is being output, such a hydraulic cylinder The output of the control information for raising and lowering the CY is executed with priority (step 8).
[0046]
As described above, if the detected ground height data is a value of 200 mm or less, the ultrasonic sensor S1 determines that the value is an abnormal value because the ultrasonic sensor S1 is connected to the cutting frame 12 in the cutting processing unit 2 as shown in FIG. It is configured to be mounted and supported on the mowing frame 12 in a state where it is located at a predetermined height H (a value slightly larger than 200 mm) above the lower end position of the provided weeding tool frame 17. Accordingly, when the cutting processing unit 2 is lowered to a state where the lower end position of the weeding tool frame 17 contacts the ground, the detection value of the ground height becomes a value slightly larger than 200 mm. Does not fall downward, so if the detected ground height is a value of 200 mm or less, it is determined to be an abnormal value.
[0047]
Thereafter, every time the above-described averaging process timing is reached, the averaging process of the detected value is executed. However, until the averaging process timing is reached, a control for raising and lowering the hydraulic cylinder CY as described later is performed. If the information is being output, the output of the control information is executed with priority (step 8)..
When the average processing timing is reached, specifically, every time 200 ms elapses when the vehicle speed is lower than 0.25 m / s, that is, every time the number of data of the detection values by the ultrasonic sensor S1 becomes ten, If the vehicle speed is 0.25 m / s or more, every time the traveling distance reaches 5 cm, the period, that is, the period from the previous average processing timing to the current average processing timing (this corresponds to the detection processing period) A), an averaging process is performed on a plurality of detection values detected during the above operation. At this time, when it is determined that the vehicle is in the initial work state, the ground height among the plurality of detection values is determined. On the small sideLargeAn averaging process is performed using the data selected with the threshold selection rate (90%), and when it is determined that the vehicle is in the normal work state, the ground height of the plurality of detection values is the center side.SmallAn averaging process is performed using the data selected at the selection rate (60%) (steps 9 to 14).
[0048]
The initial work state is, as described above, when the ascent / descent control is started and the reaping processing unit 2 is detected to be at a low position for reaping work, the stock sensor S0 is in the OFF state. This is a state in which the deviation in the elevation control is converged for the first time within the set allowable range (this corresponds to the initial work end condition) after detecting that the state has been switched from the OFF state to the ON state. The work state is a state after the end of the initial work state.
[0049]
To explain using specific numerical values, in the initial work state, for example, if the vehicle speed is lower than 0.25 m / s, the number of data is 10 as the set number, and the ground height of the data is An averaging process of nine (90%) except one large data is performed. If the vehicle speed is 0.25 m / s or more, 90% of the data, which is the smaller side of the plurality of data measured while traveling 5 cm, is averaged.
In a normal work state, the vehicle speed is generally 0.25 m / s or more. For example, if the vehicle speed is 0.5 m / s, the number of data during 5 cm traveling is five. However, the averaging process is performed on the remaining three data (60%) on the central side excluding one data having the maximum ground height and one data having the minimum ground height. The reason why the number of data becomes 10 when the vehicle is traveling at a low speed in the initial working state is that the number of memory buffers is 10, and the number of data is limited by this storage capacity.
[0050]
In such an initial work state, the signal processing section Li for obtaining the section average value as described above is set to 20 cm (step 15). In the initial work state, the field is often rough, and the height of the ground is detected sensitively at short intervals to control the elevation, thereby avoiding disadvantages such as the cutting processing unit 2 coming into contact with the ground. ing. In the normal work state, the signal processing section Li for calculating the section average value is changed and set to be longer than that in the initial work state (step 16). Specific processing of this section change processing will be described later.
[0051]
Next, a plurality of average values obtained while the traveling body travels in the signal processing section Li are averaged to obtain a section average as a detected ground height (steps 17 and 18). This averaging process is performed as a process for calculating a moving average at each averaging process timing every time the above-described averaging process timing is reached. . That is, when the vehicle speed is 0.25 m / s or less, the calculated ground height is obtained every time the number of detected data becomes ten, and when the vehicle speed exceeds 0.25 m / s, every time the vehicle travels 5 cm. Will be. Then, a deviation (height deviation Δh) between the calculated ground height and the target ground height set by the cutting height setting device 15 is obtained (step 19).
Here, if the control information for raising and lowering the hydraulic cylinder CY is being output, the output of the control information for raising and lowering to the hydraulic cylinder CY is preferentially executed, so that the anti-machine lifting process is performed. Is completed, the above-mentioned vertical movement amount calculation processing is executed (step 20).
If the anti-aircraft elevating process is completed and control information for elevating is not output, the height deviation Δh is converted into a positional deviation Δr as information on the anti-aircraft height of the reaping processing unit 2 (step 21) In order to set the detected ground height to the target ground height, a lifting target position for raising and lowering the mowing unit 2 with respect to the traveling machine V is obtained (step 22).
[0052]
If there is a deviation based on the position deviation Δr (information of the target lifting position) determined in this way, the anti-aircraft lifting process for operating the hydraulic cylinder CY is executed. When the current working position is farther from the target elevating position, the operating speed is increased, and the operating speed when the amount of departure from the target elevating position is the same is determined when the initial work state is determined. Is configured to control the hydraulic cylinder CY in a larger state than when the normal work state is determined.
[0053]
That is, as shown in FIG. 7, the control output with respect to the magnitude of the position deviation Δr, specifically, as a change characteristic of the pressure oil supply amount to the hydraulic cylinder, the control output with respect to the magnitude of the position deviation Δr When the initial work state is determined, the operation speed when the distance from the target ascending / descending position is the same is large. When a certain characteristic line Q1 is selected and the normal work state is not determined, the characteristic line Q2 having the low operation speed is selected (steps 23, 24, 25).
[0054]
Then, while detecting the current position of the reaping processing unit 2 based on the detection value of the ground height sensor S3, the control output is determined based on the information of the position deviation Δr and the selected control characteristic (characteristic line). Until the second position reaches the target position, the hydraulic cylinder CY moves the mowing unit 2 up and down (steps 26, 27, 28). At this time, as is clear from the characteristics of FIG. 7, the operation speed of the hydraulic cylinder CY changes so as to decrease linearly as the position of the mowing processing unit 2 approaches the target elevating position. Shock is reduced. Moreover, after the position of the mowing unit 2 reaches the target elevating position and the anti-aircraft elevating process is completed, the elevating amount calculating process is executed, and while the elevating operation is being executed, By executing the lifting amount calculation process, frequent lifting operations are prevented from being repeated. When the current position of the mowing unit 2 reaches the target position based on the detection value of the ground height sensor S3, the lifting operation is stopped (step 29).
[0055]
As a result of the above-described elevation control being performed as the reaping operation is continued, the ground height of the reaping processing unit 2 converges within a set allowable range (dead zone) for the target elevation position, and a stable state is obtained. However, after reaching such a convergence state, the control device 14 sets the signal processing section Li for obtaining the above-described section average value to a value within a range not exceeding a preset setting range. A control output that is configured to repeatedly execute a gradual increase process for making the set amount longer than the value, so that the ground height of the reaping processing unit 2 is out of the control dead zone for the target ground height, and the hydraulic cylinder CY performs the raising / lowering operation. In the state, the signal processing section Li is configured to be changed and set to the initial value (20 cm) as the lower limit of the setting range.
[0056]
This section change processing is executed in step 16, and specifically, control is executed as shown in FIG. In other words, when the next lifting / lowering amount calculation process is performed after the above-described anti-aircraft lifting / lowering process is completed, if the deviation is within the set allowable range (dead zone), it is determined that the deviation has converged to the target position, and the signal processing is performed. The section Li is made longer than the current value by the set amount (5 cm) (steps 160 and 161). However, if the signal processing section Li exceeds 60 cm, the signal processing section Li is set to 60 cm (steps 162 and 163). That is, the maximum value is 60 cm.
If the deviation does not deviate from the allowable setting range (dead zone) and converge to the target position, the signal processing section Li is set to 20 cm (step 164).
Therefore, in the convergence state, the signal processing section Li is changed and adjusted so as to gradually increase by 5 cm in a range of 20 cm (minimum value) to 60 cm (maximum value) (set range). , Immediately change to the minimum value (20 cm).
[0057]
In this configuration, the detection value of the height of the ground by the cutting processing unit is output every time the set time elapses or every time the vehicle travels the set distance by the detection processing configuration of the height of the ground by the ultrasonic sensor S1 and the control device 14. The above-mentioned ground height detecting means 100 is constituted. In addition, the control device 14 constitutes the control means 102 for controlling the hydraulic cylinder CY (elevation operation means) so that the ground height of the mowing unit 2 (working device) becomes the target ground height.
[0058]
In addition, as the selection condition for the initial work, 90% is specified as the ratio of the data to be selected for the averaging process, and the data to be selected for the averaging process is selected as the selection state for the normal work. Although 60% is indicated as the ratio of, such a numerical value is an example, and is not limited to these values, and may be set to a different ratio.
[0059]
[Another embodiment]
Next, another embodiment will be described.
[0060]
(1) In the above-described embodiment, the selection condition for the initial work is a side having a smaller ground height among a plurality of pieces of detected ground height data detected within the detection processing cycle.BeforeSelectivityDataThe selection condition for the normal work is set so that the ground height is the center side of the plurality of detected ground height data detected within the detection processing cycle.BeforeSelectivityDataAlthough the configuration is set so as to be selected, the present invention is not limited to such a configuration, and may be configured as follows.
(1) The selection condition for the initial work is on the side with a larger ground height among the plurality of detected ground height data detected within the detection processing cycle.BeforeSelectivityDataThe configuration to select.
(2) The selection condition for the initial operation is such that the ground height is the center side among a plurality of detected ground height data detected within the detection processing cycle.BeforeSelectivityDataThe configuration to select.
(3) The selection condition for the normal work, among the data of the plurality of detected ground heights detected within the detection processing cycle, the ground height, in order from the one closest to the average value of all the data. The selection is performed at the selectivity.
(4) The selection condition for the normal work is a side having a larger ground height among the data of the plurality of detected ground heights detected within the detection processing cycle.BeforeSelectivityDataThe configuration to select.
(5) The selection condition for the normal work is on the side where the ground height is smaller among the data of the plurality of detected ground heights detected within the detection processing cycle.BeforeSelectivityDataThe configuration to select.
[0061]
(2) In the above-described embodiment, in the first averaging process, when the vehicle speed is lower than the set traveling speed (0.25 m / s) for determining the processing period, the averaging is performed based on the low-speed traveling detection processing period (200 msec). When the vehicle speed is equal to or higher than the set traveling speed for processing cycle discrimination, the averaging process is executed based on the high speed traveling detection processing cycle (5 cm). Not limited to the configuration, the detection processing cycle may be set as a period during which the vehicle travels a preset distance regardless of the vehicle speed, or as a period until a preset time elapses regardless of the vehicle speed. May be set.
[0062]
(3) In the above embodiment, the first averaging process and the second averaging process are executed as the averaging process in the height calculation process, and the average value obtained by the second averaging process is calculated. In the first averaging process, the data is selected based on each of the above selection conditions and the averaging process is performed. In the first averaging process, the following configuration is adopted. You may comprise.
Instead of performing the second averaging process, a configuration may be employed in which the average value obtained in the first averaging process is used as a calculation ground height to perform elevation control. In this case,
[0063]
(4) In the above embodiment, as the initial work end condition, the deviation in the elevation control is within the set allowable range (dead zone) and the ground height is lower than the time when the mowing processor 2 starts the work in the work process. The condition is that it converges to the target position.However, the present invention is not limited to such a configuration, and the set time has elapsed or the set distance has been traveled since the work device started work in the work process. May be used as a condition.
[0064]
(5) In the above embodiment, as the configuration in which the operation speed is increased as the position of the working device (the reaping processing unit) is further away from the target elevation position, the elevation operation means for the magnitude of the positional deviation Δr Although the change characteristic of the control output with respect to the above is linearly illustrated, the present invention is not limited to such an example. For example, as shown in the characteristic lines Q1 ′ and Q2 ′ of FIG. On the other hand, as the control output changes in a curve and the magnitude of the position deviation Δr is larger, the change amount of the control output with respect to the unit change amount of the position deviation Δr, that is, the inclination angle of the change characteristic becomes larger. Such a change characteristic may be used.
[0065]
(6) In the above-described embodiment, the configuration is such that the elevating amount calculating process is executed after the anti-aircraft elevating process is completed. However, the present invention is not limited to such a configuration. For example, as shown in FIG. Step 20 in the embodiment is omitted, and even if the anti-aircraft elevating process is not completed, the elevating amount calculating process is executed every time the averaging process timing is reached. It is good also as a structure which performs a raising / lowering process.
[0066]
(7) In the above-described embodiment, as the elevating amount calculating process, a target elevating position at which the mowing unit is moved up and down with respect to the traveling aircraft to obtain the calculated altitude is the target altitude. As the elevating process, the elevating operation means is operated to elevate and lower the mowing processing unit to the target elevating position. However, instead of such a configuration, traveling is performed in order to set the calculated altitude to the target altitude. As a configuration for obtaining the required amount of vertical movement of the reaping processing unit with respect to the machine body, the lifting operation unit may be operated to raise and lower the required amount of vertical movement of the reaping processing unit from the current height.
[0067]
(8) In the above-described embodiment, as the above-mentioned ground height sensor, an ultrasonic ground height sensor that outputs a detection value of the ground height of the mowing processing unit at every set sampling cycle (20 ms) is exemplified. Not limited to such a configuration, while detecting the ground height of the mowing processing unit for each set sampling period, every time the set time has elapsed or every time the set distance traveled, by executing the averaging process of the detection value, It may be configured with a ground height sensor that outputs the average value to the control device.
Also, instead of such an ultrasonic type sensor as the ground height detecting means, a contact piece that can move up and down with respect to the working device while following the ground, and a lifting and lowering amount that detects the amount of vertical movement of the contact piece Detecting means for detecting the ground height based on the vertical movement amount, and averaging the detection values detected during each time a set time elapses or every time the vehicle travels a set distance. Processing may be performed to output a detected value of the ground height.
[0068]
(9) In the above embodiment, the combine vehicle is exemplified as the work vehicle. However, the present invention is not limited to the combine vehicle. It can be applied to various types of work vehicles equipped with.
[Brief description of the drawings]
FIG. 1 is a side view of the front part of the combine.
FIG. 2 is a side view of an ultrasonic sensor mounting portion.
FIG. 3 is a control block diagram.
FIG. 4 is a control flowchart.
FIG. 5 is a control flowchart.
FIG. 6 is a control flowchart.
FIG. 7 is an output characteristic diagram.
FIG. 8 is an output characteristic diagram of another embodiment.
FIG. 9 is a control flowchart of another embodiment.
[Explanation of symbols]
2 reaping processing part
21 Warning means
100 Ground height detection means
101 Work state determination means
102 control means
CY lifting operation means
S1 Ground height sensor
S3 anti-aircraft height detection means

Claims (9)

Lifting operation means for lifting and lowering the working device;
While repeatedly detecting the ground height of the working device with the ground height sensor, averaging a plurality of detected ground heights detected within a detection processing cycle while traveling the set distance or elapse of the set time. Ground height detecting means for repeatedly executing a height calculation process for calculating the calculated ground height of the working device,
And a control means for performing a lifting / lowering control for controlling the lifting / lowering operation means so that the calculated ground height becomes a target ground height. Work state determination means for determining whether the initial work state until the predetermined initial work end condition is satisfied or the normal work state after the initial work end condition is satisfied is provided,
The ground height detecting means,
In the height calculation processing, when the initial work state is determined by the work state determination means, a selection condition for the initial work is selected from a plurality of pieces of data of the detected ground height detected within the detection processing cycle. Averaging the data selected based on the data, and when the normal work state has been determined by the work state determination means, the normal operation state is selected from among a plurality of pieces of detected ground height data detected during the detection processing cycle. It is configured to average data selected based on the selection conditions for work,
The selection condition for the initial work and the selection condition for the normal work indicate a ratio of data to be selected for the averaging process among data of the plurality of detected ground heights detected in the detection processing cycle. A lifting and lowering control device for a work vehicle, wherein a selection rate to be set is set so that the selection condition for the initial work is larger than the selection condition for the normal work. Selection criteria for the initial operation, is set to select the data of the ground height smaller side der Ru before Symbol selectivity among the data of the plurality of detecting ground height detected in the detection process cycle ,
Set to the normal selection condition for work, selects the data ground height of the front Symbol selectivity Ru center side der among data of the plurality of detecting ground height detected in the detection process cycle The lifting and lowering control device for a working vehicle according to claim 1, wherein The ground height detecting means,
As an averaging process in the height calculation process,
In the initial work state, a plurality of detected ground heights detected in the detection processing cycle are selected and averaged based on data for the initial work selection condition, and the normal work state is used in the normal work state. A first averaging process for selecting and averaging data based on selection conditions for work;
Performing a second averaging process for averaging a plurality of average values obtained in the first averaging process for a plurality of previous settings for each of the detection processing cycles;
3. The work vehicle lifting / lowering control device according to claim 1, wherein the average value obtained by the second averaging process is set as the calculated ground height. As the detection processing cycle, a detection processing cycle for low-speed traveling set as a period during which the set time elapses, and a detection processing cycle for high-speed traveling set as during traveling the set distance,
In the first averaging process, when the vehicle speed is lower than a set traveling speed for processing period discrimination, the ground height detecting means executes an averaging process based on the low speed traveling detection process period, and the vehicle speed is processed. 4. The work vehicle lifting / lowering control device according to claim 3, wherein the averaging process is executed based on a high-speed traveling detection processing period when the traveling speed is equal to or higher than a set traveling speed for period determination. The work state determining means includes:
5. The initial work termination condition according to claim 1, wherein after the elevation control is started, a condition that a deviation between the calculated ground height and the target ground height falls within a set allowable range is set as the initial work end condition. The lifting and lowering control device of the working vehicle according to the paragraph. The ground height detecting means,
From the data of the plurality of detected ground heights after excluding an abnormal value that is out of an allowable range among the detected ground heights detected by the ground height sensor, the initial work selection condition and the normal The lifting and lowering control device for a work vehicle according to any one of claims 1 to 5, wherein data is selected based on a selection condition for work. An alarm means is provided for notifying an abnormality when the frequency of occurrence of the excluded detection value becomes larger than a set value while the vehicle travels over the set distance for abnormality determination or while the set time for abnormality determination elapses. Item 7. The lift control device for a working vehicle according to Item 6. The lifting operation means is configured to perform the lifting operation of the working device with respect to a traveling machine body,
Anti-aircraft height detection means for detecting the height of the working device with respect to the traveling airframe is provided,
The control means,
If there is a deviation between the calculated ground height determined by the ground height detection means and the target ground height, the traveling body is required to set the calculated ground height to the target ground height. A lifting / lowering amount calculation process for obtaining a required lifting / lowering amount or a target lifting / lowering position for lifting / lowering the working device, and raising / lowering the working device from the current height by the required lifting / lowering amount, or moving the working device to the target lifting / lowering position. 8. The apparatus according to any one of claims 1 to 7, wherein the apparatus is configured to repeatedly execute an anti-aircraft elevating process of operating the elevating operation means based on detection information of the anti-aircraft height detecting means so as to ascend and descend. 3. The lifting and lowering control device for a working vehicle according to claim 1. The lifting and lowering control device for a working vehicle according to any one of claims 1 to 8, wherein the ground height sensor is configured by an ultrasonic ground height sensor.

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