JP7049219B2 - Work vehicle - Google Patents

Description

The present disclosure relates to a work vehicle configured to be connectable to a work machine.

Patent Document 1 discloses a configuration for opening and closing a foldable shaving halo. Patent Document 2 describes a work vehicle that stores a control mode of a work machine and can switch the control mode by an operation of an operator.

Japanese Patent No. 3426536 Japanese Unexamined Patent Publication No. 2016-768650

For work machines that have an opening / closing mechanism such as a shaving halo, the opening / closing mechanism in the open state expands to the extent that it exceeds the vehicle width. conduct. Although not disclosed in Patent Document 1, a working machine configured to open and close the opening / closing mechanism by expanding / contracting the hydraulic cylinder is known. The work oil of the hydraulic circuit of the work vehicle can be connected to the hydraulic cylinder of the work machine via an external port.

However, when opening the opening / closing mechanism before starting the puddling work, the idling state is high, the engine speed is low, and the flow rate of the working oil supplied from the external port to the hydraulic cylinder of the working machine is small, and therefore the opening / closing is performed. It takes time to open and close the mechanism.

The present disclosure has focused on such a problem, and an object thereof is to open and close by a hydraulic cylinder in a configuration in which working oil is supplied to a hydraulic cylinder of a working machine via an external port of a hydraulic circuit. It is to provide a work vehicle in which the operation of the opening / closing mechanism is automatically optimized.

The work vehicle of this disclosure is
A hydraulic circuit that can supply work oil via an external port,
It is equipped with a vehicle controller configured to be able to communicate with a work machine connected to the work vehicle.
Whether or not the vehicle controller is a controlled work machine in which the connected work machine has an opening / closing mechanism that can be opened and closed by a hydraulic cylinder and work oil is supplied to the hydraulic cylinder via the external port. Is determined based on the communication result with the work machine.
When it is determined that the connected work machine is the work machine to be controlled, it is determined whether or not the supply amount of the work oil is insufficient for the opening / closing operation of the opening / closing mechanism.
When it is determined that the supply amount of the work oil is insufficient and it is determined that the opening / closing operation has been performed, the supply amount of the work oil is increased.

According to this configuration, a work machine having an opening / closing mechanism that can be opened and closed by a hydraulic cylinder is connected, and if it is determined that the supply amount of work fat supplied to the hydraulic cylinder is insufficient, work oil is supplied. Since the amount is increased, it is possible to accelerate the driving amount of the hydraulic cylinder, that is, the opening / closing operation of the opening / closing mechanism. Therefore, it is possible to automatically optimize the operation of the opening / closing mechanism that opens / closes by the hydraulic cylinder.

Side view showing the work vehicle and the work machine of the first embodiment Block diagram showing the configuration of the work vehicle and the work machine of the first embodiment The figure which shows the hydraulic circuit of 1st Embodiment A flowchart showing an opening / closing operation permission determination process executed by the work vehicle of the first embodiment. A flowchart showing a flow rate control process executed by the work vehicle of the first embodiment. The figure which shows the hydraulic circuit of 2nd Embodiment Block diagram showing the configuration of the work vehicle and the work machine of the third embodiment The figure which shows the screen of the display input device of 3rd Embodiment A flowchart showing a flow rate control process executed by the work vehicle of the third embodiment.

<First Embodiment>
The first embodiment of the present disclosure will be described with reference to the drawings.

As shown in FIG. 1, the work vehicle 1 includes a traveling vehicle body 2. The working machine 3 can be connected to the vehicle body 2. The work vehicle 1 travels forward when working. As the working machine 3, a rotary tiller, a shaving halo, and a seeding machine can be attached, but the working machine 3 is not limited to this. In the present embodiment, it is assumed that the shaving halo is connected. The working machine 3 such as a shaving halo has an opening / closing mechanism (not shown) for opening / closing the working mechanism such as a tillage claw and a hydraulic cylinder 33 for opening / closing the opening / closing mechanism (see FIGS. 2 and 3). ) And. When the work machine 3 connected to the work vehicle 1 is a rotary tiller, there is a model that does not have an opening / closing mechanism such as a shaving halo.

In FIG. 1, the first direction D1 is the front-back direction D1. The second direction D2 is the left-right direction D2. The third direction D3 is the vertical direction D3. In the first direction D1, the arrow direction is the front direction, and the opposite direction is the rear direction. In the second direction D2, the arrow direction is the left direction, and the opposite direction is the right direction. Of the third direction D3, the arrow direction is the upward direction, and the opposite direction is the downward direction.

The vehicle body 2 is linked to the body 2a, the engine 2b mounted inside the body 2a, a pair of front wheels 2c that are steering wheels, a pair of rear wheels 2d, a seat 2e, and a pair of front wheels 2c. It has a steering unit 2f (for example, a steering wheel), a speed control unit 2g (for example, an accelerator pedal) connected to drive wheels (front wheels 2c and rear wheels 2d), and a traveling drive unit 2h. The traveling drive unit 2h is composed of a transmission mechanism such as a gear, a clutch, and a link, rotates the front wheels 2c and the rear wheels 2d, and gives a steering angle to the front wheels 2c.

The vehicle body 2 has a connection portion 2i connected to the work machine 3, an elevating drive unit 2j for raising and lowering the work machine 3, and a rolling drive unit 2k for rolling the work machine 3. The connecting portion 2i is a three-point support mechanism having an upper link 2m arranged above and a pair of lower links 2n arranged on the left and right. The elevating drive unit 2j has a hydraulic cylinder that reciprocates. The rolling drive unit 2k has a hydraulic cylinder that reciprocates.

The cylinder of the elevating drive unit 2j reciprocates, so that the working machine 3 moves up and down with respect to the vehicle body 2. When the ascending switch 61 shown in FIG. 2 is pressed, the vehicle controller 7 controls the elevating drive unit 2j to elevate the working machine 3 to the maximum height position. Further, when the lowering switch 62 shown in FIG. 2 is pressed, the vehicle controller 7 controls the elevating drive unit 2j to lower the working machine 3 to the lowest height position.

Further, the cylinder of the rolling drive unit 2k reciprocates, so that the working machine 3 rolls with respect to the vehicle body 2. Note that rolling means swinging (rotating) around D1 in the front-rear direction.

As shown in FIG. 1, power is transmitted from the engine 2b to the work machine 3 through a PTO shaft 18 (power transmission shaft) via a mission (not shown), and this power drives a work mechanism such as a tiller claw of the work machine 3. Used to do. That is, the engine 2b generates the power to be supplied to the working machine 3.

As shown in FIG. 3, the work vehicle 1 has a hydraulic circuit 40. The hydraulic circuit 40 has hydraulic pumps 41a, 41b, 41c driven by the engine 2b, and an external port 42. The hydraulic circuit 40 is configured to be able to supply working oil via the external port 42. The hydraulic oil stored in the tank 5 is used as hydraulic oil for the continuously variable transmission 47, the elevating drive unit 2j, the rolling drive unit 2k, the hydraulic clutch, and the external hydraulic equipment (working machine 3). The hydraulic pumps 41a, 41b, 41c are driven from the output shaft of the engine 2b via gears and the like. The first-speed clutch 44, the second-speed clutch 45, and the reverse clutch 46 can be operated by the pressure oil discharged from the hydraulic pump 41a. The pressure oil discharged from the hydraulic pump 41b enables the elevating drive unit 2j (elevating cylinder), the rolling drive unit 2k, and the external hydraulic equipment (hydraulic cylinder 33 of the opening / closing mechanism of the working machine 3) to operate.

As shown in FIG. 2, the work vehicle 1 has a vehicle controller 7. The vehicle controller 7 can control the running of the work vehicle 1 by controlling the engine 2b and the traveling drive unit 2h. The vehicle controller 7 raises and lowers the work machine 3 with respect to the work vehicle 1 (vehicle body 2) by controlling the elevating drive unit 2j. The vehicle controller 7 controls the rolling drive unit 2k to roll the work machine 3 with respect to the work vehicle 1 (vehicle body 2).

The vehicle controller 7 is configured to be able to communicate with the ECU 30 of the working machine 3. The vehicle controller 7 can receive information about the type of the work machine 3 (model number, whether it is a tiller or a shaving halo, whether the opening / closing mechanism is driven by a hydraulic cylinder, etc.) and information about the work machine 3 by communicating with the ECU 30 of the work machine 3. Is. ISOBUS is used for communication between the vehicle controller 7 and the ECU 30 of the working machine 3. By communicating with the ECU 30 of the working machine 3, the vehicle controller 7 can know whether or not an opening / closing operation for opening or closing the opening / closing mechanism of the working machine 3 has been performed. As shown in FIG. 2, the opening / closing operation can be performed by pressing the fully open switch 31 or the fully closed switch 32 provided on the working machine 3. When the fully open switch 31 or the fully closed switch 32 is operated, the ECU 30 of the working machine 3 flows the working oil supplied through the external port 42 to the hydraulic cylinder 33 for opening and closing the opening / closing mechanism. The hydraulic cylinder 33 is driven and controlled to open or close the opening / closing mechanism.

As shown in FIG. 2, instead of pressing the fully open switch 31 of the work machine 3, the operation of opening the opening / closing mechanism of the work machine 3 was performed by pressing and holding the down switch 62 provided on the work vehicle 1. The signal indicating the above may be transmitted to the ECU 30 of the working machine 3. Similarly, instead of pressing the fully closed switch 32 of the working machine 3, by pressing and holding the ascending switch 61 provided on the working vehicle 1, a signal indicating that the opening / closing mechanism of the working machine 3 has been closed has been performed. May be transmitted to the ECU 30 of the working machine 3.

Further, a button for opening / closing the opening / closing mechanism of the working machine 3 is displayed on the display input device 60 having a display and a touch panel, and if the displayed button is operated, the opening / closing operation of the working machine 3 is performed. The signal indicating the above may be transmitted to the ECU 30 of the working machine 3.

As shown in FIG. 2, the vehicle controller 7 realizes the open / close operation permission determination unit 70 by executing the routine shown in FIG. The vehicle controller 7 realizes a controlled target model determination unit 71, an oil amount shortage determination unit 72, a supply amount control unit 73, and an opening / closing operation post-processing unit 74 by executing the routine shown in FIG. ..

The opening / closing operation permission determination unit 70 shown in FIG. 2 sets the opening / closing mechanism of the working machine 3 when the working vehicle 1 is in a stopped state and the elevating height of the working machine 3 with respect to the working vehicle 1 is equal to or less than the first predetermined height. The opening operation is permitted, and the operation of closing the opening / closing mechanism of the working machine 3 is permitted when the working vehicle 1 is in the stopped state and the elevating height of the working machine 3 with respect to the working vehicle 1 is equal to or higher than the second predetermined height. It is configured as such. The first and second predetermined heights can be set as appropriate, but it is preferable that the first predetermined height ≦ the second predetermined height. The first predetermined height and the second predetermined height may be uniformly set to the same value regardless of the model of the working machine 3, or the set values may be acquired from the ECU 30 of the working machine 3. However, it may be calculated based on the information (model, tillage width, etc.) from the working machine 3.

As a specific flow executed by the opening / closing operation permission determination unit 70, as shown in FIG. 4 , in step ST10, the opening / closing operation permission determination unit 70 determines whether or not the vehicle is in the stopped state based on the vehicle speed. When it is determined in step ST10 that the state is not stopped (ST10: NO), the opening / closing operation permission determination unit 70 prohibits the operation of closing and opening the opening / closing mechanism (ST11), and returns to the execution of step ST10. If it is determined in step ST10 that the work unit is in the stopped state (ST10: YES), in the next step ST12, the opening / closing operation permission determination unit 70 has the first predetermined height of the work machine 3 with respect to the work vehicle 1. It is determined whether or not it is less than or equal to. If it is determined in step ST12 that the elevating height of the working machine 3 is equal to or less than the first predetermined height (ST12: YES), the opening / closing operation of the opening / closing mechanism is permitted (ST13), and the process returns to step ST10. When the elevating height of the working machine 3 is not equal to or less than the first predetermined height (ST12: NO), in the next step ST14, the opening / closing operation permission determination unit 70 determines that the elevating height of the working machine 3 with respect to the working vehicle 1 is set. It is determined whether or not the height is equal to or higher than the second predetermined height. If it is determined in step ST14 that the elevating height of the work machine 3 with respect to the work vehicle 1 is equal to or higher than the second predetermined height (ST14: YES), the closing operation of the opening / closing mechanism is permitted (ST15), and step ST10. Return to. When it is determined in step ST14 that the elevating height of the work machine 3 with respect to the work vehicle 1 is not equal to or higher than the second predetermined height (ST14: NO), the opening / closing operation permission determination unit 70 closes and opens the opening / closing mechanism. The operation is prohibited (ST11), and the process returns to the execution of step ST10.
The opening / closing operation permission determination unit 70 can be omitted.

The control target model determination unit 71 shown in FIG. 2 determines whether or not the connected work machine 3 is a control target work machine. The work machine to be controlled is a work machine having an opening / closing mechanism that can be opened / closed by the hydraulic cylinder 33, and the work oil is supplied to the hydraulic cylinder 33 via the external port 42. Specifically, based on the communication result with the working machine 3, it is determined whether the model and the hydraulic cylinder specifications are used. As shown in FIG. 5, when the opening / closing operation is permitted by the opening / closing operation permission determination unit 70 (step ST20: YES), the control target model determination unit 71 has information from the working machine 3. Based on the above, it is determined whether the model is a predetermined model (scratch halo) (step ST21), and if the model is a predetermined model (ST21: YES), the work machine 3 is a hydraulic cylinder in the control target model determination unit 71. It is determined whether or not the specifications (working machine in which working oil is supplied to the hydraulic cylinder 33 via the external port 42) are specified (step ST22).

The oil amount shortage determination unit 72 shown in FIG. 2 supplies work oil when it is determined by the control target model determination unit 71 that the work machine connected to the control target model determination unit 71 is the control target work machine (step ST22: YES). It is determined whether or not the amount has reached the amount required for the opening / closing operation of the opening / closing mechanism (step ST23). In the present embodiment, since the engine speed is proportional to the amount of working oil supplied via the external port 42, it is said that the working oil is insufficient because the current engine speed [rpm] is lower than the specified value. Deciding. The specified value may be a constant value regardless of the model of the working machine 3, or the specified value may be set based on the information from the working machine 3. In the present embodiment, the engine speed is regarded as the flow rate of the working oil, but the actual flow rate may be measured and controlled.

The supply amount control unit 73 shown in FIG. 2 is determined by the oil amount shortage determination unit 72 that the supply amount of working oil is insufficient (step ST23: YES), and when it is determined that the opening / closing operation has been performed (step). ST24: YES), increase the supply of working oil (step ST25). In the present embodiment, in the hydraulic circuit 40, the supply amount of the working oil supplied from the external port 42 is determined by the rotation speed of the engine 2b that drives the hydraulic pump 41b. The vehicle controller 7 increases the supply amount of working oil by increasing the rotation speed of the engine 2b.

The post-opening / closing operation processing unit 74 shown in FIG. 2 determines whether or not the opening / closing operation of the opening / closing mechanism has been completed after the opening / closing operation has been performed (ST24: YES), and then determines that the opening / closing operation has been completed. If this is the case (ST26: YES), the supply amount of working oil is reduced (ST27), and the process returns to step ST20. In the present embodiment, since the engine speed is increased in order to increase the supply amount of the working oil in step ST25, the engine speed is decreased in step ST27.

In the present embodiment, the opening / closing operation post-processing unit 74 is configured to determine that the opening / closing operation is completed when a time corresponding to the type of the connected working machine 3 elapses after the opening / closing operation is performed. ing. With this configuration, it is possible to make a judgment only with the passage of time, no sensor is required, and it can be mounted at low cost. Of course, the cylinder position of the hydraulic cylinder 33 may be acquired from the ECU 30 of the working machine 3 to determine whether or not the opening / closing operation of the opening / closing mechanism has been completed. Further, a separate sensor for detecting the opening degree of the opening / closing mechanism may be provided to detect the completion of the opening / closing operation.

<Second Embodiment>
In the first embodiment, the supply amount of the working oil supplied to the hydraulic cylinder 33 via the external port 42 is increased by increasing the engine speed, but the present invention is not limited to this. For example, as in the second embodiment shown in FIG. 6, a flow rate control valve 49 for changing the flow rate is provided in the flow path of the working oil from the hydraulic pump 41b to the external port 42, and the flow rate control valve 49 is released from the throttled state. By setting the state, the flow rate of the working oil supplied to the external port 42 may be increased. On the contrary, by changing the flow rate control valve 49 from the open state to the throttled state, it is possible to reduce the flow rate of the work oil supplied to the external port 42.

<Third Embodiment>
In the third embodiment, as shown in FIG. 7, the vehicle controller 7 has a storage unit 75 that stores in advance a work mode in which the rotation speed of the engine at the time of work and the type of the work machine are associated with each other. As shown in the figure, the storage unit 75 stores the model “Shiroki Hello 1”, the work name “Eco Shiroki”, and the engine speed N1 in association with each other. Similarly, the model “Shiro” The scratching halo 1 ”, the work name“ normal shaving ”, and the engine speed N2 are stored in association with each other. If the engine speed at idling is N0, then N0 <N1 <N2. As shown in FIG. 8, the display input device 60 displays an action mode corresponding to the connected actuator among a plurality of work modes stored in the storage unit 75, and is configured to be selectable by the user. There is.

In the first embodiment, the engine rotation speed N0 at the time of idling is changed to the engine rotation speed N3 (greater than N2) when the opening / closing operation is performed, and then the control to return the engine rotation speed to N0 is performed. In the third embodiment, the work mode is selected in advance, and when the engine speed is returned, the control is performed to return the engine speed to the selected action mode.

Specifically, in the flow rate control process shown in FIG. 9, steps ST27, ST28, and ST29 are different from the first embodiment. That is, when the vehicle controller 7 determines that the working oil is insufficient (ST23: YES) and determines that the opening / closing operation has been performed (ST24: YES), the rotation speed of the engine 2b is increased (ST25). After that, when the work mode is selected by the display input device 60 (ST27: YES), the engine speed is set to correspond to the selected work mode (ST28). When the work mode is not selected by the display input device 60 (ST27: NO), the engine speed is reduced (ST29).

In the above embodiment, the work machine 3 to be controlled is described as an example of a shaving halo having an opening / closing mechanism opened / closed by the hydraulic cylinder 33, but any working machine having an opening / closing mechanism opened / closed by the hydraulic cylinder 33 is described. Not limited to this. For example, gyrotedda gyro rake, laser leveler, mower and the like.

As described above, the work vehicle 1 of the first, second or third embodiment is
A hydraulic circuit 40 capable of supplying work oil via an external port 42,
It includes a vehicle controller 7 configured to be able to communicate with a work machine 3 connected to the work vehicle 1. Is the vehicle controller 7 a controlled work machine to which the connected work machine 3 has an opening / closing mechanism that can be opened and closed by the hydraulic cylinder 33 and the work oil is supplied to the hydraulic cylinder 33 via the external port 42? Whether or not it is determined based on the communication result with the working machine 3 (ST21, 22),
When it is determined that the connected working machine 3 is the working machine 3 to be controlled, it is determined whether or not the supply amount of working oil is insufficient for the opening / closing operation of the opening / closing mechanism ( ST23),
When it is determined that the supply amount of the working oil is insufficient and it is determined that the opening / closing operation has been performed (ST24), the supply amount of the working oil is increased (ST25).

According to this configuration, if it is determined that the working machine 3 having an opening / closing mechanism that can be opened and closed is connected by the hydraulic cylinder 33 and the supply amount of the working oil supplied to the hydraulic cylinder 33 is insufficient, the work is performed. Since the amount of oil supplied is increased, the driving amount of the hydraulic cylinder 33, that is, the opening / closing operation of the opening / closing mechanism can be accelerated. Therefore, it is possible to automatically optimize the operation of the opening / closing mechanism that opens / closes by the hydraulic cylinder 33.

In the first or third embodiment, in the hydraulic circuit 40, the supply amount of working oil is determined by the rotation speed of the engine 2b that drives the hydraulic pump 41b. The vehicle controller 7 increases the supply amount of working oil by increasing the rotation speed of the engine 2b.

According to this configuration, the supply amount of working oil can be controlled only by controlling the engine speed.

In the first, second or third embodiment, the vehicle controller 7 determines whether or not the opening / closing operation of the opening / closing mechanism is completed (ST26), and if it is determined that the opening / closing operation is completed, the engine 2b Reduce the number of revolutions.

According to this configuration, it is possible to achieve both a rapid opening / closing operation of the opening / closing mechanism of the working machine 3 in which the engine speed is increased and a reduction in fuel consumption due to a subsequent decrease in the engine speed.

In the first, second or third embodiment, when the time corresponding to the type of the connected working machine elapses after the opening / closing operation is performed (ST26: YES), it is determined that the opening / closing operation is completed. It is configured in.

According to this configuration, a sensor for detecting that the opening / closing operation is completed becomes unnecessary, and the mounting can be performed at low cost.

In the first, second or third embodiment, the work vehicle 1 has an elevating drive unit 2j for raising and lowering the work machine 3. The vehicle controller 7 opens the opening / closing mechanism when the work vehicle 1 is in the stopped state (ST10: YES) and the elevating height of the work machine 3 with respect to the work vehicle 1 is equal to or less than the first predetermined height (ST12: YES). When the operation is permitted (ST13), the work vehicle 1 is stopped (ST10: YES), and the elevating height of the work machine 3 with respect to the work vehicle 1 is equal to or higher than the second predetermined height (ST14: YES), the opening / closing is performed. It is configured to allow the closing operation of the mechanism (ST15).

According to this configuration, it is possible to improve the safety by setting a condition for allowing the opening / closing operation.

In the third embodiment, an engine 2b that generates power to be supplied to the work machine 3, a storage unit 75 that stores in advance a work mode in which the rotation speed of the engine 2b during work and the type of the work machine 3 are associated with each other, and storage are stored. A display input device 60 that displays a work mode corresponding to the connected work machine 3 from a plurality of work modes stored in the unit 75 and allows the user to select the work mode. In the hydraulic circuit 40, the supply amount of working oil is determined by the rotation speed of the engine 2b that drives the hydraulic pump 41b. When the vehicle controller 7 determines that the supply amount of working oil is insufficient (ST23: YES) and determines that the opening / closing operation has been performed (ST24: YES), the rotation speed of the engine 2b is increased (ST25). After that, the engine speed is set to correspond to the selected work mode (ST28).

According to this configuration, the opening / closing operation of the opening / closing mechanism can be accelerated by increasing the engine speed, and after the opening / closing operation is completed, the engine speed is set to be suitable for the next work, so that the next work can be performed smoothly. Can be migrated to.

Although the embodiments of the present disclosure have been described above with reference to the drawings, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present disclosure is set forth not only by the description of the embodiment described above but also by the scope of claims, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

1 Work vehicle 2b Engine 2j Elevating drive unit 3 Working machine 33 Hydraulic cylinder 40 Hydraulic circuit 42 External port 60 Display input device 7 Vehicle controller 75 Storage unit

Claims (6)

It ’s a work vehicle,
A hydraulic circuit that can supply work oil via an external port,
It is equipped with a vehicle controller configured to be able to communicate with a work machine connected to the work vehicle.
Whether or not the vehicle controller is a controlled work machine in which the connected work machine has an opening / closing mechanism that can be opened and closed by a hydraulic cylinder and work oil is supplied to the hydraulic cylinder via the external port. Is determined based on the communication result with the work machine.
When it is determined that the connected work machine is the work machine to be controlled, it is determined whether or not the supply amount of the work oil is insufficient for the opening / closing operation of the opening / closing mechanism.
A work vehicle that increases the supply amount of the work oil when it is determined that the supply amount of the work oil is insufficient and the opening / closing operation is performed while the work vehicle is stopped . In the hydraulic circuit, the supply amount of the working oil is determined by the rotation speed of the engine that drives the hydraulic pump.
The work vehicle according to claim 1, wherein the vehicle controller increases the supply amount of the work oil by increasing the rotation speed of the engine. The work vehicle according to claim 2, wherein the vehicle controller determines whether or not the opening / closing operation of the opening / closing mechanism is completed, and if it is determined that the opening / closing operation is completed, the rotation speed of the engine is reduced. .. The work vehicle according to claim 3, wherein it is determined that the opening / closing operation is completed when a time corresponding to the type of the connected work machine elapses after the opening / closing operation is performed. The work vehicle has an elevating drive unit for raising and lowering the work machine.
The vehicle controller allows an operation of opening the opening / closing mechanism when the work vehicle is in a stopped state and the elevating height of the work machine with respect to the work vehicle is equal to or less than a first predetermined height.
A claim that the work vehicle is configured to allow a closing operation of the opening / closing mechanism when the work vehicle is in a stopped state and the elevating height of the work machine with respect to the work vehicle is equal to or higher than a second predetermined height. The work vehicle according to any one of 1 to 4. An engine that generates power to supply the work equipment,
A storage unit that stores in advance a work mode in which the rotation speed of the engine during work and the type of the work machine are associated with each other.
A display input device that displays the work mode corresponding to the connected work machine from the plurality of work modes stored in the storage unit and allows the user to select the work mode is provided.
In the hydraulic circuit, the supply amount of the working oil is determined by the rotation speed of the engine that drives the hydraulic pump.
When the vehicle controller determines that the supply amount of the work oil is insufficient and determines that the opening / closing operation has been performed, the engine speed is increased, and then the work mode is selected. The work vehicle according to any one of claims 1 to 5, wherein is configured to set the engine speed corresponding to the selected work mode.

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