JP7083238B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle in which a work machine is provided so as to be able to be controlled up and down.

An actuator that drives a working machine connected to a traveling machine to move up and down with respect to the traveling machine, a turning detecting means for detecting the turning or turning operation of the traveling machine, and a control unit that controls the raising and lowering of the working machine by the actuator. The control unit has a storage unit, raises the work machine to a non-working height based on the start timing of the turn of the traveling machine, and raises the work machine based on the end timing of the turn. The work vehicle described in Patent Document 1 configured to perform automatic elevating control for lowering to a working height is conventionally known.

Japanese Patent No. 4605622

In the above document, the automatic elevating control of the control unit automatically raises and lowers the work machine when the traveling machine is turning, thereby reducing the labor of the operator's operation and making the turning running in the field smoother. However, since the dial-type operating tool is used to adjust the timing at which the work equipment descends, the operator can use the operating tool to operate the execution of the automatic elevating control. There is a problem that it is necessary to memorize the operation position of the operating tool at the time of the previous work run when the work run by the automatic elevating control is performed under the same conditions as the latest work run.

The present invention includes a control unit capable of performing automatic elevating control that automatically raises and lowers the work machine during turning, has an execution range for operating the automatic elevating control as an operation range, and automatically within the execution range. In a work vehicle equipped with an operation tool that can adjust the lowering timing of the work machine by elevating control, the operator can smoothly and easily operate the operation tool at the same operation position as during the latest work run. An object of the present invention is to provide a work vehicle capable of more smoothly performing work running using the automatic elevating control.

In order to solve the above problems, the present invention first comprises an actuator 10 for driving the working machine 4 connected to the traveling machine 3 up and down with respect to the traveling machine 3, and a turning or turning operation of the traveling machine 3. The swivel detection means 46 for detection, a control unit 50 for controlling the raising and lowering of the work machine 4 by the actuator 10, an operation tool 27, and notification means 31 and 53 are provided, and the control unit 50 has a storage unit. Then, the automatic ascending / descending control for raising the working machine 4 to the non-working height based on the turning start timing of the traveling machine 3 and lowering the working machine 4 to the working height based on the turning end timing is executed. The operating tool 27 is configured and has a stop range in which the automatic elevating control is not executed and an execution range in which the automatic elevating control is executed as an operation range, and the operation tool 27 has an operation position within the execution range. By changing the above, the operation tool 27 is configured to perform an adjustment operation for adjusting the lowering timing of the work machine 4 at the end of turning during the execution of the automatic elevating control, and the actuator 27 is an off operation operated within the stop range. The on operation within the execution range and the adjustment operation can be executed by a dial operation using the same operation tool, and the control unit 50 is configured to execute the operation tool during the execution of the automatic elevating control. The operation position in which the operation position has not changed without being operated within the execution range for a predetermined time is stored in the storage unit as the original position, and then the operation tool 27 is once switched from the execution range to the stop operation. After being detected, an on-operation to switch the operation tool 27 from the stop range to the execution range was detected again, and then the operation tool 27 was operated to the original position stored in the storage unit during the previous on operation. When it is detected, the notification means 31 and 53 are configured to notify the notification.

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

Third, the control unit 50 controls the ringing pattern of the notification buzzer 53 or the lighting pattern of the notification lamp 31 according to the state of the traveling machine body 3 or the working machine 4 in which the automatic elevating control is being executed. It is characterized by being configured.

The control unit stores in the storage unit the operation position within the execution range of the operation tool when the work machine is lowered to the work height by the automatic elevating control, and the operation tool operates from the stop range to the execution range. When it is detected that the operation position has been detected, the operation position in the execution range of the latest operation tool stored in the storage unit is configured to be notified by the notification means, so that the operator can use the operation tool. When executing the automatic elevating control, it is possible to smoothly and surely confirm the operation position within the execution range in which the operation tool was operated during the previous work run.

Further, according to the notification means having a notification buzzer and a notification lamp, the operator can easily confirm the operation position of the operating tool that was turned on when the previous automatic elevating control was executed. Because it can be done, workability is improved.

Further, according to the control unit configured to control the ringing pattern of the notification buzzer or the lighting pattern of the notification lamp according to the state of the work machine in which the automatic elevating control is being executed, the operator Since the state of the work equipment that is lifted and lowered during automatic lift control can be easily grasped, workability and safety are further improved.

It is an overall side view which showed the agricultural tractor to which this invention was applied. It is a perspective view which showed the control part. It is a perspective view which showed the operation panel. It is a top view which showed the operation panel. It is explanatory drawing which showed the timing which the work machine moves up and down by the automatic elevating control. It is a block diagram of a control part. It is a main flow diagram. It is a processing flow diagram of the subroutine of control state processing. It is a processing flow diagram of the subroutine of the aircraft information acquisition. It is a processing flow diagram of the subroutine of the aircraft angle processing. It is a processing flow diagram of a subroutine of angle calculation. It is a processing flow diagram of a subroutine of a position operation. It is a processing flow diagram of the subroutine of the position flag processing. It is a processing flow diagram of the subroutine of the position determination. It is a processing flow diagram of the subroutine of the descending start processing. It is a processing flow diagram of the subroutine of the automatic termination processing.

FIG. 1 is an overall side view showing an agricultural tractor to which the present invention is applied, FIG. 2 is a perspective view showing a control unit, and FIG. 3 is a perspective view showing an operation panel. 4 is a plan view showing the operation panel. This tractor, which is a type of work vehicle, has a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a traveling machine 3 supported by front and rear wheels 1, 2 and a rotary tiller (hereinafter referred to as a rotary tiller) at the rear of the traveling machine 3. , The work machine) 4 is provided with an elevating link 6 for connecting the work machine) 4 so as to be able to move up and down, and the work machine 4 is moved up and down to the work height on the farm scene side via the elevating cylinder (actuator) 10 and the work machine 4 is driven. By moving the traveling machine 3 forward in this state, it is possible to cultivate the field.

The traveling machine body 3 is mounted and fixed on a machine body frame 7 supported by a traveling device including a pair of left and right front wheels 1, 1 and rear wheels 2, 2 and extending in the front-rear direction, and a front portion on the machine body frame 7. It has a bonnet 8 that covers an engine (not shown) so as to be openable and closable, and a control unit 9 that is arranged behind the bonnet 8 and on which an operator rides.

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

Further, on one of the left and right sides (left in the illustrated example) of the steering handle 12, a shuttle lever 17 capable of switching between forward movement, stop, and reverse movement of the traveling aircraft is provided, and the steering handle 12 is provided. On the left and right sides of the 12 (on the right in the illustrated example), there are a quick-up lever 18 for raising and lowering the work equipment 4 between the preset upper limit height and the lower limit height, and a starter switch 19 for starting the engine. It is provided (see FIG. 2).

On the front side of the side operation panel 14, a main speed change lever 21 for performing a traveling speed change operation by swinging back and forth is provided, and the raising / lowering operation of the working machine is operated so as to be parallel to the left and right inside of the main speed change lever 21. A position lever 22 is provided. Further, on the rear side of the position lever 22, an elevating fine adjustment switch 23 for slightly raising and lowering the working machine 4 is provided, and on the rear side of the main speed change lever 21, a plowing depth for setting the plowing depth by the working machine is provided. The adjustment dial 24 is arranged (see FIG. 3).

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

The switching operation tool 27 has an off range (stop range) for stopping the execution of the auto-down control and an on range (execution range) for executing the auto-down control as its operation range. The range of entry is also the auto-down timing volume (operation tool) 27 that adjusts the timing at which the work machine 4 automatically starts the lowering operation by the auto-down control. The details of the auto-down control by the control unit 50 will be described later.

Specifically, the switching operation tool (auto down timing volume) 27 uses a dial operation tool, and has a range from 8 o'clock to 4 o'clock with the 0 o'clock direction as a reference position (-120 degrees from the reference position). The range from 8 o'clock to 6 o'clock (60 degrees from -120 degrees to -180 degrees) is set as the off range, and the rotation angle is left and right. It is asymmetrical and is configured to be able to operate a total of 300 degrees (see FIG. 4). Further, in the switching operation tool 27, numbers from 1 to 9 are arranged at equal intervals along the outer circumference of the dial within the entry range.

That is, in the illustrated example, the auto-down timing volume 27 is dialed clockwise from the reference position (6 to 9 in the illustrated example) with the 0 o'clock direction as the reference position of the entry range (No. 5 in the illustrated example). By doing this, the timing at which the work equipment 4 descends is gradually accelerated by the auto-down control, and by dialing counterclockwise from the reference position (Nos. 1 to 4 in the illustrated example), the auto-down control is performed. The timing of the automatic lowering operation of the work equipment is gradually delayed.

According to the switching operation tool (auto-down timing volume) 27 having the configuration, the work machine 4 is automatically lowered when the control unit 50 switches whether or not to execute the auto-down control and when the auto-down control is executed. The adjustment operation for adjusting the timing to be performed can be performed with a single operation tool. As a result, the operating tool can be made more space-saving and compact.

Further, when the auto down timing volume 27 is operated in the entry range (Nos. 1 to 4 in the illustrated example) adjacent to the off range, the descent start timing of the working machine is delayed, and in particular, the auto down timing volume 27 is auto. Since the descent timing of the work equipment is set to be the latest immediately after switching the down control ON / OFF, the operator turns the auto down timing volume (switching operation tool) 27 from the on range to the off range during turning. It is possible to prevent a situation in which the work machine is automatically lowered unintentionally because the lowering start timing of the work machine is advanced when the work machine is operated.

4 A drive changeover switch 33 and a turning double speed changeover switch 34 for performing an intermittent operation of the hydraulic clutch and a braking operation by a brake are provided.

The backup changeover switch 32 operates ON / OFF of the backup control that automatically raises the work machine 4 to the upper limit height when a reverse operation is detected when the work machine 4 is not at the upper limit height. Can be done. Along with this, when the backup changeover switch 32 is switched to the ON state in which the backup control is executed, the control unit 50 turns on the backup lamp 36 indicating the state to the operator. It is configured to notify that backup control is in progress.

The 4WD changeover switch 33 can switch between a 4WD mode in which power is transmitted to the front wheel 1 to drive the four wheels and a 2WD mode in which power is not transmitted to the front wheels 1. Along with this, when the control unit 50 is switched to the 4WD mode by the 4WD changeover switch 33, the 4WD changeover lamp 37 indicating the state is turned on so that the operator can use the 4WD mode. It is configured to be able to notify that there is something.

The turning double speed changeover switch 34 can operate ON / OFF of turning double speed control that controls the average movement distance of the front wheels 1 per unit time so as to be substantially twice the vehicle speed. Along with this, when the turning double speed changeover switch 34 is switched to the ON state in which the turning double speed control is executed, the control unit 50 turns on the turning double speed lamp 38 indicating the state. It is configured to notify the operator that the turning double speed control is being executed.

Further, the front panel 13 switches a traveling mode on the left and right sides of the steering handle 12 so as to switch between a working traveling mode for performing cultivation work in the field and a road traveling mode for traveling on the road or the like outside the field. A switch (hereinafter referred to as an Omakase changeover switch) 41 and a travel mode display lamp (hereinafter referred to as an Omakase changeover lamp) 42 for indicating which of the work travel mode and the road travel mode are switched are provided.

Next, the auto-down control by the control unit will be described with reference to FIG. FIG. 5 is an explanatory diagram showing the timing at which the work equipment is moved up and down by the auto-down control.

When it is detected that the turning running on the field end side is started in the ON state in which the auto-down control can be executed, the control unit 50 raises the working machine 4 at the working height to a predetermined non-working height. When it is activated and it is detected that the turning on the field edge side is completed, the working machine 4 at the non-working height is automatically lowered to the working height, and then the auto-down control is automatically turned off. It is configured to be switched to. As a result, it is possible to reduce the labor of the operator for raising and lowering the work machine when the work vehicle is turning, and to perform the work running in the field more smoothly.

More specifically, as shown in FIG. 5, the control unit 50 determines the position of the work machine when the turn of the work vehicle is started, and when the work run by the work machine is restarted after the turn is completed. The position coordinates of the position of the work machine with respect to the traveling direction are set as the work reference position X0, the position of the rear wheel when the work vehicle starts turning at the field is set as the turning start position X1, and the work vehicle is turned at the field. The position of the rear wheel when the work is completed and the work run is restarted is set as the work restart position X2, and when the turn run is started (the rear wheel is the turn start position X1), the work machine rises to a predetermined height. The operation is automatically started, and when the turning is completed and the position of the rear wheel reaches the working reference position X0, the descending operation to the working height of the working machine is automatically started. (See FIG. 5).

At this time, the auto-down control is raised to a predetermined height while the rear wheel is traveling straight between the work reference position X0 and the work restart position X2 (hereinafter, the descending mileage D) after the turn is completed. It is configured so that the working machine can be lowered to the working height again.

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

Specifically, when the auto-down timing volume 27 is operated in the counterclockwise direction (No. 1 to 4) from the reference position within the entry range, the rear wheel 2 exceeds the work reference position X0. Since the lowering operation of the working machine 4 is started later, the lowering operation of the working machine 4 to the working height is completed after the working machine 4 has passed the work restart position X2 (inside the field from the work restart position X2). .. At this time, the more the operation position of the auto-down timing volume 27 is operated to a position farther from the reference position (No. 5), the later the timing at which the lowering operation of the work machine 4 is started is delayed.

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

Further, when the auto down timing volume 27 is operated to the side (Nos. 6 to 9) for accelerating the lowering operation of the work machine 4, the control unit 50 satisfies the above conditions and also the traveling machine body. 3 has passed the descent start position where the work machine 4 is adjusted by the auto down timing volume 27 during turning, the traveling machine 3 is traveling straight, and the traveling machine 3 is the working machine 4. Even when it is detected that the work reference position X0, which is the reference for starting descent, has not been passed, and that all the conditions of running and the 180-degree turn have been completed are satisfied, the work machine 4 It may be configured so that the lowering operation is started. In this case, conditions may be added in addition to the above.

According to the configuration, even if the descent start position is passed during the turning run, the descent operation is started at an unintended timing of the work machine 4, or the work machine 4 moves backward once and resumes the straight run. Since it is not necessary to re-establish the descending start condition of the auto-down control, the work start after turning can be made smoother.

By the way, the auto-down control by the control unit 50 is in a state where the auto-down timing volume (switching operation tool) 27 is operated within the input range when the engine is started or when the auto-down control is executed and automatically terminated. Even so, since the auto-down control is in the OFF state, in order to switch the auto-down control from the state to the ON state, the auto-down timing volume 27 is once turned off and then operated again within the entry range. There is a need.

On the other hand, when the auto-down timing volume 27 is re-operated within the entry range, the control unit 50 describes the operation position of the auto-down timing volume 27 that was most recently turned on before the off operation. It is configured to notify by the notification buzzer 53.

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

If the auto down timing volume 27 is not operated for a predetermined time (5 seconds in this embodiment) when the auto down timing volume 27 is turned on, the time-out process is performed and the notification buzzer 53 does not notify the operation position.

According to the configuration, when the auto-down control is switched to the ON state after the engine is started or the like, the operator sets the operation position of the auto-down timing volume 27 that was operated when the auto-down control was executed most recently. Therefore, the operator does not have to memorize the operation position of the auto-down timing volume 27 by himself / herself, which makes it easier to execute the auto-down control.

When the auto-down control is turned off while the auto-down timing volume 27 is operated in the input range, the control unit 50 performs an ascending operation of the work machine 4 by the quick-up lever 18 for a predetermined time. When it is detected that the continuous operation has been performed, the auto-down control may be configured to be able to switch from the OFF state to the ON state without operating the auto-down timing volume 27.

According to this configuration, the auto-down control can be switched to the ON state without turning the auto-down timing volume 27 from off to on, so that the work can be performed while reliably maintaining the operation position set at the time of the immediately preceding work run. You can resume running. Hereinafter, the details of the auto-down control by the control unit will be described.

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

On the output side of the control unit 50, a lift arm valve 49 for operating the lift arm for raising and lowering the working machine 4, a lift-up lamp 51 for notifying that the working machine 4 is being lifted and lowered, and a traveling machine body 3 are provided. A display device 52 such as a liquid crystal that displays various states, the automatic switching lamp 42, the swivel double speed lamp 38, the 4WD switching lamp 37, the backup lamp 36, the elevating state of the work machine, and the like. A notification buzzer 53 for notification is connected.

FIG. 7 is a processing flow diagram of the main routine of auto-down control by the control unit. When the ON state of the starter switch 19 is detected, the control unit starts the main flow and starts processing from step S1. In step S1, the control unit confirms whether or not there is a predetermined work equipment raising operation by the traveling machine, and proceeds to step S2.

In step S1, as shown in FIG. 5, the work vehicle continues the tilling work using the work machine driven by raising and lowering to the work height in the field, and the control unit 50 is on the field end side. When it is detected that the predetermined work equipment raising operation has been performed, the start flag of the auto down control is set.

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

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

In step S6, the position calculation subroutine is executed, and when the processing is completed, the process proceeds to step S7. In step S7, the subroutine of the position flag processing is executed, and when the processing is completed, the process proceeds to step S8. In step S8, the position determination subroutine is executed, and when the processing is completed, the process proceeds to step S9. In step S9, the subroutine of the descending start process is executed, and when the process is completed, the process proceeds to step S10. In step S10, the subroutine of the automatic end processing is executed, and when the processing is completed, the processing is returned to step S1 and the processing is repeated. Hereinafter, each subroutine will be described.

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

In step S12, it is confirmed whether or not the execution flag of the auto down control is satisfied, and if the execution flag of the auto down control is satisfied, the process proceeds to step S13.

Here, the execution flag of the auto-down control is a flag that is established when the control unit 50 is in the auto-down execution state of calculating the position of the traveling aircraft during turning, the descent start position, and the like. The state in which the auto-down control is ON and the auto-down execution flag is set is hereinafter referred to as an auto-down release state.

In step S13, it is confirmed whether or not the permission condition for auto-down control is satisfied, and if the permission condition for auto-down control is satisfied, the process proceeds to step S14.

Here, the permission condition for the auto-down control is the main speed change lever 21 and the sub-shift lever 21 in the state where the front wheel double speed mode and the 4WD mode or the auto brake mode are set by the double speed changeover switch 34 and the 4WD changeover switch 33. When it is detected that the speed change lever 20 is in a state where the reduction ratio is larger than the predetermined reduction ratio set in advance, it is determined that the permission condition for the auto down control is satisfied.

In step S14, it is confirmed whether or not the auto-down control release flag is satisfied, and if the auto-down control release flag is satisfied, the process proceeds to step S15. In step S15, as an auto-down control reset process, the control unit 50 sets the auto-down execution flag and the auto-down start flag to the auto-down release state while the auto-down control is operated to the ON state, and then sets the auto-down control to the auto-down release state. , Return the process.

If the condition for canceling the auto-down control is not satisfied in step S14, the process is then returned.

If the permission condition for auto-down control is not satisfied in step S13, the process proceeds to step S16. In step S16, the display device 52 or the like notifies the operator that the permission condition for the auto-down control is not satisfied, and then returns the process.

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

In step S18, the control unit 50 drops the auto-down start flag and proceeds to step S19 as a control restart condition setting cancellation process. In step S19, it is confirmed whether or not the permission condition for auto-down control is satisfied, and if the permission condition for auto-down control is satisfied, the process proceeds to step S20. If the permission condition for auto-down control is not satisfied in step S19, the process is returned after that.

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

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

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

In step S23, acquisition of double speed turning / autobrake setting is executed, and the process proceeds to step S24. At this time, the control unit 50 confirms that the traveling machine body 3 is in either a front wheel double speed OFF and 4WD mode ON, or a front wheel double speed ON and 4WD mode and autobrake mode ON. ..

In step S24, the calculation of the inside and outside of the turn is executed, and the process proceeds to step S25. At this time, the control unit 50 stores in advance the turning inner circumference and the turning outer circumference corresponding to the information read above, and reads these information. The turning inner circumference and turning outer circumference are the moving distances of the rear wheels 2 when the traveling machine in a state where the steering handle 12 is rotated to the maximum rotation angle of either the left or right is turned 360 °. ..

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

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

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

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

In step S29, the calculation of the movement distance during the dashing prevention descent is executed, and the process proceeds to step S30. At this time, the control unit 50 calculates the descending mileage D in which the traveling machine 3 moves from the start of the descent of the working machine 4 to the landing in the field scene based on the acquired vehicle speed. By the way, the dashing height is the dashing height after the work machine 4 is lowered to a predetermined height so that the traveling machine 3 does not suddenly accelerate due to the rotational force of the rotary when the rotary of the work machine 4 is rotationally driven and touches the ground. It is necessary to reduce the speed, and the height at which the deceleration of the descending speed of the working machine 4 is started is shown.

In step S30, the calculation of the descending target position is executed, and then the processing is returned. At this time, the control unit 50 calculates the descent start position at which the descent operation of the working machine 4 is actually started with the turning start position X1 at the start of turning as the origin as the descent target position, as shown in FIG. Set the descending target position (working reference position X0) that serves as a reference.

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

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

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

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

In step S37, it is confirmed whether or not the turning angle condition of the traveling machine is satisfied, and if the turning angle condition is satisfied, the process proceeds to step S38. In step S38, the control unit 50 determines that the condition that the traveling machine body 3 has already turned has been satisfied, and the notification buzzer 53, the display device 52, or the like determines that the traveling machine body 3 is close to the descending start position. Notify the worker and then return the process.

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

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

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

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

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

If the turning speed of the traveling machine is 0 in step S43, the process proceeds to step S45. In step S45, it is assumed that the turning speed is 0 and the position of the traveling machine body 3 is held at the current position, and then the process is returned.

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

In step S52, the descending target set value position is set as the descending position at which the descending of the working machine 4 is started, and then the processing is returned. If the auto-down control is in the execution state in step S51, the process proceeds to step S53.

Here, the descending position is changed by the subroutine of the position calculation and the position determination process according to the result of the calculation based on the descending target reference position, the descending target set value position, the current position, the aircraft angle, and the route of the traveling aircraft 3, and the work. Indicates the position where the aircraft starts descending.

In step S53, it is confirmed whether or not the descending target set value position is equal to or higher than the descending target reference position, and if the descending target set value position is equal to or greater than the descending target reference position, the process proceeds to step S54. In step S54, the descending position at which the descending of the working machine 4 starts descending is set to the descending target set value position, and then the process is returned. If the descending target set value position is not equal to or higher than the descending target reference position in step S53, the process proceeds to step S55.

In step S55, it is confirmed whether or not the current position is equal to or less than the descending target set value, and if the current position is equal to or less than the descending target set value, the process proceeds to step S56. In step S56, the descending position at which the descending of the working machine is started is set to the descending target set value position, and then the process is returned. If the current position is larger than the descending target set value in step S55, the process proceeds to step S57.

In step S57, it is confirmed whether or not the current position is equal to or higher than the descending target reference position, and if the current position is equal to or higher than the descending target reference position, the process proceeds to step S58. In step S58, the descending position at which the descending of the working machine is started is set to the descending target reference position, and then the process is returned. If the current position is smaller than the descending reference position in step S57, the process proceeds to step S59.

In step S59, it is confirmed whether the steering sensor 46 has detected that the vehicle is turning or the shuttle lever 17 has detected that the vehicle is being operated in reverse, and the vehicle is turning or traveling. If it is detected that the vehicle is traveling in reverse, the process proceeds to step S60.

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

FIG. 13 is a processing flow diagram of the subroutine of the position flag processing. When the subroutine for processing the position flag is executed, the process proceeds to step S61. In step S61, it is confirmed whether or not the current position of the traveling machine 3 is larger than the value obtained by adding the hysteresis value to the descending start position, and when the current position is larger than the value obtained by adding the hysteresis value to the descending start position. To step S62.

In step S62, the position passing condition establishment flag is established, the position condition flag is dropped, and then the process is returned. Here, the position condition flag is one of the conditions for setting the descent flag for the control unit 50 to start the descent operation of the work machine 4 in the position determination process described later, and the current position of the traveling machine is the descent start position. It is a flag indicating that it has reached.

In step S61, if the current position of the traveling machine body 3 is not larger than the value obtained by adding the hysteresis value to the descending start position, the process proceeds to step S63. In step S63, it is confirmed whether or not the current position of the traveling machine 3 is smaller than the value obtained by subtracting the hysteresis value from the descending start position, and the current position of the traveling machine 3 is the value obtained by subtracting the hysteresis value from the descending start position. If it is smaller than, the process proceeds to step S64.

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

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

In step S66, it is confirmed whether or not the current position of the traveling machine 3 is smaller than the descending start position, and if the current position of the traveling machine 3 is less than the descending start position, the process proceeds to step S67, and step S67 is the position. The condition flag is satisfied, and then the processing is returned. If the current position is not less than the descending position in step S66, the process is then returned.

If the position passing condition flag is set in step S65, the process proceeds to step S68. In step S68, it is confirmed whether or not the current position of the traveling machine 3 exceeds the descent start position, and if the current position of the traveling machine 3 exceeds the descent start position, the process proceeds to step S67, and in step S67. The position condition flag is established, and then the processing is returned.

If the current position does not exceed the descending position in step S68, the process is then returned.

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

In step S72, the steering sensor 46 and the shuttle lever 17 confirm whether or not the traveling aircraft 3 is traveling forward, and if the traveling aircraft 3 is traveling forward, the process proceeds to step S73. In step S72, if the traveling machine body 3 is traveling other than forward traveling (turning or the like), the process is then returned.

In step S73, the control unit 50 confirms whether or not the position condition flag and the angle condition flag are satisfied, and if the position condition flag and the angle condition flag are satisfied, proceeds to step S74. In step S73, if at least one of the position condition flag and the angle condition flag is set, the process is returned.

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

In step S74, the delay operation by the quick-up lever 18 is continued for a predetermined time, and if the delay operation is timed out, the process proceeds to step S76. In step S76, as a time-out process for the delay operation by the quick-up lever 18, the control unit 50 sets an auto-down release flag for setting the auto-down release state in which the execution flag of the auto-down control is dropped while the auto-down control is ON. , The display device 52 is notified to that effect, and then the process is returned.

FIG. 15 is a processing flow diagram of a subroutine for descending start processing. When the subroutine of the descending start process is executed, the process proceeds to step S81. In step S81, the control unit 50 confirms whether or not the work equipment lowering flag is satisfied, and if the work equipment lowering flag is satisfied, proceeds to step S82. If the work equipment lowering flag is not established in step S81, the process is then returned.

In step S82, it is confirmed whether or not the delay operation that delays the lowering operation of the work machine 4 by the quick-up lever 18 is detected, and if the delay operation is not confirmed, the process proceeds to step S83. If the delay operation by the quick-up lever 18 is confirmed in step 82, the process is then returned.

In step S83, the work equipment lowering flag is dropped and the process proceeds to step S84. In step S84, the work equipment 4 starts the lowering operation via the lift arm valve 49, and the process proceeds to step S85. In step S85, the notification buzzer 53 or the like notifies the operator that the work machine 4 is automatically lowered, and then the process is returned.

FIG. 16 is a processing flow diagram of a subroutine for automatic termination processing. When the subroutine of the automatic termination process is executed, the process proceeds to step S101. In step S101, it is confirmed whether or not the current position of the traveling machine 3 is within the end range of the auto down control in the execution state of the auto down control, and the current position of the traveling machine 3 is within the end range of the auto down control. If it is, the process proceeds to step S102.

In step S102, as the automatic termination process of the auto-down control, the display device 52 is notified to the operator that the auto-down control is terminated due to the position limitation, and the execution flag of the auto-down control is set while the auto-down control is ON. Set the auto-down release flag to be in the auto-down release state, and then return the process.

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

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

If the current position of the traveling machine 3 is not within the notification range in step S103, the process proceeds to step S105. In step S105, it is confirmed whether or not the traveling machine 3 is located within the automatic end release range having a predetermined range, and if the current position of the traveling machine 3 is located within the automatic end release range, step S106 is performed. move on.

In step S106, the control unit displays the engine speed / use time display on the display device 52 as the range automatic end reset process, and then proceeds to step S107. In step S105, even if the current position of the traveling machine body is not within the automatic end release range, the process proceeds to step S107.

In step S107, it is confirmed whether or not the body angle of the traveling machine 3 exceeds the predetermined end angle λ1 in the execution state of the auto down control, and the body angle of the traveling machine 3 exceeds the end angle λ1. To step S102. In step S102, the automatic end processing of the auto down control is executed, and then the processing is returned.

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

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

If the machine angle of the traveling machine 3 is not within the caution notification angle in step S108, the process proceeds to step S110. In step S110, it is confirmed whether or not the body angle of the traveling machine 3 is smaller than the notification angle λ2 and is within the automatic end release angle λ3 having a predetermined range, and the body angle of the traveling machine 3 is the automatic end release angle λ3. If it is, the process proceeds to step S111.

In step S111, the control unit 50 displays the engine speed / use time display on the display device 52 as the angle automatic end reset process, and then proceeds to step S112. Even if the body angle of the traveling machine body is not within the automatic end release angle in step S110, the process proceeds to step S112.

In step S112, it is confirmed whether or not the total mileage from the execution state of the auto-down control to the end of the auto-down execution state exceeds the predetermined automatic end total distance, and the total travel distance is the automatic end total. If the mileage is exceeded, the process proceeds to step S102. In step S102, the automatic end processing of the auto down control is executed, and then the processing is returned.

If the integrated mileage does not exceed the automatic end integrated mileage in step S112, the process proceeds to step S113. In step S113, it is confirmed whether or not the integrated mileage of the traveling machine 3 is within the notified integrated distance having a predetermined range smaller than the automatic integrated mileage, and the integrated mileage is within the notified integrated distance. In that case, the process proceeds to step S114.

In step S114, the control unit 50 displays on the display device 52 the content (“exceeding the travel limit”, etc.) for notifying the operator of the cancellation of the execution of the auto-down control as the attention notification process, and proceeds to step S115. .. If the integrated mileage is not within the notification integrated distance in step S113, the process proceeds to step S115.

In step S115, it is confirmed whether or not the forward / backward control release condition is satisfied, and if the forward / backward control release condition is satisfied, the process proceeds to step S116. Here, the forward / backward control release condition is a state in which the steering sensor 46 does not detect a turning operation between the execution state of the auto-down control and the execution state of the auto-down control. It is a condition for determining whether or not the forward movement distance or the reverse movement distance obtained by continuously moving forward and backward exceeds the forward / backward control release distance.

In step S116, the control unit 50 sets the auto-down control release flag as the forward / backward control release process, and notifies the operator of the advance notice of the execution release of the auto-down control by the display device 52, and then performs the process. Return. If the forward / backward control release condition is not satisfied in step S115, the process proceeds to step S117.

In step S117, the control unit 50 confirms whether or not the forward / backward control release caution condition is satisfied, and if the forward / backward control release caution condition is satisfied, proceeds to step S118. Here, the forward / backward control release caution condition is a state in which the steering sensor does not detect a turning operation between the auto-down execution state and the auto-down execution state of the traveling aircraft 3, and the traveling aircraft is continuously moved forward and backward only. The condition to be determined that the condition is satisfied when the forward movement distance or the reverse movement distance is between the forward / backward control release distance and the forward / backward control release caution distance set shorter than the forward / backward control release distance. Is.

In step S118, the control unit 50 displays the engine speed / use time display on the display device 52 as an attention notification process, and then returns the process. If the forward / backward control release caution condition is not satisfied in step S117, the process proceeds to step S119.

In step S119, the control unit 50 confirms whether or not the forward / backward automatic end cancellation condition is satisfied, and if the forward / backward automatic end cancellation condition is satisfied, proceeds to step S120. Here, the condition for canceling the automatic end of forward / backward movement is that the traveling machine is continuously moved forward and backward only in a state where the steering sensor does not detect the turning operation between the auto-down execution state and the auto-down execution state. This is a condition that is satisfied when it is confirmed that the forward / backward distance or the reverse distance is less than the predetermined forward / backward automatic end distance, which is smaller than the forward / backward cancellation caution distance.

In step S120, the control unit displays the engine rotation speed / use time display on the display device 52 as the forward / backward control release reset process, and then returns the process. If the forward / backward automatic end canceling condition is not satisfied in step S119, the process is then returned.

From the above, the auto-down control by the control unit 50 is automatically performed by the traveling machine body 3 by a predetermined forward travel distance, a predetermined vehicle body angle, or a predetermined integrated movement distance after the auto-down control is executed. Before the automatic end processing (step S102, step S116) for switching to the down release state is executed, the display device 52 notifies the operator to that effect. As a result, the operator can check the status of the traveling machine body 3 before the auto-down control is automatically released from the auto-down control state, so that it becomes easy to continuously maintain the execution state of the auto-down control. rice field.

Further, the control unit 50 controls the above-mentioned auto-down control according to the lighting pattern (specifically, the off state, the lighting state, the blinking state, etc.) of the notification lamp 31 provided in the vicinity of the auto-down timing volume 27. It is configured so that the control status can be notified to the operator.

Specifically, the control unit 50 sets the working machine 4 when the operation position of the auto down timing volume 27 is operated within the off range and when the operation position is switched to the road traveling state by the automatic changeover switch 41. When a hydraulic device outside the vehicle is used to control the lifting of the lift arm to be lifted and lowered, the notification lamp 31 is turned off and the auto down timing volume 27 is operated from the off range to the on range. In the case where the notification lamp 31 is turned on and the auto-down timing volume 27 is operated from the off range to the on range and the auto-down control is not executed, that is, the auto-down release state is described. The notification lamp 31 is configured to be in a blinking state.

As a pattern in which the notification lamp 31 blinks, the engine is started with the auto-down timing volume 27 operated in the entry range, or the auto-down timing volume 27 is operated in the entry range. When switching from the road running state to the working running state by the Omakase changeover switch 41, or when switching from the state controlled by using the hydraulic equipment outside the vehicle for raising and lowering control of the lift arm to the position control, etc. There is.

The ringing pattern of the notification buzzer 53 may also be configured to notify the operator of the control state of the auto-down control.

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

Claims (3)

An actuator (10) for driving the working machine (4) connected to the traveling machine (3) up and down with respect to the traveling machine (3).
A turning detecting means (46) for detecting a turning or a turning operation of the traveling machine body (3), and a turning detection means (46).
A control unit (50) that controls the elevating and lowering of the working machine (4) by the actuator (10).
Operation tool (27) and
Equipped with notification means (31, 53)
The control unit (50) has a storage unit, raises the working machine (4) to a non-working height based on the turning start timing of the traveling machine (3), and raises the working machine (4) to a non-working height, and the working machine is based on the turning end timing. It is configured to execute automatic elevating control to lower (4) to the working height.
The operating tool (27) has a stop range in which the automatic elevating control is not executed and an execution range in which the automatic elevating control is executed as an operation range.
The operation tool (27) is configured to perform an adjustment operation for adjusting the descent timing of the work machine (4) at the end of turning during the execution of the automatic elevating control by changing the operation position within the execution range. Being done
The operation tool (27) is configured so that the off operation operated within the stop range, the on operation operated within the execution range, and the adjustment operation can be executed by a dial operation with the same operation tool.
The control unit (50) uses the operation position as the original position where the operation tool (27) is not operated for a predetermined time within the execution range and the operation position does not change during the execution of the automatic elevating control. Then, the off operation for switching the operation tool (27) from the execution range to the stop operation is detected once, and then the on operation for switching the operation tool (27) from the stop range to the execution range is detected again. After that , when it is detected that the operation tool (27) has been operated to the original position stored in the storage unit during the previous ON operation, the notification means (31, 53) is used to notify the operation tool (27). Constructed work vehicle. The work vehicle according to claim 1, wherein the notification means is a notification buzzer (53) and a notification lamp (31). The control unit (50) lights the ringing pattern of the notification buzzer (53) or the notification lamp (31) according to the state of the traveling machine (3) or the working machine (4) in which the automatic elevating control is being executed. The work vehicle according to claim 2, which is configured to control a pattern.

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