JPH01117702A - Controller for position of ground working machine - Google Patents

Abstract

PURPOSE:To enable start of return control of a working machine at a constant position regardless of high or low hydraulic pressure, by setting the optimum lag time to start the parallel return control judging from lifting speed, height and position of a working machine. CONSTITUTION:The first parallel counter 23 counts parallel delay count values by turning on operation of a valve 25 for lifting to output a count end signal to an arithmetic part 22 and read the present lift value in completing counting. Furthermore, after completing count values, a counting start command for parallel change count values is outputted from the arithmetic part 22 to the first parallel counter 23 to read the present lift value in completing the counting. The optimum lag time calculated on the basis of the present lift value read for each time of completing counting of count values and lift set value is set in the second parallel counter 24. After counting the count values, control by a horizontal control part 20 is changed over to control by the parallel return control part 21.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a ground working machine (hereinafter simply referred to as a vehicle) such as a rotary tiller that is attached to the rear of a traveling vehicle such as a tractor (hereinafter simply referred to as a vehicle). The present invention relates to a position control device for a ground work machine (referred to as a work machine), and particularly relates to a ground work machine position control system that controls the attitude of the work machine so that it is parallel to a vehicle in a non-work position.

(Prior Art) Generally, in a traveling work vehicle in which a work equipment is attached to a vehicle such as a tractor, the work equipment can be raised and lowered between a work position and a non-work position, and can also be tilted left and right. It is connected to the tractor side via a connecting mechanism.

When the working machine is in the working position, a horizontal control device is often provided so that the working machine is always held horizontally even if the vehicle rolls, as will be described later.

However, when such a traveling work vehicle turns during tilling work, or when the work equipment is raised to a non-working position during non-working driving, even if the vehicle is tilted with respect to the horizontal,
Since the work equipment is controlled horizontally, the relatively heavy work equipment will be pulled up while tilted relative to the vehicle, resulting in an unfavorable weight balance on the vehicle and Unreasonable force may be applied to a part of the arm at the section.

Therefore, conventionally, when raising the work equipment while the work equipment is under horizontal control, the horizontal control is canceled after detecting that the work equipment has been raised to a certain height from the working position. It has been considered to perform parallel return control so that the working machine becomes parallel to the vehicle.

An example of this is a control system in which the position of a working machine is determined by the position of an operating lever. In this control system, a switch for switching between horizontal control and parallel return control of the work equipment is provided on the upward side of the lever, and when the operating lever is operated beyond this position to the upward side, the horizontal control switches to parallel return. The control is switched so that the working machine is parallel to the vehicle (Japanese Unexamined Patent Publication No. 62-27653).

However, the above-mentioned conventional technology uses the operating lever to
Parallel return control is started only after the work equipment has been raised to a predetermined maximum height, so it is compatible with forced and emergency evacuation operations that require parallel return control to be started at any point. The problem was that it couldn't be done.

In view of the above-mentioned problems, the present inventors controlled the work machine so that it became parallel to the vehicle after a scheduled time after the work machine started upward drive, and the scheduled time was set at the time when the upward drive started. We proposed a traveling work vehicle equipped with a control means that was set as a function of the height position of the work equipment (patent application filed in 1983).
2-186571).

(Problems to be Solved by the Invention) The conventional techniques described above have the following problems.

In the above-mentioned traveling work vehicle previously proposed by the present inventor,
If the hydraulic pump of the hydraulic cylinder for lifting and lowering is driven by the engine for driving the work equipment or for traveling, the hydraulic pressure is low during idle operation, so the lifting speed is relatively slow, and the hydraulic pressure is sufficient during work. Since the temperature is high, the phenomenon that the rate of rise is relatively fast tends to occur.

In such a situation, if the parallel return is performed after the scheduled time has elapsed from the ascent start position, if the oil pressure is low, the parallel return will start below the planned position, and if the oil pressure is high, it will start parallel return. In this case, the parallel return control may be started above the planned position, and therefore it may be necessary to take measures to reduce the influence of variations in oil pressure level.

The present invention has been made to solve the above-mentioned problems.

(Means and effects for solving the problems) In order to solve the above-mentioned problems, the present invention provides an elevation control unit that controls the elevation of a working machine, and a control unit that tilts the working machine from side to side with respect to a vehicle. a horizontal control section and a parallel return control section, a detection means for detecting the current height value of the working machine, a means for detecting the rising speed immediately after the working machine starts to rise, and a detecting means for detecting the current height value of the working machine; The present invention is characterized in that it includes means for switching the horizontal control section to a parallel return control section to make the working machine parallel to the vehicle after a delay time calculated based on the height position of the machine.

In the present invention having the above configuration, the rising speed of the working machine immediately after the start of rising is detected, and the optimal delay time until starting the parallel return control is determined from the rising speed and the height position of the working machine. Since this setting is made, it is possible to start the parallel return control of the working machine at a substantially constant position regardless of the level of the oil pressure.

'(Example) The present invention will be described in detail below with reference to the drawings.

FIG. 10 is a side view of a traveling working vehicle to which the control device of the present invention is applied, and FIG. 11 is a perspective view showing main parts of a working machine and a coupling mechanism section connected to the rear of the traveling working vehicle.

In the figure, a working machine 3 such as a tillage rotor is connected to a vehicle 1 via a connecting mechanism 2.

The work machine 3 is connected to the vehicle 1 via a three-point lifting link mechanism consisting of a top link 4 and a pair of left and right lower links 5 and 6. Further, a hydraulic cylinder 7 and a lift arm 8.9 driven by the cylinder 7 are attached to the vehicle 1 side.

The lower links 5 and 6 each have a lift rod 10.1
Since it is connected to the lift arm 8.9 through 1,
The work machine 3 is raised and lowered by the expansion and contraction operations of the hydraulic cylinder 7.

A horizontal sensor 12 is provided on the vehicle 1, and a lift rod 1
1 is provided with a hydraulic cylinder 13 that extends and contracts the rod, and a stroke sensor 14 that detects the amount of extension and contraction of the lift rod 11.

Then, the stroke sensor 14 adjusts the amount of expansion and contraction according to the degree of inclination of the vehicle 1 detected by the horizontal sensor 12 so that the work implement 3 is held horizontally with respect to the ground even if the vehicle 1 rolls. While monitoring, the value of the stroke sensor 14 is maintained at the stroke target value.
The hydraulic cylinder 13 is driven and controlled. lift arm 8
, 9 is provided with a lift sensor 15 composed of a rotary potentiometer that detects the lift angle, and the work equipment 3 is raised to the non-working position and lowered to the working position according to the sensor output. can be controlled.

On the other hand, on the working machine 3 side, a pillar 16 is provided which traces the ground and whose opening degree θ changes depending on the depth of tillage when the working machine 3 is in the working position. The opening degree θ of the pillar 16 is detected via a rod 17A by a pillar sensor (angle sensor) 18A composed of a rotary potentiometer.

Further, the hydraulic cylinder 7 is driven in accordance with the output of the pillar sensor 18A, and the tilling depth can be controlled to be maintained at a set value.

The vehicle 1 is provided with an operator's seat 17, and a lift switch 18 for manually controlling the lifting and lowering of the working machine 3 is provided next to the seat.

FIG. 1 shows a block diagram of an electrical control system in such a traveling work vehicle.

Here, in accordance with the detection output of each sensor and control operation instruction signals from various switches, each operation command for raising/lowering and left/right tilting of the working machine 3 is sent to each of the hydraulic cylinders 7 and 7, as described later. The on/off operations of the valves provided to each of the valves 13 are performed as appropriate.

In the figure, the lift control unit 19 includes a lift switch 18.
A target height signal of the working machine 3 set by the above and a detection signal of the lift sensor 15 are inputted. Then, based on the signal from the lift control unit 19, the lift valve 2
5, an on/off signal is given to the lowering valve 26. The ascending valve 25 and descending valve 26 are connected to the working machine 3.
This is a control valve that drives the hydraulic cylinder 7 that raises and lowers the hydraulic cylinder 7, and performs on/off operations based on the on/off signal from the elevation control section 19.

The stroke target value setter 29 is arbitrarily set with a stroke target value to be compared with a value determined based on the detection value of the horizontal sensor 12 and the detection value of the stroke sensor 14 .

A detection signal from the stroke sensor 14 , a stroke target value signal, and a detection signal from the horizontal sensor 12 are input to the horizontal control unit 20 . Then, based on the signal, an on/off signal is given from the horizontal control section 20 to the right tilt valve 27 and the left tilt valve 28 so that the detected value of the stroke sensor 14 matches the stroke target value. .

The right tilting valve 27 and the left tilting valve 28 drive the hydraulic cylinder 13 that tilts the working machine 3 left and right in response to the on/off signal.

The parallel return control unit 21 controls the position of the work equipment 3 in parallel to the vehicle 1, and controls the right tilting valve 27 and the left tilting valve 27 so that the value of the stroke sensor 14 matches the stroke target value. Controls the on/off operation of the valve 28. Note that in this parallel return control, the center value of the stroke sensor 14 is set and used as the stroke target value.

During normal tillage work, the left and right tilting motion of the work implement 3 is controlled by the horizontal control unit 20, but when not working and when the vehicle 1 is turning, the horizontal movement is controlled by the parallel return control unit 21 according to the control described below. Can be switched.

The calculation unit 22 receives input from the lift sensor 15 of the current height value of the work implement 3 (hereinafter referred to as the current lift value) and the elevation setting value which is the highest position of the work implement. The rising setting value is a value set in advance in the rising setting value setting device 30, and is at least a height at which the working equipment 3 does not hit the ground even if the working equipment 3 starts parallel return. .

The time chart in Figure 12 shows the relationship among the signals of the ascending valve 25, descending valve 26, and lift sensor 15.

In the figure, after the rising valve 25 is turned on and the counting time T1 of the parallel delay count value has elapsed, that is, point a, and after the elapse of the counting time T2 of the parallel change count value from point a, that is, point b. The difference between the values of the lift sensor 15 at point b and the value of the lift sensor 15 at point b,
A parallel return variable is calculated from the difference A from the rising set value, an optimum delay time T3 is read from a calculation table shown in FIG. 3, which will be described later, and after the delay time T3 has elapsed, parallel return control is started.

The parallel return variable is determined by (A/lift speed). The lift speed is determined by (the value of the lift sensor at point b - the value of the lift sensor at point a) or "θ", which will be described later in the explanation of the flowchart.

The descending valve 2G is turned on, and after counting the parallel descending count value T4, the parallel return control is released. The count value T4 is calculated after the lowering valve 26 is turned on.
This is a delay time set in anticipation of mechanical play until the lift arm actually operates.

Note that the parallel delay count value T1 is the time until the lift arm actually operates with respect to the operation of the lift valve 25.
This is a delay time set in anticipation of mechanical play.

The first parallel counter 23 counts the parallel delay count value T1 by turning on the rising valve 25, and after counting the count value, a count end signal is output to the calculation unit 22, and the lift at the end of the count is The current value is read.

Furthermore, after the count value ends, a count start command for the parallel change count value T2 is output from the calculation section 22 to the first parallel counter 23, and the current lift value at the end of the count is read.

The count value is read every time the count value is completed twice,
An optimum delay time T3 calculated from a calculation table described later based on the lift current value and the rise setting value is set as a count value in the second parallel counter 24, and after counting the count value, the horizontal The control by the control section 20 is switched to the control by the parallel return control section 21.

When the lift switch 18 is operated to start tilling work and the lowering valve 26 is turned on, the second parallel counter 24 counts the parallel lowering count value, and after counting the count value, the parallel lowering control is started again. Control unit 20
Switched to horizontal control.

In addition, the parallel delay count value, the parallel change count value,
The parallel descent count value is a value stored in advance as ROM data.

To summarize the above, in this embodiment, during horizontal control of the work machine 3, a lift command signal is issued to the work machine 3, and when the lift valve 25 is turned on, the lift valve 25 The height of the work implement 3 at two points in time after a preset time has elapsed since the start of the on-operation is read, and the rising speed of the work implement 3 is calculated from the reading results.

Then, based on the rising speed, the time required for the work equipment 3 to reach the rising set value is calculated, and the calculated value is set in the second parallel counter 24 as the optimum delay time, and the elapse of the optimum delay time. After that, the work machine 3 is controlled to return parallel to the vehicle.

FIG. 3 shows a relationship diagram between the optimum delay time and the parallel return variable. In the figure, the horizontal axis represents the parallel return variable, and the vertical axis represents the counter value for setting the delay time T3. The relationship between the parallel return variable and the counter value is as shown by curve F.

Next, the control flow of this embodiment will be explained in detail with reference to FIGS. 4 and 5. FIG. 4 shows the entire flowchart for the horizontal tilting operation of the working machine 3, including horizontal control and parallel return control, and FIG. 5 shows an extracted part of the parallel return control in FIG. 4. A detailed flowchart is shown.

The overall control flow is as follows.

First, the values of the horizontal sensor 12 and the stroke sensor 14,
That is, the inclination of the vehicle 1 and the inclination of the work implement 3 with respect to the vehicle 1 are input (step Sl). Based on the human power value in step S1, a stroke target value for controlling the work implement 3 horizontally is calculated regardless of the inclination of the vehicle 1 (step S2). This calculation result is set as a stroke target value in the stroke target value setter 29 (step S3).

The above steps 81 to S3 are the preparation stages for horizontal control.

After step S3, parallel return control, which will be described later with reference to FIG. 3, is performed (step S4). Thereafter, in step S5, the stroke target value and the current stroke value are compared. Here, in the case of horizontal control, the calculation result in step S3 is used as the stroke target value, and in the case of parallel return control, the stroke center value of the lift rod 11 is used as the stroke target value.

In step S5, when the current stroke value is smaller than the stroke target value, the right tilting valve 27 is turned on (step S6), the hydraulic cylinder 13 is operated, and the lift rod 11 is extended.

On the other hand, when the current stroke value is greater than the target stroke value, the left tilting valve 28 is turned on (step S7
), the hydraulic cylinder 13 operates and the lift rod 11 retracts.

Further, when the two are equal, both the right tilt valve 27 and the left tilt valve 28 are in an OFF state (step S8).
Therefore, the hydraulic cylinder 13 does not operate.

Next, the parallel return control will be explained with reference to the flowchart in FIG.

The parallel flag, set flag, and parallel mode are all in the reset state at the time of control activation.

First, in step 5401, since the parallel flag has been reset, the process proceeds to the next judgment step (step S
402).

In step 5402, it is determined whether or not the rising valve 25 is turned on. If the rising valve 25 is turned on, an affirmative judgment is made, and step 5403
It is determined whether the parallel mode is '0' or not. Since the parallel mode is also reset at the time of control activation, step 54
Proceed to 04.

In the next determination step 5404, the set flag is determined, and since the set flag has also been reset and the determination result is 0'', the process advances to step 5405.

In step 5405, the parallel delay counter value T1 is set in the first parallel counter 23, and subtraction is started.

When the subtraction of the counter value T1 is started, a set flag is set (step 5406). The step 540
Since the set flag is set at step 6, step 540
The next judgment in step 4 is “1′”, and step 5
Processes 405 and 8406 are skipped.

When the subtraction of the parallel delay counter value T1 is started and the set flag is set, the determination as to whether the counter value has become "O" is repeated in step 8407, and when the counter value has become "0", step 8408 Then, "1" is added to the parallel mode value.

In step 5409, the set flag is reset;
The process moves to step S5.

After completing the subtraction of the parallel delay counter value T1, step 54
Since "1" is added to the parallel mode value in 08,
The next determination in step 5403 is negative, and the process moves to step 5410.

Since the value of the parallel mode is "1" since "1" is added in step 8408 to the "0" value at the time of control activation, the judgment in step 5410 is affirmative and the process proceeds to step 5411. .

Since the set flag is “O” in step 5409, the process advances to step 5412.

In step 5412, a parallel change counter value T2 is set in the first parallel counter 23, and the counter value T2 is set to the first parallel counter 23.
Subtraction of 2 is started.

When the subtraction of the parallel change counter value T2 is started, a set flag is set (step 5413), and step 5
Proceed to 414.

In step 5414, the current value of the lift sensor 15, that is, the current height value of the work implement 3 is set as the initial lift value.

Since the set flag is set in step 5413, in the next process, the determination in step 5411 is "1", and the processes in steps 8412 to 5414 are skipped.

In step 5415, monitoring is continued until the value of the first parallel counter 23 to which the parallel change counter value T2 is set becomes "0", and when the counter value becomes "0", "1" is set to the parallel mode. is added (step 8416
).

In step 5417, the set flag is reset.

In step 8418, the current lift value after the parallel change counter value T2 has finished counting, that is, the height of the work implement 3, is read from the lift sensor 15, and the current lift value is compared with the initial lift value. Ru.

If it is determined in step 8418 that the current lift value is greater than the initial lift value, the process proceeds to step 5419, where a value obtained by subtracting the initial lift value from the current lift value is set as the lift speed, and at the beginning of the program. return.

On the other hand, if it is determined in step 8418 that the initial lift value is greater than the current lift value, that is, the hydraulic pressure supplied to the hydraulic cylinder 7 is extremely low, and the work implement 3 hardly rises during the counting time of the counter value T2. Rather, if the lift sensor 16 falls below the initial value due to factors such as vibration, "0" is set as the lift speed (step S420).

When the processing in step 5419 or 5420 is completed and the program returns to the beginning, and the upward operation of the rising valve 25 continues, the value of the parallel mode is incremented by "1" in step 8416, and '2' is added. ”, the process moves to step 5421.

Since the set flag has been reset in step 5417, the determination in step 5421 is "0" and the process moves to step 5422.

In step 5422, a delay time T3 until the start of parallel return is calculated. Delay time T until the start of parallel return
The program flow for the three calculations will be described later.

In step 8423, the calculated value (delay time) T3 calculated in step 5422 is calculated by the second parallel counter 2.
is set to 4 and subtraction begins immediately.

Once the subtraction of the counter value is started, step 542
4, the set flag is set, and from this point on,
Since the determination result in step 5421 is "1", steps 8422 to 5424 are skipped.

In step 5425, the counter value of the second parallel counter 24 is monitored until it reaches "O".

When the value of the second parallel counter 24 becomes "0", a parallel flag is set in step 8426.

In step 5427, the set flag is reset, in step 8428, the parallel mode value is set to "0", and further in step 5429, the stroke target value is set to the stroke center value.

When the stroke center value is set to the stroke target value, the process in step S5 becomes a comparison between the stroke center value and the current stroke value, in other words, the horizontal control of the work implement 3 is switched to parallel return control. become.

After the parallel flag is set in step 8426, program flow moves from step 5401 to step 5430. Unless the descending valve 26 is turned on,
The determination at step 5430 is negative, and step 5
The set flag is reset at 437 and step 843
At step 8, the process of setting the stroke center value to the stroke target value is repeated.

In other words, the parallel return control of the working machine 3 is maintained and continued.

When the descending valve 26 starts to turn on, step 5
The determination at step 430 is affirmative, and the process advances to step 8431.

Since the set flag has been reset in step 5437, the determination in step 5431 is "O", and the process proceeds to step 8432, where the parallel descending counter value T4 is set in the second parallel counter 24, and the counter value T4 is subtracted. is started.

When the subtraction of the counter value is started, step 5433
The set flag is set in .

When step 5433 is executed, the determination in step 5431 becomes "1", so in the next process, step 5
432.5433 is skipped.

In step 5434, the determination of the counter value of the second parallel counter 24 is continued until the counter value reaches '0', and when the counter value reaches '0', the parallel flag is reset (step 5435) and set. The flag is also reset (step 8436).

Since the parallel flag was reset in step 5435,
The determination in the next step 5401 will be "0", and if the descending valve 26 continues to be turned on, the ascending valve 25 will be turned off.
The judgment in step 5402 is negative, and step 543
Move to 9.

In step 5439, it is determined whether a value obtained by subtracting a value γ preset as ROM data from the lift setting value is greater than the current lift value.

If the determination is affirmative, that is, if the current lift value is further below the position γ lower than the rising set value, the set flag is reset (step 5440).
), the parallel mode value is also reset (step 544
1).

Therefore, since the process of replacing the stroke target value with the stroke center value (steps 5429 and 5432) is not executed, parallel return control is canceled and switched to horizontal control.

Note that if the determination in step 5439 is negative, that is, if the current lift value is within the value γ from the rise setting value,
Since it can be determined that the current lift value substantially matches the rise set value, the process moves to step 5425, and step 54
Steps 25 and subsequent steps are executed as described above, and parallel return control is performed.

That is, after the delay time T3 from when the lift valve 25 is turned on until the start of parallel return is set in the second parallel counter 24, the work machine reaches the set lift value before the second parallel counter 24 reaches 0. Even if the rising valve 25 is turned off by reaching 0, the determination in step S39 is negative, so step 5425 is monitored, and when the second parallel counter 24 reaches O, parallel return can be performed. .

Next, the flow of the calculation program for the parallel return timer is shown in the sixth section.
This will be explained with reference to the figures.

First, in step S51, the lift setting value and the current lift value are compared, and if the current lift value is large, the process moves to step S52, the setting value A is set to "0", and the current lift value is small. If so, the process advances to step S53, and the difference between the lift setting value and the current lift value is set to the setting value A.

In step S54, it is determined whether the lift speed is "O#" and
If the lift speed is "O" from the result of 0, the process moves to step S55, FFH is set as the parallel return variable, and "
If not θ'', the process proceeds to step S56, where (A/lift speed) is set as the parallel return variable.

In step S57, interpolation calculation of the parallel return timer is performed using the calculation table shown in FIG. 3, and the parallel return delay time T3 is determined.

Next, a second embodiment of the present invention will be described with reference to flowcharts shown in FIGS. 7 to 9.

In FIG. 7, step 5406 in FIG.
Immediately after, step 550 stores the upward change amount.
This is a flow with 0 inserted. The step 550
Since the flowchart is the same as the flowchart in FIG. 5 except that 0 is inserted, illustration and explanation of the entire flowchart will be omitted.

Step 5500 is a step for storing the amount of upward change at the 0 point in the time chart shown in FIG. 2, and its specific flow is shown in FIG. 8.

In FIG. 8, in step S61, the lift set value and the current lift value are compared, and if the rise set value is greater than the lift current value, the process proceeds to step S62, and the value obtained by subtracting the lift current value from the rise set value is determined. is stored as an upward change ff1A.

If it is determined in step S61 that the lift setting value is not greater than the current lift value, the process moves to step S63, and "0" is stored in the lift change fiA.

In addition, in this second embodiment, step 542 in Fig.
The parallel return timer calculation in Step 2 is performed in steps S61 to S61.
Since the upward change amount A is calculated in step 63 and has already been stored, step 86 in the flowchart shown in FIG.
4 to S67 are executed and calculated. The flow in FIG. 9 corresponds to steps 354 to 557 (FIG. 6) of the first embodiment.
Since it is the same as that, the explanation will be omitted.

According to Section 1 and the second embodiment, as is clear from the above description, the amount of rise of the lift arm at the set time immediately after the start of the on-operation of the lift valve 25 is detected, the work equipment 3 is Calculate the rising speed, estimate the time required for the working machine 3 to reach the rising set value based on the rising speed, and calculate the delay time until the parallel return control of the working machine 3 with respect to the vehicle 1 is started. This is how you set it.

Therefore, irrespective of the rising speed of the working machine 3, the parallel return control is performed at a substantially constant height.

In addition, in the calculation of the amount of increase change from the current lift value to the set elevation value for estimating the required time, in the first embodiment, the value at point b is used as the current lift value. On the other hand, in the second embodiment, the value at point 0 is used as the current lift value.

As mentioned above, although the point in which the current lift value is extracted is different, the time between point 0 and point b, that is, the total time of parallel delay counter value T1 and parallel change counter value T2, is about several hundred to seconds. Since this is a minute time compared to the delay time T3 for returning to parallelism, the same effect can be obtained even if the current lift value is extracted at any of the 0 points up to point b.

(Effects of the Invention) As is clear from the above description, according to the present invention, the following effects can be achieved.

(1) Switching control for starting and canceling parallel return control is performed by combining a lift sensor that detects the height of the work equipment, a valve for raising and lowering the work equipment, and a timer, so the switching timing There is no need to manually judge the information, and therefore the operation is easy.

(2) Even if the lifting speed of the work equipment fluctuates due to changes in oil pressure caused by engine rotation, etc., parallel return control can be started and canceled at a more or less constant height.

(3) The operation is reliable because it is controlled based on the operation of the ascending valve and descending valve that drive the working machine.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a control device showing an embodiment of the present invention, FIG. Figure 3 is a relationship diagram between parallel return variables and parallel return delay time, Figure 4 is a flowchart of horizontal and parallel return control, Figure 5 is a detailed flowchart of parallel return control, and Figure 6 is a flowchart of parallel return timer calculation. , FIG. 7 is a flowchart showing the main part of the second embodiment of the present invention, FIG. 8 is a flowchart of increasing change amount storage of the second embodiment, FIG. 9 is a flowchart of parallel timer calculation of the second embodiment, FIG. 10 is a side view of the traveling working vehicle, and FIG. 11 is a perspective view of the working machine connected to the rear of the vehicle and its connecting portion. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 2... Connection mechanism part, 3... Work equipment, 7.13... Hydraulic cylinder, 8, 9... Lift arm, 10.11... Lift rod, 12 ... horizontal sensor, 14 ... stroke sensor, 15 ... lift sensor, 18 ... lift switch, 19 ... lift control section, 20 ... horizontal control section, 21 ... parallel return control Part, 22... Calculation part, 23... First parallel counter, 24... Second parallel counter, 25... Valve for ascending, 26... Valve for descending, 27... For right tilting. Valve, 28...Valve for left tilt. Agent Patent Attorney Michito Hiraki Outside 12 Figure 2 Figure 3 Reason Z? Figure 5 I2 (Part 1) Figure 5 (Part 2) Figure 5 (Part 3)

Claims (3)

[Claims] (1) A lift control unit that controls on/off of the ascending valve and descending valve of the fluid pressure actuator that raises or lowers the ground-based work equipment, and a fluid-pressure actuator that tilts the ground-based work equipment to the right or left. a horizontal control section and a parallel return control section for controlling on/off of the right tilting valve and the left tilting valve; a detection means for detecting the current height value of the ground work equipment; After a scheduled time from the start, the means for switching the control by the horizontal control section to the control by the parallel return control section and the lifting valve are turned on so that the ground work machine becomes parallel to the traveling vehicle, and the ground work is started. A ground work equipment position comprising: means for detecting a climbing speed immediately after the machine starts climbing; and means for calculating the scheduled time based on the height position of the ground work equipment and the rising speed. Control device. (2) The above-mentioned patent claim characterized in that the height position of the ground-based work machine that serves as a reference for calculating the scheduled time is the height position of the ground-based work machine detected at the time when the rising speed is calculated. The ground work machine position control device according to item 1. (3) The above-mentioned patent claim characterized in that the height position of the ground-based work equipment that serves as a reference for calculating the scheduled time is the height position of the ground-based work equipment immediately after the lift valve starts turning on. The ground work machine position control device according to item 1.