JPH06303817A - Lift controlling method for working machine - Google Patents

Abstract

PURPOSE:To improve the stability and response of a lift controlling operation of a reap-pretreatment apparatus of a combine harvester by detecting the ground height with an ultrasonic sensor and selecting the data of the detected values in a specific manner. CONSTITUTION:Ultrasonic wave emitted from a transducer of an ultrasonic sensor and reflected from the ground is received with a receiver, the received signal is inputted to a CPU, the data of the detected values are temporarily stored in a RAM and taken in an upper CPU as a time series divided data and the average value is calculated. In the above process, the deviation of the present time series divided data from the former time series divided data is calculated and the adoption or rejection of the data for the calculation of the average value is determined according to the level of the calculated deviation. The lift-control of the reap-pretreatment apparatus is carried out according to the level of the operation indicating signal obtained by using the average value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine which can be moved up and down with respect to a traveling machine body of an agricultural work machine such as a pre-mowing treatment device in a combine, and a work machine for civil engineering work which can be moved up and down. Among them, the present invention relates to a method of controlling elevation of these working machines so that the height above ground becomes a set value.

[0002]

2. Description of the Related Art As a cutting height detecting device in a combine, which has been widely used in the past, a mechanical sensor having a contact portion that comes into contact with the ground is damaged by a foreign matter of the root of a grain stem hitting the contact portion. There was a drawback that it was easy to do. On the other hand, recently, as disclosed in JP-A-58-142279, a non-contact type ultrasonic sensor is often used.

In this type of ultrasonic sensor, a short pulsed transmitted wave is emitted toward the ground, the reflected wave is received by the receiver, and the reflected wave is received by the receiver when the ultrasonic wave is transmitted. The height to ground is detected by measuring the length of time until the time is reached, and an extremely short (msec.) Pulsed ultrasonic wave is generated at each time. Detects extremely limited points.

On the other hand, the field scene is generally uneven and swelled, and the field scene is mud and there are footprints of workers, grooves, and cracks, so the detected value is only once. Then, the ground height cannot be accurately detected without error. In order to eliminate this inconvenience, for example, Japanese Patent Publication No. 63-5
In Japanese Patent Publication No. 9641, etc., it is proposed that the ground height is recognized from the moving average value of the detection results measured a plurality of times, and the cutting pretreatment device is vertically moved so as to reach the set cutting height from the moving average value. ing.

According to the calculation processing of the moving average value, each time a new detection result is additionally input, a number of detection results corresponding to the additional input detection result are sequentially removed from the previously stored one. It is configured to do.

[0006]

However, when the moving average calculation process is performed on the signal of the detection result as described above,
Even if the detection signal value (noise component) at the groove or crack location as described above is significantly different from the detection signal value at the normal ground location, the effect of the noise component must be applied to some of the moving average values. If the ascending / descending control is executed according to this result, the stability of the control is lost.

On the other hand, in order to reduce the influence of the noise component, if the number to be adopted for the average value calculation is increased, a large amount of past detection results are also taken in, and the working machine is changed according to the ground height at that time. When trying to control elevation, it is normal for detection values to differ greatly, for example, at the boundary between a farm scene and a ridge, but if many past components are incorporated in the average value calculation, detection will be performed during elevation control. There is a problem that the time lag becomes large with the result, and the latest detection result is not reflected in the subsequent judgment of the elevation control based on the time old result, and the control response is poor.

The present invention, even in the above situation,
In order to maintain the ground height of the working machine in a predetermined state, the stability and responsiveness of the lifting control of the working machine are satisfied at the same time,
The technical problem to be solved is to make it possible to execute the elevation control smoothly and accurately.

[0009]

In order to solve the above-mentioned problems, the method for controlling the raising and lowering of a working machine according to claim 1 is a transmitter in an ultrasonic sensor mounted on a working machine connected to a traveling machine body so as to be able to move up and down. The result of processing the detected value of the ground height by detecting the ground height by measuring the time length from the time when the ultrasonic wave transmitted from the ground to the ground is received until the reflected wave is received by the receiver. In the method for controlling the raising and lowering of the working machine configured to control the working machine to move up and down on the basis of the above, when the detected value obtained at regular time intervals is subdivided at a time interval shorter than the constant time. The time-series subdivision data is divided into series subdivision data, the obtained time-series subdivision data is temporarily stored in a buffer memory, and the working machine is moved up or down according to the magnitude of the average value in which three or more of the time-series subdivision data are used as the operation unit. To get the control command signal One in which the.

In the method for controlling elevation of the working machine according to a second aspect of the present invention, the average value of the time-series subdivided data for each operation unit shifted in time series by a number smaller than the number of data included in the operation unit is obtained. In the calculation for, when the value of the time-series subdivision data to be newly added and the value of the old time-series subdivision data used immediately before that have a deviation of a predetermined value or more,
Employment of the time-series subdivision data to be newly added is temporarily suspended, and alternative data is employed instead. Further, the working machine lifting control method according to claim 3 is for each operation unit. When performing the calculation of the average value of the time-series subdivision data of 3 times or more, it is determined that the value of the time-series subdivision data to be newly added is the same value as the value held at the time of the previous calculation of the average value. In this case, the suspended time-series subdivision data and the time-series subdivision data to be newly added are adopted to execute the average value calculation operation.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described. FIG. 1 is a side view of a combine, and a hydraulic cylinder shown in FIG. 2 is provided at a front portion of a traveling machine body 1 having a traveling crawler 1a of the combine. The mowing pretreatment device 2 is mounted to be movable up and down via 9, and the mowing pretreatment device 2 is a grain culm raising device 3 in which the lower end is inclined forward and the upper end is inclined rearward, and the weed body in front of the lower end. 4, a cutting blade 5 at the lower rear of the grain culm raising device 3, and a grain culm transporting device 6.

The ultrasonic sensor 7 in the ultrasonic distance detecting device of this embodiment is arranged on a bracket (not shown) provided on the back side of the grain culm raising device 3, and as shown in FIG. The ultrasonic sensor 7 is arranged so that the transmitting portion (horn portion) of the transmitter 7a and the receiving portion of the receiver 7b face the ground 8. FIG. 2 shows an embodiment of the ultrasonic detecting device of the present invention and its control unit. Reference numeral 10 is a central processing unit (CP) as a control unit in the ultrasonic distance detecting device.
In U), a read-only memory (ROM) 17 storing a control program, a readable / writable memory (RAM) 18 temporarily storing various detection values, data, etc., an interface, a bus, etc. are provided. An ultrasonic wave is transmitted to the transmitter 7a in the sensor 7 at an appropriate time interval T1 via a transmission drive circuit 11 in response to a command from the CPU 10, and a reflected wave reflected by an object to be detected is received by a receiver 7b. , The detection signal is transmitted to the CP via the reception amplification circuit 12.
Input in U10.

Further, another upper central processing unit (CPU) 13 is connected to the CPU 10, and in the CPU 10,
The distance of the ground height is calculated from the detection signal. Upper CP
In U, an average value calculation described later is executed, a predetermined elevating command signal is output from the upper CPU 13 to the drive circuit 14, and the electromagnetic solenoid of the hydraulic pressure switching valve 15 is operated according to the output from the drive circuit 14, The hydraulic cylinder 9 for raising and lowering the pre-mowing treatment device 2 is operated.

FIG. 4 shows a hydraulic circuit 16 including the hydraulic switching valve 15. The upper CPU 13 has a read-only memory (R
OM), a read / write memory (RAM) for temporarily storing various detection values, data, etc., an interface, a bus, etc., and also receives signals from other sensors and control switches in the combine to detect vehicle speed and threshing. It also controls the drive of the pre-mowing device 2 according to the load and the like.

Next, the control command amount determination control of the cutting height in the CPUs 10 and 13 will be described with reference to the main flowchart of FIG. 6. The drive circuit 11 is driven by the drive pulse P1 (see FIG. 3) output from the CPU 10. The transmitter 7a for a predetermined time interval T1 (in the embodiment, 25 ms).
every ec.), the transmitted wave P2 in the duty section T2 is output. In the receiver 7b, the transmitted wave P from the transmitter 7a
2 reflects on the ground 8 and receives the reception wave P3 after an appropriate time T3 from the start of emission of the transmission wave P2.

If the section in which the detection signal P3 is above a certain level (threshold value) H is T4, the ultrasonic sensor 7
Time value (detection value) for measuring the distance from the ground to the ground
The calculation of K = (T4 / 2) + T3 is executed by the CPU 10 (step S1). The relationship between the calculated detection value K and the distance is stored in the ROM as a look-up table such as a relational expression by an experiment in advance, and the C
The PU 10 calculates the distance L from the detection value K and the look-up table. In the embodiment, the pre-mowing treatment device 2
The vertical distance between the lower end surface of the blade and the ground 8 or the vertical distance from the cutting blade 5 to the ground 8 is the distance required for control.

Then, in step S2, the detected value K for each time is temporarily stored in the buffer memory area of the RAM 18. Then, the calculating unit in the CPU 13 calculates an average value Km from a plurality of cutting height detection values K (step S3), as described later, and then the cutting height with respect to the cutting height set value G. Average value K of detected values K
While the deviation amount D of m is calculated (step S4), another calculation unit calculates the first-order difference amount ΔD (= D _{n + 1} −D) of the deviation amount D.
_n ) is calculated (step S5), these values are stored again (step S6), and the ROM 17 of the CPU 10 is further stored.
Using a fuzzy inference rule table stored in advance in
The deviation amount and the first-order difference amount are input as variables, and calculation is performed so as to output the operation instruction amount (step S7).
Then, the cutting pretreatment device is controlled to be moved up and down according to the magnitude of the operation instruction amount (step S).
8).

The raising / lowering control of the reaping pretreatment device will be described in detail below with reference to a subroutine flow chart (FIG. 7). The detected value obtained at regular time intervals is subdivided at time intervals shorter than the constant time. The obtained time-series subdivision data is temporarily stored in a buffer memory, and an average value calculation process using three or more of the time-series subdivision data as an operation unit is performed. A lift control command signal for the working machine is obtained in accordance with the magnitude of. In the embodiment, the detected value K is 25 msec in the CPU 10.
It is obtained for every 10msec.
The detection value is searched for from U10 and is stored in the memory of the CPU 13 (step P1).

In order to compare the value of the time-series subdivision data to be newly added with the value of the old time-series subdivision data adopted immediately before that, the deviation (SABUN) is calculated (step P2), and Deviation (SABUN) is a predetermined value α
If it is less than (step P3, no), the value of the current time-series subdivision data to be newly added is referred to (step P7), and after the hold flag is cleared (step P8),
The calculation for obtaining the average value of the time-series subdivided data for each calculation unit, which is shifted in time series by the number smaller than the number of data included in the calculation unit, is executed (step P9).

In this embodiment, the timing at which the detection is actually performed and the detection value is updated by the CPU 10,
Since the timing at which the detection value is fetched by the CPU 13 is deviated, a plurality of stable detection results are fetched in the average value calculation process (step P9) described later, and the sensing result is stable. Detected value data that is updated every 25msec. Is set as K (1), K (2), K (3), K as a one-dimensional array.
(4), K (5), K (6) ・ ・ ・ K (n) is 10 msec.
The time-series subdivision data read for each is K (1), K (1), K
(2), K (2), K (2), K (3), K (3), K (4), K (4), K (4), K (5), K (5), K
(6), K (6), K (6), and so on. The 6 number average (simple average) is used, and the moving average value H that shifts the data to be adopted one by one is expressed as a one-dimensional array. Then, Therefore, when the moving average value is calculated, a plurality of the same detected values subdivided in time series are taken in, and as a result, the stability and responsiveness of the lifting control itself can be satisfied at the same time.

On the other hand, in the case of the normal moving average value calculation, in the same time span of detection as in the present invention, the calculation unit of the average value becomes three, And the deviation between adjacent detection values, for example, K (3) -K
When (2) is large, the influence greatly affects the result of the average value. On the other hand, if the number of calculation units is increased, many old data in the past will be added to the target of the moving average calculation, and the recent situation will not be reflected well.

On the other hand, in this embodiment, two K (1), three K (2), and one K (3) should be adopted as the average value H (1). Since the data is used, the influence of the deviation can be reduced. In the above-described embodiment, the number of time-series subdivision data having the same value is repeatedly set to 2 and 3, which means that the time of the stored detection value data and the time-series subdivision timing are deviated. Therefore, even if the weighting of the data is changed in calculating the average value, no serious inconvenience occurs.

Further, in the present invention, a new addition should be made in the calculation for obtaining the average value of the time-series subdivided data for each calculation unit, which is shifted in time series by a number smaller than the number of data included in the calculation unit. The value of the time series subdivision data,
In order to compare the value of the old time series subdivision data adopted immediately before that, the calculation of the deviation (SABUN) is executed (step P2), and when the deviation (SABUN) becomes the predetermined value α or more (step P3). Yes) to step P4
If it is determined that the hold flag is not set, the hold flag is not set (step P4, n
o), the suspension flag is set and the adoption of the time series subdivision data to be newly added is temporarily suspended (step P).
6) Instead, the substitute data is adopted to execute the average value calculation (step P9).

For example, when it is judged that K (3) -K (4)> α (step P3, yes), H (3) = K (2) + K (2) + K
(2) + K (3) + K (3) + K (4) / 6 When the average value calculation is performed, the adoption of the data of K (4) is temporarily suspended and, instead, removed during the moving average calculation. Use K (1) again, adopt the previous data K (3), adopt another dummy value, or use K (3) + K (3) −K by interpolation.
(4) The moving average value calculation is executed by adopting alternative data such as adopting the value of / 2. The reserved data is not erased from the memory but retained in the memory.

As described above, when there is a large change in the time-series subdivided data, the effect is not treated by averaging, but is treated as noise for the time being.
However, when the above-mentioned time-series subdivided data having a large variation continues, for example, when the average value calculation operation of the time-series subdivision data for each operation unit is executed three times or more, the time-series subdivision data to be newly added When it is determined that the value of is about the same as the value held at the time of the previous average value calculation calculation, it is determined that there is a large change in the ground height, and the time series subdivision data and The algorithm of adopting the time-series subdivided data to be newly added and executing the average value calculation operation is adopted.

At step S4 of the main flow chart
The calculated deviation amount D (= H (n) -G) is also calculated by
This deviation is calculated each time the average value is calculated.
D₁, D₂, D₃, D_Four... D_n, D_{n + 1} ... also RAM
Is temporarily stored in (step S6). This adjacent deviation
Amount of first-order difference ΔD₁(= D₂-D₁), ΔD₂(= D ₃
-D₂), ... ΔD_n(= D_{n + 1}-D_n) Is calculated by
Therefore, it is stored (steps S5 and S6).

On the other hand, from the experimental results, a fuzzy inference rule table (see FIG. 8) is prepared in which the deviation amount D ... And the first-order difference amount ΔD are input as variables and the operation instruction amount X is output. The operation instruction amount X is obtained by referring to this fuzzy inference rule table. In this case, the two variable inputs to the fuzzy inference rule table (deviation amount D and first-order difference amount Δ
In order to allocate D) to each of 15 stages (elements), a preparatory operation as shown in the subroutine flowchart of FIG. 9 is executed.

That is, first, the base set U in which the deviation amount D is standardized
Allocate to 15 elements [0, 1, 2, ... 14]. At that time, the central element "U" among the 15 elements
To determine the magnitude relationship based on "7", the deviation amount D
The positive or negative of is determined (step S10). If the deviation amount D is positive (step S10, yes), then the value of the deviation amount D is compressed to 1/10 to obtain the value D '(step S1.
1), the operation of element U ← U7 + D ′ is executed (step S12).

When the deviation amount D is negative (step S10, n
o), the value of the deviation amount D is compressed to 1/10 to obtain the value -D '(step S13), and further, the element U ← U7-D'.
Is performed (step S14), whereby the deviation amount D is assigned to each element of the standardized table set U. Therefore, in the portion close to the element U7, it is shown that there is little difference between the height position of the pre-mowing processing device and the set cutting height, and the element U0
On the side close to, the mowing pretreatment device is much closer to the ground than the set mowing height. Further, when approaching the element U14, it indicates that the pre-mowing treatment device is far away from the ground for the set cutting height.

Next, the first-order difference amount ΔD is also assigned to 15 elements of the standardized table set V [0, 1, 2, ... 14]. At that time, in order to determine the magnitude relationship based on the central element "V7" of the 15 elements, first, whether the first difference amount ΔD is positive or negative is determined (step S15).
If the first-order difference amount ΔD is positive (step S15, ye
s), then compressing the value of the first-order difference amount ΔD to 1/10 to obtain the value ΔD ′ (step S16), and the element V ← V7
The calculation of + ΔD 'is executed (step S17).

When the first-order difference amount ΔD is negative (step S1)
5, no) The value of the first-order difference amount ΔD is compressed to 1/10 to obtain the value −ΔD ′ (step S18), and the element V
← V7-ΔD 'is calculated (step S19).
As a result, the first-order difference amount ΔD is assigned to each element of the standardized platform set V. Among the elements of the platform set V, the vicinity of V7 indicates that the up-and-down fluctuation (rate of change) of the mowing pretreatment device is small, and the closer the mowing pretreatment device is to the ground, the closer to V0. On the contrary, when V14 is approached, the degree of the pre-mowing treatment device separating from the ground is high.

Then, in step S20, the elements of the two sets of base sets are determined, and in the fuzzy inference rule table of FIG. 6, the operation instruction amount X which is the intersection of the elements is determined.
Find (membership value). This operation instruction amount X is
There are 17 steps in an integer value from -10 to 10, with a value of 0 there is no up-and-down, a positive value is an instruction to raise the pre-mowing treatment device, and a negative value is a instruction to lower the pre-mowing treatment device.

According to the determination of the operation instruction amount X in steps S21 and S23, the step S22 is stopped, and the step S22 is stopped.
The ascending drive control of 25 or the descending drive control of step S24 is executed. The CPU 12 outputs a predetermined up / down command signal to the drive circuit 14 according to the calculated result, and the hydraulic pressure switching valve 1 according to the output from the drive circuit 14.
The electromagnetic solenoid 5 and the electromagnetic solenoid of the pressure reducing control valve 16 are operated to operate the hydraulic cylinder 9 for raising and lowering the pre-mowing treatment device 2.

At this time, the integer value of the operation instruction amount X is +10.
In the case of, the ascending / descending electromagnetic solenoid of the hydraulic switching valve 15 is continuously turned on, and in the case of -10, the descending side electromagnetic solenoid is continuously turned on.
And the operation instruction amount X is 9, 8, 6, 5, 4, 3, 2, 1,
(Positive), depending on the magnitude of the value, the pressure reducing control valve 16
Change the ON / OFF duty ratio of the electromagnetic solenoid to reduce the amount of oil returned to the hydraulic tank when it is "9",
In the case of "1", adjust so as to increase. Decrease (when the operation instruction amount X is 9, 8, 6, 5, 4, 3, 2, 1 (negative), the reverse adjustment is performed.

By controlling in this way, for example, even if there are cracks or small irregularities in the field, the vertical movement amount and speed of the cutting pretreatment device can be suppressed without sensitively reacting to them. Further, when the pre-mowing treatment device starts to pass through the swelling part of the soil in the field, the distance (deviation amount) between the pre-mowing treatment device and the ground becomes small, and the degree of approach (the difference amount on the first floor) is medium (small). Therefore, the cutting pretreatment device may be moved up and down at a medium (small) speed accordingly. On the contrary, when the gap becomes the smallest at the top of the swelling and then begins to pass over the swelling part of the soil, the gap between the mowing pretreatment device and the ground widens, but the traveling device of the combine behind it is passing the flat surface. If so, the first floor difference amount is not so large. Therefore, the pre-mowing treatment device should not be lowered large and quickly.

On the other hand, even though the field scene on the lower surface side of the pre-mowing treatment device is flat, when the traveling device of the combine begins to pass through the heap of soil in the field scene behind it, The distance between the processing device and the ground fluctuates so as to be large. In that case, since the deviation amount also largely changes and each first-floor difference amount is also large, the pre-mowing treatment device is lowered largely and quickly.

Next, when the traveling device gets over the swelling portion of the soil, the distance between the cutting pretreatment device at the previous position and the ground suddenly changes and changes rapidly. Therefore, in this case, the ground clearance of the pre-mowing treatment device can be smoothly tracked to the set height by increasing the rising amount and the rising speed of the pre-mowing treatment device.

In this way, the judgment cannot be made only by detecting the height above ground between the mowing pretreatment device and the ground.
The raising and lowering speed of the mowing pretreatment device can be adjusted in consideration of the elevation of the mowing pretreatment device relative to the ground, so that the mowing pretreatment is performed regardless of the state of the field or the combine traveling state. Thus, the effect that the elevation control of the pre-mowing treatment device can be smoothly and accurately executed so that the ground height of the device can be maintained in a predetermined state.

[0039]

As described above, claim 1
According to the invention described in 1 above, the reflected wave is received by the receiver from the time when the ultrasonic wave transmitted from the transmitter of the ultrasonic sensor mounted on the working machine connected to the traveling machine body to the ground is transmitted to the ground. The height of the work machine is detected by measuring the length of time before the work is performed, and based on the result of processing the detected value of the ground height, the control unit controls the work machine to move up and down. In the elevating control method, the detection value obtained for each constant time is divided into time series subdivision data subdivided at time intervals shorter than the predetermined time, and the obtained time series subdivision data is temporarily stored in a buffer memory, The control is performed so as to obtain the lifting / lowering control command signal of the working machine according to the magnitude of the average value in which three or more of the time-series subdivision data are used as the arithmetic unit. Is the unit of calculation of The time series subdivision data can be increased and multiple data with the same value can be adopted, improving the stability of the average value, while the latest data can also be adopted, so the up-and-down control instruction amount can reflect the latest situation. Thus, there is an effect that the responsiveness of the lifting control of the working machine is also improved.

According to the invention described in claim 2,
In the calculation for obtaining the average value of the time-series subdivision data for each operation unit, which is shifted in time series by a number smaller than the number of data included in the operation unit, the value of the time-series subdivision data to be newly added, and When the value of the old time series subdivision data adopted immediately before has a deviation of a predetermined value or more, the adoption of the time series subdivision data to be newly added is temporarily suspended,
Instead of using the alternative data, it is possible to remove a sudden noise component for a short period of time and improve the stability of the lifting control of the working machine.

Further, in the invention according to claim 3, when the calculation of the average value of the time series subdivision data for each operation unit is executed three times or more, the value of the time series subdivision data to be newly added is When it is judged that the value is about the same as the value held at the time of the average value calculation operation, the average value calculation operation is executed using the held time series subdivision data and the time series subdivision data to be newly added. Therefore, when the state where the deviation is large continues, the situation change can be taken into consideration during the lifting control of the working machine, and the responsiveness of the control is further improved. .

[Brief description of drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a functional block diagram of control means.

FIG. 3 is a time chart of a transmitted wave and a received wave of the ultrasonic sensor.

FIG. 4 is a diagram of a hydraulic circuit.

FIG. 5 is a diagram showing a moving average process of a detection value K.

FIG. 6 is a main flowchart of control.

FIG. 7 is a subroutine flowchart of an average value calculation process.

FIG. 8 is an explanatory diagram of a fuzzy inference rule table.

FIG. 9 is a sub-routine flowchart of the lifting control.

[Explanation of symbols]

 1 Traveling Aircraft 2 Mowing Pretreatment Device 4 Weeding Body 5 Mowing Blade 7 Ultrasonic Sensor 7a Transmitter 7b Receiver 9 Hydraulic Cylinder 10 CPU 13 Upper CPU 14 Drive Circuit 15 Hydraulic Switching Valve

Claims (3)

[Claims] 1. From the time of transmission of an ultrasonic wave transmitted from a transmitter of an ultrasonic sensor mounted on a working machine connected to a traveling machine body so as to move up and down to the ground to the reception of a reflected wave thereof by a receiver. An elevation control method for a working machine configured to detect the height above the ground by measuring the time length and to control the working machine up and down based on the result of processing the detected value of the height above the ground. In the above, the detection value obtained for each fixed time is divided into time series subdivided data subdivided at time intervals shorter than the fixed time, and the obtained time series subdivided data is temporarily stored in a buffer memory. A lifting control method for a working machine, wherein a lifting control command signal for the working machine is obtained in accordance with the magnitude of an average value in which three or more pieces of subdivided data are used as arithmetic units. 2. The time-series subdivision data to be newly added in the operation for obtaining the average value of the time-series subdivision data for each operation unit, which is shifted in time series by a number smaller than the number of data included in the operation unit. When the value of and the value of the old time series subdivision data used immediately before that have a deviation of a predetermined value or more, the adoption of the new time series subdivision data to be newly added is temporarily suspended and the alternative data is used instead. The raising / lowering control method of the working machine according to claim 1, wherein: 3. When the average value calculation operation of the time-series subdivision data for each operation unit is executed three times or more, the value of the time-series subdivision data to be newly added is held at the time of the previous average value calculation operation. The average value calculation operation is executed by adopting the withheld time-series subdivision data and the time-series subdivision data to be newly added when it is determined that the values are about the same. The lifting control method for the working machine described in.