JPH0928106A - Traveling vehicle for working - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve efficiency and workability of measuring operation by making it unnecessary to record measured result or visualizing recorded result every measurement in previously measuring value of height level at whole operation job site. SOLUTION: A transmission control part for transmitting measured result is formed in a measuring apparatus 70 for receiving a laser beam projected from a projector 16 at an arbitrary measuring point and measuring values height at measuring point based on light-receiving height of the laser beam, and a traveling machine body 1 is provided with a receiver for receiving measured result which the measuring apparatus 70 transmits and a display controlling part for displaying the received measured result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of work vehicles such as agricultural machines and construction machines.

[0002]

2. Description of the Related Art Recently, when carrying out work such as leveling and leveling using a traveling vehicle of this kind, a projector for projecting a laser beam in a horizontal direction or an inclined direction is installed at a predetermined place of a work site. A working unit of a working vehicle is provided with a light receiver for receiving the laser beam to detect an absolute height of the working unit with reference to the laser beam, and a working unit such as a blade based on the absolute height detection. It has been proposed to employ a so-called laser control system that automatically controls up and down.

[0003]

Even if a laser control system is adopted, it is desirable to measure the high and low values of the entire work site in advance and to run the work while referring to the measurement results. That is, in the work such as leveling and leveling, there is a work procedure such as focusing on a place higher than the finished surface or moving the ground soil to a lower place, so in order to perform an efficient work, It is necessary to recognize in advance how high or low the work site is. However, in the above-mentioned measurement work, it is necessary to record the high and low values each time measurement is performed, and it is necessary to draw a plurality of the recorded measurement results, which is troublesome.

[0004]

SUMMARY OF THE INVENTION The present invention has been made for the purpose of providing a working vehicle capable of solving these problems in view of the above-mentioned circumstances, and is designed to be horizontal from a projector. In a working vehicle that receives laser light emitted in a direction or in an inclined direction by a light receiver, and automatically raises and lowers a working unit based on a detection signal of the light receiver, the laser light emitted from the light emitter Is received at an arbitrary measurement point, and a measuring device for measuring the height value of the measurement point with reference to the received light height of the laser light, while the measurement result transmitting means for transmitting the measurement result is provided, on the working vehicle, A measurement result receiving means for receiving the measurement result transmitted by the measuring device and a measurement result display means for displaying the received measurement result are provided. In other words, when measuring the high and low values of the entire work site in advance, it is not necessary to record the measurement result each time it is measured or to make a chart of the recorded measurement result, improving the efficiency and workability of the measurement work. It is not allowed to do so, and work such as leveling and leveling can be efficiently performed while referring to the displayed measurement result.

[0005]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a tractor including a crawler traveling device 2, and a rear working machine 4 such as a rotary tiller is movably connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 3. ing. Then, the rear working machine 4 includes the lift arm cylinder 5
While lifting and lowering is performed based on the vertical swing of the lift arm 6 associated with the expansion and contraction operation of the lift arm 6, the lift rod cylinder 7 that is interposed between the lift arm 6 and the elevating and lowering link mechanism 3 is tilted to the left and right. All of the basic configurations are the same as conventional ones.

Reference numeral 8 denotes a pair of left and right supporting arms pivotally supported on the front portion of the traveling machine body 1 so as to be vertically swingable, and the front end portion of the supporting arms 8 is used to perform work such as leveling and leveling. Blade 9 is provided. And the blade 9
A lift operation (elevating operation) associated with the extension / contraction operation of the lift cylinder 10, an angle operation associated with the extension / contraction operation of the angle cylinder 11 (an operation of displacing either left or right of the blade 9 back and forth), and a tilt operation associated with the extension / contraction operation of the tilt cylinder 12. (Operation of displacing either left or right of the blade 9 up and down) or the like is possible, but since the blade 9 employed in the present embodiment has a plurality of holes 9a formed in proper places, the blade 9
The earth pressure acting on the cylinders can be released to reduce the working load on each of the cylinders 10 to 12.

Reference numeral 13 denotes a tilt sensor for detecting the tilt angle (left and right inclination angle) of the blade 9. The tilt sensor 13 is located substantially at the center of the blade 9 and behind the upper end of the blade 9. It is arranged to do.
That is, since it is the position where the swaying width is the smallest and is not easily affected by the pressed soil, stable detection cannot be performed, and damage due to the effect of the pressed soil can be prevented. Since the hydraulic hoses of each of the cylinders 10 to 12 are piped from the right and left central portions of the blade 9 to the machine body side, the wiring of the tilt sensor 13 can be arranged along the hydraulic hoses.

Reference numeral 14 denotes a mast which is erected on the blade 9, and an optical receiver 15 having a predetermined light receiving width in the vertical direction is provided at an upper end portion of the mast 14. on the other hand,
A light projector 16 for rotating and projecting a laser beam in a horizontal direction or an arbitrary tilt direction is installed at a predetermined location of a work site or a field, and the laser beam projected from the light projector 16 is received by the light receiver 15. In addition, the blade 9 with the laser light as a reference based on the detection of the height of light received by the light receiver 15
The height of the photodetector 15 is detected, that is, the absolute height is detected.
The vertical position can be freely adjusted with respect to the mast 14, and the control height (set height) of the blade control described later is changed based on the vertical position adjustment.

Reference numeral 17 denotes a pendulum body provided in the middle portion of the mast 14 so as to be swingable right and left.
Is overlapped with the mast 14 when the tilt angle (absolute right and left inclination angle) of the blade 9 is horizontal, while it swings left and right with respect to the mast 14 when the tilt angle is inclined left or right. By visually observing this, the tilt angle of the blade 9 can be easily confirmed.
Moreover, since the pendulum body 17 is supported by the mast 14 via the ball joint 17a, swinging in the front-rear direction is also allowed within a predetermined range. That is, when the mast 14 is tilted in the front-rear direction, it is possible to prevent a large moment load from being applied to the base end portion of the pendulum body 17.

A mast bracket 18 is integrally provided on the upper end of the central portion of the blade 9,
The mast 14 is detachably attached to a pipe 18a welded to the mast bracket 18 in the left-right direction using a pair of U-shaped bolts 19. And U
Since the front and rear inclination of the mast 14 is allowed when the character bolt 19 is loosened, the front and rear mounting angle of the mast 14 can be freely set, and the mast 14 can be attached to the pipe portion 4a of the rear working machine 4 described above. Then, the absolute height of the rear working machine 4 can also be detected.

Reference numeral 20 is a display provided near the driver's seat 21. The display 20 displays the height of the blade 9 based on the laser light based on the detection signal input from the light receiver 15. It is something to do. That is, in the case where a plurality of light emitting display units 20a to 20e are arranged in parallel on the display surface of the display device 20 and the deviation amount with respect to the laser light is within the fourth area (for example, −5 mm to +5 mm). Is
The green light emitting display unit 20a located in the center of the display surface is operated to blink, and the deviation amount is within the third or fifth area (for example, -5 mm to -30 mm, +5 mm to +30 mm).
In the case of, the one of the yellow light emitting display portions 20b and 20c adjacent to the upper and lower sides of the green light emitting display portion 20a, which corresponds to the shift direction, is operated to blink, and the shift amount is within the second or sixth area. (For example, -30 mm to -95 m
m, +30 mm to +95 mm), one of the yellow light emitting display portions 20b and 20c corresponding to the shift direction is turned on, and the shift amount is outside the laser light detection range. Seven areas (for example, -9
5 mm or less, +95 mm or more), the LED light emitting display units 20d, 2 located at the upper and lower ends of the display surface.
Of 0e, one corresponding to the shift direction is configured to be turned on, but the detection signal of the light receiver 15 input to the display device 20 is a first control unit described later via a predetermined interface circuit. 22 is also input.

Reference numeral 23 denotes a side panel disposed on the side of the driver's seat 21, and a position lever 24 for raising and lowering the rear working machine 4 is disposed at a front portion of the side panel 23. On the other hand, in the rear part, an automatic plowing depth switch 2 for ON-OFF operation of the automatic plowing depth control described later is provided.
5. An operation tool such as an automatic tilt switch 26 for ON-OFF operation of automatic tilt control, which will be described later, and a tilt setting volume 27 for setting a target tilt of the automatic tilt control is covered by a transparent cover 28 which can be opened and closed. In the middle of the side panel 23, an elevating and lowering operation switch 29 for elevating and lowering the rear working unit 4 by a one-touch operation, and a knob that is larger than other operating tools are further provided. The plowing depth setting volume 30 is provided. And
The operation signal of each operation tool is input to the second control unit 31 that controls the rear working machine 4, but regarding the configuration and function of the side panel 23 described above, the actual operation flat 4-4242.
No. 5 gazette is used.

Reference numeral 32 denotes a blade operation panel. On the blade operation panel 32, a blade lift lever 33 for vertically moving the blade 9 and a laser control (a blade control and a rotary laser control which will be described later) are turned ON-O.
Laser automatic switch 34 for FF operation, first monitor lamp 34 incorporated in the laser automatic switch 34
a, a tilt automatic switch 35 for ON / OFF operation of tilt automatic control described later, and the tilt automatic switch 3
5 is provided with a second monitor lamp 35a incorporated therein, and operation tools such as a working machine changeover switch 36 for switching a laser control target (the blade 9 or the rear working machine 4). The first and second monitor lamps 34a are provided. , 35a
Is arranged near the rear of the blade lift lever 33, so that it can be easily viewed from the driver's seat 21 located laterally rear of the blade operation panel 32.

37 to 40 are switches for performing the above-mentioned angle operation and tilt operation.
Since 7 to 40 are provided at the grip portion of the blade lift lever 33, the lift operation, the angle operation and the tilt operation of the blade 9 can be performed by the single blade lift lever 33.

Reference numeral 41 is a hydraulic valve assembly for operating the lift cylinder 10, the angle cylinder 11 and the tilt cylinder 12, and the hydraulic valve assembly 41
The switching valves 42, 43, 4 corresponding to each cylinder.
4, the positioner cylinders 42a, 43a, 44 are attached to the spools of the respective switching valves 42, 43, 44.
a is connected. And each positioner cylinder 4
2a, 43a, and 44a operate based on the switching of the electromagnetic valves 45 to 50 provided in the pilot operation oil passage to control the spool position, but the spool position of the lift cylinder switching valve 42 is changed. The dynamic transformer (differential transformer) 51 detects the detected signal and feeds back the detected signal to the first controller 22 via the differential transformer detection circuit and the A / D converter.

The second control section 31 is an existing one constructed by using a so-called microcomputer, but this one is based on the ground swing angle of the rear cover 4b, and the working depth of the rear working machine 4 (ground level). Height sensor 54 for detecting the depth, an arm angle sensor 55 for detecting the vertical swing angle of the lift arm 6, a rod length sensor 56 for detecting the rod length of the lift rod cylinder 7, and a lateral tilt of the machine body. A signal is input from a tilt sensor 57 that detects the position of the lift lever, a position sensor 58 that detects the lever angle of the position lever 24, and further operation tools provided on the side panel 23, while the lift arm is judged based on these input signals. The operation signals of the cylinder 5, the lift rod cylinder 7, the automatic tilling depth monitor lamp 59 and the like are output. That is, in the second control unit 31, the position lever 24
Position control for controlling the rear working machine 4 up and down based on the detection signal of the arm angle sensor 42 (to control the height of the machine) so that the set working depth set by the working depth setting volume 30 is maintained. The plowing depth automatic control (ground height control) for automatically raising and lowering the rear working unit 4 based on the detection signal of the plowing depth sensor 41, and the inclination sensor for maintaining the set inclination set by the inclination setting volume 27. Based on the detection signal of 57, control such as automatic tilt control for automatically controlling the tilt of the rear working machine 4 is executed.

On the other hand, the first control unit 22 is also constructed by using a microcomputer, and this one has a lift angle for detecting the lift angle of the tilt angle sensor 13 and the light receiver 15 and the blade 9 described above. Signals are input from the sensor 60, the lever angle sensor 61 that detects the lever angle of the blade lift lever 33, the operation tools provided on the blade operation panel 32, and the lift cylinder 10 and the angle are determined based on these input signals. The operation signals of the cylinder 11, the tilt cylinder 12, etc. are output. That is, the first controller 22 controls the neutral reference value correction control for correcting the neutral reference value of the lift cylinder switching valve 42, the manual raising / lowering control for raising / lowering the blade based on the operation of the blade lift lever 33, the laser of the light receiver 15. Laser automatic control (absolute height control) that automatically raises and lowers the blade 9 to keep the detection height constant, and automatically moves the blade 9 based on the detection signal of the tilt angle sensor 13 to maintain the horizontal posture. Although the automatic tilt control for performing the tilt control is executed, as described above, the light receiver 15
Is mounted on the rear working machine 4 and the first control unit 22 is connected to the second control unit 31, the rear working machine 4 is automatically lifted and lowered by using the first control unit 22 and the second control unit 31 together. (Rotary laser control based on the detection signal of the light receiver 15,
Alternatively, it is possible to perform combined plunge depth control by using both rotary laser control and plowing depth automatic control).
The procedure of each control will be described based on a flowchart.

In the neutral reference value correction control, first, it is judged whether or not the operation is started, and if the judgment is YES,
The spool position of the lift cylinder switching valve 42 is determined based on the detection signal of the operation transformer 51. And
When the spool position is within the proper range, the current detection value of the operating transformer 51 is set to the neutral reference value, while when the spool position is outside the proper range, the preset standard value is set to the neutral reference value. Is set to.
That is, paying attention to the fact that the spool is in the neutral position at the start of operation, the neutral reference value is corrected based on the spool position detection value at the start of operation, but the spool position detection value at the start of operation is improper (other than neutral). In this case, since the preset standard value is set as the neutral reference value, it is possible to prevent a detection value other than neutral from being erroneously set as the neutral reference value.

Further, in the neutral reference value correction control, when the spool position at the start of operation is appropriate, the first monitor lamp 34a is turned on in the first pattern, while the spool position is incorrect. In the above, the first monitor lamp 34a is operated to light in the second pattern. Therefore, it is possible to recognize that the neutral reference value has been corrected based on the lighting of the lamp in the first pattern.
The abnormality of the lift cylinder switching valve 42 can be recognized based on the lighting of the second pattern lamp.

In the manual elevating control, the operation angle of the blade lift lever 33 is set in any operation area (U1 to U3, D1 to D1).
D3 or dead zone). Then, in the case of the operation area U1 (rear and small operation angle), the blade 9 is raised at a low speed, and in the operation area U2 (rear and inside the operation angle), the blade 9 is raised at a medium speed,
In the case of (rear and large operation angle), the blade 9 is raised at high speed,
In the operation area D1 (front and small operation angle), the blade 9 is lowered at a low speed, in the operation area D2 (forward and operation angle is small), the blade 9 is lowered at a medium speed, and in the operation area D3 (front and large operation angle). In such a case, the blade 9 is subjected to processing such as high-speed lowering, but the operating area is set so that the range becomes narrower as the operating angle increases. That is, since the low-speed operation area is widened, delicate operation can be facilitated, or the possibility that the blade 9 operates at high speed when the blade lift lever 33 is accidentally moved is reduced as much as possible. ing.

In the automatic laser control (blade), it is determined which area includes the above-mentioned laser light detection area. Then, in the first area, the blade 9 rises at a high speed, in the second area, the blade 9 rises at a medium speed, in the third area, the blade 9 rises at a low speed, and in the fourth area, the blade 9 moves up and down. Stop the blade 9 in the fifth area at a low speed, and in the sixth area, the blade 9
Is performed at a medium speed, and in the case of the seventh area, the blade 9 is lowered at a high speed, but in the case of the first area or the seventh area, it passes through the adjacent area (second area or sixth area). It is determined whether or not it has been done, and if the determination is NO, the lifting operation of the blade 9 is stopped. That is, when the laser light detected in the middle portion of the light receiver 15 suddenly disappears without being vertically displaced, it is determined that the laser light is blocked by an obstacle or the projector / receiver has a failure, and the blade The lifting and lowering operation of 9 is stopped.

On the other hand, when it is judged that the blade 9 has passed through the adjacent area (second area or sixth area), the blade 9 is raised or lowered at a high speed, but the predetermined time T1 has passed (or some place). If the second area to the sixth area do not move even after a fixed amount of movement), the raising / lowering operation of the blade 9 is stopped. That is, when the light receiver 15 does not receive the laser beam even when the blade 9 is moved up and down at a high speed, it is determined that some trouble has occurred, and the lifting operation of the blade 9 is stopped.

Further, in the automatic laser control, when it is determined that the area is the third area or the fifth area, whether or not the fifth area is transferred to the third area without passing through the fourth area, or From the fourth area to the fifth area without passing through the fourth area, the judgment is Y
In the case of ES, the raising / lowering operation of the blade 9 is stopped for a predetermined time T2. That is, the light receiver 15
If the detection position of fluctuates within a very small range across the fourth area, the lift cylinder operation may be delayed and so-called hunting may occur. It is supposed to stabilize.

In the tilt automatic control, first, it is judged whether the tilt switches 39 and 40 are OFF. If the judgment is NO, the tilt cylinder 12 is operated in the corresponding direction, and if the judgment is YES. Is the tilt sensor 1
The tilt cylinder 12 is automatically operated based on the detected angle of 3. However, when the tilt cylinder 12 is automatically controlled, the laser automatic control is ON and the light receiver 1
When the detection area 5 is the seventh area, the control flow rate of the tilt cylinder 12 is reduced to slowly perform the tilting operation of the blade 9. That is, in the state where the blade 9 is located in the work area (first to sixth areas), the tilting operation is quickly performed to give priority to the control accuracy, while the blade 9 is raised in the non-work area (seventh area).
In the state of being located at, the tilting operation is performed slowly to give priority to the stability of the airframe.

On the other hand, in the mode switching control executed when the light receiver 15 is mounted on the rear working machine 4, is the laser automatic switch 34 turned on and the working machine switching switch 36 set to the rear working machine position? If both determinations are YES, it is further determined whether the plowing depth automatic switch 25 is ON or OFF. When the automatic plowing depth switch 25 is OFF, the rotary laser control based on the detection signal of the light receiver 15 is executed, while when the automatic plowing depth switch 25 is ON, the rotary laser control and the plowing are performed. Combined tillage depth control is performed by using it in combination with deep automatic control. That is, since the rotary laser control and the compound plowing depth control are switched using the existing plowing depth automatic switch 25, it is not necessary to add a dedicated switch, or the switching operation is intuitively recognized. It becomes easy to do.

In the automatic plowing depth monitor control for controlling the automatic plowing depth monitor lamp 59, first, the control mode of the rear working machine 4 (rotary laser control, combined plowing depth control or existing plowing depth automatic control) is determined. At the same time, the automatic working depth monitor lamp 59 is turned on in a pattern (first to third) corresponding to the control mode. Therefore, the control mode of the rear work implement 4 can be easily recognized based on the lighting pattern of the automatic working depth monitoring lamp 59. However, the composite working depth control using the detection signal of the working depth sensor 54 or the existing working depth is used. When it is determined to be automatic control, it is further determined whether or not the working depth sensor 54 is in the connected state, and when the determination is NO, the working depth automatic monitor lamp 59 is set to the fourth pattern. The lighting operation is performed to notify that the tilling depth sensor 54 has been forgotten to be connected.

In the rotary laser control, first,
After confirming that the laser automatic switch 34 is ON and the work implement switch 36 is set to the rear work implement position, a work start flag (default is set state)
It is determined whether or not it is the start of work based on. And
If this determination is YES, it is determined whether or not the detection value of the position sensor 58 and the detection value of the arm angle sensor 55 match, and the height of the rear working unit 4 (light receiver 15) is detected by the laser beam. It is determined whether or not it is within the range, and the automatic lifting control of the rear work implement 4 is restricted until both determinations are YES. That is, at the beginning of the work, the position work lever 24 is required to lower the rear work implement 4, and the automatic raising / lowering control is executed from the time when the photodetector 15 detects the laser beam. The rear working machine 4 can be prevented from moving up and down based on the control.

If both of the above judgments are YES, the work start flag is reset and the rear working machine 4 is automatically lifted and lowered based on the laser light. When 24 is operated, the above-mentioned position control is executed in preference to the automatic raising / lowering control, and when the laser light detection area enters the seventh area based on the raising operation of the position lever 24,
The work start flag is set when it is judged that the work is interrupted due to the turning of the machine body or the like.

Further, 70 is a measuring device for receiving the laser light projected from the projector 16 at an arbitrary measuring point and measuring the height value of the measuring point on the basis of the light receiving height of the laser beam. The measuring device 70 comprises a pole-shaped main body 7
1. A light receiver 72 which is mounted on the upper end of the main body 71 so as to be adjustable in vertical position, a measurement control unit 73 which measures high and low values based on a laser light detection signal of the light receiver 72, and X coordinate data of a measurement point. X coordinate switch 74 for inputting, Y coordinate switch 7 for inputting Y coordinate data of the measurement point
5, a transmission switch 76 for executing data transmission, a display unit 7 for displaying various data (X coordinate data, Y coordinate data, measurement data) at the previous measurement point and the current measurement point
7. Transmitting circuit 7 for transmitting various data at this measurement point
8, a transmission control unit 79 for controlling the transmission circuit 78 and the display unit 77, and the like are provided. Hereinafter, a control procedure of transmission control executed by the transmission control unit 79 will be described based on a flowchart.

In the transmission control, first, after inputting the measurement data, the operation of the X coordinate switch 74 or the Y coordinate switch 75 is determined, and if there is an operation,
The X-coordinate data or the Y-coordinate data is adjusted according to the switch operation, and thereafter various data (X-coordinate data, Y-coordinate data, measurement data) at the previous measurement point and the current measurement point are displayed on the display unit 77. When the ON operation of the transmission switch 76 is determined, various data (X coordinate data, Y coordinate data, measurement data) of the current measurement point is transmitted, and various data of the current measurement point is changed to the data of the previous measurement point. It is supposed to be stored as.

On the other hand, reference numeral 80 denotes a display control device (portable personal computer or the like) mounted on the traveling machine body 1. The display control device 80 has a keyboard 81 for data input, a display screen 82 for data display, A display control unit 83 for controlling the display screen 82 and the like is provided, and the display control unit 83 is connected with a receiving device 84 for receiving transmission data from the measuring device 70 via a predetermined interface circuit. The control procedure of the display control executed by the display control unit 83 will be described below with reference to the flowchart.

In the display control, first, it is determined whether or not new data is received. If the determination is YES, the newly received data is added to the data group received in the past, After that, the received data group is displayed on the display screen 82. That is, X coordinate data and Y
The display position on the screen is determined based on the coordinate data, and the process of displaying the measurement data at this position is executed for each received data. Therefore, the display screen 82 shows the height of the entire work site. The values are displayed in a grid. When the display screen 82 is for color display, the difference between the finishing height and the measurement data is calculated, and when the difference is positive, the measurement data is displayed in a predetermined color such as blue. On the other hand, if the difference is negative, it is also possible to display the measurement data in a red color or the like different from the color at the time of plus, and if such a color display is performed, There is an advantage that workability is improved because the degree of unevenness on the finished surface can be recognized quickly.

In the structure configured as described above, the height value of the entire work site is measured as a pre-preparation when performing work such as leveling and leveling based on the laser automatic control.
This work is performed in the following procedure. That is, after setting the measuring device 70 at a preset measurement point, the X coordinate and the Y coordinate of the point are input, and then the transmission switch 76.
Press to send various data (X coordinate data, Y coordinate data, measurement data) at the measurement point. The measurement work of the entire work site is completed by performing this series of operations for each measurement point. On the other hand, the traveling body 1 side receives the data transmitted at each measurement point, determines the display position on the screen based on the X coordinate data and the Y coordinate data for each received data, and displays the measurement data at this position. Then, the high and low values of the entire work site are displayed in a grid on the screen.

As described above, in the case of the above, it is not necessary to record the measurement result every time when measuring the high and low values of the whole work site in advance, and to make a record of the recorded measurement result. Therefore, it is not possible to improve the efficiency and workability of the measurement work, and it is possible to efficiently perform work such as leveling and leveling while referring to the displayed measurement result.

Further, in the present embodiment, in automatically controlling the tilt angle of the blade 9, a tilt sensor 13 for detecting the tilt angle of the blade 9 is provided substantially at the center of the left and right of the blade 9 and behind the upper end of the blade 9. Since the tilt sensor 13 is arranged so as to be positioned, it is located at a position where the swing width is the smallest and is less likely to be affected by the pressed soil, and as a result, stable detection is not permitted. It is possible to prevent damage due to the influence of pushing soil. Moreover,
Since the wiring of the tilt sensor 13 can be provided along the hose that is piped from the right and left central portions of the blade 9 toward the machine body, the wiring can be simplified.

Further, in the automatic tilt control, when the blade 9 is located in the work area (first to sixth areas), the tilt operation is quickly performed to give priority to the control accuracy, while the blade 9 is raised. Work area (seventh area)
In the state of being positioned at, since the tilting operation is performed slowly and the stability of the machine body is prioritized, good control accuracy and stability can be provided.

When the blade 9 is moved up and down at a speed according to the operation angle of the blade lift lever 33,
Each operating area corresponding to the operating speed is set to have a narrower range on the side with a larger operating angle, so it may be possible to secure a large low-speed operating area to facilitate delicate operation, or accidentally lift the blade. The possibility that the blade 9 operates at high speed when the lever 33 is moved can be reduced as much as possible.

[Brief description of drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a plan view of the same.

FIG. 3 is a perspective view of a main part of a blade.

FIG. 4 is a perspective view of a main part of a rear working machine.

FIG. 5 is a front view of the tractor showing the action of the pendulum body (tilt horizontal state).

FIG. 6 is a front view of the tractor showing the action of the pendulum body (tilt upper left position).

FIG. 7 is a front view of a pendulum body.

FIG. 8 is a partially cutaway side view of the same.

FIG. 9 is a perspective view of a display device.

FIG. 10 is a perspective view showing a side panel and a blade operation panel.

FIG. 11 is a plan view of a blade operation panel.

FIG. 12 is a side view of the same.

FIG. 13 is a hydraulic circuit diagram of a hydraulic valve assembly.

FIG. 14 is a block diagram showing inputs and outputs of first and second control units.

FIG. 15 is a flowchart of neutral reference value correction control.

FIG. 16 is a flowchart of manual lifting control.

FIG. 17 is a flowchart of laser automatic control.

FIG. 18 is a flowchart of tilt automatic control.

FIG. 19 is a flowchart of mode switching control.

FIG. 20 is a flow chart of automatic plowing depth monitor control.

FIG. 21 is a flowchart of rotary laser control.

FIG. 22 is an explanatory diagram showing a usage state of the measuring apparatus.

FIG. 23 is a front view showing a display unit of the measuring device.

FIG. 24 is a perspective view of a display control device.

FIG. 25 is a front view showing a display screen of the display control device.

FIG. 26 is a block diagram showing input / output of a transmission control unit.

FIG. 27 is a flowchart of transmission control.

FIG. 28 is a block diagram showing input / output of a display control unit.

FIG. 29 is a flowchart of display control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine body 4 Rear working machine 9 Blade 15 Light receiver 16 Projector 22 First control unit 32 Second control unit 70 Measuring device 80 Display control device

Claims (1)

[Claims] 1. A work vehicle for receiving a laser beam projected from a light projector in a horizontal direction or an inclined direction by a light receiver and automatically raising and lowering a working unit based on a detection signal of the light receiver, The measurement device for receiving the laser light emitted from the projector at an arbitrary measurement point and measuring the high and low values at the measurement point based on the received light height of the laser light is provided with a measurement result transmitting means. On the other hand, a working vehicle in which the working vehicle is provided with a measurement result receiving means for receiving the measurement result transmitted by the measuring device and a measurement result displaying means for displaying the received measurement result.