WO2018173115A1 - Work vehicle and method for controlling work vehicle - Google Patents

Work vehicle and method for controlling work vehicle Download PDF

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Publication number
WO2018173115A1
WO2018173115A1 PCT/JP2017/011182 JP2017011182W WO2018173115A1 WO 2018173115 A1 WO2018173115 A1 WO 2018173115A1 JP 2017011182 W JP2017011182 W JP 2017011182W WO 2018173115 A1 WO2018173115 A1 WO 2018173115A1
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WO
WIPO (PCT)
Prior art keywords
state
seat
seat belt
detection unit
vehicle
Prior art date
Application number
PCT/JP2017/011182
Other languages
French (fr)
Japanese (ja)
Inventor
慎治 金子
由孝 小野寺
橋本　淳
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to JP2017533357A priority Critical patent/JP6709579B2/en
Priority to DE112017000030.0T priority patent/DE112017000030B4/en
Priority to PCT/JP2017/011182 priority patent/WO2018173115A1/en
Priority to CN201780001247.7A priority patent/CN108883741B/en
Publication of WO2018173115A1 publication Critical patent/WO2018173115A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/04—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to presence or absence of the driver, e.g. to weight or lack thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
    • B60N2210/40—Force or pressure sensors
    • B60N2210/46—Electric switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B60R2022/4808—Sensing means arrangements therefor
    • B60R2022/4816—Sensing means arrangements therefor for sensing locking of buckle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B60R2022/4883—Interlock systems

Definitions

  • the present invention relates to a work vehicle and a work vehicle control method.
  • Some work vehicles such as forklifts are provided with a seat belt on the seat on which the operator is seated.
  • a work vehicle includes, for example, a seat detection unit that detects whether an operator is seated on a seat, and a seat belt detection unit that detects whether a seat belt is attached (for example, Patent Document 1).
  • Work vehicles are required to have a configuration that allows an operator to monitor whether or not he / she sits on a seat and wears a seat belt in an appropriate procedure.
  • the present invention has been made in view of the above, and provides a work vehicle and a work vehicle control method capable of monitoring whether an operator is seated on a seat and wearing a seat belt in an appropriate procedure. For the purpose.
  • a vehicle main body having a main switch, a seat provided in the vehicle main body and having a seat belt, a seat detection unit for detecting a seating state of the seat, and mounting of the seat belt
  • a seat detection unit for detecting a seating state of the seat
  • mounting of the seat belt When the seatbelt detection unit detects the wearing state before the seat detection unit detects the seating state in a state where the seatbelt detection unit detects the state and the main switch is off, a predetermined energization is performed.
  • a detection circuit that forms and holds a state; and a control unit that includes a determination unit that determines a procedure error when the detection circuit holds the predetermined energization state when the main switch is turned on.
  • the seat belt detection unit in a state where the main switch of the vehicle main body is OFF, the seat belt detection unit is provided in the seat before the seat detection unit detects the seating state of the seat provided in the vehicle main body.
  • the detection circuit forms and holds a predetermined energization state, and when the main switch is turned on, the detection circuit holds the predetermined energization state.
  • a method for controlling a work vehicle includes determining a procedure error when
  • the present invention it is possible to monitor whether or not the operator is seated on the seat and wearing the seat belt in an appropriate procedure.
  • FIG. 1 is a diagram illustrating an overall configuration of a work vehicle according to the present embodiment.
  • FIG. 2 is a block diagram showing a control system of the forklift shown in FIG.
  • FIG. 3 is a circuit diagram illustrating configurations of the seat detection unit, the seat belt detection unit, the controller, and the detection circuit.
  • FIG. 4 is a circuit diagram showing the state of the detection circuit when the main switch is off.
  • FIG. 5 is a circuit diagram showing the state of the detection circuit when the main switch is off.
  • FIG. 6 is a circuit diagram illustrating a state of the detection circuit when the main switch is off.
  • FIG. 7 is a circuit diagram showing the state of the detection circuit when the main switch is off.
  • FIG. 8 is a circuit diagram showing the state of the detection circuit when the main switch is off.
  • FIG. 9 is a circuit diagram showing the state of the detection circuit when the main switch is off.
  • FIG. 10 is a flowchart showing a processing flow of the controller when the main switch is turned on.
  • FIG. 1 is a diagram showing an overall configuration of a work vehicle 1 according to the present embodiment.
  • the work vehicle 1 is, for example, a forklift, but is not limited thereto.
  • the work vehicle 1 may be a wheel loader or a hydraulic excavator, for example.
  • the work vehicle 1 includes a vehicle body 3 having an engine 4 as a drive source, a work machine 5 having a fork 6, and a controller 30 as a control unit that controls the vehicle body 3 and the work machine 5.
  • the work vehicle 1 has a front side from the seat ST toward the steering member HL, and a rear side from the steering member HL toward the seat ST.
  • the vehicle body 3 has drive wheels 2a and steered wheels 2b.
  • a seat of the vehicle body 3 is provided with a seat ST, a seat belt BT, a steering member HL, and a key switch 9.
  • the key switch 9 is a main switch of the vehicle body 3.
  • the main switch of the vehicle body 3 is not limited to the key switch 9, and may be another type of switch such as a push button switch.
  • the seat belt BT includes a belt capable of holding an operator, a tongue attached to the tip of the belt, and a buckle capable of attaching and detaching the tongue.
  • the vehicle body 3 is provided with a forward / reverse lever, an inching pedal (brake pedal) as an inching operation unit, and an accelerator pedal as an accelerator operation unit.
  • the vehicle body 3 is provided with a work implement operating lever (not shown) including a lift lever and a tilt lever for operating the work implement 5.
  • the sheet ST includes a seat detection unit 12 and a seat belt detection unit 13.
  • the seat detection unit 12 detects a state in which an operator is seated on the seat ST.
  • the seated state is a state where the operator is seated with a weight of a certain value or more on the seat plate of the seat ST.
  • a state where the operator is not seated on the seat ST is referred to as a non-sitting state.
  • the seat detection unit 12 cancels the detection of the seating state of the seat ST.
  • the seat belt detection unit 13 detects the wearing state of the seat belt BT.
  • the mounted state is a state in which the tongue of the seat belt BT is mounted on the buckle.
  • a state in which the tongue of the seat belt BT is detached from the buckle is referred to as a non-wearing state.
  • the key switch 9 switches conduction between the in-vehicle battery 14 (described later) and the controller 30.
  • the key switch 9 can be switched between an off state, an on state, and a start state.
  • the key switch 9 is in the off state, the continuity between the in-vehicle battery 14 and the controller 30 is cut off.
  • the key switch 9 is in the on state, the energized state is established between the in-vehicle battery 14 and the controller 30. Further, by setting the key switch 9 to the start state, the vehicle battery 14 and the controller 30 are energized, and the engine 4 is operated via the engine controller 36 (described later).
  • the work machine 5 is provided in front of the vehicle body 3.
  • the work machine 5 includes a fork 6, a lift cylinder 7, and a tilt cylinder 8.
  • the fork 6 is arranged so that it can be raised and lowered and tilted, for example.
  • the lift cylinder 7 moves the fork 6 up and down.
  • the tilt cylinder 8 tilts the fork 6.
  • FIG. 2 is a block diagram showing a control system of the forklift shown in FIG.
  • the work vehicle 1 includes a closed circuit including a traveling hydraulic pump 10, a hydraulic motor 20, and a hydraulic supply line 10a and a hydraulic supply line 10b that connect the two.
  • the traveling hydraulic pump 10 is driven by the engine 4 to discharge hydraulic oil.
  • the traveling hydraulic pump 10 includes a swash plate 10S.
  • the traveling hydraulic pump 10 is a variable displacement pump whose capacity is changed by changing the tilt angle of the swash plate 10S.
  • the hydraulic motor 20 is rotationally driven by the hydraulic oil discharged from the traveling hydraulic pump 10.
  • the hydraulic motor 20 includes, for example, a swash plate 20S.
  • the hydraulic motor 20 is a variable capacity type hydraulic motor whose capacity can be changed by changing the tilt angle of the swash plate 20S.
  • the hydraulic motor 20 may be a fixed capacity type hydraulic motor.
  • the hydraulic motor 20 has an output shaft 20a connected to the drive wheel 2a via a transfer 20b.
  • the hydraulic motor 20 causes the work vehicle 1 to travel by rotationally driving the drive wheels 2a via the transfer 20b.
  • the hydraulic motor 20 can switch the rotation direction according to the supply direction of the hydraulic oil from the traveling hydraulic pump 10. By switching the rotation direction of the hydraulic motor 20, the work vehicle 1 can move forward or backward. In the following description, for the sake of convenience, the working vehicle 1 moves forward when hydraulic oil is supplied from the hydraulic supply line 10a to the hydraulic motor 20, and the hydraulic oil is supplied from the hydraulic supply line 10b to the hydraulic motor 20. It is assumed that the work vehicle 1 moves backward.
  • the work vehicle 1 has a pump capacity setting unit 11 and a motor capacity setting unit 21.
  • the pump capacity setting unit 11 changes the displacement of the traveling hydraulic pump 10 by changing the swash plate tilt angle of the traveling hydraulic pump 10 in accordance with the command signal given from the controller 30.
  • the motor capacity setting unit 21 changes the capacity of the hydraulic motor 20 by changing the tilt angle of the swash plate of the hydraulic motor 20 in accordance with a command signal given from the controller 30.
  • the working machine hydraulic pump 16 supplies hydraulic oil to the lift cylinder 7 via the lift operation valve 17 and supplies hydraulic oil to the tilt cylinder 8 via the tilt operation valve 18.
  • the lift operation valve 17 operates in accordance with, for example, the operation amount of the lift lever of the work implement operation lever, and drives the lift cylinder 7 by adjusting the amount of hydraulic oil supplied to the lift cylinder 7.
  • the tilt operation valve 18 operates in accordance with the amount of operation of the tilt lever of the work implement operation lever, and drives the tilt cylinder 8 by adjusting the amount of hydraulic oil supplied to the tilt cylinder 8.
  • the work machine hydraulic pump 16 includes a swash plate 16S.
  • the work machine hydraulic pump 16 is a variable displacement pump whose capacity changes when the tilt angle with the swash plate 16S is changed.
  • FIG. 3 is a circuit diagram showing the configuration of the seat detection unit 12, the seat belt detection unit 13, the controller 30, and the detection circuit 40.
  • seat detection part 12 is mechanical switches, such as a pressure switch, for example.
  • the sheet detection unit 12 may be another type of switch.
  • one sheet detection unit 12 is provided, but is not limited thereto, and two or more sheet detection units 12 may be provided.
  • the sheet detection unit 12 includes a terminal 12a, a terminal 12b, a terminal 12c, and a movable unit 12d.
  • the terminal 12 a is connected to the controller 30 via the wiring 56.
  • the terminal 12b is connected to the controller 30 via the wiring 57.
  • the terminal 12c is connected to the ground G1 via the wiring 58.
  • One end of the movable portion 12d is connected to the terminal 12c.
  • the other end of the movable portion 12d can switch the connection destination between the terminal 12a and the terminal 12b.
  • the other end of the movable unit 12d is connected to the terminal 12b.
  • the seat ST when the seat ST is in the non-sitting state, the other end of the movable portion 12d is connected to the terminal 12a.
  • the seat ST is in a non-sitting state, that is, a state where the other end of the movable portion 12d is connected to the terminal 12a.
  • the seat belt detection unit 13 is a mechanical switch that operates when the tongue of the seat belt BT is attached to the buckle, for example.
  • the seat belt detection unit 13 may be another type of switch.
  • one seat belt detection unit 13 is provided, but the invention is not limited to this, and two or more seat belt detection units may be provided.
  • the seat belt detection unit 13 includes a terminal 13a, a terminal 13b, and a movable unit 13c.
  • the terminal 13a is connected to the controller 30 via the wiring 62.
  • the terminal 13b is connected to the ground G2 via the wiring 63.
  • One end of the movable portion 13c is connected to the terminal 13b.
  • the other end of the movable portion 13c can be switched between connection and release with respect to the terminal 13a.
  • the seat belt detection unit 13 has the other end of the movable unit 13c connected to the terminal 13a.
  • the seat belt detector 13 is disconnected from the other end of the movable portion 13c away from the terminal 13a.
  • FIG. 3 shows, as an example, a case where the seat belt BT is not attached, that is, a state where the other end of the movable portion 13c is separated from the terminal 13a.
  • the detection circuit 40 forms a predetermined energization state, which will be described later, when the seat belt detection unit 13 detects the wearing state before the seat detection unit 12 detects the seating state when the key switch 9 is off. Hold.
  • the detection circuit 40 includes a first coil 42, a first switch 45, a second coil 47, and a second switch 50.
  • One end of the first coil 42 is connected to the in-vehicle battery 14 of the work vehicle 1 via the wiring 41.
  • the other end of the first coil 42 is connected to the wiring 62 of the seat belt detection unit 13 via the wiring 43.
  • a diode 42a for surge suppression is connected to the first coil 42 in parallel.
  • the first switch 45 has a terminal 45a, a terminal 45b, and a movable part 45c.
  • the terminal 45 a is connected to the wiring 41 through the wiring 44.
  • the terminal 45 b is connected to the second coil 47 through the wiring 46.
  • the first switch 45 constitutes a solenoid switch 40a with the first coil 42 described above.
  • the first switch 45 is in a state in which the movable portion 45c is separated from the terminals 45a and 45b when no current flows through the first coil.
  • the movable portion 45 c connects the terminal 45 a and the terminal 45 b when a current flows through the first coil 42.
  • the second coil 47 has one end connected to the wiring 46 and the other end connected to the wiring 48.
  • the second switch 50 includes a terminal 50a, a terminal 50b, and a movable part 50c.
  • the terminal 50a is connected to the ground G3 via the wiring 51.
  • the terminal 50 b is connected to the controller 30 via the wiring 49.
  • the wiring 49 is connected to the wiring 48 and the wiring 56 of the sheet detection unit 12 via the wiring 55, respectively.
  • a diode 47a for surge suppression is connected to the second coil 47 in parallel.
  • a diode 49 a is disposed between a portion of the wiring 49 connected to the wiring 55 and the controller 30. The diode 49a regulates the current to the controller 30 side.
  • a diode 55 a is disposed between a portion connected to the wiring 48 and a portion connected to the wiring 56 in the wiring 55. The diode 55a regulates a current from the wiring 56 side to the wiring 48 side.
  • a diode 55 b is disposed between a portion connected to the wiring 48 and a portion connected to the wiring 49 in the wiring 55. The diode 55a regulates a current from the wiring 49 side to the wiring 48 side.
  • the second switch 50 constitutes a solenoid switch 40b with the second coil 47 described above.
  • the movable portion 50 c is separated from the terminals 50 a and 50 b when no current flows through the second coil 47.
  • the movable part 50c connects the terminal 50a and the terminal 50b in the second switch 50.
  • a diode 62 a is disposed between a portion of the wiring 62 connected to the wiring 43 and the controller 30. The diode 62a regulates the current to the controller 30 side.
  • a diode 56 a is disposed between a portion of the wiring 56 connected to the wiring 55 and the controller 30. The diode 56a regulates the current to the controller 30 side.
  • the controller 30 includes a determination unit 31, an interlock control unit 32, a seat determination unit 33, and a seat belt determination unit 34.
  • the determination unit 31 determines a procedure error when the detection circuit 40 is in a predetermined energized state when the key switch 9 is turned on.
  • the determination unit 31 is connected to the detection terminal 31a. In the present embodiment, the determination unit 31 determines a procedure error when the detection terminal 31a is at the ground voltage at the start of operation of the engine 4.
  • the interlock control unit 32 operates the interlock on the vehicle body when the determination unit 31 determines the procedure error.
  • the interlock control unit 32 operates at least one of the traveling interlock and the cargo handling interlock as an interlock.
  • the traveling interlock stops traveling of the vehicle.
  • the cargo handling interlock stops the operation of the work machine.
  • the sheet determination unit 33 is connected to the sheet detection unit 12.
  • the seat determination unit 33 determines whether the seat ST is in a sitting state or a non-sitting state.
  • the seat determination unit 33 determines that the seat is not seated.
  • the seat determination unit 33 determines that the seat 12 is in the seated state when the movable portion 12d of the seat detection unit 12 is connected to the terminal 12b, that is, when the terminal 12b is detected to be a ground voltage.
  • the seat belt determination unit 34 is connected to the seat belt detection unit 13.
  • the seat belt determination unit 34 determines whether the seat belt BT is in the wearing state or the non-wearing state.
  • the seat belt determination unit 34 determines that the seat belt detection unit 13 is in the mounted state when the movable unit 13c of the seat belt detection unit 13 is connected to the terminal 13a, that is, when it is detected that the terminal 13a is a ground voltage.
  • the seat belt determination unit 34 determines that the seat belt detection unit 13 is in the non-mounted state when the movable unit 13c of the seat belt detection unit 13 is not connected to the terminal 13a, that is, when it is detected that the terminal 13a is an open circuit voltage.
  • a warning device 35 is connected to the controller 30.
  • the warning device 35 is provided, for example, in the driver seat of the vehicle body 3.
  • a device that outputs various kinds of information can be used.
  • a lamp that outputs light, a speaker that outputs sound, or a display unit that outputs a message or the like may be used.
  • an engine controller 36 (not shown) is connected to the controller 30 by, for example, CAN communication. The engine controller 36 controls the rotational speed, engine torque, and the like of the engine 4.
  • the vehicle battery 14 and the controller 30 are energized when the operator performs an operation for operating the engine 4 such as turning the key switch 9 into a start state.
  • the controller 30 puts the engine 4 into an operating state via an engine controller (not shown). .
  • the operator can operate the engine 4 by the following first procedure.
  • a first procedure with the key switch turned off, first, the operator sits on the seat ST, so that the seat ST is placed in the seating state.
  • the seat belt BT is put on the seat belt BT by putting the belt of the seat belt BT on the operator and attaching the tongue to the buckle.
  • the controller 30 is activated.
  • the controller 30 determines that the seat determination unit 33 is in the sitting state, and determines that the seat belt determination unit 34 is in the wearing state. Therefore, the controller 30 brings the engine 4 into an operating state via the engine controller.
  • This first procedure is an appropriate procedure, and the engine 4 operates with the belt of the seat belt BT holding the operator.
  • the operator may perform the following second procedure, for example.
  • a second procedure with the key switch turned off, first the seat belt BT is put on the buckle by putting the tongue of the seat belt BT on the buckle before the operator is seated.
  • the seat ST is brought into a seated state.
  • the controller 30 determines that the seat determination unit 33 is in the seating state and the seat belt determination unit 34 determines that the seat belt determination unit 34 is in the mounted state, as described above.
  • the engine 4 is put into an operating state via the controller.
  • the engine 4 operates with the belt of the seat belt BT not being held by the operator. Therefore, in order to prevent the operation operation of the engine 4 from being performed in an inappropriate procedure such as the second procedure, in a work vehicle such as the work vehicle 1, the operator can There is a demand for a configuration that can detect whether the operation of the engine 4 is being performed in an appropriate procedure.
  • 4 to 9 are circuit diagrams showing the state of the detection circuit 40 when the key switch 9 is in the OFF state.
  • the key switch 9 is assumed to be in an off state until an operation for turning on the key switch 9 is performed.
  • the in-vehicle battery 14 and the controller 30 are electrically disconnected, and the controller 30 is not operating. Therefore, the seat determination unit 33 and the seat belt determination unit 34 of the controller 30 do not detect signals from the seat detection unit 12 and the seat belt detection unit 13, respectively.
  • the seat detector 12 When the operator sits on the seat ST with the key switch 9 turned off as described above, the seat detector 12 is connected to the terminal 12b from the state in which the movable portion 12d is connected to the terminal 12a as shown in FIG. (C11). As a result, the wiring 57 is connected to the ground G ⁇ b> 1 via the sheet detection unit 12 and the wiring 58.
  • the seat belt detector 13 When the seat belt BT is worn after the operator is seated on the seat ST, as shown in FIG. 5, the seat belt detector 13 has the movable portion 13c connected to the terminal 13a (C12). Thereby, the wiring 62 is connected to the ground G ⁇ b> 2 via the seat belt detection unit 13 and the wiring 63.
  • the in-vehicle battery 14 and the ground G2 are connected via the wiring 41, the first coil 42, the wiring 43, the wiring 62, the seat belt detection unit 13, and the wiring 63, A current flows between the in-vehicle battery 14 and the ground G2.
  • the movable portion 45c of the first switch 45 connects the terminal 45a and the terminal 45b (C13).
  • the movable part 45c of the first switch 45 connects the terminal 45a and the terminal 45b, whereby the wiring 44 and the wiring 46 are connected via the first switch 45.
  • the wiring 46 is connected to the terminal 12a of the sheet detection unit 12 and the terminal 50b of the second switch 50 via the second coil 47, the wiring 48, and the wiring 55, respectively.
  • the seat belt detector 13 has the movable portion 13c connected to the terminal 13a. (C1).
  • the wiring 62 is connected to the ground G2 via the seat belt detection unit 13 and the wiring 63, and a current flows between the in-vehicle battery 14 and the ground G2.
  • the movable portion 45c of the first switch 45 connects the terminal 45a and the terminal 45b (C2).
  • the wiring 44 and the wiring 46 are connected via the first switch 45.
  • the wiring 46 is connected to the terminal 12 a of the sheet detection unit 12 through the second coil 47, the wiring 48, and the wiring 55. Since the seat ST is not seated, the terminals 12a and 12c are connected. Therefore, the in-vehicle battery 14 and the ground G3 are connected via the wiring 44, the first switch 45, the wiring 46, the second coil 47, the wiring 48, the wiring 55, the wiring 56, the sheet detection unit 12, and the wiring 58. Is done. In this case, since a current flows through the second coil 47, the movable portion 50c of the second switch 50 connects the terminal 50a and the terminal 50b (C3).
  • the movable part 45c of the first switch 45 connects the terminal 45a and the terminal 45b, whereby the wiring 49 and the wiring 51 are connected via the second switch 50.
  • the detection terminal 31a connected to the determination unit 31 and the ground G3 are connected, and the detection terminal 31a becomes the ground voltage. Therefore, in the detection circuit 40, the solenoid switch 40a and the solenoid switch 40b are relay switches, and a predetermined energized state, that is, a state in which the detection terminal 31a is at the ground voltage is formed and held.
  • the seat detection unit 12 After the detection circuit 40 maintains a predetermined energized state, before the key switch 9 is turned on, for example, when the operator rises from the seat ST or gets off the seat ST, the seat detection unit 12 is in the non-sitting state. It becomes.
  • the seat detection unit 12 changes from the state shown in FIG. 6 to the non-sitting state, as shown in FIG. 7, the connection destination of the movable part 12d of the seat detection unit 12 is switched from the terminal 12a to the terminal 12b (C4). Thereby, since the electrical connection between the wiring 56 and the wiring 58 is disconnected, no current flows from the wiring 55 to the wiring 56 side.
  • the wiring 55 On the other hand, the wiring 55 is connected to the ground G3 through the wiring 49, the second switch 50, and the wiring 51.
  • the detection circuit 40 maintains the predetermined energization state. Maintain the state. In other words, even if the operator returns the seat ST to the non-sitting state after the detection circuit 40 maintains the predetermined energization state, the predetermined energization state is not released in the detection circuit 40.
  • the seat belt detection unit 13 is in the non-mounted state. To detect. For example, when the seat belt detection unit 13 is not attached from the state shown in FIG. 6, as shown in FIG. 8, the movable portion 13c of the seat belt detection unit 13 is separated from the terminal 13a (C5). When the movable portion 13c is separated from the terminal 13a, the electrical connection between the in-vehicle battery 14 and the ground G2 is disconnected. Therefore, no current flows through the first coil 42, and the movable portion 45c of the first switch 45 is separated from the terminals 45a and 45b (C6).
  • the movable part 13c of the seat belt detection unit 13 is separated from the terminal 13a (C8).
  • the electrical connection between the vehicle-mounted battery 14 and the ground G2 is cut off, so that no current flows through the first coil 42, and the movable portion 45c of the first switch 45 is separated from the terminals 45a and 45b (C9).
  • the electrical connection between the in-vehicle battery 14 and the ground G2 is released, no current flows through the second coil 47, and the movable part 50c of the second switch 50 is separated from the terminal 50a and the terminal 50b (C10).
  • the detection terminal 31a becomes an open circuit voltage.
  • the detection circuit 40 releases the holding of the predetermined energized state when the seat belt detection unit 13 detects the non-attached state before the key switch 9 is turned on after holding the predetermined energized state. . That is, after the predetermined energized state is formed, the operator returns the seat belt BT to the non-attached state, whereby the holding of the predetermined energized state is released in the detection circuit 40.
  • FIG. 10 is a flowchart showing a processing flow of the controller 30 when the key switch 9 is turned on.
  • the controller 30 is activated (step S10).
  • the determination unit 31 detects whether or not the detection circuit 40 is in a predetermined energized state (step S20).
  • the determination unit 31 determines a procedure error (Step S30).
  • the controller 30 may turn on the warning lamp 35 when the procedure error is determined.
  • the interlock control unit 32 activates the interlock when a procedure error is determined in step S30 (step S40).
  • the interlock control unit 32 operates, for example, at least one of a traveling interlock and a cargo handling interlock as an interlock.
  • the interlock control unit 32 restricts the operation of the traveling hydraulic pump 10 described above, for example. By stopping the operation of the traveling hydraulic pump 10, the traveling operation of the vehicle body 3 is stopped.
  • the interlock control part 32 restrict
  • the seat belt determination unit 34 determines whether or not the seat belt detection unit 13 has been switched to the non-mounted state (step S50). When the seatbelt determination unit 34 determines that the seatbelt detection unit 13 is not attached (Yes in Step S50), the determination unit 31 cancels the determination of the procedure error (Step S60). If the seat belt determination unit 34 determines that the seat belt detection unit 13 has not been switched to the non-wearing state (No in step S50), the determination of step S50 is repeated until the seat belt detection unit 13 switches to the non-wearing state. .
  • step S 70 When the determination of the procedure error is canceled by the determination unit 31, the interlock control unit 32 releases the interlock that has been operated (step S70).
  • step S ⁇ b> 70 when releasing the traveling interlock, the interlock control unit 32 releases the operation restriction of the traveling hydraulic pump 10, for example, and makes the traveling hydraulic pump 10 operable. By setting the traveling hydraulic pump 10 to an operable state, the traveling operation of the vehicle main body 3 becomes possible.
  • the interlock control unit 32 releases the cargo handling interlock for example, the operation restriction of the lift operation valve 17 and the tilt operation valve 18 is released, and the lift operation valve 17 and the tilt operation valve 18 are operable. And By setting the lift operation valve 17 and the tilt operation valve 18 in an operable state, the work machine 5 becomes operable.
  • the controller 30 causes the work vehicle 1 to perform a normal operation.
  • the determination unit 31 detects that the detection circuit 40 is not in a predetermined energized state in Step S20 (No in Step S20)
  • the determination unit 31 does not perform the operations from Step S30 to Step S70 and performs normal operation of the work vehicle 1. Let's do the operation.
  • the work vehicle 1 includes the vehicle body 3 having the key switch 9, the seat ST provided on the vehicle body 3 and having the seat belt BT, and the seat for detecting the seating state of the seat ST.
  • Detection circuit 40 that forms and holds a predetermined energization state when the signal is detected, and determination of a procedure error when the detection circuit 40 holds the predetermined energization state when the key switch 9 is turned on And a controller 30 having a determination unit 31 for performing the above.
  • the detection circuit 40 cancels the detection of the state in which the operator is seated on the seat detection unit 12 before the key switch 9 is turned on after the predetermined energized state is formed. If this happens, the state where the predetermined energized state is maintained is maintained. Accordingly, it is possible to suppress the release of the predetermined energization state when the operator leaves the sheet ST after the predetermined energization state is maintained.
  • the detection circuit 40 maintains the predetermined energization state, and when the seatbelt detection unit 13 detects the non-wearing state before the key switch 9 is turned on, the predetermined energization is performed. Release state retention. Thereby, when an operator corrects an operation procedure to an appropriate procedure, it can suppress that a predetermined electricity supply state is maintained.
  • the detection circuit 40 includes a detection terminal 31a that is electrically connected to the determination unit 31, and the predetermined energization state is a state in which the detection terminal 31a becomes a ground voltage. Thereby, the detection circuit 40 can easily form and hold a predetermined energization state, and the determination unit 31 can reliably detect the predetermined energization state.
  • the controller 30 includes an interlock control unit 32 that operates the interlock on the vehicle body 3 when the determination unit 31 determines a procedure error.
  • the vehicle body 3 can be prevented from operating when the key switch 9 is turned on by an unsuitable procedure.
  • the determination unit 31 determines a procedure error when the detection result of the seat belt detection unit 13 is switched from the mounted state to the non-mounted state after the interlock is activated. To release. Thereby, when the operator corrects the operation procedure to an appropriate procedure, it is possible to prevent the procedure error state from being held.
  • the interlock control unit 32 releases the interlock of the vehicle body 3 when the determination of the procedure error is cancelled. Thereby, when an operator corrects to an appropriate procedure, it can control that the interlock state of vehicle body 3 is maintained.
  • the interlock includes a travel interlock that stops the travel of the vehicle body 3. Thereby, when the engine 4 is operated by an unsuitable procedure, the vehicle body 3 can be prevented from traveling.
  • the work vehicle 1 further includes a work machine 5 provided in the vehicle main body 3, and the interlock includes a cargo handling interlock that stops the operation of the work machine 5. Thereby, when the operator turns on the key switch 9 in an unsuitable procedure, the operation of the work machine 5 can be prevented.
  • the seatbelt detection unit before the seat detection unit 12 detects the seating state of the seat ST provided in the vehicle body 3 when the key switch 9 of the vehicle body 3 is off.
  • 13 detects the mounting state of the seat belt BT provided on the seat ST, and when the detection circuit 40 forms and holds a predetermined energization state and the key switch 9 is turned on, the detection circuit 40 And determining a procedure error when a predetermined energized state is maintained.
  • the work vehicle control method is performed when the detection state of the seat detector 12 is released before the key switch 9 is turned on after the detection circuit 40 maintains a predetermined energized state. It further includes maintaining the state in which the energized state is maintained. Accordingly, it is possible to suppress the release of the predetermined energization state when the operator leaves the sheet ST after holding the predetermined energization state.
  • the detection state of the seat belt detection unit 13 is released before the key switch 9 is turned on after the detection circuit 40 maintains a predetermined energization state. It further includes releasing the holding of the predetermined energized state. Thereby, when an operator corrects an operation procedure to an appropriate procedure, it can suppress that a predetermined electricity supply state is maintained.
  • the work vehicle control method further includes operating an interlock on the vehicle main body 3 when a determination of a procedure error is made.
  • the vehicle main body 3 can be prevented from operating.
  • the work vehicle control method cancels the determination of the procedure error when the detection result of the seat belt detection unit 13 is switched from the mounted state to the non-mounted state after the interlock is operated. Further included. Thereby, when the operator corrects the operation procedure to an appropriate procedure, it is possible to prevent the procedure error state from being held.
  • the work vehicle control method further includes releasing the interlock of the vehicle body when the determination of the procedure error is released. Thereby, when an operator corrects to an appropriate procedure, it can control that the interlock state of vehicle body 3 is maintained.
  • the work vehicle 1 has a configuration in which the driving wheel 2a is rotationally driven by the traveling hydraulic pump 10 and the hydraulic motor 20 via the transfer 20b using the power of the engine 4, but the invention is not limited thereto.
  • the work vehicle 1 may be configured to transmit the power of the engine 4 to the drive wheels 2a via a transmission including a torque converter to rotationally drive the drive wheels 2a.
  • the interlock control unit 32 can stop the traveling operation of the vehicle main body 3 by not connecting a clutch provided in the transmission, for example.
  • the work vehicle 1 may be configured to drive an electric motor with electric power of a vehicle-mounted battery and to rotationally drive the driving wheels 2a with the driving force of the electric motor.
  • the interlock control unit 32 can stop the traveling operation of the vehicle body 3 by not outputting the command of the electric motor.
  • the detection circuit 40 has been described with an example in which the solenoid switch 40a and the solenoid switch 40b constitute a relay switch.
  • the present invention is not limited to this.
  • at least one of the solenoid switch 40a and the solenoid switch 40b may be a switching element such as a transistor.
  • the operator activates the controller 30 by setting the key switch 9 to the start state, and then the determination unit 31 detects that the detection terminal 31a is maintained in a predetermined energized state.
  • the present invention is not limited to this.
  • the operator places the seat belt BT in the mounted state after the seat belt BT is seated on the seat ST without being mounted.
  • this procedure there is a high possibility that the seat belt BT is not attached at the moment when the operator is seated on the seat ST. Therefore, when the seat belt BT is in the wearing state at the moment when the operator is seated on the seat ST, it is estimated that there is a high possibility that the seat belt BT has been in the wearing state before the operator is seated on the seat ST. Therefore, for example, when the controller 30 is activated with the operator seated on the seat ST as a trigger, and the seat belt BT is in the mounted state when the controller 30 is activated, the determination unit 31 performs the procedure error determination. Also good.
  • the controller 30 is connected to the in-vehicle battery 14 via the seat detection unit 12.
  • the seat detection unit 12 is put on when the operator is seated on the seat ST, and electrically connects the in-vehicle battery 14 and the controller 30. Accordingly, it is possible to reliably detect that an inappropriate procedure that the seat belt BT is in the mounted state at the moment when the operator is seated on the seat ST is performed.
  • the controller 30 may be activated when the operator wears the seat belt BT, and the determination unit 31 may determine the procedure error when the seat ST is in a non-sitting state when the controller 30 is activated.
  • the controller 30 is connected to the in-vehicle battery 14 via the seat belt detection unit 13.
  • the seat belt detection unit 13 is put on when the operator wears the seat belt BT, and electrically connects the in-vehicle battery 14 and the controller 30. This makes it possible to reliably detect that an inappropriate procedure has been performed in which the operator is not seated on the seat ST when the seat belt BT is worn.
  • the state where the movable part 50c of the second switch 50 connects the terminal 50a and the terminal 50b that is, the state where the detection terminal 31a becomes the ground voltage is described as the predetermined energized state. It is not limited to. For example, a state in which the movable portion 50c of the second switch 50 is separated from the terminals 50a and 50b, that is, a state in which the detection terminal 31a is an open circuit voltage may be a predetermined energized state.
  • G1, G2, G3 ground, HL steering member, BT seat belt, ST seat 1 work vehicle, 2a driving wheel, 2b steering wheel, 3 vehicle body, 4 engine, 5 working machine, 6 fork, 7 lift cylinder, 8 Tilt cylinder, 9 key switch, 10 traveling hydraulic pump, 10S, 16S, 20S swash plate, 10a, 10b hydraulic supply line, 11 pump capacity setting unit, 12 seat detector, 12a, 12b, 12c, 13a, 13b, 45a, 45b, 50a, 50b terminal, 12d, 13c, 45c, 50c movable part, 13 seat belt detection part, 14 onboard battery, 16 work machine hydraulic pump, 17 lift operation valve, 18 tilt operation valve, 20 hydraulic motor, 20a Output shaft, 20b transfer, 21 motor capacity Setting unit, 30 controller, 31 determination unit, 31a detection terminal, 32 interlock control unit, 33 seat determination unit, 34 seat belt determination unit, 35 warning light, 36 engine controller, 40 detection circuit, 40a, 40b solenoid switch, 41 43, 44, 46, 48, 49

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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Automotive Seat Belt Assembly (AREA)

Abstract

The present invention comprises: a vehicle body which has a main switch; a seat which is provided in the vehicle body and has a seat belt; a seat detection unit which detects the seating state of an operator on the seat; a seat belt detection unit which detects the fastening state of the seat belt; a detection circuit which forms and holds a predetermined energization state if the seat belt detection unit detects the fastening state before the seat detection unit detects the seating state in a state in which the main switch is off; and a determination unit which determines a procedure error if the detection circuit is holding the predetermined energization state when the main switch is turned on.

Description

作業車両及び作業車両の制御方法Work vehicle and control method of work vehicle
　本発明は、作業車両及び作業車両の制御方法に関する。 The present invention relates to a work vehicle and a work vehicle control method.
　フォークリフト等の作業車両には、オペレータが着座するシートにシートベルトが設けられるものがある。このような作業車両には、例えば、オペレータがシートに着座しているか否かを検出するシート検出部、及びシートベルトが装着されているか否かを検出するシートベルト検出部が設けられる（例えば、特許文献１参照）。 Some work vehicles such as forklifts are provided with a seat belt on the seat on which the operator is seated. Such a work vehicle includes, for example, a seat detection unit that detects whether an operator is seated on a seat, and a seat belt detection unit that detects whether a seat belt is attached (for example, Patent Document 1).
　特許文献１に記載の作業車両では、車両本体のメインスイッチがオンになった後、シート検出部又はシートベルト検出部の検出結果に基づいてオペレータがシートに在席しているか否かを検出し、オペレータがシートに在席していない場合には、走行動作及び荷役動作が行われない構成となっている。 In the work vehicle described in Patent Document 1, after the main switch of the vehicle body is turned on, it is detected whether the operator is present on the seat based on the detection result of the seat detection unit or the seat belt detection unit. When the operator is not present on the seat, the traveling operation and the cargo handling operation are not performed.
特開２００５－１７０５４２号公報JP-A-2005-170542
　作業車両では、オペレータが適正な手順でシートに着座しシートベルトを装着するか否かを監視できる構成が求められている。 Work vehicles are required to have a configuration that allows an operator to monitor whether or not he / she sits on a seat and wears a seat belt in an appropriate procedure.
　本発明は、上記に鑑みてなされたものであり、オペレータが適正な手順でシートに着座しシートベルトを装着するか否かを監視することが可能な作業車両及び作業車両の制御方法を提供することを目的とする。 The present invention has been made in view of the above, and provides a work vehicle and a work vehicle control method capable of monitoring whether an operator is seated on a seat and wearing a seat belt in an appropriate procedure. For the purpose.
　本発明の第１態様に従えば、メインスイッチを有する車両本体と、前記車両本体に設けられ、シートベルトを有するシートと、前記シートの着座状態を検出するシート検出部と、前記シートベルトの装着状態を検出するシートベルト検出部と、前記メインスイッチがオフの状態において、前記シート検出部が前記着座状態を検出する前に前記シートベルト検出部が前記装着状態を検出した場合に、所定の通電状態を形成して保持する検出回路と、前記メインスイッチがオンになった時に、前記検出回路が前記所定の通電状態を保持している場合に手順エラーの判定を行う判定部を有する制御部と、を備える作業車両が提供される。 According to the first aspect of the present invention, a vehicle main body having a main switch, a seat provided in the vehicle main body and having a seat belt, a seat detection unit for detecting a seating state of the seat, and mounting of the seat belt When the seatbelt detection unit detects the wearing state before the seat detection unit detects the seating state in a state where the seatbelt detection unit detects the state and the main switch is off, a predetermined energization is performed. A detection circuit that forms and holds a state; and a control unit that includes a determination unit that determines a procedure error when the detection circuit holds the predetermined energization state when the main switch is turned on. Are provided.
　本発明の第２態様に従えば、車両本体のメインスイッチがオフの状態において、シート検出部が前記車両本体に設けられるシートの着座状態を検出する前にシートベルト検出部が前記シートに設けられるシートベルトの装着状態を検出した場合に、検出回路において所定の通電状態を形成して保持することと、前記メインスイッチがオンになった時に、前記検出回路が前記所定の通電状態を保持している場合に手順エラーの判定を行うこととを含む作業車両の制御方法が提供される。 According to the second aspect of the present invention, in a state where the main switch of the vehicle main body is OFF, the seat belt detection unit is provided in the seat before the seat detection unit detects the seating state of the seat provided in the vehicle main body. When detecting a seat belt wearing state, the detection circuit forms and holds a predetermined energization state, and when the main switch is turned on, the detection circuit holds the predetermined energization state. A method for controlling a work vehicle is provided that includes determining a procedure error when
　本発明によれば、オペレータが適正な手順でシートに着座しシートベルトを装着するか否かを監視することが可能となる。 According to the present invention, it is possible to monitor whether or not the operator is seated on the seat and wearing the seat belt in an appropriate procedure.
図１は、本実施形態に係る作業車両の全体構成を示す図である。FIG. 1 is a diagram illustrating an overall configuration of a work vehicle according to the present embodiment. 図２は、図１に示したフォークリフトの制御系統を示すブロック図である。FIG. 2 is a block diagram showing a control system of the forklift shown in FIG. 図３は、シート検出部、シートベルト検出部、コントローラ及び検出回路の構成を示す回路図である。FIG. 3 is a circuit diagram illustrating configurations of the seat detection unit, the seat belt detection unit, the controller, and the detection circuit. 図４は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 4 is a circuit diagram showing the state of the detection circuit when the main switch is off. 図５は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 5 is a circuit diagram showing the state of the detection circuit when the main switch is off. 図６は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 6 is a circuit diagram illustrating a state of the detection circuit when the main switch is off. 図７は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 7 is a circuit diagram showing the state of the detection circuit when the main switch is off. 図８は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 8 is a circuit diagram showing the state of the detection circuit when the main switch is off. 図９は、メインスイッチがオフである場合の検出回路の状態を示す回路図である。FIG. 9 is a circuit diagram showing the state of the detection circuit when the main switch is off. 図１０は、メインスイッチがオンになった場合におけるコントローラの処理の流れを示すフローチャートである。FIG. 10 is a flowchart showing a processing flow of the controller when the main switch is turned on.
　以下、本発明に係る作業車両及び作業車両の制御方法の実施形態を図面に基づいて説明する。なお、この実施形態によりこの発明が限定されるものではない。また、下記実施形態における構成要素には、当業者が置換可能かつ容易なもの、あるいは実質的に同一のものが含まれる。 Hereinafter, embodiments of a work vehicle and a work vehicle control method according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.
　図１は、本実施形態に係る作業車両１の全体構成を示す図である。本実施形態において、作業車両１は、例えばフォークリフトであるが、これに限定されない。作業車両１は、例えばホイールローダ又は油圧ショベル等であってもよい。作業車両１は、駆動源であるエンジン４を有する車両本体３と、フォーク６を有する作業機５と、車両本体３及び作業機５を制御する制御部であるコントローラ３０と、を有する。作業車両１は、シートＳＴから操舵部材ＨＬへ向かう側が前であり、操舵部材ＨＬからシートＳＴへ向かう側が後である。 FIG. 1 is a diagram showing an overall configuration of a work vehicle 1 according to the present embodiment. In the present embodiment, the work vehicle 1 is, for example, a forklift, but is not limited thereto. The work vehicle 1 may be a wheel loader or a hydraulic excavator, for example. The work vehicle 1 includes a vehicle body 3 having an engine 4 as a drive source, a work machine 5 having a fork 6, and a controller 30 as a control unit that controls the vehicle body 3 and the work machine 5. The work vehicle 1 has a front side from the seat ST toward the steering member HL, and a rear side from the steering member HL toward the seat ST.
　車両本体３は、駆動輪２ａ及び操向輪２ｂを有する。車両本体３の運転席には、シートＳＴと、シートベルトＢＴと、操舵部材ＨＬと、キースイッチ９とが設けられる。本実施形態において、キースイッチ９は、車両本体３のメインスイッチである。なお、車両本体３のメインスイッチとしては、キースイッチ９に限定されるものではなく、例えば押しボタン式のスイッチ等、他の種類のスイッチであってもよい。シートベルトＢＴは、オペレータをホールドすることが可能なベルトと、ベルトの先端に取り付けられたタングと、タングを着脱可能なバックルとを有する。 The vehicle body 3 has drive wheels 2a and steered wheels 2b. A seat of the vehicle body 3 is provided with a seat ST, a seat belt BT, a steering member HL, and a key switch 9. In the present embodiment, the key switch 9 is a main switch of the vehicle body 3. The main switch of the vehicle body 3 is not limited to the key switch 9, and may be another type of switch such as a push button switch. The seat belt BT includes a belt capable of holding an operator, a tongue attached to the tip of the belt, and a buckle capable of attaching and detaching the tongue.
　車両本体３には、前後進レバー、インチング操作部としてのインチングペダル（ブレーキペダル）、アクセル操作部としてのアクセルペダルが設けられる。また、車両本体３には、作業機５を操作するためのリフトレバー及びチルトレバーを含む図示しない作業機操作レバーが設けられる。 The vehicle body 3 is provided with a forward / reverse lever, an inching pedal (brake pedal) as an inching operation unit, and an accelerator pedal as an accelerator operation unit. The vehicle body 3 is provided with a work implement operating lever (not shown) including a lift lever and a tilt lever for operating the work implement 5.
　また、シートＳＴは、シート検出部１２と、シートベルト検出部１３とを有する。シート検出部１２は、シートＳＴにオペレータが着座している状態を検出する。本実施形態において、着座状態は、オペレータがシートＳＴの座板に一定値以上の体重を乗せた状態で着席した状態である。また、以下の説明においては、シートＳＴにオペレータが着座している状態ではない状態を非着座状態と表記する。シートＳＴが非着座状態の場合、シート検出部１２は、シートＳＴの着座状態の検出が解除される。 Further, the sheet ST includes a seat detection unit 12 and a seat belt detection unit 13. The seat detection unit 12 detects a state in which an operator is seated on the seat ST. In the present embodiment, the seated state is a state where the operator is seated with a weight of a certain value or more on the seat plate of the seat ST. In the following description, a state where the operator is not seated on the seat ST is referred to as a non-sitting state. When the seat ST is in the non-sitting state, the seat detection unit 12 cancels the detection of the seating state of the seat ST.
　シートベルト検出部１３は、シートベルトＢＴの装着状態を検出する。本実施形態において、装着状態は、シートベルトＢＴのタングがバックルに装着された状態である。また、以下の説明においては、シートベルトＢＴのタングがバックルから外れた状態を非装着状態と表記する。シートベルトＢＴが非装着状態の場合、シートベルト検出部１３は、シートベルトＢＴの装着状態の検出が解除される。 The seat belt detection unit 13 detects the wearing state of the seat belt BT. In the present embodiment, the mounted state is a state in which the tongue of the seat belt BT is mounted on the buckle. In the following description, a state in which the tongue of the seat belt BT is detached from the buckle is referred to as a non-wearing state. When the seat belt BT is not attached, the seat belt detection unit 13 cancels the detection of the attached state of the seat belt BT.
　キースイッチ９は、車載バッテリ１４（後述）とコントローラ３０との間の導通を切り替える。キースイッチ９は、例えばオフ状態と、オン状態と、スタート状態とを切り替え可能である。キースイッチ９がオフ状態である場合、車載バッテリ１４とコントローラ３０との間の導通が切断された状態となる。キースイッチ９がオン状態の場合、車載バッテリ１４とコントローラ３０との間が通電状態となる。また、キースイッチ９をスタート状態にすることにより、車載バッテリ１４とコントローラ３０との間が通電状態となり、かつ、エンジンコントローラ３６（後述）を介してエンジン４が稼働される。 The key switch 9 switches conduction between the in-vehicle battery 14 (described later) and the controller 30. For example, the key switch 9 can be switched between an off state, an on state, and a start state. When the key switch 9 is in the off state, the continuity between the in-vehicle battery 14 and the controller 30 is cut off. When the key switch 9 is in the on state, the energized state is established between the in-vehicle battery 14 and the controller 30. Further, by setting the key switch 9 to the start state, the vehicle battery 14 and the controller 30 are energized, and the engine 4 is operated via the engine controller 36 (described later).
　作業機５は、車両本体３の前方に設けられる。作業機５は、フォーク６と、リフトシリンダ７と、チルトシリンダ８とを有する。フォーク６は、例えば昇降可能かつチルト可能に配置される。リフトシリンダ７は、フォーク６を昇降させる。チルトシリンダ８は、フォーク６をチルトさせる。 The work machine 5 is provided in front of the vehicle body 3. The work machine 5 includes a fork 6, a lift cylinder 7, and a tilt cylinder 8. The fork 6 is arranged so that it can be raised and lowered and tilted, for example. The lift cylinder 7 moves the fork 6 up and down. The tilt cylinder 8 tilts the fork 6.
　図２は、図１に示したフォークリフトの制御系統を示すブロック図である。図２に示すように、作業車両１は、走行用油圧ポンプ１０と、油圧モータ２０と、両者を接続する油圧供給管路１０ａ及び油圧供給管路１０ｂとを含んだ閉回路を備えている。走行用油圧ポンプ１０は、エンジン４によって駆動されて作動油を吐出する。走行用油圧ポンプ１０は、斜板１０Ｓを有する。走行用油圧ポンプ１０は、斜板１０Ｓの傾転角が変更されることによって容量が変化する可変容量型のポンプである。 FIG. 2 is a block diagram showing a control system of the forklift shown in FIG. As shown in FIG. 2, the work vehicle 1 includes a closed circuit including a traveling hydraulic pump 10, a hydraulic motor 20, and a hydraulic supply line 10a and a hydraulic supply line 10b that connect the two. The traveling hydraulic pump 10 is driven by the engine 4 to discharge hydraulic oil. The traveling hydraulic pump 10 includes a swash plate 10S. The traveling hydraulic pump 10 is a variable displacement pump whose capacity is changed by changing the tilt angle of the swash plate 10S.
　油圧モータ２０は、走行用油圧ポンプ１０から吐出された作動油によって回転駆動される。油圧モータ２０は、例えば、斜板２０Ｓを有する。油圧モータ２０は、斜板２０Ｓの傾転角を変更することによって容量を変更することのできる可変容量型の油圧モータである。油圧モータ２０は、固定容量型の油圧モータであってもよい。油圧モータ２０は、出力軸２０ａがトランスファ２０ｂを介して駆動輪２ａに接続されている。油圧モータ２０は、トランスファ２０ｂを介して駆動輪２ａを回転駆動することで、作業車両１を走行させる。 The hydraulic motor 20 is rotationally driven by the hydraulic oil discharged from the traveling hydraulic pump 10. The hydraulic motor 20 includes, for example, a swash plate 20S. The hydraulic motor 20 is a variable capacity type hydraulic motor whose capacity can be changed by changing the tilt angle of the swash plate 20S. The hydraulic motor 20 may be a fixed capacity type hydraulic motor. The hydraulic motor 20 has an output shaft 20a connected to the drive wheel 2a via a transfer 20b. The hydraulic motor 20 causes the work vehicle 1 to travel by rotationally driving the drive wheels 2a via the transfer 20b.
　油圧モータ２０は、走行用油圧ポンプ１０からの作動油の供給方向に応じて回転方向を切り替えることが可能である。油圧モータ２０の回転方向が切り替えられることにより、作業車両１は前進又は後進することができる。以下の説明においては、便宜上、油圧供給管路１０ａから油圧モータ２０に作動油が供給された場合に作業車両１が前進し、油圧供給管路１０ｂから油圧モータ２０に作動油が供給された場合に作業車両１が後進するものとする。 The hydraulic motor 20 can switch the rotation direction according to the supply direction of the hydraulic oil from the traveling hydraulic pump 10. By switching the rotation direction of the hydraulic motor 20, the work vehicle 1 can move forward or backward. In the following description, for the sake of convenience, the working vehicle 1 moves forward when hydraulic oil is supplied from the hydraulic supply line 10a to the hydraulic motor 20, and the hydraulic oil is supplied from the hydraulic supply line 10b to the hydraulic motor 20. It is assumed that the work vehicle 1 moves backward.
　作業車両１は、ポンプ容量設定ユニット１１及びモータ容量設定ユニット２１を有する。ポンプ容量設定ユニット１１は、コントローラ３０から与えられた指令信号に応じて走行用油圧ポンプ１０の斜板傾転角を変化させることで、走行用油圧ポンプ１０の容量を変更する。モータ容量設定ユニット２１は、コントローラ３０から与えられた指令信号に応じて油圧モータ２０の斜板傾転角を変化させることで、油圧モータ２０の容量を変更する。 The work vehicle 1 has a pump capacity setting unit 11 and a motor capacity setting unit 21. The pump capacity setting unit 11 changes the displacement of the traveling hydraulic pump 10 by changing the swash plate tilt angle of the traveling hydraulic pump 10 in accordance with the command signal given from the controller 30. The motor capacity setting unit 21 changes the capacity of the hydraulic motor 20 by changing the tilt angle of the swash plate of the hydraulic motor 20 in accordance with a command signal given from the controller 30.
　また、作業機油圧ポンプ１６は、リフト操作弁１７を介してリフトシリンダ７に作動油を供給するとともに、チルト操作弁１８を介してチルトシリンダ８に作動油を供給する。リフト操作弁１７は、例えば作業機操作レバーのリフトレバーの操作量に対応して動作し、リフトシリンダ７に供給される作動油量を調整してリフトシリンダ７を駆動する。また、チルト操作弁１８は、作業機操作レバーのうちチルトレバーの操作量に対応して動作し、チルトシリンダ８に供給される作動油量を調整してチルトシリンダ８を駆動する。作業機油圧ポンプ１６は、斜板１６Ｓを有する。作業機油圧ポンプ１６は、斜板１６Ｓとの傾転角が変更されることにより容量が変化する可変容量型のポンプである。 The working machine hydraulic pump 16 supplies hydraulic oil to the lift cylinder 7 via the lift operation valve 17 and supplies hydraulic oil to the tilt cylinder 8 via the tilt operation valve 18. The lift operation valve 17 operates in accordance with, for example, the operation amount of the lift lever of the work implement operation lever, and drives the lift cylinder 7 by adjusting the amount of hydraulic oil supplied to the lift cylinder 7. The tilt operation valve 18 operates in accordance with the amount of operation of the tilt lever of the work implement operation lever, and drives the tilt cylinder 8 by adjusting the amount of hydraulic oil supplied to the tilt cylinder 8. The work machine hydraulic pump 16 includes a swash plate 16S. The work machine hydraulic pump 16 is a variable displacement pump whose capacity changes when the tilt angle with the swash plate 16S is changed.
　図３は、シート検出部１２、シートベルト検出部１３、コントローラ３０及び検出回路４０の構成を示す回路図である。図３に示すように、本実施形態において、シート検出部１２は、例えば圧力スイッチ等の機械式スイッチである。なお、シート検出部１２は、他の種類のスイッチであってもよい。シート検出部１２は、例えば１つ設けられるが、これに限定されず、２つ以上設けられてもよい。 FIG. 3 is a circuit diagram showing the configuration of the seat detection unit 12, the seat belt detection unit 13, the controller 30, and the detection circuit 40. As shown in FIG. 3, in this embodiment, the sheet | seat detection part 12 is mechanical switches, such as a pressure switch, for example. The sheet detection unit 12 may be another type of switch. For example, one sheet detection unit 12 is provided, but is not limited thereto, and two or more sheet detection units 12 may be provided.
　シート検出部１２は、それぞれ端子１２ａと、端子１２ｂと、端子１２ｃと、可動部１２ｄとを有する。端子１２ａは、配線５６を介してコントローラ３０に接続される。端子１２ｂは、配線５７を介してコントローラ３０に接続される。端子１２ｃは、配線５８を介してグランドＧ１に接続される。可動部１２ｄは、一端が端子１２ｃに接続される。可動部１２ｄの他端は、端子１２ａと端子１２ｂとの間で接続先を切り替え可能である。シート検出部１２は、シートＳＴにオペレータが着座している状態である場合、可動部１２ｄの他端が端子１２ｂに接続される。また、シート検出部１２は、シートＳＴが非着座状態である場合、可動部１２ｄの他端が端子１２ａに接続される。図３では、一例として、シートＳＴが非着座状態である場合、つまり、可動部１２ｄの他端が端子１２ａに接続された状態が示されている。 The sheet detection unit 12 includes a terminal 12a, a terminal 12b, a terminal 12c, and a movable unit 12d. The terminal 12 a is connected to the controller 30 via the wiring 56. The terminal 12b is connected to the controller 30 via the wiring 57. The terminal 12c is connected to the ground G1 via the wiring 58. One end of the movable portion 12d is connected to the terminal 12c. The other end of the movable portion 12d can switch the connection destination between the terminal 12a and the terminal 12b. When the operator is seated on the sheet ST, the other end of the movable unit 12d is connected to the terminal 12b. In addition, when the seat ST is in the non-sitting state, the other end of the movable portion 12d is connected to the terminal 12a. In FIG. 3, as an example, the seat ST is in a non-sitting state, that is, a state where the other end of the movable portion 12d is connected to the terminal 12a.
　本実施形態において、シートベルト検出部１３は、例えばシートベルトＢＴのタングをバックルに装着すると作動する機械式スイッチである。なお、シートベルト検出部１３は、他の種類のスイッチであってもよい。シートベルト検出部１３は、例えば１つ設けられるが、これに限定されず、２つ以上設けられてもよい。 In the present embodiment, the seat belt detection unit 13 is a mechanical switch that operates when the tongue of the seat belt BT is attached to the buckle, for example. The seat belt detection unit 13 may be another type of switch. For example, one seat belt detection unit 13 is provided, but the invention is not limited to this, and two or more seat belt detection units may be provided.
　シートベルト検出部１３は、端子１３ａと、端子１３ｂと、可動部１３ｃとを有する。端子１３ａは、配線６２を介してコントローラ３０に接続される。端子１３ｂは、配線６３を介してグランドＧ２に接続される。可動部１３ｃは、一端が端子１３ｂに接続される。可動部１３ｃの他端は、端子１３ａに対して接続及び接続解除を切り替え可能である。シートベルト検出部１３は、シートベルトＢＴが装着状態である場合、可動部１３ｃの他端が端子１３ａに接続される。また、シートベルト検出部１３は、シートベルトＢＴが非装着状態である場合、可動部１３ｃの他端が端子１３ａから離れて接続解除される。図３では、一例として、シートベルトＢＴが非装着状態である場合、つまり、可動部１３ｃの他端が端子１３ａから離れた状態が示されている。 The seat belt detection unit 13 includes a terminal 13a, a terminal 13b, and a movable unit 13c. The terminal 13a is connected to the controller 30 via the wiring 62. The terminal 13b is connected to the ground G2 via the wiring 63. One end of the movable portion 13c is connected to the terminal 13b. The other end of the movable portion 13c can be switched between connection and release with respect to the terminal 13a. When the seat belt BT is in the mounted state, the seat belt detection unit 13 has the other end of the movable unit 13c connected to the terminal 13a. In addition, when the seat belt BT is not attached, the seat belt detector 13 is disconnected from the other end of the movable portion 13c away from the terminal 13a. FIG. 3 shows, as an example, a case where the seat belt BT is not attached, that is, a state where the other end of the movable portion 13c is separated from the terminal 13a.
　検出回路４０は、キースイッチ９がオフの状態において、シート検出部１２が着座状態を検出する前にシートベルト検出部１３が装着状態を検出した場合に、後述する所定の通電状態を形成して保持する。検出回路４０は、第１コイル４２と、第１スイッチ４５と、第２コイル４７と、第２スイッチ５０とを有する。 The detection circuit 40 forms a predetermined energization state, which will be described later, when the seat belt detection unit 13 detects the wearing state before the seat detection unit 12 detects the seating state when the key switch 9 is off. Hold. The detection circuit 40 includes a first coil 42, a first switch 45, a second coil 47, and a second switch 50.
　第１コイル４２は、一端が配線４１を介して作業車両１の車載バッテリ１４に接続される。第１コイル４２は、他端が配線４３を介してシートベルト検出部１３の配線６２に接続される。第１コイル４２には、サージ抑制のためのダイオード４２ａが並列に接続される。 One end of the first coil 42 is connected to the in-vehicle battery 14 of the work vehicle 1 via the wiring 41. The other end of the first coil 42 is connected to the wiring 62 of the seat belt detection unit 13 via the wiring 43. A diode 42a for surge suppression is connected to the first coil 42 in parallel.
　第１スイッチ４５は、端子４５ａと、端子４５ｂと、可動部４５ｃとを有する。端子４５ａは、配線４４を介して配線４１に接続される。端子４５ｂは、配線４６を介して第２コイル４７に接続される。第１スイッチ４５は、上記の第１コイル４２との間で、ソレノイドスイッチ４０ａを構成する。第１スイッチ４５は、第１コイル４２に電流が流れない状態においては可動部４５ｃが端子４５ａ、４５ｂから離れた状態となる。第１スイッチ４５は、第１コイル４２に電流が流れる状態においては、可動部４５ｃが端子４５ａと端子４５ｂとを接続する。 The first switch 45 has a terminal 45a, a terminal 45b, and a movable part 45c. The terminal 45 a is connected to the wiring 41 through the wiring 44. The terminal 45 b is connected to the second coil 47 through the wiring 46. The first switch 45 constitutes a solenoid switch 40a with the first coil 42 described above. The first switch 45 is in a state in which the movable portion 45c is separated from the terminals 45a and 45b when no current flows through the first coil. In the first switch 45, the movable portion 45 c connects the terminal 45 a and the terminal 45 b when a current flows through the first coil 42.
　第２コイル４７は、一端が配線４６に接続され、他端が配線４８に接続される。第２スイッチ５０は、端子５０ａと、端子５０ｂと、可動部５０ｃとを有する。端子５０ａは、配線５１を介してグランドＧ３に接続される。端子５０ｂは、配線４９を介してコントローラ３０に接続される。配線４９は、配線５５を介して配線４８とシート検出部１２の配線５６とにそれぞれ接続される。第２コイル４７には、サージ抑制のためのダイオード４７ａが並列に接続される。 The second coil 47 has one end connected to the wiring 46 and the other end connected to the wiring 48. The second switch 50 includes a terminal 50a, a terminal 50b, and a movable part 50c. The terminal 50a is connected to the ground G3 via the wiring 51. The terminal 50 b is connected to the controller 30 via the wiring 49. The wiring 49 is connected to the wiring 48 and the wiring 56 of the sheet detection unit 12 via the wiring 55, respectively. A diode 47a for surge suppression is connected to the second coil 47 in parallel.
　配線４９のうち、配線５５に接続される部分とコントローラ３０との間には、ダイオード４９ａが配置される。ダイオード４９ａは、コントローラ３０側への電流を規制する。配線５５のうち、配線４８に接続される部分と配線５６に接続される部分との間には、ダイオード５５ａが配置される。ダイオード５５ａは、配線５６側から配線４８側への電流を規制する。配線５５のうち、配線４８に接続される部分と配線４９に接続される部分との間には、ダイオード５５ｂが配置される。ダイオード５５ａは、配線４９側から配線４８側への電流を規制する。 A diode 49 a is disposed between a portion of the wiring 49 connected to the wiring 55 and the controller 30. The diode 49a regulates the current to the controller 30 side. A diode 55 a is disposed between a portion connected to the wiring 48 and a portion connected to the wiring 56 in the wiring 55. The diode 55a regulates a current from the wiring 56 side to the wiring 48 side. A diode 55 b is disposed between a portion connected to the wiring 48 and a portion connected to the wiring 49 in the wiring 55. The diode 55a regulates a current from the wiring 49 side to the wiring 48 side.
　第２スイッチ５０は、上記の第２コイル４７との間でソレノイドスイッチ４０ｂを構成する。第２スイッチ５０は、第２コイル４７に電流が流れない状態においては可動部５０ｃが端子５０ａ、５０ｂから離れた状態となる。第２スイッチ５０は、第２コイル４７に電流が流れる状態においては、可動部５０ｃが端子５０ａと端子５０ｂとを接続する。 The second switch 50 constitutes a solenoid switch 40b with the second coil 47 described above. In the second switch 50, the movable portion 50 c is separated from the terminals 50 a and 50 b when no current flows through the second coil 47. In the state where current flows through the second coil 47, the movable part 50c connects the terminal 50a and the terminal 50b in the second switch 50.
　また、配線６２のうち、配線４３に接続される部分とコントローラ３０との間には、ダイオード６２ａが配置される。ダイオード６２ａは、コントローラ３０側への電流を規制する。また、配線５６のうち、配線５５に接続される部分とコントローラ３０との間には、ダイオード５６ａが配置される。ダイオード５６ａは、コントローラ３０側への電流を規制する。 In addition, a diode 62 a is disposed between a portion of the wiring 62 connected to the wiring 43 and the controller 30. The diode 62a regulates the current to the controller 30 side. In addition, a diode 56 a is disposed between a portion of the wiring 56 connected to the wiring 55 and the controller 30. The diode 56a regulates the current to the controller 30 side.
　コントローラ３０は、判定部３１と、インターロック制御部３２と、シート判断部３３と、シートベルト判断部３４とを有する。判定部３１は、キースイッチ９がオンになった時に、検出回路４０が所定の通電状態である場合に手順エラーの判定を行う。判定部３１は、検出端子３１ａに接続される。本実施形態において、判定部３１は、エンジン４の稼働開始時に、検出端子３１ａがグランド電圧である場合に、手順エラーの判定を行う。 The controller 30 includes a determination unit 31, an interlock control unit 32, a seat determination unit 33, and a seat belt determination unit 34. The determination unit 31 determines a procedure error when the detection circuit 40 is in a predetermined energized state when the key switch 9 is turned on. The determination unit 31 is connected to the detection terminal 31a. In the present embodiment, the determination unit 31 determines a procedure error when the detection terminal 31a is at the ground voltage at the start of operation of the engine 4.
　インターロック制御部３２は、判定部３１により手順エラーの判定が行われた場合、車両本体にインターロックを作動させる。インターロック制御部３２は、インターロックとして、走行インターロック及び荷役インターロックのうち少なくとも一方を作動させる。走行インターロックは、車両の走行を停止させる。荷役インターロックは、作業機の動作を停止させる。 The interlock control unit 32 operates the interlock on the vehicle body when the determination unit 31 determines the procedure error. The interlock control unit 32 operates at least one of the traveling interlock and the cargo handling interlock as an interlock. The traveling interlock stops traveling of the vehicle. The cargo handling interlock stops the operation of the work machine.
　シート判断部３３は、シート検出部１２に接続される。シート判断部３３は、シートＳＴが着座状態か非着座状態かを判断する。シート判断部３３は、シート検出部１２の可動部１２ｄが端子１２ａに接続される場合、つまり、端子１２ａがグランド電圧であることを検出する場合、非着座状態であると判断する。また、シート判断部３３は、シート検出部１２の可動部１２ｄが端子１２ｂに接続される場合、つまり、端子１２ｂがグランド電圧であることを検出する場合、着座状態であると判断する。 The sheet determination unit 33 is connected to the sheet detection unit 12. The seat determination unit 33 determines whether the seat ST is in a sitting state or a non-sitting state. When the movable portion 12d of the seat detection unit 12 is connected to the terminal 12a, that is, when it is detected that the terminal 12a is at the ground voltage, the seat determination unit 33 determines that the seat is not seated. The seat determination unit 33 determines that the seat 12 is in the seated state when the movable portion 12d of the seat detection unit 12 is connected to the terminal 12b, that is, when the terminal 12b is detected to be a ground voltage.
　シートベルト判断部３４は、シートベルト検出部１３に接続される。シートベルト判断部３４は、シートベルトＢＴが装着状態か非装着状態かを判断する。シートベルト判断部３４は、シートベルト検出部１３の可動部１３ｃが端子１３ａに接続される場合、つまり、端子１３ａがグランド電圧であることを検出する場合、装着状態であると判断する。また、シートベルト判断部３４は、シートベルト検出部１３の可動部１３ｃが端子１３ａに接続されない場合、つまり、端子１３ａが開放電圧であることを検出する場合、非装着状態であると判断する。 The seat belt determination unit 34 is connected to the seat belt detection unit 13. The seat belt determination unit 34 determines whether the seat belt BT is in the wearing state or the non-wearing state. The seat belt determination unit 34 determines that the seat belt detection unit 13 is in the mounted state when the movable unit 13c of the seat belt detection unit 13 is connected to the terminal 13a, that is, when it is detected that the terminal 13a is a ground voltage. The seat belt determination unit 34 determines that the seat belt detection unit 13 is in the non-mounted state when the movable unit 13c of the seat belt detection unit 13 is not connected to the terminal 13a, that is, when it is detected that the terminal 13a is an open circuit voltage.
　コントローラ３０には、警告装置３５が接続される。警告装置３５は、例えば車両本体３の運転席に設けられる。警告装置３５としては、各種の情報を出力する装置を用いることができる。例えば、警告装置３５として、光を出力するランプ等が用いられてもよいし、音を出力するスピーカ等が用いられてもよいし、メッセージ等を出力する表示部等が用いられてもよい。また、コントローラ３０には、例えばＣＡＮ通信等によって不図示のエンジンコントローラ３６が接続される。エンジンコントローラ３６は、エンジン４の回転速度及びエンジントルク等を制御する。 A warning device 35 is connected to the controller 30. The warning device 35 is provided, for example, in the driver seat of the vehicle body 3. As the warning device 35, a device that outputs various kinds of information can be used. For example, as the warning device 35, a lamp that outputs light, a speaker that outputs sound, or a display unit that outputs a message or the like may be used. Further, an engine controller 36 (not shown) is connected to the controller 30 by, for example, CAN communication. The engine controller 36 controls the rotational speed, engine torque, and the like of the engine 4.
　次に、上記のように形成された作業車両１の動作を説明する。本実施形態における作業車両１では、オペレータがキースイッチ９をスタート状態にする等、エンジン４を稼働させる操作を行うことにより、車載バッテリ１４とコントローラ３０とが通電状態となる。コントローラ３０は、シート判断部３３が着座状態であると判断し、かつ、シートベルト判断部３４が装着状態であると判断した場合に、不図示のエンジンコントローラを介してエンジン４を稼働状態とする。 Next, the operation of the work vehicle 1 formed as described above will be described. In the work vehicle 1 according to the present embodiment, the vehicle battery 14 and the controller 30 are energized when the operator performs an operation for operating the engine 4 such as turning the key switch 9 into a start state. When the seat determination unit 33 determines that the seat determination unit 33 is in the seating state and the seat belt determination unit 34 determines that the seat belt determination unit 34 is in the wearing state, the controller 30 puts the engine 4 into an operating state via an engine controller (not shown). .
　この場合、オペレータは、以下の第１手順によってエンジン４を稼働させることができる。第１手順としては、キースイッチがオフの状態で、まず、オペレータがシートＳＴに着席することで、シートＳＴを着座状態とする。次に、オペレータが着座した状態でシートベルトＢＴのベルトをオペレータに掛け、タングをバックルに装着することで、シートベルトＢＴを装着状態とする。その後、オペレータがキースイッチ９をスタート状態にすることで、車載バッテリ１４とコントローラ３０とが通電状態となり、コントローラ３０が起動する。コントローラ３０は、シート判断部３３が着座状態であると判断し、シートベルト判断部３４が装着状態であると判断する。したがって、コントローラ３０は、エンジンコントローラを介してエンジン４を稼働状態とする。この第１手順は、適正な手順であり、シートベルトＢＴのベルトがオペレータをホールドした状態でエンジン４が稼働する。 In this case, the operator can operate the engine 4 by the following first procedure. As a first procedure, with the key switch turned off, first, the operator sits on the seat ST, so that the seat ST is placed in the seating state. Next, the seat belt BT is put on the seat belt BT by putting the belt of the seat belt BT on the operator and attaching the tongue to the buckle. Thereafter, when the operator sets the key switch 9 to the start state, the in-vehicle battery 14 and the controller 30 are energized, and the controller 30 is activated. The controller 30 determines that the seat determination unit 33 is in the sitting state, and determines that the seat belt determination unit 34 is in the wearing state. Therefore, the controller 30 brings the engine 4 into an operating state via the engine controller. This first procedure is an appropriate procedure, and the engine 4 operates with the belt of the seat belt BT holding the operator.
　一方、オペレータは、例えば以下の第２手順を行う場合がある。第２手順としては、キースイッチがオフの状態で、まず、オペレータが着座する前にシートベルトＢＴのタングをバックルに装着することで、シートベルトＢＴを装着状態とする。次に、オペレータがシートＳＴに着席することで、シートＳＴを着座状態とする。その後、オペレータがキースイッチ９をスタート状態にすることで、上記同様、コントローラ３０は、シート判断部３３が着座状態であると判断し、シートベルト判断部３４が装着状態であると判断し、エンジンコントローラを介してエンジン４を稼働状態とする。 On the other hand, the operator may perform the following second procedure, for example. As a second procedure, with the key switch turned off, first the seat belt BT is put on the buckle by putting the tongue of the seat belt BT on the buckle before the operator is seated. Next, when the operator is seated on the seat ST, the seat ST is brought into a seated state. Thereafter, when the operator sets the key switch 9 to the start state, the controller 30 determines that the seat determination unit 33 is in the seating state and the seat belt determination unit 34 determines that the seat belt determination unit 34 is in the mounted state, as described above. The engine 4 is put into an operating state via the controller.
　第２手順では、シートベルトＢＴのベルトがオペレータにホールドされていない状態でエンジン４が稼働する。そこで、第２手順のような非適正な手順でエンジン４の稼働操作が行われることを抑制するため、作業車両１等の作業車両では、駆動源であるエンジン４の非稼働時において、オペレータが適正な手順でエンジン４の稼働操作を行っているかを検出できる構成が求められている。 In the second procedure, the engine 4 operates with the belt of the seat belt BT not being held by the operator. Therefore, in order to prevent the operation operation of the engine 4 from being performed in an inappropriate procedure such as the second procedure, in a work vehicle such as the work vehicle 1, the operator can There is a demand for a configuration that can detect whether the operation of the engine 4 is being performed in an appropriate procedure.
　図４から図９は、キースイッチ９がオフの状態である場合の検出回路４０の状態を示す回路図である。以下の説明では、キースイッチ９をオンにする操作が行われるまで、キースイッチ９がオフの状態であるとして説明する。キースイッチ９がオフ状態の場合、車載バッテリ１４とコントローラ３０との間が電気的に切断された状態であり、コントローラ３０が非稼働の状態である。したがって、コントローラ３０のシート判断部３３及びシートベルト判断部３４では、それぞれシート検出部１２及びシートベルト検出部１３からの信号が検出されない。 4 to 9 are circuit diagrams showing the state of the detection circuit 40 when the key switch 9 is in the OFF state. In the following description, the key switch 9 is assumed to be in an off state until an operation for turning on the key switch 9 is performed. When the key switch 9 is in the off state, the in-vehicle battery 14 and the controller 30 are electrically disconnected, and the controller 30 is not operating. Therefore, the seat determination unit 33 and the seat belt determination unit 34 of the controller 30 do not detect signals from the seat detection unit 12 and the seat belt detection unit 13, respectively.
　このようにキースイッチ９がオフの状態でオペレータがシートＳＴに着座した場合、図４に示すように、シート検出部１２は、可動部１２ｄが端子１２ａに接続された状態から端子１２ｂに接続された状態に切り替わる（Ｃ１１）。これにより、配線５７がシート検出部１２及び配線５８を介してグランドＧ１に接続される。 When the operator sits on the seat ST with the key switch 9 turned off as described above, the seat detector 12 is connected to the terminal 12b from the state in which the movable portion 12d is connected to the terminal 12a as shown in FIG. (C11). As a result, the wiring 57 is connected to the ground G <b> 1 via the sheet detection unit 12 and the wiring 58.
　オペレータがシートＳＴに着座した後、シートベルトＢＴを装着した場合、図５に示すように、シートベルト検出部１３は、可動部１３ｃが端子１３ａに接続される（Ｃ１２）。これにより、配線６２がシートベルト検出部１３及び配線６３を介してグランドＧ２に接続される。配線６２がグランドＧ２に接続されると、車載バッテリ１４とグランドＧ２との間が、配線４１、第１コイル４２、配線４３、配線６２、シートベルト検出部１３及び配線６３を介して接続され、車載バッテリ１４とグランドＧ２との間に電流が流れる。この場合、第１コイル４２に電流が流れるため、第１スイッチ４５の可動部４５ｃが端子４５ａと端子４５ｂとを接続する（Ｃ１３）。 When the seat belt BT is worn after the operator is seated on the seat ST, as shown in FIG. 5, the seat belt detector 13 has the movable portion 13c connected to the terminal 13a (C12). Thereby, the wiring 62 is connected to the ground G <b> 2 via the seat belt detection unit 13 and the wiring 63. When the wiring 62 is connected to the ground G2, the in-vehicle battery 14 and the ground G2 are connected via the wiring 41, the first coil 42, the wiring 43, the wiring 62, the seat belt detection unit 13, and the wiring 63, A current flows between the in-vehicle battery 14 and the ground G2. In this case, since a current flows through the first coil 42, the movable portion 45c of the first switch 45 connects the terminal 45a and the terminal 45b (C13).
　第１スイッチ４５の可動部４５ｃが端子４５ａと端子４５ｂとを接続することにより、配線４４と配線４６とが第１スイッチ４５を介して接続される。配線４６は、第２コイル４７、配線４８、配線５５を介して、シート検出部１２の端子１２ａと、第２スイッチ５０の端子５０ｂとにそれぞれに接続される。一方、端子１２ａと端子１２ｃとの間、端子５０ｂと端子５０ａとの間がそれぞれ切り離された状態であるため、電流は流れない。このため、第２コイル４７には電流が流れず、第２スイッチ５０は端子５０ａと端子５０ｂとが切り離された状態を維持する。よって、検出端子３１ａは、グランド電圧が解消された状態となる。 The movable part 45c of the first switch 45 connects the terminal 45a and the terminal 45b, whereby the wiring 44 and the wiring 46 are connected via the first switch 45. The wiring 46 is connected to the terminal 12a of the sheet detection unit 12 and the terminal 50b of the second switch 50 via the second coil 47, the wiring 48, and the wiring 55, respectively. On the other hand, no current flows because the terminals 12a and 12c and the terminals 50b and 50a are disconnected from each other. Therefore, no current flows through the second coil 47, and the second switch 50 maintains the state where the terminals 50a and 50b are disconnected. Therefore, the detection terminal 31a is in a state where the ground voltage is eliminated.
　これに対して、例えば、オペレータがシートＳＴに着座する前にシートベルトＢＴを装着状態とした場合、図６に示すように、シートベルト検出部１３は、可動部１３ｃが端子１３ａに接続される（Ｃ１）。これにより、配線６２がシートベルト検出部１３及び配線６３を介してグランドＧ２に接続され、車載バッテリ１４とグランドＧ２との間に電流が流れる。この場合、第１コイル４２に電流が流れるため、第１スイッチ４５の可動部４５ｃが端子４５ａと端子４５ｂとを接続する（Ｃ２）。これにより、配線４４と配線４６とが第１スイッチ４５を介して接続される。 On the other hand, for example, when the seat belt BT is put on before the operator sits on the seat ST, as shown in FIG. 6, the seat belt detector 13 has the movable portion 13c connected to the terminal 13a. (C1). Thereby, the wiring 62 is connected to the ground G2 via the seat belt detection unit 13 and the wiring 63, and a current flows between the in-vehicle battery 14 and the ground G2. In this case, since a current flows through the first coil 42, the movable portion 45c of the first switch 45 connects the terminal 45a and the terminal 45b (C2). Thereby, the wiring 44 and the wiring 46 are connected via the first switch 45.
　配線４６は、第２コイル４７、配線４８、配線５５を介して、シート検出部１２の端子１２ａに接続される。シートＳＴが非着座状態であるため、端子１２ａと端子１２ｃとの間が接続されている。このため、車載バッテリ１４とグランドＧ３との間が、配線４４、第１スイッチ４５、配線４６、第２コイル４７、配線４８、配線５５、配線５６、シート検出部１２及び配線５８を介して接続される。この場合、第２コイル４７に電流が流れるため、第２スイッチ５０の可動部５０ｃが端子５０ａと端子５０ｂとを接続する（Ｃ３）。 The wiring 46 is connected to the terminal 12 a of the sheet detection unit 12 through the second coil 47, the wiring 48, and the wiring 55. Since the seat ST is not seated, the terminals 12a and 12c are connected. Therefore, the in-vehicle battery 14 and the ground G3 are connected via the wiring 44, the first switch 45, the wiring 46, the second coil 47, the wiring 48, the wiring 55, the wiring 56, the sheet detection unit 12, and the wiring 58. Is done. In this case, since a current flows through the second coil 47, the movable portion 50c of the second switch 50 connects the terminal 50a and the terminal 50b (C3).
　第１スイッチ４５の可動部４５ｃが端子４５ａと端子４５ｂとを接続することにより、配線４９と配線５１とが第２スイッチ５０を介して接続される。これにより、判定部３１に接続された検出端子３１ａとグランドＧ３との間が接続され、検出端子３１ａがグランド電圧となる。したがって、検出回路４０は、ソレノイドスイッチ４０ａとソレノイドスイッチ４０ｂとがリレースイッチとなり、所定の通電状態、つまり、検出端子３１ａがグランド電圧となる状態が形成されて保持される。 The movable part 45c of the first switch 45 connects the terminal 45a and the terminal 45b, whereby the wiring 49 and the wiring 51 are connected via the second switch 50. Thus, the detection terminal 31a connected to the determination unit 31 and the ground G3 are connected, and the detection terminal 31a becomes the ground voltage. Therefore, in the detection circuit 40, the solenoid switch 40a and the solenoid switch 40b are relay switches, and a predetermined energized state, that is, a state in which the detection terminal 31a is at the ground voltage is formed and held.
　検出回路４０が所定の通電状態を保持した後、キースイッチ９がオンとなる前に、例えばオペレータがシートＳＴから立ち上がったり、シートＳＴから降りたりした場合には、シート検出部１２が非着座状態となる。シート検出部１２が図６に示す状態から非着座状態となった場合、図７に示すように、シート検出部１２の可動部１２ｄの接続先が端子１２ａから端子１２ｂに切り替わる（Ｃ４）。これにより、配線５６と配線５８との電気的接続が切り離されるため、配線５５から配線５６側には電流が流れなくなる。一方、配線５５は、配線４９、第２スイッチ５０及び配線５１を介してグランドＧ３に接続される。このため、車載バッテリ１４とグランドＧ３との間の電流は維持される。したがって、第２コイル４７を流れる電流が維持されるため、第２スイッチ５０が配線４９と配線５１とを接続した状態が維持される。これにより、検出端子３１ａがグランド電圧となる状態が保持される。このように、検出回路４０が所定の通電状態を保持した後、キースイッチ９がオンとなる前にシート検出部１２が非着座状態を検出した場合、検出回路４０は、所定の通電状態を保持した状態を維持する。つまり、検出回路４０が所定の通電状態を保持した後、オペレータがシートＳＴを非着座状態に戻しても、検出回路４０において所定の通電状態は解除されない。 After the detection circuit 40 maintains a predetermined energized state, before the key switch 9 is turned on, for example, when the operator rises from the seat ST or gets off the seat ST, the seat detection unit 12 is in the non-sitting state. It becomes. When the seat detection unit 12 changes from the state shown in FIG. 6 to the non-sitting state, as shown in FIG. 7, the connection destination of the movable part 12d of the seat detection unit 12 is switched from the terminal 12a to the terminal 12b (C4). Thereby, since the electrical connection between the wiring 56 and the wiring 58 is disconnected, no current flows from the wiring 55 to the wiring 56 side. On the other hand, the wiring 55 is connected to the ground G3 through the wiring 49, the second switch 50, and the wiring 51. For this reason, the electric current between the vehicle-mounted battery 14 and the ground G3 is maintained. Therefore, since the current flowing through the second coil 47 is maintained, the state where the second switch 50 connects the wiring 49 and the wiring 51 is maintained. Thereby, the state in which the detection terminal 31a becomes the ground voltage is maintained. As described above, when the seat detection unit 12 detects the non-seated state before the key switch 9 is turned on after the detection circuit 40 holds the predetermined energization state, the detection circuit 40 maintains the predetermined energization state. Maintain the state. In other words, even if the operator returns the seat ST to the non-sitting state after the detection circuit 40 maintains the predetermined energization state, the predetermined energization state is not released in the detection circuit 40.
　一方、検出回路４０が所定の通電状態を保持した後、キースイッチ９がオンとなる前に、例えばオペレータがシートベルトＢＴのタングをバックルから外した場合、シートベルト検出部１３は非装着状態を検出する。例えば、図６に示す状態からシートベルト検出部１３が非装着状態となった場合、図８に示すように、シートベルト検出部１３の可動部１３ｃが端子１３ａから離れる（Ｃ５）。可動部１３ｃが端子１３ａから離れることにより、車載バッテリ１４とグランドＧ２との間の電気的接続が切断される。このため、第１コイル４２に電流が流れなくなり、第１スイッチ４５の可動部４５ｃが端子４５ａ及び端子４５ｂから離れる（Ｃ６）。可動部４５ｃが端子４５ａ及び端子４５ｂから離れることにより、車載バッテリ１４とグランドＧ２との間の電気的接続が切断され、第２コイル４７に電流が流れなくなり、第２スイッチ５０の可動部５０ｃが端子５０ａ及び端子５０ｂから離れる（Ｃ７）。これにより、配線４９と配線５１との電気的接続が切断されるため、検出端子３１ａは開放電圧となる。 On the other hand, if the operator removes the tongue of the seat belt BT from the buckle before the key switch 9 is turned on after the detection circuit 40 maintains the predetermined energized state, the seat belt detection unit 13 is in the non-mounted state. To detect. For example, when the seat belt detection unit 13 is not attached from the state shown in FIG. 6, as shown in FIG. 8, the movable portion 13c of the seat belt detection unit 13 is separated from the terminal 13a (C5). When the movable portion 13c is separated from the terminal 13a, the electrical connection between the in-vehicle battery 14 and the ground G2 is disconnected. Therefore, no current flows through the first coil 42, and the movable portion 45c of the first switch 45 is separated from the terminals 45a and 45b (C6). When the movable portion 45c is separated from the terminal 45a and the terminal 45b, the electrical connection between the in-vehicle battery 14 and the ground G2 is cut off, so that no current flows through the second coil 47, and the movable portion 50c of the second switch 50 is It leaves | separates from the terminal 50a and the terminal 50b (C7). Thereby, since the electrical connection between the wiring 49 and the wiring 51 is cut, the detection terminal 31a becomes an open circuit voltage.
　また、例えば、図７に示す状態からシートベルト検出部１３が非装着状態となった場合、上記同様、図９に示すように、シートベルト検出部１３の可動部１３ｃが端子１３ａから離れる（Ｃ８）。このため、車載バッテリ１４とグランドＧ２との間の電気的接続が切断され、第１コイル４２に電流が流れなくなり、第１スイッチ４５の可動部４５ｃが端子４５ａ及び端子４５ｂから離れる（Ｃ９）。車載バッテリ１４とグランドＧ２との間の電気的接続が解除されるため、第２コイル４７に電流が流れなくなり、第２スイッチ５０の可動部５０ｃが端子５０ａ及び端子５０ｂから離れる（Ｃ１０）。これにより、配線４９と配線５１との電気的接続が解除されるため、検出端子３１ａは開放電圧となる。 For example, when the seat belt detection unit 13 is not attached from the state shown in FIG. 7, as shown in FIG. 9, the movable part 13c of the seat belt detection unit 13 is separated from the terminal 13a (C8). ). For this reason, the electrical connection between the vehicle-mounted battery 14 and the ground G2 is cut off, so that no current flows through the first coil 42, and the movable portion 45c of the first switch 45 is separated from the terminals 45a and 45b (C9). Since the electrical connection between the in-vehicle battery 14 and the ground G2 is released, no current flows through the second coil 47, and the movable part 50c of the second switch 50 is separated from the terminal 50a and the terminal 50b (C10). Thereby, since the electrical connection between the wiring 49 and the wiring 51 is released, the detection terminal 31a becomes an open circuit voltage.
　このように、検出回路４０は、所定の通電状態を保持した後、キースイッチ９がオンとなる前にシートベルト検出部１３が非装着状態を検出した場合、所定の通電状態の保持を解除する。つまり、所定の通電状態を形成した後、オペレータがシートベルトＢＴを非装着状態に戻すことにより、検出回路４０において所定の通電状態の保持が解除される。 As described above, the detection circuit 40 releases the holding of the predetermined energized state when the seat belt detection unit 13 detects the non-attached state before the key switch 9 is turned on after holding the predetermined energized state. . That is, after the predetermined energized state is formed, the operator returns the seat belt BT to the non-attached state, whereby the holding of the predetermined energized state is released in the detection circuit 40.
　次に、キースイッチ９がオンになった場合の動作を説明する。図１０は、キースイッチ９がオンになった場合におけるコントローラ３０の処理の流れを示すフローチャートである。図１０に示すように、キースイッチ９がオンになった場合、コントローラ３０が起動する（ステップＳ１０）。コントローラ３０が起動した後、判定部３１は、検出回路４０が所定の通電状態か否かを検出する（ステップＳ２０）。判定部３１は、検出回路４０が所定の通電状態であると検出した場合（ステップ２０のＹｅｓ）、手順エラーの判定を行う（ステップＳ３０）。ステップＳ３０において、コントローラ３０は、手順エラーの判定が行われた場合、警告灯３５を点灯させるようにしてもよい。 Next, the operation when the key switch 9 is turned on will be described. FIG. 10 is a flowchart showing a processing flow of the controller 30 when the key switch 9 is turned on. As shown in FIG. 10, when the key switch 9 is turned on, the controller 30 is activated (step S10). After the controller 30 is activated, the determination unit 31 detects whether or not the detection circuit 40 is in a predetermined energized state (step S20). When the determination unit 31 detects that the detection circuit 40 is in a predetermined energized state (Yes in Step 20), the determination unit 31 determines a procedure error (Step S30). In step S <b> 30, the controller 30 may turn on the warning lamp 35 when the procedure error is determined.
　インターロック制御部３２は、ステップＳ３０において手順エラーの判定が行われた場合、インターロックを作動させる（ステップＳ４０）。ステップＳ４０において、インターロック制御部３２は、インターロックとして、例えば走行インターロック及び荷役インターロックのうち少なくとも一方を作動させる。インターロック制御部３２は、走行インターロックを作動させる場合、例えば上記の走行用油圧ポンプ１０の動作を制限する。走行用油圧ポンプ１０の動作を停止させることにより、車両本体３の走行動作が停止する。また、インターロック制御部３２は、荷役インターロックを作動させる場合、例えば上記のリフト操作弁１７及びチルト操作弁１８の動作を制限する。リフト操作弁１７及びチルト操作弁１８の動作を停止させることにより、作業機５の動作が停止する。 The interlock control unit 32 activates the interlock when a procedure error is determined in step S30 (step S40). In step S40, the interlock control unit 32 operates, for example, at least one of a traveling interlock and a cargo handling interlock as an interlock. When operating the traveling interlock, the interlock control unit 32 restricts the operation of the traveling hydraulic pump 10 described above, for example. By stopping the operation of the traveling hydraulic pump 10, the traveling operation of the vehicle body 3 is stopped. Moreover, the interlock control part 32 restrict | limits operation | movement of said lift operation valve 17 and the tilt operation valve 18, for example, when operating a cargo handling interlock. By stopping the operations of the lift operation valve 17 and the tilt operation valve 18, the operation of the work machine 5 is stopped.
　インターロックが作動した後、シートベルト判断部３４は、シートベルト検出部１３が非装着状態に切り替わったか否かを判断する（ステップＳ５０）。シートベルト判断部３４によってシートベルト検出部１３が非装着状態であると判断された場合（ステップＳ５０のＹｅｓ）、判定部３１は、手順エラーの判定を解除する（ステップＳ６０）。シートベルト判断部３４は、シートベルト検出部１３が非装着状態に切り替わっていないと判断した場合（ステップＳ５０のＮｏ）、シートベルト検出部１３が非装着状態に切り替わるまでステップＳ５０の判断を繰り返し行う。 After the interlock is actuated, the seat belt determination unit 34 determines whether or not the seat belt detection unit 13 has been switched to the non-mounted state (step S50). When the seatbelt determination unit 34 determines that the seatbelt detection unit 13 is not attached (Yes in Step S50), the determination unit 31 cancels the determination of the procedure error (Step S60). If the seat belt determination unit 34 determines that the seat belt detection unit 13 has not been switched to the non-wearing state (No in step S50), the determination of step S50 is repeated until the seat belt detection unit 13 switches to the non-wearing state. .
　判定部３１により手順エラーの判定が解除された場合、インターロック制御部３２は、作動させていたインターロックを解除する（ステップＳ７０）。ステップＳ７０において、インターロック制御部３２は、走行インターロックを解除する場合、例えば上記の走行用油圧ポンプ１０の動作制限を解除し、走行用油圧ポンプ１０を動作可能な状態とする。走行用油圧ポンプ１０を動作可能な状態とすることにより、車両本体３の走行動作が可能となる。また、インターロック制御部３２は、荷役インターロックを解除する場合、例えば上記のリフト操作弁１７及びチルト操作弁１８の動作制限を解除し、リフト操作弁１７及びチルト操作弁１８を動作可能な状態とする。リフト操作弁１７及びチルト操作弁１８を動作可能な状態とすることにより、作業機５が動作可能な状態となる。その後、コントローラ３０は、作業車両１の通常の動作を行わせる。なお、判定部３１は、ステップＳ２０において、検出回路４０が所定の通電状態でないと検出した場合（ステップＳ２０のＮｏ）、上記ステップＳ３０からステップＳ７０の動作を行わせることなく、作業車両１の通常の動作を行わせる。 When the determination of the procedure error is canceled by the determination unit 31, the interlock control unit 32 releases the interlock that has been operated (step S70). In step S <b> 70, when releasing the traveling interlock, the interlock control unit 32 releases the operation restriction of the traveling hydraulic pump 10, for example, and makes the traveling hydraulic pump 10 operable. By setting the traveling hydraulic pump 10 to an operable state, the traveling operation of the vehicle main body 3 becomes possible. When the interlock control unit 32 releases the cargo handling interlock, for example, the operation restriction of the lift operation valve 17 and the tilt operation valve 18 is released, and the lift operation valve 17 and the tilt operation valve 18 are operable. And By setting the lift operation valve 17 and the tilt operation valve 18 in an operable state, the work machine 5 becomes operable. Thereafter, the controller 30 causes the work vehicle 1 to perform a normal operation. In addition, when the determination unit 31 detects that the detection circuit 40 is not in a predetermined energized state in Step S20 (No in Step S20), the determination unit 31 does not perform the operations from Step S30 to Step S70 and performs normal operation of the work vehicle 1. Let's do the operation.
　以上のように、本実施形態に係る作業車両１は、キースイッチ９を有する車両本体３と、車両本体３に設けられ、シートベルトＢＴを有するシートＳＴと、シートＳＴの着座状態を検出するシート検出部１２と、シートベルトＢＴの装着状態を検出するシートベルト検出部１３と、キースイッチ９がオフの状態において、シート検出部１２が着座状態を検出する前にシートベルト検出部１３が装着状態を検出した場合に、所定の通電状態を形成して保持する検出回路４０と、キースイッチ９がオンになった時に、検出回路４０が所定の通電状態を保持している場合に手順エラーの判定を行う判定部３１を有するコントローラ３０と、を備える。これにより、オペレータが適正な手順でシートＳＴに着座しシートベルトＢＴを装着するか否かを監視できる。また、コントローラ３０を起動しなくても監視できるため、車載バッテリ１４の電力消費を抑制できる。 As described above, the work vehicle 1 according to the present embodiment includes the vehicle body 3 having the key switch 9, the seat ST provided on the vehicle body 3 and having the seat belt BT, and the seat for detecting the seating state of the seat ST. The detection unit 12, the seat belt detection unit 13 that detects the seat belt BT wearing state, and the seat belt detection unit 13 in the wearing state before the seat detection unit 12 detects the seating state when the key switch 9 is off. Detection circuit 40 that forms and holds a predetermined energization state when the signal is detected, and determination of a procedure error when the detection circuit 40 holds the predetermined energization state when the key switch 9 is turned on And a controller 30 having a determination unit 31 for performing the above. Thereby, it is possible to monitor whether or not the operator is seated on the seat ST and wearing the seat belt BT in an appropriate procedure. Moreover, since it can monitor even if it does not start the controller 30, the power consumption of the vehicle-mounted battery 14 can be suppressed.
　本実施形態に係る作業車両１において、検出回路４０は、所定の通電状態を形成した後、キースイッチ９がオンになる前にシート検出部１２にオペレータが着座している状態の検出が解除された場合、所定の通電状態を保持した状態を維持する。これにより、所定の通電状態が保持された後、オペレータがシートＳＴから離れる場合に所定の通電状態が解除されることを抑制できる。 In the work vehicle 1 according to the present embodiment, the detection circuit 40 cancels the detection of the state in which the operator is seated on the seat detection unit 12 before the key switch 9 is turned on after the predetermined energized state is formed. If this happens, the state where the predetermined energized state is maintained is maintained. Accordingly, it is possible to suppress the release of the predetermined energization state when the operator leaves the sheet ST after the predetermined energization state is maintained.
　本実施形態に係る作業車両１において、検出回路４０は、所定の通電状態を保持した後、キースイッチ９がオンになる前にシートベルト検出部１３が非装着状態を検出した場合、所定の通電状態の保持を解除する。これにより、オペレータが操作手順を適正な手順に修正する場合に、所定の通電状態が保持されたままになることを抑制できる。 In the work vehicle 1 according to the present embodiment, the detection circuit 40 maintains the predetermined energization state, and when the seatbelt detection unit 13 detects the non-wearing state before the key switch 9 is turned on, the predetermined energization is performed. Release state retention. Thereby, when an operator corrects an operation procedure to an appropriate procedure, it can suppress that a predetermined electricity supply state is maintained.
　本実施形態に係る作業車両１において、検出回路４０は、判定部３１に電気的に接続される検出端子３１ａを有し、所定の通電状態は、検出端子３１ａがグランド電圧となる状態である。これにより、検出回路４０において容易に所定の通電状態を形成して保持することができ、判定部３１が所定の通電状態を確実に検出することができる。 In the work vehicle 1 according to the present embodiment, the detection circuit 40 includes a detection terminal 31a that is electrically connected to the determination unit 31, and the predetermined energization state is a state in which the detection terminal 31a becomes a ground voltage. Thereby, the detection circuit 40 can easily form and hold a predetermined energization state, and the determination unit 31 can reliably detect the predetermined energization state.
　本実施形態に係る作業車両１において、コントローラ３０は、判定部３１により手順エラーの判定が行われた場合、車両本体３にインターロックを作動させるインターロック制御部３２を有する。これにより、オペレータが適正ではない手順でキースイッチ９をオンにした場合に、車両本体３が動作しないようにすることができる。 In the work vehicle 1 according to the present embodiment, the controller 30 includes an interlock control unit 32 that operates the interlock on the vehicle body 3 when the determination unit 31 determines a procedure error. As a result, the vehicle body 3 can be prevented from operating when the key switch 9 is turned on by an unsuitable procedure.
　本実施形態に係る作業車両１において、判定部３１は、インターロックが作動した後、シートベルト検出部１３の検出結果が装着状態から前記非装着状態に切り替わった場合には、手順エラーの判定を解除する。これにより、オペレータが操作手順を適正な手順に修正する場合に、手順エラーの状態が保持されたままになることを抑制できる。 In the work vehicle 1 according to the present embodiment, the determination unit 31 determines a procedure error when the detection result of the seat belt detection unit 13 is switched from the mounted state to the non-mounted state after the interlock is activated. To release. Thereby, when the operator corrects the operation procedure to an appropriate procedure, it is possible to prevent the procedure error state from being held.
　本実施形態に係る作業車両１において、インターロック制御部３２は、手順エラーの判定が解除された場合、車両本体３のインターロックを解除させる。これにより、オペレータが適正な手順に修正した場合、車両本体３のインターロックの状態が保持されたままになることを抑制できる。 In the work vehicle 1 according to the present embodiment, the interlock control unit 32 releases the interlock of the vehicle body 3 when the determination of the procedure error is cancelled. Thereby, when an operator corrects to an appropriate procedure, it can control that the interlock state of vehicle body 3 is maintained.
　本実施形態に係る作業車両１において、インターロックは、車両本体３の走行を停止させる走行インターロックを含む。これにより、オペレータが適正ではない手順でエンジン４を稼働させる場合、車両本体３の走行が行われないようにすることができる。 In the work vehicle 1 according to the present embodiment, the interlock includes a travel interlock that stops the travel of the vehicle body 3. Thereby, when the engine 4 is operated by an unsuitable procedure, the vehicle body 3 can be prevented from traveling.
　本実施形態に係る作業車両１において、車両本体３に設けられる作業機５を更に備え、インターロックは、作業機５の動作を停止させる荷役インターロックを含む。これにより、オペレータが適正ではない手順でキースイッチ９をオンにする場合、作業機５の動作が行われないようにすることができる。 The work vehicle 1 according to the present embodiment further includes a work machine 5 provided in the vehicle main body 3, and the interlock includes a cargo handling interlock that stops the operation of the work machine 5. Thereby, when the operator turns on the key switch 9 in an unsuitable procedure, the operation of the work machine 5 can be prevented.
　本実施形態に係る作業車両の制御方法は、車両本体３のキースイッチ９がオフの状態において、シート検出部１２が車両本体３に設けられるシートＳＴの着座状態を検出する前にシートベルト検出部１３がシートＳＴに設けられるシートベルトＢＴの装着状態を検出した場合に、検出回路４０において所定の通電状態を形成して保持することと、キースイッチ９がオンになった時に、検出回路４０が所定の通電状態を保持している場合に手順エラーの判定を行うこととを含む。これにより、キースイッチ９がオフの状態において、オペレータが適正な手順でシートＳＴに着座しシートベルトＢＴを装着するか否かを監視できる。また、コントローラ３０を起動しなくても監視できるため、車載バッテリ１４の電力消費を抑制できる。 In the work vehicle control method according to the present embodiment, the seatbelt detection unit before the seat detection unit 12 detects the seating state of the seat ST provided in the vehicle body 3 when the key switch 9 of the vehicle body 3 is off. 13 detects the mounting state of the seat belt BT provided on the seat ST, and when the detection circuit 40 forms and holds a predetermined energization state and the key switch 9 is turned on, the detection circuit 40 And determining a procedure error when a predetermined energized state is maintained. Thereby, it is possible to monitor whether or not the operator sits on the seat ST and wears the seat belt BT in an appropriate procedure in the state where the key switch 9 is off. Moreover, since it can monitor even if it does not start the controller 30, the power consumption of the vehicle-mounted battery 14 can be suppressed.
　本実施形態に係る作業車両の制御方法は、検出回路４０が所定の通電状態を保持した後、キースイッチ９がオンになる前にシート検出部１２の装着状態の検出が解除された場合、所定の通電状態を保持した状態を維持することをさらに含む。これにより、所定の通電状態を保持した後、オペレータがシートＳＴから離れる場合に所定の通電状態が解除されることを抑制できる。 The work vehicle control method according to the present embodiment is performed when the detection state of the seat detector 12 is released before the key switch 9 is turned on after the detection circuit 40 maintains a predetermined energized state. It further includes maintaining the state in which the energized state is maintained. Accordingly, it is possible to suppress the release of the predetermined energization state when the operator leaves the sheet ST after holding the predetermined energization state.
　本実施形態に係る作業車両の制御方法は、検出回路４０が所定の通電状態を保持した後、キースイッチ９がオンになる前にシートベルト検出部１３の装着状態の検出が解除された場合、所定の通電状態の保持を解除することをさらに含む。これにより、オペレータが操作手順を適正な手順に修正する場合に、所定の通電状態が保持されたままになることを抑制できる。 In the work vehicle control method according to the present embodiment, the detection state of the seat belt detection unit 13 is released before the key switch 9 is turned on after the detection circuit 40 maintains a predetermined energization state. It further includes releasing the holding of the predetermined energized state. Thereby, when an operator corrects an operation procedure to an appropriate procedure, it can suppress that a predetermined electricity supply state is maintained.
　本実施形態に係る作業車両の制御方法は、手順エラーの判定が行われた場合、車両本体３にインターロックを作動させることをさらに含む。これにより、オペレータが適正ではない手順でエンジン４を駆動した場合に、車両本体３が動作しないようにすることができる。 The work vehicle control method according to the present embodiment further includes operating an interlock on the vehicle main body 3 when a determination of a procedure error is made. Thus, when the engine 4 is driven by an unsuitable procedure, the vehicle main body 3 can be prevented from operating.
　本実施形態に係る作業車両の制御方法は、インターロックを作動させた後、シートベルト検出部１３の検出結果が装着状態から非装着状態に切り替わった場合には、手順エラーの判定を解除することをさらに含む。これにより、オペレータが操作手順を適正な手順に修正する場合に、手順エラーの状態が保持されたままになることを抑制できる。 The work vehicle control method according to the present embodiment cancels the determination of the procedure error when the detection result of the seat belt detection unit 13 is switched from the mounted state to the non-mounted state after the interlock is operated. Further included. Thereby, when the operator corrects the operation procedure to an appropriate procedure, it is possible to prevent the procedure error state from being held.
　本実施形態に係る作業車両の制御方法は、手順エラーの判定が解除された場合、車両本体のインターロックを解除させることをさらに含む。これにより、オペレータが適正な手順に修正した場合、車両本体３のインターロックの状態が保持されたままになることを抑制できる。 The work vehicle control method according to the present embodiment further includes releasing the interlock of the vehicle body when the determination of the procedure error is released. Thereby, when an operator corrects to an appropriate procedure, it can control that the interlock state of vehicle body 3 is maintained.
　本発明の技術範囲は上記実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で適宜変更を加えることができる。例えば、上記実施形態に係る作業車両１は、エンジン４の動力を用いて、走行用油圧ポンプ１０及び油圧モータ２０によりトランスファ２０ｂを介して駆動輪２ａを回転駆動する構成であるが、これに限定されない。例えば、作業車両１は、エンジン４の動力を、トルクコンバータを含むトランスミッションを介して駆動輪２ａに伝達して駆動輪２ａを回転駆動する構成であってもよい。この場合、インターロック制御部３２は、走行インターロックを作動させる場合、例えばトランスミッションに設けられるクラッチを接続しないようにすることで、車両本体３の走行動作を停止させることができる。また、例えば、作業車両１は、車載バッテリの電力によって電動機を駆動し、電動機の駆動力により駆動輪２ａを回転駆動する構成であってもよい。この場合、インターロック制御部３２は、走行インターロックを作動させる場合、電動機の指令を出力しないようにすることで、車両本体３の走行動作を停止させることができる。 The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, the work vehicle 1 according to the above embodiment has a configuration in which the driving wheel 2a is rotationally driven by the traveling hydraulic pump 10 and the hydraulic motor 20 via the transfer 20b using the power of the engine 4, but the invention is not limited thereto. Not. For example, the work vehicle 1 may be configured to transmit the power of the engine 4 to the drive wheels 2a via a transmission including a torque converter to rotationally drive the drive wheels 2a. In this case, when operating the traveling interlock, the interlock control unit 32 can stop the traveling operation of the vehicle main body 3 by not connecting a clutch provided in the transmission, for example. Further, for example, the work vehicle 1 may be configured to drive an electric motor with electric power of a vehicle-mounted battery and to rotationally drive the driving wheels 2a with the driving force of the electric motor. In this case, when operating the traveling interlock, the interlock control unit 32 can stop the traveling operation of the vehicle body 3 by not outputting the command of the electric motor.
　また、例えば、上記実施形態では、検出回路４０において、ソレノイドスイッチ４０ａとソレノイドスイッチ４０ｂとがリレースイッチを構成する態様を例に挙げて説明したが、これに限定するものではない。例えば、ソレノイドスイッチ４０ａ及びソレノイドスイッチ４０ｂの少なくとも一方が、トランジスタ等のスイッチング素子であってもよい。 For example, in the above-described embodiment, the detection circuit 40 has been described with an example in which the solenoid switch 40a and the solenoid switch 40b constitute a relay switch. However, the present invention is not limited to this. For example, at least one of the solenoid switch 40a and the solenoid switch 40b may be a switching element such as a transistor.
　また、例えば、上記実施形態では、オペレータがキースイッチ９をスタート状態にすることでコントローラ３０を起動させ、その後、判定部３１によって検出端子３１ａが所定の通電状態が保持されていることが検出された場合に手順エラー判定が行われる構成を例に挙げて説明したが、これに限定するものではない。 Further, for example, in the above-described embodiment, the operator activates the controller 30 by setting the key switch 9 to the start state, and then the determination unit 31 detects that the detection terminal 31a is maintained in a predetermined energized state. However, the present invention is not limited to this.
　適正な手順において、オペレータは、シートベルトＢＴが非装着状態でシートＳＴに着座した後、シートベルトＢＴを装着状態にする。この手順では、オペレータがシートＳＴに着座する瞬間は、シートベルトＢＴが非装着状態となっている可能性が高い。したがって、オペレータがシートＳＴに着座した瞬間にシートベルトＢＴが装着状態である場合には、オペレータがシートＳＴに着座する前からシートベルトＢＴが装着状態であった可能性が高いと推定される。そのため、例えば、オペレータがシートＳＴに着座したことをトリガーとしてコントローラ３０を起動させ、コントローラ３０の起動時にシートベルトＢＴが装着状態である場合には、判定部３１が手順エラー判定を行うようにしてもよい。この場合、コントローラ３０は、シート検出部１２を介して車載バッテリ１４に接続される。シート検出部１２は、オペレータがシートＳＴに着座した場合に装着状態となり、車載バッテリ１４とコントローラ３０とを電気的に接続する。これにより、オペレータがシートＳＴに着座した瞬間にシートベルトＢＴが装着状態である、という適正ではない手順が行われたことを確実に検出することができる。 In an appropriate procedure, the operator places the seat belt BT in the mounted state after the seat belt BT is seated on the seat ST without being mounted. In this procedure, there is a high possibility that the seat belt BT is not attached at the moment when the operator is seated on the seat ST. Therefore, when the seat belt BT is in the wearing state at the moment when the operator is seated on the seat ST, it is estimated that there is a high possibility that the seat belt BT has been in the wearing state before the operator is seated on the seat ST. Therefore, for example, when the controller 30 is activated with the operator seated on the seat ST as a trigger, and the seat belt BT is in the mounted state when the controller 30 is activated, the determination unit 31 performs the procedure error determination. Also good. In this case, the controller 30 is connected to the in-vehicle battery 14 via the seat detection unit 12. The seat detection unit 12 is put on when the operator is seated on the seat ST, and electrically connects the in-vehicle battery 14 and the controller 30. Accordingly, it is possible to reliably detect that an inappropriate procedure that the seat belt BT is in the mounted state at the moment when the operator is seated on the seat ST is performed.
　また、例えば、オペレータがシートベルトＢＴを装着した場合にコントローラ３０を起動させ、コントローラ３０の起動時にシートＳＴが非着座状態である場合に、判定部３１が手順エラー判定を行うようにしてもよい。この場合、コントローラ３０は、シートベルト検出部１３を介して車載バッテリ１４に接続される。シートベルト検出部１３は、オペレータがシートベルトＢＴを装着した場合に装着状態となり、車載バッテリ１４とコントローラ３０とを電気的に接続する。これにより、オペレータがシートベルトＢＴを装着した時点でシートＳＴに着座していない、という適正ではない手順が行われたことを確実に検出することができる。 Further, for example, the controller 30 may be activated when the operator wears the seat belt BT, and the determination unit 31 may determine the procedure error when the seat ST is in a non-sitting state when the controller 30 is activated. . In this case, the controller 30 is connected to the in-vehicle battery 14 via the seat belt detection unit 13. The seat belt detection unit 13 is put on when the operator wears the seat belt BT, and electrically connects the in-vehicle battery 14 and the controller 30. This makes it possible to reliably detect that an inappropriate procedure has been performed in which the operator is not seated on the seat ST when the seat belt BT is worn.
　また、例えば上記実施形態では、第２スイッチ５０の可動部５０ｃが端子５０ａと端子５０ｂとを接続した状態、つまり、検出端子３１ａがグランド電圧となる状態を所定の通電状態として説明したが、これに限定されない。例えば、第２スイッチ５０の可動部５０ｃが端子５０ａ及び端子５０ｂから離れた状態、つまり、検出端子３１ａが開放電圧となる状態を所定の通電状態とする構成であってもよい。 Further, for example, in the above embodiment, the state where the movable part 50c of the second switch 50 connects the terminal 50a and the terminal 50b, that is, the state where the detection terminal 31a becomes the ground voltage is described as the predetermined energized state. It is not limited to. For example, a state in which the movable portion 50c of the second switch 50 is separated from the terminals 50a and 50b, that is, a state in which the detection terminal 31a is an open circuit voltage may be a predetermined energized state.
　Ｇ１，Ｇ２，Ｇ３　グランド、ＨＬ　操舵部材、ＢＴ　シートベルト、ＳＴ　シート、１　作業車両、２ａ　駆動輪、２ｂ　操向輪、３　車両本体、４　エンジン、５　作業機、６　フォーク、７　リフトシリンダ、８　チルトシリンダ、９　キースイッチ、１０　走行用油圧ポンプ、１０Ｓ，１６Ｓ，２０Ｓ　斜板、１０ａ，１０ｂ　油圧供給管路、１１　ポンプ容量設定ユニット、１２　シート検出部、１２ａ，１２ｂ，１２ｃ，１３ａ，１３ｂ，４５ａ，４５ｂ，５０ａ，５０ｂ　端子、１２ｄ，１３ｃ，４５ｃ，５０ｃ　可動部、１３　シートベルト検出部、１４　車載バッテリ、１６　作業機油圧ポンプ、１７　リフト操作弁、１８　チルト操作弁、２０　油圧モータ、２０ａ　出力軸、２０ｂ　トランスファ、２１　モータ容量設定ユニット、３０　コントローラ、３１　判定部、３１ａ　検出端子、３２　インターロック制御部、３３　シート判断部、３４　シートベルト判断部、３５　警告灯、３６　エンジンコントローラ、４０　検出回路、４０ａ，４０ｂ　ソレノイドスイッチ、４１，４３，４４，４６，４８，４９，５１，５５，５６，５７，５８，６２，６３　配線、４２　第１コイル、４２ａ，４９ａ，５５ａ，６２ａ　ダイオード、４５　第１スイッチ、４７　第２コイル、５０　第２スイッチ G1, G2, G3 ground, HL steering member, BT seat belt, ST seat, 1 work vehicle, 2a driving wheel, 2b steering wheel, 3 vehicle body, 4 engine, 5 working machine, 6 fork, 7 lift cylinder, 8 Tilt cylinder, 9 key switch, 10 traveling hydraulic pump, 10S, 16S, 20S swash plate, 10a, 10b hydraulic supply line, 11 pump capacity setting unit, 12 seat detector, 12a, 12b, 12c, 13a, 13b, 45a, 45b, 50a, 50b terminal, 12d, 13c, 45c, 50c movable part, 13 seat belt detection part, 14 onboard battery, 16 work machine hydraulic pump, 17 lift operation valve, 18 tilt operation valve, 20 hydraulic motor, 20a Output shaft, 20b transfer, 21 motor capacity Setting unit, 30 controller, 31 determination unit, 31a detection terminal, 32 interlock control unit, 33 seat determination unit, 34 seat belt determination unit, 35 warning light, 36 engine controller, 40 detection circuit, 40a, 40b solenoid switch, 41 43, 44, 46, 48, 49, 51, 55, 56, 57, 58, 62, 63 wiring, 42 first coil, 42a, 49a, 55a, 62a diode, 45 first switch, 47 second coil, 50 Second switch

Claims (8)

  1. 　メインスイッチを有する車両本体と、
    　前記車両本体に設けられ、シートベルトを有するシートと、
    　前記シートへのオペレータの着座状態を検出するシート検出部と、
    　前記シートベルトの装着状態を検出するシートベルト検出部と、
    　前記メインスイッチがオフの状態において、前記シート検出部が前記着座状態を検出する前に前記シートベルト検出部が前記装着状態を検出した場合に、所定の通電状態を形成して保持する検出回路と、
    　前記メインスイッチがオンになった時に、前記検出回路が前記所定の通電状態を保持している場合に手順エラーの判定を行う判定部と、
    　を備える作業車両。     A vehicle body having a main switch;
    A seat provided in the vehicle body and having a seat belt;
    A seat detection unit for detecting the seating state of the operator on the seat;
    A seat belt detection unit for detecting the wearing state of the seat belt;
    A detection circuit that forms and holds a predetermined energization state when the seat belt detection unit detects the wearing state before the seat detection unit detects the seating state when the main switch is off; ,
    A determination unit configured to determine a procedure error when the detection circuit holds the predetermined energized state when the main switch is turned on;
    Work vehicle equipped with.
  2. 　前記検出回路は、前記所定の通電状態を保持した後、前記メインスイッチがオンとなる前に前記シートベルト検出部の前記装着状態の検出が解除された場合、前記所定の通電状態の保持を解除する
    　請求項１に記載の作業車両。     The detection circuit releases the holding of the predetermined energized state when the detection of the wearing state of the seat belt detection unit is released before the main switch is turned on after holding the predetermined energized state. The work vehicle according to claim 1.
  3. 　前記制御部は、前記判定部により前記手順エラーの判定が行われた場合、前記車両本体にインターロックを作動させるインターロック制御部を有する
    　請求項１又は請求項２に記載の作業車両。     The work vehicle according to claim 1, wherein the control unit includes an interlock control unit that activates an interlock on the vehicle main body when the determination of the procedure error is performed by the determination unit.
  4. 　前記インターロックは、前記車両本体の走行を制限させる走行インターロックである
    　請求項３に記載の作業車両。     The work vehicle according to claim 3, wherein the interlock is a travel interlock that restricts travel of the vehicle body.
  5. 　前記車両本体は作業機を含み、
    　前記インターロックは、前記作業機の動作を制限させる荷役インターロックである
    　請求項３または請求項４に記載の作業車両。     The vehicle body includes a work machine,
    The work vehicle according to claim 3 or 4, wherein the interlock is a cargo handling interlock that restricts an operation of the work machine.
  6. 　車両本体のメインスイッチがオフの状態において、前記車両本体に設けられるシートへのオペレータの着座状態が検出される前に、前記シートに設けられるシートベルトの装着状態が検出された場合に、検出回路において所定の通電状態を形成して保持することと、
    　前記メインスイッチがオンになった時に、前記検出回路が前記所定の通電状態を保持している場合に手順エラーの判定を行うことと
    　を含む作業車両の制御方法。     In a state where the main switch of the vehicle main body is in an off state, a detection circuit is detected when a seat belt mounted on the seat is detected before a seating state of an operator on the seat provided on the vehicle main body is detected. Forming and holding a predetermined energized state in
    A work vehicle control method comprising: determining a procedure error when the detection circuit holds the predetermined energized state when the main switch is turned on.
  7. 　前記検出回路が前記所定の通電状態を保持した後、前記メインスイッチがオンとなる前に前記装着状態の検出が解除された場合、前記所定の通電状態の保持を解除することをさらに含む
    　請求項６に記載の作業車両の制御方法。     The method further includes releasing the holding of the predetermined energized state when the detection state is released before the main switch is turned on after the detection circuit holds the predetermined energized state. The work vehicle control method according to claim 6.
  8. 　前記手順エラーの判定が行われた場合、前記車両本体にインターロックを作動させることをさらに含む
    　請求項７に記載の作業車両の制御方法。     The work vehicle control method according to claim 7, further comprising: operating an interlock on the vehicle main body when the procedure error is determined.
PCT/JP2017/011182 2017-03-21 2017-03-21 Work vehicle and method for controlling work vehicle WO2018173115A1 (en)

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JP6709579B2 (en) 2020-06-17
CN108883741B (en) 2022-07-15
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JPWO2018173115A1 (en) 2019-03-28
DE112017000030T5 (en) 2018-11-15

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