WO2018173115A1 - Work vehicle and method for controlling work vehicle - Google Patents
Work vehicle and method for controlling work vehicle Download PDFInfo
- 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
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- state
- seat
- seat belt
- detection unit
- vehicle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 75
- 238000001514 detection method Methods 0.000 claims abstract description 164
- 238000010586 diagram Methods 0.000 description 13
- 239000010720 hydraulic oil Substances 0.000 description 9
- 238000012546 transfer Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- 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
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.
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.
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)
- 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017533357A JP6709579B2 (en) | 2017-03-21 | 2017-03-21 | Work vehicle and method of controlling work vehicle |
DE112017000030.0T DE112017000030B4 (en) | 2017-03-21 | 2017-03-21 | WORK VEHICLE AND CONTROL METHOD FOR A WORK VEHICLE |
PCT/JP2017/011182 WO2018173115A1 (en) | 2017-03-21 | 2017-03-21 | Work vehicle and method for controlling work vehicle |
CN201780001247.7A CN108883741B (en) | 2017-03-21 | 2017-03-21 | Work vehicle and method for controlling work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/011182 WO2018173115A1 (en) | 2017-03-21 | 2017-03-21 | Work vehicle and method for controlling work vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018173115A1 true WO2018173115A1 (en) | 2018-09-27 |
Family
ID=63584362
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/011182 WO2018173115A1 (en) | 2017-03-21 | 2017-03-21 | Work vehicle and method for controlling work vehicle |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6709579B2 (en) |
CN (1) | CN108883741B (en) |
DE (1) | DE112017000030B4 (en) |
WO (1) | WO2018173115A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114537138A (en) * | 2022-04-26 | 2022-05-27 | 杭叉集团股份有限公司 | Control method and control system for safe starting of static pressure transmission industrial vehicle |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS50141024A (en) * | 1974-04-30 | 1975-11-12 | ||
JPS5119421U (en) * | 1974-07-31 | 1976-02-13 | ||
JPS5152419U (en) * | 1974-10-18 | 1976-04-21 | ||
JPS6343849A (en) * | 1986-08-11 | 1988-02-24 | Toyota Autom Loom Works Ltd | Pedal locking device circuit |
US20030098194A1 (en) * | 2001-11-28 | 2003-05-29 | Ethyl Roddy | Ingnition control for automatic safety belts |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2260717A1 (en) * | 1971-12-15 | 1973-06-28 | Allied Chem | SEAT BELT SYSTEM WITH STARTER MOTOR LOCK AND ALARM |
JPS5328916Y2 (en) * | 1972-10-04 | 1978-07-20 | ||
KR0165960B1 (en) | 1996-09-16 | 1999-10-01 | 대우중공업주식회사 | Loader pedal locker |
US5883441A (en) | 1997-06-20 | 1999-03-16 | Deere & Company | Seat and seat belt sequence circuit |
JP2005170542A (en) | 2003-12-08 | 2005-06-30 | Toyota Industries Corp | Safety device of industrial vehicle |
DE102011056522B4 (en) | 2011-12-16 | 2022-03-31 | Linde Material Handling Gmbh | Industrial truck with seat belt and method of monitoring its use |
US9676356B2 (en) | 2014-03-10 | 2017-06-13 | Ford Global Technologies Llc | System and method for seatbelt use monitoring |
CN205273409U (en) * | 2016-01-20 | 2016-06-01 | 易鑫 | Photoelectric type car blet alarm device |
-
2017
- 2017-03-21 CN CN201780001247.7A patent/CN108883741B/en active Active
- 2017-03-21 WO PCT/JP2017/011182 patent/WO2018173115A1/en active Application Filing
- 2017-03-21 JP JP2017533357A patent/JP6709579B2/en active Active
- 2017-03-21 DE DE112017000030.0T patent/DE112017000030B4/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS50141024A (en) * | 1974-04-30 | 1975-11-12 | ||
JPS5119421U (en) * | 1974-07-31 | 1976-02-13 | ||
JPS5152419U (en) * | 1974-10-18 | 1976-04-21 | ||
JPS6343849A (en) * | 1986-08-11 | 1988-02-24 | Toyota Autom Loom Works Ltd | Pedal locking device circuit |
US20030098194A1 (en) * | 2001-11-28 | 2003-05-29 | Ethyl Roddy | Ingnition control for automatic safety belts |
Also Published As
Publication number | Publication date |
---|---|
DE112017000030B4 (en) | 2023-03-30 |
JP6709579B2 (en) | 2020-06-17 |
CN108883741B (en) | 2022-07-15 |
CN108883741A (en) | 2018-11-23 |
JPWO2018173115A1 (en) | 2019-03-28 |
DE112017000030T5 (en) | 2018-11-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8359140B2 (en) | Pedal lock control device for work vehicle | |
JP4909302B2 (en) | Vehicle control device and vehicle equipped with the device | |
JP2005503958A (en) | Brake system for vehicles | |
WO2018173115A1 (en) | Work vehicle and method for controlling work vehicle | |
JP4961935B2 (en) | PTO controller for tractor | |
JP2005255001A (en) | Power steering device for vehicle | |
JP2011017271A (en) | Engine control device for working vehicle | |
JP4589649B2 (en) | Wheel loader clutch control device and wheel loader | |
US11801840B2 (en) | Work vehicle, control method, and recording medium | |
EP2202110B1 (en) | Pedal lock control device for working vehicle | |
JP4733539B2 (en) | Returning method of actuator for reverser of traveling vehicle | |
JP2014118036A (en) | Working vehicle | |
WO2005110814A1 (en) | Electric brake system | |
KR101260751B1 (en) | Method for controlling drive motor of eleltric tractor | |
JP5162337B2 (en) | Work vehicle | |
US7026725B2 (en) | Control circuit for vehicular power transmission apparatus, and abnormality determining device for the control circuit | |
KR102045573B1 (en) | Apparatus for controlling multi function in forklift truck | |
JP2007187048A (en) | Engine stop control device | |
US20100228457A1 (en) | Momentary Activation Of Mechanical Front Wheel Drive | |
JPH07223485A (en) | Blinker circuit structure of working vehicle | |
JP4842674B2 (en) | Traveling vehicle | |
JP2017226325A (en) | Driving device of pto shaft in working machine | |
JP5309794B2 (en) | Cargo handling vehicle | |
JP3968517B2 (en) | Tractor | |
JP3590984B2 (en) | Powered vehicle transmission |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2017533357 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17901931 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17901931 Country of ref document: EP Kind code of ref document: A1 |