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WO2018173115A1 - Véhicule de travail et procédé permettant de commander un véhicule de travail - Google Patents

Véhicule de travail et procédé permettant de commander un véhicule de travail Download PDF

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Publication number
WO2018173115A1
WO2018173115A1 PCT/JP2017/011182 JP2017011182W WO2018173115A1 WO 2018173115 A1 WO2018173115 A1 WO 2018173115A1 JP 2017011182 W JP2017011182 W JP 2017011182W WO 2018173115 A1 WO2018173115 A1 WO 2018173115A1
Authority
WO
WIPO (PCT)
Prior art keywords
state
seat
seat belt
detection unit
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/011182
Other languages
English (en)
Japanese (ja)
Inventor
慎治 金子
由孝 小野寺
橋本　淳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority to PCT/JP2017/011182 priority Critical patent/WO2018173115A1/fr
Priority to JP2017533357A priority patent/JP6709579B2/ja
Priority to DE112017000030.0T priority patent/DE112017000030B4/de
Priority to CN201780001247.7A priority patent/CN108883741B/zh
Publication of WO2018173115A1 publication Critical patent/WO2018173115A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
    • B60N2210/40—Force or pressure sensors
    • B60N2210/46—Electric switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B60R2022/4808—Sensing means arrangements therefor
    • B60R2022/4816—Sensing means arrangements therefor for sensing locking of buckle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B60R2022/4883—Interlock systems

Definitions

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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automotive Seat Belt Assembly (AREA)

Abstract

La présente invention comprend : une carrosserie de véhicule qui comporte un commutateur principal ; un siège qui est disposé dans la carrosserie de véhicule et qui comporte une ceinture de sécurité ; une unité de détection de siège qui détecte l'état de siège d'un opérateur sur le siège ; une unité de détection de ceinture de sécurité qui détecte l'état de fixation de la ceinture de sécurité ; un circuit de détection qui forme et maintient un état d'excitation prédéterminé si l'unité de détection de ceinture de sécurité détecte l'état de fixation avant que l'unité de détection de siège ne détecte l'état d'assise dans un état dans lequel le commutateur principal est désactivé ; et une unité de détermination qui détermine une erreur de procédure si le circuit de détection maintient l'état d'excitation prédéterminé lorsque le commutateur principal est activé.
PCT/JP2017/011182 2017-03-21 2017-03-21 Véhicule de travail et procédé permettant de commander un véhicule de travail Ceased WO2018173115A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2017/011182 WO2018173115A1 (fr) 2017-03-21 2017-03-21 Véhicule de travail et procédé permettant de commander un véhicule de travail
JP2017533357A JP6709579B2 (ja) 2017-03-21 2017-03-21 作業車両及び作業車両の制御方法
DE112017000030.0T DE112017000030B4 (de) 2017-03-21 2017-03-21 Arbeitsfahrzeug und steuerverfahren für ein arbeitsfahrzeug
CN201780001247.7A CN108883741B (zh) 2017-03-21 2017-03-21 作业车辆及作业车辆的控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/011182 WO2018173115A1 (fr) 2017-03-21 2017-03-21 Véhicule de travail et procédé permettant de commander un véhicule de travail

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WO2018173115A1 true WO2018173115A1 (fr) 2018-09-27

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CN (1) CN108883741B (fr)
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CN114537138A (zh) * 2022-04-26 2022-05-27 杭叉集团股份有限公司 一种静压传动工业车辆安全起动控制方法及控制系统

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JPS5152419U (fr) * 1974-10-18 1976-04-21
JPS6343849A (ja) * 1986-08-11 1988-02-24 Toyota Autom Loom Works Ltd 産業車両の荷役ペダルロック装置回路
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Publication number Priority date Publication date Assignee Title
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Also Published As

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DE112017000030T5 (de) 2018-11-15
CN108883741A (zh) 2018-11-23
JP6709579B2 (ja) 2020-06-17
JPWO2018173115A1 (ja) 2019-03-28
DE112017000030B4 (de) 2023-03-30
CN108883741B (zh) 2022-07-15

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