CN102785688B - Steering device, industrial vehicle and program - Google Patents

Abstract

The invention provides a steering device, an industrial vehicle and a program. Advancing of an industrial vehicle in a direction undesired by a driver is prevented. In the steering device (5) of a fork truck (1), when a condition that no driver is on the fork truck (1) (S120: no), etc. is satisfied, restoration control (S150-S230) of returning a rudder angle of a steering wheel (53) to a referential angle becoming the reference is performed. Therefore, a driver who knows that the above condition is satisfied and performs restoration control can identify the running direction of the fork truck (1) to be the direction corresponding to the referential angle via restoration control, and therefore, advancing of the fork truck (1) in a direction undesired by the driver is prevented.

Description

Steering hardware, industrial vehicle and program

Technical field

The present invention relates to a kind of steering hardware being equipped on industrial vehicle.

Background technology

The industrial vehicles such as fork truck are equipped with the steering hardware according to deflector operation pilot wheel being carried out to steering, and the steering (such as referenced patent document 1) of left and right directions is carried out in the operation be configured in this steering hardware according to deflector to pilot wheel.

Patent documentation 1: Japanese Unexamined Patent Publication 4-15163 publication

But, in steering hardware pilot wheel can helm angle scope and deflector can work angle scope normally inconsistent.Specifically, pilot wheel helm angle scope can be less than 1 circle (being less than 360 degree), in contrast, deflector can work angle scope be then (more than 360 degree, more than 1 circle; Such as 360 degree × 7 (7 circles)).

Further, owing to deflector being provided with the parts that handle etc. becomes mark, therefore the chaufeur of industrial vehicle infers the steering angle of pilot wheel and the travel direction of the industrial vehicle corresponding with this steering angle by the position relationship of this mark mostly.

But, as mentioned above, steering hardware due to when carrying out steering to pilot wheel deflector can operate more than (rotation) 1 circle, even if therefore the position relationship of handle is in same position from chaufeur, the rudder angle of pilot wheel is not necessarily identical yet.

Therefore, there is the situation that the travel direction of industrial vehicle that chaufeur infers is different from the travel direction that in fact industrial vehicle advances, the problem now occurring to advance towards the undesirable direction of chaufeur and so on.

Summary of the invention

The present invention completes to address this is that, and advances when its object is to provide one to prevent industrial vehicle from advancing towards the undesirable direction of chaufeur.

For being equipped on the steering hardware of industrial vehicle, it has the 1st structure (the 1st mode) completed to achieve these goals: rudder steering mechanism, carries out steering in order to determine the travel direction of described industrial vehicle to pilot wheel; State determination unit, according to the detected parameters that testing result changes because of the movement of the chaufeur on described industrial vehicle, judges whether described industrial vehicle has become the operation readiness running and maybe can run; Recover control unit, when described state determination unit do not judge to have become run readiness time, in the mode making the rudder angle of pilot wheel become predetermined reference angle, described rudder steering mechanism is controlled.

In the steering hardware of formation like this, when industrial vehicle does not become operation readiness, the rudder angle implementing pilot wheel turns back to the recovery control of reference angle.

Therefore, for grasping the chaufeur of this situation of enforcement recovery control when not becoming operation readiness, can be controlled on the basis into the direction corresponding with reference angle through over recovery at the travel direction recognizing industrial vehicle, bring into operation industrial vehicle, so can not make the problem that industrial vehicle is advanced towards the undesirable direction of chaufeur.

In addition, " operation readiness " in this structure, for not only to comprise the state can running industrial vehicle, also comprises the concept of the state run.

And, can consider in the recovery of this structure controls, the rudder angle carrying out pilot wheel becomes the control of reference angle and so on, reception is such as set from the instruction of outside and with the afterburning unit of the mode reinforcing of the rudder angle maintaining pilot wheel with reference angle, the reinforcing based on this afterburning unit is controlled to implement as recovery.

Further, it is also conceivable to the rudder angle detecting actual pilot wheel, this detected value of enforcement of going forward side by side becomes the such controlled reset of reference angle, now, can consider said structure to be set to the 2nd structure (the 2nd mode) shown below.

2nd structure has the rudder angle detecting unit of the rudder angle detecting described pilot wheel.And, when described state determination unit do not judge to have become run readiness time, described recovery control unit controls described rudder steering mechanism in the mode making the rudder angle detected by described rudder angle detecting unit and become predetermined reference angle.

If this structure, the rudder angle of actual pilot wheel can be detected, and implement making this detected value become the such controlled reset of reference angle as recovery control.

Further, as the detected parameters in above-mentioned each structure, as long as the parameter that testing result changes because of the movement of chaufeur, such as, can consider to adopt from the detected parameters detecting the unit that chaufeur has carried.As the concrete structure of this purposes, said structure is set to the 3rd structure (the 3rd mode) shown below.

3rd structure has for detecting the lift-launch probe unit described industrial vehicle being equipped with chaufeur, and described state determination unit is equipped with chaufeur for foundation to be detected by described lift-launch probe unit, and judging has become described operation readiness.

If this structure, when being equipped with chaufeur, can preventing carrying out recovery and controlling.

Further, as above-mentioned detected parameters, the detected parameters of the unit adopting the deflector undertaken by chaufeur from detection to operate can be considered.As the concrete structure of this purposes, said structure is set to the 4th structure (the 4th mode) shown below.

4th structure possesses for detecting the operation probe unit whether this steering hardware or described industrial vehicle being carried out to specific operation, described state determination unit is specifically operating as foundation to be detected by described operation probe unit, and judging has become described operation readiness.

Accordingly, when chaufeur specifically operates industrial vehicle, do not carry out, based on the control of the rudder steering mechanism recovering control unit, meeting driver requested steering hardware therefore, it is possible to provide.

In addition, " should specifically operate " operation that can be defined as a certain operand, a series of operation order to more than 1 operand can also be defined as.

As long as represent the operation running readiness, such as, the operation that deflector is carried out or operation industrial vehicle being travelled by throttling rod (or accelerator) etc. can be considered as " specifically operating " in this structure.

For this reason, said structure is set to the 5th structure (the 5th mode) shown below.

In the 5th structure, described operation probe unit can detect the mobility operation of carrying out for making described industrial vehicle travel, described state determination unit, to detect described mobility operation for foundation by described operation probe unit, judges to have become described operation readiness.

Control thereby, it is possible to prevent carrying out recovery under the state of carrying out the operation for making industrial vehicle travel.

But, in above-mentioned each structure, the recovery at random implemented based on the control of rudder steering mechanism can be set to and control, for this reason, above-mentioned each structure is set to the 6th structure (the 6th mode) shown below.

6th structure possesses the operation acceptance unit accepting to control to start to operate, and this control starts operation as the operation for controlling described rudder steering mechanism by described recovery control unit.Described state determination unit starts to be operating as foundation to receive described control, judges not described operation readiness.

If this structure, can at random implement to recover to control.

Further, in above-mentioned each structure, not only when not becoming operation readiness, but also meeting of predetermined condition can be implemented to recover to control as prerequisite.

As for implementing the condition recovering to control, such as, can consider that the speed of a motor vehicle of industrial vehicle is less than predetermined speed, now, above-mentioned each structure is set to the 7th structure (the 7th mode) shown below.

In 7th structure, possess the Bus-Speed Monitoring unit of the speed of a motor vehicle for detecting described industrial vehicle, described recovery control unit is less than predetermined speed using the speed of a motor vehicle detected by described Bus-Speed Monitoring unit and controls described rudder steering mechanism as condition.

If this structure, during being less than predetermined speed in the speed of a motor vehicle of industrial vehicle, do not carry out recovery control, therefore, such as, speed when not travelled by setting industrial vehicle, as predetermined speed, can be prevented in industrial vehicle travels, carry out recovery and control.

Further, as the condition for implementing recovery control, the rudder angle that it is also conceivable to pilot wheel differs to a certain degree with reference angle, now, above-mentioned each structure is set to the 8th structure (the 8th mode) shown below.

In the 8th structure, described recovery control unit starts to control described rudder steering mechanism as condition outside the predetermined permissible range centered by described reference angle by the rudder angle detected by described rudder angle detecting unit.

Accordingly, the control based on the rudder steering mechanism recovering control unit is not carried out when the rudder angle of pilot wheel is in permissible range, therefore do not depart from the scope of the degree of chaufeur expection by this permissible range is set in as the direction corresponding with reference angle, advance towards the undesirable direction of chaufeur when can prevent industrial vehicle from advancing, and alleviate the control load recovering to control to bring.

Such as, in the work angle of deflector being less than ± scope of 180 degree in state under, according to the position relationship of mark (such as handle) being installed on deflector, the possibility that the travel direction of the industrial vehicle that chaufeur is inferred is consistent with the actual direction of advancing of industrial vehicle is higher, therefore, it is possible to effectively alleviate by setting above-mentioned permissible range in the mode not carrying out in this condition recovering to control the control load recovering to control to bring.

And, such as when industrial vehicle become can be straight state under the rudder angle of pilot wheel be defined as reference angle time, if travel direction when industrial vehicle is advanced is roughly straight direction, even if be then provided with wall near the left and right of industrial vehicle, also can not carry out, based on the control of the rudder steering mechanism recovering control unit, being difficult to when can expect that industrial vehicle is advanced touch this wall.

And, when can according to when whether implementing to recover to control to switch the pattern of steering hardware, as the condition for implementing recovery control, this pattern can adopt the pattern switching to and carry out recovering to control, for this reason, above-mentioned each structure is set to the 9th structure (the 9th mode) shown below.

9th structure has mode switch element, this mode switch element receives the instruction from outside, the pattern of this steering hardware is switched to the reforestation practices that performs the control of described rudder steering mechanism undertaken by described recovery control unit and do not perform in the non-recovery pattern of this control any one, described recovery control unit switches to described reforestation practices for condition is to control described rudder steering mechanism with the pattern of this steering hardware.

If this structure, do not carry out recovery during the pattern of steering hardware switches to non-recovery pattern to control, therefore, when not wishing that steering angle is back to this occasion of reference angle, unintended recovery can be carried out control and make steering angle be back to reference angle by pattern is switched to non-recovery pattern to prevent.

In addition, in above-mentioned each structure, it is also conceivable to transit to operation readiness after starting to recover control, therefore, now preferably stop recovering to control.So, as transitting to the object lesson running readiness, such as it is contemplated that chaufeur has started to carry out this situation of operation of deflector, now recovering to control to stop, above-mentioned each structure being set to the 10th structure (the 10th mode) shown below.

10th structure possesses the deflector operation detection unit operated for detecting the deflector undertaken by chaufeur, in the control of described rudder steering mechanism, during by described deflector operation detection unit inspection to the operation of deflector, described recovery control unit stops it controlling.

Accordingly, stopping the control based on the rudder steering mechanism recovering control unit when having carried out deflector operation, operating therefore, it is possible to preferentially carry out deflector by chaufeur.

And, in steering hardware, the operation of deflector is directly being passed to pilot wheel in this case, during in order to steering angle being set to reference angle by recovering to control to control rudder steering mechanism, also can imagine the situation that deflector cannot follow the steering of pilot wheel, now, deflector is detected as and operates on the contrary with steering direction.

Detecting that this operation stops recovering to control afterwards is the error not occurred based on practical operation deflector, therefore the stopping that this mistake occurs preferably is avoided, for this reason, can consider said structure to be set to the 11st structure (the 11st mode) shown below.

In the 11st structure, the operational ton of the deflector that described deflector operation detection unit inspection is undertaken by chaufeur, in the control of described rudder steering mechanism, by described deflector operation detection unit inspection to operational ton become more than predetermined operational ton time, described recovery control unit stops it controlling.

If this structure, owing to continuing to control rudder steering mechanism until the predetermined operational ton carried out deflector detected, therefore, it is possible to the operational ton of mistake can be caused to prevent from stopping mistakenly recovering to control as this operational ton by setting.

But, if start the steering of pilot wheel, then there is the distortion of pilot wheel due to the friction between pilot wheel and road surface.And, if stop the steering of pilot wheel with this state, then the reversing sense of pilot wheel for reinstatement state to steering direction so far of distortion conjugates, and pilot wheel therefore cannot be made to stop in desired position (rudder angle is not equal to the position of reference angle).

Therefore, as shown in the 12nd structure (the 12nd mode), be set to following: after starting to control described rudder steering mechanism, described recovery control unit proceeds to control, until the rudder angle detected by described rudder angle detecting unit goes out predetermined angular greatly than described reference angle, stop this control afterwards.

Accordingly, by stopping the control of rudder steering mechanism after exceeding reference angle predetermined angular, can offset to its reciprocal displacement.That is, in said structure, by setting the angle corresponding with the addendum modification that pilot wheel produces by distortion affects as the angle exceeding reference angle, easily pilot wheel is stopped in desired position.

In addition, in above-mentioned pilot wheel, the isoparametric size of cireular frequency when " distortion " is to correspond to friction coefficient between pilot wheel and road surface, the friction force produced between pilot wheel and road surface, pilot wheel steering and occurring, therefore, it is possible to any one utilizing in these parameters infers the addendum modification being affected the pilot wheel caused by " distortion ".As object lesson, such as, as the parameter relevant with friction force or cireular frequency, the controlling quantity of rudder steering mechanism can be considered, preferably with reference to the addendum modification by this parametric inference, after steering angle reaches reference angle, make the control of rudder steering mechanism continue predetermined angular.

As the structure of this purposes, can consider said structure to be set to the 13rd structure (the 13rd mode) shown below.

13rd structure has control determining unit, this control determining unit starts to control the controlling quantity after described rudder steering mechanism according to by described recovery control unit, determine the control rudder angle going out greatly predetermined angular than described reference angle, described recovery control unit continues to control described rudder steering mechanism, until the rudder angle detected by described rudder angle detecting unit reaches described control rudder angle.

If this structure, owing to can continue to control rudder steering mechanism until reach steering angle and the operating angle of the addendum modification of pilot wheel caused doped with being affected by " distortion ", therefore easily stop pilot wheel more reliably in desired position.

Further, for solving above-mentioned problem, industrial vehicle (the 14th mode) can be set to, it is characterized in that steering hardware in lift-launch the 1st to the 13rd structure involved by arbitrary structure and forming.

Accordingly, the functions and effects identical with above-mentioned each structure can be obtained.

Further, for solving above-mentioned problem, the program (the 15th mode) for making computing machine play a role as the state determination unit involved by the arbitrary structure in the 1st to the 13rd structure and recovery control unit can be set to.

If this program to be applied to the steering hardware of industrial vehicle or industrial vehicle, then can obtain the functions and effects identical with above-mentioned each structure.

In addition, said procedure is made up of the queue of order of instruction of the process being applicable to computer system, is supplied to steering hardware, industrial vehicle or uses the user etc. of this steering hardware or industrial vehicle by various recording medium or communication line.

Accompanying drawing explanation

Fig. 1 is the integrally-built block diagram of the fork truck represented as industrial vehicle.

Fig. 2 is the figure figure of the module of remarks constitutive requirements (in the figure in the A-A cross section of Fig. 1) that steering hardware is shown.

Fig. 3 is the diagram of circuit representing the pilot wheel Recovery processing that the recovery carrying out pilot wheel in the 1st embodiment controls.

Fig. 4 is the diagram of circuit of the power-off process performed when representing that the key of fork truck in the 1st embodiment is closed.

Fig. 5 is the diagram of circuit of the pilot wheel Recovery processing represented in the 2nd embodiment.

Fig. 6 is the diagram of circuit of the condition criterion process represented in the 2nd embodiment.

Fig. 7 is the diagram of circuit of the condition judgement process represented in the 2nd embodiment.

Fig. 8 is the sequential chart representing the appearance changed in the dutycycle recovering to put on the drive singal of servo-motor in control.

Fig. 9 is the diagram of circuit of the pilot wheel Recovery processing representing variation.

In figure: 1-fork truck, 2-main body, 3-handing device, 4-driver's seat, 5-steering hardware, 6-operating portion, 51-deflector, 52-handle, 53-pilot wheel, 54-rudder steering mechanism, 55-pilot wheel support, 57-steering gear, 59-CD-ROM drive motor, 61-steering transmission mechanism, 63-servo-motor, 65-actuating circuit, 67-transmits gear, 71-torque sensor, 73-rotation angle sensor, 75-controller, 77-driver-detecting sensor, 79-car speed sensor, 81-telegraph key sensor, 83-notification unit.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiments of the present invention are described.

1. integral structure

Fork truck 1 is the industrial vehicle for handling labor, as shown in Figure 1, the front of main body 2 is provided with handing device 3, is provided with driver's seat 4 and steering hardware 5 at the rear of main body 2.

Steering hardware 5 is equipped on and driver's seat 4 adjoining position at the rear side of main body 2, as shown in Figure 2, it possesses: the deflector 51 accepting the operation of chaufeur, in order to determine fork truck 1 travel direction and by the pilot wheel 53 of steering, according to the operational ton of deflector 51, pilot wheel 53 is carried out to the rudder steering mechanism 54 of steering, for the CD-ROM drive motor 59 of rotary actuation pilot wheel 53, detect the torque sensor 71 of the operation torque of deflector 51, detect the rotation angle sensor 73 of the rudder angle of pilot wheel 53, detect the driver-detecting sensor 77 of the existence of the chaufeur of fork truck 1, detect the car speed sensor 79 of the speed of a motor vehicle of fork truck 1, detect the telegraph key sensor 81 of the switching state of the key for starting fork truck 1 entirety, notification unit 83 around notice fork truck 1, control the controller 75 etc. of the action of steering hardware 5 entirety.

In addition, the driver-detecting sensor 77 of present embodiment is the not sensor that carries as the operation input end of common forklift 1 such as load transducer, infradred sensor, imageing sensor that the change of the load (body weight) according to driver's seat 4 detects the existence of chaufeur, is detect the sensor that chaufeur is positioned at driver's seat 4.

Deflector 51 is configured to carry out steering by the operation of chaufeur to pilot wheel 53, and it is provided with chaufeur available handle 52 when carrying out deflector operation.

Pilot wheel 53 or road pavement give the drive wheel of the propulsive effort that fork truck 1 travels.In addition, in present embodiment, pilot wheel 53 helm angle scope can be less than 1 circle (being less than 360 degree), in contrast, deflector 51 can work angle scope be then (more than 360 degree, more than 1 circle; Be 7 circles of 360 degree × 7 in present embodiment).Further, in present embodiment, regulation fork truck 1 rudder angle (such as " 0 degree ") of pilot wheel 53 under straight moving condition can become the reference angle of benchmark.

Rudder steering mechanism 54 have supporting pilot wheel 53 pilot wheel support 55, by the operation transmission of torque of deflector 51 to pilot wheel 53 to pilot wheel 53 carry out the steering transmission mechanism 61 of steering, the steering of the auxiliary pilot wheel 53 carried out based on deflector 51 servo-motor 63, make the actuating circuit 65 etc. of servo-motor 63 action.

In the middle of above structure, pilot wheel support 55 is fixed on main body 2 with the state can carrying out rotating along the steering direction of pilot wheel 53, and its hand of rotation is formed the steering gear 57 being surrounded on pilot wheel support 55.

Further, servo-motor 63 is known electric powered steering (EPS) motor.And, this servo-motor 63 is with the steering torque corresponding with the torque phase of the deflector 51 of being transmitted by steering transmission mechanism 61, rotate and steering gear 57 gears in mesh (not shown) of pilot wheel support 55, carry out steering by this steering gear 57 pairs of pilot wheel supports 55 and the pilot wheel 53 that is supported on pilot wheel support 55 thus.

And, steering transmission mechanism 61 is the rod-like members extended from deflector 51 towards pilot wheel support 55, and the transmission gear 67 engaged with the steering gear 57 of pilot wheel support 55 is provided with in the end (lower end) of pilot wheel 53 side, the operation torque of deflector 51 is passed to pilot wheel support 55 by this transmission gear 67 and steering gear 57 and is supported on the pilot wheel 53 of pilot wheel support 55.

Notification unit 83 is the attention for causing (such as chaufeur) around fork truck 1, or notifies the parts of operating state of fork truck 1 towards periphery, by sound of giving notice buzzer phone and drive the driving circuit etc. of buzzer phone to form.And driving circuit is configured to send multiple warning tone according to the instruction carrying out self-controller 75 to buzzer phone.

Controller 75 performs following process according to the program being stored in internal memory: the known steering process producing steering torque with the size that the operation (the operation torque of deflector 51) with the deflector that chaufeur carries out is corresponding; The rudder angle of pilot wheel 53 is made to be back to the pilot wheel Recovery processing (with reference to figure 3, Fig. 5 to Fig. 7) of the reference angle becoming benchmark; And at key from the power-off process (with reference to figure 4) carrying out power-off operation after opening (On) switches to closed condition (Off).

In addition, when key is in closed condition, it is invalid that the handling control of the control of the traveling of fork truck 1, handing device 3 and steering process are set to by controller 75.

Further, this controller 75 is connected with the operating portion 6 in the front being configured at driver's seat 4 and can communicates, and is configured to detect the content of operation that chaufeur carries out this operating portion 6.

2. the characteristic work of controller 75

Steering hardware 5 in present embodiment due to its embodiment according in controller 75 implement contents processing and different, therefore successively the embodiment corresponding with contents processing is described.

2-1. the 1st embodiment

(1) pilot wheel Recovery processing

In the present embodiment, when connecting the power supply of fork truck 1, pilot wheel Recovery processing is performed by controller 75.

If start this process, then as shown in Figure 3, first in S105, according to the testing result based on torque sensor 71 and telegraph key sensor 81, determine whether that the releasing having carried out pilot wheel Recovery processing by chaufeur operates.At this, after key closedown in the given time, with detected by torque sensor 71 there is ad hoc rules operation torque (such as, by chaufeur carry out by the operation of deflector more than 51 left-right rotation) be foundation, judge that the releasing having carried out pilot wheel Recovery processing by chaufeur operates.

And, when judging the releasing operation carrying out pilot wheel Recovery processing in S105 (S105: yes), process marches to S107, and according to the testing result based on car speed sensor 79, judges whether fork truck 1 stops (speed of a motor vehicle whether as zero).

And in S107, during judgement fork truck 1 stops (S107: yes), repeat the process of this S107, if judge, fork truck 1 does not stop (S107: no), then process is back to S105.

And, when judging the releasing operation not carrying out pilot wheel Recovery processing in S105 (S105: no), process marches to S110, and according to the testing result based on car speed sensor 79, judges whether fork truck 1 stops (speed of a motor vehicle whether as zero).

And when judging that in S110 fork truck 1 does not stop (S110: no), process is back to S105, and on the other hand, if judge in S110, fork truck 1 stops (S110: yes), then process marches to S120.

In S120, according to the testing result based on driver-detecting sensor 77, judge that chaufeur is whether in fork truck 1.And when judging that in S120 chaufeur is in fork truck 1 (S120: yes), process marches to S110, on the other hand, when judging that in S120 chaufeur is not in fork truck 1 (S120: no), process marches to S130.

In S130, according to the testing result based on torque sensor 71, judge whether chaufeur is carrying out deflector operation.At this, with the operation torque during driver's operation deflector 51 detected by torque sensor 71 for foundation, judge that chaufeur is carrying out deflector operation.

And when judging that in S130 chaufeur is when carrying out deflector operation (S130: yes), process marches to S110, and on the contrary, when judging that in S130 chaufeur does not carry out deflector operation (S130: no), process marches to S140.

In S140, judge that the rudder angle at the steering angle 53 detected by rotation angle sensor 73 is whether outside the predetermined permissible range centered by reference angle." permissible range " that use in the process of S140, for being set in the value do not departed from as its degree of the direction corresponding with reference angle in the scope of chaufeur expection, and to be stored in the internal memory of controller 75.In addition, in present embodiment, to set centered by reference angle ± 20 degree (=40 degree) as " permissible range ".

And when judging that in S140 rudder angle is in the predetermined permissible range centered by reference angle (S140: no), process marches to S110.On the other hand, when judging that in S140 rudder angle is when the predetermined permissible range centered by reference angle is outer (S140: yes), process marches to S150.

In S150, in the mode making the rudder angle of the pilot wheel 53 detected by rotation angle sensor 73 be back to reference angle, the recovery starting the pilot wheel 53 for controlling rudder steering mechanism 54 (being specially servo-motor 63) controls.At this, in the recovery of pilot wheel 53 controls, by making servo-motor 63 action by actuating circuit 65, steering is carried out to pilot wheel 53, and further steering is carried out to steering gear 57, transmission gear 67, steering transmission mechanism 61 and deflector 51, make the rudder angle detected by rotation angle sensor 73 be back to reference angle thus.Specifically, controller 75 changes dutycycle when servo-motor 63 drives in the mode that the steering speed of the pilot wheel 53 detected according to the testing result of rotation angle sensor 73 becomes constant (such as 18 °/s), makes the rudder angle of pilot wheel 53 be back to reference angle thus.

In ensuing S160, in order to notify to start to recover to control, to the instruction of notification unit 83 output notice.Thus, notification unit 83 has started to recover to control to surrounding's notice of fork truck 1 by sound of giving notice.In addition, notification unit 83 to tailend, continues to send such as controlling from recovery " too beep " (minor) this warning tone.

And, in S170, use the time meter being built in controller 75, after making the reset of its count value, start to measure the time of recovering needed for control.

Then, in S180, according to the count value of above-mentioned time meter, after the measurement based on time meter judging in the process of S170 starts whether after a predetermined time (such as 1 minute).Should " schedule time " such as cannot normally carry out when recoverys controls to force to terminate recovery control and specific time by the obstruction of foreign matter or servo-motor 63 et out of order etc. when the operation due to pilot wheel 53.

And, in S180, when to judge after the measurement based on time meter starts after a predetermined time (S180: yes), carry out end process (S220) that recover to control.

At this, in S220, actuating circuit 65 is carried out to the process of the action stopping servo-motor 63, namely stop the energising of servo-motor 63 to control this process.

And terminate this reason recovering to control and be time meter, therefore in ensuing S230, in order to notify to force to terminate to recover to control, after the instruction of notification unit 83 output notice, process is back to S105.In addition, now notification unit 83 (buzzer phone) sends 1 such as this trouble back tone of " beep " (minor).

On the other hand, in S180, to judge after the measurement based on time meter starts not after a predetermined time time (S180: no), according to the testing result detected based on driver-detecting sensor 77, judge chaufeur whether in fork truck 1 (S182).

And, when judging that in S182 chaufeur is in fork truck 1 (S182: yes), carry out end process (S184) that the recovery identical with above-mentioned S220 controls, and process is back to S105.

On the other hand, when judging that in S182 chaufeur is not in fork truck 1 (S182: no), process marches to S190.In S190, according to the testing result based on torque sensor 71, judge whether chaufeur is carrying out deflector operation.

And, in S190, judge that chaufeur does not carry out (S190: no) when deflector operates, judge whether the rudder angle detected by rotation angle sensor 73 reaches reference angle (S200).

And in s 200, when judging that rudder angle does not reach reference angle (S200: no), process marches to S180, on the contrary, in s 200, when judging that rudder angle has reached reference angle (S200: yes), process marches to S205.

In S205, according to the aviation value flowing to the electric current of servo-motor 63 at recovery control period (in the energising control of servo-motor 63), determine the rudder angle terminating to recover to control.

Specifically, the form that the current value of the electric current by flowing to servo-motor 63 and the angle corresponding with the addendum modification that pilot wheel 53 produces by the impact of distortion are associated and are formed is stored in the internal memory of controller 75, in pilot wheel Recovery processing, starting to recover to control (S170) until during rudder angle reaches reference angle (S200: yes), regular acquisition flows to the current value of the electric current of servo-motor 63, and calculates the aviation value of the current value of this acquisition.

And in S205, extract the angle corresponding with this aviation value by utilizing above table, the angle of this extraction is confirmed as terminating the rudder angle recovering to control.Namely in the present embodiment, infer by the aviation value of the electric current flowing to servo-motor 63 addendum modification that pilot wheel 53 conjugates by the impact of distortion, determine the rudder angle terminating to recover to control thus.

In ensuing S220, the moment reaching the rudder angle determined in S205 at the rudder angle of pilot wheel 53 stops the steering of pilot wheel 53, and the steering therefore finally stopping pilot wheel 53 is after rudder angle exceedes reference angle predetermined angular (the rudder angle amount determined in S205).

And be terminate because rudder angle reaches reference angle to recover to control specifically, therefore in ensuing S230, in order to notify that recovery controls normal termination, to the instruction of notification unit 83 output notice, process is back to S105.In addition, now notification unit 83 (buzzer phone) sends 1 such as this warning tone of " beep " (long).

On the other hand, in S190, judge that chaufeur has carried out (S190: yes) when deflector operates, carry out that the recovery identical with above-mentioned S220 control end process after (S210), use the time meter being built in controller 75, and after making the reset of its count value, start to measure the time (S212) of recovering needed for control.

Then, in S214, according to the count value of above-mentioned time meter, after the measurement based on time meter judging in the process of S212 starts whether after a predetermined time (as 3 seconds in present embodiment).

And, in S214, during not having after a predetermined time after judging to start based on the measurement of time meter (S214: no), repeat the process of this S214, ask when predetermined (S214: yes) after starting based on the measurement of time meter if judge, then process is back to S105.

(2) power-off process

When key switches to closed condition from opening, perform power-off process by controller 75.

If this process starts, then as described in Figure 4, first in S310, use the time meter being built in controller 75, start the time measurement after key switches to closed condition.In addition, in present embodiment, the time meter of power-off process can be identical time meter with the time meter of above-mentioned pilot wheel Recovery processing, also can arrange the time meter different from the time meter of pilot wheel Recovery processing, and this time meter is used as power-off process time meter.

Then, in S320, according to the count value of above-mentioned time meter, after the measurement based on time meter judging in the process of S310 starts whether after a predetermined time (such as 1 minute).It should " schedule time " be specific time in order to ensure the required time when electronic machine (the controller 75 etc.) release of fork truck 1.

And, until the measurement determined based on time meter repeats the process of this S320 during starting after a predetermined time, after starting based on the measurement of time meter if judge after a predetermined time (S320: yes), then according to based on the testing result of telegraph key sensor 81, judge key whether as closed condition (S330).

And, in S330, judge that key is as (S330: no) during opening, terminate power-off process, on the contrary, when judging that key is as (S330: yes) during closed condition, close the power supply (S340) of fork truck 1, terminate power-off process.

That is, in power-off process, at key from the schedule time after opening switches to closed condition, the power supply continuing to maintain fork truck 1 is opening.Afterwards, when key does not switch to opening, no matter whether there is chaufeur all to close the power supply of fork truck 1, on the other hand, when key switches to opening, do not close the power supply of fork truck 1.

2-2. the 2nd embodiment

(1) pilot wheel Recovery processing

According to Fig. 5, the processing sequence of the pilot wheel Recovery processing in present embodiment is described.

In this pilot wheel Recovery processing, first confirm to recover beginning condition whether sufficient (S400).In present embodiment, after controller 75 starts, repeat condition criterion process shown below according to each constant period, the condition started due to setting recovery in this condition criterion process is sufficient or insufficient, whether sufficiently therefore confirms to recover beginning condition according to this setting content.

At this, according to Fig. 6, condition criterion process is described, in this condition criterion process, first by being arranged at the pattern change-over switch of operating portion 6, confirm whether switch to " reforestation practices " that allow based on the control of pilot wheel Recovery processing based on the pattern of the steering hardware 5 of controller 75, or switch to " non-recovery pattern " (S410) of the control do not allowed based on pilot wheel Recovery processing.

When judging to switch to " non-recovery pattern " in this S410 (S410: no), setting recovery starts condition " not " sufficient (S420).In present embodiment, impose a condition insufficient by setting " 0 " on condition abundance mark.

On the other hand, when judging to switch to " reforestation practices " in above-mentioned S410 (S410: yes), according to the testing result obtained based on car speed sensor 79, confirm whether the speed of a motor vehicle of fork truck 1 is less than predetermined speed (S430).In present embodiment, be confirmed whether to become the speed of a motor vehicle being less than and inferring that fork truck 1 has stopped.

In this S430, infer that the speed of a motor vehicle of fork truck 1 is not less than predetermined speed, when namely fork truck 1 travels with certain above speed of a motor vehicle (S430: no), operation marches to S420.

On the other hand, in above-mentioned S430, when inferring that the speed of a motor vehicle of fork truck 1 is less than predetermined speed (S430: yes), identical with the S140 in above-mentioned 1st embodiment, confirm that whether the rudder angle of pilot wheel 53 is at the preset range centered by reference angle outer (S440).

In this S440, when judging that the rudder angle of pilot wheel 53 is within the preset range centered by reference angle (S440: no), operation marches to S420, on the other hand, when judging that the rudder angle of pilot wheel 53 is when the preset range centered by reference angle is outer (S440: yes), setting recovery starts condition abundance (S450).In present embodiment, to be imposed a condition abundance by setting " 1 " on above-mentioned condition abundance mark.

So, after the abundance that imposes a condition in above-mentioned S420 or S450 or the non-abundance of condition, this condition criterion process is terminated.

In pilot wheel Recovery processing in present embodiment, according to according to the setting content repeated by condition criterion process with upper type in above-mentioned S400, whether sufficiently judge to recover beginning condition.

And, if become readiness for action until judge to recover beginning condition abundance (S400: no) in this S400, judge to recover beginning condition abundance (S400: yes), then confirm whether fork truck 1 becomes chaufeur and running " operation readiness " (S500) that maybe can run.

In present embodiment, be configured in this S500, start condition judgement process shown below, and in this condition judgement process, whether setting becomes operation readiness, is therefore confirmed whether to become operation readiness according to this setting content.

At this, if be described condition judgement process according to Fig. 7, then in this condition judgement process, be first confirmed whether that implementing control starts to operate (S510).In the present embodiment, the Recovery processing being set in operating portion 6 is started switching over to the operation of open side to be set to control and to start operation.In addition, it is so-called instantaneous formula switch that this Recovery processing starts switch, consists of the switching only realized during acceptance operation to open side.

When judging to implement (S510: yes) when control starts to operate in this S510, be set as inoperative readiness (S570).In present embodiment, be set as inoperative readiness by setting " 1 " on condition judgement mark.

On the other hand, when judging that in above-mentioned S510 not implementing control starts to operate (S510: no), according to the testing result based on driver-detecting sensor 77, confirm whether be equipped with chaufeur (S530) in fork truck 1.

When judging to be equipped with chaufeur in this S530 (S530: yes), be set as running readiness (S520).In present embodiment, be set as running readiness by setting " 0 " on above-mentioned condition judgement mark.

On the other hand, when judging not to be equipped with chaufeur in above-mentioned S530 (S530: no), according to the testing result of torque sensor 71, confirm whether chaufeur carries out deflector operation (S540).

When judging to carry out deflector operation in this S540 (S540: yes), operation marches to S520, on the other hand, when judging not carry out deflector operation (S540: no), be confirmed whether to implement operation (mobility operation) (S550) for making fork truck 1 travel.In present embodiment, as mobility operation, be confirmed whether that operating and setting is in the throttling rod of operating portion 6.

When judging to implement mobility operation in this S550 (S550: yes), operation marches to S520, on the other hand, when judging not implement mobility operation (S550: no), is confirmed whether to implement charge and discharge operations (S560).In present embodiment, be confirmed whether to carry out the operation (and being included in the state of interrupt operation in tripping action) being set in the throw rod of the operating portion 6 in order to carry out action command to handing device 3 as charge and discharge operations.

When judging to implement charge and discharge operations in this S560 (S560: yes), operation marches to S520, and on the other hand, when judging not implement charge and discharge operations (S560: no), operation marches to S570.

So, after being set as inoperative readiness or running readiness in above-mentioned S520 or S570, done state determination processing, and be set content as return of value, operation is back to pilot wheel Recovery processing.

In pilot wheel Recovery processing in the present embodiment, according to the return of value of condition judgement process in S500, determine whether operation readiness.

And when being judged to run readiness in this S500 (S500: yes), operation is back to S400, and repeats processing sequence so far.

After this, if be judged to be inoperative readiness (S500: no) in above-mentioned S500, in above-mentioned S400, then judge to recover beginning condition sufficient, and be judged to be inoperative readiness in above-mentioned S500 after, be confirmed whether to have passed through predetermined time length (S610) with this situation.

When judge in this S610 not with this situation through time length (S610: no), maintenance be judged to be the situation of condition abundance/inoperative readiness during (S620: no), repeat this S610 ~ S620.

When in this repetition, situation changes (S620: yes), operation is back to S400, if but situation does not change (S620: no) and through time length (S610: yes), identical with the S150 in the 1st embodiment, the recovery started based on rudder steering mechanism 54 (in servo-motor 63) controls (S150).

In addition, in the present embodiment, after this recovery controls to start, by making the dutycycle in the drive singal of servo-motor 63 rise along with the process of time, the control (with reference to figure 8) making the steering speed of pilot wheel 53 slowly increase can be carried out.

After this, identical with S160 ~ 180 in the 1st embodiment, start notifier processes (S160), after starting to measure the time needed for recovery control (S170), confirm whether its observed reading reaches the schedule time (S180).

In this S180, if observed reading does not reach the schedule time (S180: no), then identical with above-mentioned S400, S500, confirm recover beginning condition whether sufficient (S630) and be confirmed whether as running readiness (S640).

Whether just, having more than in this S640 is detect in operation deflector 51, also detects the operation whether deflector 51 having been carried out to scheduled operation amount.This is because, as present embodiment, following problem may be there is, namely the operation of deflector 51 is directly being passed in the structure of pilot wheel 53, also can imagine deflector 51 in recovery controls and cannot follow the steering of pilot wheel 53, now likely be mistakenly detected as deflector 51 and operate on the contrary to steering direction.Therefore, in present embodiment, the operational ton that setting occurs by mistake, as " predetermined operational ton ", is avoided recovering to control to stop mistakenly thus.

In this S630, S640, recover beginning condition inadequate time (S630: no) and recover beginning condition abundance (S630: yes) but become when running readiness (S640: yes) in above-mentioned S640, identical with the S210 in the 1st embodiment, carry out recover control end process after (S650), operation is back to S400, and repeats later processing sequence.

In addition, in this ends process, by making the dutycycle in the drive singal of servo-motor 63 reduce along with the process of time, carry out slowly to reduce the control (with reference to figure 8) of the steering speed of pilot wheel 53.

On the other hand, when recovery beginning condition abundance (S630: yes), and when being inoperative readiness (S640: no), confirm to control termination condition whether sufficient (S660).In the present embodiment, reach reference angle for foundation with the rudder angle detected by rotation angle sensor 73, judge to control termination condition sufficient.

If control termination condition inadequate (S660: no) in this S660, then operation is back to above-mentioned S180, on the other hand, if control termination condition abundance (S660: yes), then identical with the S205 in the 1st embodiment, determine the control rudder angle (S670) that the recovery that should terminate to start in above-mentioned S150 controls.

If according to determining with upper type to control rudder angle, then proceed to recover to control until the rudder angle that detected by rotation angle sensor 73 is reached and controls rudder angle (S680: no), identical with the S220 ~ S230 in the 1st embodiment, ending process (S690) of carrying out recovering controlling and after carrying out notifier processes (S230), operation is back to S400, and repeats later treatment step.

In addition, based in the ending process of this S690, the control (with reference to figure 8) of the steering speed of pilot wheel 53 is also slowly reduced.

3. functions and effects

As described above, do not become according to the stopping of fork truck 1 or fork truck 1 all many condition (S105 ~ S230, S400, S500) such as running readiness in present embodiment, the rudder angle carrying out pilot wheel 53 is back to recovery control (S150 ~ S230) of reference angle.

Thus, establishment by above-mentioned condition is learnt carry out recover control chaufeur for, because the travel direction that can identify fork truck 1 becomes the direction corresponding with reference angle by recovering to control, therefore can not occur as when fork truck 1 is advanced towards the progressive problem of the undesirable side of chaufeur.

Further, in above-mentioned embodiment, to be equipped with chaufeur for foundation (S120, S182, S530), be judged to run readiness, control therefore, it is possible to prevent carrying out recovery during chaufeur carries.

Further, in present embodiment, owing to stopping the control based on recovering the rudder steering mechanism 54 controlled when carrying out deflector operation, operate therefore, it is possible to preferentially carry out deflector by chaufeur.

And, in present embodiment, owing to not carrying out the control of the rudder steering mechanism 54 based on pilot wheel Recovery processing when the rudder angle of pilot wheel 53 is in permissible range, therefore, it is possible to progressive towards the undesirable side of chaufeur when preventing fork truck 1 from advancing while, the control overhead that controller 75 brings can be alleviated.

Further, in present embodiment, being less than in the work angle of deflector 51 ± scope of 180 degree in state under the mode not carrying out recovering to control be set in above-mentioned permissible range in S140, therefore, it is possible to effectively alleviate the control overhead recovering to control to bring.And, if travel direction when fork truck 1 is advanced is roughly straight direction, even if be provided with wall near the left and right of then fork truck 1, also can expect that not carrying out recovery controls and be difficult to this wall of contact when fork truck 1 is advanced.

But, when stopping the steering of pilot wheel 53, as mentioned above, pilot wheel 53 conjugates to the reversing sense in steering direction so far by distortion affects, therefore as in the present embodiment, can the control of rudder steering mechanism 54 be stopped offset to this reciprocal displacement after exceeding reference angle predetermined angular.That is, in present embodiment, the angle corresponding with the addendum modification that pilot wheel 53 produces by the impact of distortion is set as the angle exceeding reference angle, therefore easy at desired position stopping pilot wheel 53.

And, in present embodiment, according to the controlling quantity (being the average current of servo-motor 63 in present embodiment) of the rudder steering mechanism recovered in control, determine the rudder angle (S205) terminating to recover to control, therefore easily make pilot wheel 53 stop at desired position more reliably.

Further, according to the present embodiment, when chaufeur specifically operates fork truck 1 (S105: yes), control owing to not carrying out recovery, meet driver requested steering hardware 5 therefore, it is possible to provide.

Further, according to the present embodiment, there is no stopping period (S110: no) at judgement fork truck 1, control owing to not carrying out recovery, control therefore, it is possible to reliably prevent carrying out recovery in fork truck 1 travels.

Further, according to the present embodiment, can prevent under the state of carrying out the mobility operation for making fork truck 1 travel, carry out recovery and control (S550).

And, in present embodiment, start to operate (S510) if first implement control, then judge not become and run readiness (S570), no matter therefore whether become operation readiness by other conditions can both at random implement to recover to control.

Further, in present embodiment, during the speed when the speed of a motor vehicle of fork truck 1 becomes traveling, control (S430 → S450) owing to not carrying out recovery, control therefore, it is possible to prevent carrying out recovery in fork truck 1 travels.

And, in present embodiment, recovery control (S410) is not carried out during switching to non-recovery pattern in the pattern of steering hardware 5, therefore, when not wishing that steering angle is back to this occasion of reference angle, unintended recovery can be carried out control and make steering angle be back to reference angle by pattern is switched to non-recovery pattern to prevent.

Further, in present embodiment, after starting to recover to control, continue to control rudder steering mechanism 54 until detect the predetermined operational ton (S540 → S570) carried out deflector 51, can prevent from thus recovering to control to stop mistakenly.

4. other embodiments

As long as the present invention meets the invention thought described in claims, be not limited to above-mentioned embodiment.

Such as, in the above-described embodiment, exemplified with the structure structure of the present application being applied to fork truck 1, but the industrial vehicle beyond fork truck 1 can be certainly also applied to.

In above-mentioned embodiment, the switching state of key is judged in steering hardware 5 side, but the present invention is not limited to this, the switching state of the key judged outside (such as, carrying out the control part of overhead control to fork truck 1 entirety) also can be obtained by steering hardware 5.

And, the driver-detecting sensor 77 of above-mentioned embodiment is usual and arrange respectively for the input end operating fork truck 1, but the present invention is not limited to this, deflector 51, accelerator, drg etc. can also be utilized as chaufeur to be generally used for operating the parts of the input end of fork truck 1 and the existence detecting chaufeur whether.

Now, such as, during more than the schedule time, when the operation not having deflector 51, accelerator, drg etc. being detected, chaufeur can be detected as and not exist.

And, in above-mentioned embodiment, after the closedown of telegraph key button switch in the given time, when the specific deflector occurring to be undertaken by chaufeur operates, be set to and do not carry out recovery control, but the present invention is not limited to this, such as, shift knob can also be arranged at the display equipment of fork truck, not carry out recovery when this shift knob is pressed and control.

And, in the recovery control of above-mentioned embodiment, become constant mode with the steering speed of pilot wheel 53 and control servo-motor 63, but the present invention is not limited to this, such as, dutycycle when can also drive with servo-motor 63 becomes constant mode and controls servo-motor 63.

Further, recovery control in, can make the steering speed of pilot wheel 53 slowly slow down after stop pilot wheel 53.

That is, recovering to control can also when the difference of the rudder angle at least detected by rotation angle sensor 73 and reference angle be become below predetermined threshold, and the mode becoming below predetermined speed with the steering speed of pilot wheel controls rudder steering mechanism 54.

And now, the process after the S200 of pilot wheel Recovery processing (Fig. 3) can also be set to as follows.In addition, in the following description, only the process of changing present embodiment is described.

That is, in s 200, whether at predetermined threshold (such as 0) below the difference of rudder angle and the reference angle detected by rotation angle sensor 73 is judged.In addition, this threshold value prespecified for recover to control end process in the value that should reduce speed now.That is, in the process of the S200 in this variation, judge whether rudder angle reaches the angle that should start recovering to control to slow down.

And, when judging that the difference of rudder angle and reference angle is not below threshold value in s 200 (S200: no), process marches to S180, on the contrary, when judge in s 200 the difference of rudder angle and reference angle as below threshold value time (S200: yes), process march to S220.

In S220, when the difference of rudder angle and reference angle becomes below threshold value, make the steering speed of pilot wheel 53 slowly slow down after stop the steering of pilot wheel 53.In addition, in this variation, the dutycycle (such as common 30% is reduced to 20%) when servo-motor 63 drives is reduced, after the steering speed reduction of pilot wheel 53 is to predetermined speed, by dutycycle decrescence to 0% by the mode also lower than normal conditions.

According to variation described above, due to cireular frequency can be reduced according to the steering speed of pilot wheel 53, so the distortion occurred at pilot wheel 53 can be reduced, therefore after the steering stopping pilot wheel 53, the steering angle 53 that can reduce distortion will be back to the addendum modification of previous status, and its result can easily make pilot wheel 53 stop at desired position.

And, in the pilot wheel Recovery processing of above-mentioned embodiment, stopped by fork truck 1 (S110: yes) as carrying out one of the condition recovering to control, but the present invention being not limited to this, not meeting this condition also carry out recoverys control even if can also be set to.

Below, Fig. 9 is used to be described this variation.In addition, in fig .9, identical to the pilot wheel Recovery processing with Fig. 3 process adds same number of steps.Further, in the following description, the process identical with above-mentioned embodiment is omitted the description.

Start the pilot wheel Recovery processing shown in Fig. 5, judge to carry out the releasing operation of pilot wheel Recovery processing in S105 during (S105: yes), repeat the process of S105.

And do not carry out releasing operation (S105: no) of pilot wheel Recovery processing if judge in S105, then process marches to S120, and according to the testing result based on driver-detecting sensor 77, judge chaufeur whether in fork truck 1.

In variation described above, if compare with above-mentioned embodiment, from the condition for carrying out recovery control, then get rid of the situation of the stopping (S110 of Fig. 3: yes) of fork truck 1, but about this variation, for conditions such as being present in by chaufeur in fork truck 1 establishment and learn for the chaufeur that carries out recovering to control, also can identify that the travel direction of fork truck 1 is by recovering to control to become the direction corresponding with reference angle.Therefore, the problem towards chaufeur undesirable direction advance and so on when fork truck 1 is advanced can not be there is.

Further, in the above-described embodiment, adopt judge to recover beginning condition whether sufficient, whether become the detected parameters that when running readiness, referenced parameter changes because of the movement of chaufeur as testing result.But, as this detected parameters, as long as the parameter that testing result changes because of the movement of chaufeur, certainly also parameter other than the above can be adopted.

As object lesson, such as, can consider as follows: chaufeur is carried can carry out the communication terminal of radio communication with steering hardware 5, to detect in the communication circle that its communication terminal enters steering hardware 5 side as foundation, judge to have become operation readiness.

And, in above-mentioned 2nd embodiment, start to be operating as foundation to carry out control, be judged to be inoperative readiness (S510 → S520), but also can be configured to, to be operating as foundation to more than 1 operand according to a series of order, be judged to be inoperative readiness for " specifically operating " of this judgement.

In addition, in above-mentioned 2nd embodiment, " reforestation practices " is switched to for foundation with pattern change-over switch, acts of determination pattern is " reforestation practices " or " non-recovery pattern " (S410), but also can be set to for the operation of this judgement and operate according to a series of order more than 1 operand.

Further, in above-mentioned embodiment, the steering hardware that the power supply exemplified with fork truck 1 is closed through power-off process, but also can be configured to without the need to carrying out this power-off process, switch to closed condition for foundation with key, close the power supply of fork truck 1.

Further, in above-mentioned embodiment, exemplified with following structure, that is, whether the rudder angle detected by rotation angle sensor 73 reaches the judgment standard (S200, S660, S680) that reference angle is configured to terminate to recover to control.But, also can prepare the limit switch becoming opening when rudder angle reaches reference angle, whether this limit switch be reached opening as the judgment standard terminating to recover to control.

5. invent the corresponding relation of specific item and embodiment

In the embodiment described above, rotation angle sensor 73 is equivalent to the rudder angle detecting unit in the present invention, the process of driver-detecting sensor 77, S120, S182, S530 is equivalent to the lift-launch probe unit in the present invention, the process of car speed sensor 79, S107, S110, S430 is equivalent to the Bus-Speed Monitoring unit in the present invention, and the process of torque sensor 71, S130, S190, S540 is equivalent to the deflector operation detection unit in the present invention.Further, the process of S150 ~ S230 is equivalent to the recovery control unit in the present invention.Further, the process of S205, S670 is equivalent to the control determining unit in the present invention, and the process of torque sensor 71 and telegraph key sensor 81, S105, S550, S560 is equivalent to the operation detection unit in the present invention.

And, S500 is equivalent to the state determination unit in the present invention, further, the process acceptance be equivalent in the present invention of S510 controls the operation acceptance unit starting to operate, and the controller 75 of the content of operation that detection chaufeur carries out to operating portion 6 is equivalent to the mode switch element in the present invention.

The application advocates the preceence based on No. 2011-113665th, the Japanese patent application of application on May 20th, 2011 and No. 2012-053377th, the Japanese patent application of application on March 9th, 2012.The full content of its application is by reference to being applied in this specification sheets.

Claims (14)

1. a steering hardware, it is equipped on industrial vehicle, it is characterized in that, has:

Rudder steering mechanism, carries out steering in order to determine the travel direction of described industrial vehicle to pilot wheel;

State determination unit, judge whether described industrial vehicle has become the operation readiness running and maybe can run according to detected parameters, the testing result of described detected parameters changes because of the movement of the chaufeur on described industrial vehicle; And

Recover control unit, when described state determination unit do not judge to have become run readiness time, in the mode making the rudder angle of pilot wheel become predetermined reference angle, described rudder steering mechanism is controlled.

2. steering hardware as claimed in claim 1, is characterized in that,

This steering hardware possesses the rudder angle detecting unit of the rudder angle for detecting described pilot wheel,

When described state determination unit do not judge to have become run readiness time, described recovery control unit controls described rudder steering mechanism in the mode making the rudder angle detected by described rudder angle detecting unit and become predetermined reference angle.

3. steering hardware as claimed in claim 1 or 2, is characterized in that,

This steering hardware possesses for detecting the lift-launch probe unit described industrial vehicle being equipped with chaufeur,

Described state determination unit is equipped with chaufeur for foundation to be detected by described lift-launch probe unit, and judging has become described operation readiness.

4. steering hardware as claimed in claim 1 or 2, is characterized in that,

This steering hardware possesses for detecting the operation probe unit whether this steering hardware or described industrial vehicle being carried out to specific operation,

Described state determination unit is specifically operating as foundation to be detected by described operation probe unit, and judging has become described operation readiness.

5. steering hardware as claimed in claim 4, is characterized in that,

Described operation probe unit can detect the mobility operation of carrying out for making described industrial vehicle travel,

Described state determination unit, to detect described mobility operation for foundation by described operation probe unit, judges to have become described operation readiness.

6. steering hardware as claimed in claim 1 or 2, is characterized in that,

This steering hardware possesses the operation acceptance unit accepting to control to start to operate, and this control starts to operate the operation be defined as controlling described rudder steering mechanism by described recovery control unit,

Described state determination unit starts to be operating as foundation to receive described control, judges not described operation readiness.

7. steering hardware as claimed in claim 1 or 2, is characterized in that,

When this steering hardware possesses the Bus-Speed Monitoring unit of the speed of a motor vehicle for detecting described industrial vehicle,

Described recovery control unit using by described Bus-Speed Monitoring unit inspection to the speed of a motor vehicle be less than predetermined speed and control described rudder steering mechanism as condition.

8. steering hardware as claimed in claim 1 or 2, is characterized in that,

Described recovery control unit starts to control described rudder steering mechanism as condition outside the predetermined permissible range centered by described reference angle by the rudder angle detected by described rudder angle detecting unit.

9. steering hardware as claimed in claim 1 or 2, is characterized in that,

This steering hardware has mode switch element, this mode switch element receives the instruction from outside, the pattern of this steering hardware is switched to the reforestation practices that performs the control of described rudder steering mechanism undertaken by described recovery control unit and do not perform in the non-recovery pattern of this control any one

Described recovery control unit switches to described reforestation practices for condition is to control described rudder steering mechanism with the pattern of this steering hardware.

10. steering hardware as claimed in claim 1 or 2, is characterized in that,

This steering hardware possesses the deflector operation detection unit operated for detecting the deflector undertaken by chaufeur,

In the control of described rudder steering mechanism, during by described deflector operation detection unit inspection to the operation of deflector, described recovery control unit stops it controlling.

11. steering hardwares as claimed in claim 10, is characterized in that,

The operational ton of the deflector that described deflector operation detection unit inspection is undertaken by chaufeur,

In the control of described rudder steering mechanism, by described deflector operation detection unit inspection to operational ton become more than predetermined operational ton time, described recovery control unit stops it controlling.

12. steering hardwares as claimed in claim 1 or 2, is characterized in that,

After starting to control described rudder steering mechanism, described recovery control unit proceeds to control, until the rudder angle detected by described rudder angle detecting unit goes out predetermined angular greatly than described reference angle, stops this control afterwards.

13. steering hardwares as claimed in claim 12, is characterized in that,

This steering hardware has control determining unit, and this control determining unit starts to control the controlling quantity after described rudder steering mechanism according to by described recovery control unit, determines the control rudder angle going out greatly predetermined angular than described reference angle,

Described recovery control unit continues to control described rudder steering mechanism, until the rudder angle detected by described rudder angle detecting unit reaches described control rudder angle.

14. 1 kinds of industrial vehicles, is characterized in that,

Carry the steering hardware according to any one of claim 1 to 13 and form.