JPH08175219A - Steering control method and device - Google Patents

Abstract

PURPOSE: To automatically prevent an inadvertent accident based on articulate of the car body by detecting the condition of a lever at start of an engine, and enabling the start of the engine when the lever is neutral, and disabling the start of the engine when the lever is not neutral. CONSTITUTION: Steering R and L is enabled by inclining θR and θL a lever 20 in the right and left directions thereby operating hydraulic cylinders 33R and 33L. The lever 20 is made free of lock by a neutral lock device 10. Moreover, the lever 20 is provided with lever condition detection means 21R and 21L for detecting the quantities θR and θL of inclination in right and left directions, and these detection signals θSR and θSL are inputted into a controller 50. In this case, the cam part provided on the opposite side from the recess 11 of the arm 13 of the neutral lock device 10 opens a switch 61 at the time of lock by the neutral lock device 10, and closes the switch 61 at cancellation of the lock. This way, unless the lever 20 is neutral, the engine can not be started.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control method and apparatus, and more particularly, to an inadvertent engine start or engine operation when the lever is tilted, which is a safety problem in a steering lever type articulated vehicle. The present invention relates to a steering control method and apparatus suitable for automatically preventing an accident due to an accidental articulation of a vehicle body caused by careless tilting of a lever at the time of starting.

[0002]

2. Description of the Related Art In a self-propelled vehicle, for example, as seen in a wheel loader or some dump trucks, a vehicle body is articulated (refracted) by, for example, a hydraulic cylinder that operates based on a steering operation, and thereby steering ( Steering) There is an articulate type (body refraction type) self-propelled vehicle.

Steering operation means in such a vehicle is
Usually, it is a wheel type, but recently, there is a lever type that allows the operator to hold the lever in a comfortable position with his elbow on the armrest and operate it only by wrist movement.

By the way, the wheel type and the lever type differ not only in appearance but also in function as follows. In the wheel type, a steering angle (steering angle) of the vehicle body that is proportional to the rotation angle of the wheel can be obtained. That is, in the wheel type, when the wheel is stopped at a certain rotation angle, the vehicle body stops at the steering angle at that time. However, with the lever type, the vehicle body continues to steer even if the lever is stopped at a certain tilt angle. still,
In the lever type, it is usual that the steering speed increases as the tilt angle increases.

As described above, the lever type has the advantage that the operator can operate the wrist by simply operating the wrist in a comfortable position with the elbow placed on the armrest, but the wheel type cannot be operated unless it is gripped and rotated. Unlike, it is easy to lean even if it is caught. Therefore, the following problems occur.

In the lever type, when the operator's clothes or a member brought in from the outside is caught on the lever, or the operator unintentionally applies a force to the lever, when the force exceeds the prescribed lever operating force, the operator If the vehicle carelessly starts the engine, or if the operator carelessly tilts the lever when the engine is started, the actuator operates and the vehicle body is articulated. As a result, the operator is swayed around, causing personal injury,
Further, a damage accident occurs in which the car body collides with surrounding objects and both are damaged.

In order to prevent such an accident, such a vehicle is usually equipped with a neutral lock device 10 as shown in FIG. The neutral lock device 10 of FIG. 9 is provided in the vicinity of the lever 20 (the joystick lever 20 in this example), and for example, as shown in the drawing, the tip has a recessed portion 11.
The arm 13 is formed into a shape and is rotatable around the fixed shaft 12. That is, the operator locks the lever 20 by first neutralizing the lever 20 and then rotating the arm 13 toward the front side in the drawing to fit the recess 11 into the lever 20. On the contrary, the lock of the lever 20 is released by rotating the arm 13 to the back side in the drawing to remove the recess 11 from the lever 20.

[0008]

However, the above-described conventional neutral lock device 10 has a problem that the operator forgets to lock because it is a manual operation. If the operator forgets to lock, the operator's clothes or a member brought in from the outside may be caught on the lever 20, or if the operator inadvertently applies a force to the lever 20 to tilt the lever 20, the operator cannot When the engine is ready to start or when the engine is started, the lever 2
When 0 is carelessly tilted, there is a problem that the actuator operates and the vehicle body is articulated, and the accident re-ignites.

The present invention has been made in view of the above problems of the prior art.
Steering lever-type articulate-type self-propelled vehicles, which are a safety issue, may cause accidents due to accidental articulation of the vehicle due to careless engine start when the lever is tilted or careless lever tilt when the engine is started. An object of the present invention is to provide a steering control method and apparatus suitable for automatically preventing the occurrence of the occurrence.

[0010]

In order to achieve the above object, a steering control method according to a first method invention will be described with reference to FIGS. 1 and 2. An actuator 33R which operates based on an operation of a lever 20, In a steering control method for a steering lever type articulating type self-propelled vehicle in which steering is achieved by 33L of a vehicle body 40 being articulated, the states θR and θL of the lever 20 are detected when the engine is started (step (1)), when the lever 20 is neutral (θ
When R = θL = 0, the engine can be started (step (2)), while the lever 20 is not in the neutral position (θR ≠).
0, θL ≠ 0) makes engine start impossible (step (3)), and as a result, steering at engine start is prevented.

The steering control device according to the first device invention, which is the most preferable embodiment of the first method invention, will be described with reference to FIG. 2. Actuators 33R and 33L that operate based on the operation of the lever 20 will be described. In the steering control device of the steering lever type articulated type self-propelled vehicle in which steering is achieved by articulating the vehicle body 40 by
(1) Lever state detecting means 21 for detecting the states θR and θL of the lever 20, and (2) when the lever 20 is not in a neutral state by receiving the state signal of the lever 20 from the lever state detecting means 21 (θR ≠ 0, θL ≠ 0), and engine starting means for disabling engine starting.

Further, the steering control method according to the second method invention will be described with reference to FIGS. 7 and 8. The actuators 33R, 3R that operate based on the operation of the lever 20 are described below.
In a steering control method for a steering lever type articulating type self-propelled vehicle in which steering is achieved by articulating the vehicle body 40 by 3L, the state of the lever 20 at engine start is θR.
, ΘL is detected (step (1)), the first lever 2
When the state of 0 is not neutral (θR ≠ 0, θL ≠ 0), the actuators 33R and 33L are disabled (step (2)), and then the lever 20 is once neutralized (θR ≠ 0).
= ΘL = 0) (step (3)), and thereafter, when the lever 20 is again in the non-neutral state (θR ≠ 0, θL ≠ 0), the actuators 33R and 33L are allowed to operate (step (4)) As described above, the feature is that the accidental steering at the time of starting the engine is prevented.

The steering control device according to the second device invention, which is the most preferable embodiment of the second method invention, will be described with reference to FIG. 8. Actuators 33R and 33L that operate based on the operation of the lever 20. In the steering control device of the steering lever type articulated type self-propelled vehicle in which steering is achieved by articulating the vehicle body 40 by
(1) Lever state detection means 21 for detecting the states θR and θL of the lever 20, (2) engine start command signal detection means 62 for detecting the engine start command signal S, and (3) lever state detection means 21 Lever 20 status signals θSR, θSL
And the engine start command signal S from the engine start command signal detecting means 62, the initial states .theta.R and .theta.L of the lever 20 are not neutral (.theta.R.noteq.
0, θL ≠ 0), the actuators 33R and 33L are disabled, and then the lever 20 is once neutralized (θ
When the lever 20 is again in the non-neutral state (θR ≠ 0, θL ≠ 0) after R = θL = 0), the actuator 3
It is characterized in that it is provided with a control means 50 for enabling the operation of 3R and 33L.

[0014]

According to the first method invention, when the engine is started, the states θR and θL of the lever 20 are detected, and when the lever 20 is in the neutral state (θR = θL = 0), the engine can be started, while When the lever 20 is not neutral (θR ≠ 0, θ
L ≠ 0) prohibits inadvertent steering of the vehicle body 40 at the time of engine start by disabling engine start. In other words, since careless articulation of the vehicle body 40 is prevented, it is possible to prevent accidental personal injury or damage when starting the engine.

Since the first device invention embodies the above first method invention as the most suitable device, the operation thereof complies with the operation explanation of the above first method invention.

According to the second method invention, when the engine is started,
The state of the lever 20 θR, θL is detected, and the first lever 2 is detected.
0 states θR and θL are not neutral (θR ≠ 0, θL
≠ 0), the actuation of the actuators 33R and 33L is disabled, and then the lever 20 is once made neutral (θR = θL =
0), and then the lever 20 is not in the neutral state (θ
When R ≠ 0 and θL ≠ 0), the actuator 33
By allowing the R and 33L to operate, inadvertent steering of the vehicle body 40 when the engine is started is prevented. That is, since careless articulation of the vehicle body 40 is prevented, it is possible to automatically prevent accidental personal injury or damage when the engine is started.

Since the second device invention embodies the second method invention as the most suitable device, the operation thereof complies with the operation explanation of the second method invention.

[0018]

First, an example machine to which the embodiment is applied will be described with reference to the system block of FIG. An example of a steering lever type articulate type self-propelled vehicle is a joystick lever 20 (hereinafter,
(Lever 20)
Need not be limited to the joystick lever 20 as in the present example, but may be a type in which left and right steering L and rightward steering R are individually performed by two left and right levers. Then, by tilting the lever 20 in the left-right direction in the drawing by θR and θL, the actuator 33
The right and left two hydraulic cylinders 33R and 33L shown in the figure are operated to cause the vehicle body 40 to be articulated, thereby enabling steering R and L. The actuator 33 need not be limited to the hydraulic cylinder as in this example, and need not be provided with a plurality of actuators.

The vehicle body 40 has a frame 4 divided into front and rear parts.
1F, 41B are connected by the center pin 42, and the center pin 4
Two hydraulic cylinders 33R and 33L are installed between the frames 41F and 41B on the left and right sides of the frame 2. The lever 20 is provided in the operator's cab together with the neutral lock device 10 of the prior art, and can be tilted θR and θL to the left and right by the operator, and can be locked by the neutral lock device 10. There are two types of neutral lock devices, one is that the lever 20 can be locked only when the lever 20 is neutral, and the other is that the lever 20 can be in the locked position even when the lever 20 is not neutral (that is, even if the lever 20 cannot be locked). . The neutral lock device 10 of this example machine is of the former type. Then, the lever 20 is tilted in the left-right direction θR.
, Left and right detectors 21R and 21L, which are lever state detecting means 21 for detecting the amount of .theta.L, are provided, and these detection signals .theta.SR and .theta.SL are input to the controller 50 which is the control means. The controller 50 includes detectors 21R and 21L.
, The detection signals θSR, θ
When SL is a value proportional to the amounts of inclination θR and θL of the lever 20, it is a simple amplifier, but detectors 21R and 21L
, Such as a position detector, its detection signals θSR, θ
When SL is an instruction value of tilting θR, θL of the lever 20 in the left-right direction, it is an operational amplifier which converts the instruction value into a proportional value and further amplifies it. The output signal iR of such controller 50,
iL becomes a pilot signal and is input to the proportional solenoids 32R and 32L of the hydraulically operated valve 32 to operate it. The hydraulic control valve 32 receives one of the left and right output signals iR and iL from the controller 50 and switches.
In addition, the opening area changes in proportion to the magnitude of the output signals iR and iL, whereby the pressure oil from the hydraulic pressure source 31 is sent to the hydraulic cylinders 33R and 33L to be expanded and contracted, and the expansion and contraction speed is changed. Therefore, when the operator tilts the lever 20 to the right θR, the frames 41F and 41B articulate around the center pin 42 in the R direction shown in the figure, and when the lever 20 is returned to the neutral position (θR = θL = 0), the steering angle is changed. Stop and tilt lever 20 to the left θ
Then, the frames 41F and 41B are articulated around the center pin 42 in the L direction shown in the drawing.
Steer the vehicle freely. It is needless to say that the steering speed is proportional to the inclinations .theta.R and .theta.L of the lever 20 in this example machine.

That is, in the first embodiment, as shown in FIG. 2 in the example machine, the cam portion 14 is provided on the side of the arm 13 of the neutral lock device 10 opposite to the recess 11. Cam part 14
Is formed so that the switch 61 is opened when the lever is locked by the neutral lock device 10, and the switch 61 is closed when the lock is released. One terminal 61 of switch 61
The wiring a is connected to the power source 64 via the engine start switch 63 by the wiring 62a. The wiring 62a is connected to the one side terminal 61.
It is branched between a and the engine start switch 63, and is grounded via a switch 65a which is a b contact and an engine start motor 66. On the other hand, the other terminal 61b of the switch 61 is grounded via the coil 62b by the wiring 62b. The coil 65b attracts the switch 65a to open it when a current flows, and conversely, when the current does not flow, the attraction force disappears and the switch 65a closes. In FIG. 2, the thick line circuit that directly connects the power source 64 and the engine starting motor 66 is a large current circuit for starting. On the other hand, the circuit described above is a weak current circuit for connecting and disconnecting the large starting current. In addition, the engine starting circuit is usually provided with devices such as a safety relay and a battery relay switch in addition to the engine starting switch 63 and the engine starting motor 66. The engine starting switch 63 is automatically operated from the engine starting position after the completion of the engine starting. Although it has a position for connecting a charging circuit (not shown) to the power supply 64, it is complicated, and therefore, all of these descriptions are omitted in FIG.

The operation and effect of the first embodiment will be described. After the operation of the example machine ends, the operator stops the engine, sets the lever 20 to the neutral position (θR = θL = 0), and locks the lever 20 by the neutral locking device 10. As a result, the switch 61 is in the open state. When the operator closes the engine start switch 63 during this lock, the switch 6
Since 1 is open, no current flows through the coil 65b. Therefore, since the switch 65a remains closed,
Current flows into the engine starting motor 66, and the engine starts. Since the lever 20 is neutrally locked (θR = θL = 0) by the neutral lock device 10, careless steering is eliminated. Next, if the operator forgets to lock the switch 61, the switch 61 is closed, so that the current flows into the coil 65b and the switch 65a is sucked and opened. Therefore, even if the engine start switch 63 is closed, the current flows into the engine start motor 66. No, the engine will not start. That is, according to the first embodiment, the neutral lock device 10 according to the present embodiment is used when the lever 20 is in the neutral position (θ R =
This is the type in which only the lock .theta.L = 0) can be locked. Therefore, unless the lever 20 is locked by the neutral lock device 10 (that is, the lever 20 is not neutral (.theta.R.noteq.0, .theta.L.noteq.0)).
Therefore, the engine cannot be started, and therefore, an accidental articulation of the vehicle body 40 due to forgetting to lock can be prevented.

By the way, the above-mentioned machine is a vehicle of the type in which the pilot currents iR and iL are applied to the hydraulic operation valve 32, but the pilot hydraulic pressures PR and P are applied to the hydraulic operation valve 32.
The first embodiment described above can also be applied to an example machine of the type that gives L.

In the example machine shown in FIG. 3 (a), pilot pressure control valves 22R and 22 for generating pilot pressures PR and PL depending on tilts .theta.R and .theta.L in the left and right directions at the lower part of the lever 20.
It is equipped with L. Pilot pressure control valve 22R, 22L
Is a proportional operation valve, as shown in FIG.
Further, since the hydraulic operation valve 32 is also of the proportional type, the steering speed becomes faster as the tilting θR, θL of the lever 20 in the left-right direction becomes larger. Such an example machine is also shown in FIG.
As shown in FIG. 5, the first embodiment is mounted.

By the way, in the first embodiment, the neutral lock device 10 can be locked only when the lever 20 is neutral.
It is an example of a steering control device in an example machine provided with. However, the following second embodiment is applied to an example machine provided with a neutral lock device that can be in the lock position even when the lever 20 is not in the neutral position or an example machine not provided with the neutral lock device at all. I can prepare an example.

In the second embodiment, as shown in FIG. 4, a cam portion 22 is provided at the lower end portion of the lever 20. Cam part 22
Is when the lever 20 is neutral (θR = θL = 0),
When the switch 61 is opened, on the other hand, when the lever 20 is tilted and is not neutral (θR ≠ 0, θL ≠ 0), the switch 61 is closed. Both terminals 61 of switch 61
Since the electric circuit from a and 61b is the same as the electric circuit of the first embodiment, in FIG. 4, the same parts as those in FIG.

The operation and effect of the second embodiment will be described. When the lever 20 is set to the neutral position (θR = θL = 0), the switch 6
Since 1 is open, no current flows through coil 65b and switch 65a remains closed. Then, when the operator closes the engine start switch 63, the current is switched to the switch 65.
After passing through a, it flows into the engine start motor 66 and the engine starts. At this time, since the lever 20 is in the neutral state (θR = θL = 0), the steering is not inadvertently performed. On the other hand, the lever 20 was tilted (θR ≠ 0,
Even if θL ≠ 0), the operator inadvertently tilted the lever 20 during engine start (θR ≠ 0, θL ≠).
0), since the switch 61 is closed, the coil 65
Since a current flows into b to attract and open the switch 65a, no current flows into the engine starting motor 66 and the engine starting motor 66 cannot rotate. Therefore, the engine will not start. That is, according to the second embodiment, if the lever 20 is not in the neutral position (.theta.R.noteq.0, .theta.L.noteq.0), the engine does not start, and therefore the accidental occurrence of the articulation of the vehicle body 40 can be prevented.

In the second embodiment, as shown in FIG. 5, pilot hydraulic pressures PR and P are applied to the hydraulic operation valve 32.
Even for an example machine that gives L, as shown in Fig. 5,
The first embodiment can be applied.

A third embodiment is shown in FIG. While the first and second embodiments are configured by the circuit using the coil 65b, the third embodiment is configured without using the coil 65b as shown in FIG. The lever 2 shown in FIG.
Since 0 is the same as the lever 20 of FIG. 4, the same parts are designated by the same reference numerals and the description thereof will be omitted.

That is, the cam portion 22 at the lower end of the lever 20
Is when the lever 20 is neutral (θR = θL = 0),
When the switch 61 is closed, on the other hand, when it is not neutral (θR ≠
0, θL ≠ 0), and the switch 61 is opened. One terminal 61a of the switch 61 is connected to a power source 64 via an engine start switch 63 by a wiring 62a. On the other hand, the other side terminal 61b of the switch 61 is connected to the engine starting motor 66.

The operation and effect of the third embodiment will be described. When the lever 20 is set to the neutral position (θR = θL = 0) and the operator closes the engine start switch 63, the current is switched to the switch 6
After that, the power flows from the power source 64 to the engine starting motor 66, and the engine starts. At this time, since the lever 20 is neutral, the vehicle does not inadvertently steer. what if,
If the lever 20 is not neutral (θR ≠ 0, θL ≠ 0), the switch 61 opens, so that even if the operator closes the engine start switch 63, the current cannot flow into the engine start motor 66 and the engine cannot start. That is, according to the third embodiment, unless the lever 20 is in the neutral position, the engine does not start, so that it is possible to prevent accidental occurrence of articulation of the vehicle body 40. The first embodiment, the second embodiment, and the third embodiment are properly used in consideration of the balance with the current used in a safety relay (not shown) in the engine starting circuit.

That is, all of the first to third embodiments will be described with reference to the flow chart of FIG. 1. In short, in short, the vehicle body 40 is driven by the actuators 33 (33R, 33L) which operate based on the operation of the lever 20. In a steering control method of a steering lever type articulated vehicle in which steering is achieved by articulating the vehicle, the states θR and θL of the lever 20 are detected when the engine is started (step (1)). , When the lever 20 is neutral (θR = θL =
0), the engine can be started (step (2)), while the lever 20 is not in the neutral position (θR ≠ 0, θL ≠).
0), using the method of disabling the engine starting (step (3)), it can be said that the accidental articulation of the vehicle body 40 at the time of starting the engine is prevented, and the occurrence of personal injury or damage accident is automatically prevented. .

By the way, a request that steering should be performed while the engine is started (for example, the engine is out of order,
There is a demand such as normal engine rotation cannot be secured, but engine rotation at engine startup can be secured, and steering is performed by such engine starting rotation). In addition, there is a demand that steering can be performed while the engine is started, and that only accidental car body archure is to be avoided. However, in the first to third embodiments, when the lever 20 is not neutral (θR
≠ 0, θL ≠ 0), the engine cannot be started,
We cannot meet the above requests. It should be noted that the above-mentioned conventional vehicle can meet the demand for steering while starting the engine, but as pointed out in the problem, if the lever 20 is inadvertently operated, the vehicle body 40 But an articulate causes an accident. In consideration of such a situation, a fourth embodiment will be described below with reference to FIG. 8 in which steering is possible while starting the engine while solving the problems of the prior art.

In the fourth embodiment, as shown in FIG. 8, a cam portion 22 is provided at the lower end of the lever 20. This cam part 2
2 is similar to the third embodiment, the switch 61 is closed when the lever 20 is in the neutral position (θR = θL = 0), and the switch 61 is opened when the lever 20 is not in the neutral position (θR ≠ 0, θL ≠ 0). It is molded. The engine starting switch 63 is provided with a constant voltage circuit 67 branched from a circuit to the engine starting motor 66, and one side terminal 61a of the switch 61 is connected to the constant voltage circuit 67 by a wiring 62a.
On the other hand, the other terminal 61b of the switch 61 is connected to the controller 50.

The controller 50 proportionally amplifies the analog switches 51L and 51R for interrupting the detection signals θSR and θSL from the detectors 21R and 21L, which are the lever state detecting means 21, and the inputs from the analog switches 51L and 51R. Operational amplifiers 52L and 52R for inputting the values (output signals iR and iL) to the proportional solenoids 32R and 32L of the hydraulically operated valve 32, and both side terminals 61a and 6a of the switch 61.
1Nb connected to the NAND circuit 53, the switch 61 one-sided terminal 61a and the power supply reset 54 AN
The outputs of the D circuit 55, the NAND circuit 53, and the AND circuit 55 are input, and the results are input to the analog switches 51L and 5L.
It is composed of a flip-flop 56 for outputting to 1R. The power reset 54 includes a constant voltage circuit 67 and a charging circuit 6.
It receives the current from 8 and. The operation is as follows.

When the engine is stopped, the output of the flip-flop 56 is L level (prohibited) in the initial state, and the analog switches 51L and 51R are open. Next, it is assumed that the operator closes the engine start switch 63 to start the engine. At this time, if the lever 20 is not neutral (θR ≠ 0, θL ≠ 0), the B terminal of the NAND circuit 53 becomes H level by the engine start command signal S from the constant voltage circuit 67, but the A terminal is switched. It becomes L level because 61 is open. Therefore, the set terminal Sa of the flip-flop 56 becomes H level,
As a result, the output of the flip-flop 56 is maintained at the L level, and the analog switches 51L and 51R remain open. Therefore, the lever 20 is not neutral (θR ≠ 0,
θL ≠ 0), and even when the engine is being started, the vehicle body 40 does not articulate (that is, steering R, L does not occur). Then, next, when the operator keeps the engine start switch 63 closed (that is, during engine start) and once sets the lever 20 to the neutral position, the switch 61 is closed, so that the A terminal of the NAND circuit 53 has the same H level as the B terminal. Level, and as a result, the flip-flop 56
Since the set terminal Sa of is changed to the L level, the output of the flip-flop 56 becomes the H level (permitted), and the analog switches 51L and 51R are closed. However, since the lever 20 is neutral, the vehicle body 40 does not articulate (that is, steering R, L does not occur). After that, the output of the flip-flop 56 (that is, the analog switch 51L,
The closed state of 51R) maintains this H level until the engine stops. That is, during the subsequent engine startup and engine operation, the vehicle can be steered R, L based on the tilting θR, θL of the lever 20 in either the left or right direction. When the operator stops the engine after the operation of the engine is finished, the power switch 54 has a constant voltage circuit 67.
Since no current is input from either the charging circuit 68 or the charging circuit 68, the power supply switch 54 outputs the L level to the AND circuit 55, and thus the reset terminal Sb of the flip-flop 56.
Becomes L level. As a result, the output of the flip-flop 56 changes to the L level. That is, the initial state is restored.

Incidentally, the wirings 62a, 62 in the fourth embodiment.
The b, the switch 61 and the like correspond to the engine start command signal detecting means 62 described in the claims.

That is, the fourth embodiment will be described with reference to the flow chart of FIG. 7. In short, the actuator 33 (33a, 33a) which operates based on the operation of the lever 20 will be described.
In the steering control method of a steering lever type articulating type self-propelled vehicle, which achieves steering by articulating the vehicle body 40 in (b), the state of the lever 20 is detected when the engine is started (step ( 1)), when the initial state of the lever 20 is not neutral (θR ≠ 0, θL ≠ 0), the actuator 33 (33R, 33L) is disabled (step (2)), and then the lever 20 is once neutralized. (ΘR =
When θL = 0) is set (step (3)) and then the lever 20 is again brought into the non-neutral state (θR ≠ 0, θL ≠ 0), the actuator 33 (33R, 33L) can be operated (step By the method (4), it can be said that the accidental articulation of the vehicle body 40 at the time of engine start is prevented, and the occurrence of personal injury or damage accident is automatically prevented.

[0038]

As is clear from the description of the above embodiment,
The steering control method and apparatus according to the present invention are provided with the means described in the claims, if necessary.
And, as can be seen from the description of the above embodiment, the effect thereof is careless engine start at the time of lever tilt and careless at engine start, which is a safety problem in the steering lever type articulate type self-propelled vehicle. It is possible to automatically prevent the occurrence of an accident due to an accidental articulation of the vehicle body due to the tilting of a large lever.

[Brief description of drawings]

FIG. 1 is a flowchart of first to third embodiments.

FIG. 2 is a block diagram of the first embodiment.

FIG. 3 is a block diagram of another example machine of the first embodiment.

FIG. 4 is a block diagram of a second embodiment.

FIG. 5 is a block diagram of another example machine of the second embodiment.

FIG. 6 is a block diagram of a third embodiment.

FIG. 7 is a flowchart of a fourth embodiment.

FIG. 8 is a block diagram of a fourth embodiment.

FIG. 9 is a sectional view of a neutral lock device of a lever in a conventional steering control device.

[Explanation of symbols]

 10 ... Neutral lock device 20 ... Lever 21, 21R, 21L ... Lever state detection means 32 ... Hydraulic pressure control valve 32R, 32L ... Proportional solenoid 33, 33R, 33L.・ ・ ・ Actuator 40 ・ ・ ・ ・ Vehicle body 50 ・ ・ ・ Control means (controller) 62 ・ ・ ・ ・ Engine start command signal detection means 63 ・ ・ ・ ・ Engine start switch 61 ・ ・ ・ ・ ・ ・ Switch 65a ・ ・ ・・ Switch 65b ・ ・ ・ ・ Coil 66 ・ ・ ・ ・ Engine start motor θR, θL ・ ・ ・ ・ Tilt θSR, θSL ・ ・ ・ ・ Detection signal iR, iL ・ ・ ・ ・ Output signal S ・ ・ ・ ・ Engine start command signal.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Atsushi Koyama 1-9 Minamidai, Kawagoe City, Saitama Prefecture Komatsu Meck Co., Ltd. Headquarters factory (72) Katsuhiro Tsutsumi 1-9 Minamidai, Kawagoe City, Saitama Prefecture Komatsu Meck Head office factory

Claims (4)

[Claims] 1. A steering control method for a steering lever type articulated type self-propelled vehicle, wherein steering is achieved by articulating a vehicle body 40 by an actuator 33 that operates based on an operation of a lever 20. When the lever 20
When the lever 20 is in the neutral position, the engine can be started. On the other hand, when the lever 20 is not in the neutral position, the engine can not be started. A characteristic steering control method. 2. A steering control device for a steering lever type articulating type self-propelled vehicle, wherein steering is achieved by articulating a vehicle body 40 by an actuator 33 that operates based on an operation of a lever 20. ) A lever state detecting means 21 for detecting the state of the lever 20 and (2) an engine starting means for disabling the engine start when the lever 20 is not in a neutral state by receiving the state signal of the lever 20 from the lever state detecting means 21. A steering control device characterized by being provided. 3. A steering control method for a steering lever type articulated type self-propelled vehicle, wherein steering is achieved by articulating a vehicle body 40 by an actuator 33 that operates based on an operation of a lever 20. When the lever 20
Is detected, and when the initial state of the lever 20 is not neutral, the operation of the actuator 33 is disabled, and thereafter,
The steering control method is characterized in that when the lever 20 is once made to be neutral and then the lever 20 is not made to be neutral again, the actuator 33 is allowed to operate, thereby preventing accidental steering at the engine start. 4. A steering control device for a steering lever type articulated type self-propelled vehicle, wherein steering is achieved by articulating a vehicle body 40 by an actuator 33 that operates based on an operation of a lever 20. ) Lever state detection means 21 for detecting the state of the lever 20, (2) engine start command signal detection means 62 for detecting an engine start command signal,
(3) Upon receiving the state signal of the lever 20 from the lever state detection means 21 and the engine start instruction signal from the engine start instruction signal detection means 62, when the initial state of the lever 20 is not neutral when the engine is started, Actuator 33
When the lever 20 is set to the non-neutral state again after the lever 20 is once set to the neutral state,
A steering control device comprising: a control unit 50 that enables the actuator 33 to operate.