KR20170091937A - System and Method for Preventing Moving Backward on Slope of Working Equipment - Google Patents

Abstract

The present invention relates to a system and a method to prevent moving backward on an upward slope of working equipment, capable of preventing working equipment from being moved backward or forward on an upward slope when being restarted after stopping. According to the present invention, the system comprises: a driving speed detection unit to detect a driving state of the working equipment; a foot brake detection unit to detect an operation state of a foot brake pedal; an accelerator detection unit to detect an operation state of an accelerator pedal; a working equipment angle detection unit to detect a location state of the working equipment; a forward/backward lever detection unit to detect a position state of a forward/backward lever; and a main control unit. When a stop signal is inputted from the driving speed detection unit, a foot brake operation-on signal is inputted from the foot brake detection unit, an accelerator operation-off signal is inputted from the accelerator detection unit, a slope signal is inputted from the working equipment angle detection unit, and a forward or backward gear signal is inputted from the forward/backward lever detection unit, the main control unit outputs an auto-parking operation signal to a parking unit to realize an auto-parking function.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system and method for preventing a ramp of a working machine.

Due to the diversity of work to be done in the industrial field, the working machine can be divided into excavation equipment, loading equipment, conveying equipment, loading equipment, compaction equipment, foundation equipment, etc. Specifically, It is a concept that includes equipment of the kind.

Forklifts, which are generally working machines, are equipment for lifting and lowering relatively heavy loads or transporting them in a limited working environment to a desired location.

These forklifts are divided into engine forklifts and electric forklifts. Engine forklift trucks are widely used in the outdoor area, while electric forklift trucks are often used in the indoor area due to low smoke and noise.

In addition, the forklift is classified into a standard forklift, in which the mast assembly is fixed to the vehicle body, and a reach type forklift, in which the mast assembly moves back and forth with respect to the vehicle body along the rich lag. The engine type is equipped with an engine, and the electric type and the rich type forklift are so-called electric forklifts equipped with an electric motor and a battery for supplying electric power thereto.

Since the engine forklift is driven by a diesel or gasoline engine with a constant rotation direction and limited output, the transmission is essentially equipped to change the direction of travel or change the travel speed. In such an engine forklift, the rotational force of the engine is transmitted to the drive wheel through the torque converter, the transmission, and the differential gear device, thereby advancing or retracting the forklift.

However, since the conventional engine forklift is not equipped with a Hill-Start Assist Control (HAC), the problem is that if the forklift is traveling on an uphill slope rather than a flat land, And various methods for solving such problems are required.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to provide a work machine, which is not equipped with an anti-jamming device such as an engine forklift, is pushed backward or forward And to provide an uphill ramp preventing system and method for a working machine which can prevent the ramp from being overheated.

According to an aspect of the present invention, there is provided an anti-skid system for an uphill ramp of a working machine, comprising: a running speed detection unit for detecting a running state of the working machine; A foot brake detecting unit for detecting an operating state of the foot brake pedal; An accelerator sensing unit for sensing an operating state of the accelerator pedal; A work machine angle sensing unit for sensing a position state of the work machine; A forward / backward lever detection unit for detecting a positional state of the forward / backward lever; And a foot brake operation ON signal is input from the foot brake detection unit, an accelerator operation OFF signal is input from the accelerator sensing unit, And a main control unit for outputting an auto parking operation signal to the parking unit when the forward or reverse lever detection unit receives the forward gear signal or the reverse gear signal to implement the auto parking function .

Specifically, the main control unit may continuously implement the auto parking function even if the foot brake operation off signal is output from the foot brake detection unit after the auto parking function is implemented.

Specifically, in the main control unit, when the auto parking function is implemented in the parking part and the driver turns the foot brake pedal on and the driver turns on the accelerator pedal, When the engine RPM value reaches a predetermined engine RPM value corresponding to the vehicle angle value while being raised to a preset value corresponding to the vehicle angle value calculated by the inclination signal inputted from the working machine angle sensing unit, And outputting a release signal so that the automatic parking function is canceled so that the working machine advances or retreats.

Specifically, the predetermined RPM value may be linearly changed according to the vehicle angle value, which is a minimum value at which the work machine does not cause a skidding upon restarting after stopping the vehicle on an ascending ramp.

Specifically, the inclination signal may be outputted when the vehicle angle is maintained over a predetermined time longer than a predetermined vehicle angle at which no jumping phenomenon occurs at the time of re-starting, even if the working machine is located on an ascending ramp .

Specifically, the travel stop signal may be generated at a speed less than a preset speed, taking into consideration the time until the work machine returns from the error range of the speed detection error of the traveling speed detecting unit, And the time when the running is stopped within the set time.

Specifically, when the accelerator pedal is depressed within an error range that can be detected by the accelerator sensing unit when the driver simply places the foot on the accelerator pedal to restart the work machine, Can be output.

Specifically, when the auto parking function is not implemented, the parking unit maintains a parking-unlock state, which is a function unique to the parking solenoid due to the pressure supplied from the hydraulic pump when the parking solenoid is on, The pressure is removed when the valve is in the OFF state, so that the parking operation can be maintained.

Specifically, the parking section is switched from the inherent parking-disabled state to the autoparking function by the autoparking operation signal from the main control unit in the inherent parking-disabled state, The auto parking function is canceled by the auto parking operation release signal from the main control unit to maintain the parking parking release state.

According to another aspect of the present invention, there is provided a method of preventing a ramp of a working machine from ascending, comprising the steps of: confirming that the main control unit is in a stop state; Confirming that the main control unit is located in the ramp; Confirming that the main control unit is in a forward gear state or a reverse gear state; Causing the main control unit to implement an auto parking function by the parking unit; And releasing the auto parking function of the parking portion when the engine RPM value reaches a value at which the jumping phenomenon does not occur in the ramp.

Specifically, the step of the main control unit confirming that the work machine is stopped includes the steps of inputting a travel stop signal from the travel speed sensing unit; A step of inputting a foot brake operation on signal from the foot brake sensing unit; And inputting an accelerator operation off signal from the accelerator sensing unit.

Specifically, the step of confirming that the main control unit is located in the ramp may include inputting a tilt signal from the working machine angle sensing unit.

Specifically, in the step of confirming that the main control unit is in the forward gear state or the reverse gear state, the forward gear signal or the reverse gear signal may be input from the forward / backward lever sensing portion.

Specifically, the step of causing the main control unit to implement the auto parking function of the parking unit may include: a first condition in which the travel stop signal is input; a second condition in which the foot brake operation on signal is input; The main control unit controls the main control unit so that the driver stops the work machine on the ramp when the third condition for inputting the slope signal, the fourth condition for inputting the slope signal, and the fifth condition for inputting the forward gear signal or the reverse gear signal, And outputting an auto parking operation signal to the parking part.

Specifically, the step of causing the driver to turn off the foot brake pedal in a state in which the auto-parking function is implemented in the parking part, after the main control unit causes the parking part to implement the auto parking function can do.

More specifically, when the engine RPM reaches a value at which the engine RPM value does not cause the ramp at the ramp, the step of releasing the auto-parking function of the parking unit may be a state in which the auto- When the driver turns off the foot brake pedal, the driver operates the accelerator pedal to turn on the engine RPM to a predetermined value corresponding to the vehicle angle value calculated by the inclination signal input from the work machine angle sensing unit Ascending; And a step of the main control unit outputting an auto parking release signal to the parking part when the engine reaches the predetermined engine RPM value corresponding to the vehicle angle value, thereby causing the working machine to advance forward or backward can do.

The system and method for preventing the ramp-up of the working machine according to the present invention is characterized in that a work machine, such as an engine forklift, which is not equipped with a ramp prevention device performs an auto parking function when stopped at an ascending ramp, It is possible to prevent the driver from being pushed backward or forward when restarting after stopping at the ramp so that the discomfort felt by the driver in the restarting of the working machine can be eliminated and the safe operation of the working machine can be secured .

1 is a block diagram of a ramp-up preventing system for a working machine according to an embodiment of the present invention.
2 is a graph for explaining the anti-jam auto parking function according to the relationship between the angle of the working machine and the engine RPM.
FIG. 3 is a flowchart illustrating a method for preventing jogging using an uphill ramp preventing system of a working machine according to an embodiment of the present invention. Referring to FIG.
FIG. 4 is a first partial flowchart of the anti-skid method using the ascent slope anti-skid system of the working machine according to the embodiment of the present invention.
5 is a second partial flowchart of the anti-skid method using the uphill ramp anti-skid system of the working machine according to the embodiment of the present invention.
FIG. 6 is a third partial flowchart of the anti-skid method using the uphill ramp anti-skid system of the working machine according to the embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objects, particular advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of a ramp-preventing system for a ramp of a working machine according to an embodiment of the present invention, and FIG. 2 is a graph for explaining a ramp-preventing automobile parking function according to an angle of a working machine and an engine RPM correlation.

As shown in Fig. 1, the uphill ramp preventing system 100 of the working machine is provided with a traveling speed detecting system 100 for detecting the traveling speed of the working machine 1 so as to prevent the working machine 1 from being pushed rearward or forward when the working machine 1 stops and restarts from the ramp- A foot brake detection unit 120, an accelerator sensing unit 130, a working machine angle sensing unit 140, a forward / backward lever sensing unit 150, a main control unit 160, a parking unit 170, As shown in FIG.

The anti-skid system 100 according to the present invention can be applied to an engine forklift which is not equipped with a Hill-Start Assist Control (HAC) as a working machine 1, a transportation equipment, a loading equipment, , Compaction equipment, bulldozers as foundation equipment, excavators, and the like.

Before explaining the anti-jam system 100 according to the present invention, the operation of the work machine 1 will be described first to facilitate understanding of the present invention.

The transmission 20 is driven by receiving power from the engine 10 through the input shaft 11 and transmits power to the axle shaft (not shown) through the output shaft 12.

This transmission 20 may be provided with a planetary gear device (not shown) therein. The planetary gear device is configured such that the forward clutch 21 or the reverse clutch 22 is engaged or disengaged by hydraulic pressure, It may be rotated forward or reverse.

The forward clutch 21 and the reverse clutch 22 are connected to a hydraulic pump (not shown) through the forward shift valve 31 and the reverse shift valve 32 of the hydraulic control unit 30, respectively.

The forward shift valve 31 and the reverse shift valve 32 are normally held at the neutral position to interrupt the supply of the pressurized oil to the forward clutch 21 and the reverse clutch 22 but when the forward shift clutch 31 and the reverse shift valve 32 are switched to the operating position, (21) or the reverse clutch (22) to perform the forward shift or the reverse shift.

The positions of the forward shift valve 31 and the reverse shift valve 32 are controlled by the forward solenoid 41 and the reverse solenoid 42 provided corresponding thereto.

When the forward solenoid 41 is energized by the main control unit 160 to be described later, the corresponding forward shift valve 31 is moved from the neutral position to the operating position, The forward shift is executed. On the other hand, when the reverse solenoid 42 is energized by the main control unit 160, which will be described later, the reverse shift valve 32 is moved from the neutral position to the operating position and consequently the oil pressure is supplied to the reverse clutch 22 The reverse shift is executed.

When the forward solenoid 41 and the reverse solenoid 42 are both brought to a disconnection state by the main control unit 160 to be described later and the forward shift valve 31 and the reverse shift valve 32 are not supplied with current, The torque of the input shaft 11 is not transmitted to the output shaft 12 because the transmission 20 is neutralized.

The forward running or backward running of the working machine (1) is determined by the position of the forward / backward lever operated by the driver.

Hereinafter, the anti-jam system 100 according to the present invention will be described in detail.

The running speed sensing unit 110 can sense whether the working machine 1 is running, for example, whether the working machine 1 is running forward, backward or stopping, and the current working machine 1 Backward travel signal, or travel stop signal corresponding to the traveling of the vehicle, for example, to the main control unit 160 to be described later in real time.

The running speed sensing unit 110 may be a speed sensor installed around the output shaft 12 of the transmission 20. [

The forward travel signal, reverse travel signal, or travel stop signal output from the travel speed sensing unit 110 is transmitted to the parking unit 170, which will be described later, until the work machine 1 stops and restarts from the ascending ramp One parameter that can be used to determine whether to execute is that it can satisfy one condition that the autoparking function can be implemented when the stop signal is output.

In the above, the travel stop signal may include output when the travel is stopped within a predetermined time, for example, 0.4 second at a predetermined speed, for example, a speed less than 0.1 km / h. In this case, when the operation machine 1 is maintained at a speed of 0.1 km / h or more for 0.4 seconds or more, it means that the working machine 1 is in the forward running or the backward running (the forward running signal or the backward running signal is outputted) ), The auto parking function is not implemented.

Here, the predetermined speed value and the preset time value are taken into consideration from the time when the working machine 1 returns to the normal from the error range for the speed detection error of the running speed detection unit 110 that can occur at the time of the sudden start or the sudden stop Can be obtained.

It should be understood that the above-described numerical values are for the purpose of helping understanding of the present invention, and are not limited to the present invention, but may be changed according to the type or the specification of the working machine 1.

The foot brake detection unit 120 can sense whether the foot brake pedal is operated, for example, whether the foot brake pedal is ON (ON) or OFF (OFF), and the current foot brake pedal The foot brake operation ON signal or the foot brake operation OFF signal corresponding to the operation can be output to the main control unit 160 to be described later in real time. Here, the operation of the foot brake pedal (ON) can be defined as the state where the driver is pressing the foot brake pedal, and the operation of the foot brake pedal is OFF, that is, the driver is not pressing the foot brake pedal.

The foot brake detection unit 120 may include a sensing device that can sense the operation of the foot brake pedal, such as a pressure sensor, an angle sensor, and the like.

The foot brake operation ON signal or the foot brake operation OFF signal output from the foot brake sensing section 120 is automatically switched from the parking section 170 to be described later until the work machine 1 stops and restarts from the ascending ramp A foot brake operation ON signal is first outputted, and a condition that an auto parking function can be implemented is satisfied first. After the auto parking function is implemented, a foot brake Even if the operation OFF signal is output, the auto parking function can be continuously implemented. When the general foot brake operation ON signal generated by pressing the foot brake pedal to adjust the speed during driving is outputted or when the foot brake operation OFF signal is outputted, the auto parking function is not implemented in the parking part 170 described later Of course.

The accelerator pedal sensing unit 130 can sense whether the accelerator pedal is operated, for example, whether the accelerator pedal is on or off, The accelerator operation on signal or the accelerator operation off signal can be output to the main control unit 160 to be described later in real time. Here, the operation of the accelerator pedal (ON) can be defined as the state where the driver is depressing the accelerator pedal, and the operation of the accelerator pedal is OFF (OFF) is the state where the driver is not pressing the accelerator pedal.

The accelerator sensing unit 130 may include a pressure sensor, an angle sensor, And may include a sensing device capable of sensing the operation of the pedal.

The accelerator operation on signal or the accelerator operation off signal outputted from the accelerator sensing unit 130 is used to determine whether the parking unit 170 to be described later performs the auto parking function until the working machine 1 stops and restarts from the ascending ramp One parameter can be set so that the auto-parking function can be implemented when the accelerator operation off signal is outputted. When the accelerator operation ON signal is outputted, it is needless to say that the auto parking function is not implemented in the parking part 170, which will be described later.

In this case, the accelerator operation off signal may include a position of the predetermined accelerator pedal, for example, when the accelerator pedal is depressed by less than 3%.

Here, the preset accelerator pedal position value may be an error range that can be sensed by the accelerator sensing unit 130 when the driver simply places the foot on the accelerator pedal to restart the work machine 1, May be a value which hardly affects the RPM of the engine 10 when the engine 10 is in operation.

It should be understood that the above-described numerical values are for the purpose of helping understanding of the present invention, and are not limited to the present invention, but may be changed according to the type or the specification of the working machine 1.

The working machine angle sensing unit 140 can sense the position of the working machine 1, for example, whether the working machine 1 is located on a flat surface or on an ascending ramp, To the main control unit 160, which will be described later, in real time.

The flat signal or the tilt signal output from the working machine angle sensing unit 140 can be determined to perform the autoparking function in the parking unit 170 to be described later until the working machine 1 stops and restarts from the ascending ramp One condition is that the auto parking function can be implemented when the tilt signal is output.

In the above, the inclination signal may include outputting when the vehicle angle is maintained at a predetermined vehicle angle, for example, a vehicle angle of 5 or more, for example, 0.4 seconds or more. At this time, when the vehicle angle is less than 5 degrees, it means that the working machine 1 is located on a flat surface where the jumping phenomenon does not occur (the flat signal is outputted) Is not implemented.

Here, the predetermined vehicle angle value may mean that the vehicle is at a vehicle angle that does not cause a backward or forward swinging phenomenon even if the working machine 1 is located in an uphill slope, not in a flat area. And the time value of 0.4 seconds can be obtained in consideration of the time from when the work machine 1 returns to the normal from the error range for the angle detection error of the work machine angle detecting unit 140 that can occur at the sudden stop or the sudden stop.

It is to be understood that the above-described numerical values are for the purpose of helping understanding of the present invention, and do not limit the present invention, but may be changed according to the type or the specification of the working machine 1.

The forward / backward lever sensing portion 150 can detect whether the forward / backward lever is in a forward position, a backward position, or a neutral position, for example, and can detect the position of the forward / A reverse gear signal, or a neutral gear signal to the main control unit 160 to be described later in real time.

The forward gear signal, the reverse gear signal, or the neutral gear signal output from the forward / backward lever sensing unit 150 is transmitted from the parking unit 170, which will be described later, until the work machine 1 stops and restarts from the ascending ramp, , Which satisfies one condition that the auto parking function can be implemented when the forward gear signal or the reverse gear signal is outputted. When the neutral gear signal is outputted, it is needless to say that the auto parking function is not implemented in the parking part 170 to be described later.

Even if a forward gear signal or a reverse gear signal is outputted from the forward / backward lever sensing unit 150, this does not necessarily mean that the work machine 1 is in the forward running state or the backward running state, and the operation of the foot brake pedal is turned on And stopping the running of the working machine (1).

The main control unit 160 selectively maintains the forward solenoid 41 or the reverse solenoid 42 in the energized state or the unstable state in response to the forward gear signal or the reverse gear signal of the forward / backward lever sensing unit 150 In addition to the inherent function of allowing the machine 1 to move forward or backward, the automatic parking function can be implemented by controlling the parking part 170, which will be described later, until the working machine 1 stops and restarts from the ascending ramp Hereinafter, a detailed description will be given.

The main control unit 160 includes a first condition for inputting a travel stop signal from the travel speed sensing unit 110, a second condition for inputting a foot brake operation on signal from the foot brake sensing unit 120, A third condition that the accelerator operation off signal is input from the accelerator sensor 130, a fourth condition that the inclination signal is inputted from the working machine angle sensing unit 140, and a fourth condition that the forward gear signal or the reverse gear signal When the inputted fifth condition is satisfied, it is determined that the working machine 1 intends to stop the uphill ramp, and an auto parking operation signal is outputted to the parking part 170 to be described later so that the auto parking function can be implemented.

The main control unit 160 controls the parking unit 170 to automatically implement the auto parking function even if a signal is input from the foot brake detection unit 120 after the auto parking function is implemented. can do. That is, even if the foot brake operation off signal is inputted, the auto parking function can be continuously implemented in the parking part 170, which will be described later. Accordingly, even if the driver presses the foot brake pedal, the work machine 1 maintains the stopped state. Therefore, the driver can perform the desired work in the stopped state without worrying about the foot brake pedal in the ascending ramp, And can perform another operation.

Of course, when the first to fifth conditions are not satisfied or when the working machine 1 is running normally, the main control unit 160 outputs an auto parking operation signal to the parking part 170 to be described later Of course not.

Further, the main control unit 160 operates the engine RPM by turning on the accelerator pedal in a state where the above-described first to fifth conditions are satisfied and the auto parking function is implemented in the parking part 170 to be described later Up to a preset value corresponding to the vehicle angle value calculated by the inclination signal input from the mechanical angle sensing unit 140. When the predetermined engine RPM value corresponding to the vehicle angle value is reached, It is possible to output the auto parking release signal to the parking part 170 to be described later so that the working machine 1 can be smoothly advanced forward or backward without any backward or forward jumping phenomenon.

Here, the predetermined RPM value is a minimum value at which no jerking does not occur when the working machine 1 is stopped and restarted from the ascending ramp, and the higher the vehicle angle value, the higher the engine RPM value is, For example, as shown in FIG. 2, when the vehicle angle value is 5.5 degrees, the corresponding engine RPM value is 900 RPM, and the vehicle angle value is 10 degrees The corresponding engine RPM value is 1150RPM, the corresponding engine RPM value is 1300RPM when the vehicle angle value is 12.5 °, and the corresponding engine RPM value when the vehicle angle value is 15 ° can be 1430RPM.

The parking part 170 may include a parking solenoid (not shown) and a parking brake unit (not shown). When the parking solenoid is powered on, the parking part 170 is supplied from a hydraulic pump The operation of the working machine 1 can be performed by releasing the pressure by the pressure of the parking solenoid and the pressure oil is removed when the power of the parking solenoid is in the off state, It is possible to implement the auto parking function by the auto parking operation signal from the main control unit 160 (when the driver wants to stop the working machine on the ascending ramp), and then the auto parking function from the main control unit 160 The autoparking function can be deactivated by the deactivation signal (when the operator wishes to drive a work machine that is stationed on an uphill ramp).

Hereinafter, the auto parking operation or the auto parking operation release of the parking unit 170 will be described in detail. It is generally known in relation to the original parking operation or the inherent parking operation cancellation. .

As described above, the parking part 170 is operated by the pressure oil supplied from the hydraulic pump when the parking solenoid is in the ON state, so that the parked state is maintained. When the working machine 1 is in the uphill ramp The above-mentioned five conditions are satisfied, so that the pressure can be removed by the auto parking operation signal from the main control unit 160, and the auto parking function can be switched from the inherent parking operation cancel state to the auto parking function.

Thereafter, the parking portion 170 releases the automatic parking function while the pressure oil is supplied again from the hydraulic pump by the auto parking operation release signal from the main control unit 160, and at the same time, have.

3 to 5, a method for preventing a ramp of a working machine using a ramp-preventing system 100 of a working machine according to an embodiment of the present invention having the above-described configuration will be described.

FIG. 3 is a flowchart illustrating a method for preventing jogging using an uphill ramp preventing system of a working machine according to an embodiment of the present invention. Referring to FIG. FIG. 4 is a first partial flow chart for explaining a method of preventing a jog using an uphill ramp preventing system of a working machine according to an embodiment of the present invention. FIG. FIG. 6 is a third partial flow chart for explaining a method of preventing a jog using an uphill ramp preventing system of a working machine according to an embodiment of the present invention. FIG. to be.

As shown in FIG. 3, according to an embodiment of the present invention, the uphill ramp prevention system of the working machine using the ramp prevention system 100 of the working machine includes a main control unit 160, The main control unit 160 confirms that the work machine 1 is positioned in the ramp at step S320 and the main control unit 160 determines whether the work machine 1 is stopped at step S310. (S340) of causing the main control unit 160 to implement the auto parking function by the parking unit 170 and the step S340 of checking whether the main control unit 160 is in the forward gear state or the reverse gear state, (S350) of releasing the auto parking function of the parking part 170 when the engine RPM value reaches a value at which the ramp phenomenon does not occur in the ramp.

In step S310, the main control unit 160 confirms that the work machine 1 is stopped.

The step S310 is a step S311 in which a travel stop signal is input from the travel speed sensing unit 110 as shown in FIG. 4 to confirm that the work machine 1 is stopped, A step S312 of inputting a foot brake operation ON signal from the accelerator pedal 120 and a step S313 of inputting an accelerator operation off signal from the accelerator sensing unit 130. [

In step S320, the main control unit 160 confirms that the work machine 1 is positioned on the ramp.

In the step 320, the main control unit 160 can confirm that the work machine 1 is positioned on the ramp from the input of the tilt signal from the work machine angle sensing unit 140.

In step S330, the main control unit 160 confirms that the working machine 1 is in the forward gear or reverse gear state.

In step S330, the main control unit 160 determines whether the working machine 1 is in the forward gear state or the reverse gear state from the input of the forward gear signal or the reverse gear signal from the forward / backward lever sensing unit 150 have. At this time, even if the forward gear signal or the reverse gear signal is output from the forward / backward lever sensing unit 150, this does not necessarily mean that the work machine 1 is in the forward running state or the backward running state, and the operation of the foot brake pedal is turned on And a stop state in which the running of the machine 1 is stopped.

In step S340, the main control unit 160 causes the parking part 170 to implement the auto parking function.

The above-described step S340 is a step S340 of determining whether or not the first condition for inputting the travel stop signal, the second condition for inputting the foot brake operation ON signal, the third condition for inputting the accelerator operation off signal, The main control unit 160 determines that the driver intends to stop the work machine 1 on the ramp and outputs an auto parking operation signal to the parking part 170 Output bin.

After step S340, the driver may further turn off the foot brake pedal (S345) with the auto parking function implemented in the parking part 170, as shown in FIG.

In step S350, the main control unit 160 releases the auto parking function of the parking part 170 when the engine RPM value reaches a value at which the jumping phenomenon does not occur in the ramp.

6, the auto parking function is implemented in the parking part 170. In a state where the driver turns off the foot brake pedal, the driver operates the accelerator pedal to turn on the engine (S351) raising the RPM to a predetermined value corresponding to the vehicle angle value calculated by the inclination signal input from the working machine angle sensing unit 140, and setting the predetermined engine RPM value corresponding to the vehicle angle value The main control unit 160 outputs an auto parking release signal to the parking part 170 so that the work machine 1 advances or retreats (step S352).

As described above, in the present embodiment, a work machine, such as an engine forklift, which is not equipped with the anti-jamming device performs an auto parking function when stopped at an ascending ramp and releases the auto parking at a restarting time, It is possible to prevent the operator from being pushed backward or forward when restarting, thereby relieving the discomfort felt by the driver in restarting the work machine 1 and ensuring safe operation of the work machine.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be apparent to those skilled in the art that various combinations and modifications may be made without departing from the scope of the present invention. Therefore, it should be understood that the technical contents related to the modifications and applications that can be easily derived from the embodiments of the present invention are included in the present invention.

1: working machine 10: engine
11: input shaft 12: output shaft
20: Transmission 21: Forward clutch
22: Reverse clutch 30: Hydraulic control unit
31: forward shift valve 32: reverse shift valve
41: Forward solenoid 42: Forward solenoid
100: anti-skid system 110: running speed detection unit
120: foot brake sensing unit 130: accelerator sensing unit
140: work machine angle sensing unit 150: forward / backward lever sensing unit
160: main control unit 170: parking part

Claims (16)

A running speed detecting unit for detecting a running state of the working machine;
A foot brake detecting unit for detecting an operating state of the foot brake pedal;
An accelerator sensing unit for sensing an operating state of the accelerator pedal;
A work machine angle sensing unit for sensing a position state of the work machine;
A forward / backward lever detection unit for detecting a positional state of the forward / backward lever; And
A foot brake operation ON signal is input from the foot brake sensing unit, an accelerator operation OFF signal is input from the accelerator sensing unit, and a slope signal from the work machine angle sensing unit And a main control unit for outputting an auto parking operation signal to the parking unit to implement an auto parking function when a forward gear signal or a reverse gear signal is inputted from the forward / backward lever detection unit Anti-skid system with uphill ramp of machine. The apparatus of claim 1, wherein the main control unit comprises:
Wherein the automatic parking function is continuously implemented even if a foot brake operation off signal is output from the foot brake detection unit after the auto parking function is implemented. 3. The apparatus according to claim 2,
Wherein the auto parking function is implemented in the parking part and the driver turns on the accelerator pedal when the driver turns off the foot brake pedal so that the engine RPM is inputted from the working machine angle sensing part When the engine RPM value reaches a predetermined engine RPM value corresponding to the vehicle angle value while being raised to a preset value corresponding to the vehicle angle value calculated by the inclination signal, the auto parking operation release signal is outputted to the parking part, And the parking function is released so that the working machine advances or runs backward. 4. The method of claim 3,
Wherein the work machine is linearly changed in accordance with the vehicle angle value as a minimum value at which the work machine does not cause a panning phenomenon when the vehicle is stopped and restarted from the uphill ramp. The method according to claim 3,
Wherein the control unit is further configured to control the operation of the work machine when the work machine is in an uphill position, Slope prevention system. The vehicle control device according to claim 1,
When the running is stopped within a predetermined time at a speed lower than a preset speed, taking into consideration the time from when the work machine is returned from the error range of the speed detection error of the running speed detection unit, And the output signal is output. 2. The method of claim 1, wherein the accelerator operation off signal comprises:
Wherein the accelerator pedal is pressed when the accelerator pedal is depressed within an error range that can be sensed by the accelerator sensing unit when the driver simply places the foot on the accelerator pedal to restart the work machine. Uphill slope ramp prevention system. 4. The parking brake apparatus according to claim 3,
If the auto parking function is not implemented,
When the power of the parking solenoid is on, the parking operation is released, which is a function of the hydraulic pressure pump,
Wherein the pressure oil is removed when the power of the parking solenoid is in an off state, so that the parking operation state, which is a unique function, is maintained. 9. The parking brake apparatus according to claim 8,
In the inherent parking-disabled state, switching from the inherent parking-disabled state to the autoparking function by the autarkarking operation signal from the main control unit,
Wherein the auto parking function is released by the auto parking operation release signal from the main control unit in a state where the auto parking function is maintained to maintain the inherent parking release state. Anti-skid system. Confirming that the main control unit is in the stopped state;
Confirming that the main control unit is located in the ramp;
Confirming that the main control unit is in a forward gear state or a reverse gear state;
Causing the main control unit to implement an auto parking function by the parking unit; And
And releasing the auto parking function of the parking portion when the engine RPM value reaches a value at which the jumping phenomenon does not occur in the ramp of the main control unit. 11. The method according to claim 10, wherein the main control unit confirms that the work machine is stationary,
A step of inputting a travel stop signal from the travel speed sensing unit;
A step of inputting a foot brake operation on signal from the foot brake sensing unit; And
And a step of inputting an accelerator operation off signal from the accelerator sensing unit. 12. The method as claimed in claim 11, wherein the main control unit confirms that the work machine is located in a ramp,
And an inclination signal is inputted from the working machine angle detecting unit. 13. The method according to claim 12, wherein the main control unit confirms that the work machine is in a forward gear or a reverse gear state,
And a forward gear signal or a reverse gear signal is inputted from the forward / backward lever sensing portion. 14. The method of claim 13, wherein the step of causing the main control unit to implement an auto-
A second condition that the foot brake operation ON signal is input, a third condition that the accelerator operation off signal is input, a fourth condition that the slope signal is input, and a second condition that the forward gear signal When the main control unit judges that the driver intends to stop the working machine in the ramp, and outputs an auto parking operation signal to the parking part when the fifth condition that the reverse gear signal is inputted is satisfied. How to prevent jogging on uphill slopes of working machines. 15. The method according to claim 14, wherein, after the step of causing the main control unit to implement an auto parking function,
Further comprising the step of causing the driver to turn off the foot brake pedal in a state where the auto parking function is implemented in the parking part. 16. The method as claimed in claim 15, wherein the main control unit releases the auto parking function of the parking portion when the engine RPM value reaches a value at which no jumping occurs at the ramp,
In a state where the auto parking function is implemented in the parking part and the driver turns off the foot brake pedal, the driver operates the accelerator pedal to turn on the engine RPM to the inclination signal input from the work machine angle sensing part To a predetermined value corresponding to the vehicle angle value calculated by the vehicle angle calculating means; And
And the main control unit outputs an auto parking release signal to the parking part when the predetermined engine RPM value corresponding to the vehicle angle value is reached so that the work machine advances or retreats Wherein the work machine is a ramp-up ramp.

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