Work vehicle, system including work vehicle, and method for controlling work vehicle

Abstract

To provide a work vehicle, system including work vehicle, and method for controlling work vehicle capable of reducing unpleasant feeling imparted to the operator during operation of the work vehicle.SOLUTION: A vibration suppressing device 40 suppresses lateral movement of a driver's seat 5S. A locking mechanism 30 switches between locking and unlocking the operation of the vibration suppressing device 40. A sensor 41 detects vibration information relating to lateral vibration of the driver's seat 5S. A controller 50 switches the locking mechanism 30 between locking and unlocking the vibration suppressing device 40 on the basis of a comparison between the vibration information detected by the sensor 41 and preset vibration base isolation operation information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a work vehicle, a system including a work vehicle, and a method for controlling a work vehicle. [Background technology]

[0002] In work vehicles such as hydraulic excavators and wheel loaders, the driver's seat was fixed to the floor of the cab, so-called rigid seats were used. However, in order to improve ride comfort and reduce operator fatigue, work vehicles with mechanical suspension or air suspension between the driver's seat and the floor have begun to appear.

[0003] Furthermore, a lateral vibration suppression device capable of actively suppressing lateral vibration of a driver's seat in a vehicle is disclosed in JP 2021-123122 A (Patent Document 1). Patent Document 1 describes that the operation of the fluid pressure actuator is controlled by operating a two-way switching valve arranged between a fluid pressure supply source and the fluid pressure actuator based on information related to the lateral vibration acting on the seat. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-123122 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technique disclosed in the above publication, the operation of the fluid pressure actuator is constantly controlled, which causes discomfort to the operator.

[0006] An object of the present disclosure is to provide a work vehicle, a system including a work vehicle, and a method for controlling a work vehicle that can reduce discomfort felt by an operator when the work vehicle is in operation. [Means for solving the problem]

[0007] Each of the work vehicles and systems including a work vehicle of the present disclosure includes a driver's seat, a vibration suppression device, a locking mechanism, a sensor, and a controller. The vibration suppression device suppresses lateral movement of the driver's seat. The locking mechanism switches between locking and unlocking operation of the vibration suppression device. The sensor detects vibration information related to lateral vibration of the driver's seat. The controller switches between locking and unlocking the vibration suppression device by the locking mechanism based on a comparison between the vibration information detected by the sensor and preset seismic isolation operation information.

[0008] The control method for a work vehicle disclosed herein is a control method for a work vehicle equipped with a driver's seat, a vibration suppression device that suppresses lateral movement of the driver's seat, and a locking mechanism that switches between locking and unlocking the operation of the vibration suppression device, and has the following steps.

[0009] Vibration information relating to lateral vibration of the driver's seat is detected. The acquired vibration information is compared with preset seismic isolation operation information to switch between locking and unlocking the operation of the vibration suppression device by the locking mechanism. Effect of the Invention

[0010] According to the present disclosure, it is possible to realize a work vehicle, a system including a work vehicle, and a method for controlling a work vehicle that can reduce discomfort felt by an operator when the work vehicle is in operation. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view showing a configuration of a wheel loader as an example of a work vehicle in an embodiment of the present disclosure. [Diagram 2] 1 is a diagram showing a configuration of a system including a work vehicle in one embodiment of the present disclosure. [Diagram 3] 1 is a plan view showing the configuration of an example of a locking mechanism employed in a system including a work vehicle in an embodiment of the present disclosure. FIG. [Figure 4]1 is a side view showing the configuration of an example of a locking mechanism employed in a system including a work vehicle in an embodiment of the present disclosure. FIG. [Diagram 5] 13 is a plan view showing the configuration of another example of a locking mechanism employed in a system including a work vehicle in an embodiment of the present disclosure. FIG. [Figure 6] 13 is a side view showing the configuration of another example of a locking mechanism employed in a system including a work vehicle in an embodiment of the present disclosure. FIG. [Figure 7] FIG. 2 is a diagram showing functional blocks of a controller employed in a system including a work vehicle in one embodiment of the present disclosure. [Figure 8] 4 is a flow diagram showing a control method for a work vehicle in one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0013] In the specification and drawings, the same or corresponding components are denoted by the same reference numerals, and redundant explanations are not repeated. In addition, in the drawings, configurations may be omitted or simplified for the convenience of explanation.

[0014] In the following description, "up," "down," "front," "rear," "left," and "right" refer to directions based on the operator seated in the driver's seat 5S in the driver's cab 5 shown in Fig. 1. In Fig. 1, the front-to-rear direction is indicated by Z, the front direction is indicated by Zf, and the rear direction is indicated by Zb. In Fig. 2, the up-down direction is indicated by Y, and in Figs. 3 to 6, the left-to-right direction is indicated by X. In the following description, plan view refers to a viewpoint from above the work vehicle looking down, and is synonymous with a top view.

[0015] <Work vehicle configuration>

[0016] As an example of a work vehicle in this embodiment, the configuration of a wheel loader will be described with reference to Fig. 1. Note that the work vehicle in this embodiment is not limited to a wheel loader. The work vehicle in this embodiment may be any work vehicle having a work machine and a driver's seat, and may be a hydraulic excavator, bulldozer, motor grader, etc.

[0017] Fig. 1 is a side view showing the configuration of a wheel loader in one embodiment of the present disclosure. As shown in Fig. 1, the wheel loader 1 in this embodiment has a running body 2 and a working machine 3. The working machine 3 is disposed on the running body 2. The running body 2 has a vehicle body frame 10, a pair of front wheels 4, a driver's compartment (cab) 5, an engine room 6, a pair of rear wheels 7, and a steering cylinder 9. The wheel loader 1 uses the working machine 3 to perform work such as loading earth and sand.

[0018] The body frame 10 is of a so-called articulated type, and has a front frame 11, a rear frame 12, and a connecting shaft portion 13. The front frame 11 is disposed in a forward direction Zf of the rear frame 12. The connecting shaft portion 13 is provided in the center of the body frame 10 in the left-right direction (vehicle width direction), and connects the front frame 11 and the rear frame 12 to be able to rotate with each other. A pair of front wheels 4 are attached to the left and right of the front frame 11. In addition, a pair of rear wheels 7 are attached to the left and right of the rear frame 12.

[0019] The work implement 3 is driven by hydraulic oil from a work implement pump (not shown). The work implement 3 has a boom 14, a bucket 15, a lift cylinder 16, a bucket cylinder 17, and a bell crank 18. The boom 14 is attached to the front frame 11. The bucket 15 is attached to the tip of the boom 14.

[0020] The lift cylinder 16 and the bucket cylinder 17 are hydraulic cylinders. One end of the lift cylinder 16 is attached to the front frame 11, and the other end of the lift cylinder 16 is attached to the boom 14. The boom 14 rotates up and down as the lift cylinder 16 expands and contracts. One end of the bucket cylinder 17 is attached to the front frame 11, and the other end of the bucket cylinder 17 is attached to the bucket 15 via a bell crank 18. The bucket cylinder 17 expands and contracts, causing the bucket 15 to rotate up and down.

[0021] The cab 5 is mounted on the rear frame 12. Inside the cab 5, there are arranged a cab seat 5S for an operator to sit in, a handle for steering, a lever for operating the work machine 3, various switches, a display device, etc. The engine room 6 is arranged on the rear frame 12 behind the cab 5, Zb, and houses an engine.

[0022] <System configuration including work vehicles>

[0023] Next, the configuration of a system including a work vehicle in this embodiment will be described with reference to FIGS.

[0024] Fig. 2 is a diagram showing the configuration of a system including a work vehicle in one embodiment of the present disclosure. Figs. 3 and 4 are a plan view and a side view showing the configuration of an example of a locking mechanism employed in a system including a work vehicle in one embodiment of the present disclosure. Figs. 5 and 6 are a plan view and a side view showing the configuration of another example of a locking mechanism employed in a system including a work vehicle in one embodiment of the present disclosure. Fig. 7 is a diagram showing functional blocks of a controller employed in a system including a work vehicle in one embodiment of the present disclosure.

[0025] As shown in FIG. 2, the system including the work vehicle has a lock mechanism 30, a vibration suppression device 40, a sensor 41, a fluid regulating device 42, and a controller 50.

[0026] The cab 5 (FIG. 1) has a floor 5F. A driver's seat 5S is disposed on the floor 5F of the cab 5. A vibration suppression device 40 is disposed between the floor 5F and the driver's seat 5S.

[0027] The vibration suppression device 40 has a damper member 20 and elastic members SP1 and SP2. The damper member 20 absorbs lateral vibrations of the driver's seat 5S. The lateral direction means any direction in a plane including the front-rear direction Z and the left-right direction X (FIGS. 3 to 6) which are perpendicular to each other. In other words, the lateral direction may be the front-rear direction Z, the left-right direction X, or a direction other than the front-rear direction Z and the left-right direction X, as long as it is a direction in a plane including the front-rear direction Z and the left-right direction X. Note that FIG. 2 shows a case where the vibration suppression device 40 is disposed in the front-rear direction Z, but the vibration suppression device 40 may be disposed in the left-right direction X, or may be disposed in both the front-rear direction Z and the left-right direction X, or may be disposed in a direction other than the front-rear direction Z and the left-right direction X.

[0028] One end of the damper member 20 is connected to a fixed member BL1 fixed to the floor 5F. The other end of the damper member 20 is connected to a fixed member BL3 fixed to the driver's seat 5S. The damper member 20 has a first fluid chamber 20a and a second fluid chamber 20b separated by a piston portion of a piston rod. When the damper member 20 is inactive, the damper member 20 is a normal damper. On the other hand, when the damper member 20 is active, the damper member 20 can expand and contract by supplying and discharging fluid to and from the fluid chambers 20a and 20b in response to lateral vibration of the driver's seat 5S.

[0029] The elastic members SP1 and SP2, together with the damper member 20, absorb lateral vibrations of the driver's seat 5S. Each of the elastic members SP1 and SP2 is formed, for example, of a spring. One end of the elastic member SP1 is connected to a fixed member BL1 fixed to the floor 5F. The other end of the elastic member SP1 is connected to a fixed member BL3 fixed to the driver's seat 5S. One end of the elastic member SP2 is connected to a fixed member BL2 fixed to the floor 5F. The other end of the elastic member SP2 is connected to a fixed member BL3 fixed to the driver's seat 5S.

[0030] One end of each of the damper member 20 and the elastic members SP1 and SP2 may be directly fixed to the floor 5F, and the other end of each of the damper member 20 and the elastic members SP1 and SP2 may be directly fixed to the driver's seat 5S.

[0031] The sensor 41 detects vibration information related to vibration in the lateral direction (any direction in a plane including the front-rear direction Z and the left-right direction X) of the driver's seat 5S relative to the floor 5F. The sensor 41 is, for example, an IMU (Inertial Measurement Unit). The vibration information detected by the sensor 41 is, for example, at least one of the frequency and acceleration of the lateral vibration of the driver's seat 5S. The vibration information detected by the sensor 41 may also be one or more output signals selected from the group consisting of a work equipment operation lever, a travel lever, and a work mode changeover switch.

[0032] In addition, the vibration information detected by the sensor 41 may be information regarding the acceleration of the floor 5F, the angular velocity of the floor 5F, the amount of operation of the accelerator pedal, the ON / OFF of the brake pedal, the amount of operation of the work equipment operation lever, a change in speed gear to a lower speed gear, the ON / OFF of the work equipment lock switch, the ON / OFF of the semi-automatic excavation function, and the operation of the steering lock lever.

[0033] The acceleration of the floor 5F is detected, for example, by an acceleration sensor. From the acceleration of the floor 5F, a waveform pattern or a peak value of the waveform of the acceleration of the floor 5F in a specific work mode is obtained. The angular velocity of the floor 5F is detected, for example, by an angular velocity sensor. From the angular velocity of the floor 5F, a waveform pattern or a peak value of the waveform of the angular velocity of the floor 5F in a specific work mode is obtained.

[0034] The amount of accelerator pedal operation is detected by, for example, a potentiometer. From the amount of accelerator pedal operation, a pattern of the accelerator pedal opening degree in a specific work mode is obtained. The ON / OFF of the brake pedal is detected by, for example, a pressure switch. From the ON / OFF of the brake pedal, a pattern of the ON / OFF of the brake pedal in a specific work mode is obtained.

[0035] The amount of operation of the working equipment operation lever is detected, for example, by a potentiometer. From the amount of operation of the working equipment operation lever, a pattern of the operation / work equipment lever angle in a specific work mode is obtained. A shift of the speed stage to a low speed stage is detected, for example, by a switch. From the shift of the speed stage to a low speed stage, the controller 50 obtains the change of the speed stage in a specific work mode.

[0036] The ON / OFF of the work equipment lock switch is detected, for example, by a switch. From the ON / OFF of the work equipment lock switch, the controller 50 acquires information such as whether the work equipment lock switch is OFF and the number of times it has been pressed. The ON / OFF of the semi-automatic excavation function is detected, for example, by a switch. From the ON / OFF of the semi-automatic excavation function, the controller 50 acquires information such as whether the semi-automatic excavation function is ON and the number of times it has been pressed. The operation of the steering lock lever is detected, for example, by a pressure switch. From the operation of the steering lock lever, the controller 50 acquires information such as whether the steering lock lever is free.

[0037] Semi-automatic excavation means excavation under semi-automatic control. Specifically, semi-automatic excavation means excavation under automatic control that automatically links the bucket 15 and the boom 14 while allowing the operator to manually operate the boom lever and the bucket lever.

[0038] The locking mechanism 30 switches between locking and unlocking the operation of the vibration suppression device 40. When the operation of the vibration suppression device 40 is locked, the locking mechanism 30 restricts lateral movement of the driver's seat 5S relative to the floor 5F. When the operation of the vibration suppression device 40 is locked, the locking mechanism 30 restricts, for example, relative lateral movement between a plate PL1 fixed to the floor 5F and a plate PL2 fixed to the driver's seat 5S.

[0039] The locking mechanism 30 releases the restriction on lateral movement of the driver's seat 5S relative to the floor 5F when the operation of the vibration suppression device 40 is unlocked. When the operation of the vibration suppression device 40 is locked, the locking mechanism 30 releases the restriction on relative lateral movement between, for example, a plate PL1 fixed to the floor 5F and a plate PL2 fixed to the driver's seat 5S.

[0040] The plate PL1 may be indirectly connected to the floor 5F via a fixing member BL2, or may be directly connected to the floor 5F. The plate PL2 may be indirectly connected to the driver's seat 5S via a fixing member BL3, or may be directly connected to the driver's seat 5S.

[0041] As shown in FIG. 3, the plates PL1 and PL2 are arranged to have overlapping regions in plan view when the wheel loader 1 is stopped. The plate PL1 has a notch NT, for example, on a side surface. The plate PL2 has a through hole TH, for example. The through hole TH has an elongated hole shape, for example, in plan view. The elongated through hole TH has a long dimension, for example, in the left-right direction X and a short dimension in the front-rear direction Z. The through hole TH may have a short dimension in the left-right direction X and a long dimension in the front-rear direction Z. The through hole TH may extend long in any direction in a plane including the left-right direction X and the front-rear direction Z. The through hole TH may extend linearly or curvedly in plan view.

[0042] The notch NT and the through hole TH have portions that overlap each other in a plan view. A pin PN1 is inserted into the through hole TH. The pin PN1 is slidable within the through hole TH in a direction in which the through hole TH extends (for example, the left-right direction X). By sliding within the through hole TH, the pin PN1 is movable between an inserted state in which it is inserted into the notch NT and an escaped state in which it is escaped from the notch NT.

[0043] As shown in Fig. 4, the lock mechanism 30 has, for example, a pin PN1, a switching lever LE, an air cylinder AS, a control valve CB, and an air supply source SS. The pin PN is connected to the switching lever LE. The air cylinder AS is connected to the switching lever LE. The air cylinder AS can expand and contract in the lateral direction. The air supply source SS is connected to the air cylinder AS via the control valve CB. The air supply source SS is, for example, a compressor.

[0044] The control valve CB controls the supply of air from the air supply source SS to the air cylinder AS. The control valve CB also controls the exhaust of air from the air cylinder AS. The operation of the control valve CB is controlled by a command current from the controller 50.

[0045] Supplying and discharging air to and from the air cylinder AS causes the air cylinder AS to expand and contract laterally. This expansion and contraction of the air cylinder AS causes the pin PN to slide laterally (for example, in the left-right direction X) within the range of the through-hole TH via the switching lever LE. As the pin PN1 slides, it moves between an inserted state in which it is inserted into the notch NT and an extracted state in which it is extracted from the notch NT.

[0046] 3, when the pin PN1 (broken line) is inserted into the notch NT of the plate PL1, the relative movement between the plates PL1 and PL2 in the front-rear direction Z is restricted. This restricts the movement of the driver's seat 5S relative to the floor 5F shown in FIG. 2 in the front-rear direction Z, and locks the operation of the vibration suppression device 40.

[0047] On the other hand, as shown in Fig. 3, in the state where the pin PN1 (solid line) has escaped from the notch NT of the plate PL1, the relative movement between the plates PL1 and PL2 in the front-rear direction Z is not restricted. As a result, the movement of the driver's seat 5S relative to the floor 5F shown in Fig. 2 in the front-rear direction Z is also not restricted, and the operation lock of the vibration suppression device 40 is released.

[0048] 5 and 6, the operation of the vibration suppression device 40 may be switched between locked and unlocked by moving the pin PN2 in the vertical direction Y. In this case, as shown in Fig. 5, the pin PN2 of the locking mechanism 30 may be inserted into the through hole TH1 of the plate PL1 and the through hole TH2 of the plate PL2. The through hole NT1 and the through hole TH2 have portions that overlap each other in a plan view when the wheel loader 1 is stopped. The pin PN2 may remain inserted in the through hole TH2 as long as it is at least insertable and removable from the through hole TH1, or may be insertable and removable from the through hole TH2.

[0049] 6, the lock mechanism 30 has, for example, a pin PN2, an air cylinder AS, a control valve CB, and an air supply source SS. The pin PN2 is connected to the air cylinder AS. The air cylinder AS can expand and contract in the vertical direction. The air supply source SS is connected to the air cylinder AS via the control valve CB.

[0050] Supplying and discharging air to and from the air cylinder AS causes the air cylinder AS to expand and contract in the vertical direction Y. As the air cylinder AS expands and contracts in the vertical direction Y, the pin PN2 moves in the vertical direction Y. As the pin PN2 moves in the vertical direction Y, the pin PN2 is inserted and removed from at least the through-hole TH1.

[0051] In the inserted state where the pin PN2 is inserted into the through hole TH1 of the plate PL1, the relative movement between the plates PL1 and PL2 in the lateral directions (for example, the left-right direction X and the front-rear direction Z) is restricted. This restricts the lateral movement of the driver's seat 5S relative to the floor 5F shown in FIG. 2, and locks the operation of the vibration suppression device 40.

[0052] On the other hand, in the state where the pin PN2 has escaped from the through-hole TH1 of the plate PL1 as shown in Fig. 6, the relative lateral movement between the plates PL1 and PL2 is not restricted. As a result, the lateral movement of the driver's seat 5S relative to the floor 5F shown in Fig. 2 is not restricted either, and the operation lock of the vibration suppression device 40 is released.

[0053] 2, when the damper member 20 is active, a fluid adjustment device 42 is connected to the damper member 20. The fluid adjustment device 42 adjusts the supply and discharge of fluid to the damper member 20. The fluid adjustment device 42 is, for example, a two-way switching valve, and is configured with an electromagnetic valve with fast operational response. In response to a command signal from the controller 50, the fluid adjustment device 42 switches between a path for supplying fluid from the fluid pump to one fluid chamber of the damper member 20 and a path for discharging fluid from the other fluid chamber of the damper member 20 to a fluid tank. The controller 50 acquires vibration information related to lateral vibration acting on the driver's seat 5S from the sensor 41, and controls the fluid adjusting device 42 to suppress the lateral vibration, thereby controlling the operation of the damper member 20. By thus actively moving the driver's seat 5S in response to the lateral vibration acting on the driver's seat 5S, the lateral vibration of the driver's seat 5S can be actively suppressed. The fluid adjustment device 42 may be, for example, a variable throttle valve. The fluid adjustment device 42 changes the speed at which the fluid moves from one of the first fluid chamber 20a and the second fluid chamber 20b of the damper member 20 to the other fluid chamber, based on a control signal from the controller 50. This adjusts the damping force of the damper member 20. The damper member 20 may also be of a type that has a magnetorheological fluid and a coil, and changes the damping force by applying a magnetic field generated by passing current through the coil to the magnetorheological fluid. When the damper member 20 is of this type, the controller 50 controls a current adjustment device for adjusting the amount of current passed through the coil. By adjusting the damping force of the damper member 20 according to the strength of the vibration in the lateral direction of the driver's seat 5S relative to the floor 5F, the discomfort of the operator is further reduced.

[0054] The controller 50 includes a processor, a main memory, and a storage. The processor is, for example, a CPU (Central Processing Unit). The main memory includes, for example, a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The controller 50 reads a program stored in the storage, expands it in the main memory, and executes a predetermined process according to the program.

[0055] The controller 50 is electrically connected to each of the sensor 41, the fluid adjusting device 42, and the locking mechanism 30. The controller 50 acquires vibration information related to lateral vibration of the driver's seat 5S detected by the sensor 41. The controller 50 controls the locking mechanism 30 based on the vibration information detected by the sensor 41. The controller 50 switches between locking and unlocking the operation of the vibration suppression device 40 by the locking mechanism 30 based on a comparison between the vibration information detected by the sensor 41 and preset seismic isolation operation information.

[0056] The controller 50 may be mounted on the wheel loader 1, or may be disposed remotely outside the wheel loader 1. When the controller 50 is disposed remotely outside the wheel loader 1, the controller 50 may be wirelessly connected to the sensor 41, the fluid regulating device 42, the locking mechanism 30, and the like. The controller 50 may be stored in a server separate from the wheel loader 1.

[0057] 7, the controller 50 has a sensor information acquisition unit 51, a lock switching determination unit 52, a lock control unit 53, and a memory 54. The sensor information acquisition unit 51 acquires vibration information detected by the sensor 41. The lock switching determination unit 52 determines whether or not to lock the vibration suppression device 40 by the lock mechanism 30 based on a comparison between the vibration information acquired by the sensor information acquisition unit 51 and preset seismic isolation operation information. When making this determination, the lock switching determination unit 52 refers to the seismic isolation operation information stored in the memory 54.

[0058] The vibration information is, for example, at least one of the frequency and acceleration of lateral vibration of the driver's seat 5S. When the vibration information is the frequency of lateral vibration of the driver's seat 5S, the seismic isolation operation information is a reference value of the number of lateral vibrations of the driver's seat 5S. When the vibration information is the acceleration of lateral vibration of the driver's seat 5S, the seismic isolation operation information is a reference value of the acceleration of lateral vibration of the driver's seat 5S.

[0059] Furthermore, the vibration information may be, for example, one or more output signals selected from the group consisting of a work machine operation lever, a travel lever, and a work mode changeover switch. The seismic isolation operation information may be the amount of operation of each lever in a specific work mode, ON / OFF information of a switch, etc. The seismic isolation operation information may be stored in the memory 54 of the controller 50 from the time the wheel loader 1 is initially sold, or may be input after the sale of the wheel loader 1. The seismic isolation operation information may be input to the memory 54 using an input device (such as a touch panel) installed outside the controller 50.

[0060] The lock control unit 53 controls the lock mechanism 30 based on the determination result of the lock switch determination unit 52. The lock control unit 53 controls the lock mechanism 30, for example, by outputting a command current to the lock mechanism 30. The lock control unit 53 controls the lock mechanism 30 so that the lock mechanism 30 switches between locking and unlocking the vibration suppression device 40.

[0061] From the above, when the controller 50 determines from the vibration information that the frequency and acceleration of vibration in the lateral direction of the driver's seat 5S are high, when it determines that the wheel loader 1 is in a specific work mode, or when it determines that there has been an input of the operator's own will, it controls to unlock the vibration suppression device 40 and activate the vibration suppression device 40. In addition, in cases other than the above, the controller 50 controls to lock the vibration suppression device 40 so that it does not activate.

[0062] <Method of controlling a work vehicle>

[0063] Next, a method for controlling the work vehicle will be described.

[0064] Fig. 8 is a flow diagram showing a control method for a work vehicle in one embodiment of the present disclosure. As shown in Fig. 7 and Fig. 8, the sensor 41 detects vibration information related to lateral vibration of the driver's seat 5S. The sensor 41 outputs a signal related to the detected vibration information to the controller 50. The sensor information acquisition unit 51 of the controller 50 acquires vibration information related to the lateral vibration of the driver's seat 5S from the sensor 41 (step S1: Fig. 8).

[0065] The sensor information acquisition unit 51 outputs a signal related to the acquired vibration information to the lock switching determination unit 52. The lock switching determination unit 52 determines whether or not to lock the vibration suppression device 40 by the lock mechanism 30 based on a comparison between the acquired vibration information and preset seismic isolation operation information (step S2: FIG. 8). The lock switching determination unit 52 refers to the seismic isolation operation information stored in the memory 54 when making this determination.

[0066] The lock switching determination unit 52 outputs a signal indicating the determination result to the lock control unit 53. The lock control unit 53 controls the lock mechanism 30, for example, by outputting a command current to the lock mechanism 30. Based on the acquired determination result, the lock control unit 53 controls the lock mechanism 30 so that the lock mechanism 30 switches between locking and unlocking the vibration suppression device 40. When the lock control unit 53 acquires a determination result that the vibration suppression device 40 is not to be locked, it controls the lock mechanism 30 to unlock the vibration suppression device 40 (step S3: FIG. 8).

[0067] Specifically, the lock control section 53 of the controller 50 controls the control valve CB so that the pin PN1 escapes from the notch NT of the plate PL1 in Figures 3 and 4, or so that the pin PN2 escapes from the through-hole TH1 of the plate PL1 in Figures 5 and 6. This releases the lock on the vibration suppression device 40, and the restriction on the lateral movement of the driver's seat 5S relative to the floor 5F is lifted.

[0068] Furthermore, when the lock control unit 53 acquires a determination result that the vibration suppression device 40 is to be locked, the lock control unit 53 controls the lock mechanism 30 to lock the vibration suppression device 40 (step S4: FIG. 8).

[0069] Specifically, the lock control section 53 of the controller 50 controls the control valve CB so that the pin PN1 is inserted into the notch NT of the plate PL1 in Figures 3 and 4, or so that the pin PN2 is inserted into the through holes TH1, TH2 in Figures 5 and 6. This locks the vibration suppression device 40, and restricts lateral movement of the driver's seat 5S relative to the floor 5F.

[0070] <Effects>

[0071] Next, the effects of this embodiment will be described.

[0072] 2, in this embodiment, the locking mechanism 30 switches between locking and unlocking the vibration suppression device 40 based on a comparison between vibration information detected by the sensor 41 and preset seismic isolation operation information. This allows the operation of the vibration suppression device 40 to be locked at an appropriate timing, thereby reducing discomfort to the operator when the work vehicle 1 is operating.

[0073] Furthermore, by unlocking the vibration suppression device 40, the lateral vibration of the driver's seat 5S relative to the floor 5F can be suppressed. This reduces the physical burden on the operator caused by vibrations while working on the work vehicle, and can also reduce the operator's physical fatigue after working for long periods of time.

[0074] In this embodiment, the vibration information is at least one of the frequency and acceleration of the lateral vibration of the driver's seat 5S. This makes it possible to control the locking mechanism 30 based on the frequency and acceleration of the lateral vibration. For example, when the frequency of the lateral vibration is high (for example, the frequency of the lateral vibration is low) or when the acceleration of the lateral vibration is high (for example, the lateral vibration is large), the vibration suppression device 40 is unlocked, so that the lateral vibration can be attenuated early.

[0075] In this embodiment, the vibration information is one or more output signals selected from the group consisting of a work machine operation lever, a travel lever, and a work mode changeover switch. This makes it possible to control the lock mechanism 30 based on the operation information of each lever and switch. For example, if it is determined from the operation information of each lever and switch that a specific work mode in which lateral vibrations become large is in effect, the lateral vibrations can be attenuated early by unlocking the vibration suppression device 40.

[0076] 2, in this embodiment, the vibration suppression device 40 has a damper member 20 connected to each of the driver's seat 5S and the floor 5F. The damper member 20 can attenuate vibration of the driver's seat 5S in the lateral direction relative to the floor 5F.

[0077] 2, the present embodiment is provided with a fluid adjustment device 42 that adjusts the supply and discharge of fluid to and from the damper member 20. The supply and discharge of fluid to and from the damper member 20 is adjusted based on vibration information detected by a sensor 41. This makes it possible to actively move the driver's seat 5S in response to lateral vibration acting on the driver's seat 5S, and actively suppresses the lateral vibration of the driver's seat 5S. This further reduces the discomfort felt by the operator.

[0078] 2, in this embodiment, the vibration suppression device 40 has elastic members SP1 and SP2 connected to the driver's seat 5S and the floor 5F, respectively. This makes it possible to absorb lateral vibrations of the driver's seat 5S that cannot be fully absorbed by the damper member 20, enabling the vibrations to be quickly attenuated.

[0079] <Additional Notes>

[0080] The above-described embodiment includes the following technical ideas.

[0081] (Appendix 1) The driver's seat and A vibration suppression device that suppresses lateral movement of the driver's seat; a lock mechanism that switches between locking and unlocking the operation of the vibration suppression device; a sensor for detecting vibration information relating to lateral vibration of the driver's seat; A work vehicle comprising: a controller that switches between locking and unlocking the vibration suppression device using the locking mechanism based on a comparison between the vibration information detected by the sensor and preset seismic isolation operation information.

[0082] (Appendix 2) 2. The work vehicle according to claim 1, wherein the vibration information is at least one of a frequency and an acceleration of lateral vibration of the driver's seat.

[0083] (Appendix 3) 2. The work vehicle according to claim 1, wherein the vibration information is one or more output signals selected from the group consisting of a work equipment operation lever, a travel lever, and a work mode changeover switch.

[0084] (Appendix 4) A floor supporting the driver's seat is further provided, 4. The work vehicle according to claim 1, wherein the vibration suppression device has a damper member connected to each of the driver's seat and the floor.

[0085] (Appendix 5) 5. The work vehicle as described in claim 4, further comprising a fluid regulating device that regulates the supply and discharge of fluid to the damper member.

[0086] (Appendix 6) 6. The work vehicle according to claim 4, wherein the vibration suppression device has elastic members connected to each of the driver's seat and the floor.

[0087] (Appendix 7) 7. The work vehicle according to claim 1, wherein the seismic isolation operation information is stored in the controller.

[0088] (Appendix 8) The driver's seat and A vibration suppression device that suppresses lateral movement of the driver's seat; a lock mechanism that switches between locking and unlocking the operation of the vibration suppression device; a sensor for detecting vibration information relating to lateral vibration of the driver's seat; A system including a work vehicle, comprising: a controller that switches between locking and unlocking the vibration suppression device using the locking mechanism based on a comparison between the vibration information detected by the sensor and preset seismic isolation operation information.

[0089] (Appendix 9) A control method for a work vehicle including a driver's seat, a vibration suppression device that suppresses lateral movement of the driver's seat, and a locking mechanism that switches between locking and unlocking operation of the vibration suppression device, comprising: obtaining vibration information relating to lateral vibration of the driver's seat; A method for controlling a work vehicle comprising a step of switching between locking and unlocking the operation of the vibration suppression device by the locking mechanism based on a comparison between the acquired vibration information and preset seismic isolation operation information.

[0090] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0091] 1 wheel loader, 2 travelling body, 3 work machine, 4 front wheel, 5 driver's cab, 5F floor, 5S driver's seat, 6 engine room, 7 rear wheel, 9 steering cylinder, 10 vehicle frame, 11 front frame, 12 rear frame, 13 connecting shaft portion, 14 boom, 15 bucket, 16 lift cylinder, 17 bucket cylinder, 18 bell crank, 20 damper member, 30 lock mechanism, 40 vibration suppression device, 41 sensor, 42 fluid adjustment device, 50 controller, 51 sensor information acquisition portion, 52 lock switch determination portion, 53 lock control portion, 54 memory, AS air cylinder, BL1, BL2, BL3 fixing member, CB control valve, LE switch lever, NT1, TH, TH1, TH2 through hole, PL1, PL2 plate, PN1, PN2 pin, SP1, SP2 elastic member, SS air supply source.

Claims

1. The driver's seat and A vibration suppression device that suppresses lateral movement of the driver's seat; a lock mechanism that switches between locking and unlocking the operation of the vibration suppression device; a sensor for detecting vibration information relating to lateral vibration of the driver's seat; A work vehicle comprising: a controller that switches between locking and unlocking the vibration suppression device using the locking mechanism based on a comparison between the vibration information detected by the sensor and preset seismic isolation operation information.

2. The work vehicle according to claim 1 , wherein the vibration information is at least one of a frequency and an acceleration of lateral vibration of the driver's seat.

3. The work vehicle according to claim 1 , wherein the vibration information is one or more output signals selected from the group consisting of a work equipment operation lever, a travel lever, and a work mode changeover switch.

4. A floor supporting the driver's seat is further provided, The work vehicle according to claim 1 , wherein the vibration suppression device includes a damper member connected to each of the driver's seat and the floor.

5. The work vehicle according to claim 4 , further comprising a fluid regulating device that regulates the supply and discharge of fluid to and from the damper member.

6. The work vehicle according to claim 4 , wherein the vibration suppressing device includes an elastic member connected to each of the driver's seat and the floor.

7. The work vehicle according to claim 1 , wherein the seismic isolation operation information is stored in the controller.

8. The driver's seat and A vibration suppression device that suppresses lateral movement of the driver's seat; a lock mechanism that switches between locking and unlocking the operation of the vibration suppression device; a sensor for detecting vibration information relating to lateral vibration of the driver's seat; A system including a work vehicle, comprising: a controller that switches between locking and unlocking the vibration suppression device using the locking mechanism based on a comparison between the vibration information detected by the sensor and preset seismic isolation operation information.

9. A control method for a work vehicle including a driver's seat, a vibration suppression device that suppresses lateral movement of the driver's seat, and a locking mechanism that switches between locking and unlocking operation of the vibration suppression device, comprising: obtaining vibration information relating to lateral vibration of the driver's seat; A method for controlling a work vehicle comprising a step of switching between locking and unlocking the operation of the vibration suppression device by the locking mechanism based on a comparison between the acquired vibration information and preset seismic isolation operation information.

Images