Work vehicle and control method for work vehicle

A work vehicle including a fork on which a cargo is loaded, the work vehicle comprising:

• a hydraulic motor that drives a drive wheel for moving the work vehicle;
• a traveling hydraulic pump that is a pump forming a closed circuit with the hydraulic motor, and discharging operating oil to drive the hydraulic motor, the traveling hydraulic pump including an operation mechanism that changes a capacity of the pump and changes a rotating direction of the hydraulic motor by inverting an intake side and a discharge side of the operating oil;
• a drive device that operates the operation mechanism by operating oil;
• an advancing direction detection device that detects a state of an advancing direction switching device for switching a forward movement and a reverse movement of the work vehicle;
• and
• a control device that supplies a traveling instruction for allowing the work vehicle to travel to the drive device to operate the operation mechanism in order to discharge the operating oil from the traveling hydraulic pump, wherein
• an operation amount of the operation mechanism is determined by the traveling instruction and a load of the closed circuit, and
• the control device obtains determination speed from a speed upon detecting inverting operation, the speed upon detecting inverting operation being a speed of the work vehicle when the advancing direction detection device detects an inverting operation of the advancing direction switching device for inverting the advancing direction of the work vehicle while the work vehicle travels,
• the control device decreases a first traveling instruction for allowing the work vehicle to travel in the advancing direction of the work vehicle upon the detection of the inverting operation, and increases a second traveling instruction for allowing the work vehicle to travel in the direction opposite to the advancing direction of the work vehicle upon the detection of the inverting operation, after detecting the inverting operation,
• the control device sets the first traveling instruction to 0 when the speed of the work vehicle becomes the determination speed, and
• the control device sets the first traveling instruction to 0 in a case where the speed of the work vehicle is not more than a predetermined value, a pressure at an intake side of the traveling hydraulic pump is not more than a predetermined value, a pressure at a discharge side of the traveling hydraulic pump is not more than a predetermined value, and a pressure of the operating oil generated by the drive device is not more than a predetermined value, when the inverting operation is detected upon an occurrence of abnormality on a device detecting the speed.

A control method for a work vehicle including a work machine;

• a hydraulic motor that drives a drive wheel for moving the work vehicle;
• a traveling hydraulic pump that is a pump forming a closed circuit with the hydraulic motor, and discharging operating oil to drive the hydraulic motor, the traveling hydraulic pump including an operation mechanism that changes a capacity of the pump and changes a rotating direction of the hydraulic motor by inverting an intake side and a discharge side of the operating oil;
• an advancing direction detection device that detects a state of an advancing direction switching device for switching a forward movement and a reverse movement of the work vehicle;
• and a control device that supplies a traveling instruction for allowing the work vehicle to travel to a drive device of the operation mechanism to operate the operation mechanism in order to discharge the operating oil from the traveling hydraulic pump, an operation amount of the operation mechanism being determined by the traveling instruction and a load of the closed circuit,
• the control method comprising:
• obtaining determination information from information upon detecting inverting operation, the information upon detecting inverting operation indicating a traveling state of the work vehicle when the advancing direction detection device detects an inverting operation of the advancing direction switching device for inverting the advancing direction of the work vehicle while the work vehicle travels,
• decreasing a first traveling instruction for allowing the work vehicle to travel in the advancing direction of the work vehicle upon the detection of the inverting operation, and increasing a second traveling instruction for allowing the work vehicle to travel in the direction opposite to the advancing direction of the work vehicle upon the detection of the inverting operation, after the detection of the inverting operation, and
• setting the first traveling instruction to 0 when speed information indicating a traveling state of the work vehicle becomes the determination information.