# US 2016/0257538 A1 · Work vehicle and control method for work vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0257538 A1 - Document ID: US20160257538A1 - Status: Published application - Kind: A1 - Application number: 14/422,877 - Filed: 2014-10-08 - Published: 2016-09-08 - Earliest claimed: 2014-10-08 - Assignees: Komatsu Ltd. - Applicants: Komatsu Ltd. - Inventors: Taishi Oiwa; Shinji Kaneko - Web page: https://patentgrep.com/patent/US20160257538A1 ## CPC - B66F 9/07572: {Propulsion arrangements} - B66F 9/07: Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers" - F16H 61/431: Pump capacity control by electro-hydraulic control means, e.g. using solenoid valves - F16H 61/438: Control of forward-reverse switching, e.g. control of the swash plate causing discharge in two directions - B60Y 2200/15: Fork lift trucks, Industrial trucks - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - F16H: GEARING - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A work vehicle obtains determination information from information upon detecting inverting operation, the information upon detecting inverting operation indicating a traveling state of the work vehicle when an advancing direction detection device detects an inverting operation of an advancing direction switching device for inverting an advancing direction of the work vehicle while the work vehicle travels; 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; and sets the first traveling instruction to 0 when speed information indicating a traveling state of the work vehicle becomes the determination information. ## Claims ### Claim 1 A work vehicle including a work machine, 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; 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, 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 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, 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, and the control device sets the first traveling instruction to 0 when speed information indicating a traveling state of the work vehicle becomes the determination information. ### Claim 2 (depends on 1) The work vehicle according to claim 1, wherein the determination information increases, as the information upon detecting inverting operation increases. ### Claim 3 (depends on 1) The work vehicle according to claim 1, wherein the information upon detecting inverting operation, the determination information, and the speed information are a speed. ### Claim 4 (depends on 1) The work vehicle according to claim 1, wherein the work machine includes a fork on which a cargo is loaded, and the work vehicle is a forklift. ### Claim 5 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. ### Claim 6 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.