JP4497707B2 - Mixer drum drive controller - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a concrete mixer truck, and more particularly to a mixer drum drive control device for a concrete mixer truck that prevents reverse rotation of the mixer drum in the discharging direction during vehicle travel.
[0002]
[Prior art]
In a concrete mixer truck, there is one disclosed in Japanese Patent Application Laid-Open No. 59-209930, for example, for preventing reverse rotation of the mixer drum in the discharging direction while the vehicle is running.
[0003]
This is provided with a drum rotation direction detection sensor and a running state detection sensor such as a vehicle tachometer. The drum rotation direction detection sensor detects reverse rotation, and the running state detection sensor detects a vehicle speed equal to or higher than a predetermined vehicle speed. At this time, an alarm lamp and an alarm buzzer warn that the drum is in a reverse state in the discharge direction, and the reverse state of the drum is corrected by an operator's operation.
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional example, an alarm is not issued at the time when the vehicle starts running, and a warning lamp and an alarm buzzer warn that the vehicle is in a reverse rotation state when a predetermined traveling speed is reached. Therefore, it is necessary to correct the drum reverse rotation state by operating the driver's seat operating device between these driving operations, and a complicated operation for simultaneously performing the vehicle driving operation and the drum rotation correcting operation is required.
[0005]
Furthermore, since there is no means for preventing the reverse rotation state of the running drum, and only an alarm is issued, it is possible to reverse the drum even during running, for example, during high speed running. In addition, the operation device is operated in the discharge direction, and it is impossible to prevent the raw control from being scattered during high speed traveling.
[0006]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a mixer drum drive control device that can prevent the reverse rotation of the mixer drum during traveling.
[0007]
[Means for Solving the Problems]
According to a first aspect of the present invention, a mixer drum rotatably mounted on a vehicle, a drive unit including a variable capacity pump and a motor capable of adjusting a discharge capacity for rotating the mixer drum forward, reverse, and increasing and decelerating, and a drive unit are added. A driving engine driving device for rotating at a reduced speed, an operating device having rotation setting means for the mixer drum, a pump capacity of the driving device and an engine driving device according to a setting signal of the rotation setting means of the operating device. It is characterized by comprising means for adjusting the rotation state and controlling the rotation state of the mixer drum, and a controller provided with a reverse rotation prevention means for preventing the mixer drum from rotating in the reverse rotation direction while the vehicle is running.
[0008]
The rotation of the mixer drum in the reverse direction includes, for example, a state in which the raw concrete is discharged, and the reverse rotation preventing means prevents the rotation of the mixer drum in the reverse direction, that is, the rotation in the discharge direction, while the vehicle is traveling.
[0009]
And The reversal prevention means transmits the rotation setting signal from the rotation setting means to the control means without changing while the vehicle is stopped, and the rotation setting signal is rotated in a state where the rotation setting signal is equal to or less than a predetermined number of rotations in the drum normal rotation direction while the vehicle is running. Or it changes to a rotation stop state, It is characterized by the above-mentioned.
[0010]
The rotation setting means of the operation device includes drum rotation, discharging in the reverse state, neutral in the stopped state, stirring in the low-speed rotation state in the normal rotation direction, charging in the higher-speed rotation state, etc., and the predetermined rotation number in the normal rotation direction of the drum The following rotation state is, for example, stirring or neutrality.
[0011]
When the vehicle is traveling, for example, when the rotation setting signal for discharging or charging is received, the reverse rotation preventing means changes this to stirring or neutral.
[0012]
The second invention is the first invention, The reverse rotation preventing means is released so as to allow the drum rotation to be discharged when the traveling speed of the vehicle is a predetermined value or less by a predetermined operation of the operating device.
[0013]
The predetermined operation refers to ON / OFF operation of a release button dedicated to the reverse rotation prevention means provided in the operation device, setting operation not used in normal drum rotation operation, or specification in a state where drum rotation operation is prohibited The operation etc. are said.
[0014]
The third invention is the second invention, In the release state of the reverse rotation preventing means, if the rotation setting signal of the operating device is not discharged, the mixer drum is prevented from rotating in the reverse rotation direction.
[0015]
The fourth invention is the second or third invention. The operation device is disposed outside the driver's seat and the vehicle, respectively, and the release of the reverse rotation preventing means is executed only by a predetermined operation of the operation device at the driver's seat.
[0016]
5th invention is 2nd or 3rd invention. The operation device is arranged outside the driver's seat and the vehicle, and the operation right of the drum rotation operation is set from the controller to the operation device to be operated, and the reverse rotation prevention means drives the operation right of the drum rotation operation. It can be canceled only when it is set in the seat operating device.
[0017]
The operation right means that the drum rotation can be changed only based on the drum rotation operation from the rotation setting means of the operating device that has acquired it, and the drum from the rotation setting means of the operating device that has not acquired the operation right. It means that rotation operation is not accepted.
[0018]
When the reverse rotation preventing means can be released only in a state where the operation right is set to the driver's operating device, the rotation operation from the rotation setting device of the operating device outside the vehicle becomes invalid.
[0019]
6th invention in 4th or 5th invention The operation device of the driver seat is provided with drum rotation state display means for displaying the drum rotation state, and the release state of the reverse rotation prevention means is displayed by blinking of the discharge display portion of the drum rotation state display means. It is characterized by.
[0020]
The drum rotation state display means displays the rotation state of the drum. For example, the drum rotation state display means can display the state of charging, stirring, neutrality, discharging, etc. by lighting, turning off, blinking, etc. is there.
[0021]
According to a seventh invention, in any one of the first to sixth inventions The detection of whether the vehicle is running or stopped is detected based on the operating state of a parking brake device provided in the vehicle.
[0022]
The operation state of the parking brake device includes, for example, a switch that detects the position of a parking brake lever or links.
[0023]
According to an eighth invention, in any of the third to seventh inventions The predetermined speed during traveling of the vehicle is detected by a predetermined value of a vehicle speed signal for detecting a vehicle speed or a predetermined value of an engine speed.
[0024]
The vehicle speed signal can be obtained from a rotational speed of a drive system, a rotational speed of a drive shaft, a propeller shaft, or the like, in addition to a case of obtaining from a vehicle speedometer.
[0025]
The predetermined value of the engine rotational speed can be set to a rotational speed (in this case, a low-speed gear is selected for the transmission) that is required to advance the vehicle at a slight speed.
[0026]
According to a ninth invention, in any one of the fourth to sixth inventions The controller sets an operation right only to the driver's seat operating device when there is a stop signal from the parking brake device.
[0027]
【The invention's effect】
Therefore, in the first invention, the reverse rotation preventing means prevents the mixer drum from rotating in the reverse rotation direction when the vehicle is running, so that it is possible to safely avoid scattering the raw concrete on the road.
[0028]
In addition, even if the operation position of the rotation setting means of the operating device is accidentally set to the drum reverse discharge position, or even if the rotation setting means of the operating device is accidentally operated and discharged during running, the output is still running. Therefore, the operator can start the vehicle without considering the operation position of the rotation setting means of the operation device, and can concentrate on the driving operation of the vehicle.
[0029]
Also, While the vehicle is running, the rotation setting signal of the rotation setting means of the operation device is changed by the reverse rotation prevention means to the rotation state or the rotation stop state below the predetermined rotation number in the normal rotation direction of the drum. Even if the operation position is, for example, reverse rotation discharge or high-speed rotation input, the operation position is changed to agitation or neutrality, and the vehicle can travel more safely.
[0030]
In the second invention, in addition to the effects of the first invention Even if the vehicle is discharged to a long and continuous place by releasing the reverse rotation prevention means, the vehicle can be continuously discharged while traveling at a speed below the predetermined value along with it, so that it can be used for road gutter work etc. Can do.
[0031]
Even when the reverse rotation preventing means is released, when the vehicle traveling speed exceeds a predetermined value, the mixer drum is prevented from rotating in the reverse rotation direction, as in the case where the reverse rotation preventing means is set. Therefore, even if the operation position of the rotation setting means of the operating device is forgotten to be changed from discharging to stirring or neutral, the reverse rotation preventing means is activated when the traveling speed exceeds a predetermined value, and the vehicle can be operated safely.
[0032]
In the third invention, in addition to the effects of the second invention Even if the reverse rotation preventing means is in the released state, if the rotation setting signal of the operating device is not discharged, the drum rotation is not discharged, and the drum rotation is performed only when the operator is discharging the rotation setting signal of the operating device. The drum rotation intended by the operator can be obtained by discharging.
[0033]
In the fourth invention, in addition to the effects of the second or third invention Since the release of the reverse rotation prevention means is limited to a predetermined operation of the driver's operating device, the release of the reverse rotation prevention means by the operator's operation device and the vehicle traveling by operating the vehicle traveling device may move back and forth. The operator can work without moving.
[0034]
In the fifth invention, in addition to the effects of the second or third invention, Since the reverse rotation prevention means can be released only when the operation right for the rotation operation of the drum is set to the operation device of the driver's seat, for example, the operation device outside the vehicle comes into contact with the roadside trees etc. Even if the operation position changes, the operation position of the rotation setting means is not received by the controller, and unintended drum reverse rotation can be prevented.
[0035]
In the sixth invention, in addition to the effects of the fourth or fifth invention, In the driver's seat operating device, the release state of the reverse rotation prevention means is displayed by the blinking of the discharge display portion of the drum rotation state display means, so that the vehicle tries to start that the reverse rotation prevention means has been released. It can effectively alert the operator.
[0036]
In the seventh invention Since the detection of whether the vehicle is traveling or stopped is detected based on the operating state of the parking brake device of the vehicle, the operator's intention to operate the vehicle is reflected, and it is possible to reliably determine whether the vehicle is stopped or traveling.
[0037]
In the eighth invention The predetermined speed while the vehicle is traveling is detected from a predetermined value of a vehicle speed signal for detecting the vehicle speed or a predetermined value of the engine speed, and thus can be easily obtained from the travel drive device of the vehicle.
[0038]
In the ninth invention Since the drum rotation operation is set to be performed only by the driver's seat operating device while the vehicle is running, for example, the operation device of the rotation setting means has changed due to the operation device outside the vehicle coming into contact with the roadside trees etc. However, the operation position of the rotation setting means is not received by the controller, and unintended drum reverse rotation can be reliably prevented.
[0039]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0040]
FIG. 1 shows a drive system configuration diagram of a mixer drum (hereinafter simply referred to as a drum) 1. A mixer drum 1 drive system comprising an engine 2, a variable displacement pump 3, a variable displacement motor 4, and a speed reducer 5, and this drive system A controller 6 to be controlled, an operating device 7 for the driver's seat, operating devices 8 and 9 outside the vehicle, a stop detection switch 18 for detecting an operating state of the parking brake device 17 of the vehicle, and a vehicle speed detection sensor 19 are provided.
[0041]
The rotational speed of the engine 2 is adjusted based on the opening degree of the throttle valve 11 operated by a throttle adjusting device 10 that functions as an actuator based on a rotational speed command signal Ner from the controller 6 to the engine 2. That is, the rotational speed of the engine 2 is increased to a higher rotational speed than that in the idle state where the accelerator is off when the vehicle is stopped.
[0042]
The rotational speed of the engine 2 is detected by the rotational speed detection sensor 12 and is input to the controller 6 as the rotational speed signal Ne.
[0043]
Although not shown, when the engine 2 employs an engine control controller as a countermeasure against exhaust gas, the rotation speed command signal Ner and the rotation speed signal Ne are transmitted between the engine control controller and the controller 6. It can be handled by signal exchange.
[0044]
The variable displacement pump 3 driven by the engine 2 receives the pump displacement command signal Dpr from the controller 6 and details the tilt angle of the variable displacement pump 3 according to the input signal and the forward rotation direction. The discharge direction and the discharge capacity are adjusted by the electromagnetic valve 13 that switches to the reverse direction and adjusts the tilt angle.
[0045]
The discharge direction and discharge capacity of the variable capacity pump 3 are input to the controller 6 as a pump capacity signal Dp by the capacity detection sensor 14.
[0046]
Although the details of the variable displacement motor 4 are omitted, the displacement is adjusted by an electromagnetic valve 15 that adjusts the tilt angle of the variable displacement motor 4 in response to the motor displacement command signal Dmr from the controller 6, and the variable displacement pump 3 is rotated by receiving the supply of the discharged fluid 3.
[0047]
The rotational speed Nm of the variable capacity motor 4 is proportional to the supply flow rate Q, and inversely proportional to the capacity Dm per revolution, and Nm = Q / Dm.
[0048]
The rotational speed of the variable capacity motor 4 is input to the controller 6 by the rotational speed detection sensor 16 as a motor rotational speed signal Nm.
[0049]
The variable capacity motor 4 does not require a motor whose capacity can be continuously changed from a small capacity to a large capacity. For example, the capacity can be changed in two stages: a small capacity for high speed rotation and a large capacity for normal rotation. Or a constant capacity motor whose capacity does not change. In the case of a constant capacity motor, the solenoid valve 15 is not necessary.
[0050]
The speed reducer 5 is driven by a variable capacity motor 4 and drives the mixer drum 1 at a rotational speed Nd obtained by reducing the rotational speed Nm with a predetermined reduction ratio.
[0051]
The stop detection switch 18 is activated when the parking brake device 17 is operated and is in a stop state, and transmits a stop signal Ub to the controller. The stop detection switch detects the operation state of the parking brake device 17, but can be configured by other means that can detect the stop state of the vehicle.
[0052]
The vehicle speed detection sensor 19 is composed of a vehicle speed meter or the like, detects the traveling speed of the vehicle, and transmits a vehicle speed signal Vc to the controller. Since the vehicle speed detection sensor 19 only needs to be able to detect the vehicle speed, the vehicle speed detection sensor 19 may detect the rotation of the drive shaft or propeller shaft of the vehicle.
[0053]
FIG. 2 shows an example of a specific configuration of the driver's seat operating device 7, which includes a changeover switch 20 as an input means incorporating a lamp 21 as a display means, a drum rotation setting switch 22 as a rotation setting means, a drum Each of the lamps 23 for inputting, stirring, neutral, and discharging for displaying the rotation state is connected to the controller 6.
[0054]
The changeover switch 20 transmits an operation right change request signal to an operation determination unit 31 (to be described later) of the controller 6 through an operation signal U1, and the built-in lamp 21 displays a display signal from the operation determination unit 31. A condition in which the operation right is turned on when the operation device 7 has the operation right by D1, is turned off when the operation right is in the other operation devices 8 and 9, and the operation right is requested by the changeover switch 20, but the operation right is switched. If it does not meet the above, it will blink.
[0055]
Then, when the lamp 21 is turned off by pressing the changeover switch 20 while the lamp 21 is lit, the rotation operation of the drum 1 is prohibited, and the rotation setting switch 22 and the rotation setting of any of the operation devices 7 to 9 are prohibited. The operations of the dials 27 and 27 a are not accepted by the operation determination unit 31 of the controller 6.
[0056]
The rotation setting switch 22 is a switch that is operated to increase or decrease the number of rotations of the drum 1 while there is an operation right when the built-in lamp 21 is lit, and an UP terminal that increases from a neutral OFF state. DOWN terminals to be reduced are arranged, and the rotation setting signal is transmitted to the controller 6 through the operation signal U1.
[0057]
The rotation state of the drum 1 can be confirmed by the lighting state of the input state, agitation, neutrality, and discharge state indicator lamp 23 selected and displayed by the display signal D1 from the operation determination unit of the controller 6.
[0058]
The discharge rotation state display lamp selected and displayed flashes while the reverse rotation preventing means A, which will be described later, is released, so that the operator is aware that it is being released.
[0059]
It should be noted that the built-in lamp 21 is not necessarily built in the changeover switch 20 and may be arranged separately, and the lamp 21 only needs to be able to display the presence or absence of the operation right. In addition to 21, a display means for character display or symbol display, for example, a liquid crystal display may be used although not shown.
[0060]
The operation devices 8 and 9 outside the vehicle (the operation devices 8 and 9 have the same configuration, so only the operation device 8 will be described). FIG. 3 shows an example of the specific configuration, and a lamp 26 as a display means is incorporated. And a rotation setting dial 27 as rotation setting means, which are connected to the controller 6.
[0061]
The changeover switch 25 transmits an operation right signal to an operation determination unit 31 (to be described later) of the controller 6 through an operation signal U2 (the operation device 9 is U3), and the built-in lamp 26 is connected to the operation determination unit 31 from the operation determination unit 31. The display signal D2 (the operation device 9 is D3) is turned on when the operation device 8 has the operation right, is turned off when the operation right is in the other operation devices 7 and 9, and is operated by the changeover switch 25. When the right is requested, but the condition for switching the operation right is not satisfied, the display blinks.
[0062]
The rotation setting dial 27 is a dial that is operated to set the number of rotations of the drum 1 while there is an operation right when the built-in lamp 26 is lit. The rotation setting dial 27 rotates clockwise from a neutral OFF state. Thus, the agitation position for rotating the drum 1 at a low speed, the input position for the medium speed rotation, and the high speed position are not shown, but the reverse rotation can be obtained by rotating counterclockwise. A discharge position that faces the time of input is obtained and transmitted to the controller 6 through the operation signal U2 as a rotation setting signal.
[0063]
In addition, the code | symbol of each part of the operating device 9 is set to the changeover switch 25a, the built-in lamp 26a, and the rotation setting dial 27a.
[0064]
Further, the lamps 26 and 26a built in the changeover switches 25 and 25a are not necessarily built in, and may be arranged separately from the switches, and these lamps 26 and 26a have a state of presence / absence of an operation right. The display is not limited to a lamp as long as it can be displayed, and may be a display means (for example, liquid crystal display) for displaying characters or symbols.
[0065]
FIG. 4 shows details of the controller 6 and includes an operation determination unit 31, a reverse rotation prevention unit 33, a drum rotation command generation unit 32, a drum rotation control unit 34, and a drum rotation conversion circuit 35.
[0066]
The operation determination unit 31 has a function of monitoring the switching request signal, the rotation setting signal, and the slump value setting signal of the driver's seat and the operation devices 7 to 9 outside the vehicle by the operation signals U1 to U3.
[0067]
Then, an operation right is set for any one of the operation devices 7 to 9 (the operation device 7 may be the driver's seat operation device when the engine is started), and the operation devices 7 to 9 having the operation right (hereinafter referred to as an operation device). The device 7 has a function of outputting the operation command signal U to the reverse rotation prevention unit 33 in accordance with the rotation setting signal of the rotation setting switch 22 (described in parentheses) and the rotation setting signal of (the rotation setting dial 27).
[0068]
The presence / absence of the operation right is indicated by lighting the built-in lamp 21 (26) with the display signal D1 (D2) in the changeover switch 20 (25) of the set operating device 7, and the operation right is displayed. The lamps 26 and 26a (21 and 26a) built in the changeover switches 25 and 25a (21 and 26a) of the other operation devices 8 and 9 that are not set are turned off by the display signals D2 and D3 (D1 and D3). Display that there is no operation right.
[0069]
Further, the operation right is obtained by pressing the changeover switch 25 of the operation devices 8 and 9 (where the operation device 7 is switched to the operation device 8) for which no operation right is set. If it is output to the operation determination unit 31 via U2 and a predetermined condition is satisfied, the operation right is changed to the operation device 8 that issued the change request signal, and the changeover switch 20 of the original operation device 7 is incorporated. The lamp 21 is turned off, and the built-in lamp 26 of the changeover switch 25 of the operation device 8 to be changed is turned on to indicate that the operation right has moved.
[0070]
The predetermined condition is that when the setting position of the rotation setting dial 27 of the operating device 8 that is the switching destination is a position that is equal to or lower than a predetermined rotational speed such as neutral or stirring, the switching to the operating device 8 that is the switching destination is performed. To allow.
[0071]
For example, although this permission condition is not shown, permission condition storage means is provided and stored in the permission condition storage means. The stored contents can be changed, and the rotation setting positions of the switching destination operation devices 7 to 9 are changed. It can also be changed to improve workability.
[0072]
Furthermore, even when the changeover switch 25 of the operating device 8 is operated (pressed) and an operation right switching request signal is input (for example, when switching from the operating device 7 to the operating device 8), the above permission condition is satisfied. If not satisfied, an alarm is given by blinking the lamp 26 built in the changeover switch 25 of the controller 8.
[0073]
Further, when the rotation setting means 22 and 27a of the operation devices 7 and 9 without the operation right are operated to change the rotation state of the drum 1 (for example, when the operation right is in the operation device 8), The fact that the operation is not permitted is displayed by blinking the built-in lamps 21 and 26a of the changeover switches 20 and 25a of the operation devices 7 and 9.
[0074]
In the above description, switching of the operation right from the operation device 7 to the operation device 8 has been described. However, any of the operation devices 7 to 9 can be a change source and a change destination.
[0075]
If the operation switch 7 of the driver's seat has the operation right and the switch 21 is pressed again while the lamp 21 built in the switch 20 is lit, the lamp 21 built in the controller 7 is turned off. Even if the rotation setting signal of the drum 1 is input from any of the operation devices 7 to 9, the operation command U is not output and the rotation operation prohibition state of the drum 1 is set.
[0076]
In this state, when the rotation setting switch 22 of the operation device 7 in the driver's seat is operated, the discharge lamp of the drum rotation state display lamp 23 of the operation device blinks (rotates) according to the operation direction of the rotation setting switch 22. When the setting switch 22 is pushed up and operated to the DOWN side), or is turned off (when the rotation setting switch 22 is pushed down and operated to the UP side), the reverse rotation prevention means A during traveling described later is released. Display whether or not.
[0077]
The blinking display of the discharge lamp is continued even when the changeover switch 20 of the operation device at the driver's seat is pressed again to light the built-in lamp 21 and the rotation operation prohibition state of the drum 1 is released. When the rotation setting switch 22 is depressed and operated to the UP side in the operation prohibited state, the light is turned off when the reverse rotation preventing means A is set.
[0078]
The reverse rotation prevention unit 33 receives an operation command U from the operation determination unit 31, a stop signal Ub from the stop detection switch 18, and a vehicle speed signal Vc from the vehicle speed detection sensor 19, and receives a stop signal Ub and a vehicle speed signal Vc. To determine the traveling state of the vehicle, and transmit an appropriate operation command U corresponding to the traveling state to the drum rotation command generation unit 32.
[0079]
In other words, during traveling, when the operation command U is the discharge in the reverse rotation state, the operation command U is neutral in the stop state, and when the operation command U is in the high speed rotation state even in the normal rotation state Is provided with reverse rotation prevention means A for changing the operation command U to low-speed agitation and outputting it.
[0080]
The reverse rotation prevention means A outputs the operation command U to the drum rotation command generator 32 without changing the operation command U when the running operation command U is neutral in a stopped state or stirring at a low speed.
[0081]
The reverse rotation prevention means A can be released by the procedure for prohibiting the rotation operation of the drum 1 by the operation device 7 at the driver's seat, and when it is released, the operation command U from the operation determination unit 31 is selected to be discharged. The operation command U is discharged only when the traveling speed Vc is a predetermined extremely low speed.
[0082]
Similarly, when the reverse rotation preventing means A is not released by the procedure for prohibiting the rotation operation of the drum 1 by the driver's seat operating device 7 described above, when the discharge is not selected as the operation command U, the traveling speed Vc. In any case, the operation becomes effective.
[0083]
When the vehicle is stopped, the reverse rotation prevention means A does not operate, and any operation command U is not blocked or changed by any of the operation devices 7 to 9 and is output to the drum rotation command generation unit 32. .
[0084]
The drum rotation command generation unit 32 stores the rotation speed (stirring rotation speed, charging rotation speed, discharge rotation speed) and rotation pattern (of time) stored according to the operation command signal U input from the reverse rotation prevention section 33. Is output as a drum rotation speed command Ndr to the drum rotation control unit 34.
[0085]
The stored various rotation speeds and rotation patterns are stored in accordance with the slump value or as parameters for increasing or decreasing the slump value of the rotation speed or rotation pattern. It can be changed arbitrarily by setting operation.
[0086]
The drum rotation speed control unit 34 is fed back via the drum rotation conversion circuit 35 from the rotation number of the drum 1, that is, the drum rotation number Nm, based on the drum rotation number command Ndr from the drum rotation number command generation unit 32. Control is performed so that Nd becomes the drum rotation speed command Ndr.
[0087]
Specifically, the required engine speed Ner, the required pump capacity Dpr, and the required motor capacity Dmr are calculated based on the drum speed command Ndr, and the throttle adjustment device 10, the electromagnetic valve 13 of the variable capacity pump 3, the variable capacity motor, respectively. 4 to the solenoid valve 15 to adjust the engine speed Ne, the pump capacity Dp, and the motor capacity Dm.
[0088]
For example, the motor capacity command Dmr is adjusted to be fixed to a large capacity on the low speed side of the motor capacity when the drum rotation is at a low speed such as a stirring state. The engine speed command Ner is adjusted so as to be fixed at the medium speed on the speed side, and the drum speed command Ndr is adjusted in cooperation with the pump capacity command Dpr (when the capacity of the motor 4 is fixed). Is adjusted in the same manner as described above by adjusting the rotational speed Ne of the engine 2 and the pump capacity Dp of the variable displacement pump 3).
[0089]
The engine speed command Ner is preferably in an idling state when the vehicle is stopped, and it is appropriate that a fine adjustment is made by changing the pump capacity Dp, and a large change is made at the engine speed Ne. When the engine speed Ne is equal to or higher than a predetermined speed, it is preferable to change the motor capacity Dm.
[0090]
Next, the operation will be described.
[0091]
1 to 4, immediately after the start of the engine 2 of the mixer truck, the rotation setting switch (rotation setting dials 27 and 27a) 22 is set to the neutral position by the rotation stop operation of the drum 1 at the end of the previous work, and the variable capacity The capacity Dp of the pump 3 is neutral zero, and the rotation of the drum 1 is in a neutral state in which the rotation is stopped.
[0092]
When the operator operates the driver's seat operating device 7 or the operating devices 8 and 9 outside the vehicle (here, the driver's seat operating device 7), the built-in lamp lamp 21 of the changeover switch 20 is indicated by the display signal D 1 of the controller 6. When the rotation setting switch 22 is operated to a stirring position or the like, for example, when the rotation setting switch 22 is operated to a stirring position or the like in a state where the operation right is turned on (the built-in lamps 26 and 26a of the operation devices 8 and 9 are turned off), the operation signal (rotation setting signal) U1 The operation determination unit 31 outputs an operation command U corresponding to the operation signal U1 to the reverse rotation prevention unit 33 because the operation determination unit 31 is the operation signal U1 from the operation device 7 with the operation right.
[0093]
When the reverse rotation prevention unit 33 determines that the vehicle is stopped based on the stop signal Ub or the vehicle speed signal Vc, the reverse operation prevention unit 33 transmits the same operation command U to the drum rotation command generation unit 32 without changing the type of the operation command U. To do.
[0094]
When it is determined that the vehicle is traveling based on the stop signal Ub or the vehicle speed signal Vc, the operation differs depending on whether the reverse rotation prevention means A is being set or released.
[0095]
During the setting of the reverse rotation prevention means A, regardless of the traveling speed during traveling, it is neutral when the operation command U is discharged, it is stirred when it is turned on, and it is left as it is when neutral and stirring. The operation command U is changed and output to the drum rotation generation unit 32.
[0096]
While the reverse rotation preventing means A is being released, the traveling speed signal Vc is extremely low, and only when the operation command U is discharged when the discharge is selected at the rotation setting position of the operating devices 7 to 9, If the operation command U to be output to the drum rotation command generation unit 32 is discharged and this condition is not satisfied, the operation command U is activated by enabling the operation of the reverse rotation prevention means A even when the reverse rotation prevention means A is released. Output to the rotation command generator 32.
[0097]
The drum rotation command generation unit 32 extracts a drum rotation number command Ndr corresponding to the operation command U from the stored drum rotation number command Ndr and outputs the drum rotation number command Ndr to the drum rotation control unit 34.
[0098]
As described above, the drum rotation speed control circuit 34 calculates the engine rotation speed Ner, the pump displacement command Dpr, and the motor displacement command Dmr so that the drum rotation speed Nd matches the drum rotation speed command Ndr. Output to the adjusting device 10, the variable displacement pump 3, and the variable displacement motor 4.
[0099]
The throttle adjusting device 10 adjusts the engine rotational speed Ne according to the engine rotational speed command Ner, and the variable displacement pump 3 adjusts the flow rate Q to be discharged according to the engine rotational speed Ne and the pump capacity command Dpr. In the motor 4, the motor rotation speed Nm is adjusted according to the flow rate Q and the motor capacity command signal Dmr.
[0100]
Further, the motor rotation speed Nm is converted into the drum rotation speed Nd by the speed reducer 5 and finally the drum rotation speed Nd is adjusted, so that the drum rotation speed Nd is automatically set to the rotation setting switch 22 of the operating device 7. The rotation position signal of the drum rotation state lamp 23 is turned on by the display signal D1 from the operation determination unit 31 of the controller 6 in the operation device 7 in the driver seat. Display that stirring is in progress.
[0101]
Next, the operation of the reverse rotation prevention unit 33 will be described with reference to the flowchart of FIG. In FIG. 5, Steps 3 to 5 are operations during the setting of the reverse rotation prevention means A, and Steps 6 to 9 are operations during the release of the reverse rotation prevention means A.
[0102]
First, when shifting from transportation to live concrete discharge work or when returning from the construction site and shifting to loading work again, when the parking brake lever 17 is operated to stop the mixer truck, the stop detection switch 18 is activated to stop the truck. In order to output the signal Ub, the reverse rotation prevention unit 33 of the controller 6 determines NO (stopped) in step 1.
[0103]
During this stop, the operation of the operation devices 7 to 9 and the output of the operation command U based on the rotation setting signals of all the drums 1 to the drum rotation command generation unit 32 are allowed.
[0104]
In addition, in a series of operations for transporting raw concrete, when loading the raw concrete from loading operation to transportation or when returning the raw concrete from the end of discharge at the construction site, the operator operates the parking brake lever 17 to run the mixer truck. When the release operation is performed, the vehicle stop detection switch 18 turns off the output of the vehicle stop signal Ub, and the reverse rotation prevention unit 33 of the controller 6 determines that the vehicle is traveling in Step 1 and proceeds to Step 2 to see if the parking brake lever 17 is released. It is determined whether or not.
[0105]
In step 2, since it is immediately after the parking brake lever 17 is released, the process proceeds to step 3 to determine whether or not the operation command U from the operation determination unit 31 is “neutral or discharged”. If it is “Neutral or Discharge”, the process proceeds to Step 4. If the operation command U is not “Neutral or Discharge”, the process proceeds to Step 5.
[0106]
In step 4, the operation command U is output as neutral in a drum stop state, and in step 5, the operation command U is output as stirring for low-speed drum rotation.
[0107]
Accordingly, the drum rotating state during traveling is fixed to the stopped state or the stirring state.
[0108]
Further, when the predetermined time or more has passed since the parking brake lever 17 was released in step 2 and the output of the stop signal Ub was stopped, the process proceeds to step 6 to check whether the reverse rotation prevention means A has been released. It is determined whether or not. This predetermined time is set to a time sufficient for performing the setting / cancellation operation described later of the reverse rotation preventing means A.
[0109]
When the reverse rotation prevention means A is being set at step 6, the routine proceeds to step 3 where the above-described reverse rotation prevention means A is operated.
[0110]
If the reverse rotation prevention means A is released in step 6, the process proceeds to step 7, where it is determined whether or not the operation command U from the operation determination unit 31 is discharged. If the operation command U is neutral, agitation, or input other than discharge, the reverse rotation prevention means A after step 3 is activated, and the process proceeds to step 8 only when the operation command U is discharge.
[0111]
In step 8, it is determined whether or not the vehicle speed signal Vc from the vehicle speed detection switch 19 is equal to or lower than a predetermined vehicle speed. If the vehicle speed signal Vc exceeds the predetermined vehicle speed, the process proceeds to step 3 and the above-described reverse rotation prevention means A is operated to Only in the case of the following slow speed state, the process proceeds to Step 9 and the operation command U output to the drum rotation command generation unit 32 in Step 9 is discharged.
[0112]
Accordingly, the operator can run the mixer truck while continuously discharging the raw concrete to a gutter construction place or the like extending along the course while advancing the mixer truck whose rotation of the drum 1 is in the reverse state of the discharge at a slow speed. .
[0113]
In the above operation, the process proceeds to step 3 in which the reverse rotation preventing means A operates or whether or not the reverse rotation preventing means A is released depending on whether or not the parking brake lever 17 in step 2 has been released. Step 2 and Step 6 are arranged in the portion of Step 2 shown as an integrated step, and whether or not the reverse rotation prevention means A is set in Step 2 is determined. You may make it judge.
[0114]
In this case, the setting / cancellation of the reverse rotation prevention means A is determined in step 2, and if it is being set, the process proceeds to step 3, and if it is being canceled, the process proceeds to step 7.
[0115]
The setting / releasing of the reverse rotation preventing means A will be described below with reference to the flowcharts of FIGS.
[0116]
FIG. 6 is a flowchart showing the procedure of the setting / cancellation operation of the reverse rotation preventing means A, and FIG. 7 is the flowchart of the reverse rotation preventing means A executed by the operation determination unit 31 according to the procedure of the setting / cancellation operation of the reverse rotation preventing means A. 6 shows a flowchart of processing for determining a setting / cancellation operation.
[0117]
In FIG. 6, first, the rotation operation of the drum 1 is prohibited by the operation of steps 10 to 12 of the procedure 1. In this rotation operation prohibited state, the reverse rotation preventing means is operated by the operation of steps 20 to 24 of the procedure 2. A setting / cancellation of A is selected, and the prohibition state of the rotation operation of the drum 1 is canceled in step 35 of the procedure 3 to enable the rotation operation of the drum 1.
[0118]
In the procedure 1, it is confirmed whether or not the driver's seat operating device 7 has an operation right by checking whether or not the lamp 21 built in the changeover switch 20 of the driver's seat operating device 7 is lit (step 10). ) When the driver's seat operating device 7 has no operation right and the built-in lamp 21 is turned off, the changeover switch 20 is pressed to cause the driver's seat operating device 7 to acquire the right to operate. The lamp 21 is turned on (step 11).
[0119]
Next, in a state where the lamp 21 built in the changeover switch 20 is lit (by steps 10 and 11), the drum rotation operation is prohibited by pressing the changeover switch 20, and this is turned off by turning off the built-in lamp 21. Confirm (step 12).
[0120]
The procedure 2 includes step 20 for confirming whether to select setting / cancellation of the reverse rotation prevention means A, operation and confirmation of steps 21 and 22 for canceling the reverse rotation prevention means A, and setting the reverse rotation prevention means A. And operations of steps 23 and 24.
[0121]
If the reverse rotation prevention means A is canceled as a result of the confirmation in the step 20, an operation (depressing the drum rotation switch 22 to the DOWN side) is performed (step 21). As a result of this operation, the drum rotation state display means 23 It is confirmed whether or not the discharge lamp blinks (step 22). If the discharge lamp does not blink, repeat step 21 to confirm that the discharge lamp blinks.
[0122]
On the other hand, if the reverse rotation prevention means A is set as a result of the confirmation in step 20, an operation (push up the drum rotation switch 22 to the UP side) is performed (step 23), and the drum rotation state display means 23 is thereby operated. The discharge lamp is turned off (step 24).
[0123]
The procedure 3 is to release the drum rotation prohibition state. When the built-in lamp 21 is turned off (drum rotation prohibition state), the built-in lamp is pressed by pressing the changeover switch 20 of the operation device 7 in the driver's seat. 21 is turned on (step 35), thereby displaying that the operation device 7 in the driver's seat has the operation right and that the drum 1 can be rotated.
[0124]
The reverse rotation prevention means A is set / released by the above operation, and these procedures are determined by the flowchart of FIG.
[0125]
In FIG. 7, steps 14 to 19 are the determination flowchart of the procedure 1, steps 25 to 31 are the determination flowchart of the procedure 2, and steps 36 to 39 are the determination flowchart of the procedure 3, respectively.
[0126]
First, it is determined in step 13 whether or not the drum rotation in the procedure 1 is prohibited. If the drum rotation is not prohibited, the process proceeds to step 14 to determine whether or not the changeover switch 20 of the driver's seat operating device 7 is pressed. To be judged.
[0127]
The case where the changeover switch 20 is not pressed is a case where the operation right is set to the operation devices 8 and 9 outside the vehicle and the operation right is not switched to the operation device 7 in the driver's seat. Even if the operation right is set, the setting / canceling of the reverse rotation prevention means A is not performed, and the process ends.
[0128]
When the changeover switch 20 of the driver's seat operating device 7 is pressed, the process proceeds from the step 14 to the step 15, and the changeover switch 20 is pressed for the first time from the operating devices 8 and 9 outside the vehicle. It is determined whether the operation right is switched to the operation device 7 or whether the second operation right is in the operation device 7 in the driver's seat and the lamp 21 built in the change-over switch 20 is pressed.
[0129]
If it is determined in step 15 that the operating devices 8 and 9 outside the vehicle have the right to operate, it is determined that the changeover switch 20 of the driver's operating device 7 is pressed for the first time. The right of operation is switched and set in the seat operating device 7, and in step 17, the built-in lamp 21 is turned on in the changeover switch 20 of the driver operating device 7.
[0130]
In step 15, the driver's seat operating device 7 has an operation right, that is, the selector switch 20 is pressed while the switch 21 of the driver's seat operating device 7 is lit, that is, the selector switch 20. When it is determined that is pressed for the second time, the process proceeds to step 18, and in step 19, the lamp 21 built in the changeover switch 20 is turned off to make the operator confirm that the drum rotation operation is prohibited.
[0131]
If it is determined in step 13 that the drum rotation operation is prohibited, the process proceeds to step 36, where it is determined whether or not the drum rotation prohibited state is to be released based on whether or not the changeover switch 20 is pressed. If the switch 20 has not been pressed, the routine proceeds to step 25, where it is determined whether or not the rotation setting switch 22 of the driver's seat operating device 7 has been operated.
[0132]
If it is determined in step 25 that the rotation setting switch 22 has been operated, if it is determined in step 26 that the rotation setting switch 22 has been continuously pressed down in the DOWN direction, the process proceeds to step 28, and in step 26, the predetermined time is satisfied. If it is not pushed down in the DOWN direction and if it is pushed up in the UP direction, the process proceeds to step 27. If it is pushed up in the UP direction, the process proceeds to step 30.
[0133]
In step 28, the reverse rotation prevention means A is released, and in step 29, the discharge lamp of the drum rotation state display means 23 of the driver's seat operating device 7 blinks to warn that the reverse rotation prevention means A has been released.
[0134]
At step 30, the reverse rotation prevention means A is set, and at step 31, the discharge lamp of the drum rotation state display means 23 of the driver's seat operating device 7 is turned off to display that the reverse rotation prevention means A is set. .
[0135]
If the rotation setting switch 22 is not operated in step 25 and if it is determined in step 27 that the rotation setting switch 22 is pressed in the DOWN direction which is less than the predetermined time, it is determined that the changeover switch 20 in step 36 has been pressed. Until the next time, the processing of steps 25 to 27 is continued in the next time and thereafter.
[0136]
If it is determined in step 36 that the changeover switch 20 has been pressed while the drum rotation is prohibited, the process proceeds to step 37 where the drum 1 can be rotated, and in step 38 the drum 1 can be rotated. This is displayed by turning on the built-in lamp 21 in the changeover switch 20.
[0137]
Note that only one of the reverse rotation prevention means A in steps 28 and 29 and the reverse rotation prevention means A in steps 30 and 31 can be selected. When one is selected, the other is released. When the other is selected, one of the two is canceled.
[0138]
In the above-described embodiment, the operation right is switched to the driver's seat operating device 7 when the reverse rotation preventing means A is set / released. However, the operation determination unit 31 of the controller 6 is changed from the reverse rotation preventing unit 33 to the parking brake device. It is further preferable that the operation determination unit 31 of the controller 6 receives the stop signal Ub from the 17 stop detection switch 18 and specifies the operation device to which the operation right is given during traveling.
[0139]
That is, when the vehicle is stopped, the operation right is switched and given to any one of the operation devices 7 to 9 that has requested the operation right among all the operation devices 7 to 9, and the driver's seat is The operation right is given only to the operation device 7.
[0140]
With this configuration, during traveling, the operation signal U1 is input to the operation determination unit 31 of the controller 6 only from the operation device 7 in the driver's seat, and the operation devices 8 and 9 outside the vehicle are rotated by a tree or the like. Even if the setting position of 27a is changed, nothing is input to the controller, and more accurate control is possible, and the reverse rotation prevention means A determines from which operating device the operation command U is issued. There is no need.
[0141]
In the above embodiment, the setting / releasing operation of the reverse rotation preventing means A is performed by the rotation setting switch 22 of the driver device 7 after the drum rotation operation is prohibited. The setting / release operation is not limited to this. For example, a release button for the reverse rotation prevention means A may be provided on the driver's seat operating device 7 and the release button may be turned ON / OFF. The reverse rotation prevention means A may be released by an operation that is not used in this drum rotation operation, for example, by continuously pressing the changeover switch of the driver's seat operating device 7 for a predetermined time.
[0142]
In the present embodiment, the reverse rotation preventing means A prevents the mixer drum 1 from rotating in the reverse rotation direction when the vehicle is traveling, so that it is possible to safely avoid scattering the raw concrete on the road.
[0143]
Further, the reverse rotation prevention means A changes the rotation setting signal of the operation device 7 to a rotation state or a rotation stop state below the predetermined rotation number in the drum normal rotation direction while the vehicle is traveling. Even if the operation position of the means 22 is, for example, discharging reverse rotation or turning on high speed rotation, the operation position is changed to stirring or neutrality, and the vehicle can be driven more safely.
[0144]
Therefore, even if the operation position of the rotation setting means 22 of the operation device 7 is erroneously set to the drum reverse discharge position, or when the rotation setting means 22 of the operation device 7 is erroneously operated during running, Since the output is blocked during traveling, the operator can start traveling of the vehicle without considering the operation position of the rotation setting means 22 of the operating device 7, and can concentrate on driving operation of the vehicle.
[0145]
Further, the reverse rotation prevention means A can be released, and even when discharging to a long continuous place, the vehicle is continuously discharged while traveling at a traveling speed below a predetermined value along with it, so that it is possible to cope with road gutter work or the like. be able to.
[0146]
Moreover, even when the reverse rotation preventing means A is in the released state, when the vehicle traveling speed exceeds a predetermined value, the mixer drum 1 is rotated in the reverse rotation direction, as in the case where the reverse rotation preventing means A is set. In order to prevent this, the vehicle can be operated safely even when the driving speed exceeds a predetermined value even if the operating position of the rotation setting means 22 of the operating device 7 is changed from discharging to stirring or neutral.
[0147]
Further, even when the reverse rotation preventing means A is being released, in the case of the reverse rotation of the drum while traveling at a low speed, if the rotation setting signal of the operation device 7 is not set to discharge, the drum does not discharge one rotation and the operator operates the operation device. Only when the rotation setting signal is discharged, the drum rotation is discharged, and the drum rotation intended by the operator can be obtained.
[0148]
Since the release of the reverse rotation prevention means A is limited to a predetermined operation of the driver's seat operation device 7, the operator's operation device 7 releases the reverse rotation prevention means A and the vehicle travels by operating the vehicle travel device. However, it is executed before and after, and the operator can work without moving.
[0149]
In addition, if the reverse rotation prevention means A can be released only when the operation right of the drum rotation operation is set in the driver's seat operating device 7, for example, the operating devices 8 and 9 outside the vehicle come into contact with roadside trees or the like. Even if the operation position of the rotation setting means 27, 27a is changed, the operation position of the rotation setting means 27, 27a is not received by the controller 6, and unintended reverse rotation of the drum 1 can be prevented.
[0150]
Further, since the release state of the reverse rotation prevention means A is displayed by blinking of the discharge display portion of the drum rotation state display means 23, it is effective for the operator who is going to start the vehicle that the reverse rotation prevention means A is released. Can alarm.
[0151]
Furthermore, since the detection of the vehicle running or stopped is detected by the operating state of the parking brake device 17 of the vehicle, the operator's intention to operate the vehicle is reflected, and it is possible to reliably determine whether the vehicle is stopped or running.
[0152]
Further, while the vehicle is traveling, it is determined that the vehicle is traveling because there is no stop signal Ub from the stop detection switch 18 of the parking brake device 17, and the drum rotation operation is set only by the driver's seat operating device 7. Therefore, for example, even if the operation devices 8 and 9 outside the vehicle come into contact with roadside trees or the like and the operation positions of the rotation setting means 27 and 27a change, the operation positions of the rotation setting means 27 and 27a are received by the controller 6. Therefore, unintended drum reversal can be reliably prevented.
[0153]
In the above-described embodiment, it is described that the reverse rotation prevention means A is set / released by the setting / release operation while the drum rotation of the operation device 7 is prohibited. When the traveling speed exceeds a predetermined value, the release state of the reverse rotation prevention means A is reset, and when the reverse rotation prevention means A is released again, the release operation may be performed each time. . In this case, the setting operation of the reverse rotation prevention means A becomes unnecessary.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a mixer drum drive system according to an embodiment of the present invention.
FIG. 2 is a layout diagram showing a specific example of a driver's seat operation device.
FIG. 3 is a layout diagram showing a specific example of an operating device outside the vehicle.
FIG. 4 is a block diagram of a controller.
FIG. 5 is a flowchart showing the operation of the reverse rotation prevention unit.
FIG. 6 is a flowchart showing a procedure for setting / releasing operation of the reverse rotation prevention device.
FIG. 7 is a flowchart for determining a setting / cancellation operation of the reverse rotation prevention device.
[Explanation of symbols]
A Reverse prevention means
1 drum
2 Engine
3 Variable displacement pump
4 Variable capacity motor
5 Reducer
6 Controller
7, 8, 9 Operating device
10 Throttle adjuster
11 Throttle
12,16 Rotational speed detection sensor
13, 15 Solenoid valve
14 Capacitance detection sensor
17 Parking brake device
18 Stop detection switch
19 Vehicle speed detection sensor
20, 25, 25a selector switch
21, 26, 26a Lamp (display means)
22 Rotation setting switch
23 Drum rotation status indicator lamp
27, 27a Rotation setting dial
31 Operation determination unit (operation determination means)
32 Drum rotation command generator (drum rotation command generator)
33 Reverse rotation prevention part
34 Drum rotation control unit (drum rotation control means)

Claims (9)

A mixer drum rotatably mounted on the vehicle;
A drive unit comprising a variable capacity pump and a motor capable of adjusting a discharge capacity for rotating the mixer drum in the forward, reverse, increase and decelerate rotation;
An engine drive device for traveling to increase and reduce the drive device, and
An operating device comprising rotation setting means for the mixer drum;
Means for controlling the rotation state of the mixer drum by adjusting the pump capacity of the drive device and the rotation state of the engine drive device in accordance with the setting signal of the rotation setting means of the operating device, and the reverse direction of the mixer drum during traveling of the vehicle a controller having a reversal preventing means for preventing rotation is constituted by,
The reverse rotation preventive means transmits the rotation setting signal from the rotation setting means to the control means without changing while the vehicle is stopped, and the rotation setting signal is not more than a predetermined rotation number in the normal rotation direction of the drum during vehicle traveling. A mixer drum drive control device, characterized in that it is changed to a rotation stop state . Said reverse rotation prevention means, by a predetermined operation of the operating device, when the traveling speed of vehicle is less than a predetermined value, according to claim 1, characterized in that it is released to allow to discharge the drum rotation Mixer drum drive control device. 3. The mixer drum drive control device according to claim 2, wherein in the release state of the reverse rotation preventing means, when the rotation setting signal of the operating device is not discharged, the mixer drum is prevented from rotating in the reverse rotation direction . The operating device is arranged respectively on the driver's seat and exterior, as claimed in claim 2 or claim 3 wherein the release of the reverse rotation preventing means, characterized in that it is performed only by a predetermined operation of the operating device in the driver's seat Mixer drum drive control device. The operation device is arranged outside the driver's seat and the vehicle, respectively, and the operation right of the drum rotation operation is set from the controller to the operation device to be operated,
4. The mixer drum drive control device according to claim 2 , wherein the reverse rotation prevention means can be released only in a state where the operation right of the rotation operation of the drum is set in the operation device of the driver's seat. 5. . The driver's seat operating device includes drum rotation state display means for displaying the drum rotation state, and the release state of the reverse rotation prevention means is displayed by blinking of the discharge display portion of the drum rotation state display means. 6. The mixer drum drive control device according to claim 4 , wherein the mixer drum drive control device is characterized. The mixer drum drive control according to any one of claims 1 to 6 , wherein the detection of the vehicle running and the stop is detected by an operating state of a parking brake device provided in the vehicle. apparatus. Predetermined speed in the vehicle traveling, any one of claims 3 to 7, characterized in that it is intended to be detected by a predetermined value or predetermined values of the engine rotational speed of the vehicle speed signal to detect the vehicle speed The mixer drum drive control device according to 1. The mixer drum drive control according to any one of claims 4 to 6 , wherein when there is a stop signal from the parking brake device, the controller sets an operation right only to a driver's seat operation device. apparatus.

Images