JP2010083222A - Spool control device of specially-equipped vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve safety by moving a spool to a neutral position and stopping a loading platform, when a failure of a sensor used for controlling the spool is detected. <P>SOLUTION: A Hall IC 15 detecting a neutral position of a spool 3, and a rotary sensor 16 provided to a motor 11 moving the spool 3 to an upper position and a lower position are used as sensors for controlling a position of the spool 3. The motor 11 is controlled to move the spool 3 to a neutral position and reliably stop a loading platform, using a rotary pulse from the rotary sensor 16 when failure of the Hall IC 15 is detected, and using a stroke voltage from the Hall IC 15 when the failure of the rotary sensor 16 is detected. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a spool control device for a specially equipped vehicle such as a dump truck, a mixer truck, and a garbage collection truck.

  Conventionally, as a spool control device for a specially equipped vehicle, for example, Patent Document 1 shown below can be cited.

JP-A-3-169746 (Patent No. 2765129)

  This Patent Document 1 discloses a spool for controlling PTO (Power Take Off), an actuator for operating the spool, an up switch, a stop switch, a down switch, a PTO switch for detecting the spool position, A stop position switch, a motor included in the actuator, a rotation sensor that detects a rotation pulse signal of the motor, and a control unit for controlling the actuator.

  When the up switch is operated, for example, the control unit receives a signal from the PTO switch, the stop position switch, etc., and for example, the control unit sends an instruction to move the spool from descending to ascending, and the motor rotates to rotate. The pulse is counted by the sensor and stopped at the ascending position.

In Patent Document 1, a rotation sensor that detects a rotation pulse signal of a motor is used to detect the position of the spool. However, there is no description about the control operation when the rotation sensor fails.
In particular, when the rotation sensor breaks down during the operation of the loading platform, there is a problem in safety depending on the movement of the loading platform.

  The present invention has been provided in view of the above-described problems. When a failure of a sensor used for controlling a spool is detected, the spool is moved to a neutral position, and the loading platform is stopped to ensure safety. The purpose of this invention is to provide a spool control device for specially equipped vehicles.

Therefore, in the spool control device for a specially equipped vehicle of the present invention, the spool 3 for controlling the PTO, the actuator 10 for moving the spool 3 to the upper position, the neutral position, and the lower position, and the command from the operation switch 1 In the spool control device for a specially equipped vehicle, the control device 30 controls the actuator 10 to move 3 to an upper position, a neutral position, and a lower position to raise, stop, and lower the driven member.
The actuator 10 includes a cable driving mechanism 12 that moves the position of the spool 3 and a Hall IC 15 that outputs a voltage corresponding to the position of the spool 3 by moving a magnet 14 provided in the cable driving mechanism 12. And a motor 11 for driving the cable drive mechanism unit 12 and a rotation sensor 16 for outputting a rotation pulse corresponding to the rotation of the motor 11.
The control device 30 includes a stroke voltage detector 33 that detects a voltage from the Hall IC 15 of the actuator 10 and a movement distance calculation that calculates the movement distance of the spool 3 by counting the rotation pulses from the rotation sensor 16. A processing unit 34, a Hall IC failure determination unit 37 that determines whether the voltage detected by the stroke voltage detection unit 33 is normal or abnormal compared with a preset value, and a pulse output from the rotation sensor 16 A rotation sensor failure determination unit 38 that determines whether the value is normal or abnormal by comparing with a set value;
When the Hall IC failure determination unit 37 determines that the Hall IC 15 is abnormal, the rotation sensor 16 is determined to be abnormal by the output from the movement distance calculation processing unit 34 or by the rotation sensor failure determination unit 38. In this case, the motor 11 is controlled by the output from the stroke voltage detection unit 33 to move the spool 3 to a neutral position to stop the driven member.

  (1) According to the spool control device for a specially equipped vehicle of the present invention, when the Hall IC failure determination unit 37 determines that the Hall IC 15 is abnormal, the rotation control unit 34 outputs or rotates. When the rotation sensor 16 is determined to be abnormal by the sensor failure determination unit 38, the motor 11 is controlled by the output from the stroke voltage detection unit 33 to move the spool 3 to the neutral position to move the driven member. Since the control means 31 for stopping is provided, if either the Hall IC 15 or the rotation sensor 16 breaks down, the spool 3 can be moved to the neutral position to reliably stop the driven member. Can be secured.

  (2) According to the spool control device for a specially equipped vehicle of the present invention, the motor 11 is stopped when the pulse count of the rotation sensor 16 by the movement distance calculation processing unit 34 reaches a value corresponding to the neutral position. Therefore, even if the Hall IC 15 breaks down, the driven member can be stopped by moving the spool 3 to the neutral position.

  (3) According to the spool control device for a specially equipped vehicle of the present invention, when the stroke voltage detection unit 33 detects the voltage output from the Hall IC 15 as a voltage corresponding to a preset neutral position of the spool 3, Since the motor 11 is stopped, even if the rotation sensor 16 breaks down, the driven member can be stopped by moving the spool 3 to the neutral position.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The spool control apparatus of the present invention controls the position of a hydraulic pump used in a PTO. FIG. 1 shows a system configuration diagram, and FIG. 2 shows a basic specification of a PTO spool.
The system of the present invention includes an actuator 10 that controls the spool position of the PTO, a control device 30 that is called an ECU that controls the actuator 10, and the control device 30 performs “raising operation”, “lowering operation”, and “stop operation”. An operation switch 1 for sending a command and a battery 2 for supplying power to the control device 30, the motor 11 of the actuator 10, and the like are included.

The actuator 10 is driven by the motor 11, the cable drive mechanism 12 driven by the motor 11, and pulled and returned by the cable drive mechanism 12, so that the position of the spool 3 at the tip is “up” and “neutral”. The cable 13 is moved to the “down” position.
Further, the cable drive mechanism 12 is provided with a magnet 14 and moves with the movement of the cable drive mechanism 12. The Hall IC 15 is arranged and fixed on the outer surface side of the cable drive mechanism section 12, and the Hall IC 15 detects the magnetic density from the magnet 14 that moves as the cable drive mechanism section 12 moves, and the detection output thereof. Is output to the control device 30 as a stroke voltage.

  In the present embodiment, the Hall IC 15 is used as a sensor for detecting the “neutral” position of the spool as will be described later. Therefore, when described as “neutral sensor” in the specification and drawings, It means the Hall IC 15.

The motor 11 of the actuator 10 is provided with a rotation sensor 16 that detects the rotation of the motor 11, and the rotation pulse output from the rotation sensor 16 is counted on the control device 30 side to move the spool 3. The amount is being calculated.
In addition, the control device 30 that has received a command of “raising operation”, “lowering operation”, and “stop operation” from the operation switch 1 controls the motor 11 of the actuator 10 such as forward drive, reverse drive, and stop.

  Here, as shown in FIG. 2, when the operation switch 1 performs “raising operation”, the actuator 10 drives the spool 3 to the “up” position (see FIG. 1), thereby driving the vehicle. The cargo bed as a member continues to rise. Further, when “stop operation” is performed by the operation switch 1, the platform is stopped by driving the position of the spool 3 to the “neutral” position by the actuator 10. Further, when the operation switch 1 performs a “lowering operation”, the position of the spool 3 is driven to the “down” position by the actuator 10, so that the loading platform is continuously lowered.

  FIG. 3 is a block diagram of a control device 30 configured by a computer. The control device 30 is configured to detect a stroke voltage from the Hall IC 15 and a spool 3 based on a rotation pulse from the rotation sensor 16. Distance calculation processing unit 34 for calculating the amount of movement of the motor, and a motor drive speed calculation unit for calculating an optimum PWM (Pulse Width Modulation) value so that the drive speed of the motor 11 becomes constant according to the power supply voltage of the battery 2 35, a motor drive unit 36 that drives the motor 11 with an optimum duty ratio from the motor drive speed calculation unit 35, a Hall IC failure determination unit 37 that determines or determines a failure of the Hall IC 15 that is a neutral sensor, A rotation sensor failure determination unit 38 for determining or determining a failure of the rotation sensor 16 and a predetermined program procedure A control unit 31 which performs control device 30 controls the entire, and ROM for storing a program for the control, and a memory 32 such as a RAM for temporarily storing various data.

  Here, in this embodiment, the rotation sensor 16 that detects the rotation of the motor 11, the magnet 14, and the Hall IC 15 are used to detect the position of the spool 3. The position of the spool 3 is detected by counting the pulses from the rotation sensor 16 and calculating the amount of movement. Further, in the magnet 14 and the Hall IC 15, the magnetic density of the magnet 14 that moves as the cable drive mechanism 12 moves is detected by the Hall IC 15 to detect the position of the spool 3.

  Originally, the position of the spool 3 may be detected by any one of the rotation sensor 16 or the magnet 14 and the Hall IC 15, but there are conflicting matters. In the control method using the rotation sensor 16, since the absolute position is not known, the position is undefined when the pulse count from the rotation sensor 16 is missed or when the power source (battery 2) is disconnected and connected. There are cases that cannot be done. Further, the entire control position of the spool 3 cannot be detected by the control method using the magnet 14 and the Hall IC 15. Only about 10 mm can be detected with respect to about 30 mm, which is the entire position of the spool 3.

  Therefore, in the present embodiment, the position control of the spool 3 can be completely performed by the control by both the rotation sensor 16, the magnet 14 and the Hall IC 15. Parameters input to the control device 30 are a stroke voltage output from the Hall IC 15, a pulse output from the rotation sensor 16, and a power supply voltage of the battery 2.

  Although details of the position control of the spool 3 in this embodiment will be described later, the outline is as follows. First, immediately after the battery 2 is connected to the power source, the spool 3 is moved to a stroke voltage (absolute position) corresponding to “neutral” (hereinafter referred to as calibration). This is because the position of the spool 3 is indefinite immediately after the power supply is connected. For example, when the power supply is shut off for some reason at the raised position, the spool 3 is moved to neutral immediately after the power supply is connected, and the loading platform is surely stopped. To ensure safety.

Next, when the position of the spool 3 is moved after the calibration is completed, the amount of movement of the spool 3 is calculated by counting pulses from the rotation sensor 16 and moved to the target position. This is because the position of the spool 3 is detected by counting the pulses output from the rotation sensor 16 at a position that cannot be detected by the stroke voltage output from the Hall IC 15.
Further, when a neutral stroke voltage (absolute position) is detected while the spool 3 is moving, the pulse count is reset (pulse count correction) to eliminate the position shift due to the count shift.

  Further, the power supply voltage of the battery 2 is acquired from the battery 2, and the drive speed of the motor 11 is controlled to be constant. Even if the power supply voltage fluctuation of the battery 2 occurs, the driving speed of the motor 11 is made constant so that the inertia variation generated when the motor 11 is stopped is suppressed and the positional deviation of the spool 3 is eliminated. .

  FIG. 4 is a characteristic diagram of the stroke voltage output from the Hall IC 15. The Hall IC 15 detects the movement of the magnet 14 and outputs an analog voltage. The stroke voltage output from the Hall IC 15 can be detected only about ３ centered on the neutrality of the entire range from the raised position to the lowered position of the spool 3. As shown in the figure, the stroke voltage has a change characteristic only in the vicinity of neutrality, and the voltage is fixed at other positions. The pulse count from the rotation sensor 16 is corrected at the neutral position where the characteristics are changing. Note that “disconnected” in FIG. 4 means that the spool 3 is in a disconnected state, and positions other than “disconnected” mean a connected state.

  Next, a method for calculating the movement amount of the spool 3 based on the pulse count from the rotation sensor 16 will be described. As is well known, the rotation sensor 16 such as a rotary encoder outputs A-phase and B-phase pulses. For example, when the phase of the A phase is advanced with respect to the B phase, the motor 11 rotates in the forward rotation direction. Conversely, when the phase of A phase is delayed with respect to the B phase, the motor 11 is rotating in the reverse direction.

In the present embodiment, the movement distance from the neutral position is calculated from the rotation pulse of the motor 11, that is, the pulse of the rotation sensor 16 (see the phase difference 90 ° between the pulses A and B shown in FIGS. 5 and 6). When the position corresponding to “neutral” is detected from the stroke voltage, the movement distance is reset.
FIG. 5 shows a case in which the motor 11 is rotating in the forward direction (in the raised position direction of the spool 3). Here, the stroke voltage detected by the stroke voltage detector 33 of the control device 30 shown in FIG. When the voltage V1 (see FIG. 4) corresponding to the predetermined “neutral” position is detected and monitored, the control unit 31 resets the pulse count in the movement distance calculation processing unit 34 (FIG. 5). (See the pulse count 0 part).

  Then, as shown in FIG. 5, if the pulse B is at the H level when the pulse A rises, the pulse count is incremented by one. If the pulse B is at the L level at the fall of the pulse A, the pulse count is incremented by one. Each time the pulse A rises and falls, the H level and L level of the pulse B are detected, and the pulse count is incremented by one each time. Each time the pulse is counted, the movement distance is calculated assuming that the spool 3 moves by an Xmm distance.

Further, as shown in FIG. 6, the case of the motor 11 in the reverse rotation direction (the direction in which the spool 3 is lowered) is shown. . If the pulse B is at the H level at the fall of the pulse A, the pulse count is decremented by one. Each time the pulse A rises and falls, the H level and L level of the pulse B are detected, and the pulse count is decremented by 1 each time. Each time the pulse is counted, the movement distance is calculated assuming that the spool 3 moves by an Xmm distance.
The movement distance calculation processing unit 34 shown in FIG. 3 calculates the amount of movement by counting pulses in the raising position direction and the lowering position direction of the spool 3.

  The distances from the “neutral” position (see FIG. 4) of the spool 3 to the “up” position and the “down” position are stored in the memory 32 in advance. If the number of pulse counts corresponding to the distance from the neutral position to the upper position and the neutral position to the lower position is 10, for example, the spool 3 detects the neutral position of the spool 3 by the stroke voltage detection unit 33 by the cable drive mechanism unit 12. In this case, the moving distance is reset, the moving distance calculation processing unit 34 counts the pulses from the rotation sensor 16, and when the moving pulse calculation unit 10 counts 10 pulses, the control unit 31 that receives the count counts the rotation of the motor 11. It is stopped via the drive unit 36.

Next, drive speed control of the motor 11 will be described. This speed control is performed by the motor drive speed calculation unit 35 of the control device 30 shown in FIG. 3. Even if the power supply voltage (power supply voltage of the battery 2) fluctuates according to the following equation (1), the motor 11 The optimum PWM value is calculated so that the driving speed of the motor is constant.
PWM-ON width = (power supply voltage reference value (fixed value) / power supply voltage) x PWM-ON width reference value (fixed value) (1)
Here, the “power supply voltage” is the power supply voltage of the battery 2, the “power supply voltage reference value” is 28 V, for example, and the PWM-ON width reference value is 0.7, for example.

The control device 30 constantly monitors the power supply voltage of the battery 2, and even if the power supply voltage of the battery 2 fluctuates, the duty ratio for driving the motor 11 is varied in the above (1), and the drive speed of the motor 11 is changed. Control is performed by the motor drive speed calculator 35 so as to be always constant.
As a result, it is possible to suppress the inertia variation that occurs when the motor 11 is stopped and to eliminate the positional deviation of the spool 3.

Here, as described above, in this embodiment, the Hall IC 15 (neutral sensor) that detects the stroke voltage as a sensor used for the position control of the spool 3 and the pulses A and B according to the rotation of the motor 11. Is used. If either the Hall IC 15 or the rotation sensor 16 breaks down, it is difficult to control the position of the spool 3, that is, control of the loading platform, causing a problem in safety.
Therefore, in the present embodiment, when either the Hall IC 15 or the rotation sensor 16 breaks down, the position of the spool 3 is moved to the neutral position (position where the cargo bed stops) based on the output value of the other sensor. The loading platform is surely stopped.

FIG. 7 shows failure items, failure conditions, and measures after failure detection of the Hall IC 15 (neutral sensor). As shown in FIG. 7A, the stroke voltage output from the Hall IC 15 is Vmin (the Hall IC 15 -Parameters used for detecting the-side short-circuit) When the following is detected, it is determined that the input-side of the Hall IC 15 is short-circuited.
Then, assuming that the input-side of the Hall IC 15 has failed, if the spool 3 is not in the neutral position, the spool 3 is moved to the neutral position and thereafter no PTO operation is accepted.

Further, as shown in FIG. 7B, when the stroke voltage output from the Hall IC 15 is detected to be equal to or higher than Vmax (a parameter used for detecting the + side short of the Hall IC 15), the input + side of the Hall IC 15 is Judge that it was short-circuited.
Then, assuming that the input + side of the Hall IC 15 has failed, if the spool 3 is not in the neutral position, the spool 3 is moved to the neutral position and thereafter no PTO operation is accepted.

Further, as shown in FIG. 7C, when the change amount of the stroke voltage output from the Hall IC 15 becomes lower than Vdiff (a parameter used for detecting the characteristic abnormality of the Hall IC 15) during the movement of the spool 3. The input characteristics of the Hall IC 15 are determined to be abnormal.
When it is determined that the input characteristics of the Hall IC 15 are abnormal, if the spool 3 is not in the neutral position, the spool 3 is moved to the neutral position, and thereafter no PTO operation is accepted.

  These failure determinations are made by the Hall IC failure determination unit 37 of the control device 30 shown in FIG. 3, and the stroke voltage detection unit 33 that detects the stroke voltage from the Hall IC 15 is replaced with the Hall IC failure. The determination unit 37 constantly monitors and determines the failure based on the stroke voltage value and the change amount of the stroke voltage value based on a predetermined reference.

FIG. 8 shows failure items, failure conditions, and measures after failure detection of the rotation sensor 16. As shown in FIG. 8A, the sensor A that outputs the pulse A during the position movement of the spool 3 is shown. When the difference between the pulse count (see FIGS. 5 and 6) and the pulse count of sensor B outputting pulse B is equal to or greater than PULSEdiff-cnt (a parameter for detecting a failure of either sensor A or B) It is determined that one of the sensors A and B of the rotation sensor 16 has failed.
If it is determined that one of the sensors A and B of the rotation sensor 16 is out of order, if the spool 3 is not in the neutral position, the spool 3 is moved to the neutral position and then no PTO operation is accepted. To.

  Since the two-phase pulses A and B output from the rotation sensor 16 have a 90 ° phase difference and are always pulse-counted by the same number, if the pulse count numbers of the pulses A and B are different, One of the sensors A and B is determined as a failure.

Further, as shown in FIG. 8 (b), during the PULSEnothing-time (parameter for detecting the failure of both sensors A and B) from the start of the position movement of the spool 3, the pulses A and B of both sensors A and B are changed. When the pulse cannot be counted, it is determined that both the sensors A and B of the rotation sensor 16 have failed.
If both the sensors A and B of the rotation sensor 16 are determined to be malfunctioning, if the spool 3 is not in the neutral position, the spool 3 is moved to the neutral position, and thereafter no PTO operation is accepted. To do.

Next, the control operation of the present invention will be described. First, the case of the calibration operation immediately after the power supply is connected will be described with reference to FIGS. 9 and 10 (the operation in which the movement distance calculation processing unit 34 resets the pulses counted up to now when the spool 3 comes to the neutral position). .
The control operation immediately after the power supply connection is performed by the control unit 31 of the control device 30 that monitors the power supply voltage from the battery 2, and the control operation of each unit is started.

  First, in a state where the power source is connected, as shown in step S1 of FIG. 9, the failure flag for the neutral sensor (Hall IC 15) and the rotation sensor 16 is turned off, and the process proceeds to step S2. In step S2, the stroke voltage from the Hall IC 15 that detects the position of the spool 3 is detected by the stroke voltage detection unit 33, and it is detected whether the stroke voltage value that is the detected voltage is Vmin or less or Vmax or more. (See FIGS. 7A and 7B) It is determined whether or not there is a failure. Here, since the spool 3 is not moved, only the positive / negative short-circuit of the Hall IC 15 is determined, and the characteristic abnormality is not determined by detecting Vdiff.

  In step S2, if the Hall IC failure determination unit 37 determines that the stroke voltage value from the Hall IC 15 is not normal, the process proceeds to Step S18 in FIG. 10, and the failure flag is raised (turned on) because the neutral sensor has failed. When the Hall IC failure determination unit 37 determines that the Hall IC 15 has failed, the control unit 31 that has received the signal invalidates the reception of the operation signal from the operation switch 1 and does not accept subsequent PTO operations. Yes.

  In step S2, when the stroke voltage from the Hall IC 15 is normal, the process proceeds to step S3. Immediately after the power supply from the battery 2 is connected, the number of pulses output from the rotation sensor 16 is indefinite, so the stroke voltage detection unit 33 determines the stroke voltage from the Hall IC 15 as shown in step S3. The stroke voltage value from the Hall IC 15 is determined to be a value above or below the neutral position voltage V1, and if the detected stroke voltage is above the neutral position voltage V1, a step is performed. The process proceeds to S4, and the movement start position of the spool 3 is recognized as being above the neutral position in Step S4.

  If the detected stroke voltage is lower than the neutral position voltage V1, the process proceeds to step S5. In step S5, the stroke voltage output from the Hall IC 15 is lower than the voltage V1 corresponding to the neutral position. It is determined whether or not the voltage is higher, and if the detected voltage is lower than the voltage V1, the process proceeds to step S6. In step S6, it is recognized that the movement start position of the spool 3 is below the neutral position.

  After recognizing whether the start position of the spool 3 is above or below the neutral position, the process proceeds to step S7, and the motor drive speed calculation unit 35 obtains the optimum PWM value from the above formula (1) from the power supply voltage of the battery 2 at that time. calculate.

Next, the process proceeds from step S7 to step S8, and if the movement start position of the spool 3 is above the neutral position, the process proceeds to step S9 and the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S7. Then, the motor 11 is driven in reverse. When the motor 11 is driven in reverse, the cable drive mechanism 12 returns the cable 13 to move the spool 3 toward the neutral position.
If the movement start position of the spool 3 is below the neutral position in step S8, the process proceeds to step S10, and the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S7 to correct the motor 11. Roll drive. When the motor 11 is driven forward, the cable 13 is pulled by the cable drive mechanism 12 to move the spool 3 toward the neutral position.

In step S11 in the middle of moving the spool 3 toward the neutral position when the motor 11 is driven in reverse rotation or forward rotation, the stroke voltage from the Hall IC 15 is detected and the stroke voltage values (Vmin, Vmax, The Hall IC failure determination unit 37 determines whether or not (Vdiff) is within a normal range. In this determination of the Hall IC 15, since the spool 3 is moved, the abnormality of the input characteristics of the Hall IC 15 is also determined from the stroke voltage.
If the failure shown in FIG. 7 is determined in this determination, the process proceeds to step S12 to turn on a failure flag indicating that the neutral sensor is failed, and further proceeds to step S19 in FIG. 10 to stop the motor 11. Let

  If it is determined in step S11 that the stroke voltage from the Hall IC 15 is normal, the process proceeds to step S13 to determine whether or not the rotation sensor 16 has failed. In step S13, the rotation sensor failure determination unit 38 determines the PULSEdiff-cnt and PULSEnothing-time shown in FIG. 8 from the pulses A and B from the rotation sensor 16, and proceeds to step S15 if normal. If it is determined in step S13 that there is an abnormality, the process proceeds to step S14, the failure flag indicating that the rotation sensor 16 has failed is turned on, and the process proceeds to step S15.

  Here, even if the rotation sensor 16 is determined to be abnormal (failure) in steps S13 and S14, it is determined that the rotation sensor 16 is normal based on the stroke voltage value of the Hall IC 15, and the spool 3 immediately after the power supply is connected is neutral. Control for moving the spool 3 by driving the motor 11 is performed until the spool 3 is moved to the neutral position for calibration to move to the position.

When the motor 11 is driven reversely or forwardly and the spool 3 is moved toward the neutral position, and the spool 3 comes to a position corresponding to the neutral position as shown in step S15, the Hall IC 15 Since the voltage V1 corresponding to the neutral position is output, the stroke voltage detector 33 detects the stroke voltage V1. When the stroke voltage detection unit 33 detects the voltage V1, the control unit 31 controls the motor drive unit 36 to stop the motor 11 (see step S16 in FIG. 10). When the spool 3 comes to the neutral position, the lifting / lowering of the cargo bed stops.
In step S15, when the stroke voltage from the Hall IC 15 does not detect the voltage V1 corresponding to the neutral position, the process returns to step S7 to repeat this operation.

Here, in the state where the spool 3 is moved by the reverse rotation and the normal rotation of the motor 11, the pulse is output as described above from the rotation sensor 16 that detects the rotation of the motor 11, and the rotation in step S13. The movement distance calculation processing unit 34 counts this pulse including the case of the failure of the sensor 16 to calculate the movement distance of the spool 3.
Then, after stopping the motor 11 in step S16, the process proceeds to step S17, where the control unit 31 resets the movement amount of the spool 3 which has been calculated by counting the number of pulses in the movement distance calculation processing unit 34 so far. .

  In step S3, if the position of the spool 3 is lower than neutral due to the stroke voltage from the hall IC 15, and if the position of the spool 3 is higher than neutral due to the stroke voltage from the hall IC 15 in step S5, the position of the spool 3 is determined. In this case, the process proceeds to step S17 in FIG. 10 to reset the movement amount, that is, reset the pulse count in the movement distance calculation processing unit 34.

  In this way, when the spool 3 comes to the neutral position, the pulse count which has been counted so far is reset (calibration), and the position movement of the spool 3 after the completion of the calibration is performed by the pulse from the rotation sensor 16. Thus, the movement distance calculation processing unit 34 calculates the movement amount and moves the spool 3 to the upper position or the lower position which is the target position.

As described above, the position of the spool 3 is indefinite immediately after the power supply from the battery 2 is connected, but by moving the spool 3 to the neutral position, the loading platform can be stopped reliably and safety can be improved. Can do. In particular, when the power is shut off at the raised position, the platform is surely stopped by moving to the neutral immediately after the power is connected, so that safety is improved.
Further, since the motor 11 is stopped when the voltage V1 output from the Hall IC 15 and corresponding to the preset neutral position is detected, the neutral position of the spool 3 can be detected with a simple configuration, and the spool control device Can be configured at low cost.

  Next, a control operation when the raising operation is performed in the operation after the calibration is completed will be described with reference to FIGS. The position of the spool 3 after completion of the calibration is in the “neutral” position, and the loading platform is stopped. When the operator raises the operation switch 1, first, as shown in step S31, the failure flag of the neutral sensor is fetched to determine whether the neutral sensor (Hall IC 15) is normal or failure. If the neutral sensor is off (normal), the process proceeds to step S32, and a failure flag of the rotation sensor 16 is fetched to determine whether the rotation sensor 16 is normal or failure. If the rotation sensor 16 is normal, the process proceeds to step S33.

  If the neutral sensor is abnormal in step S31, the raising operation is terminated without being accepted. If the rotation sensor 16 is abnormal in step S32, the raising operation is similarly terminated without being accepted.

  In step S33, when the movement amount of the spool 3 does not correspond to the “up” position, that is, the number of pulses counted by the movement distance calculation processing unit 34 and the neutral position stored in the memory 32 The number of pulses corresponding to the amount of movement is compared, and if the spool 3 has not reached the upper position, the process proceeds to step S34.

  In step S34, the optimum PWM is calculated from the power supply voltage of the battery 2 by the motor drive speed calculator 35 in the same manner as described above, and after calculating the PWM for driving the motor 11, the spool 3 is moved to the raised position. The controller 31 drives and controls the motor drive unit 36 with the calculated PWM value to drive the motor 11 in the normal direction (see step S35).

When the motor 11 is driven forward in step S35, the cable 13 is pulled by the cable drive mechanism 12, and the spool 3 starts to move from the neutral position toward the upper position. As the cable drive mechanism 12 moves, a stroke voltage is output from the Hall IC 15 and it is determined whether the stroke voltage is normal or abnormal in step S36.
In step S36, the failure shown in FIG. 7 is detected from the stroke voltage values (Vmin, Vmax, Vdiff) output from the Hall IC 15, and if any of the conditions of Vmin, Vmax, Vdiff is a failure, the Hall IC failure determination unit. If it is determined from 37, the process proceeds to step S39 to turn on a failure flag indicating that the neutral sensor is in failure.

  If it is determined in step S36 that the Hall IC 15 is normal, the process proceeds to step S37. In step S37, whether the rotation sensor 16 is normal or abnormal is determined from the PULSEdiff-cnt and PULSEnothing-time shown in FIG. If any of them is determined to be abnormal, the process proceeds to step S40, and a failure flag indicating that the rotation sensor 16 has failed is turned on.

  If it is determined in step S37 that the rotation sensor 16 is normal, the process proceeds to step S38. The motor 11 is driven to rotate forward, and the cable 13 is pulled by the cable drive mechanism 12 to start the movement of the spool 3 from the neutral position toward the upper position. Then, the rotation pulse from the rotation sensor 16 that detects the rotation of the motor 11 is input to the movement distance calculation processing unit 34, and the movement distance calculation processing unit 34 counts the pulses and calculates the movement amount of the spool 3. (See step S38).

  As shown in step S41, this is repeated until the movement distance calculation processing unit 34 counts the number of pulses corresponding to the upper position after the spool 3 moves, and the movement distance calculation processing unit 34 calculates the number of pulses corresponding to the upper position. Is counted, the spool 3 is moved to the upper position, and the control unit 31 that has received a signal from the movement distance calculation processing unit 34 controls the motor driving unit 36 to stop the motor 11 (see step S42). . Thereby, the raising operation of the loading platform is continued.

In step S40, after setting a failure flag indicating that the rotation sensor 16 has failed, the process proceeds to step S43 in FIG. 12, and the motor 11 is driven in reverse. This is because the control unit 31 that has received a signal from the rotation sensor failure determination unit 38 of the control device 30 controls the motor drive unit 36 to drive it in the reverse direction.
When the motor 11 is driven in reverse in step S43, and the stroke voltage from the Hall IC 15 detects the voltage V1 output when the spool 3 is located at the neutral position in step S44, as shown in step S45. The motor 11 is stopped.

In step S39, after it is determined that the neutral sensor (Hall IC 15) is abnormal and a failure flag is set, the process proceeds to step S46 in FIG. Here, since the Hall IC 15 is abnormal and the rotation sensor 16 is normal, the amount of movement to the neutral position of the spool 3 is calculated based on the pulse count output from the rotation sensor 16 (see step S47).
When the process proceeds from step S47 to step S48 and the movement distance calculation processing unit 34 counts pulses and reaches a movement amount corresponding to the neutral position, the motor 11 is stopped as shown in step S49.

As described above, when either the neutral sensor (Hall IC 15) or the rotation sensor 16 fails in the raising operation after the calibration is completed, the raising operation is terminated without accepting the loading platform, and the loading platform is stopped. To ensure safety.
If either the neutral sensor or the rotation sensor 16 breaks down during the loading operation, the motor 11 is driven to return the spool 3 to the neutral position, and the motor 11 is turned on when the spool 3 returns to the neutral position. By stopping and returning the spool 3 to the neutral position, the loading platform is stopped to ensure safety.

  Next, the control operation when the lowering operation is performed after the calibration is completed will be described with reference to FIGS. The position of the spool 3 after completion of the calibration is in the “neutral” position, and the loading platform is stopped. When the operator lowers the operation switch 1, first, as shown in step S61, the neutral sensor failure flag is fetched to determine whether the neutral sensor (Hall IC 15) is normal or malfunctioning. If the neutral sensor is off (normal), the process proceeds to step S62, the failure flag of the rotation sensor 16 is fetched, and it is determined whether the rotation sensor 16 is normal or failure. If the rotation sensor 16 is normal, the process proceeds to step S63.

  If the neutral sensor is abnormal in step S61, the lowering operation is not accepted and the process ends. If the rotation sensor 16 is abnormal in step S62, the operation is similarly terminated without accepting the raising operation.

  In step S63, when the movement amount of the spool 3 does not correspond to the “down” position, that is, the number of pulses counted by the movement distance calculation processing unit 34 and the neutral position stored in the memory 32 are shifted from the neutral position. The number of pulses corresponding to the amount of movement is compared, and if the spool 3 has not reached the lower position, the process proceeds to step S64.

  In step S64, the optimal PWM is calculated from the power supply voltage of the battery 2 by the motor drive speed calculation unit 35 in the same manner as described above, and after calculating the PWM for driving the motor 11, the spool 3 is moved to the lowered position. The control unit 31 drives and controls the motor drive unit 36 with the calculated PWM value to drive the motor 11 in the reverse direction (see step S65).

When the motor 11 is reversely driven in step S65, the cable 13 is returned by the cable drive mechanism 12, and the spool 3 starts to move from the neutral position toward the lower position. As the cable drive mechanism 12 moves, a stroke voltage is output from the Hall IC 15 and it is determined whether the stroke voltage is normal or abnormal in step S66.
In step S66, the failure shown in FIG. 7 is detected from the stroke voltage values (Vmin, Vmax, Vdiff) output from the Hall IC 15, and if any of the conditions of Vmin, Vmax, Vdiff is a failure, the Hall IC failure determination unit. If it is determined from 37, the process proceeds to step S69, and a failure flag indicating that the neutral sensor is failed is turned on.

  If it is determined in step S66 that the Hall IC 15 is normal, the process proceeds to step S67. In step S67, whether the rotation sensor 16 is normal or abnormal is determined from the PULSEdiff-cnt and PULSEnothing-time shown in FIG. If any of them is determined to be abnormal, the process proceeds to step S70 to turn on a failure flag indicating that the rotation sensor 16 has failed.

  If it is determined in step S67 that the rotation sensor 16 is normal, the process proceeds to step S68. The motor 11 is driven in reverse, the cable 13 is returned by the cable drive mechanism 12, and the spool 3 starts to move from the neutral position toward the lower position. Then, the rotation pulse from the rotation sensor 16 that detects the rotation of the motor 11 is input to the movement distance calculation processing unit 34, and the movement distance calculation processing unit 34 counts the pulses and calculates the movement amount of the spool 3. (See step S68).

  As shown in step S71, this is repeated until the movement distance calculation processing unit 34 counts the number of pulses corresponding to the lower position after the spool 3 moves, and the movement distance calculation processing unit 34 calculates the number of pulses corresponding to the lower position. Is counted, the control unit 31 having received a signal from the movement distance calculation processing unit 34 controls the motor driving unit 36 to stop the motor 11 assuming that the spool 3 has moved to the lower position (see step S72). . Thereby, the operation for lowering the loading platform is continued.

In step S70, after setting a failure flag indicating that the rotation sensor 16 has failed, the process proceeds to step S73 in FIG. 14, and the motor 11 is driven to rotate forward. In this case, the control unit 31 that has received a signal from the rotation sensor failure determination unit 38 of the control device 30 controls the motor drive unit 36 to drive it in the normal direction.
When the motor 11 is driven to rotate forward in step S73, and the stroke voltage from the Hall IC 15 detects the voltage V1 output when the spool 3 is positioned at the neutral position in step S74, as shown in step S75. The motor 11 is stopped.

In step S69, after it is determined that the neutral sensor (Hall IC 15) is abnormal and a failure flag is set, the process proceeds to step S76 in FIG. 14 to drive the motor 11 in the normal direction. Here, since the Hall IC 15 is abnormal and the rotation sensor 16 is normal, the movement amount to the neutral position of the spool 3 is calculated based on the pulse count output from the rotation sensor 16 (see step S77).
When the process proceeds from step S77 to step S78 and the movement distance calculation processing unit 34 counts pulses and reaches a movement amount corresponding to the neutral position, the motor 11 is stopped as shown in step S79.

In this way, when either the neutral sensor (Hall IC 15) or the rotation sensor 16 fails in the lowering operation after the calibration is completed, the lowering operation of the cargo bed is finished without being accepted and the cargo bed is stopped. To ensure safety.
If either the neutral sensor or the rotation sensor 16 breaks down during the loading operation, the motor 11 is driven to return the spool 3 to the neutral position. When the spool 3 returns to the neutral position, the motor 11 is turned off. By stopping and returning the spool 3 to the neutral position, the loading platform is stopped to ensure safety.

  Next, the control operation when the loading platform is stopped will be described with reference to FIGS. 15 and 16. When the operator stops the operation switch 1, as shown in step S91, the movement distance calculation processing unit 34 of the control device 30 determines from the number of pulses counted whether the current position of the spool 3 is above or below neutral. To do. If the position of the spool 3 is above the neutral position, the process proceeds to step S92, and the movement start position of the spool 3 is recognized as being above the neutral position.

In step S91, if the position of the spool 3 is below the neutral position, the process proceeds to step S93, and it is determined that the movement start position of the spool 3 is below the neutral position, and the process proceeds to step S93. In step S93, the movement distance calculation processing unit 34 determines from the number of pulses counted whether the current position of the spool 3 is above or below neutral. If the position of the spool 3 is below neutral, the process proceeds to step S94. Then, it is recognized that the movement start position of the spool 3 is below the neutral position.
In step S93, if the position of the spool 3 is higher than the neutral position, it is determined that the spool 3 is currently in the neutral position based on the determination in step S91, and the spool 3 movement control is not performed and the process ends (see step S104). ).

  In step S92 and step S94, after recognizing whether the start position of the spool 3 is above or below neutral, the process proceeds to step S95, and an optimum PWM value is obtained from the power supply voltage of the battery 2 at that time from the above equation (1). Calculation is performed by the motor drive speed calculator 35.

Next, the process proceeds to step S96, and if the movement start position of the spool 3 is above the neutral position, the process proceeds to step S97, where the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S95 to control the motor. 11 is driven in reverse. When the motor 11 is driven in reverse, the cable drive mechanism 12 returns the cable 13 to move the spool 3 toward the neutral position.
If the movement start position of the spool 3 is below the neutral position in step S96, the process proceeds to step S98, and the control unit 31 controls the motor drive unit 36 with the PWM value calculated in step S95 to correct the motor 11. Roll drive. When the motor 11 is driven forward, the cable 13 is pulled by the cable drive mechanism 12 to move the spool 3 toward the neutral position.

When the motor 11 is driven in reverse rotation (see step S97) or the motor 11 is driven in forward rotation (see step S98), the cable 13 is returned or pulled by the cable drive mechanism 12 so that the spool 3 is in the upper position or Movement starts from the lower position toward the neutral position. Along with the movement of the cable drive mechanism 12, a stroke voltage is output from the Hall IC 15, and it is determined whether the stroke voltage is normal or abnormal in Step S99.
In step S99, the failure shown in FIG. 7 is detected from the stroke voltage values (Vmin, Vmax, Vdiff) output from the Hall IC 15, and if any of the conditions of Vmin, Vmax, Vdiff is a failure, the Hall IC failure determination unit. If it is determined from 37, the process proceeds to step S105, and a failure flag indicating that the neutral sensor (Hall IC 15) is failed is turned on.

  If it is determined in step S99 that the Hall IC 15 is normal, the process proceeds to step S100. In this step S100, whether the rotation sensor 16 is normal or abnormal is determined by the rotation sensor failure determination unit 38 from PULSEdiff-cnt and PULSEnothing-time shown in FIG. 8, and if any is determined abnormal, step S106 is determined. The failure flag indicating that the rotation sensor 16 has failed is turned on.

If it is determined in step S100 that the rotation sensor 16 is normal, the process proceeds to step S101. In step S101, when the motor 11 is driven reversely or forwardly and the spool 3 moves toward the neutral position, the movement distance calculation processing unit 34 sets the pulse output from the rotation sensor 16 in the +1 direction, or Counting in the -1 direction (see FIGS. 5 and 6), the movement amount of the spool 3 is calculated.
In step S102, when the movement distance calculation processing unit 34 detects that the pulse count from the rotation sensor 16 is “0”, the position of the spool 3 corresponds to neutral, and thus the signal from the movement distance calculation processing unit 34 is received. The control unit 31 controls the motor driving unit 36 to stop the motor 11 (see step S103). When the spool 3 comes to the neutral position, the lifting / lowering of the cargo bed stops.

  In step S106, after setting a failure flag indicating that the rotation sensor 16 has failed, the process proceeds to step S107 in FIG. 16, and it is determined whether the stroke voltage from the Hall IC 15 has detected the voltage V1, which is the neutral position of the spool 3. To do. When the voltage V1 corresponding to the neutral position of the stroke voltage is detected, the motor 11 is stopped as shown in step S108. This is because the control unit 31 that has received a signal from the rotation sensor failure determination unit 38 of the control device 30 controls and drives the motor drive unit 36.

In step S105, after it is determined that the neutral sensor (Hall IC 15) is abnormal and a failure flag is set, the process proceeds to step S109 in FIG. Here, since the Hall IC 15 is abnormal and the rotation sensor 16 is normal, the amount of movement to the neutral position of the spool 3 is calculated based on the pulse count output from the rotation sensor 16 (see step S109).
The process proceeds from step S109 to step S110, and when the movement distance calculation processing unit 34 counts pulses and reaches a movement amount corresponding to the neutral position, the motor 11 is stopped as shown in step S111.

  As described above, when the neutral sensor (Hall IC 15) or the rotation sensor 16 fails in the case of stopping from the raising operation or the lowering operation after the calibration is completed, the normal sensor (Hall IC 15 or With the output of the rotation sensor 16), the spool 3 is moved to the neutral position and the loading platform is stopped to ensure safety.

  In the present embodiment, if any one of the Hall IC 15 and the rotation sensor 16 breaks down during the calibration operation immediately after the power supply is connected or during the raising operation, the lowering operation, or the stopping operation, the failure flag is turned on. Even if the raising operation (see FIG. 11) and the lowering operation (see FIG. 13) are attempted after calibration is completed, the subsequent operation is terminated without accepting the sensor abnormality, and the loading platform is stopped. Secured.

  Further, when the rotation sensor 16 fails, the spool 3 is moved to the neutral position with the output from the Hall IC 15, and when the Hall IC 15 fails, the spool 3 is moved with the output from the rotation sensor 16. It can be moved to the neutral position, the loading platform can be stopped, and safety can be ensured.

  The spool control device of the present invention is applied to a so-called specially equipped vehicle such as a dump truck, a mixer truck, and a garbage collection truck.

It is a system configuration figure of the spool control device in an embodiment of the invention. It is a figure which shows the basic specification of the spool of PTO in embodiment of this invention. It is a block diagram of a control device in an embodiment of the present invention. It is a characteristic figure of the output voltage of Hall IC in an embodiment of the invention. It is a figure which shows calculation of the movement amount of the normal rotation direction of the motor in embodiment of this invention. It is a figure which shows calculation of the movement amount of the reverse rotation direction of the motor in embodiment of this invention. It is explanatory drawing which shows the failure detection method etc. of the neutral sensor (Hall IC) in embodiment of this invention. It is explanatory drawing which shows the failure detection method of a rotation sensor, etc. in embodiment of this invention. It is a flowchart which shows the control operation (calibration) immediately after the power supply connection in embodiment of this invention. It is a flowchart which shows the control operation (calibration) immediately after the power supply connection in embodiment of this invention. It is a flowchart which shows the control operation | movement when raising operation after the completion of calibration in embodiment of this invention is carried out. It is a flowchart which shows the control operation | movement when raising operation after the completion of calibration in embodiment of this invention is carried out. 6 is a flowchart showing a control operation when a lowering operation is performed after completion of calibration in the embodiment of the present invention. 6 is a flowchart showing a control operation when a lowering operation is performed after completion of calibration in the embodiment of the present invention. It is a flowchart which shows the control action when stop operation in embodiment of this invention is carried out. It is a flowchart which shows the control action when stop operation in embodiment of this invention is carried out.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Operation switch 2 Battery 3 Spool 10 Actuator 11 Motor 12 Cable drive mechanism part 13 Cable 14 Magnet 15 Hall IC
DESCRIPTION OF SYMBOLS 16 Rotation sensor 30 Control apparatus 31 Control part 33 Stroke voltage detection part 34 Movement distance calculation process part 37 Hall IC failure determination part 38 Rotation sensor failure determination part

Claims (3)

The spool (3) for controlling the PTO, the actuator (10) for moving the spool (3) to the upper position, the neutral position and the lower position, and the spool (3) according to a command from the operation switch (1) In a specially equipped vehicle spool control device comprising a control device (30) for controlling the actuator (10) to move the driven member to an upper position, a neutral position, and a lower position to raise, stop, and lower the driven member.
The actuator (10) includes a cable drive mechanism (12) that moves the position of the spool (3), and a spool (3) that is moved by a magnet (14) provided in the cable drive mechanism (12). Hall IC (15) that outputs a voltage according to the position of), a motor (11) that drives the cable drive mechanism (12), and a rotation that outputs a rotation pulse according to the rotation of the motor (11) A sensor (16),
In the control device (30), the stroke voltage detector (33) for detecting the voltage from the Hall IC (15) of the actuator (10) and the rotation pulse from the rotation sensor (16) are counted and Hall IC for determining whether the voltage detected by the travel distance calculation processing section (34) for calculating the movement distance of the spool (3) and the voltage detected by the stroke voltage detection section (33) is normal or abnormal. A failure determination unit (37), and a rotation sensor failure determination unit (38) that determines whether the pulse output from the rotation sensor (16) is normal or abnormal compared to a preset value;
When the Hall IC failure determination unit (37) determines that the Hall IC (15) is abnormal, the output from the movement distance calculation processing unit (34) or the rotation sensor failure determination unit (38) When it is determined that the rotation sensor (16) is abnormal, the motor (11) is controlled by the output from the stroke voltage detector (33) to move the spool (3) to the neutral position to be driven. A spool control device for a specially equipped vehicle, comprising control means (31) for stopping the member.   The motor (11) is stopped when the pulse count of the rotation sensor (16) by the movement distance calculation processing unit (34) reaches a value corresponding to a neutral position. The spool control device of the specially equipped vehicle described.   When the stroke voltage detector (33) detects that the voltage output from the Hall IC (15) corresponds to a preset neutral position of the spool (3), the motor (11) is stopped. The spool control device for a specially equipped vehicle according to claim 1, wherein

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