JP2017158401A - Electrical apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electrical apparatus capable of suppressing a risk that a control system power source cannot restart when it stops due to an error or the like.SOLUTION: In an electrical apparatus, a resistance R1 and a capacitor C1 are configured to, when the voltage of a gate of a first switching element M1 is an initial voltage, supply a starting voltage necessary for turning on the first switching element M1 to the gate at the start of power supply from a storage battery 30. A second switching element M2 is configured to, when it is turned on by a control part 15, maintain the voltage of the gate to a voltage for turning on the first switching element M1, and to, when it is turned off by the control part 15, change the voltage of the gate to a voltage for turning off the first switching element M1. An initialization switch SW2 is a switch which can be operated by a user for setting the voltage of the gate to the initial voltage.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electric device such as a self-propelled lawn mower that operates by driving a motor with electric power from a battery.

  2. Description of the Related Art In recent years, self-propelled lawn mowers that automatically run in a lawn mowing area defined by wires or the like and mow the lawn and the like have been widely used as lawn mowers for mowing lawns and weeds growing on the ground. A self-propelled lawn mower includes a wheel motor for driving wheels and a cutting blade motor for driving a cutting blade for lawn mowing, and is equipped with a storage battery (battery) for supplying electric power to these motors. To control autonomous driving. Self-propelled lawn mowers that are autonomously controlled self-propelled to a charging base installed outdoors and charge the storage battery when the remaining capacity of the storage battery decreases.

JP-A-5-23002 JP 2007-336672 A

  In an electric working machine such as a self-propelled lawn mower or an electric device, it is conceivable to provide a function of preventing the overdischarge of the storage battery by turning off the control system power supply in preparation for a case where it stops due to an error or the like. In this case, it is assumed that the control system power supply is turned off while the main switch for switching the presence / absence of power supply from the battery is on, and there is a possibility that the control system power supply cannot be restarted even if the main switch is turned on again. Also, take care not to unintentionally press non-normal operation buttons that are used outside normal mode, such as an initialization switch that enables restart of the control system power supply and a maintenance mode button. Is preferred.

  The present invention has been made in view of such a situation, and a first object thereof is to provide an electric device capable of suppressing the risk that the control system power supply cannot be restarted when stopped due to an error or the like. There is.

  A second object of the present invention is to provide an electric device capable of suppressing an unintentional pressing of an abnormal operation button used in a mode other than the normal mode.

The first aspect of the present invention is an electrical device. This electrical equipment
Battery,
A motor,
A motor drive unit for driving the motor;
A control unit for controlling the motor driving unit;
A control power supply for supplying an operating voltage to the control unit;
First switch means that enables power supply from the battery to the motor,
When the control unit detects an abnormality, there is provided an abnormal stop state for stopping power supply to the motor regardless of the operation of the first switch means, and a second switch means for releasing the abnormal stop state is provided. It is characterized by that.

The first switch means is means for switching whether to supply power from the battery to the control system power source and the motor,
In the abnormal stop state, the control system power supply is stopped by the control unit, and the control system power supply is not activated by the first switch means,
The second switch means may enable the control system power supply to be activated by the first switch means.

A first switching element provided between the battery and the control system power supply;
An activation circuit for supplying an activation voltage necessary for turning on the first switching element to the control terminal when power supply from the battery is started when the control terminal of the first switching element is an initial voltage; With
The second switch means may set the voltage of the control terminal to an initial voltage.

When turned on by the control unit, the voltage at the control terminal is maintained at a voltage at which the first switching element is turned on, and when turned off by the control unit, the voltage at the control terminal is turned off by the first switching element. A second switching element that changes the voltage to
In the abnormally stopped state, the second switching element may be turned off in a state where power can be supplied from the battery to the control system power supply and the motor by the first switch means.

  When the starting circuit includes a capacitor and the second switch means is turned on, the capacitor may be discharged via the second switch means.

  You may provide the stop switch which interrupts | blocks the electric power supply from the said battery to the said motor irrespective of the state of said 1st switch means.

  The second switch means may be provided to be operable only in a state where power supply to the motor is interrupted by the stop switch.

  The second switch means may be turned on while the user is operating and turned off when the user releases his / her hand.

  An operation button for inputting predetermined information to the control unit may be provided, and the second switch means may be provided so that it is difficult for a user to recognize compared to the operation button.

  The second switch means may be provided on the operation panel together with the operation button, and a display may be provided on the surface of the operation button, while a display may be omitted on the surface of the second switch means.

  The first switch means may maintain the on state even if the user releases the hand after turning on.

Another embodiment of the present invention is an electrical device. This electrical equipment
Battery,
A motor,
A motor drive unit for driving the motor;
A control unit for controlling the motor driving unit;
A normal operation button for inputting predetermined information to the control unit;
A non-normal operation button for use in modes other than normal mode,
The non-normal operation button is provided so as to be difficult for a user to recognize as compared with the normal operation button.

  The non-normal operation button may be provided on an operation panel together with the normal operation button, and a display may be provided on a surface of the normal operation button, while a display may be omitted on the surface of the non-normal operation button.

  The non-normal operation button may be waterproofed together with the normal operation button.

  The non-normal operation button may be provided in a battery housing portion that houses the battery.

  The control unit may respond when the non-normal operation button is pressed for a predetermined time or longer.

  The electric device may be a self-propelled lawn mower that includes a cutting blade, a cutting blade motor that drives the cutting blade, and a wheel motor that drives a wheel that drives the main body.

  It should be noted that any combination of the above-described constituent elements, and those obtained by converting the expression of the present invention between methods and systems are also effective as aspects of the present invention.

  According to the first aspect of the present invention, it is possible to provide an electric device capable of suppressing the risk that the control system power supply cannot be restarted when stopped due to an error or the like.

  According to the second aspect of the present invention, it is possible to provide an electrical device capable of suppressing an unintentional pressing of an abnormal operation button used in a mode other than the normal mode.

The circuit diagram of the electric equipment which concerns on embodiment of this invention. The perspective view seen from the front of the state which closed the main body cover 33 of the self-propelled lawn mower 1 concerning embodiment of this invention. The perspective view seen from the back of the state which opened the main body cover 33 of the self-propelled lawn mower 1. FIG. The top view of the state which removed the main body housing 32 of the self-propelled lawn mower 1. FIG. FIG. 5 is a cross-sectional view taken along the line AA in FIG. FIG. 5 is a cross-sectional view of the display / keyboard board 44 of FIG. 4 including an initialization switch SW2. The expanded sectional view of the storage battery 30 and the storage battery accommodating part 5 vicinity in the self-propelled lawn mower 1. The expanded sectional view of the switch part vicinity act | operated by the operation part 101 of the manual stop switch 100 in the width direction both sides of the main body 2 of the self-propelled lawn mower 1. FIG. 3 is an enlarged cross-sectional view of a state in which a main body cover 33 is closed in the vicinity of the operation unit 101 of the manual stop switch 100 and the switch unit. The expanded sectional view of the state where body cover 33 was similarly opened. The block diagram which shows the various functional components with which the main body 2 of the self-propelled lawn mower 1 is equipped. The block diagram which shows the circuit structure mainly including the motor electric power control system of the self-propelled lawn mower. The use environment explanatory drawing of the self-propelled lawn mower 1. FIG. Schematic which shows the self-propelled lawn mower 1, the charging base 50, and the AC adapter 60. FIG.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same or equivalent component, member, etc. which are shown by each drawing, and the overlapping description is abbreviate | omitted suitably. In addition, the embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

  FIG. 1 is a circuit diagram of an electric apparatus according to an embodiment of the present invention. This electric device is, for example, an electric work machine, and includes a storage battery 30 as a battery, a motor 22 as a load, a motor driver 23 as a motor drive unit, a control unit 15, a control system power supply 16, and power activation. A maintenance circuit 41 is provided. The motor 22 is, for example, a brushless motor, and the motor driver 23 is an inverter circuit that converts a DC voltage from the storage battery 30 into an AC voltage and supplies the AC voltage to the motor 22. The control unit 15 drives the motor 22 by controlling on / off of each switching element constituting the motor driver 23 by PWM control or the like. The control system power supply 16 steps down the supply voltage from the storage battery 30 to the operating voltage (for example, 5 V) of the control unit 15 and supplies it to the control unit 15. Capacitors C2 and C3 are provided between the input side and the output side of the control system power supply 16 and the ground (fixed voltage terminal). The power supply activation / maintenance circuit 41 is provided between the storage battery 30 and the control system power supply 16, and maintains the function of starting the control system power supply 16 and the power supply to the activated control system power supply 16, as will be described later. Has function.

  The negative terminal of the storage battery 30 is connected to the ground, and the positive terminal of the storage battery 30 is connected to one end of the main switch SW1 as the first switch means. The voltage of the storage battery 30 is supplied to the motor 22 and the control system power supply 16 via the main switch SW1. That is, the main switch SW1 functions as a switching unit that switches the presence or absence of power supply from the storage battery 30 to the control system power supply 16 and the motor 22. The main switch SW1 is preferably an alternate type switch, and remains on even if the user releases the hand after turning it on. As the main switch SW1, a button switch, a lever switch, a seesaw switch (rocker switch) or the like is used. A first switching element M1 is provided between the main switch SW1 and the control system power supply 16. Here, the first switching element M1 is a P-channel MOSFET. The source of the first switching element M1 is connected to the other end of the main switch SW1. The drain of the first switching element M1 is connected to the input terminal of the control system power supply 16.

The resistor R1 is provided between the gate (control terminal) and the source of the first switching element M1. The capacitor C1 is provided between the gate of the first switching element M1 and the ground. The series circuit of the resistor R1 and the capacitor C1 is an example of a starting circuit, and when the main switch SW1 is turned on, that is, at the start of power supply from the storage battery 30, the first switching element M1 is connected to the gate of the first switching element M1. Supplies the starting voltage necessary to turn on. However, in order for the starting circuit to supply the starting voltage, the voltage between the positive terminal of the storage battery 30 and the gate of the first switching element M1 is between the gate and the source necessary for turning on the first switching element M1. The condition is that the capacitor C1 is discharged to an extent that is sufficiently larger than the voltage _VGS1 . The voltage of the capacitor C1 that satisfies this condition (the gate voltage of the first switching element M1) is the initial voltage. Capacitor C1 is preferably discharged until its voltage is zero. Note that the state in which the capacitor C1 is at the initial voltage is the initial state of the starting circuit.

  The resistor R2 and the second switching element M2 are connected in series between the gate of the first switching element M1 and the ground so as to be in parallel with the capacitor C1. One end of the resistor R2 is connected to the gate of the first switching element M1. Here, the second switching element M2 is an N-channel MOSFET. The drain of the second switching element M2 is connected to the other end of the resistor R2. The source of the second switching element M2 is connected to the ground. The gate (control terminal) of the second switching element M2 is connected to the control unit 15. The series circuit of the resistor R2 and the second switching element M2 is an example of the sustain circuit. When the second switching element M2 is turned on by the control unit 15, the gate voltage of the first switching element M1 is changed to the first switching element M1. Is maintained at a voltage that turns on. On the other hand, when the second switching element M2 is turned off by the control unit 15, the gate voltage of the first switching element M1 is changed to a voltage at which the first switching element M1 is turned off.

  The resistor R3 and the initialization switch SW2 as the second switch means are connected in series between the gate of the first switching element M1 and the ground so as to be in parallel with the capacitor C1, the resistor R2, and the second switching element M2. . One end of the resistor R3 is connected to the gate of the first switching element M1. One end of the initialization switch SW2 is connected to the other end of the resistor R3. The other end of the initialization switch SW2 is connected to the ground. The initialization switch SW2 is an example of a non-normal operation button operated by the user in a mode other than the normal mode. The initialization switch SW2 is preferably a momentary type and is turned on while the user is operating (pressing), and is turned off when the user releases his / her hand. The series circuit of the resistor R3 and the initialization switch SW2 is an example of the initialization circuit. When the initialization switch SW2 is turned on by the user, the capacitor C1 is discharged, and the gate voltage of the first switching element M1 is set to the initial voltage. (For example, 0).

  Hereinafter, the operation of the circuit of FIG. 1 will be described. When the main switch SW1 is turned on when the gate voltage of the first switching element M1 is the initial voltage, a current is temporarily supplied to the path of the positive terminal of the storage battery 30, the main switch SW1, the resistor R1, the capacitor C1, and the ground. Flowing. Thereby, the voltage between the gate and the source of the first switching element M1 becomes negative. Then, the first switching element M1 is turned on, the control system power supply 16 is activated, and the control unit 15 is activated. After starting, the control unit 15 sets the gate voltage of the second switching element M2, that is, the power maintaining signal to be sent to the gate, to a high level, whereby the second switching element M2 is turned on with a positive voltage between the gate and the source. To do. When the second switching element M2 is turned on, a current continuously flows through the path of the positive terminal of the storage battery 30, the main switch SW1, the resistor R1, the resistor R2, the second switching element M2, and the ground, and the first switching element M1 The voltage between the gate and the source is maintained negative, and the first switching element M1 is maintained in the ON state.

  When the main switch SW1 is turned off, no current flows through the resistor R1, the voltage between the gate and source of the first switching element M1 becomes 0, and the first switching element M1 is turned off. When the first switching element M1 is turned off, the control system power supply 16 is kept on (supplying the operating voltage to the control unit 15) for a predetermined time by the action of the capacitor C2 provided on its input side. ,Stop. The gate voltage of the second switching element M2 is maintained at a high level by the control unit 15 until the operation voltage is not supplied to the control unit 15 after the main switch SW1 is turned off, and the second switching element M2 is turned on. In order to maintain the state, the electric charge accumulated in the capacitor C1 is discharged through the resistor R2 and the second switching element M2, and the voltage of the gate of the first switching element M1 and the capacitor C1 is reduced to the initial voltage (preferably 0).

  When the controller 15 detects various abnormalities (errors) such as overdischarge, communication failure, and temperature abnormality of the storage battery 30, the control unit 15 stops the motor 22 and turns off the control system power supply 16 to prevent the storage battery 30 from discharging. have. Specifically, when the control unit 15 detects an abnormality, the control unit 15 sets the gate voltage of the second switching element M2 (power supply maintaining signal sent to the gate) to a low level, whereby the second switching element M2 is connected between the gate and the source. The voltage becomes 0 and turns off. When the second switching element M2 is turned off, the current path passing through the resistor R2 and the second switching element M2 is interrupted, and when the voltage of the capacitor C1 becomes equal to the voltage of the storage battery 30, no current flows through the resistor R1. The voltage between the gate and source of the switching element M1 becomes 0, and the first switching element M1 is turned off. Thereby, the power supply from the storage battery 30 to the control system power supply 16 is cut off, the supply of the operating voltage from the control system power supply 16 to the control unit 15 is stopped, and the control unit 15 stops (the power consumption in the control unit 15 is reduced). No longer). Further, the supply of the operating voltage from the control system power supply 16 to the control unit 15 is stopped, so that the third switching element M3 provided in the path between the storage battery 30 and the motor driver 23 passes through the fourth switching element M4. In order to turn off, the power supply from the storage battery 30 to the motor driver is also stopped.

  As described above, when the control unit 15 detects an abnormality and is turned off, the voltage of the capacitor C1 becomes equal to that of the storage battery 30 even if the user turns off the main switch SW1 and turns it on again. Therefore, no current flows through the resistor R1. For this reason, the voltage between the gate and the source of the first switching element M1 remains 0, and the first switching element M1 cannot be turned on. In order to recover from such an inoperable state, the above-described initialization switch SW2 is provided. When the user turns off the main switch SW1 and presses the initialization switch SW2, the charge accumulated in the capacitor C1 is discharged via the resistor R3 and the initialization switch SW2, and the gate and capacitor of the first switching element M1. The voltage of C1 drops to the initial voltage (preferably becomes 0). As a result, if the main switch SW1 is subsequently turned on, the first switching element M1 can be turned on, the control system power supply 16 can be activated, and the control unit 15 can be activated (initial state) as in the normal state. . When the control unit 15 detects abnormality and turns itself off, the user may press the initialization switch SW2 while the main switch SW1 is on. In this case, while the initialization switch SW2 is being pressed, current flows through the path of the positive terminal of the storage battery 30, the main switch SW1, the resistor R1, the resistor R3, the initialization switch SW2, and the ground, and the gate of the first switching element M1 The voltage between the sources becomes negative, the first switching element M1 is turned on, the control system power supply 16 is restarted, and the control unit 15 is restarted.

  According to the present embodiment, when the operation of the electric device stops due to an error or the like, the overdischarge prevention function that prevents the overdischarge of the storage battery 30 by the control unit 15 turning off the control system power supply 16 and stopping itself. On the other hand, after the overdischarge prevention function is activated, the user operates (pushes) the initialization switch SW2 to return to the initial state or directly restart the control system power supply 16. Since it is possible, the risk that the control system power supply 16 cannot be restarted after the overdischarge prevention function is activated can be suppressed. The overdischarge prevention function can also be referred to as a power consumption suppression function that suppresses the power consumption of the storage battery 30.

  Hereinafter, a self-propelled lawn mower will be described as a specific example of the electric equipment. FIG. 12 is an explanatory diagram of the use environment of the self-propelled lawn mower 1, and FIG. 13 is a schematic diagram showing the self-propelled lawn mower 1, the charging base (charging station) 50, and the AC adapter 60. Although details of the self-propelled lawn mower 1 will be described later, the self-propelled lawn mower 1 includes a main body 2 having left and right wheels (rear wheels) 3A and 3B as driving wheels and a cutting blade 4, and a storage battery housing of the main body 2. A storage battery (battery pack) 30 that is detachably attached to the unit 5. The self-propelled lawn mower 1 is operated by the electric power of the storage battery 30, and when the remaining capacity of the storage battery 30 decreases, the self-propelled lawn mower 1 self-travels to the charging base 50 and charges the storage battery 30. The storage battery 30 that can be attached to and detached from the self-propelled lawn mower 1 can preferably be shared with other types of electric working machines (for example, a hedge trimmer).

  A guide wire (guidance wire) 80 shown in FIG. 12 is connected to the charging base 50 and is disposed (for example, embedded) in order to demarcate a traveling area of the self-propelled lawn mower 1, that is, a lawn mowing area. A current is supplied to the guide wire 80 from the charging base 50, and the self-propelled lawn mower 1 generates a magnetic field generated by the current flowing through the guide wire 80 by using a guide wire sensor (for example, a magnet such as a coil disposed before and after the main body 2). Detection means, which will be described later with reference to FIG. The charging base 50 is installed at a corner of the lawn mowing area and connected to the AC adapter 60 by a cable 70. One end of the cable 70 is detachable from the output terminal of the AC adapter 60, and the other end is detachable from the input terminal of the charging base 50. The AC adapter 60 is connected to an external AC power source such as a commercial AC power source, and converts an AC voltage (for example, 100 V) supplied from the external AC power source into a DC voltage (for example, 21 V). The DC voltage output from the AC adapter 60 is transmitted to the charging base 50 through the cable 70 and is output between the two DC output terminals 51 and 52 of the charging base 50.

  The self-propelled lawn mower 1 will be described in detail with reference to FIGS. 2 is a front perspective view of the self-propelled lawn mower 1 with the main body cover 33 closed, and FIG. 3 is a rear perspective view of the self-propelled lawn mower 1 with the main body cover 33 open. Is a plan view with the main body housing 32 removed, and FIG. 5 is a cross-sectional view taken along the line AA of FIG. The front and rear, left and right, and up and down directions are defined with reference to FIGS. As shown in these drawings, the main body 2 of the self-propelled lawn mower 1 includes a main body chassis 31, a main body housing 32 that surrounds the main body chassis 31, a main body cover 33 that can be freely opened and closed on the upper portion of the main body 2, and driving wheels. Large-diameter rear wheels 3A and 3B, and small-diameter front wheels 3C and 3D provided so as to be able to rotate or swing along the traveling direction, and further include various functional parts shown in FIG. As will be described later, FIG. 11 mainly shows a motor power control system that supplies power to the left wheel motor 22A that drives the left and right rear wheels 3A and 3B, the right wheel motor 22B, and the cutting blade motor 22C that drives the cutting blade 4. ing.

  The entire upper portion of the self-propelled lawn mower 1 is covered by a main body housing 32 attached to and supported by the main body chassis 31. A main body cover 33 capable of covering the upper opening of the main body housing 32 is attached to the upper side of the main body housing 32 so as to be openable and closable around a rotation shaft on the front side. The body cover 33 is made of a transparent resin member, and the height from the ground of the cutting blade motor 22 that rotates the cutting blade 4 shown in FIG. The dial knob 39 for operating the trimming height adjusting mechanism 36 and the display / keyboard substrate 44 can be accessed. The display / keyboard substrate 44 is mounted with a display 44a as a display unit and a keyboard 44b as operation information input means. An opening 32d that is substantially rectangular when viewed from the front is provided in front of the main body housing 32, and the DC output terminals 51 and 52 of the charging base 50 are in contact with the charging terminals (power receiving terminals) 10a and 10b through the opening 32d during charging. It becomes possible. The terminal 10a is a positive terminal and the terminal 10b is a negative terminal.

  As shown in FIG. 3, an operation unit 101 of a manual stop switch 100 that is operated by an operator to forcibly stop the self-propelled lawn mower 1 is provided on the upper rear side of the main body housing 32. The configuration of the manual stop switch 100 will be described later with reference to FIGS. 8, 9A, and 9B.

  The main body chassis 31 is narrowed down in a triangular shape in a top view, and is provided so that the mounting arms 34A and 34B extend from the slope to the left and right sides. Front wheels 3C and 3D are pivotally supported on the mounting arms 34A and 34B, respectively, and are held so that the directions of the front wheels 3C and 3D can freely follow in accordance with the moving direction of the self-propelled lawn mower 1. Rear wheels 3 </ b> A and 3 </ b> B are provided on the rear side of the main body chassis 31. Here, large-diameter wheels are used for the rear wheels 3A and 3B, and they are driven by independent driving wheel motors (left wheel motor 22A and right wheel motor 22B). The two wheel motors can be controlled by the main board 40 by being driven synchronously or asynchronously. For example, the self-propelled lawn mower 1 moves straight forward or backward by driving the rear wheels 3A and 3B synchronously, and drives in a predetermined direction by driving the rear wheels 3A and 3B to cause a rotational difference. The lawn mower 1 can be turned. The front wheels 3C and 3D are not limited to the rear wheels 3A and 3B, and may be drive wheels.

  The front lower end 32c of the main body housing 32 is configured to have a gap of a predetermined distance from the ground, and the lawn or the like that has entered the main body housing 32 from the gap is disposed below the main body chassis 31. It is cut by the cutting blade 4.

  As shown in FIGS. 5 and 7, a storage battery housing part 5 having a substantially rectangular parallelepiped space for storing the storage battery 30 in a replaceable manner is provided on the rear side of the main body chassis 31. The storage battery storage unit 5 includes a synthetic resin container 46 integrally fixed to the main body chassis 31 and a storage connected to the container 46 via a hinge 45 so that the opening of the container 46 can be opened and closed. And a part lid 47. In the container part 46, the storage battery 30 can be arrange | positioned so that attachment or detachment is possible. A battery connection that can be connected to each terminal (+ terminal, − terminal, C + terminal, 5V terminal, LD terminal, T terminal, LS terminal of the battery pack in FIG. 11) of the mounted storage battery 30 inside the container portion 46. A terminal 42 (shown in FIGS. 10 and 11) is provided.

  As shown in FIG. 4, a display / keyboard board 44 as an operation panel having a display 44a such as a liquid crystal display panel and a keyboard 44b arranged on the upper side is attached to the upper surface of the housing lid 47, and the main switch SW1 is provided. The operator can set a lawn mowing schedule by operating the keyboard 44b. As shown in FIGS. 3 and 4, the keyboard 44b has an initialization switch (initialization button) SW2 in addition to the normal operation button 44c. The normal operation button 44c is used for setting a lawn mowing schedule. As described with reference to FIG. 1, the initialization switch SW2 is used to return to the initial state when the self-propelled lawn mower 1 stops due to an error or the like, or to restart the control system power supply. As shown in FIGS. 4 and 6, a display 44d such as numerals, arrows, symbols, and the like is provided on the surface of the normal operation button 44c. The display 44d is not limited to the function indicating the function of each button, but is a concept including a process indicating the presence of the button (a process for recognizing the button) such as embossing. On the other hand, the display is omitted on the surface of the initialization switch SW2. As a result, the initialization switch SW2 is difficult for the user to recognize compared to the normal operation button 44c. The initialization switch SW2 is waterproofed together with the normal operation button 44c. As described above, in order to access the display / keyboard board 44, it is necessary to open the main body cover 33, that is, to push down the switch operation unit 101 of the manual stop switch 100 as described later. Therefore, the initialization switch SW2 can be operated only when the power supply to the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C is interrupted by the manual stop switch 100. The main board 40 is disposed adjacent to the front side of the storage battery housing 5.

  FIG. 7 shows an enlarged cross section of the main body chassis 31, the main body housing 32, and the like in the vicinity of the storage battery housing portion 5 having a space for storing the storage battery 30. The housing lid 47 is fixed by a lid fixing bolt 48 as a fixing means that is screwed into a nut portion formed on the opening end surface of the container portion 46.

  The head of the lid fixing bolt 48 protrudes above the surface of the housing portion lid 47, and is formed on the lower surface of the main body cover 33 when the housing portion lid 47 is not completely closed as shown in FIG. The contact rib 33a and the head of the lid fixing bolt 48 interfere with each other, and the main body cover 33 cannot be closed.

  As shown in FIGS. 8, 9A and 9B, the manual stop switch 100 includes a switch operation unit 101, a switch lever 102 integrated with the switch operation unit 101, and a push-down operation of the switch operation unit 101 (that is, rotation of the switch lever 102). A pair of tongue-like operation projections 103A, 103B integrally formed on the lower surface of the main body cover 33 driven in the opening direction by the switch, and a switch portion corresponding to the pair of tongue-like operation projections 103A, 103B (specifically, Is a micro switch) MS1A, MS1B. The switch portions MS1A and MS1B are connected to the main board 40 of the main body chassis 31 by wiring not shown.

  The switch lever 102 is rotatably supported by a pin 104 provided in the main body housing 32, and a push-up portion 102a of the main body cover 33 is provided at an end opposite to the operation portion 101, and an unlocking portion is provided at an intermediate portion. 102b are formed. The lock release portion 102b provided on the switch lever 102 bends the claw-like lock portion 105 in a direction to release from the lock portion of the main body housing 32 (front side on the paper surface) when the switch operation portion 101 is pushed down. The engagement between the two is released, and the main body cover 33 is pushed up and is opened.

  In the state in which the main body cover 33 shown in FIG. 9A is properly closed (when the upper opening of the main body housing 32 is closed with no lifting at the left and right ends of the main body cover 33), the claw-like locking portion 105 is The closed state of the main body cover 33 is maintained by engaging with the engaging portion of the housing 32, and the tongue-like operation convex portions 103A and 103B are inserted into the front surfaces of the switch portions MS1A and MS1B. Both MS1A and MS1B are turned on (ON: first state).

  When the operator depresses the switch operation unit 101 of the manual stop switch 100, the main body cover 33 is opened as shown in FIG. 9B, and both the switch units MS1A and MS1B are turned off (OFF: second state).

  FIG. 10 shows various functional parts provided in the main body 2 of the self-propelled lawn mower 1. A circuit portion excluding the motors 22A, 22B, and 22C and the motor drive circuits (drivers) 18, 19, and 20 shown in FIG. 11 is mounted on the main board 40 attached to the main chassis 31 side. Removable charging terminals 10a and 10b that can be connected to and disconnected from the DC output terminals 51 and 52 of the base 50, and terminals (output voltage terminals and identification terminals) of the storage battery 30 that is a battery pack mounted in the storage battery housing 5. A battery connection terminal 42 to be connected is connected to the main board 40. The main switch SW1 is inserted in the connection line of the battery connection terminal 42 and the main board 40. Further, a left wheel motor 22A, a right wheel motor 22B, and a cutting blade motor 22C are connected to the main board 40 via motor drive circuits 18, 19, and 20, and first and second guide wire sensors S1 and S2. The lift sensor S3, the tilt sensor S4, the manual stop switch 100, and the display / keyboard board 44 are connected.

  FIG. 11 is a circuit configuration mainly showing a motor power control system of the self-propelled lawn mower 1. The self-propelled lawn mower 1 has charging terminals 10a and 10b on the main body 2 that can be connected to and disconnected from the DC output terminals 51 and 52 of the charging base 50 of FIG. DC21V input from the charging base 50 to the charging terminals 10a and 10b is supplied to the circuit to be discriminated 11 and the step-up / step-down circuit 13 as a charging circuit, and is also supplied to the control power circuit 14 through the backflow prevention diode D1.

  The to-be-determined circuit 11 is provided to allow the charging base 50 to determine that the main body 2 of the self-propelled lawn mower 1 is connected to the charging base 50, and does not operate with the power of the storage battery 30. In addition, the operation is performed by supplying power from the charging base 50, and even when the discharge of the storage battery 30 progresses and so-called battery runs out (remaining capacity is substantially zero), the charging base 50 side can make a determination.

  The control power supply circuit 14 receives DC21V between the charging terminals 10a and 10b or DC18V output from the drive power supply circuit 17 described later, and supplies DC5V to a control unit (microcomputer) 15 as a main control unit. Specifically, it is a DC-DC converter (voltage conversion means). The configuration of FIG. 11 is a configuration in which the output voltage of the storage battery 30 is divided into two stages of the drive power supply circuit 17 and the control power supply circuit 14 and converted into the operating voltage of the control unit 15. The combination of the circuits 14 corresponds to the control system power supply 16 of FIG. The drive power supply circuit 17 may be omitted and the voltage of the storage battery 30 may be directly supplied to each motor. In this case, the control power supply circuit 14 alone corresponds to the control system power supply 16 of FIG.

  The step-up / step-down circuit 13 boosts or lowers the DC 21 V between the charging terminals 10 a and 10 b according to the rated output voltage of the storage battery 30, and charges the storage battery 30 with a charging voltage that matches the rated output voltage of the storage battery 30. (Voltage conversion means).

  The drive power supply circuit 17 is a DC-DC converter capable of at least stepping down, and outputs a drive voltage equal to or lower than the rated output voltage of the storage battery having the lowest rated output voltage among the storage batteries 30 that can be attached to the self-propelled lawn mower 1. . The output voltage of the drive power supply circuit 17 is supplied to the control power supply circuit 14, and is also supplied to the left wheel driver 18, the right wheel driver 19 and the cutting blade driver 20 as a motor drive circuit.

  The left wheel driver 18, the right wheel driver 19, and the cutting blade driver 20 convert the drive voltage of the drive power supply circuit 17 and supply it to the motors 22A, 22B, and 22C, respectively, and are connected in a three-phase bridge. And a plurality of (six in the illustrated example) switching elements such as FETs and IGBTs. The left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C are preferably brushless motors, and each driver (motor drive circuit) has a plurality of switching elements. Be controlled.

  As shown in FIG. 12, a guide wire 80 (guide wire) is connected to the charging base 50 in order to define the lawn mowing area of the self-propelled lawn mower 1. The guide wire 80 encloses the lawn mowing area including the charging base 50, and the self-propelled lawn mower 1 is premised on automatically traveling inside the area surrounded by the guide wire. The first and second guide wire sensors S1 and S2 shown in FIG. 10 are, for example, coils disposed before and after the main body 2, and receive the AC electrical signal of the guide wire and output it to the main board 40, so that the lawn mowing is performed. The control unit 15 in FIG. 11 mounted on the main board 40 recognizes the boundary of the region, and controls the direction of the self-propelled lawn mower 1 through the left wheel motor driver 18 and the right wheel motor driver 19 to the left wheel motor 22A. And the rotation direction of the right wheel motor 22B, the rotation speed control, and the like.

  In the configuration of the self-propelled lawn mower 1, when performing lawn mowing work, first, the storage battery 30 as a battery pack is attached to the inside of the storage battery housing 5 provided in the main body chassis 31, and the housing lid 47 is closed to close the lid. Tighten the fixing bolt 48. Thereafter, the main switch SW1 is turned on, the keyboard 44b of the display / keyboard board 44 is operated, the self-propelled lawn mower 1 is set in the standby state, and the main body cover 33 is closed. At this time, as shown in FIG. 9A, the tongue-like operation convex portions 103A and 103B of the main body cover 33 are inserted into the front surfaces of the switch portions MS1A and MS1B of the manual stop switch 100, and both the switch portions MS1A and MS1B are turned on (ON : First state), and the self-propelled lawn mower 1 starts autonomous traveling and lawn mowing work.

  The self-propelled lawn mower 1 automatically returns to the charging base 50 when the requested lawn mowing operation is completed or when the remaining capacity of the storage battery 30 is reduced, and charging is performed automatically. Is called. Moreover, when replacing | exchanging with the storage battery 30 in which the residual amount fell and replacing | exchanging with the charged storage battery 30, and wishing to continue lawn mowing work, the storage battery 30 can be replaced | exchanged.

  Next, the operation when the self-propelled lawn mower 1 stops due to some error will be described. When the self-propelled lawn mower 1 detects an overcurrent or various temperature abnormalities by the control unit 15, the driving of the motor 22 is stopped and the abnormal lawn mower 1 shifts to an abnormally stopped state. In the abnormal stop state, power supply from the storage battery 30 to the control system power supply 16 is stopped, and the control unit 15 stops. In the abnormal stop state, the operator can open the main body cover 33 by operating the manual stop switch 100, but can start supplying power to the control system power supply 16 only by operating the main switch SW1. Therefore, the work cannot be easily resumed. Specifically, in the transition from the normal state to the abnormally stopped state, the control unit 15 turns off the second switching element M2 before the charge of the capacitor C1 provided in the power supply activation / maintenance circuit 41 is discharged. As a result, the capacitor C1 is left with electric charge, and the starting circuit is not activated. That is, when an abnormal stop state occurs, the event causing the abnormality, such as battery replacement, is resolved, and then the initialization switch SW2 is pressed and operated to discharge the charge accumulated in the capacitor C1. The abnormal stop state can be released. Thereafter, the control system power supply can be activated by the main switch SW1, and the control unit can be activated.

  According to the self-propelled lawn mower 1 of the present embodiment, the following effects can be achieved.

(1) When the main body 2 of the self-propelled lawn mower 1 is lifted, or when the inclination angle of the main body 2 exceeds a threshold value, the control unit 15 decreases the voltage of the storage battery 30 to a predetermined value or less. When the abnormality is detected and the left wheel motor 22A, the right wheel motor 22B, and the cutting blade motor 22C are stopped, such as when an overcurrent or various temperature abnormality is detected, the drive power supply circuit 17 and the control power supply circuit 14 are turned on. While having an overdischarge prevention function for preventing overdischarge of the storage battery 30 by turning it off and stopping itself, the user operates (presses) the initialization switch SW2 after the overdischarge prevention function is activated. As in the case of the above-described electrical equipment, it is possible to return to the initial state, or to directly restart the drive power supply circuit 17 and the control power supply circuit 14, so that the drive power supply circuit 17 and the control can be performed after the overdischarge prevention function is activated. Power supply circuit 1 The risk that 4 cannot be restarted can be suppressed.

(2) Since the initialization switch SW2 is provided on the keyboard 44b together with the normal operation button 44c, waterproofing is possible together with the normal operation button 44c, and the cost is low.

(3) Since the initialization switch SW2 is provided so that it is difficult for the user to recognize compared to the normal operation button 44c, the initialization switch SW2 can be prevented from being unintentionally pressed.

(4) The initialization switch SW2 can be operated only when the power supply to the left wheel motor 22A, the right wheel motor 22B and the cutting blade motor 22C is interrupted by the manual stop switch 100, and is a self-propelled lawn mower. It is possible to prevent operation during the operation of 1.

  The present invention has been described above by taking the embodiment as an example. However, it is understood by those skilled in the art that various modifications can be made to each component and each processing process of the embodiment within the scope of the claims. By the way. Hereinafter, modifications will be described.

  In the present embodiment, the control unit 15 is configured to be in an inoperable state when the electric charge is accumulated in the capacitor C1, and is in an initial state in which the electric power is accumulated in the capacitor C1. In other words, when the abnormality is detected, the control unit 15 is configured so that it cannot be recovered from the inoperable state only by turning on / off the main switch SW1, and can be easily started and stopped without removing the cause of the abnormality. It is not repeated. As long as the idea of the present invention is maintained, it may be realized by the control of the control unit 15. That is, when an abnormality is detected, control is performed to stop the drive of the main body as an inoperable state, and the initialization switch SW2 is operated, so that a cancel signal for inoperable state is output and the initial state is set. It may be configured to control such that.

  The electric working machine is not limited to the self-propelled lawn mower 1 but may be of other types. In addition, the electric device is not limited to the electric working machine, and may be another type such as a fan, a blower, or a radio. The electric device may be of a type that does not have the main switch SW1 and starts automatically when the storage battery 30 is attached. The non-normal operation button is not limited to the initialization switch SW2, and may be other types such as a maintenance mode button operated by the user in a mode other than the normal mode. In this case, the initialization switch SW2 may respond when pressed for a predetermined time (for example, 2 seconds) or longer. The location of the initialization switch SW2 is not limited to the keyboard 44b, but may be the storage battery housing part 5. Also in this case, it is difficult for the user to recognize the initialization switch SW2 as compared with the normal operation button 44c. Moreover, the waterproofing of initialization switch SW2 becomes unnecessary by arrange | positioning in the storage battery accommodating part 5. FIG.

DESCRIPTION OF SYMBOLS 1 Self-propelled lawn mower, 2 Main body, 3A, 3B Rear wheel, 4 Cutting blade, 5 Storage battery accommodating part, 10a, 10b Charging terminal, 11 Circuit to be discriminated, 13 Buck-boost circuit, 14 Power supply circuit for control, 15 Control part , 16 Control system power supply, 17 Drive power supply circuit, 18 Left wheel driver, 19 Right wheel driver, 20 Cutting blade driver, 22 Motor, 22A Left wheel motor, 22B Right wheel motor, 22C Cutting blade motor, 23 Motor driver, 30 Storage battery (Battery pack), 31 Main body chassis, 32 Main body housing, 33 Main body cover, 40 Main board, 41 Power supply start / maintenance circuit, 42 Battery connection terminal, 44 Display / keyboard board, 44a Display, 44b Keyboard, 44c Normal operation button, 44d display, 45 hinge, 46 container, 47 container lid , 48 bolt, 49 packing, 50 charging base, 60 AC adapter, 70 cable, 80 guide wire (guide wire), 100 manual stop switch, 101 switch operation part, 102 switch lever, 103A, 103B tongue-like operation convex part, 104 pin, 105 claw-shaped locking part, D1, D2 backflow prevention diode, G1 AND gate, G2 OR gate, MS1A, MS1B switch part, SW1 main switch (first switch means), SW2 initialization switch (second switch) means)

Claims (17)

Battery,
A motor,
A motor drive unit for driving the motor;
A control unit for controlling the motor driving unit;
A control power supply for supplying an operating voltage to the control unit;
First switch means that enables power supply from the battery to the motor,
When the control unit detects an abnormality, there is provided an abnormal stop state for stopping power supply to the motor regardless of the operation of the first switch means, and a second switch means for releasing the abnormal stop state is provided. , Characterized by electrical equipment. The first switch means is means for switching whether to supply power from the battery to the control system power source and the motor,
In the abnormal stop state, the control system power supply is stopped by the control unit, and the control system power supply is not activated by the first switch means,
The electric device according to claim 1, wherein the second switch means enables the control system power supply to be activated by the first switch means. A first switching element provided between the battery and the control system power supply;
An activation circuit for supplying an activation voltage necessary for turning on the first switching element to the control terminal when power supply from the battery is started when the control terminal of the first switching element is an initial voltage; With
The electrical device according to claim 2, wherein the second switch means sets the voltage of the control terminal to an initial voltage. When turned on by the control unit, the voltage at the control terminal is maintained at a voltage at which the first switching element is turned on, and when turned off by the control unit, the voltage at the control terminal is turned off by the first switching element. A second switching element that changes the voltage to
In the abnormal stop state, the second switching element is turned off in a state in which power can be supplied from the battery to the control system power supply and the motor by the first switch means. Item 4. The electric device according to Item 3.   5. The electrical device according to claim 3, wherein the activation circuit includes a capacitor, and when the second switch unit is turned on, the capacitor is discharged via the second switch unit.   The electric device according to any one of claims 1 to 5, further comprising a stop switch that cuts off power supply from the battery to the motor regardless of a state of the first switch means.   The electric device according to claim 6, wherein the second switch means is provided so as to be operable only in a state where power supply to the motor is interrupted by the stop switch.   The electric device according to any one of claims 1 to 7, wherein the second switch means is turned on while the user is operating and turned off when the user releases the hand. .   An operation button for inputting predetermined information to the control unit is provided, and the second switch means is provided so as to be difficult for a user to recognize compared to the operation button. Item 9. The electrical device according to any one of Items 1 to 8.   The second switch means is provided on the operation panel together with the operation buttons, and a display is provided on the surface of the operation buttons, while a display is omitted on the surface of the second switch means. The electrical device according to claim 9.   The electrical device according to any one of claims 1 to 10, wherein the first switch means maintains an on state even if the user releases the hand after the user turns it on. Battery,
A motor,
A motor drive unit for driving the motor;
A control unit for controlling the motor driving unit;
A normal operation button for inputting predetermined information to the control unit;
A non-normal operation button for use in modes other than normal mode,
The non-normal operation button is provided so as to be difficult for a user to recognize compared to the normal operation button.   The non-normal operation button is provided on the operation panel together with the normal operation button, and a display is provided on the surface of the normal operation button, while a display is omitted on the surface of the non-normal operation button. The electric device according to claim 12, wherein   The electric device according to claim 13, wherein the non-normal operation button is waterproofed together with the normal operation button.   The electric device according to claim 12, wherein the non-normal operation button is provided in a battery housing portion that houses the battery.   The electric device according to claim 11, wherein the control unit responds when the non-normal operation button is pressed for a predetermined time or longer.   The self-propelled lawn mower includes a cutting blade, a cutting blade motor that drives the cutting blade, and a wheel motor that drives a wheel that drives the main body. The electric device according to any one of 1 to 16.

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