JP2022103937A - Emergency stop device of vehicle - Google Patents

Abstract

To provide an emergency stop device of a vehicle which can prevent auxiliary battery exhaustion after charge completion of a main battery.SOLUTION: An emergency stop device 17 comprises: an emergency stop relay 42 which detects whether a fork lift 2 is in a state to be stopped in an emergency; an emergency power source interruption circuit 43 which cuts out a contactor 11 when the emergency stop relay 42 detects that the fork lift 2 is in the state to be stopped in an emergency; and a nullification switch 45 which nullifies the operation to cut out the contactor 11.SELECTED DRAWING: Figure 2

Description

The present invention relates to an emergency stop device for a vehicle.

As an emergency stop device for a vehicle, for example, the technique described in Patent Document 1 is known. The emergency stop device described in Patent Document 1 is provided in a forklift that performs automatic operation. When an emergency stop command is input to the emergency stop circuit from the emergency stop button or the automatic operation controller due to an abnormality occurring while the forklift is running, the contactor is shut off and the power from the main battery to the electromagnetic switching valve is transferred. The supply is cut off. Then, the hydraulic oil accumulated in the accumulator is supplied to the hydraulic cylinder through the electromagnetic switching valve, and the brake is operated. This causes the forklift to stop urgently.

Japanese Unexamined Patent Publication No. 2020-6862

In the above-mentioned prior art, after the contactor is shut off, all the emergency stop buttons are in the OFF state, and the normal signal is output from the automatic operation controller, and the emergency stop release switch must be turned ON. The contactor does not become conductive. If the contactor is not in a conductive state, the in-vehicle charger cannot charge the main battery. Therefore, when the main battery is charged by the in-vehicle charger, it is necessary to make the contactor conductive by supplying the electric power of the auxiliary battery mounted for the automatic operation controller separately from the main battery. However, after the main battery is fully charged by the in-vehicle charger, the contactor is cut off and the auxiliary battery cannot be charged from the main battery, but the power switch for supplying the power of the auxiliary battery to the automatic operation controller remains on. Therefore, unless the operator or the like turns off the power switch, the power of the auxiliary battery continues to be consumed. For example, if the next day is a holiday, leaving the power switch as it is will cause the auxiliary battery to run out.

An object of the present invention is to provide a vehicle emergency stop device capable of preventing the auxiliary battery from running out after the main battery has been fully charged.

One aspect of the present invention includes a main battery that supplies power to an electric device, a contactor that opens and closes the connection between the main battery and the electric device, a charger that is connected to the contactor and charges the main battery, and automatic operation. It is an emergency stop device of a vehicle equipped with an automatic operation control device that controls the automatic operation control device and an auxiliary battery that supplies power to the automatic operation control device, and detects whether or not the vehicle is in an emergency stop state. It is provided with a detection unit, a power cutoff unit that shuts off the contactor when the detection unit detects that the vehicle is in an emergency stop state, and an invalidation switch for invalidating the operation of shutting off the contactor. ..

In such an emergency stop device, when the detection unit detects that the vehicle is in an emergency stop state, the power cutoff unit shuts off the contactor. Therefore, the main battery and the electric device are cut off. In that state, when the main battery is charged by the charger, the contactor becomes conductive by disabling the contactor cutoff by the invalidation switch. Therefore, the charger makes it possible to charge the main battery via the contactor. Therefore, it is not necessary to supply the power of the auxiliary battery in order to make the contactor conductive. This prevents the auxiliary battery from running up after the main battery has been fully charged.

In the emergency stop device, the power cutoff switch for forcibly shutting off the contactor and the operation changeover switch for switching between automatic operation and manual operation when the invalidation switch is turned on are set to automatic operation. Even in this state, a switching unit for switching so as not to allow automatic operation may be further provided. In such a configuration, with the operation selector switch set to automatic operation, forget to turn off the invalidation switch after the main battery has been fully charged, and forcibly shut off the contactor with the power cutoff switch. Even if it cannot be done, automatic operation will not be carried out.

The switching unit may be interlocked with the invalidation switch. In such a configuration, the circuit configuration of the switching unit is simplified.

According to the present invention, it is possible to prevent the auxiliary battery from running out after the charging of the main battery is completed.

It is a schematic block diagram which shows the brake system to which the emergency stop device which concerns on one Embodiment of this invention is applied. It is a schematic block diagram which shows the forklift provided with the emergency stop device which concerns on one Embodiment of this invention. It is a schematic block diagram which shows the forklift equipped with the emergency stop device as a comparative example.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

FIG. 1 is a schematic configuration diagram showing a brake system to which the emergency stop device according to the embodiment of the present invention is applied. In FIG. 1, the brake system 1 is mounted on an electric forklift 2 which is a vehicle for automatic driving. The forklift 2 is equipped with a steering system, a drive system, and the like in addition to the brake system 1 as a system related to automatic driving.

The brake system 1 includes a brake unit 3 that brakes the wheels of the forklift 2, a hydraulic cylinder 4 that is driven by hydraulic oil to operate the brake unit 3, a tank 5 that stores hydraulic oil, and hydraulic oil in the tank 5. A hydraulic pump 6 that sucks in and discharges the brake oil, an accumulator 7 that stores hydraulic oil from the hydraulic pump 6, and an electromagnetic type that is arranged between the accumulator 7 and the tank 5 and the hydraulic cylinder 4 to control the flow of the hydraulic oil. The control valve unit 8 of the above is provided.

FIG. 2 is a schematic configuration diagram showing a forklift equipped with an emergency stop device according to an embodiment of the present invention. In FIGS. 1 and 2, in addition to the brake system 1, the forklift 2 includes a main battery 10, a contactor 11, a charger 12, a main control controller 13, and an automatic operation controller 14 (automatic operation control device). The auxiliary battery 15, the power switch 19, the operation changeover switch 16, and the emergency stop device 17 of the present embodiment are provided.

The main battery 10 supplies electric power to the electric device 18 of the forklift 2. The control valve unit 8 is one of the electric devices 18. The main battery 10 stores a voltage of, for example, 48V.

The contactor 11 is arranged between the main battery 10 and the electric device 18. The contactor 11 opens and closes the connection between the main battery 10 and the electric device 18. The contactor 11 is controlled by the main control controller 13.

The charger 12 is connected to the contactor 11 and the main battery 10. The charger 12 is a device for charging the main battery 10. The charger 12 automatically charges the main battery 10.

The charger 12 is connected via a plug insertion port 21 into which the charging plug 20 is inserted, a magnet 22 connected to the plug insertion port 21, and the magnet 22 and a transformer 23, and is supplied by the charging plug 20. It is connected to a rectifier 24 that converts AC power into DC power, a plug insertion port 21 and a magnet 22, a switch box 25 for performing an instruction operation regarding charging of the main battery 10, and a switch box 25. It has a display 26 for displaying the charging of the main battery 10. The charging plug 20 supplies, for example, a three-phase AC voltage of 200 V. The plug insertion port 21 is provided, for example, on the left side of the forklift 2.

The main control controller 13 controls the entire forklift 2. The main control controller 13 is connected to a contactor 11, a charger 12, an automatic operation controller 14, an operation changeover switch 16, an emergency stop device 17, and an ignition key 28. The ignition key 28 is an activation switch for the forklift 2.

The automatic operation controller 14 controls a drive unit (not shown) such as a traveling motor and a steering motor so that the forklift 2 is automatically operated. The automatic operation controller 14 is connected to the main control controller 13, the operation changeover switch 16, and the emergency stop device 17.

The automatic operation controller 14 monitors the state of the forklift 2 by various sensors during the automatic operation of the forklift 2, and outputs the monitoring information to the main control controller 13 and the emergency stop device 17. The automatic operation controller 14 outputs an emergency stop command signal to the main control controller 13 and the emergency stop device 17 when an abnormality or the like of the forklift 2 occurs during the automatic operation of the forklift 2. The automatic operation controller 14 normally outputs a normal signal.

The auxiliary battery 15 supplies power to the automated driving controller 14. The auxiliary battery 15 is connected to the contactor 11 via a DC / DC converter 29. The auxiliary battery 15 stores a voltage of, for example, 24V. The auxiliary battery 15 is charged from the main battery 10 via the DC / DC converter 29 when the contactor 11 is conducting.

The power switch 19 is arranged between the auxiliary battery 15 and the automatic operation controller 14. The power switch 19 is an operation switch for opening and closing the connection between the auxiliary battery 15 and the automatic operation controller 14. In the OFF state of the power switch 19, power is not supplied from the auxiliary battery 15 to the automatic operation controller 14. When the power switch 19 is ON, power is supplied from the auxiliary battery 15 to the automatic operation controller 14. The electric power from the auxiliary battery 15 is also supplied to a sensor for automatic operation, a cooling fan, and the like.

The operation changeover switch 16 is an operation switch for the operator to switch between the automatic operation and the manual operation of the forklift 2. The operation changeover switch 16 is connected to the main control controller 13 via the electric lines 31 and 32, and is also connected to the automatic operation controller 14 via the electric lines 33 to 35 and the changeover unit 60 (described later). ..

In the OFF state of the operation changeover switch 16, the electric wires 31 and 32 are cut off and the electric wires 33 and 34 are cut off. In the ON state of the operation changeover switch 16, the electric wires 31 and 32 are conducted and the electric wires 33 and 34 are conducted.

The emergency stop device 17 is a device that shuts off the contactor 11 so that the forklift 2 makes an emergency stop when an abnormality or the like occurs while the forklift 2 is traveling. The emergency stop device 17 includes a plurality of (four here) emergency stop buttons 40, an emergency stop release switch 41, an emergency stop relay 42, an emergency power cutoff circuit 43, an emergency power cutoff button 44, and an invalidation switch. It is equipped with 45.

The emergency stop button 40 is a manual switch for the operator to notify when the forklift 2 is in an emergency stop state. The emergency stop button 40 is provided, for example, on the rear part, the right side part, the left side part, and the driver's seat of the forklift 2. The emergency stop button 40 is connected to the emergency stop relay 42 via the electric wires 46 and 47. In the OFF state of the emergency stop button 40, the electric wires 46 and 47 are conducted. When the emergency stop button 40 is ON, the electric wires 46 and 47 are cut off.

The emergency stop release switch 41 is a manual switch for the operator to instruct the release of the emergency stop of the forklift 2. The emergency stop release switch 41 is connected to the emergency stop relay 42 via the electric wires 48 and 49.

The emergency stop relay 42 is conducting normally (normal time). The emergency stop relay 42 is shut off when any of the plurality of emergency stop buttons 40 is turned on. Further, the emergency stop relay 42 is connected to the automatic operation controller 14 via the electric wires 50 and 51. The emergency stop relay 42 is cut off when the normal signal from the automatic operation controller 14 is turned off. The emergency stop relay 42 is conducted when all the emergency stop buttons 40 are in the OFF state and the normal signal from the automatic operation controller 14 is in the ON state.

The emergency stop relay 42, in cooperation with the emergency stop button 40 and the automatic operation controller 14, constitutes a detection unit that detects whether the forklift 2 is in an emergency stop state.

The emergency power cutoff circuit 43 is connected to the emergency stop relay 42 via the electric lines 52 to 54 and the emergency power cutoff button 44, and is also connected to the main control controller 13 via the electric lines 55 and 56. .. The emergency power cutoff circuit 43 is turned on when the emergency stop relay 42 is cut off. When the emergency power cutoff circuit 43 is turned on, the contactor 11 is cut off by the main control controller 13. The emergency power cutoff circuit 43 is a power cutoff unit that shuts off the contactor 11 via the main control controller 13 when the forklift 2 is detected to be in an emergency stop state by the emergency stop relay 42.

The emergency power cutoff button 44 is a manual switch (power cutoff switch) for the operator to forcibly shut off the contactor 11. In the OFF state of the emergency power cutoff button 44, the electric wires 53 and 54 are conducted. When the emergency power cutoff button 44 is ON, the electric lines 53 and 54 are cut off. Therefore, when the emergency power cutoff button 44 is turned on, the state is the same as that of the emergency stop relay 42, so that the contactor 11 is cut off by the emergency power cutoff circuit 43.

The invalidation switch 45 is connected to the electric wires 52 and 53 via the electric wires 57 and 58, respectively. The invalidation switch 45 is a manual switch for invalidating the operation of the operator shutting off the contactor 11 by the emergency stop relay 42.

When the invalidation switch 45 is OFF, the electric wires 57 and 58 are cut off. On the other hand, in the ON state of the invalidation switch 45, the electric wires 57 and 58 are conducted. In that state, even if the emergency stop relay 42 is cut off, the emergency power cutoff circuit 43 is turned off. Therefore, the operation of shutting off the contactor 11 by the emergency stop relay 42 is invalidated.

A switching unit 60 for switching between permission / non-permission of automatic operation is connected to the invalidation switch 45. The switching unit 60 is connected to the electric wires 34 and 35, respectively, via the electric wires 61 and 62. The switching unit 60 switches so that the automatic operation is not permitted even when the operation changeover switch 16 is set to the automatic operation.

The switching unit 60 operates in conjunction with the invalidation switch 45. In the OFF state of the invalidation switch 45, the electric wires 61 and 62 are conducted. The electric wires 61 and 62 are cut off when the invalidation switch 45 is turned on.

When the operation changeover switch 16 is turned on and the automatic operation is set, when the invalidation switch 45 is not turned on, the changeover unit 60 causes the electric lines 34 and 35 to be turned on to the electric lines 61 and 62. Since the forklift 2 is electrically connected to the forklift 2, the forklift 2 is automatically operated. Even when automatic operation is set by turning on the operation changeover switch 16, when the invalidation switch 45 is turned on, the changeover unit 60 causes the electric wires 34 and 35 to pass through the electric lines 61 and 62. Therefore, the forklift 2 is not automatically operated.

In the above, when the emergency power cutoff button 44 is not turned on, when the ignition key 28 is turned on, the contactor 11 is conducted, so that power is supplied from the main battery 10 to the electric device 18 of the forklift 2. To. When the emergency power cutoff button 44 is turned on, the contactor 11 is cut off by the emergency power cutoff circuit 43 regardless of the operating state of the ignition key 28, so that power is supplied from the main battery 10 to the electric device 18 of the forklift 2. Will not be supplied.

When the operation selector switch 16 is turned ON after the ignition key 28 is turned ON, the automatic operation controller 14 controls the forklift 2 to perform automatic operation. When the forklift 2 is normally driven by automatic operation, a normal signal is output from the automatic operation controller 14. In such a normal state, since the emergency stop relay 42 is conducted, the contactor 11 is still conducted by the emergency power cutoff circuit 43.

If an abnormality or the like occurs while the forklift 2 is traveling, the normal signal from the automatic operation controller 14 is turned off. Then, since the emergency stop relay 42 is cut off, the contactor 11 is cut off by the emergency power cutoff circuit 43. Further, even when any of the plurality of emergency stop buttons 40 is turned on by the operator, the emergency stop relay 42 is cut off, so that the contactor 11 is cut off by the emergency power cutoff circuit 43.

When the contactor 11 is cut off, power is not supplied from the main battery 10 to the electric device 18 of the forklift 2. In that state, since the control valve unit 8 is not energized in the brake system 1, the hydraulic oil accumulated in the accumulator 7 is supplied to the hydraulic cylinder 4 through the control valve unit 8, and the brake unit 3 is operated by the hydraulic cylinder 4. do. As a result, the forklift 2 is in a braked state and makes an emergency stop.

In such a forklift 2, charging of the main battery 10 is performed with the ignition key 28 and the emergency stop relay 42 turned off. However, when the ignition key 28 and the emergency stop relay 42 are turned off, the contactor 11 is cut off.

Therefore, when charging the main battery 10, the operator turns on the invalidation switch 45 with the charging plug 20 inserted into the plug insertion port 21 of the charger 12. Then, the state in which the emergency stop relay 42 is cut off is invalidated. Then, when the charging start button of the switch box 25 is pressed, the contactor 11 is energized by the main control controller 13. Therefore, the electric power from the charging plug 20 is supplied to the main battery 10 through the contactor 11 to charge the main battery 10.

FIG. 3 is a schematic configuration diagram showing a forklift equipped with an emergency stop device as a comparative example. In FIG. 3, the emergency stop device 100 of this comparative example does not have the above-mentioned invalidation switch 45. The operation changeover switch 16 is connected to the main control controller 13 via the electric lines 31 and 32, and is also connected to the automatic operation controller 14 via the electric lines 33 and 35. Further, in the emergency stop device 100, the emergency power cutoff circuit 43 is connected to the emergency stop relay 42 via the electric lines 52 and 53.

Even in such an emergency stop device 100, the main battery 10 cannot be charged by the charger 12 unless the contactor 11 is in a conductive state. Therefore, when the main battery 10 is automatically charged, the power switch 19 is turned on and the power from the auxiliary battery 15 is supplied to start the automatic operation controller 14 and operate the emergency stop release switch 41 to make an emergency. The stop is released, the emergency stop relay 42 is brought into a conductive state, and the contactor 11 is put into a conductive state. After the charging of the main battery 10 is completed, the contactor 11 is shut off by the main control controller 13.

However, even if the contactor 11 is shut off after the charging of the main battery 10 is completed, the power switch 19 remains on. Therefore, unless the operator turns off the power switch 19, a sensor for automatic operation, a cooling fan, etc. As a result, the power of the auxiliary battery 15 continues to be consumed. Therefore, for example, when the next day is a holiday, if the power switch 19 is left as it is, the auxiliary battery 15 will run out.

In response to such a problem, in the present embodiment, when it is detected by the emergency stop relay 42 that the forklift 2 is in an emergency stop state, the contactor 11 is cut off by the emergency power cutoff circuit 43. Therefore, the main battery 10 and the electric device 18 are cut off. In that state, when the main battery 10 is charged by the charger 12, the contactor 11 is brought into a conductive state by invalidating the cutoff of the contactor 11 by the invalidation switch 45. Therefore, the charger 12 makes it possible to charge the main battery 10 via the contactor 11. Therefore, it is not necessary to turn on the power switch 19 to supply the power of the auxiliary battery 15 in order to make the contactor 11 conductive. This prevents the auxiliary battery 15 from rising after the main battery 10 has been fully charged.

Further, in the present embodiment, even when the operation changeover switch 16 is set to automatic operation, the changeover unit 60 for switching so as not to allow automatic operation is provided when the invalidation switch 45 is in the ON state. Therefore, even if an attempt is made to start the automatic operation in a state where the invalidation switch 45 is forgotten to be turned off after the charging of the main battery 10 is completed, the automatic operation is not performed.

Further, in the present embodiment, since the switching unit 60 is interlocked with the invalidation switch 45, the circuit configuration of the switching unit 60 is simplified.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the dedicated emergency power cutoff button 44 is provided, but the embodiment is not particularly limited, and any one of the plurality of emergency stop buttons 40 may be substituted as the emergency power cutoff button. ..

Further, in the above embodiment, the changeover unit 60 is interlocked with the invalidation switch 45, but the changeover unit 60 is not particularly limited to that form, and is composed of, for example, a switch different from the invalidation switch 45. You may.

Further, although the emergency stop device 17 of the above embodiment is mounted on the forklift 2 capable of switching between manual operation and automatic operation, the present invention is also applicable to a forklift that performs only automatic operation.

Further, the emergency stop device 17 of the above embodiment is mounted on an electric forklift 2 driven by an electric motor, but the present invention is driven by an engine if it is provided with a main battery and an auxiliary battery. It can also be applied to forklifts.

Further, the present invention is not particularly limited to the forklift 2, and is applicable to any vehicle having a main battery and an auxiliary battery and performing automatic driving.

2 ... Forklift (vehicle), 10 ... Main battery, 11 ... Contactor, 12 ... Charger, 14 ... Automatic operation controller (automatic operation control device), 15 ... Auxiliary battery, 16 ... Operation selector switch, 17 ... Emergency stop device, 40 ... Emergency stop button (detection unit), 42 ... Emergency stop relay (detection unit), 43 ... Emergency power cutoff circuit (power cutoff unit), 44 ... Emergency power cutoff button (power cutoff switch), 45 ... Disable switch, 60 ... Switching unit.

Claims (3)

An automatic operation is performed with a main battery that supplies power to an electric device, a contactor that opens and closes the connection between the main battery and the electric device, a charger that is connected to the contactor and charges the main battery. An emergency stop device for a vehicle provided with an automatic operation control device for controlling the automatic operation and an auxiliary battery for supplying power to the automatic operation control device.
A detector that detects whether the vehicle is in an emergency stop state,
A power cutoff unit that shuts off the contactor when the detection unit detects that the vehicle is in an emergency stop state.
An emergency stop device for a vehicle including an invalidation switch for invalidating the operation of shutting off the contactor. A power cutoff switch for forcibly shutting off the contactor,
When the invalidation switch is turned on, even if the operation changeover switch for switching between the automatic operation and the manual operation is set to the automatic operation, the switching unit for switching so as not to allow the automatic operation. The vehicle emergency stop device according to claim 1. The vehicle emergency stop device according to claim 2, wherein the switching unit is interlocked with the invalidation switch.

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