JP5963337B1 - Steering control device, vehicle, steering control method, and steering control program - Google Patents

Abstract

When a control board of a work vehicle is replaced with a non-genuine product, replacement of a regular product with a control board is promoted while enabling a minimum cargo handling operation. A steering control device 220 determines whether a travel board 201 connected to a steering board 203 is a regular board. The steering control device 220 generates torque generated by the steering motor 212 in at least a part of the steering range of the steering mechanism when the traveling board 201 is not a regular board, and the steering motor 212 when the traveling board 201 is a regular board. It is determined to be smaller than the torque to be generated. [Selection] Figure 2

Description

  The present invention relates to a steering control device, a vehicle, a steering control method, and a steering control program.

In a work vehicle such as a forklift, a dedicated control board for each control target is independently mounted on the vehicle in order to precisely control the work equipment. Each control board is electrically connected to exchange data.
One of the causes of the failure of the work vehicle is a failure of the control board. The trouble of the control board can be solved by replacing the corresponding control board. When replacing the control board, it is not preferable to use a non-genuine product as the replacement control board from the viewpoint of safety and reliability.

Patent Document 1 discloses a technique for detecting whether or not a replaced control unit is an unauthorized product and taking a predetermined measure when the replaced control unit is an unauthorized product.

JP 2008-1132 A

When the exchanged control board is a non-genuine product, the non-genuine product can be urged not to be used by controlling the vehicle not to operate. On the other hand, if control is performed so that the vehicle does not operate when the control board is a non-genuine product, if a vehicle failure occurs during the cargo handling operation, the vehicle may interfere with other cargo handling operations. Therefore, even if the control board is non-genuine, it is necessary to be able to continue the minimum cargo handling work.
It is an object of the present invention to provide a steering control device, a vehicle, and a steering device that, when a control board of a work vehicle is replaced with a non-genuine product, facilitates a minimum load handling operation and facilitates replacement of the regular product with a control board. A control method and a steering control program are provided.

The first aspect includes a determination unit that determines whether or not the control board connected to the own device is a regular board, and a torque determination unit that determines a torque to be generated by a motor that applies a driving force to the steering mechanism of the vehicle. The torque determination unit, when the control board is not a regular board, the torque to be generated by the motor in at least a part of the steering range by the steering mechanism, and when the control board is a regular board, This is a steering control device that determines a value smaller than the torque generated by the motor.

A second mode is a steering control device according to the first mode, wherein the torque determining unit does not cause the motor to generate torque when the control board is not a regular board.

According to a third aspect, in the first or second aspect, when the control board is not a regular board, the torque determination unit generates a torque to be generated by the motor as the steering angle by the steering mechanism increases. This is a steering control device that determines a small value.

In addition, according to a fourth aspect, in any one of the first to third aspects, the torque determination unit is configured such that a steering angle by the steering mechanism is not within a predetermined steering range when the control board is not a regular board. In this case, the steering control device determines the torque generated by the motor to a value smaller than the torque generated by the motor when the control board is a regular board.

In addition, according to a fifth aspect, in any one of the first to fourth aspects, the torque determination unit has passed a predetermined time since the determination unit determined that the control board is not a regular board. In this case, the steering control device determines the torque generated by the motor to a value smaller than the torque generated by the motor when the control board is a regular board.

Moreover, a 6th aspect is a vehicle provided with the control apparatus in any one of the 1st to 5th aspect.

In the seventh aspect, a step of determining whether or not the second control board connected to the first control board is a regular board, and a motor for applying a driving force to the steering mechanism of the vehicle are generated. Determining the torque, and in the step of determining the torque, if the second control board is not a regular board, the torque to be generated by the motor in at least a part of the steering range by the steering mechanism, This is a steering control method for determining a value smaller than the torque generated by the motor when the substrate is a regular substrate.

According to an eighth aspect, the computer determines a torque to be generated by a motor that applies a driving force to the steering mechanism of the vehicle, a determination unit that determines whether the control board connected to the computer is a regular board. A torque determining unit that, when the control board is not a regular board, the torque to be generated by the motor in at least a part of a steering range by the steering mechanism; This is a steering control program for determining a value smaller than the torque generated in the motor in some cases.

According to at least one of the above aspects, the steering control device limits the power steering function in at least a part of the steering range when the control board is not a regular board.
As a result, for example, if it is a forklift, it is possible to lift and lower the load and travel, so it is possible to continue the cargo handling work, while making it difficult to steer the vehicle, allowing the user to replace the regular board. Can be urged.

1 is a perspective view of a forklift according to a first embodiment. It is a schematic block diagram which shows the structure of the control system of the forklift which concerns on 1st Embodiment. It is a flowchart which shows the operation | movement which confirms whether a traveling board, a cargo handling board, a steering board, a charging board, a display board, and an accessory board are mutually regular boards. It is a schematic block diagram which shows the software structure of the steering control apparatus which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the steering control apparatus which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the steering control apparatus which concerns on 2nd Embodiment. It is a schematic block diagram which shows the software structure of the steering control apparatus which concerns on 3rd Embodiment. It is a flowchart which shows operation | movement of the steering control apparatus which concerns on 3rd Embodiment. It is a schematic block diagram which shows the software structure of the steering control apparatus which concerns on 4th Embodiment. It is a flowchart which shows operation | movement of the steering control apparatus which concerns on 4th Embodiment. It is a flowchart which shows operation | movement of the steering control apparatus which concerns on 5th Embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings. Below, the forklift 100 which is an example of a working vehicle is demonstrated.

<< First Embodiment >>
FIG. 1 is a perspective view of a forklift 100 according to the first embodiment.
In front of the vehicle main body 101 of the forklift 100, there is 1 at the end of the vehicle main body 101 in the width direction.
Each is provided with a pair of straddle arms 102 extending forward. A pair of straddle arms 102 is provided with a mast 103 that guides the raising and lowering operation of the fork 104.
Is provided so as to extend upward. The mast 103 is provided with a fork 104 that lifts and lowers a cargo handling object. In the forklift 100 according to the present embodiment, the front wheels are provided on the straddle arm 102 and the rear wheels are provided on the vehicle main body 101.

The fork 104 moves up and down along the mast 103. Control for raising the fork 104 along the mast 103 is called lift-up control. On the other hand, fork 104 is mast 10
The control of lowering along 3 is referred to as lift-down control. Control for tilting the tip of the fork 104 upward by tilting the mast 103 backward is referred to as tilt-up control. On the other hand, the control of tilting the tip of the fork 104 downward by tilting the mast 103 forward is referred to as tilt-down control.

The mast 103 advances and retreats along the straddle arm 102 together with the fork 104. Control for moving the mast 103 and fork 104 along the straddle arm 102 is referred to as reach-out control. On the other hand, the mast 103 and the fork 104 are connected to the straddle arm 10.
The control for retreating along 2 is referred to as reach-in control.
Note that the mast 103 and the fork 104 are operated by a hydraulic circuit.

The vehicle body 101 of the forklift 100 is provided with a driver's seat 105 on which an operator gets on. The driver's seat 105 includes an accelerator lever 106, a lift lever 107, a reach lever 1
08, a tilt lever 109, a steering handle 110, and a display 111 are provided.
The accelerator lever 106 is a lever for controlling the forward / backward movement of the vehicle main body 101. Specifically, the vehicle main body 101 moves forward by tilting the accelerator lever 106 forward (back side of the driver's seat 105), and the vehicle main body 101 moves by tilting the accelerator lever 106 rearward (front side of the driver's seat 105). fall back.
The lift lever 107 is a lever for lift control (lift-up control and lift-down control). Specifically, lift-down control is performed by tilting the lift lever 107 forward, and lift-up control is performed by tilting the lift lever 107 backward.
The reach lever 108 is a lever for reach control (reach-in control and reach-out control). Specifically, reach-out control is performed by tilting the reach lever 108 forward, and reach-in control is performed by tilting the reach lever 108 backward.
The tilt lever 109 is a lever for tilt control (tilt up control and tilt down control). Specifically, tilt down control is performed by tilting the tilt lever 109 forward, and tilt up control is performed by tilting the tilt lever 109 backward.

The steering handle 110 is an interface for changing the angle of the rear wheel of the vehicle main body 101. When the steering handle 110 is rotated by an operator, the rotation is transmitted to the rear wheel of the vehicle via a steering mechanism (not shown), and the angle of the rear wheel is changed.
The display 111 displays information such as the remaining capacity of the battery 214, the traveling speed, the traveling distance, and the load on the fork 104. The display 111 is, for example, a VFD (vacuum).
m Fluorescent Display).

FIG. 2 is a schematic block diagram showing the configuration of the control system of the forklift 100 according to the first embodiment.
Inside the vehicle body 101 are a traveling board 201, a cargo handling board 202, a steering board 203, a charging board 204, a display board 205, and an accessory board 206.
, Traveling inverter 207, traveling motor 208, cargo handling inverter 209, cargo handling motor 210
, A steering inverter 211, a steering motor 212, a charger 213, a battery 214, a display 111, a direction indicator 215, a rotating lamp 216, and a buzzer 217 are provided. The traveling board 201, the cargo handling board 202, the steering board 203, the charging board 204, the display board 205, and the accessory board 206 are examples of a control board.
The travel board 201 is a board that controls travel, which is the main control of the forklift 100. The travel board 201 is provided with a travel control device 218. The travel control device 218 manages the travel function of the forklift 100. For example, the travel control device 218 manages the travel speed, travel distance, travel setting information, and the like of the forklift 100, and determines the rotational speed of the travel motor 208 based on information such as the inclination of the accelerator lever 106. The traveling control device 218 is electrically connected to the cargo handling board 202, the steering board 203, the charging board 204, the display board 205, and the accessory board 206.

The cargo handling board 202 is a substrate that controls cargo handling, which is the main control of the forklift 100. A cargo handling control device 219 is provided on the cargo handling board 202. The cargo handling control device 219 manages the cargo handling function of the forklift 100. For example, the cargo handling control device 219 manages the cargo handling speed of the forklift 100, the load of the fork 104, hydraulic pressure setting information, and the like, and the cargo handling motor 210 based on information such as the tilt of the lift lever 107, reach lever 108, and tilt lever 109. Determine the number of revolutions.

The steering board 203 is a board that controls the steering of the forklift 100. A steering control device 220 is provided on the steering board 203. The steering control device 220 determines the number of rotations of the steering motor 212 based on information such as the rotation of the steering handle 110.

The charging board 204 is a board that controls charging of the forklift 100. A charging control device 221 is provided on the charging board 204. The charging control device 221 includes a charger 21
The charging method of the battery 214 is determined based on the operation information 3.

The display board 205 is a substrate that controls display on the display 111. A display control device 222 is provided on the display board 205. The display control device 222 is configured such that the remaining capacity of the battery 214, the traveling speed, the traveling distance, the fork 10
The display content of the display 111 is determined based on information such as the load 4.

The accessory board 206 is a board that controls the direction indicator 215, the rotating lamp 216, and the buzzer 217. An accessory control device 223 is provided on the accessory board 206. The accessory control device 223 is configured to turn the direction indicator 215, the rotating lamp 2 based on the operator's operation.
16. Control the buzzer 217.

The traveling inverter 207, the cargo handling inverter 209, and the steering inverter 211 change the frequency and voltage for driving the motor based on the rotation speeds calculated by the traveling control device 218, the cargo handling control device 219, and the steering control device 220, respectively.
The travel motor 208 rotates the rear wheel of the vehicle main body 101 by rotation. Thereby, the vehicle main body 101 moves forward or backwards.
The cargo handling motor 210 changes the amount of oil supplied to the hydraulic circuit by rotation. Thereby, the mast 103 and the fork 104 operate.
The steering motor 212 applies a driving force to the steering mechanism by rotation. The steering motor 212 is
When the steering mechanism is an electric type, a driving force is directly applied to the steering mechanism by the torque of the steering motor 212. When the steering mechanism is hydraulic, the steering motor 212 supplies driving force to the steering mechanism by supplying oil to the hydraulic circuit of the steering mechanism.
The battery 214 stores electricity to be supplied to various electric devices mounted on the forklift 100.

Traveling board 201, cargo handling board 202, steering board 203, charging board 204
The display board 205 and the accessory board 206 are electrically connected to each other to exchange data. The traveling board 201 and the cargo handling board 202
The steering board 203, the charging board 204, the display board 205 and the accessory board 206 are a travel control device 218, a cargo handling control device 219, a steering control device 220, a charge control device 221, a display control device 222, and a CPU. In addition to the accessory control device 223, a main storage device, an auxiliary storage device, and an interface (not shown) are provided. The traveling board 201, the cargo handling board 202, the steering board 203, the charging board 204, the display board 205, and the accessory board 206 are connected to each other via an interface. Specifically, the traveling board 201, the cargo handling board 202, the steering board 20
3. The charging board 204, the display board 205, and the accessory board 206 are CAN (Controller Area Network) communication and CR (Cell).
(Relay) communication or the like.

A traveling control device 218 mounted on the traveling board 201, a cargo handling control device 219 mounted on the cargo handling board 202, a charging control device 221 mounted on the charging board 204, and a display control device mounted on the display board 205. 222 and accessory board 2
The accessory control device 223 mounted on 06 communicates with the steering board 203 and determines whether or not the steering board 203 connected to the own device is a regular board. Similarly, the steering control device 220 mounted on the steering board 203 includes a traveling board 201 and a cargo handling board 20.
2. A traveling board 201, a cargo handling board 202, a charging board 204, a display board 205, and an accessory board 206 that communicate with the charging board 204, the display board 205, and the accessory board 206 and are connected to the apparatus. It is determined whether or not is a regular substrate.

FIG. 3 is a flowchart showing an operation of confirming whether or not the traveling board 201, the cargo handling board 202, the steering board 203, the charging board 204, the display board 205, and the accessory board 206 are regular boards. It is.
When a key switch (not shown) of the forklift 100 is turned ON, the battery 214 changes to a traveling board 201, a cargo handling board 202, a steering board 203, a charging board 204, a display board 205, and an accessory board 206. Electricity is supplied. When electricity is supplied to the steering board 203, the steering control device 220 transmits the initial communication data including predetermined flag information to the connected traveling board 201 and cargo handling board 202.
Then, the data is transmitted to the charging board 204, the display board 205, and the accessory board 206 (step S1).

When electricity is supplied to the travel board 201, the travel control device 218 is operated for a predetermined time.
Waiting for reception of initial communication data from the connected steering board 203 (step S2).
a). When the traveling control device 218 cannot receive data including predetermined flag information even after a predetermined time has elapsed from the supply of electricity (step S2a: NO), the connected steering board 2 is connected.
It is determined that 03 is a non-regular board (step S3a). On the other hand, the travel control device 218
When data of initial communication is received within a predetermined time (step S2a: YES), it is determined that the connected steering board 203 is a regular board (step S4a), and response data including predetermined flag information is obtained. It transmits to the connected steering board 203 (step S5a).

When electricity is supplied to the cargo handling board 202, the cargo handling control device 219 performs a predetermined time.
Waiting for reception of initial communication data from the connected steering board 203 (step S2).
b). When the cargo handling control device 219 cannot receive data including predetermined flag information even after a predetermined time has elapsed from the supply of electricity (step S2b: NO), the connected steering board 2
It is determined that 03 is a non-regular board (step S3b). On the other hand, the cargo handling control device 219
When initial communication data is received within a predetermined time (step S2b: YES), it is determined that the connected steering board 203 is a regular board (step S4b), and response data including predetermined flag information is obtained. This is transmitted to the connected steering board 203 (step S5b).

When electricity is supplied to the charging board 204, the charging control device 221 performs a predetermined time.
Waiting for reception of initial communication data from the connected steering board 203 (step S2).
c). When the charging control device 221 cannot receive data including predetermined flag information even after a predetermined time has elapsed from the supply of electricity (step S2c: NO), the connected steering board 2
It is determined that 03 is a non-regular board (step S3c). On the other hand, the charging control device 221
When data of initial communication is received within a predetermined time (step S2c: YES), it is determined that the connected steering board 203 is a regular board (step S4c), and response data including predetermined flag information is obtained. It transmits to the connected steering board 203 (step S5c).

When electricity is supplied to the display board 205, the display controller 222
During a predetermined period of time, reception of initial communication data from the connected steering board 203 is awaited (step S2d). When the display control device 222 cannot receive data including predetermined flag information even after a predetermined time has elapsed from the supply of electricity (step S2d: NO),
It is determined that the connected steering board 203 is a non-regular board (step S3d). On the other hand, the display control device 222 receives the initial communication data within a predetermined time (
Step S2d: YES), it is determined that the connected steering board 203 is a regular board (
Step S4d), the response data including the predetermined flag information is sent to the connected steering board 20
3 (step S5d).

When electricity is supplied to the accessory board 206, the accessory control device 223 waits for reception of initial communication data from the connected steering board 203 for a predetermined time (
Step S2e). When the accessory control device 223 cannot receive data including predetermined flag information even after a predetermined time has elapsed since the supply of electricity (step S2e: NO), the connected steering board 203 is an irregular board. Determination is made (step S3e). On the other hand, when the accessory control device 223 receives initial communication data within a predetermined time (step S2e: YES), the accessory control device 223 determines that the connected steering board 203 is a regular board (step S4e), Response data including flag information is transmitted to the connected steering board 203 (step S5e).

When the steering control device 220 transmits the initial communication data, the response from the connected traveling board 201, cargo handling board 202, charging board 204, display board 205, and accessory board 206 for a predetermined time. Waiting for data reception (step S6)
). When the steering control device 220 cannot receive data including predetermined flag information even after a predetermined time has elapsed since the transmission of the initial communication data (step S6: NO), the connected traveling board 201, cargo handling board 202, charging board 204, display board 205
And it determines with the board 206 for accessories being a non-regular board | substrate (step S7). On the other hand,
The steering control device 220 receives initial communication data within a predetermined time (step S).
6: YES), connected traveling board 201, cargo handling board 202, charging board 20
4. It is determined that the display board 205 and the accessory board 206 are regular boards (step S8).

By the above procedure, it is possible to confirm whether or not the traveling board 201, the cargo handling board 202, the steering board 203, the charging board 204, the display board 205, and the accessory board 206 are regular boards. . Specifically, the traveling board 201,
When the cargo handling board 202, the charging board 204, the display board 205, and the accessory board 206 are non-regular boards, the traveling board 201, the cargo handling board 202, the charging board 204, the display board 205, and the accessory board 206 cannot properly receive the initial communication data transmitted from the steering board 203, and therefore the steering board 203 cannot receive the response data. On the other hand, specifically, when the steering board 203 is a non-regular board, the steering board 203 does not transmit regular initial communication data, so the traveling board 201, the cargo handling board 202, the charging board 204, The display board 205 and the accessory board 206 cannot receive initial communication data.

In the present embodiment, when the traveling board 201 is a non-regular board, the steering control device 220 is used.
However, by restricting the function of the power steering system, it is possible to perform a minimum cargo handling operation and promote replacement with a genuine traveling board 201.

FIG. 4 is a schematic block diagram illustrating a software configuration of the steering control device 220 according to the first embodiment.
The steering control device 220 executes a predetermined program stored in the auxiliary storage device mounted on the steering board 203, thereby determining the determination unit 301, the torque acquisition unit 302, and the speed acquisition unit 303.
The torque determining unit 304 is provided.
The determination unit 301 determines whether or not the traveling board 201 to be connected is a regular board.
The torque acquisition unit 302 acquires a steering torque due to the rotation of the steering handle 110. The steering torque is acquired from a torque sensor provided in the steering mechanism.
The speed acquisition unit 303 acquires the travel speed of the vehicle main body 101 from the travel control device 218 of the travel board 201.
The torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the traveling speed acquired by the speed acquisition unit 303.

Next, the operation of the steering control device 220 according to this embodiment will be described.
FIG. 5 is a flowchart showing the operation of the steering control device 220 according to the first embodiment.
When a key switch (not shown) of the forklift 100 is switched ON and electricity is supplied from the battery 214 to the steering board 203, the determination unit 30 of the steering control device 220 is provided.
1 determines whether or not the traveling board 201 connected by the above-described procedure is a regular board (step S101). At this time, the determination unit 301 records the determination result in the main storage device of the steering control device 220.

Next, the torque acquisition unit 302 acquires the steering torque due to the rotation of the steering handle 110 (step S102). Next, the torque determination unit 304 determines whether or not the absolute value of the steering torque acquired by the torque acquisition unit 302 is equal to or greater than a predetermined threshold (step S103). The threshold value is set to a value larger than the torque generated when the operator is not operating the steering handle 110.
When the torque determination unit 304 determines that the absolute value of the steering torque is not equal to or greater than the threshold (step S103: NO), the steering wheel 110 is not operated, and thus the power steering system is not activated. Then, the steering control device 220 returns the process to step S102 and continues the torque determination.

On the other hand, when the torque determination unit 304 determines that the absolute value of the steering torque is equal to or greater than the threshold (
Step S103: YES), it is specified whether or not the travel board 201 is determined to be a regular board in Step S101 (Step S104). Specifically, the torque determination unit 304
Reads out the determination result recorded in the main memory of the steering control device 220.
When it is determined that the travel board 201 is a regular board (step S104: YE)
S), the speed acquisition unit 303 acquires the traveling speed of the vehicle main body 101 (step S105).
.

The torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the speed acquired by the speed acquisition unit 303 (step S).
106). Specifically, the torque determination unit 304 determines the torque generated by the steering motor 212 to be larger as the torque acquired by the torque acquisition unit 302 is larger, and the speed acquisition unit 303.
The faster the acquired speed is, the smaller the torque generated by the steering motor 212 is determined.
The torque determination unit 304 determines the rotation direction of the steering motor 212 according to the sign of the torque acquired by the torque acquisition unit 302. Thus, the steering control device 220 can cause the power steering system to appropriately assist the steering. Then, the steering control device 220 returns the process to step S102 and continues the torque determination.

On the other hand, when it is determined that the travel board 201 is not a regular board (step S104).
: NO), the torque determination unit 304 does not cause the steering motor 212 to generate torque. At this time, the steering control device 220 may display a message such as “The power steering system is stopped because the traveling board 201 is not a regular board” on the display 111. Then, the steering control device 220 returns the process to step S102 and continues the torque determination.

As described above, the steering control device 220 according to the present embodiment can prompt the replacement of the traveling board 201 by not causing the power steering system of the forklift 100 to function when the traveling board 201 is not a regular board. On the other hand, even when the power steering system is not functioning, steering by manual steering is possible although the operation load is higher than when the power steering is functioning. Further, since the steering control device 220 according to the present embodiment does not invalidate the functions of the traveling motor 208 and the cargo handling motor 210, the handling operation can be continued and the forklift 100 can be retracted to a place where it does not get in the way.
Therefore, the forklift 100 according to the present embodiment can prompt the exchange of the regular product to the control board while enabling the minimum cargo handling work when the traveling board 201 is exchanged to the irregular product.

<< Second Embodiment >>
A second embodiment will be described.
The forklift 100 according to the first embodiment does not cause the power steering system of the forklift 100 to function when the traveling board 201 is not a regular board. In contrast, the steering control device 220 according to the second embodiment generates torque generated by the steering motor 212 when the traveling board 201 is not a regular board when the traveling board 201 is a regular board. The value is smaller than the torque.

The configuration of the forklift 100 according to the second embodiment is the same as the configuration of the forklift 100 according to the first embodiment, and the operation of the torque determination unit 304 of the steering control device 220 is different.
FIG. 6 is a flowchart showing the operation of the steering control device 220 according to the second embodiment.
When a key switch (not shown) of the forklift 100 is switched ON and electricity is supplied from the battery 214 to the steering board 203, the determination unit 30 of the steering control device 220 is provided.
1 determines whether or not the connected traveling board 201 is a regular board (step S2).
01). At this time, the determination unit 301 records the determination result in the main storage device of the steering control device 220.

Next, the torque acquisition unit 302 acquires a steering torque due to the rotation of the steering handle 110 (step S202). Next, the torque determination unit 304 determines whether or not the absolute value of the steering torque acquired by the torque acquisition unit 302 is greater than or equal to a predetermined threshold (step S203). The threshold value is set to a value larger than the torque generated when the operator is not operating the steering handle 110.
If the torque determination unit 304 determines that the absolute value of the steering torque is not greater than or equal to the threshold (step S203: NO), the steering wheel 110 is not operated, and thus the power steering system is not activated. Then, the steering control device 220 returns the process to step S202 and continues the determination of torque.

On the other hand, when the torque determination unit 304 determines that the absolute value of the steering torque is equal to or greater than the threshold (
Step S203: YES), the speed acquisition unit 303 acquires the traveling speed of the vehicle main body 101 (Step S204). Next, the torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the speed acquired by the speed acquisition unit 303 (step S205). Specifically, the torque determination unit 304 determines the torque to be generated by the steering motor 212 as the torque acquired by the torque acquisition unit 302 increases, and increases the speed acquired by the speed acquisition unit 303 as the steering motor 212 increases. The torque to be generated is determined to a small value. The torque determination unit 304 determines the rotation direction of the steering motor 212 according to the sign of the torque acquired by the torque acquisition unit 302.

Next, the torque determination unit 304 specifies whether or not the travel board 201 is determined to be a regular board in step S201 (step S206). Specifically, the torque determination unit 30
4 reads out the determination result recorded in the main storage device of the steering control device 220.
When it is determined that the travel board 201 is a regular board (step S206: YE)
S), causing the steering motor 212 to generate the torque determined in step S205. Thus, the steering control device 220 can cause the power steering system to appropriately assist the steering. Then, the steering control device 220 returns the process to step S202 and continues the determination of torque.

On the other hand, when it is determined that the traveling board 201 is not a regular board (step S206).
: NO), the torque determination unit 304 adds a coefficient less than 1 to the torque determined in step S205 (
For example, torque obtained by multiplying 0.2) is generated in the steering motor 212 (step S207). That is, the torque determination unit 304 sets the torque generated by the steering motor 212 when the travel board 201 is not a regular board to a value smaller than the torque generated by the steering motor 212 when the travel board 201 is a regular board. decide. At this time, the steering control device 220 may cause the display 111 to display a message such as “The travel board 201 is not a regular board and thus assist by the power steering system is limited”. Then, the steering control device 220 returns the process to step S202 and continues the determination of torque.

As described above, when the traveling board 201 is not a regular board, the steering control device 220 according to the present embodiment weakens the assist by the power steering system, thereby increasing the steering load and replacing the traveling board 201. Can be urged. In addition, since the steering control device 220 according to the present embodiment does not invalidate the functions of the traveling motor 208 and the cargo handling motor 210,
The cargo handling operation can be continued and the forklift 100 can be retreated to a place where it does not get in the way.
Therefore, the forklift 100 according to the present embodiment can prompt the exchange of the regular product to the control board while enabling the minimum cargo handling work when the traveling board 201 is exchanged to the irregular product.

<< Third Embodiment >>
A third embodiment will be described.
The forklift 100 according to the third embodiment generates torque generated by the steering motor 212 in a predetermined steering range when the traveling board 201 is not a regular board when the traveling board 201 is a regular board. The value is smaller than the torque.

FIG. 7 is a schematic block diagram illustrating a software configuration of the steering control device 220 according to the third embodiment.
The steering control device 220 according to the third embodiment is the steering control device 22 according to the first embodiment.
In addition to the configuration of 0, a steering angle acquisition unit 305 is further provided.
The steering angle acquisition unit 305 acquires the steering angle of the steering mechanism by the rotation of the steering handle 110. The steering angle is acquired from a steering angle sensor provided in the steering mechanism. As a steering angle sensor,
For example, a gear (not shown) that rotates as the steering handle 110 rotates, two rotors (not shown) that rotate with the gear, and a magnetic sensor (not shown) that detects the direction of the magnetic field. And a steering angle is detected based on the direction of the magnetic field detected by the magnetic sensor.

FIG. 8 is a flowchart showing the operation of the steering control device 220 according to the third embodiment.
When a key switch (not shown) of the forklift 100 is switched ON and electricity is supplied from the battery 214 to the steering board 203, the determination unit 30 of the steering control device 220 is provided.
1 determines whether or not the connected traveling board 201 is a regular board (step S3).
01).

Next, the torque acquisition unit 302 acquires the steering torque due to the rotation of the steering handle 110 (step S302). Next, the torque determination unit 304 determines whether or not the absolute value of the steering torque acquired by the torque acquisition unit 302 is greater than or equal to a predetermined threshold (step S303).
When the torque determination unit 304 determines that the absolute value of the steering torque is not greater than or equal to the threshold (step S303: NO), the steering wheel 110 is not operated, and thus the power steering system is not activated. Then, the steering control device 220 returns the process to step S202 and continues the determination of torque.

On the other hand, when the torque determination unit 304 determines that the absolute value of the steering torque is greater than or equal to the threshold value (
Step S303: YES), the speed acquisition unit 303 acquires the traveling speed of the vehicle body 101 (Step S304). Next, the torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the speed acquired by the speed acquisition unit 303 (step S305).

Next, the torque determination unit 304 specifies whether or not the travel board 201 is determined to be a regular board in step S301 (step S306). Specifically, the torque determination unit 30
4 reads out the determination result recorded in the main storage device of the steering control device 220.
When it is determined that the travel board 201 is a regular board (step S306: YE)
S), causing the steering motor 212 to generate the torque determined in step S305. Then, the steering control device 220 returns the process to step S302 and continues the determination of torque.

On the other hand, when it is determined that the travel board 201 is not a regular board (step S306).
: NO), the steering angle acquisition unit 305 acquires the steering angle of the steering mechanism (step S307).
Next, the torque determination unit 304 determines whether or not the steering angle acquired by the steering angle acquisition unit 305 is within a predetermined steering range (step S308). The steering range is a range (for example, a range of ± 30 degrees) narrower than a range (for example, a range of ± 90 degrees) that can be steered by the steering mechanism. When the torque determination unit 304 determines that the steering angle is within the steering range (step S3).
08: YES), the torque determined in step S305 is generated in the steering motor 212.
Then, the steering control device 220 returns the process to step S302 and continues the determination of torque.
On the other hand, when the torque determination unit 304 determines that the steering angle is not within the steering range (step S).
308: NO), a coefficient less than 1 in the torque determined in step S305 (for example, 0.2)
Is generated in the steering motor 212 (step S309). That is, the torque determination unit 304 determines the torque generated by the steering motor 212 when the travel board 201 is not a regular board and the steering angle is not within the steering range.
When 01 is a regular board, the value is determined to be smaller than the torque generated by the steering motor 212. At this time, the steering control device 220 may cause the display 111 to display a message such as “The travel board 201 is not a regular board and thus assist by the power steering system is limited”. Then, the steering control device 220 performs the process in step S2.
Return to 02 and continue the determination of torque.

Thus, the steering control device 220 according to the present embodiment narrows the range for assisting by the power steering system when the traveling board 201 is not a regular board,
The operability can be reduced and the traveling board 201 can be exchanged. Further, since the steering control device 220 according to the present embodiment does not invalidate the functions of the traveling motor 208 and the cargo handling motor 210, the handling operation can be continued and the forklift 100 can be retracted to a place where it does not get in the way.
Therefore, the forklift 100 according to the present embodiment can prompt the exchange of the regular product to the control board while enabling the minimum cargo handling work when the traveling board 201 is exchanged to the irregular product.

In addition, the forklift 100 according to the present embodiment, when the steering angle is not within the steering range,
Although the torque generated by the steering motor 212 is set to a small value, the present invention is not limited to this. For example,
In another embodiment, when the steering angle is not within the steering range, torque may not be generated in the steering motor 212 as in the first embodiment.

<< Fourth Embodiment >>
A fourth embodiment will be described.
The forklift 100 according to the fourth embodiment enables power steering only for a certain period from the time when it is detected that the traveling board 201 is not a regular board, and disables power steering after a certain period of time has elapsed. is there.

FIG. 9 is a schematic block diagram illustrating a software configuration of the steering control device 220 according to the fourth embodiment.
The steering control device 220 according to the fourth embodiment is the steering control device 22 according to the first embodiment.
In addition to the configuration of 0, a timer unit 306 is further provided.
The time measuring unit 306 measures the elapsed time from the time when the determination unit 301 detects that the travel board 201 is not a regular board. At this time, the steering control device 220 may display the time until the power steering system is stopped on the display 111.

FIG. 10 is a flowchart showing the operation of the steering control device 220 according to the fourth embodiment.
When a key switch (not shown) of the forklift 100 is switched ON and electricity is supplied from the battery 214 to the steering board 203, the determination unit 30 of the steering control device 220 is provided.
1 determines whether or not the connected traveling board 201 is a regular board (step S4).
01). When the determination unit 301 determines that the travel board 201 is not a regular board (step S401: NO), the timer unit 306 starts measuring the elapsed time from the current time (step S402).

The determination unit 301 determines that the travel board 201 is a regular board (step S401:
YES), or when the time counting unit 306 starts measuring elapsed time, the torque acquisition unit 302
Steering torque due to rotation of the steering handle 110 is acquired (step S403). Next, the torque determination unit 304 determines whether or not the absolute value of the steering torque acquired by the torque acquisition unit 302 is greater than or equal to a predetermined threshold (step S404).
When the torque determination unit 304 determines that the absolute value of the steering torque is not equal to or greater than the threshold (step S404: NO), the steering wheel 110 is not operated, and thus the power steering system is not activated. Then, the steering control device 220 returns the process to step S403 and continues the torque determination.

On the other hand, when the torque determination unit 304 determines that the absolute value of the steering torque is equal to or greater than the threshold (
Step S404: YES), the elapsed time measured by the timer 306 is a fixed time (for example, 1
It is determined whether it is less than (time) (step S405). Note that when the travel board 201 is a regular board, the elapsed time is always 0 because the elapsed time is not started. That is, when the traveling board 201 is a regular board, the elapsed time is always less than a certain time.

When the torque determination unit 304 determines that the elapsed time is less than the predetermined time (step S4).
05: YES), the speed acquisition unit 303 acquires the traveling speed of the vehicle main body 101 (step S406). Next, the torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the speed acquired by the speed acquisition unit 303 (step S407). Then, the steering control device 220 returns the process to step S403 and continues the torque determination.

On the other hand, when the torque determination unit 304 determines that the elapsed time is less than the predetermined time (step S405: YES), the torque determination unit 304 does not cause the steering motor 212 to generate torque. That is, the torque determination unit 304 stops the power steering system when a predetermined time has elapsed from the time when it is determined that the traveling board 201 is not a regular board. At this time, the steering control device 220
May display on the display 111 a message such as “The driving board 201 is not a regular board, so assist by the power steering system is limited”.
Then, the steering control device 220 returns the process to step S403 and continues the torque determination.

As described above, when the travel board 201 is not a regular board, the steering control device 220 according to the present embodiment prompts the replacement of the travel board 201 by limiting the time for performing the assist by the power steering system. it can. Further, the steering control device 220 according to the present embodiment does not invalidate the functions of the traveling motor 208 and the cargo handling motor 210, and continues the assisting operation by the power steering system for a certain period of time. Can be evacuated to a place out of the way.
Therefore, the steering control device 220 according to the present embodiment allows a minimum product handling operation to be performed while the travel board 201 of the forklift 100 is replaced with a non-genuine product, while replacing the regular product with a control board. Can be urged.

Note that the steering control device 220 according to the present embodiment sets the torque generated by the steering motor 212 to a small value when a certain time has elapsed from the time when the traveling board 201 is determined not to be a regular board. Not limited to. For example, the steering control device 22 according to another embodiment.
0 is compared to the case where the traveling board 201 is a regular board in the steering motor 212 when a certain time has elapsed since the time when the traveling board 201 was determined not to be a regular board, as in the second embodiment. A small torque may be generated.

In addition, the steering control device 220 according to the present embodiment sets the torque generated by the steering motor 212 to a small value when a predetermined time has elapsed from the time when the traveling board 201 is determined not to be a regular board. Not limited to. For example, the steering control device 22 according to another embodiment.
As for 0, when the steering angle is not within the steering range, a smaller torque may be generated in the steering motor 212 than in the case where the traveling board 201 is a regular board as in the second embodiment.

<< Fifth Embodiment >>
A fifth embodiment will be described.
In the forklift 100 according to the fifth embodiment, when the traveling board 201 is not a regular board, the torque generated by the steering motor 212 is reduced as the absolute value of the steering angle increases.
The configuration of the forklift 100 according to the fifth embodiment is the same as the configuration of the forklift 100 according to the third embodiment, and the operation of the torque determination unit 304 is different.

FIG. 11 is a flowchart showing the operation of the steering control device 220 according to the fifth embodiment.
When a key switch (not shown) of the forklift 100 is switched ON and electricity is supplied from the battery 214 to the steering board 203, the determination unit 30 of the steering control device 220 is provided.
1 determines whether or not the connected travel board 201 is a regular board (step S5).
01).

Next, the torque acquisition unit 302 acquires a steering torque due to the rotation of the steering handle 110 (step S502). Next, the torque determination unit 304 determines whether or not the absolute value of the steering torque acquired by the torque acquisition unit 302 is greater than or equal to a predetermined threshold value (step S503).
If the torque determination unit 304 determines that the absolute value of the steering torque is not greater than or equal to the threshold (step S503: NO), the steering wheel 110 is not operated, and thus the power steering system is not activated. Then, the steering control device 220 returns the process to step S502 and continues the determination of torque.

On the other hand, when the torque determination unit 304 determines that the absolute value of the steering torque is greater than or equal to the threshold value (
Step S503: YES), the speed acquisition unit 303 acquires the traveling speed of the vehicle main body 101 (Step S504). Next, the torque determination unit 304 determines the torque to be generated by the steering motor 212 based on the torque acquired by the torque acquisition unit 302 and the speed acquired by the speed acquisition unit 303 (step S505).

Next, the torque determination unit 304 specifies whether or not the travel board 201 is determined to be a regular board in step S501 (step S506). When it is determined that the travel board 201 is a regular board (step S506: YES), the torque determined in step S505 is generated in the steering motor 212. Then, the steering control device 220 returns the process to step S502 and continues the determination of torque.

On the other hand, when it is determined that the traveling board 201 is not a regular board (step S506).
: NO), the steering angle acquisition unit 305 acquires the steering angle of the steering mechanism (step S507).
Next, the torque determination unit 304 multiplies the torque determined in step S505 by a coefficient of 0 or more and less than 1 that monotonously decreases (monotonically non-increases) with respect to the absolute value of the steering angle acquired by the steering angle acquisition unit 305. The torque obtained in this way is generated in the steering motor 212 (step S508). The coefficient that monotonously decreases with respect to the absolute value of the steering angle can be obtained, for example, by substituting the steering angle into a probability density function having a normal distribution.
That is, when the traveling board 201 is not a regular board, the torque determination unit 304 determines the torque generated by the steering motor 212 to be a smaller value as the steering angle is larger. At this time, the steering control device 220 may cause the display 111 to display a message such as “The travel board 201 is not a regular board and thus assist by the power steering system is limited”. Then, the steering control device 220 returns the process to step S502 and continues the determination of torque.

As described above, the steering control device 220 according to the present embodiment reduces the operability by weakening the assist by the power steering system according to the steering angle when the traveling board 201 is not a regular board. Exchange of 201 can be prompted. Further, since the steering control device 220 according to the present embodiment does not invalidate the functions of the traveling motor 208 and the cargo handling motor 210, the handling operation can be continued and the forklift 100 can be retracted to a place where it does not get in the way.
Therefore, the forklift 100 according to the present embodiment can prompt the exchange of the regular product to the control board while enabling the minimum cargo handling work when the traveling board 201 is exchanged to the irregular product.

In addition, although the steering control apparatus 220 which concerns on this embodiment makes the torque generated in the steering motor 212 small according to a steering angle, it is not restricted to this. For example, in another embodiment, the torque generated by the steering motor 212 may be increased or decreased according to the travel time. For example, the steering control device 220 according to another embodiment may vary the coefficient relating to the torque between 1 and 0 in a cycle of 1 minute.

As described above, the embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to that described above, and various design changes and the like can be made.
For example, the forklift 100 according to the above-described embodiment runs on the battery 214, but is not limited thereto. For example, a forklift 100 according to another embodiment
The vehicle may be driven by driving the engine with fuel. Further, the forklift 100 according to the above-described embodiment is a reach type vehicle capable of moving the fork 104 forward and backward by reach control, but is not limited thereto. For example, the forklift 100 according to another embodiment may be a counterbalance type vehicle or a picking lift vehicle.

In at least one embodiment, the auxiliary storage device is an example of a tangible medium that is not temporary. Other examples of the tangible medium that is not temporary include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory connected via an interface. When this program is distributed to a computer via a communication line, the computer that has received the distribution may develop the program in a main storage device and execute the above-described processing.

The program may be for realizing a part of the functions described above.
Further, the program may be a so-called difference file (difference program) that realizes the above-described function in combination with another program already stored in the auxiliary storage device.

DESCRIPTION OF SYMBOLS 100 ... Forklift 101 ... Vehicle body 102 ... Straddle arm 103 ... Mast 104 ... Fork 105 ... Driver's seat 106 ... Accelerator lever 107 ... Lift lever 108 ... Reach lever 109 ... Tilt lever 110 ... Steering handle 111 ...
Display 201 ... Traveling board 202 ... Cargo handling board 203 ... Steering board
204 ... Charging board 205 ... Display board 206 ... Accessory board
207 ... Traveling inverter 208 ... Traveling motor 209 ... Cargo handling inverter 210 ... Cargo handling motor 211 ... Steering inverter 212 ... Steering motor 213 ... Charger 214 ... Battery 215 ... Direction indicator 216 ... Rotating light 217 ... Buzzer 218 ... Travel control device 219, 219a ... Cargo handling control device 220 ... Steering control device 221 ... Charging control device 22
DESCRIPTION OF SYMBOLS 2 ... Display control apparatus 223 ... Accessory control apparatus 301 ... Determination part 302 ... Torque acquisition part 303 ... Speed acquisition part 304 ... Torque determination part 305 ... Steering angle acquisition part 30
6 ... Timekeeping section

Claims (8)

A determination unit for determining whether or not the control board connected to the own device is a regular board;
A torque determining unit that determines a torque to be generated by a motor that applies a driving force to a steering mechanism of the vehicle,
The torque determining unit causes the motor to generate torque to be generated by the motor in at least a part of a steering range by the steering mechanism when the control board is not a regular board, when the control board is a regular board. A steering control device that determines a value smaller than the torque. The steering control device according to claim 1, wherein the torque determination unit does not cause the motor to generate torque when the control board is not a regular board. 3. The steering control according to claim 1, wherein, when the control board is not a regular board, the torque determination unit determines the torque generated by the motor to be a smaller value as the steering angle by the steering mechanism is larger. apparatus. When the control board is a regular board, when the control board is a regular board, the torque determination unit is configured to generate a torque to be generated by the motor when a steering angle by the steering mechanism is not within a predetermined steering range. The steering control device according to any one of claims 1 to 3, wherein the steering control device is determined to be smaller than a torque generated in the motor. The torque determining unit is configured to generate a torque to be generated by the motor when an elapsed time from a time when the determining unit determines that the control substrate is not a regular substrate passes a certain time. The steering control device according to any one of claims 1 to 4, wherein the steering control device is determined to have a value smaller than a torque generated by the motor.   A vehicle comprising the steering control device according to any one of claims 1 to 5. Determining whether the second control board connected to the first control board is a regular board;
Determining a torque to be generated by a motor that applies a driving force to a steering mechanism of the vehicle,
In the step of determining the torque, when the second control board is not a regular board, the torque to be generated by the motor in at least a part of a steering range by the steering mechanism, and when the board is a regular board, the motor A steering control method that determines a value smaller than the torque generated in the vehicle. Computer
A determination unit for determining whether or not the control board connected to the computer is a regular board;
Function as a torque determination unit that determines the torque generated by the motor that applies driving force to the steering mechanism of the vehicle,
The torque determining unit causes the motor to generate torque to be generated by the motor in at least a part of a steering range by the steering mechanism when the control board is not a regular board, when the control board is a regular board. Steering control program that determines a value smaller than torque.

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