JP6608350B2 - Electric winch control device - Google Patents

Description

  The present invention relates to a control device for an electric winch that includes a pair of electric winches that allow a wheelchair to move in and out of a passenger compartment and a controller that controls these electric winches.

  Conventionally, a wheelchair mounting space for mounting a wheelchair is provided on the rear side of the welfare vehicle. From the wheelchair mounting space, a slope is drawn out of the passenger compartment, and the wheelchair is moved in and out of the wheelchair mounting space via the slope. An electric winch having a hooked belt is installed on the front side of the wheelchair-mounted space. By pulling out the belt from the electric winch, hooking a hook at a predetermined position of the wheelchair, and driving the electric winch in this state, the wheelchair can be easily moved in and out of the wheelchair mounting space. The electric winch is for assisting the assistant and is operated by the assistant.

  In order to stably move the wheelchair along the slope, a pair of electric winches are installed on the front side and the left and right sides of the wheelchair mounting space, and these electric winches are operated synchronously by a controller. (For example, refer to Patent Document 1). The control device for the electric winch described in Patent Document 1 includes a left and right electric motor section (motor), a left and right rotation sensor, and one controller. The controller receives pulse signals ( Based on the detection signal), control for driving or stopping each electric motor unit is executed.

JP2013-060266A

  By the way, the technique described in Patent Document 1 described above has the following functions. Specifically, for example, when getting off the wheelchair, the weight distribution on the left and right sides of the wheelchair is different, for example, mechanical failure of the electric winch on one side, forgetting to put the one side hook on the wheelchair, operation of the assistant Due to a mistake or the like, a difference occurs in the feed amount on the left and right sides of the belt.

  Therefore, the controller makes an emergency stop of each electric winch when a certain amount of difference occurs in the amount of belt delivered so that the wheelchair does not deviate from the slope. It should be noted that the controller makes an emergency stop when there is a difference in the retracted amount of the belt on the left and right sides, not only when the wheelchair is getting off, but also when the wheelchair is getting on.

  However, in the technique described in Patent Document 1 described above, the “emergency stop control” as described above is continued even after the wheelchair is moved from the slope to a flat place (such as the ground outside the passenger compartment). That is, when the pair of belts is removed from the wheelchair after the dismounting of the wheelchair is completed, if the assistant pulls one of the belts to remove the hook, the controller determines that a difference has occurred in the amount of belt delivered. Thereby, even if it is a case where a belt is removed from one side, a controller will stop an electric winch urgently.

  Accordingly, there arises a problem that the belt cannot be pulled out from the pair of electric winches (locked state), and the other belt is pulled so that the hook cannot be removed from the wheelchair. In this case, it is necessary to move the wheelchair or to remove the hook, and there is a possibility that the removal of the belt from the wheelchair in a flat place outside the passenger compartment is troublesome. It was.

  It is an object of the present invention to control an electric winch that can easily remove a belt from a wheelchair in a flat place outside the passenger compartment when the emergency stop occurs when a difference occurs in the belt feed amount (drawn amount). To provide an apparatus.

  In one aspect of the present invention, there is provided a control device for an electric winch, comprising: a pair of electric winches that allow a wheelchair to enter and exit from a vehicle interior; and a controller that controls the electric winches. A drum around which a belt for pulling a wheelchair is wound; a motor that rotates the drum; and a rotation sensor that detects rotation of the drum. The controller receives detection signals from the pair of rotation sensors, respectively. A counter unit that counts the number of rises or falls of the detection signal that is input, calculates a difference value from each count value in the counter unit, and compares the difference value with a prestored threshold value And a difference value comparison unit that outputs a stop signal when the difference value is equal to or greater than the threshold, and input of the stop signal, Comprising a drive control unit to stop the motor of the pair, the input of the count value indicating that the wheelchair is in the vehicle exterior, and a stop release unit for releasing the motor stop control by the drive control unit.

  In another aspect of the present invention, the controller includes an adjustment coefficient determination unit that determines an adjustment coefficient for adjusting the magnitude of the difference value according to the winding diameter of the belt with respect to the drum.

  In another aspect of the present invention, the adjustment coefficient determination unit decreases the adjustment coefficient when the winding diameter is large, and increases the adjustment coefficient when the winding diameter is small.

  According to the present invention, the controller includes the stop cancellation unit that cancels the stop control of the motor by the drive control unit by inputting the count value indicating that the wheelchair is outside the vehicle compartment. It is possible to easily remove the belt from the wheelchair on one side at a time, thereby reducing the burden on the caregiver or the like.

(A), (b) is a figure explaining the basic operation | movement of an electric winch. It is a figure explaining the system configuration which looked at the vehicle of Drawing 1 from the upper part. (A) is a top view of the operation panel installed in the vehicle, (b) is a plan view of the remote control operated by the assistant. It is a perspective view explaining the detailed structure of an electric winch. It is a perspective view explaining the internal structure (part) of an electric winch. It is a block diagram explaining the internal structure of a controller. It is a figure explaining the resolution map stored in a controller. It is a flowchart explaining the control content of a controller. It is a figure explaining the behavior of a wheelchair when a rotation speed difference arises in the drum in the middle of getting off. It is a figure explaining the removal operation | work of the belt from a wheelchair after getting off.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  1A and 1B are diagrams for explaining the basic operation of the electric winch, FIG. 2 is a diagram for explaining a system configuration when the vehicle of FIG. 1 is viewed from above, and FIG. 3A is installed in the vehicle. 4B is a plan view of the remote controller operated by an assistant, FIG. 4 is a perspective view illustrating the detailed structure of the electric winch, and FIG. 5 is an internal structure (partially) of the electric winch. 6 is a block diagram illustrating the internal structure of the controller, and FIG. 7 is a diagram illustrating a resolution map stored in the controller.

  As shown in FIGS. 1 and 2, the vehicle 10 is a welfare vehicle, and a wheelchair mounting space 11 in which a wheelchair 20 that is a towed object can be mounted is provided on the rear side (right side in the drawing) of the vehicle 10. It has been. A pair of electric winches 30 is installed on the vehicle front side (left side in the figure) of the wheelchair mounting space 11 with a predetermined interval in the vehicle width direction (vertical direction in FIG. 2) of the vehicle 10.

  The pair of electric winches 30 allows the wheelchair 20 to enter and exit the wheelchair mounting space (vehicle interior) 11, and includes a belt 32 having a hook 31 attached to the distal end side, so that the belt 32 pulls the wheelchair 20. It has become. Specifically, the belts 32 are pulled out from the pair of electric winches 30, and the hooks 31 are respectively hooked on the pair of front frames 21 on the left and right sides of the wheelchair 20, and the pair of electric winches 30 are operated synchronously in this state. Then, by pulling in each belt 32, the wheelchair 20 is moved in the direction indicated by the arrow M1 in the figure.

  A slope 12 that connects the ground G and the floor surface F of the vehicle 10 at a moderate inclination angle is installed on the vehicle rear side of the wheelchair mounting space 11. The slope 12 is stored in a storage unit (not shown) formed on the floor surface F when the vehicle 10 is traveling. On the other hand, the vehicle 10 is stopped and the back door 13 is opened, and the slope 12 is extended from the storage portion to the outside of the passenger compartment by the user's manual operation.

  By causing the pair of electric winches 30 to operate synchronously and retracting the respective belts 32, the wheelchair 20 moves on the slope 12 as shown in FIG. As shown in FIG. 4, the vehicle reaches the floor surface F and is mounted in the wheelchair mounting space 11 (vehicle interior).

  Further, by synchronizing the pair of electric winches 30 so as to rotate in reverse, the respective belts 32 are sent out and mounted in the wheelchair mounting space 11 as shown in FIGS. 1 (b) to 1 (a). The made wheelchair 20 can be moved from the floor surface F to the ground G. By providing the slope 12 in this manner, the movement of the wheelchair 20 between the ground G and the floor surface F can be easily guided. Here, the pair of electric winches 30 is operated by an assistant (operator), and the assistant supports the wheelchair 20 from the rear of the wheelchair 20 during the operation of each electric winch 30.

  The control device 40 that controls the pair of electric winches 30 is configured as shown in FIG. That is, the control device 40 includes a pair of electric winches 30, one controller 50, an operation panel 60, and a remote controller 70. Between each electric winch 30 and the controller 50, and between the operation panel 60 and the controller 50, the wiring 14 which consists of a communication line and a power wire is provided electrically connected. The remote controller 70 is wireless and can communicate with the controller 50 wirelessly. By taking the remote controller 70 out of the passenger compartment, each electric winch 30 can be operated (synchronized) from outside the passenger compartment.

  As shown in FIG. 2, a pair of fixed belts 16 having hooks 15 are installed on the floor F of the vehicle 10. The hooks 15 of these fixing belts 16 are respectively hooked on a pair of wheels 22 on the left and right sides of the wheelchair 20 mounted in the wheelchair mounting space 11. Thereby, the wheelchair 20 mounted in the wheelchair mounting space 11 is fixed at a total of four locations of the hooks 31 of the pair of belts 32 and the hooks 15 of the pair of fixing belts 16. Therefore, the wheelchair 20 is reliably prevented from moving or rattling inside the vehicle 10.

  As shown in FIG. 3A, the operation panel 60 that is an operation member includes a panel body 61. The panel body 61 is disposed on the rear side of the wheelchair mounting space 11, and the operation panel 60 can be operated from outside the passenger compartment behind the vehicle 10. Thereby, the operation panel 60 can be easily operated by an assistant outside the vehicle compartment. The panel main body 61 is provided with a main power switch 62, a belt free switch 63, a speed changeover switch 64, and a buzzer (speaker) 65.

  The main power switch 62 is operated when the system power of the control device 40 is turned on. When the main power switch 62 is turned on to turn on the system power, the indicator 62a of the main power switch 62 is turned on. It has become. The main power switch 62 is also operated when the control device 40 is reset (initialized). For example, when the power is turned on, the system is reset by pressing and holding for 3 seconds or more. It has become.

  The belt-free switch 63 is operated to release the locked state of the pair of electric winches 30. By turning on the belt-free switch 63, each belt 32 can be pulled out and stored. That is, the belt-free switch 63 is turned on so that each belt 32 can be pulled out and hooked on the wheelchair 20 outside the passenger compartment, or the length of each belt 32 pulled out from the pair of electric winches 30 can be made uniform. . Here, when the belt-free switch 63 is turned on, the indicator 63a of the belt-free switch 63 is turned on.

  The speed changeover switch 64 sets the moving speed of each belt 32, that is, the pull-in speed when the wheelchair 20 is put on the wheelchair mounting space 11 or gets off from the wheelchair mounting space 11, that is, low speed (LOW) or high speed (HIGH). It is operated to switch to. Further, the buzzer 65 generates a warning sound such as an electronic sound when each belt 32 is retracted or delivered, or when the electric winch 30 is malfunctioning (when a failure occurs). Here, the warning sound is not limited to an electronic sound, and may be a voice announcement.

  The remote controller 70 as an operation member is a dry battery-driven wireless remote control unit, and can be used when the main power switch 62 of the operation panel 60 is operated and the system power of the control device 40 is on. As shown in FIG. 3B, the remote controller 70 includes a remote controller main body 71. The remote controller main body 71 includes a remote control power switch 72, an on switch 73, and an output switch 74. The remote controller 70 further includes an indicator 75, and the indicator 75 is turned on when the remote controller 70 is operated. Further, when the indicator 75 becomes dark, the dry battery (not shown) is replaced.

  When the main power switch 62 is turned on and the remote control power switch 72 is turned on, the pair of electric winches 30 can be operated using the remote controller 70. In this case, the remote controller 70 is operated by an assistant. To do. When the remote controller power switch 72 is turned on by the assistant and then the on switch 73 is pressed, the pair of electric winches 30 starts to take up (retract) the belts 32. And while pushing on switch 73, winding operation of each belt 32 by a pair of electric winches 30 is continued, and loading of wheelchair 20 to wheelchair mounting space 11 is assisted by a pair of electric winches 30.

  On the other hand, when the out switch 74 is pressed, the pair of electric winches 30 are operated in the opposite directions, and an operation (feeding out) of the belts 32 is started. And while pushing out switch 74, the operation of getting off wheelchair 20 from wheelchair mounting space 11 is assisted by the pair of electric winches 30. Here, during the operation of the remote controller 70, the assistant holds the grip GR (see FIG. 1) of the wheelchair 20, supports the wheelchair 20, and guides its movement. Thus, the control device 40 assists the movement of the wheelchair 20 by the assistant by drivingly controlling the pair of electric winches 30.

  The pair of electric winches 30 provided on the right side (one side) and the left side (the other side) of the vehicle 10 have the same shape and the same structure. 4 and 5, only one of the electric winches 30 is shown, and the detailed structure thereof will be described below as a representative of any one of the electric winches 30.

  As shown in FIG. 4, the electric winch 30 includes an electric motor unit 80 and a drum unit 90. The electric motor unit 80 and the drum unit 90 are integrated (unitized) by a plurality of fastening screws (not shown).

  The electric motor unit 80 as a motor includes a motor unit 81 and a gear unit 82. A rotation shaft (not shown) is rotatably provided in the motor unit 81, and is configured of a worm and a worm wheel for reducing the rotation of the rotation shaft to increase the torque, inside the gear unit 82. A speed reduction mechanism (not shown) is provided. The worm wheel is integrally provided with an output shaft (not shown), and the output shaft projects toward the drum portion 90 to rotate a drum 92 (see FIG. 5) forming the drum portion 90. .

  The drum unit 90 includes a casing 91. The casing 91 is formed in a substantially box shape, and a drum 92, a ratchet mechanism 93, and a slack eliminating mechanism 94 shown in FIG. A drive current is supplied to the outside of the casing 91 to a slack eliminating motor 95 that removes slack of the belt 32 wound around the drum 92, a rotation sensor 96 that detects the rotation of the drum 92, the electric motor unit 80, the slack eliminating motor 95, and the like. For example, a connector connecting portion 97 to which an external connector (not shown) is connected is provided.

  An opening 91a is formed in a side portion of the casing 91, and the belt 32 can freely enter and exit from the opening 91a. The belt 32 is guided in and out by a guide member 98 provided in the vicinity of the opening 91 a of the casing 91, thereby preventing the belt 32 from being twisted. Further, the guide member 98 does not allow the hook 31 to pass through, thereby preventing the entire belt 32 from being pulled into the casing 91.

  4 is a pair of attachment stays for fixing the electric winch 30 to the floor F (see FIG. 2) of the vehicle 10. These mounting stays ST are firmly fixed to the floor surface F by a plurality of fastening bolts (not shown). As a result, the electric winch 30 is firmly fixed to the vehicle 10 without rattling.

  As shown in FIG. 5, a drum 92, a ratchet mechanism 93, and a slack eliminating mechanism 94 are accommodated in the casing 91. However, the slack eliminating motor 95, the guide member 98 and the hook 31 shown in FIG. 5 are provided outside the casing 91 as shown in FIG.

  A belt 32 is wound around the drum 92, and a drum shaft 92 a is attached to the rotation center of the drum 92 so as to be integrally rotatable. The rotation of the output shaft of the electric motor unit 80 (see FIG. 4) is transmitted to the drum shaft 92a, and the drum shaft 92a and the drum 92 are rotated in the forward / reverse direction as the electric motor unit 80 is rotated in the forward / reverse direction. Is driven to rotate. As a result, the belt 32 can be drawn into the casing 91 or sent out of the casing 91.

  Further, between the drum 92 and the drum shaft 92a, the drum 92 and the drum shaft 92a can be rotated relative to each other in the belt winding direction with respect to the drum shaft 92a, and in the belt feeding direction with respect to the drum shaft 92a. Is provided with a one-way clutch (not shown) that allows the drum 92 and the drum shaft 92a to rotate integrally.

  The ratchet mechanism 93 allows a rotation of the latch gear 93a provided on the drum shaft 92a so as to be integrally rotatable, and a direction in which the belt 32 of the latch gear 93a is wound up (counterclockwise direction in the drawing), and sends out the belt 32 ( A swingable pawl 93b that prevents rotation in the clockwise direction in the drawing) and a solenoid drive member 93c that swings the pawl 93b are provided.

  The solenoid driving member 93c includes a driving pin 93d. When the supply of driving current to the solenoid driving member 93c is stopped, the driving pin 93d is projected by the spring force of a built-in spring (not shown). Thereby, the pawl 93b is engaged with the latch gear 93a, the rotation of the drum 92 in the direction in which the belt 32 is fed out is prevented, and the backward movement of the wheelchair 20 on the slope 12 is prevented. On the other hand, by supplying a drive current to the solenoid drive member 93c, the drive pin 93d is retracted against the spring force of the built-in spring. Thereby, the engagement of the pawl 93b with the latch gear 93a is released, the rotation of the drum 92 in the direction in which the belt 32 is fed out is allowed, and the wheelchair 20 can be dismounted from the wheelchair mounting space 11.

  The slack eliminating mechanism 94 includes a spar gear 94 a provided on the drum 92 so as to be integrally rotatable, a small-diameter gear 94 b that meshes with the spur gear 94 a, and a reduction gear mechanism 94 c that is rotationally driven by a slack eliminating motor 95.

  The slack eliminating motor 95 generates a rotational force that rotates the drum 92 in the direction in which the belt 32 is wound, and the rotational force is transmitted to the drum 92 via the reduction gear mechanism 94c, the small diameter gear 94b, and the spur gear 94a. In addition, a torque limiter (not shown) is provided between the small-diameter gear 94b and the reduction gear mechanism 94c, and the torque limiter cuts off transmission of torque above a certain level.

  Thereby, an overload on the slack eliminating motor 95 is prevented, and the slack eliminating motor 95 is protected. That is, as the slack eliminating motor 95, a small motor capable of generating a torque that can remove the slack of the belt 32 can be employed.

  As shown in FIG. 6, the controller 50 includes a counter unit 51, a difference value comparison unit 52, a drive control unit 53, a stop release unit 54, and a resolution adjustment unit 55. Operation information CS is input to the controller 50 from the operation panel 60 and the remote controller 70 in a wired or wireless manner, and the controller 50 provides a pair of electric winches 30 provided on the left and right sides of the vehicle 10 based on the operation information CS. The drive control is performed so that the (right and left) electric motor units 80 are synchronized.

  The controller 50 further receives detection signals from the rotation sensors 96 that detect the rotation of the pair of drums 92, which are driving state signals (feedback signals) of the pair of electric winches 30. Here, the rotation sensor 96 is composed of a Hall element, and a ring magnet (not shown) that rotates with the rotation of the drum 92 is provided at a portion of the drum 92 that faces the rotation sensor 96. Accordingly, when the ring magnet rotates together with the drum 92, the rotation sensor 96 generates a rectangular wave signal (pulse signal) indicating “ON” or “OFF” in accordance with switching of the magnetic poles of the ring magnet.

  Pulse signals (detection signals) PsR and PsL (right side and left side) from the pair of rotation sensors 96 are input to the counter unit 51, respectively. Then, the counter unit 51 counts the number of rising times or the number of falling times of each input pulse signal PsR, PsL, and generates count values CtR, CtL (right side and left side) for each pair of rotation sensors 96, The generated pair of count values CtR and CtL are output to the difference value comparison unit 52, the stop release unit 54, and the resolution adjustment unit 55, respectively.

  A pair of count values CtR and CtL counted by the counter unit 51 are input to the difference value comparison unit 52, respectively. Then, the difference value comparison unit 52 calculates a difference value δCt (= | CtR−CtL | × K) based on the input pair of count values CtR and CtL. Here, “K” in the calculation formula for obtaining the difference value δCt is an adjustment (correction) coefficient input from the resolution adjustment unit 55. The adjustment coefficient K will be described later in detail.

  Further, the difference value comparison unit 52 further stores a first threshold value Th1 set to a predetermined size in advance, and the difference value comparison unit 52 compares the difference value δCt with the first threshold value Th1. Processing is executed. When the difference value comparison unit 52 determines that the difference value δCt is greater than the first threshold Th1 (δCt> Th1), the difference value comparison unit 52 outputs a stop signal Stp to the drive control unit 53.

  Based on the operation information CS from the operation panel 60 and the remote controller 70, the drive control unit 53 supplies drive currents IR and IL (right and left sides) to the pair of electric winches 30, respectively, or the drive current IR , Control for stopping the supply of IL is executed.

  Further, the stop signal Stp is input from the difference value comparison unit 52 to the drive control unit 53. When the stop signal Stp is input to the drive control unit 53, the drive control unit 53 transmits the stop signal Stp to the pair of electric winches 30. The supply of the drive currents IR and IL is cut (stopped), and the drive of the electric motor unit 80 forming the pair of electric winches 30 is stopped (emergency stop).

  A pair of count values CtR and CtL are input from the counter unit 51 to the stop release unit 54. The stop cancellation unit 54 monitors the state (magnitude) of the pair of count values CtR and CtL input from the counter unit 51, and stores the count values CtR and CtL and the stop cancellation unit 54 in advance. A comparison process is performed to compare the second threshold value Th2 having a predetermined size.

  Here, the pair of count values CtR and CtL indicate numerical values proportional to the pull-out amount (drawn length) of each belt 32. That is, when the pair of count values CtR and CtL is small, the amount of withdrawal of each belt 32 is small, and when the pair of count values CtR and CtL is large, the amount of withdrawal of each belt 32 is large. . As described above, the stop release unit 54 monitors the pair of count values CtR and CtL and grasps the amount of each belt 32 to be pulled out. In other words, the stop cancellation part 54 can respectively grasp whether the wheelchair 20 is in the wheelchair mounting space 11, on the slope 12, or on the flat ground G.

  In particular, in the present embodiment, the second threshold value Th <b> 2 having a predetermined size is set so that the stop release unit 54 can grasp that the wheelchair 20 is on the flat ground G. The second threshold value Th2 is a relatively large numerical value, and is a threshold value for detecting a state in which substantially all of the belts 32 are pulled out. Specifically, when the value of the pair of count values CtR and CtL is greater than or equal to the second threshold Th2 (CtR, CtL ≧ Th2), the wheelchair 20 is shown in FIGS. 1 (a) and 2. It can be determined that the object is on the flat ground G.

  When the stop cancellation unit 54 determines that the pair of count values CtR and CtL is equal to or greater than the second threshold Th2 (CtR, CtL ≧ Th2), the count values CtR and CtL at this time The stop cancellation signal Can is output to the drive control unit 53, assuming that the count value indicates that the outdoor unit is present. Thereby, even if the stop signal Stp is input based on the input of the stop cancellation signal Can, the drive control unit 53 stops driving the electric motor unit 80 of the pair of electric winches 30 by the input of the stop signal Stp. Cancel. That is, the stop cancellation unit 54 outputs a stop cancellation signal Can to the drive control unit 53 to cancel the stop control of the electric motor unit 80 by the drive control unit 53.

  Thereby, when the wheelchair 20 is on the flat ground G, even when the difference value δCt is larger than the first threshold Th1, that is, when a large difference is generated in the pull-out amount of each belt 32, at this time The electric motor unit 80 of the pair of electric winches 30 is driven in synchronism as usual based on the operation information CS from the operation panel 60 and the remote controller 70 except that so-called “belt differential control” functioning in Controllable.

  The pair of count values CtR and CtL accumulated in the counter unit 51 is, for example, as shown by a broken line in FIG. 1B, the wheelchair 20 is mounted in the wheelchair mounting space 11, and the back door of the vehicle 10 is used. A reset process (a process of learning the origin “0 (zero)” in FIG. 7) is performed with the state where 13 is closed as a trigger.

  The rotation sensor 96 shown in FIG. 6 detects the rotation of the drum 92. For this reason, the number of appearance of the pulse signals PsR and PsL when the amount of belt 32 pulled out is constant differs depending on the amount of winding of the belt 32 around the drum 92 that is small and large, that is, the winding diameter of the belt 32. become. Therefore, in order to eliminate such problems caused by the winding diameter of the belt 32, the resolution adjusting unit 55 is provided. Here, the resolution adjustment unit 55 constitutes an adjustment coefficient determination unit in the present invention. Hereinafter, a problem caused by the winding diameter of the belt 32 will be described in detail.

  In the state of R1 in which a large number of belts 32 are wound around the drum 92 and the winding diameter of the belt 32 is large, for example, in the state where the pulling length of the belt 32 is “500 mm”, the pulling length of the belt 32 is Since the amount of rotation of the drum with respect to the thickness is small, the resolution is “2 mm / pls (pulse)”. That is, in the case of R1 having a large winding diameter, “1 pls” appears when the drawing amount (drawing amount) of the belt 32 is “2 mm” (low sensitivity).

  On the other hand, a large number of belts 32 are drawn from the drum 92, and the winding length of the belt 32 is small (R2 <R1), for example, the drawing length of the belt 32 is “1000 mm”. In this state, the amount of rotation of the drum with respect to the drawing length of the belt 32 increases, so that the resolution is “1 mm / pls”. That is, in the case of R2 where the winding diameter is small, “1 pls” appears when the pulling amount (pulling amount) of the belt 32 is “1 mm” (high sensitivity).

  Here, for example, when the first threshold value Th1 that is a comparison target of the difference value δCt is set to “50 pls”, and the difference amount between the left and right of the belt 32 exceeds “100 mm”, the electric winch 30 is to be urgently stopped. think of. In the case of R1 where the winding diameter is large, the emergency stop is made when the difference amount between the left and right sides of the belt 32 is just “100 mm”. On the other hand, in the case of R2 where the winding diameter is small, the emergency stop is performed when the difference amount between the left and right sides of the belt 32 becomes “50 mm”. In this case, in the case of R2 where the winding diameter is small, it is more sufficient from the viewpoint of safety that the wheelchair 20 is not desired to be tilted, but emergency stops can occur frequently. In other words, when R2 has a small winding diameter, safety is excessively secured, and as a result, erroneous detection increases.

  Therefore, in order to reduce erroneous detection when the winding diameter is small R2, consider setting the first threshold Th1 to “100 pls”. Then, in this case, when the winding diameter is small R2, the emergency stop is made when the difference between the left and right sides of the belt 32 is just “100 mm”. On the other hand, when the winding diameter is R1, the emergency stop is performed when the difference between the left and right sides of the belt 32 becomes “200 mm”. Therefore, this time, it becomes a thing lacking in safety when the winding diameter is R1.

  In order to eliminate such conflicting problems, the resolution adjusting unit 55 can provide sufficient safety regardless of the winding diameter (R1, R2) and avoid excessive detection errors. I am doing so. Specifically, the difference value δCt to be compared with the first threshold Th1 is multiplied by the “adjustment coefficient K”, and the magnitude of the adjustment coefficient K is made different depending on the winding diameter. ing.

  Specifically, in the resolution adjusting unit 55, as described in the above example, in the state of R1 where the winding diameter is large, an emergency stop is performed when the difference amount between the left and right of the belt 32 is just “100 mm”. “Adjustment factor K1 (see FIG. 7)” is determined, and in the state of R2 where the winding diameter is small, the “adjustment factor” is set so that an emergency stop is performed when the difference amount between the left and right of the belt 32 is just “100 mm”. “K2 (see FIG. 7)” is determined. Here, the magnitude relationship between the adjustment coefficient K1 and the adjustment coefficient K2 is K1 <K2. That is, in the state of R1 where the winding diameter is large, the adjustment coefficient K1 is small, and in the state of R2 where the winding diameter is small, the adjustment coefficient K2 is large.

  The resolution adjustment unit 55 stores in advance a resolution adjustment map 55a as shown in FIG. The resolution adjustment unit 55 refers to the resolution adjustment map 55a, determines an adjustment coefficient K that is optimal for the amount of belt 32 pulled out at that time, and outputs the determined adjustment coefficient K to the difference value comparison unit 52. Then, the difference value comparison unit 52 executes a process of multiplying the input adjustment coefficient K by the difference value δCt.

  Here, the adjustment coefficient K (corresponding to the vertical axis in FIG. 7) is a resolution adjustment map corresponding to the pulling amount of the belt 32, that is, the magnitude of the pair of count values CtR and CtL (corresponding to the horizontal axis in FIG. 7). Determined with reference to 55a. Thereby, the magnitude of the difference value δCt is corrected (adjusted) to the optimum value, and the pair of paired left and right of the belt 32 has the same magnitude (for example, 100 mm) regardless of the winding diameter. The electric winch 30 is stopped urgently. Therefore, sufficient safety is ensured and excessive erroneous detection can be avoided.

  Next, the operation of the control device 40 formed as described above will be described in detail with reference to the drawings.

  FIG. 8 is a flowchart for explaining the control contents of the controller, FIG. 9 is a diagram for explaining the behavior of the wheelchair when the drum has a rotational speed difference during getting off, and FIG. 10 is for removing the belt from the wheelchair after getting off. The figure explaining an operation | work is shown, respectively.

  As shown in FIG. 8, first, in step S1, when the main power switch 62 of the operation panel 60 is turned on to turn on the system power, and further, the on switch 73 or the out switch 74 of the remote controller 70 is operated. These operation states are input to the controller 50 as operation information CS. Thereby, drive control of the electric motor part 80 of a pair of electric winch 30 synchronizes and the pulling-in operation or sending-out operation of the wheelchair 20 is started. Hereinafter, the operation for dismounting the wheelchair 20 will be described with reference to FIGS. 9 and 10.

  In step S2, the pulse signals PsR and PsL from the pair of rotation sensors 96 are input to the counter unit 51, and the counter unit 51 generates a pair of count values CtR and CtL. Further, in the stop release unit 54, whether or not the pair of count values CtR and CtL is equal to or greater than a second threshold Th2 equal to a count value (count value indicating completion of getting off) indicating that the wheelchair 20 is on the flat ground G. Is determined. If it is determined in step S2 that the pair of count values CtR and CtL is not equal to or greater than the second threshold Th2 (no determination), the process proceeds to step S3, and the pair of count values CtR and CtL is equal to or greater than the second threshold Th2. If it is determined (yes determination), the process proceeds to step S7.

  In step S3, the resolution adjustment unit 55 refers to the resolution adjustment map 55a shown in FIG. 7 based on the current values of the pair of count values CtR and CtL that are proportional to the pulling amount (length) of the left and right belts 32. Thus, the adjustment coefficient K is determined. In subsequent step S4, the difference value comparison unit 52 calculates a difference value δCt based on the adjustment coefficient K determined in step S3 and the current pair of count values CtR and CtL. Here, the corrected difference value δCt corrected by the adjustment coefficient K is proportional to the left and right difference amount (length) of the belt 32.

  Next, in step S5, the difference value comparison unit 52 determines whether or not the difference value δCt calculated in step S4 is larger than the first threshold Th1. When it is determined that the difference value δCt is larger than the first threshold Th1 (yes determination), the process proceeds to step S6, and when it is determined that the difference value δCt is equal to or less than the first threshold Th1 (no determination), the step is performed. Proceed to S8.

  Here, as shown in FIG. 9, when the weight distribution is different between the left and right sides of the wheelchair 20, for example, when the left side weight of the wheelchair 20 is heavier than the right side weight (left side weight> right side weight), a pair of electric winches 30. Since both are the same, there may be a difference between the feed amount PR (broken arrow) of the belt 32 of the right electric winch 30 and the feed amount PL (solid arrow) of the belt 32 of the left electric winch 30. Yes (PR <PL).

  When the difference between the feed amounts PR and PL (the rotation amount of the pair of drums 92) increases, the difference between the pair of count values CtR and CtL proportional to the feed amounts PR and PL also increases, so that the difference value δCt> first. The threshold value Th1 is satisfied. Thereby, it becomes yes determination by step S5, and progresses to step S6, and the stop signal Stp is output toward the drive control part 53 from the difference value comparison part 52 in step S6. And the drive control part 53 cuts supply of the drive current to a pair of electric winch 30 based on the input stop signal Stp, and drives the electric motor part 80 which forms a pair of electric winch 30 by this Emergency stop.

  Therefore, the behavior of the wheelchair 20 on the slope 12 as shown in FIG. 9, that is, the behavior in which the wheelchair 20 moves in the direction of the arrow M2 in the figure and the wheelchair 20 deviates from the slope 12 can be stopped. it can. In step S6, an alarm sound is generated from the buzzer 65 of the operation panel 60 to notify the assistant that the emergency stop has occurred, triggered by the emergency stop of the wheelchair 20 that does not proceed straight. Thereby, the assistant knows that the emergency stop has occurred and can equalize the weight distribution on the left and right sides of the wheelchair 20 or reset the control device 40 so that the difference value δCt becomes zero.

  In step S <b> 7, since the stop cancellation unit 54 determines that the wheelchair 20 is on the flat ground G (Yes determination in step S <b> 2), the stop cancellation unit 54 outputs a stop cancellation signal Can to the drive control unit 53. . As a result, the drive control unit 53 cancels the control for emergency stop of the pair of electric winches 30 executed when the stop signal Stp is input, that is, “belt differential control” in accordance with the input of the stop cancellation signal Can (invalid To do).

  Therefore, the assistant can perform the work shown in FIG. Specifically, as shown in FIG. 10, when the wheelchair 20 finishes getting off the slope 12 and is moved to the flat ground G, and the operation of the remote controller 70 is stopped, the dismounting of the wheelchair 20 is thereby completed. . Thereafter, the assistant performs the work of removing the pair of hooks 31 from the front frame 21 of the wheelchair 20.

  At this time, for example, the assistant pulls the belt 32 of the electric winch 30 on the right side (upper side in the figure) in the direction of the arrow M3 and removes the right hook 31 first. Then, the pull-out amount of the left belt 32 is L2, while the pull-out amount of the right belt 32 is L1 longer than that (L1> L2). The difference amount between the left and right sides of the belt 32 at this time is, for example, “200 mm” longer than “100 mm” which is a reference length for executing “belt difference control” (L1−L2≈200 mm).

  However, in step S7, since the “belt difference control” has already been canceled, the emergency stop that is executed when the difference value δCt is large is not executed. Therefore, none of the pair of electric winches 30 is in an emergency stop state, and the belt 32 can be individually pulled out from each electric winch 30. Thus, the assistant can easily remove the pair of hooks 31 one by one from the front frame 21 of the wheelchair 20 without moving the wheelchair 20 or resetting the control device 40.

  In step S8, the controller 50 determines whether or not the main power switch 62 of the operation panel 60 is turned off and the system power of the control device 40 is turned off, and the system power is turned off. If it is determined (yes determination), the process proceeds to step S6. If it is determined that the system power supply is not yet turned off (no determination), the process returns to the upstream step S2.

  As described above in detail, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 receives the count values CtR and CtL indicating that the wheelchair 20 is outside the passenger compartment, and thereby the drive control unit. Since the stop release unit 54 for releasing the stop control of the electric motor unit 80 by 53 is provided, it is possible to easily remove the belt 32 from the wheelchair 20 on the flat ground G outside the cabin one by one. As a result, the burden on the caregiver can be reduced.

  Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 sets the magnitude of the difference value δCt according to the size (R1, R2) of the winding diameter of the belt 32 with respect to the drum 92. Since the resolution adjustment unit 55 that determines the adjustment coefficient K to be adjusted is provided, sufficient safety can be obtained regardless of the winding diameter (R1, R2), and excessive erroneous detection can be avoided. It becomes.

  Furthermore, according to the control device 40 of the electric winch 30 according to the present embodiment, the resolution adjustment unit 55 makes a small adjustment coefficient K1 when the winding diameter is large R1 and makes a large adjustment when the winding diameter is small R2. Since the coefficient is K2, the magnitude of the difference value δCt can be easily adjusted using a simple resolution adjustment map (adjustment coefficient determination map) 55a. Therefore, it is possible to reduce the load on the controller 50 and suppress a decrease in processing speed or the like.

  It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, in the above embodiment, the rotation sensor 96 made of a Hall element is used as the rotation sensor of the present invention. However, the present invention is not limited to this, and an annular slit member can be integrally rotated with the drum 92. It is also possible to use a photo interrupter in which the light emitting unit and the light receiving unit are arranged to face each other with the slit member interposed therebetween. Further, the winding amount of the belt 32 may be obtained using an absolute position sensor such as a resolver. In short, any sensor that can detect the rotation of the drum 92 or the winding amount of the belt 32 can be used for the rotation sensor of the present invention.

  In addition, the material, shape, dimensions, number, installation location, and the like of each component in the above embodiment are arbitrary as long as the present invention can be achieved, and are not limited to the above embodiment.

10 Vehicle 11 Wheelchair-mounted space (vehicle interior)
12 Slope 13 Back Door 14 Wiring 15 Hook 16 Fixed Belt 20 Wheelchair 21 Front Frame 22 Wheel 30 Electric Winch 31 Hook 32 Belt 40 Controller 50 Controller 51 Counter Unit 52 Difference Value Comparison Unit 53 Drive Control Unit 54 Stop Cancellation Unit 55 Resolution Adjustment (Adjustment coefficient determination unit)
55a Resolution adjustment map 60 Operation panel 61 Panel main body 62 Main power switch 62a Indicator 63 Belt free switch 63a Indicator 64 Speed changeover switch 65 Buzzer 70 Remote control 71 Remote control main body 72 Remote control power switch 73 On switch 74 Out switch 75 Indicator 80 Electric motor section ( motor)
DESCRIPTION OF SYMBOLS 81 Motor part 82 Gear part 90 Drum part 91 Casing 91a Opening 92 Drum 92a Drum shaft 93 Ratchet mechanism 93a Latch gear 93b Pawl 93c Solenoid drive member 93d Drive pin 94 Slack removal mechanism 94a Spur gear 94b Small diameter gear 94c Deceleration gear mechanism 95 Slack removal gear mechanism 95 96 Rotation Sensor 97 Connector Connection 98 Guide Member CS Operation Information Can Stop Release Signal CtR, CtL Count Value F Floor G Ground GR Grip IR, IL Drive Current K, K1, K2 Adjustment Factor PR, PL Feeding PsR, PsL Pulse Signal ST Mounting stay Stp Stop signal Th1 First threshold Th2 Second threshold δCt Difference value

Claims (3)

A pair of electric winches that allow the wheelchair to enter and exit the passenger compartment;
A controller for controlling the electric winch;
An electric winch control device comprising:
A pair of the electric winches
A drum around which a belt for pulling the wheelchair is wound;
A motor for rotating the drum;
A rotation sensor for detecting rotation of the drum;
Have
The controller is
A counter unit that receives detection signals from the pair of rotation sensors and counts the number of rising times or the number of falling times of the detection signals, and
A difference value comparison unit that calculates a difference value from each count value in the counter unit, compares the difference value with a threshold value stored in advance, and outputs a stop signal when the difference value is equal to or greater than the threshold value When,
A drive control unit that stops the pair of motors by inputting the stop signal;
A stop canceling unit for canceling the stop control of the motor by the drive control unit by inputting the count value indicating that the wheelchair is outside the vehicle compartment;
Comprising
Control device for electric winch. In the control device of the electric winch according to claim 1,
The controller includes an adjustment coefficient determination unit that determines an adjustment coefficient for adjusting the magnitude of the difference value according to the size of the winding diameter of the belt with respect to the drum.
Control device for electric winch. The control device for an electric winch according to claim 2,
The adjustment coefficient determination unit decreases the adjustment coefficient when the winding diameter is large, and increases the adjustment coefficient when the winding diameter is small.
Control device for electric winch.

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