JP6747131B2 - Battery powered industrial vehicle - Google Patents

Description

The present invention relates to a battery-powered industrial vehicle including a battery device and a drive motor as a driving power source.

2. Description of the Related Art In recent years, battery-powered industrial vehicles such as electric forklifts have been used for transporting luggage in indoor warehouses and the like that do not like exhaust gas from internal combustion engines. As an example of the battery-powered industrial vehicle of the present invention, a reach type forklift 10 shown in FIG. 1 will be described. The reach-type forklift 10 is a standing-type forklift that uses a battery device and a drive motor as driving power sources and is operated by an operator while standing. In FIG. 1, the X axis, the Y axis, and the Z axis are orthogonal to each other, the Z axis direction indicates the vertically upward direction, the X axis direction indicates the forward direction, and the Y axis direction indicates the left direction. ..

As shown in FIG. 1, the reach-type forklift 10 has a reach 11, a mast 17, a fork 16, a right driven wheel 18R, a left driven wheel 18L, a drive steering wheel 18D, a caster wheel 18C, an accelerator lever 12, and the like. .. Although not shown, the reach-type forklift 10 also has an operation lever for operating the fork 16 and the mast 17, a steering wheel for steering, a foot brake for parking, and the like.

The reach 11 is provided in a pair of left and right, and is provided so as to project forward from the lower portion of the vehicle body. Further, each of the pair of reach 11 (11R, 11L) is provided with a right driven wheel 18R and a left driven wheel 18L. The masts 17 (17R, 17L) are provided in a pair of left and right, are slidable in the front-rear direction along the reach 11, and are tiltable in the front-rear direction. The forks 16 are provided in a pair of left and right, and are vertically slidable (movable up and down) along the mast 17.

The right driven wheel 18R is provided near the front end of the right reach 11R, and is rotatably fixed in the front-rear direction of the reach-type forklift 10. The left driven wheel 18L is provided near the front end of the left reach 11L, and is rotatably provided with its orientation fixed in the front-rear direction of the reach-type forklift 10. The right driven wheel 18R and the left driven wheel 18L are provided as a left and right pair.

The drive steered wheel 18D is a wheel that can change (steer) an angle with respect to the front-rear direction of the reach type forklift 10 and is rotationally driven by a drive motor. The number of drive steered wheels 18D is one, and the drive steered wheel 18D may be arranged on either the right side or the left side in the left-right direction. However, the caster wheel 18C is arranged on the left side when the drive steered wheel 18D is arranged on the right side, and the caster wheel 18C is arranged on the right side when the drive steered wheel 18D is arranged on the left side. The caster wheel 18C is a wheel that is supported by the reach-type forklift 10 so that its direction can be freely changed in the XY plane, and is also rotatably supported.

The accelerator lever 12 is a lever that can be operated from an upright neutral position to a forward tilt position or from a neutral position to a rear tilt position. When the operator tilts the accelerator lever 12 forward from the neutral position, the drive motor drives the drive steering wheel 18D in the forward direction, and the reach-type forklift 10 moves forward at a speed corresponding to the forward tilt angle of the accelerator lever 12. Then, when the operator returns the accelerator lever 12 to the neutral position, the operation of the drive motor is changed from the drive control to the regenerative control, and the reach type forklift 10 is decelerated gently (weak braking is applied). When the operator tilts the accelerator lever 12 backward from the neutral position, the reach type forklift 10 moves backward as in the above, and when the accelerator lever 12 is returned to the neutral position, the reach type forklift 10 moves gently as described above. Slow down (weak braking). Further, in the reach type forklift 10, when the accelerator lever 12 is tilted in the direction opposite to the traveling direction during forward movement or backward movement, regenerative control is performed with a large regenerative force, and strong braking is applied. Although not shown, the reach-type forklift 10 also includes a steering wheel for steering, a mechanical foot brake, and the like.

Various controls have been incorporated into battery-powered industrial vehicles in order to further improve safety. For example, in the electric vehicle described in Patent Document 1 (corresponding to a battery-powered industrial vehicle), when the operator is detected to be away from the seat and the electric vehicle is traveling, the accelerator lever moves in the opposite direction to the traveling direction. When it is not operated, the motor is regeneratively controlled by the first regenerative force to safely stop the electric vehicle. Further, when the operator is detected to be away from the seat and the electric vehicle is traveling, and the accelerator lever is operated in the direction opposite to the traveling direction, the second regenerative force larger than the first regenerative force is generated. The motor is regeneratively controlled to stop the electric vehicle safely.

JP, 2013-198190, A

As one of the controls for further improving the safety of the battery-powered industrial vehicle, there is control other than the control described in Patent Document 1 when the battery is over-discharged. When the battery is over-discharged, the battery voltage drops, and the operator may not be able to obtain the speed expected when climbing a slope (when moving from the first floor to the second floor of the warehouse). If the operator continues to operate the reach-type forklift without noticing the over-discharged state of the battery, the battery voltage will drop further, and eventually the battery device will not be able to maintain the voltage that functions as a power source. It cannot be driven by the power source. Such a state is not so preferable from the viewpoint of work efficiency. Further, when the battery is over-discharged, it affects the life of the battery, which is not preferable. In addition, when an abnormality occurs in the battery device, for example, when the temperature of the battery device rises above a predetermined temperature, the input/output of the battery may be interrupted. In this case as well, the reach type forklift cannot be driven by the power source. ..

Before the battery is over-discharged (or cut-off state), the display device (display panel provided near the accelerator lever, etc.) may soon be over-discharged (or cut-off state). There is a case in which the operator who concentrates on the work does not notice the notification even if the fact is displayed and the operator is notified. It is desired to inform the operator of the possibility that the battery will be in an over-discharged state (or a cut-off state) in the near future in a manner that allows the operator to more surely recognize it.

The present invention was devised in view of such a point, and if the work is continued as it is before the battery is in the overdischarged state (or the cutoff state), the battery is eventually in the overdischarged state (or the cutoff state). It is an object of the present invention to provide a battery-powered industrial vehicle that allows an operator to more surely recognize that

In order to solve the above-mentioned subject, the battery type industrial vehicle concerning the present invention takes the following means. First, a first aspect of the present invention is a battery-powered industrial vehicle including a battery device and a drive motor as a power source for traveling, wherein the battery-powered industrial vehicle is connected to drive wheels that move forward or backward. Provided between the drive motor, the battery device that outputs electric power for driving the drive motor, and receives the electric power when the drive motor is regeneratively operated, and between the battery device and the drive motor. An inverter device, an accelerator lever for instructing forward or backward movement of the battery-powered industrial vehicle, a motor rotation detecting means for detecting a rotation speed and a rotation direction of the drive motor, an output voltage from the battery device, and A control device for performing a driving operation, a regenerating operation, or a stopping of the driving motor of the drive motor, based on the operation state of the accelerator lever and the rotation number and the rotation direction of the drive motor detected by the motor rotation detection means. And a first voltage range which is a voltage range adjacent to a side higher than a voltage when the battery device is over-discharged, and a second voltage range which is a voltage range adjacent to a side higher than the first voltage range. A voltage range and a third voltage range, which is a voltage range adjacent to the higher side of the second voltage range, are preset. When the drive motor is rotating forward, and the accelerator lever is instructed to move forward, or the drive motor is rotating backward and the controller is moving forward. In the case where the accelerator lever is instructed to move backward, in the case of the traveling continuation mode, the target rotation speed of the drive motor is calculated based on the operation amount of the accelerator lever, and the output voltage from the battery device is the third voltage. When the voltage is higher than the voltage range, the drive motor is driven so that the obtained target rotation speed is obtained, and the instructed forward or reverse movement is performed, and the output voltage from the battery device is set to the first value. In the case of the three voltage range, the obtained target rotation speed is updated to be equal to or lower than the upper limit rotation speed set according to the output voltage from the battery device, and the updated target rotation speed is obtained. When the output voltage from the battery device is in the second voltage range, the drive motor is driven so as to move forward or backward as instructed, and the obtained target rotation speed is set in the third voltage range. The drive motor is updated so as to be equal to or less than the minimum upper limit rotation speed which is the minimum upper limit rotation speed, and the drive motor is driven so that the updated target rotation speed is achieved and the instructed forward movement or reverse movement is performed. When the output voltage from the battery device is in the first voltage range, the drive motor is driven for the instructed forward or reverse without driving the drive motor regardless of the obtained target rotation speed. It is a battery-powered industrial vehicle that is regeneratively operated to stop the battery-powered industrial vehicle.

Next, a second invention of the present invention is the battery-powered industrial vehicle according to the first invention, wherein the control device sets the temperature of the battery device in advance in the traveling continuation mode. When the temperature is equal to or higher than a predetermined temperature, the drive motor is regeneratively operated with respect to the instructed forward or reverse without operating the drive motor regardless of the output voltage from the battery device, and the battery-powered industry is operated. It is a battery-powered industrial vehicle that stops the vehicle.

Next, a third invention of the present invention is the battery-operated industrial vehicle according to the first invention or the second invention, wherein the accelerator lever is capable of instructing a neutral state in which neither forward nor reverse traveling is instructed, In the case of the stop request mode in which the drive motor at the present time is rotating forward or backward and neutral is instructed from the accelerator lever, the output voltage from the battery device is When the voltage is higher than the first voltage range, the drive motor is regeneratively operated by the first regenerative power to stop the battery-powered industrial vehicle, and in the case of the traveling continuation mode, the output voltage from the battery device is In the case of the first voltage range, or in the case where the temperature of the battery device is equal to or higher than the preset predetermined temperature, the drive motor is regenerated by the second regenerative force weaker than the first regenerative force. It is a battery-powered industrial vehicle that stops the battery-powered industrial vehicle.

Next, a fourth aspect of the present invention is a battery-powered industrial vehicle according to any one of the first to third aspects of the present invention, wherein the control device controls the rotation of the drive motor at the present time. In the case of the traveling start mode in which the vehicle is stopped and forward or reverse is instructed from the accelerator lever, the target rotation speed of the drive motor is obtained based on the operation amount of the accelerator lever, and the target rotation speed is calculated from the battery device. When the output voltage is higher than the third voltage range, the drive motor is driven and operated so that the obtained target rotation speed is achieved and the instructed forward or backward movement is performed. In the case where the output voltage from is in the third voltage range, the obtained target rotation speed is updated to be equal to or less than the upper limit rotation speed, and the updated target rotation speed is obtained, and the instructed forward movement is performed. Alternatively, when the output voltage from the battery device is in the second voltage range by driving the drive motor so as to be in reverse, the obtained target rotation speed is set to be equal to or less than the minimum upper limit rotation speed. If the output voltage from the battery device is updated and the output voltage from the battery device is within the first voltage range, the drive motor is driven so as to achieve the updated target rotation speed and the instructed forward or reverse travel. A battery-operated industrial vehicle that stops the drive operation of the drive motor regardless of the obtained target rotation speed.

Next, a fifth invention of the present invention is a battery-powered industrial vehicle according to any one of the first invention to the fourth invention, wherein the control device is in the traveling start mode, It is a battery-powered industrial vehicle that stops the drive operation of the drive motor regardless of the output voltage from the battery device when the temperature of the battery device is equal to or higher than the preset predetermined temperature.

Next, a sixth invention of the present invention is a battery-powered industrial vehicle according to any one of the first invention to the fifth invention, wherein the battery device has an output voltage from itself of the first invention. It is a battery-powered industrial vehicle that cuts off the output of electric power from itself and the input of electric power to itself when the voltage falls below a preset input/output cutoff voltage as a voltage within one voltage range.

Next, a seventh invention of the present invention is a battery-powered industrial vehicle according to any one of the first invention to the sixth invention, wherein the battery device has a temperature for detecting its own temperature. When the temperature detected by the temperature detection means is equal to or higher than a preset cutoff temperature, the battery device is provided with detection means and shuts off the output of power from itself and the input of power to itself. It is a battery-powered industrial vehicle.

Next, an eighth invention of the present invention is the battery-powered industrial vehicle according to the sixth invention or the seventh invention, wherein the battery device, when performing the shutoff, determines to perform the shutoff. It is a battery-powered industrial vehicle that shuts off after notifying for a period of time.

In the first aspect of the present invention, the voltage when the battery is over-discharged<first voltage range<second voltage range<third voltage range is preset. When the output voltage from the battery device is in the third voltage range in the traveling continuation mode in which the rotation direction (forward or backward) of the drive motor and the instruction (forward or backward) of the accelerator lever match, the drive motor Is driven, but the upper limit rotation speed is gradually reduced according to the battery voltage. In the case of the second voltage range, the drive motor is driven, but the upper limit rotation speed is limited to the minimum upper limit rotation speed or less. Further, in the case of the first voltage range, the drive motor is not driven but regeneratively operated and safely stopped. As described above, in the third voltage range and the second voltage range, the upper limit rotation speed is gradually decreased before the battery is over-discharged, so that the traveling speed of the battery-powered industrial vehicle is gradually decreased, and eventually the battery. The operator can be more surely recognized that the battery will be over-discharged. Further, in the first voltage range before the battery is in the over-discharged state, even if the accelerator lever is moved forward (or backward), the driving operation is not performed and the operation is safely stopped by the regenerative operation. As a result, the operator can be more surely made aware that the battery will eventually be over-discharged.

According to the second aspect of the present invention, when the temperature of the battery device is equal to or higher than the predetermined temperature, the regeneration is performed without driving even if the accelerator lever is operated forward (or backward) regardless of the output voltage from the battery device. Stop safely in operation. This makes it possible for the operator to more surely recognize that the battery will soon be shut off.

According to the third aspect of the invention, the second regenerative force, which is the regenerative force when the regenerative operation is performed, in the traveling continuation mode and the first voltage range, or in the traveling continuation mode and the temperature of the battery device is equal to or higher than a predetermined temperature. Is a regenerative force weaker than the first regenerative force which is the regenerative force in the stop request mode (the accelerator lever is operated to be neutral during traveling) and the voltage is higher than the first voltage range. As a result, the operator can feel that the battery-powered industrial vehicle is in the stall state, and more surely let the operator recognize that the battery will eventually be in the over-discharged state (or the cutoff state).

According to the fourth invention, in the traveling start mode in which the battery-powered industrial vehicle shifts from the stopped state to the traveling state, when the output voltage from the battery device is in the third voltage range, the drive motor is driven to operate, Gradually lower the upper limit speed according to the battery voltage. In the case of the second voltage range, the drive motor is driven, but the upper limit rotation speed is limited to the minimum upper limit rotation speed or less. In the case of the first voltage range, the drive operation of the drive motor is stopped. As described above, in the third voltage range and the second voltage range, the upper limit rotation speed is gradually decreased before the battery is over-discharged, so that the traveling speed of the battery-powered industrial vehicle is gradually decreased, and eventually the battery. The operator can be more surely recognized that the battery will be over-discharged. Further, in the first voltage range before the battery is in the over-discharged state, even if the accelerator lever is moved forward (or backward), the drive operation is stopped, so that the battery will eventually be in the over-discharged state. The operator can be more surely recognized.

According to the fifth aspect, in the traveling start mode, when the temperature of the battery is equal to or higher than the predetermined temperature, the drive operation of the drive motor is stopped regardless of the battery voltage. This makes it possible for the operator to more surely recognize that the battery will soon be shut off.

According to the sixth aspect of the present invention, it is possible to forcibly stop the use of the battery device in the over-discharged state and prolong the life of the battery device.

According to the seventh aspect, the use of the battery device is forcibly stopped when the temperature of the battery device becomes equal to or higher than the cutoff temperature, so that the battery device can be used more safely.

According to the eighth aspect of the present invention, the advance notice of the interruption is notified before the battery device itself enters the interruption state, so that the operator can safely stop the battery-powered industrial vehicle before the interruption state. It is convenient.

It is a perspective view showing an example of the appearance of the battery type industrial vehicle of the present invention. It is a figure explaining the input/output of the traveling control system containing the battery device and drive motor of a battery type industrial vehicle. 3 is a flowchart showing an example of a processing procedure of a machine control device in the control system shown in FIG. 2. It is a figure explaining the example of the operation mode according to the rotation state of a drive motor and the operation state of an accelerator lever. It is a figure explaining the example of the battery mode according to the voltage output from a battery device. 4 is a flowchart showing details of SUB100, SUB200, and SUB300 in the flowchart shown in FIG. It is a flow chart which shows an example of a processing procedure of a battery control device. It is a flow chart which shows an example of a processing procedure of an inverter control device.

Embodiments for carrying out the present invention will be described below with reference to the drawings. The external appearance of the reach-type forklift 10 (an example of a battery-powered industrial vehicle) of the present invention shown in FIG. 1 has already been described, and a description thereof will be omitted.

[Running control system including battery device 30 and drive motor 21 (Fig. 2)]
As shown in FIG. 2, the travel control system of the reach-type forklift 10 includes a battery device 30, an inverter device 40, a drive motor 21, a gear 22, a drive steered wheel 18D, a machine base control device 50, an accelerator lever 12, and a display device 55. And so on.

The battery device 30 is composed of a battery control device 31 and a battery 32, and the battery 32 has a cutoff switch 38, a plurality of battery module units 33, and the like. The cutoff switch 38 may be included in each battery module unit. The battery module unit 33 includes a battery module 34 including a plurality of battery cells 36 (for example, a lithium ion battery), a module controller 35 that controls the battery module 34, and a temperature detector 37 (which detects the temperature of the battery module 34). Temperature sensor, etc.) and the like. The module controller 35 performs temperature monitoring of the battery module 34, state monitoring of each battery cell 36, charge/discharge control, and the like.

The battery control device 31 transmits and receives various information to and from each module controller 35 via the communication line T31, and controls the cutoff switch 38 via the control signal line C31. Further, the battery control device 31 transmits/receives various information to/from the machine control device 50 via the communication line T53. When driving the drive motor 21, the battery device 30 outputs the supplied power Wout1 (DC power) from the terminals 33A and 33B. When the drive motor 21 is regeneratively operated, the charging power Win2 (DC power) is input to the terminals 33A and 33B.

The inverter device 40 is composed of an inverter control device 41 and an inverter 42, and the inverter 42 has an inverter circuit 43 and the like. When driving the drive motor 21, the inverter circuit 43 is controlled based on a control signal from the inverter control device 41, and converts the supply power Wout1 input from the battery device 30 into drive power Wout2 (AC power). Output to the drive motor 21. When the drive motor 21 is regeneratively operated, the inverter circuit 43 is controlled based on a control signal from the inverter control device 41, and regenerative power Win1 (AC power) input from the drive motor 21 is charged power Win2 (DC power). ) And output to the battery device 30.

The inverter control device 41 transmits and receives various information to and from the machine control device 50 via the communication line T54. When the inverter control device 41 receives drive information including a drive operation instruction of the drive motor 21 (for example, the rotation direction of the drive motor) and a target rotation speed from the machine control device 50, the inverter control device 41 drives the inverter based on the received drive information. Control the circuit 43. When the inverter control device 41 receives regenerative information including a regenerative operation instruction of the drive motor 21 (for example, the rotation direction of the drive motor) and regenerative power from the machine control device 50, the inverter control device 41 based on the received regenerative information. Control the circuit 43. Further, the inverter control device 41 is inputted with a detection signal from a motor rotation detecting means 23 (a rotation sensor or the like) capable of detecting the rotation direction and the rotation speed of the drive motor 21, and the rotation direction of the motor shaft of the drive motor 21. And the number of rotations can be detected.

When the drive motor 21 is driven, the drive motor 21 is rotationally driven in the forward direction or the reverse direction by the drive power Wout2 from the inverter device 40. The rotational driving force is transmitted to the drive steered wheels 18D via the gear 22, for example. When the drive motor 21 is regeneratively operated, the drive motor 21 is rotationally driven from the drive steering wheel 18D via the gear 22 to generate the regenerative electric power Win1.

The machine control device 50 (corresponding to a control device) can transmit and receive various information to and from the battery control device 31 via the communication line T53. For example, the machine control device 50 transmits transmission request information requesting transmission of the battery information to the battery control device 31, and the battery control device 31 displays the battery temperature, the battery voltage, and the battery state (for example, battery abnormality or normality). Receive battery information including. The machine control device 50 can also transmit and receive various information to and from the inverter control device 41 via the communication line T54. For example, the machine control device 50 transmits transmission request information requesting transmission of inverter information to the inverter control device 41, and receives from the inverter control device 41 inverter information including the rotation speed and the rotation direction of the drive motor 21. Further, when the drive motor 21 is driven, the machine base controller 50 transmits drive information including the drive operation, the rotation speed, and the rotation direction to the inverter controller 41. Further, when the drive motor 21 is regenerated, the machine base controller 50 transmits regenerative information including a regenerative operation and a regenerative force to the inverter controller 41.

The accelerator lever 12 is used by the operator to instruct the reach-type forklift to travel and stop. When the operator does not touch the accelerator lever 12, the accelerator lever 12 is maintained in a neutral state, which is a substantially upright state. The accelerator lever 12 is configured such that it can be tilted forward from a neutral state or can be tilted backward from a neutral state. When the operator operates the accelerator lever 12 with the reach-type forklift that is stopped and tilts the accelerator lever 12 from the neutral state to the front, the reach-type forklift starts to move forward, and responds to the angle of inclination of the accelerator lever 12 to the front. Accelerate to reach speed. When the operator operates the accelerator lever 12 with the reach-type forklift that is stopped and tilts the accelerator lever 12 from the neutral state to the rear, the reach-type forklift starts to move backward, and depending on the angle of inclination of the accelerator lever 12 to the rear. Accelerate to reach the desired speed.

The display device 55 is a liquid crystal monitor or the like provided at a position easily visible to the operator (for example, near the accelerator lever 12). The display device 55 displays various information based on the display information from the machine control device 50. The display device 55 may be omitted.

● [Processing procedure of machine control device 50 (control device) (Figs. 3 to 6)]
The machine control device 50 (control device) activates the process shown in FIG. 3 at, for example, a predetermined time interval (for example, an interval of several ms to several tens of ms), and when activated, advances the process to step S10.

In step S10, the machine control device 50 transmits the transmission request information to the inverter control device 41, receives the inverter information including the rotation speed and the rotation direction of the drive motor 21 from the inverter control device 41, and proceeds to step S15.

In step S15, the machine control device 50 detects the operation direction (forward direction, reverse direction or neutral position) of the accelerator lever and the operation amount (forward tilt angle or backward tilt angle), and proceeds to step S20.

In step S20, the machine control device 50 determines the operation mode based on the rotation state (rotation speed and rotation direction) of the drive motor and the operation state (operation direction and operation amount) of the accelerator lever. The operation mode is stored in the temporary operation mode. In addition, the machine control device 50 obtains the rotation direction based on the operation mode determined to be the rotation state of the drive motor and the operation state of the accelerator lever, stores the rotation direction in the temporary rotation direction, and obtains the target rotation number of the drive motor. The target rotation speed is stored, and the target torque of the drive motor is calculated and stored as the temporary target torque. Further, the machine control device 50 obtains the target regenerative power and stores it in the provisional target regenerative power, and proceeds to step S25. The details of the determination of the operation mode and the storage in the temporary operation mode and the like will be described below.

[Determination of operation mode (Fig. 4)]
FIG. 4 shows an example of each operation mode according to the operation state of the accelerator lever and the rotation state of the drive motor. For example, as shown in FIG. 4, there are four types of operation modes: a stop mode, a travel start mode, a travel continuation mode, and a stop request mode.

The stop mode is an operation mode that is determined when the current rotation of the drive motor is stopped and when the operation state of the accelerator lever indicates the neutral position. In the stop mode, the drive motor is neither driven nor regenerated, the rotation of the drive motor is stopped, and the reach-type forklift is stopped. When the machine control device 50 determines that it is the stop mode, it stores the stop mode in the temporary operation mode.

The traveling start mode is an operation mode that is determined when the rotation of the drive motor is currently stopped and when the operation state of the accelerator lever indicates forward or reverse. In the traveling start mode, the drive motor is driven to move forward or backward in response to an instruction from the accelerator lever, and the reach type forklift, which has been stopped, starts operating. When the machine platform control device 50 determines that the vehicle is in the traveling start mode, it stores the traveling start mode in the temporary operation mode and stores the direction (forward side or reverse side) instructed by the accelerator lever in the temporary rotation direction. Further, the machine platform control device 50 stores, in the temporary target rotation speed, the target rotation speed calculated based on the operation amount (tilt angle) of the accelerator lever, calculates the torque corresponding to the target rotation speed, and stores the temporary target torque. To do.

The running continuation mode is used when the current drive motor is rotating forward and the accelerator lever operation state indicates forward, or when the current drive motor is rotating backward and the accelerator is on. This is the operation mode that is determined when the lever operation state indicates the backward movement. That is, the traveling continuation mode is an operation mode in which the accelerator lever is operated in the same direction as the traveling direction of the reach type forklift during traveling. In the traveling continuation mode, the drive motor is driven in the same direction as the current rotation direction, and is controlled by the rotation speed (or torque) according to the operation amount (tilt angle) of the accelerator lever. When the machine control device 50 determines that it is the traveling continuation mode, it stores the traveling continuation mode in the temporary operation mode, and stores the current rotation direction of the drive motor or the direction instructed by the accelerator lever in the temporary rotation direction. Further, the machine platform control device 50 stores, in the temporary target rotation speed, the target rotation speed calculated based on the operation amount (tilt angle) of the accelerator lever, calculates the torque corresponding to the target rotation speed, and stores the temporary target torque. To do.

The stop request mode is used when the current drive motor is rotating forward (or reverse) and the accelerator lever operation state indicates neutral, or the current drive motor is rotating forward. Is present and the operation state of the accelerator lever is instructing to move backward, or the current drive motor is rotating to the reverse side and the operation state of the accelerator lever is instructing to move forward. .. That is, the stop request mode is an operation mode in which the accelerator lever is operated in the neutral position or in the direction opposite to the traveling direction with respect to the reach type forklift truck during traveling. The regenerative power is roughly divided into large, medium and small regenerative powers. With the regenerative power (large), large braking is applied and the reach forklift is stopped at a relatively short distance. With regenerative power (medium), medium braking is applied, and the reach-type forklift stops at a relatively long distance. The regenerative force (medium) stop request mode is an operation mode when the accelerator lever is returned to the neutral position while the reach type forklift is traveling to the forward side (or reverse side), and the medium regenerative force (medium) The reach-type forklift that was running and was stopped at a relatively long distance. The regenerative power (large) stop request mode is an operation mode when the accelerator lever is operated in the direction opposite to the traveling direction while the reach type forklift is traveling to the forward side (or reverse side). The reach type forklift that is running is regenerated by a relatively large regenerative force (large) and stopped for a relatively short distance. The regenerative power (small) will be described in the battery mode described later. When the machine control device 50 determines that it is the stop request mode, it stores the stop request mode in the temporary operation mode, and stores the current rotation direction (forward side or reverse side) of the drive motor in the temporary rotation direction. When the neutral is instructed from the accelerator lever, the machine platform control device 50 stores the regenerative power (medium) as the temporary target regenerative power. When the direction instructed by the accelerator lever is opposite to the rotation direction of the drive motor, the machine platform control device 50 stores the regenerative force (large) in the provisional target regenerative force.

Returning to the description of the flowchart shown in FIG. 3, in step S25, the machine control device 50 transmits the transmission request information to the battery control device 31, and the battery control device 31 transmits the battery voltage, the battery temperature, and the battery state including the battery state. After receiving the information, the process proceeds to step S30.

In step S30, the machine control device 50 determines whether or not the information included in the battery information includes the information to be notified, and if the information included in the information is included (Yes). ), the process proceeds to step S35A, and if the information to be notified is not included (No), the process proceeds to step S35B. For example, when the battery information includes information indicating that the battery voltage is low. The voltage supply from the battery will be stopped after n seconds. It is determined that the information to be notified is included. The information to be notified includes, for example, information indicating that the temperature of the battery is equal to or higher than a predetermined temperature, information indicating that the battery voltage is equal to or lower than the cutoff voltage, or that the module controller 35 illustrated in FIG. There are various kinds of information such as information indicating that there is.

When the process proceeds to step S35A, the machine control device 50 notifies the information to be notified, and the process proceeds to step S60D. For example, the information to be notified is displayed on the display device 55, and the process proceeds to step S60D. For example, when the battery information includes information indicating that the battery voltage is low. The battery will be shut down after X seconds., the machine control device 50 causes the display device 55 to display. The error code is displayed on and the process proceeds to step S60D. The “notification” is not limited to the display on the display device, and the notification may be given by a buzzer, a lamp or the like.

When the process proceeds to step S35B, the machine control device 50 stops the notification and proceeds to step S40.

In step S40, machine control device 50 determines the battery mode based on the battery voltage included in the battery information received from the battery control device in step S25, and proceeds to step S45. The details of the battery mode determination will be described below.

[Battery mode determination (Fig. 5)]
FIG. 5 shows an example of the battery mode according to the output voltage from the battery device. Vh, which indicates the highest battery voltage, indicates the voltage when the battery is in the initial state (state without deterioration) and fully charged. Further, Vs indicating the lowest battery voltage indicates the voltage at which the battery device starts to enter the overdischarge state, and indicates that the battery device is in the overdischarge state below the voltage Vs. Using the battery in an over-discharged state may affect the battery life, which is not preferable. The voltage V3 is lower than the voltage Vh.

Then, as shown in FIG. 5, the battery voltage range is divided into the following five voltage ranges (1) to (5), and the battery mode is set for each voltage range as follows.
(1) It is a voltage range equal to or lower than the voltage Vs at the time of over-discharge, and this voltage range is set as the battery input/output cutoff mode.
(2) Voltage of a first voltage range (voltage Vs (not including voltage Vs)) to voltage V1 (including voltage V1) adjacent to a side higher than the voltage at the time of over-discharge (voltage in this case, voltage Vs or less) Range), and this voltage range is set as the safe stop mode.
(3) A second voltage range (a voltage range of voltage V1 (not including voltage V1) to voltage V2 (including voltage V2)) adjacent to a side higher than the first voltage range, and this voltage range is the upper limit minimum Set as mode.
(4) A third voltage range (a voltage range of voltage V2 (not including voltage V2) to voltage V3 (including voltage V3)) adjacent to a side higher than the second voltage range, and the upper limit of this voltage range is increased. Set it as the reduction mode.
(5) The voltage range is higher than the third voltage range (voltage range higher than the voltage V3), and this voltage range is set as the voltage normal mode.

Returning to the description of the flowchart shown in FIG. 3, in step S40, the machine control device 50 determines that the current battery mode is the battery input/output cutoff mode, the safety stop mode, and the upper limit/minimum mode based on the current battery voltage. , Upper limit gradual decrease mode, or voltage normal mode is determined, and the process proceeds to step S45.

When the process proceeds to step S45, the machine control device 50 determines whether or not the battery mode determined at step S40 is the voltage normal mode, and when the battery mode is the voltage normal mode (Yes), the process proceeds to step S65. If not in the voltage normal mode (No), the process proceeds to step S50.

When the process proceeds to step S50, the machine control device 50 determines whether or not the battery mode determined in step S40 is the upper limit gradual decrease mode, and if it is the upper limit gradual decrease mode (Yes), the process proceeds to step S60A. If the mode is not the upper limit gradual decrease mode (No), the process proceeds to step S55.

If the process proceeds to step S55, the machine control device 50 determines whether or not the battery mode determined in step S40 is the upper limit/minimum mode, and if the battery mode is the upper limit/minimum mode (Yes), the process proceeds to step S60B. If not in the upper limit/minimum mode (No), the process proceeds to step S60C.

When the process proceeds to step S60A, the machine control device 50 executes the process of "SUB100" shown in FIG. 6 and proceeds to step S65. The processing of the SUB 100 shown in FIG. 6 will be described below.

In the SUB 100 shown in FIG. 6, the machine control device 50 proceeds to the process of step S110, determines whether the temporary operation mode stored in step S20 is the traveling start mode, and if it is the traveling start mode ( Yes) proceeds to step S120, and if the mode is not the traveling start mode (No), proceeds to step S115.

In the case of proceeding to step S115, the machine control device 50 determines whether or not the temporary operation mode stored in step S20 is the traveling continuation mode, and in the case of traveling continuation mode (Yes), proceeds to step S120. If the mode is not the traveling continuation mode (No), the process is terminated, and the process proceeds to step S65 of FIG.

When the process proceeds to step S120, the machine control device 50 calculates the upper limit rotation speed of the drive motor based on the battery voltage, and the process proceeds to step S125. For example, the upper limit rotation speed gradually decreases as the battery voltage decreases from the voltage V3 to the voltage V2, and is set to about 3600 [rpm] at the voltage V2, for example. For example, when the upper limit rotation speed of the drive motor is set to about 3600 [rpm], the traveling speed of the reach-type forklift is about 8 [km/h] or less, and the torque with respect to the rotation speed is low. Feel the lack of power. As a result, the operator can easily recognize that the battery will eventually become over-discharged if the work is continued as it is. In addition, I feel that I lack power, so I will refrain from climbing.

In step S125, the machine control device 50 determines whether the temporary target rotation speed stored in step S20 is higher than the upper limit rotation speed calculated in step S120, and if it is higher than the upper limit rotation speed (Yes). ), the process proceeds to step S130, and if it is less than or equal to the upper limit rotation speed (No), the process ends, and the process proceeds to step S65 of FIG.

When the process proceeds to step S130, the machine control device 50 rewrites the stored temporary target rotation speed to the upper limit rotation speed, rewrites the stored temporary target torque to the torque corresponding to the upper limit rotation speed, and ends the processing. Then, the process proceeds to step S65 in FIG.

Returning to the description of the flowchart shown in FIG. 3, if the process proceeds to step S60B, the machine control device 50 executes the process of “SUB200” shown in FIG. 6 and proceeds to step S65. The processing of the SUB 200 shown in FIG. 6 will be described below.

In the SUB 200 shown in FIG. 6, the machine control device 50 proceeds to the process of step S210, determines whether the temporary operation mode stored in step S20 is the traveling start mode, and if it is the traveling start mode ( If Yes), the process proceeds to step S220. If it is not in the traveling start mode (No), the process proceeds to step S215.

In the case of proceeding to step S215, the machine control device 50 determines whether or not the temporary operation mode stored in step S20 is the traveling continuation mode, and in the case of traveling continuation mode (Yes), proceeds to step S220. If the mode is not the traveling continuation mode (No), the process is terminated, and the process proceeds to step S65 of FIG.

In the case of proceeding to step S220, the machine control device 50 obtains the minimum upper limit rotational speed of the drive motor, and proceeds to step S225. For example, the minimum upper limit rotation speed is the minimum upper limit rotation speed among the upper limit rotation speeds calculated in step S120 in the processing of the SUB 100, and is the upper limit rotation speed corresponding to the voltage V2. For example, the minimum upper limit rotation speed is set to about 3600 [rpm]. For example, when the upper limit rotation speed of the drive motor is set to about 3600 [rpm], the traveling speed of the reach-type forklift is about 8 [km/h] or less, and the torque with respect to the rotation speed is low. Feel the lack of power. As a result, the operator can recognize that the battery will eventually become over-discharged if the work is continued as it is. In addition, I feel that I lack power, so I will refrain from climbing.

In step S225, machine control device 50 determines whether the temporary target rotation speed stored in step S20 is higher than the minimum upper limit rotation speed calculated in step S220, and if it is higher than the minimum upper limit rotation speed. If Yes, the process proceeds to step S230. If it is less than or equal to the minimum upper limit engine speed (No), the process ends, and the process proceeds to step S65 in FIG.

In the case of proceeding to step S230, the machine control device 50 rewrites the stored temporary target rotation speed to the minimum upper limit rotation speed, rewrites the stored temporary target torque to the torque corresponding to the minimum upper limit rotation speed, and executes the processing. Ends and the process proceeds to step S65 in FIG.

Returning to the description of the flowchart shown in FIG. 3, if the process proceeds to step S60C, the machine control device 50 executes the process of “SUB300” shown in FIG. 6 and proceeds to step S65. Hereinafter, the process of the SUB 300 shown in FIG. 6 will be described.

In the SUB 300 shown in FIG. 6, the machine control device 50 proceeds to the process of step S310, determines whether the temporary operation mode stored in step S20 is the traveling start mode, and if it is the traveling start mode ( If Yes), the process proceeds to step S320B. If the mode is not the traveling start mode (No), the process proceeds to step S315.

In the case of proceeding to step S315, the machine control device 50 determines whether or not the temporary operation mode stored in step S20 is the traveling continuation mode, and in the case of traveling continuation mode (Yes), proceeds to step S320A. If the mode is not the traveling continuation mode (No), the process is terminated, and the process proceeds to step S65 of FIG.

When the process proceeds to step S320A, the machine control device 50 rewrites the stored temporary operation mode (in this case, the traveling continuation mode) to the stop request mode, and the stored temporary target regenerative force is a small regenerative force. To end the processing and proceed to step S65 in FIG. The regenerative force (small) is smaller than the regenerative force (medium) that is the regenerative force in the stop request mode [regenerative operation (medium)] in which the operation state of the accelerator lever shown in FIG. For example, the regenerative power is set to about 1/3 of the regenerative power (medium). That is, assuming that the regenerative force in the stop request mode [regeneration operation (large)] of the forward instruction in the operation state of the accelerator lever in FIG. 4 is the regenerative force (large), the magnitude of the regenerative force is as follows: regenerative force (large)>regeneration Power (medium)> regenerative power (small). The reach type forklift is gently braked from the traveling state by the regenerative force (small), and the operator operating the accelerator lever forward (or backward) feels like stalled. Thereby, the operator can recognize that if the work is continued as it is, the battery will eventually be in the over-discharged state (or the cut-off state).

When the process proceeds to step S320B, the machine controller 50 rewrites the stored temporary operation mode to the stop mode, ends the process, and proceeds to step S65 of FIG. The operator can recognize that the battery is in a state close to the over-discharge state because the reach forklift does not move even if the accelerator lever is operated to start traveling of the reach forklift in the stopped state. ..

Returning to the description of the flowchart shown in FIG. 3, if the process proceeds to step S60D, the machine control device 50 executes the process of “SUB300” shown in FIG. 6 and proceeds to step S65. Note that the processing of the SUB 300 is as described above, so description thereof will be omitted.

When the process proceeds to step S65, the machine control device 50 stores the operation mode stored in the temporary operation mode in the final operation mode, stores the rotation direction stored in the temporary rotation direction in the final rotation direction, The rotation speed stored in the temporary target rotation speed is stored in the final target rotation speed, the torque stored in the temporary target torque is stored in the final target torque, and the regenerative power stored in the temporary target regenerative power is set to the final. It is stored in the target regenerative power, and the process proceeds to step S70.

In step S70, the machine control device 50 transmits motor control information including the final operation mode, the final rotation direction, the final target rotation speed, the final target torque, and the final target regenerative force to the inverter control device, and ends the processing. The process of the inverter control device that receives the motor control information will be described later.

As described above, when the operation mode and the battery mode are the traveling continuation mode and the voltage normal mode, the drive motor is driven so that the target rotation speed obtained as the traveling continuation mode is achieved. When the operation mode and the battery mode are the traveling continuation mode and the upper limit gradual decrease mode (third voltage range) (or the traveling start mode and the upper limit gradual decrease mode), the processing of the SUB 100 sets them according to the battery voltage. The drive motor is driven so as to be equal to or lower than the upper limit rotation speed. Further, when the operation mode and the battery mode are the traveling continuation mode and the upper limit minimum mode (second voltage range) (or the traveling start mode and the upper limit minimum mode), the processing of the SUB 200 causes the operating speed and the battery mode to be equal to or less than the minimum upper limit rotation speed. The drive motor is driven. When the operation mode and the battery mode are the traveling continuation mode and the safe stop mode (first voltage range), the process of the SUB 300 in step S60C causes the drive motor to generate a regenerative force (small) without driving the drive motor. To stop the reach type forklift safely.

Further, when the temperature of the battery device is equal to or higher than the predetermined temperature and is in the traveling continuation mode, the process of SUB300 in step S30 and step S60D causes the drive motor to be regenerated by the regenerative force (small) without driving the drive motor. Stop the reach truck safely.

When the operation mode and the battery mode are the traveling start mode and the safe stop mode (first voltage range), the process of the SUB 300 in step S60C stops the energization of the drive motor without driving the drive motor to reach the reach. Keep the forklift truck stationary.

Further, when the temperature of the battery device is equal to or higher than the predetermined temperature and is in the traveling start mode, the process of SUB300 in step S30 and step S60D stops the energization of the drive motor without driving the drive motor to stop the reach type forklift. To maintain.

● [Processing procedure of battery control device 31 (Fig. 7)]
Next, an example of a processing procedure of the battery control device 31 will be described using the flowchart shown in FIG. 7. The battery control device 31 activates the process shown in FIG. 7 at, for example, a predetermined time interval (for example, an interval of several ms to several tens of ms).

In step S410, the battery control device 31 determines whether or not the temperature of the battery detected by the temperature detecting means 37 is equal to or higher than a predetermined temperature set in advance. If the temperature is equal to or higher than the predetermined temperature (Yes), the step is performed. If the temperature is lower than the predetermined temperature (No), the process proceeds to step S425.

When the process proceeds to step S415, the battery control device 31 transmits the warning message information, and the process proceeds to step S420. For example, the battery control device 31 transmits to the machine control device 50 the information of the gist “The battery temperature is rising. The battery will be shut down after X seconds”. Upon receiving the warning message information, the machine control device 50 notifies in step S35A shown in FIG. 3 based on the information included in the warning message information.

In step S420, the battery control device 31 determines whether or not the state in which the battery temperature is equal to or higher than the predetermined temperature is continued for the predetermined time or longer, and if it is continued for the predetermined time (for example, about 10 [sec]) or more (Yes), The process proceeds to step S485, and if it has not continued for a predetermined time or more (No), the process proceeds to step S425.

When the process proceeds to step S425, the battery control device 31 determines whether or not the battery voltage is equal to or lower than the cutoff voltage (voltage Vs or lower), and when the battery voltage is equal to or lower than the cutoff voltage (Yes), the process proceeds to step S430 and the cutoff voltage. If not (No), the process proceeds to step S440.

When the process proceeds to step S430, the battery control device 31 transmits the warning message information, and proceeds to step S435. For example, the battery control device 31 transmits to the machine control device 50 the information of the gist “The battery voltage has dropped. The battery will be shut down after X seconds.”. Upon receiving the warning message information, the machine control device 50 notifies in step S35A shown in FIG. 3 based on the information included in the warning message information.

In step S435, the battery control device 31 determines whether or not the state in which the battery voltage is equal to or lower than the cutoff voltage is continued for a predetermined time or longer, and if it is continued for a predetermined time (for example, about 10 [sec]) or longer (Yes), The process proceeds to step S485, and if it has not continued for a predetermined time or more (No), the process proceeds to step S440.

When the process proceeds to step S440, the battery control device 31 determines whether or not the transmission request information from the machine control device 50 is received, and when the transmission request information is received (Yes), the process proceeds to step S445. If the transmission request information has not been received (No), the process ends.

When the process proceeds to step S445, the battery control device 31 transmits the battery information including the battery voltage and the battery temperature to the machine control device 50, and ends the process.

In step S485, battery control device 31 shuts off the output of electric power from the battery and the input of electric power to the battery, and ends the process. In this case, the battery control device 31 controls the cutoff switch 38 shown in FIG. 2 from the conductive state to the open state. When the battery is cut off, the power supply to the battery control device 31, the inverter control device 41, and the machine control device 50 is stopped, and the operation is stopped.

As described above, in the battery control device 31 of the battery device 30, in the processing of steps S425 to S435, the input/output cutoff voltage (the above-mentioned cutoff voltage, which is set in advance as the voltage in which the battery voltage is equal to or lower than the first voltage range). ) In the case of the following, after a notification (transmitting warning message information) for a predetermined time, the cutoff switch 38 is opened to cut off the output of electric power from itself and the input of electric power to itself.

Further, when the battery temperature becomes equal to or higher than the preset cutoff temperature (the above predetermined temperature) in the processing of steps S410 to 420, the battery control device 31 of the battery device 30 gives a notification (warning message) for a predetermined time. After transmitting the information), the cutoff switch 38 is opened to cut off the output of electric power from itself and the input of electric power to itself.

● [Processing procedure of inverter controller 41 (Fig. 8)]
Next, an example of the processing procedure of the inverter control device 41 will be described using the flowchart shown in FIG. The inverter control device 41 activates the process shown in FIG. 8 at, for example, a predetermined time interval (for example, an interval of several ms to several tens of ms), and when started, advances the process to step S510.

In step S510, the inverter control device 41 determines whether or not the transmission request information has been received from the machine control device 50, and if the transmission request information has been received (Yes), the process proceeds to step S515, and the transmission request is sent. If the information has not been received (No), the process proceeds to step S520.

When the process proceeds to step S515, the inverter control device 41 transmits the inverter information including the rotation speed and the rotation direction of the drive motor to the machine control device 50, and the process proceeds to step S520.

When the process proceeds to step S520, the inverter control device 41 determines whether or not the motor control information is received from the machine control device 50, and when the motor control information is received (Yes), the process proceeds to step S525. If the motor control information has not been received (No), the process ends.

When the process proceeds to step S525, the inverter control device 41 determines whether or not the final operation mode included in the received motor control information is the traveling start mode, and when it is the traveling start mode (Yes), the step is performed. If it is not in the travel start mode (No), the process proceeds to step S530.

In the case of proceeding to step S530, the inverter control device 41 determines whether or not the final operation mode included in the received motor control information is the traveling continuation mode, and in the case of the traveling continuation mode (Yes), the step is performed. The process proceeds to S540A, and if not in the traveling continuation mode, proceeds to step S535.

In the case of proceeding to step S535, the inverter control device 41 determines whether or not the final operation mode included in the received motor control information is the stop request mode, and in the case of the stop request mode (Yes), the step If it is not in the stop request mode (No), the process proceeds to step S540C.

When the process proceeds to step S540A, the inverter control device 41 drives and controls the drive motor based on the final rotation direction, the final target rotation speed, and the final target torque included in the received motor control information, and ends the process. ..

When the process proceeds to step S540B, the inverter control device 41 regeneratively controls the drive motor based on the final rotation direction and the final target regenerative force included in the received motor control information, and ends the process.

When the process proceeds to step S540C, the inverter control device 41 stops energizing the drive motor and ends the process.

The battery-powered industrial vehicle of the present invention is not limited to the configuration, structure, appearance, shape, processing procedure and the like described in the present embodiment, and various changes, additions and deletions can be made without changing the gist of the present invention. Is.

Further, the battery type industrial vehicle of the present invention is not limited to the reach type forklift described in the present embodiment, and may be applied to various battery type industrial vehicles provided with a battery device and a drive motor as a driving power source. Is possible.

In the description of the present embodiment, an example in which the battery device is configured with a lithium ion battery has been described, but the battery device is not limited to the lithium ion battery, and the battery device may be a battery of various types (for example, a lead storage battery or a nickel hydrogen battery). You may comprise. Further, the values of the voltage Vh, the voltage V3, the voltage V2, the voltage V1, and the voltage Vs can be appropriately set according to the type of the battery and the like.

In the description of the present embodiment, an example of a configuration having three control devices, that is, the machine control device 50, the battery control device 31, and the inverter control device 41 has been described. The control device may be a control device, or may be composed of two or more control devices.

In addition, various information such as motor control information is not limited to the information described in the present embodiment. For example, the final target vehicle speed and the like may be added to the motor control information.

In the description of the present embodiment, when the battery mode is the upper limit gradual decrease mode, the upper limit of the target rotation speed of the drive motor is gradually decreased as the battery voltage decreases. The upper limit of the target torque of the drive motor or the target vehicle speed of the battery-powered industrial vehicle may be gradually decreased. Similarly, when the battery mode is the upper limit minimum mode, the target rotation speed of the drive motor is set to the minimum upper rotation speed, but the target rotation speed of the drive motor and the target vehicle speed of the battery-powered industrial vehicle are not the target rotation speed of the drive motor. The upper limit may be the minimum upper limit torque or the minimum upper limit vehicle speed.

Further, the above (≧), the following (≦), the greater (>), the less than (<) and the like may or may not include an equal sign. Moreover, the numerical values used in the description of the present embodiment are examples, and the present invention is not limited to these numerical values.

10 Reach type forklift (battery type industrial vehicle)
11, 11R, 11L reach 12 accelerator lever 16 fork 17, 17R, 17L mast 18C caster wheel 18D drive steering wheel 18L left driven wheel 18R right driven wheel 21 drive motor 22 gear 23 motor rotation detection means 30 battery device 31 battery control device 32 Battery 33 Battery module unit 34 Battery module 35 Module controller 36 Battery cell 37 Temperature detecting means 38 Breaking switch 40 Inverter device 41 Inverter control device 42 Inverter 43 Inverter circuit 50 Machine control device (control device)
55 display device T31, T41, T53, T54 communication line

Claims (8)

A battery-powered industrial vehicle equipped with only a battery device and a drive motor as a driving power source,
The drive motor connected to the drive wheels for moving the battery-powered industrial vehicle forward or backward,
Outputting electric power when driving the driving motor, and inputting electric power when the driving motor is regeneratively operated,
An inverter device provided between the battery device and the drive motor,
An accelerator lever for instructing forward or backward movement of the battery-powered industrial vehicle;
Motor rotation detection means for detecting the rotation speed and rotation direction of the drive motor,
A drive operation or a regenerative operation of the drive motor based on the output voltage from the battery device, the operation state of the accelerator lever, and the rotation speed and rotation direction of the drive motor detected by the motor rotation detection means. Or a control device for stopping the driving operation,
A first voltage range which is a voltage range adjacent to a side higher than a voltage at the time of over-discharge of the battery device, a second voltage range which is a voltage range adjacent to a side higher than the first voltage range, and A third voltage range, which is a voltage range adjacent to the higher side of the two voltage ranges, is preset,
The control device is
When the drive motor at the present time is rotating forward and the accelerator is instructed to move forward,
Alternatively, when the drive motor at the present time is rotating in the reverse direction and the reverse is instructed from the accelerator lever, in the case of the traveling continuation mode,
The target rotation speed of the drive motor is obtained based on the operation amount of the accelerator lever,
When the output voltage from the battery device is higher than the third voltage range, the drive motor is driven and operated so as to reach the obtained target rotation speed and to perform the instructed forward or backward movement. ,
When the output voltage from the battery device is in the third voltage range, the obtained target rotation speed is updated so as to be equal to or lower than the upper limit rotation speed set according to the output voltage from the battery device. The drive motor is driven so that the target rotation speed is achieved and the forward or backward movement is instructed.
When the output voltage from the battery device is in the second voltage range, the obtained target rotation speed is updated to be equal to or less than the minimum upper limit rotation speed which is the minimum upper limit rotation speed in the third voltage range. , The drive motor is driven so that the updated target rotation speed is achieved and the forward or backward movement is instructed,
When the output voltage from the battery device is in the first voltage range, the drive motor is regenerated for the instructed forward or backward movement without driving the drive motor regardless of the obtained target rotation speed. Operating to stop the battery-powered industrial vehicle,
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to claim 1,
The control device is
In the case of the traveling continuation mode,
When the temperature of the battery device is equal to or higher than a predetermined temperature set in advance, the drive is performed with respect to the instructed forward or reverse without operating the drive motor regardless of the output voltage from the battery device. A regenerative operation of a motor to stop the battery-powered industrial vehicle;
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to claim 1 ,
The accelerator lever can instruct neutral which does not instruct forward or reverse,
The control device is
In the case of the stop request mode, which is the case where the drive motor at the present time is rotating forward or backward and neutral is instructed from the accelerator lever,
When the output voltage from the battery device is higher than the first voltage range, the drive motor is regenerated by a first regenerative force to stop the battery-powered industrial vehicle.
In the case of the traveling continuation mode,
When the output voltage from the battery device is in the first voltage range, or when the temperature of the battery device is equal to or higher than a predetermined temperature set in advance, the second regenerative power weaker than the first regenerative power is used. A regenerative operation of a drive motor to stop the battery-powered industrial vehicle;
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to any one of claims 1 to 3,
The control device is
In the case of the traveling start mode, which is the case where the rotation of the drive motor at the current time is stopped and forward or backward is instructed from the accelerator lever,
The target rotation speed of the drive motor is obtained based on the operation amount of the accelerator lever,
When the output voltage from the battery device is higher than the third voltage range, the drive motor is driven and operated so as to reach the obtained target rotation speed and to perform the instructed forward or backward movement. ,
When the output voltage from the battery device is in the third voltage range, the obtained target rotation speed is updated to be equal to or lower than the upper limit rotation speed, and the updated target rotation speed is set to the target rotation speed. To drive the drive motor so as to move forward or backward.
When the output voltage from the battery device is in the second voltage range, the obtained target rotation speed is updated to be equal to or less than the minimum upper limit rotation speed, and the updated target rotation speed is obtained, and The drive motor is driven so as to move forward or backward as instructed,
When the output voltage from the battery device is in the first voltage range, the drive operation of the drive motor is stopped regardless of the obtained target rotation speed.
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to claim 1 ,
The control device is
In the case of the traveling start mode , which is the case where the rotation of the drive motor at the present time is stopped and forward or reverse is instructed from the accelerator lever ,
When the temperature of the battery device is equal to or higher than a predetermined temperature set in advance, the drive operation of the drive motor is stopped regardless of the output voltage from the battery device,
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to any one of claims 1 to 5,
When the output voltage from itself is equal to or lower than the input/output cutoff voltage preset as the voltage equal to or lower than the first voltage range, the battery device shuts off the output of the power from itself and the input of the power to itself. ,
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to any one of claims 1 to 6,
The battery device is provided with temperature detecting means for detecting its own temperature,
When the temperature detected by the temperature detecting means is equal to or higher than a preset cutoff temperature, the battery device cuts off an output of electric power from itself and an input of electric power to itself.
Battery-powered industrial vehicle. The battery-powered industrial vehicle according to claim 6 or 7, wherein
When performing the shutoff, the battery device performs the shutoff after informing that the shutoff is performed for a predetermined time,
Battery-powered industrial vehicle.

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