JP6820801B2 - 作業車両 - Google Patents
作業車両 Download PDFInfo
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- JP6820801B2 JP6820801B2 JP2017102820A JP2017102820A JP6820801B2 JP 6820801 B2 JP6820801 B2 JP 6820801B2 JP 2017102820 A JP2017102820 A JP 2017102820A JP 2017102820 A JP2017102820 A JP 2017102820A JP 6820801 B2 JP6820801 B2 JP 6820801B2
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
- A01D34/824—Handle arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/08—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using pulses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/66—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/10—Driver interactions by alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Harvester Elements (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
Description
15 :人為操作具
15a :左操縦レバー
15b :右操縦レバー
2 :駆動輪ユニット(駆動輪)
2a :左後車輪(駆動輪)
2b :右後車輪(駆動輪)
20 :バッテリ
21 :左モータ(走行モータユニット)
22 :右モータ(走行モータユニット)
4 :インバータ駆動モジュール
41 :インバータ駆動信号生成部
42 :インバータ回路
5 :入力信号処理ユニット
51 :目標信号生成部
52 :刈刃駆動指令生成部
53 :トラブル検知部
54 :脈動発生部
55 :脈動調節部
56 :信号重畳部
7 :車両状態検出部
71 :温度検出部
72 :バッテリ残量検出部
80a :操作量検出センサ
80b :操作量検出センサ
Claims (3)
- 駆動輪に回転力を供給する走行モータユニットと、
インバータ駆動信号に基づいて前記走行モータユニットに電流を供給するインバータ回路と、
前記走行モータユニットの回転力を調節する人為操作具と、
前記人為操作具の操作量を検出して操作検出信号を出力する操作量検出センサと、
前記操作検出信号に基づいて前記インバータ回路への制御目標信号を生成する目標信号生成部と、
前記制御目標信号に基づいて前記インバータ駆動信号を生成して前記インバータ回路に出力するインバータ駆動信号生成部と、
車両状態を検出して状態検出信号を出力する車両状態検出部と、
前記状態検出信号に基づいて車両トラブルを検知するトラブル検知部と、
前記トラブル検知部が前記車両トラブルを検知した場合、前記制御目標信号に対して、脈動信号を重畳する信号重畳部と、
前記脈動信号の振幅及び周期を調節する脈動調節部と、
作業装置として駆動刈刃を有するモーアユニットとを備え、
前記脈動調節部は、前記人為操作具の操作量が大きくなると、前記脈動信号の振幅が大きくなるように、前記脈動信号を調節し、
前記脈動調節部は、前記モーアユニットの駆動時には、前記人為操作具の操作量に応じて調整された前記脈動信号の前記制御目標信号に対する割合を高くする作業車両。 - 前記車両トラブルには、バッテリ残量低下及びモータ温度上昇が含まれており、前記バッテリ残量低下及び前記モータ温度上昇の度合が高いほど、前記脈動調節部は、前記振幅を大きくする請求項1に記載の作業車両。
- 前記走行モータユニットには、左駆動輪を駆動する左モータと、右駆動輪を駆動する右モータとが含まれており、かつ、
前記人為操作具には、前記左モータの回転力を調節する左操縦レバーと前記右モータの回転力を調節する右操縦レバーとが含まれている請求項1または2に記載の作業車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017102820A JP6820801B2 (ja) | 2017-05-24 | 2017-05-24 | 作業車両 |
US15/826,781 US10602660B2 (en) | 2017-05-24 | 2017-11-30 | Work vehicle |
EP17205275.5A EP3406478B1 (en) | 2017-05-24 | 2017-12-04 | Work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017102820A JP6820801B2 (ja) | 2017-05-24 | 2017-05-24 | 作業車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018198507A JP2018198507A (ja) | 2018-12-13 |
JP6820801B2 true JP6820801B2 (ja) | 2021-01-27 |
Family
ID=60654665
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017102820A Active JP6820801B2 (ja) | 2017-05-24 | 2017-05-24 | 作業車両 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10602660B2 (ja) |
EP (1) | EP3406478B1 (ja) |
JP (1) | JP6820801B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10962407B2 (en) * | 2018-12-27 | 2021-03-30 | Kubota Corporation | Grass mower having rotatable blade |
CN110696958A (zh) * | 2019-11-21 | 2020-01-17 | 常州格力博有限公司 | 一种坐骑式电动工具 |
CN112690082A (zh) * | 2020-12-24 | 2021-04-23 | 格力博(江苏)股份有限公司 | 一种自检反馈方法、自检反馈系统以及智能割草机 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6192665B1 (en) * | 1999-03-19 | 2001-02-27 | Sylfor Inc. | Self-powered brush cutter |
JP2001245518A (ja) * | 2000-03-07 | 2001-09-11 | Iseki & Co Ltd | コンバイン等の音声報知装置 |
US6734647B2 (en) * | 2001-10-30 | 2004-05-11 | Honda Giken Kogyo Kabushiki Kaisha | Working machine |
US6640528B1 (en) * | 2002-01-08 | 2003-11-04 | Scott Rowland | Tractor mounted boom system that is convertible between a backhoe and a rotary cutting system |
JP2007014049A (ja) * | 2005-06-28 | 2007-01-18 | Toyota Motor Corp | 電動車両 |
JP4725419B2 (ja) * | 2006-06-01 | 2011-07-13 | 日産自動車株式会社 | 電動車両の駆動力制御装置 |
JP5229644B2 (ja) | 2010-06-24 | 2013-07-03 | 株式会社デンソー | 電動機駆動装置、および、これを用いた電動パワーステアリング装置 |
JP2012187025A (ja) * | 2011-03-09 | 2012-10-04 | Kubota Corp | 乗用作業車 |
JP2013027202A (ja) * | 2011-07-22 | 2013-02-04 | Yanmar Co Ltd | 電動乗用機 |
JP5828097B2 (ja) * | 2011-08-08 | 2015-12-02 | パナソニックIpマネジメント株式会社 | 電動車両及びその制御方法 |
JP5917290B2 (ja) * | 2012-05-18 | 2016-05-11 | 住友重機械工業株式会社 | 電動式旋回装置 |
JP5673605B2 (ja) | 2012-05-30 | 2015-02-18 | 株式会社デンソー | 電動機駆動装置、および、これを用いた電動パワーステアリング装置 |
JP5863569B2 (ja) | 2012-06-05 | 2016-02-16 | 株式会社クボタ | モーアユニットを備えた作業車 |
JP6433368B2 (ja) | 2015-04-10 | 2018-12-05 | 株式会社クボタ | 草刈走行車両 |
-
2017
- 2017-05-24 JP JP2017102820A patent/JP6820801B2/ja active Active
- 2017-11-30 US US15/826,781 patent/US10602660B2/en active Active
- 2017-12-04 EP EP17205275.5A patent/EP3406478B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20180338414A1 (en) | 2018-11-29 |
EP3406478B1 (en) | 2020-04-15 |
US10602660B2 (en) | 2020-03-31 |
JP2018198507A (ja) | 2018-12-13 |
EP3406478A1 (en) | 2018-11-28 |
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