TW201309500A - Output controller for electric working vehicle - Google Patents
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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
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Abstract
Description
本發明涉及一種例如電動式垃圾收集車等電動作業車輛的輸出控制裝置，特別地，涉及可以可靠地執行規定作業次數動作的裝置。
The present invention relates to an output control device for an electric work vehicle such as an electric garbage collection vehicle, and more particularly to an apparatus that can reliably perform an operation of a predetermined number of operations.
在作為作業車輛的一種的垃圾收集車中，通常為下述結構，其通過動力輸出（PTO）機構獲取來自行駛用的發動機的動力，驅動油壓泵，使用產生的油壓驅動作業裝置的油壓缸等。
另外，近年普及所謂的電動作業車輛，其以車輛上搭載的電池作為電源，通過逆變器控制驅動電動機而使油壓泵旋轉。
例如，在專利文獻1中記載了這種電動作業車輛的一個例子。
在這種電動機作業車輛中，在電池消耗電力過大的情況下，可能無法完成預定的作業。例如，在垃圾收集車的情況下，如果在預定的裝載場所巡迴的作業路線途中，電池的剩餘電量降低，則無法通過電動機結束全部的裝載，從而在車輛的使用中發生故障。
對此，在專利文獻2中記載了一種作業設備的驅動控制裝置，其監視電源容量的增減，根據監視結果對於每個預定的區域控制作業設備的輸出增減。
專利文獻1：日本特開2009－262759號公報
專利文獻2：日本特開2004－189409號公報In a garbage collection vehicle which is a type of work vehicle, generally, a power output (PTO) mechanism acquires power from an engine for traveling, drives a hydraulic pump, and drives oil of the working device using the generated hydraulic pressure. Pressure cylinders, etc.
In addition, in recent years, a so-called electric work vehicle has been widely used, in which a battery mounted on a vehicle is used as a power source, and an electric motor is driven by an inverter to rotate the hydraulic pump.
An example of such an electric work vehicle is described in Patent Document 1, for example.
In such a motor-operated vehicle, in the case where the battery consumes too much power, the predetermined work may not be completed. For example, in the case of a garbage collection vehicle, if the remaining capacity of the battery decreases during the course of the work route to be patrolled at the predetermined loading place, the entire loading cannot be completed by the motor, and a malfunction occurs during use of the vehicle.
On the other hand, Patent Document 2 describes a drive control device for a work machine that monitors an increase or decrease in power supply capacity and controls the output of the work device to be increased or decreased for each predetermined area based on the monitoring result.
Patent Document 1: Japanese Laid-Open Patent Publication No. 2009-262759 (Patent Document 2)
但是，在專利文獻2記載的技術中，僅對應於電池的剩餘量控制電動機的扭矩，未考慮剩餘的裝載次數，從而不能保證在多個裝載場所巡迴而執行的全部裝載作業中，通過電動機完成作業。
本發明的課題在於提供一種可以可靠地執行規定作業次數的動作的電動作業車輛的輸出控制裝置。
本發明通過下述解決單元解決上述課題。
技術方案1涉及的發明是一種電動作業車輛的輸出控制裝置，該電動作業車輛搭載通過從車載電池供給電源的電動致動器驅動而執行週期性作業的作業裝置，該輸出控制裝置控制上述電動致動器的輸出，其特徵在於，具有：剩餘電量檢測單元，其檢測上述車載電池的當前剩餘電量；預定迴圈數計算單元，其計算直至達到預先設定的總作業迴圈數為止的預定迴圈數；以及電力限制單元，其對應於上述剩餘電量及上述預定迴圈數，限制向上述電動致動器供給的電力。
由此，通過對應於剩餘電量及預定迴圈數限制向電動致動器供給的電力，可以防止在預定迴圈數結束前剩餘電量過低而無法作業的情況。
技術方案2涉及的發明為，如技術方案1記載的電動作業車輛的輸出控制裝置，其特徵在於，上述電力限制單元具有計算每一個作業迴圈的平均消耗電量的平均值計算單元，根據將上述剩餘電量除以上述平均消耗電量後的值及上述預定迴圈數，限制向上述電動致動器供給的電力。
由此，可以在每一個作業迴圈的消耗電量大致恒定變化的情況下，進行適當的控制。
技術方案3涉及的發明為，如技術方案1記載的電動作業車輛的輸出控制裝置，其特徵在於，上述電力限制單元具有使上述車載電池的剩餘電量與可執行的作業迴圈數相關聯的資料庫，在對應於由上述剩餘電量檢測單元檢測出的剩餘電量而從上述資料庫求出的可執行的作業迴圈數低於上述預定迴圈數的情況下，限制向上述電動致動器供給的電力。
由此，在每個作業迴圈的消耗電量伴隨作業進行而變化的情況下，也可以進行反映這種影響的適當的輸出控制。
技術方案4涉及的發明為，如技術方案3記載的電動作業車輛的輸出控制裝置，其特徵在於，具有學習單元，其使用實際作業中的作業迴圈數與上述車載電池的剩餘電量的推移之間的關係，更新上述資料庫。
由此，可以執行反映實際作業的實際業績的更高精度的輸出控制。
技術方案5涉及的發明為，如技術方案1至4中任意1項記載的電動作業車輛的輸出控制裝置，其特徵在於，具有輸入單元，利用該輸入單元，用戶對上述總作業迴圈數進行設定輸入。
由此，可以由用戶任意地設定總作業迴圈數，提高方便性。
技術方案6涉及的發明為，如技術方案1至4中任意1項記載的電動作業車輛的輸出控制裝置，其特徵在於，具有顯示上述作總作業迴圈數的顯示單元。
由此，可以容易地確認用戶當前設定的總作業迴圈數，提高方便性。
技術方案7涉及的發明為，如技術方案1至4中任意1項所述的電動作業車輛的輸出控制裝置，其特徵在於，上述作業裝置在1個迴圈中依次執行多個作業工序，在上述車載電池的剩餘電量大於規定閾值的情況下，根據用於檢測被驅動部件行程末端的開關的輸出，轉換為下一個作業工序，並且，在上述車載電池的剩餘電量小於規定閾值的情況下，在上述被驅動部件的驅動時間經過預先設定的規定時間後，轉換為下一個作業工序。
由此，例如在垃圾收集車中，可以防止在裝載作業後期在垃圾壓縮中消耗過多的電力，而使1個迴圈中的消耗電量劇增。However, in the technique described in Patent Document 2, the torque of the motor is controlled only in accordance with the remaining amount of the battery, and the remaining number of times of loading is not considered, so that it is not possible to ensure that all the loading operations performed in the plurality of loading places are performed by the motor. operation.
An object of the present invention is to provide an output control device for an electric work vehicle that can reliably perform an operation of a predetermined number of operations.
The present invention solves the above problems by the following solution unit.
The invention according to claim 1 is an output control device for an electric work vehicle that is equipped with a work device that performs a periodic operation by being driven by an electric actuator that supplies power from an in-vehicle battery, and the output control device controls the electric motor An output of the actuator, comprising: a remaining power detecting unit that detects a current remaining power of the vehicle battery; and a predetermined number of loops calculating unit that calculates a predetermined loop until a predetermined total number of working loops is reached And a power limiting unit that limits the amount of power supplied to the electric actuator in response to the remaining amount of power and the predetermined number of turns.
Thereby, by limiting the electric power supplied to the electric actuator in accordance with the remaining electric power and the predetermined number of revolutions, it is possible to prevent the remaining electric power from being too low to be operated before the end of the predetermined number of revolutions.
According to a second aspect of the invention, in the output control device for an electric work vehicle according to the first aspect of the invention, the electric power limiting unit includes an average value calculating unit that calculates an average electric power consumption per work cycle, The electric power supplied to the electric actuator is limited by the value of the remaining electric power divided by the average electric power consumption and the predetermined number of revolutions.
Thereby, appropriate control can be performed in the case where the power consumption per cycle of the operation is substantially constant.
According to a third aspect of the invention, in the output control device for an electric work vehicle according to the first aspect of the invention, the power limiting unit includes data for associating a remaining amount of the vehicle battery with an executable number of job loops. The library restricts supply to the electric actuator when the number of executable job loops obtained from the database corresponding to the remaining amount of electric power detected by the remaining electric power detecting means is lower than the predetermined number of turns Electricity.
Thereby, when the power consumption per cycle of the job changes with the progress of the work, appropriate output control reflecting such influence can be performed.
According to a fourth aspect of the invention, there is provided an output control device for an electric work vehicle according to claim 3, characterized in that the learning unit includes a learning unit that uses a number of work cycles in the actual work and a change in the remaining battery capacity of the vehicle battery. The relationship between the above, update the above database.
Thereby, it is possible to perform more precise output control reflecting the actual performance of the actual work.
The invention is directed to an output control device for an electric work vehicle according to any one of claims 1 to 4, further comprising an input unit, wherein the user performs the total number of work cycles Set the input.
Thereby, the total number of job loops can be arbitrarily set by the user, and the convenience can be improved.
The invention is directed to an output control device for an electric work vehicle according to any one of claims 1 to 4, characterized in that the display unit includes the display unit for displaying the total number of working turns.
Thereby, the total number of job loops currently set by the user can be easily confirmed, and the convenience is improved.
The invention is directed to an output control device for an electric work vehicle according to any one of claims 1 to 4, wherein the work device sequentially executes a plurality of work processes in one cycle, When the remaining amount of the vehicle battery is greater than a predetermined threshold, the output of the switch for detecting the end of the stroke of the driven member is converted to the next operation step, and when the remaining amount of the vehicle battery is less than a predetermined threshold, After the driving time of the driven member has elapsed for a predetermined period of time, it is converted to the next working step.
Thereby, for example, in the garbage collection vehicle, it is possible to prevent excessive power consumption in the garbage compression in the late stage of the loading operation, and the power consumption in one cycle is drastically increased.
發明的效果
如上所述，根據本發明，可以提供可以可靠地執行規定作業次數的動作的電動作業車輛的輸出控制裝置。Advantageous Effects of Invention As described above, according to the present invention, it is possible to provide an output control device for an electric work vehicle that can reliably perform an operation of a predetermined number of operations.
本發明通過根據當前的電池的SOC、剩餘作業次數限制向電動機的輸出電力，從而解決提供可以可靠地執行規定作業次數的動作的電動作業車輛的輸出控制裝置的課題。
實施例1
下面，對於使用本發明的電動作業車輛的輸出控制裝置的實施例1進行說明。
在實施例1中，電動作業車輛例如是具有壓力式垃圾收集裝置的垃圾收集車。
如第1圖、第2圖所示，垃圾收集裝置1安裝在貨車底盤2上，構成作為電動作業車輛的一種的垃圾收集車。
貨車底盤2具有框架3、發動機4、變速器5、動力傳遞（PTO）機構6等。
框架3是搭載駕駛室及垃圾收集裝置1，並且，安裝動力系或懸架等的構造部件。
發動機4是車輛的行駛用動力源，例如是柴油發動機等內燃機。
變速器5使發動機4的旋轉輸出增減速，並經由螺旋軸及最終減速裝置傳遞至後輪車軸。
PTO機構6與變速器5並列設置，獲取發動機4的旋轉輸出而傳遞至泵120。
垃圾收集裝置1具有車身10、尾門料斗20、逆流防止壓力缸C1、升降壓力缸C2、自動鎖止壓力缸C3、上下移動壓力缸C4、推入壓力缸C5、排出壓力缸C6等。
車身10構成為在車輛後方側設置開口的箱狀。
車身10是在內部收容被回收的垃圾的部分（貨箱）。
另外，在車身10內部設有將收容的垃圾向後方側推出的排出板11。
尾門料斗20配置為，實際上閉塞車身10的後部開口。
尾門料斗20圍繞設置在車身10的開口上端部的鉸鏈轉動，可以使車身10的開口開閉。
尾門料斗20具有壓縮通過裝載板21投入的垃圾，並且壓入車身10內的裝載裝置。
裝載裝置通過沿規定軌跡驅動的裝載板21撈起投入到尾門料斗20下部的垃圾，推入車身10內。
逆流防止壓力缸C1是為了防止裝載的垃圾逆流，而進行逆流防止用的擋板的推入及反轉動作的油壓缸。
升降壓力缸C2是使尾門料斗20轉動，而使車身10的開口開閉的油壓缸。
自動鎖止壓力缸C3是驅動鎖止機構的油壓缸，該鎖止機構鎖止尾門料斗20而限制相對於車身10的相對旋轉。
上下移動壓力缸C4是使尾門料斗20的裝載板21上下移動的油壓缸。
推入壓力缸C5是進行裝載板21的推入動作及反轉動作的油壓缸。
排出壓力缸C6是進行將裝載在車身10內的垃圾向車輛後方側推出而排出的排出板的排出及返回動作的油壓缸。
上述說明的各個壓力缸C1至C6，通過以下說明的油壓回路驅動。
第3圖是表示實施例的垃圾收集裝置中的油壓回路的結構的圖。
油壓回路100構成為，具有動作油箱110、泵120、儲壓器130、篩檢程式140、穩壓器150、動作控制閥160等。
動作油箱110是貯存驅動各個壓力缸C1至C6的動作油的容器。
泵120是對貯存在動作油箱110中的動作油加壓而噴出的例如齒輪泵等的泵。
儲壓器130是蓄積從泵120噴出的高壓動作油的儲壓容器。
儲壓器130設置在穩壓器150和動作控制閥160之間。
篩檢程式140過濾從動作控制閥160及穩壓器150返回動作油箱110的動作油。
穩壓器150是控制從泵120輸送至動作控制閥160的動作油的流量的裝置。
動作控制閥160將從泵120經由穩壓器150及儲壓器130供給的動作油，經由油壓管線L向各個壓力缸C1至C6供給。
第4圖是表示動作控制閥160的結構的圖。
動作控制閥160具有作為三位方向控制閥的電磁閥SV1至SV5等而構成。
各個電磁閥SV1至SV5，對應於從未圖示的控制裝置供給的驅動電力，切換向各個壓力缸C1至C6的油壓供給的有無及方向。
電磁閥SV1向逆流防止壓力缸C1供給油壓。
電磁閥SV2向升降壓力缸C2及自動鎖止壓力缸C3供給油壓。
電磁閥SV3向上下移動壓力缸C4供給油壓。
電磁閥SV4向推入壓力缸C5供給油壓。
電磁閥SV5向排出壓力缸C6供給油壓。
另外，在從電磁閥SV1、SV2、SV4、SV5向各個壓力缸供給油壓的油路設置安全閥等，其在壓力大於或等於規定值時，使動作油向動作油箱110側放出。
如第5圖所示，在實施例1中，泵120可以選擇使用PTO機構6而由發動機4的輸出進行驅動、以及由電動機驅動。
垃圾收集裝置1具有電動機210、電池220、逆變器230、控制裝置240、輸入輸出裝置250等。
電動機210是設置在泵120的PTO機構6側的端部，且與泵120的輸入軸同軸的例如AC電動機。
電動機210的旋轉軸（輸出軸）與泵120的輸入軸連接。
在電動機210的旋轉軸上與泵120側相反一側的端部，經由動力傳遞軸連接PTO機構6等。
電池220例如是鋰離子電池、鎳氫電池、鉛蓄電池等2次電池，其供給電動機210的驅動用電力。
電池220例如除了可以在垃圾站充電以外，也可以使用迴圈發電單元在車輛使用中進行補充充電。
電池220例如搭載在垃圾收集裝置1的下部等。
另外，電池220具有檢測其充電狀態即State of Charge（SOC）的SOC檢測單元。
逆變器230對電池220輸出的電力進行DC－AC變換，向電動機210供給，驅動電動機210，並且，控制電動機210的輸出。
另外，逆變器230具有監控垃圾收集裝置1在1個迴圈動作（1次裝載作業）中消耗的電量的功能。
控制裝置240通過控制逆變器230而控制電動機210的輸出。
控制裝置240具有輸出控制功能，其根據由用戶設定的裝載作業的預定次數（總作業迴圈數）和實際執行的作業次數的計數值，求出其後預定的裝載作業的次數（預定迴圈數），並對應於當前的電池SOC，限制向電動機210供給的電力，以使得在SOC較低的情況下，也可以完成剩餘的作業次數的動作。
對於這一點，後面詳細說明。
輸入輸出裝置250具有由用戶輸入裝載作業的預定次數的輸入單元，及顯示該預定次數、實際完成的作業次數及剩餘作業次數等的圖像輸出單元等。
下面，對於上述垃圾收集裝置1中的輸出控制功能進行說明。
第6圖是表示該輸出控制功能的流程圖。下面，逐步地按照順序說明。
<步驟S01：電動機旋轉指令ON>
控制裝置240對應於來自用戶的電動開關接通操作，使電動機旋轉指令為ON，進入步驟S02。
<步驟S02：SOC確認>
控制裝置240使用電池220的SOC檢測單元確認當前的SOC。
然後，進入步驟S03。
<步驟S03：SOC水準判斷>
控制裝置240判斷當前的SOC是否大於或等於預定的規定閾值，在大於或等於閾值的情況下，進入步驟S04。
另一方面，在當前的SOC小於閾值的情況下，進入步驟S07。
<步驟S04：通常輸出>
控制裝置240向逆變器230指示以不進行輸出限制的通常輸出進行電動機驅動。
然後，進入步驟S05。
<步驟S05：電動機驅動·通常作業執行>
逆變器230向電動機210供給電力，驅動電動機210，使垃圾收集車1執行裝載作業。
這時，垃圾收集裝置1使用設置在依次進行動作的各個壓力缸的行程末端的開關，執行通常作業，即，停止開關已動作的壓力缸的驅動，變換為下一個壓力缸驅動。上述開關例如檢測裝載板21等被驅動部件的行程末端。
然後，進入步驟S06。
<步驟S06：1個迴圈的消耗電量存儲>
控制裝置240根據來自逆變器230的資訊，存儲在1個迴圈驅動中消耗的消耗電量。
然後，結束一連串的處理（返回），返回步驟S01，重複進行後面的處理。
<步驟S07：判斷可否進行預定次數的作業>
控制裝置240根據當前的SOC及剩餘作業次數，判斷是否可以通過通常輸出完成全部的裝載作業。
控制裝置240將以前裝載作業中的消耗電量的平均值推定為裝載作業每1個迴圈的消耗電量，將根據SOC推定的電池220的剩餘電量除以該平均值，推定可作業次數。
並且，在可作業次數大於或等於剩餘作業次數的情況下，判斷為可以由通常輸出完成裝載作業，進入步驟S08。
另一方面，在可作業次數低於剩餘作業次數的而情況下，判斷無法由通常輸出完成裝載作業，進入步驟S10。
<步驟S08：通常輸出>
控制裝置240向逆變器230指示以不進行輸出限制的通常輸出進行電動機驅動。
然後，進入步驟S09。
<步驟S09：電動機驅動·通常作業執行>
逆變器230向電動機210供給電力，驅動電動機210，使垃圾收集裝置1執行通常的裝載作業。
然後，結束一連串的處理（返回），返回步驟S01，重複進行後面的處理。
<步驟S10：電流調整輸出>
控制裝置240向逆變器230指示以相對於通常輸出而限制電流值的限制輸出進行電動機驅動。
然後，進入步驟S11。
<步驟S11：電動機驅動·計時器控制作業執行>
逆變器230向電動機210供給限制後的電力，驅動電動機210，使垃圾收集裝置1執行裝載作業。
這時，垃圾收集裝置1在各個壓力缸的驅動時間經過預先對每個壓力缸設定的規定時間的情況下，執行計時器控制，以不等待開關動作便結束該壓力缸驅動，並開始下一個壓力缸驅動。
通過進行這種計時器控制，可以防止垃圾壓縮消耗過多的電力。
然後，結束一連串處理（返回），返回步驟S01，重複後面的處理。
根據上述說明的實施例1，可以得到下述效果。
（1）通過對應於電池220的SOC及剩餘作業次數，限制向電動機210供給的電力，從而可以防止在剩餘作業次數結束前，剩餘電量過低而無法作業。
（2）通過使用每1個迴圈的平均消耗電量，進行上述控制，可以在每個作業迴圈的消耗電量大致恆定地推移的情況下，進行適當的控制。
（3）使用輸入輸出裝置250，用戶可以任意設定裝載作業的預定次數，另外，可以確認該預定次數、已執行作業次數、剩餘作業次數等，提高方便性。
（4）通過執行在到達行程末端之前不驅動壓力缸，而在規定的驅動時間後變換為下一個動作這種計時器控制，可以防止在裝載作業後期垃圾壓縮時消耗過多的電力而使每1個迴圈的消耗電量劇增。
實施例2
下面，對於使用本發明的電動作業車輛的輸出控制裝置的實施例2進行說明。
此外，對於實際上與上述實施例1共通的位置標記相同的標號，省略說明，主要對於不同點進行說明。
在實施例2的輸出控制裝置中，其特徵在於，根據與下述說明的作業次數相對應的電力消耗量及SOC的基準歷史資料，判斷是否需要執行輸出控制。
第7圖是表示與裝載次數相對應的消耗電力及SOC的基準歷史資料的一個例子的曲線。
在第7圖中，橫軸表示作業次數（裝載次數），實線表示SOC變化，虛線表示累積消耗電量。
如第7圖所示，累積消耗電量對應於作業次數而增加，SOC對應於作業次數而減少。
另外，在垃圾收集車中，因為對應於作業次數的增加，垃圾壓縮所需的電力增加，所以存在一次作業中的消耗電量（SOC降低量）增加的情況，但這種消耗電量增大的影響也被反映在基準歷史資料中。
控制裝置240在內置的存儲裝置中使用資料庫保存該基準歷史資料。
這種基準歷史資料根據垃圾收集車運行的作業路線的標準消耗電量的歷史生成，此外，可以根據由以後的作業車輛運行得到的資料適當地學習校正。
在實施例2中，控制裝置240可以通過參照保存的基準歷史資料，求出基於當前的SOC的可能剩餘作業次數（直至SOC降低至很難驅動垃圾收集裝置1的水準為止的作業次數）。
並且，在根據當前SOC求出的可能剩餘作業次數相對於實際剩餘作業次數（預定其後作業的次數）較少的情況下，判斷在通過通常輸出驅動電動機210的情況下很難通過電動完成全部裝載作業，執行限制向電動機210的供給電流的電流調整輸出。
在上述說明的實施例2中，在實際與上述實施例1的效果相同的基礎上，進行增加了與裝載作業次數增加相對應的電力消耗增加等的影響的精密的控制，從而可以更適當地進行電動機輸出的控制。
（變形例）
本發明並不限定於上述說明的實施例，可以進行各種變形或變更，其也屬於本發明的技術範圍。
（1）在各個實施例中，電動作業車輛例如是垃圾收集車，但本發明不限定於此，也可以應用於其他種類的電動作業車輛。
另外，並不是如各個實施例所示，限定為由電動致動器產生油壓而進行油壓致動器驅動的裝置，僅由電動致動器進行動作的裝置也可以應用本發明。
（2）垃圾收集裝置的結構並不限定於各個實施例，也可以適當地進行變更。例如，各個實施例的垃圾收集裝置例如是壓力式（壓縮板式）的裝置，但並不限定於此，也可以使旋轉板式。
（3）在各個實施例中，用戶通過輸入輸出裝置設定作業迴圈數，但本發明並不限定於此，也可以構成為，根據預定的作業迴圈數，使逆變器及其控制裝置自動地進行與SOC相對應的輸出調整。The present invention solves the problem of providing an output control device for an electric work vehicle that can reliably perform an operation of a predetermined number of operations by limiting the output power to the electric motor based on the current SOC of the battery and the number of remaining operations.
Example 1
Next, a first embodiment of an output control device using the electric work vehicle according to the present invention will be described.
In Embodiment 1, the electric work vehicle is, for example, a garbage collection vehicle having a pressure type garbage collection device.
As shown in Fig. 1 and Fig. 2, the garbage collection device 1 is attached to the truck chassis 2 to constitute a garbage collection vehicle which is a type of electric work vehicle.
The truck chassis 2 has a frame 3, an engine 4, a transmission 5, a power transmission (PTO) mechanism 6, and the like.
The frame 3 is a structural member in which a cab and a garbage collection device 1 are mounted, and a power train, a suspension, or the like is attached.
The engine 4 is a traveling power source of the vehicle, and is, for example, an internal combustion engine such as a diesel engine.
The transmission 5 accelerates and decelerates the rotational output of the engine 4 and transmits it to the rear axle via the screw shaft and the final reduction gear.
The PTO mechanism 6 is disposed in parallel with the transmission 5, and acquires the rotational output of the engine 4 and transmits it to the pump 120.
The garbage collection device 1 includes a vehicle body 10, a tailgate hopper 20, a backflow prevention cylinder C1, a lift cylinder C2, an automatic lock cylinder C3, a vertical movement cylinder C4, a push cylinder C5, a discharge cylinder C6, and the like.
The vehicle body 10 is configured in a box shape in which an opening is provided on the rear side of the vehicle.
The vehicle body 10 is a portion (container) in which the collected garbage is housed inside.
Further, inside the vehicle body 10, a discharge plate 11 for pushing the stored garbage to the rear side is provided.
The tailgate hopper 20 is configured to substantially close the rear opening of the body 10.
The tailgate hopper 20 is rotated about a hinge provided at an upper end portion of the opening of the vehicle body 10, so that the opening of the vehicle body 10 can be opened and closed.
The tailgate hopper 20 has a loading device that compresses the garbage that is loaded through the loading plate 21 and is pressed into the vehicle body 10.
The loading device picks up the garbage thrown into the lower portion of the tailgate hopper 20 by the loading plate 21 driven along the predetermined trajectory, and pushes it into the vehicle body 10.
The backflow prevention cylinder C1 is a hydraulic cylinder that performs a push-in and reverse operation of the baffle for preventing backflow in order to prevent backflow of the loaded garbage.
The lift cylinder C2 is a hydraulic cylinder that turns the tailgate hopper 20 to open and close the opening of the vehicle body 10.
The automatic lock cylinder C3 is a hydraulic cylinder that drives a lock mechanism that locks the tailgate hopper 20 to restrict relative rotation with respect to the vehicle body 10.
The up-and-down moving cylinder C4 is a hydraulic cylinder that moves the loading plate 21 of the tailgate hopper 20 up and down.
The push cylinder C5 is a hydraulic cylinder that performs a pushing operation and a reverse operation of the loading plate 21.
The discharge cylinder C6 is a hydraulic cylinder that performs a discharge and return operation of the discharge plate that discharges the garbage loaded in the vehicle body 10 toward the vehicle rear side.
Each of the pressure cylinders C1 to C6 described above is driven by a hydraulic circuit described below.
Fig. 3 is a view showing the configuration of a hydraulic circuit in the garbage collection device of the embodiment.
The hydraulic circuit 100 is configured to include an operating oil tank 110, a pump 120, an accumulator 130, a screening program 140, a regulator 150, an operation control valve 160, and the like.
The operating oil tank 110 is a container that stores operating oil that drives the respective pressure cylinders C1 to C6.
The pump 120 is a pump such as a gear pump that ejects the hydraulic oil stored in the hydraulic oil tank 110 and is pressurized.
The accumulator 130 is a pressure storage container that accumulates high-pressure hydraulic oil discharged from the pump 120.
The accumulator 130 is disposed between the regulator 150 and the action control valve 160.
The screening program 140 filters the hydraulic oil that has returned from the operation control valve 160 and the regulator 150 to the operating oil tank 110.
The regulator 150 is a device that controls the flow rate of the hydraulic oil that is sent from the pump 120 to the operation control valve 160.
The operation control valve 160 supplies the hydraulic oil supplied from the pump 120 via the regulator 150 and the accumulator 130 to the respective cylinders C1 to C6 via the hydraulic line L.
Fig. 4 is a view showing the configuration of the operation control valve 160.
The motion control valve 160 is configured to include solenoid valves SV1 to SV5 and the like as three-position control valves.
Each of the solenoid valves SV1 to SV5 switches the presence or absence of the hydraulic pressure supply to each of the pressure cylinders C1 to C6 in accordance with the drive power supplied from a control device (not shown).
The solenoid valve SV1 supplies hydraulic pressure to the reverse flow prevention cylinder C1.
The solenoid valve SV2 supplies hydraulic pressure to the lift cylinder C2 and the automatic lock cylinder C3.
The solenoid valve SV3 supplies the oil pressure to the cylinder C4 moving up and down.
The solenoid valve SV4 supplies hydraulic pressure to the push cylinder C5.
The solenoid valve SV5 supplies oil pressure to the discharge cylinder C6.
Further, a safety valve or the like is provided in the oil passage that supplies the hydraulic pressure to the respective pressure cylinders from the solenoid valves SV1, SV2, SV4, and SV5, and when the pressure is equal to or greater than a predetermined value, the hydraulic oil is discharged to the operating oil tank 110 side.
As shown in Fig. 5, in the first embodiment, the pump 120 can be selectively driven by the output of the engine 4 and driven by the motor using the PTO mechanism 6.
The garbage collection device 1 includes a motor 210, a battery 220, an inverter 230, a control device 240, an input/output device 250, and the like.
The motor 210 is an end portion of the pump 120 on the side of the PTO mechanism 6, and is coaxial with an input shaft of the pump 120, for example, an AC motor.
The rotation shaft (output shaft) of the motor 210 is connected to the input shaft of the pump 120.
The PTO mechanism 6 or the like is connected to the end on the rotating shaft of the motor 210 on the side opposite to the pump 120 side via the power transmission shaft.
The battery 220 is, for example, a secondary battery such as a lithium ion battery, a nickel hydrogen battery, or a lead storage battery, and supplies electric power for driving the motor 210.
The battery 220 can be charged in addition to the garbage station, for example, or can be recharged while the vehicle is in use using the loop power generating unit.
The battery 220 is mounted, for example, on the lower portion of the garbage collection device 1 or the like.
In addition, the battery 220 has a SOC detecting unit that detects a state of charge (SOC) thereof.
The inverter 230 performs DC-AC conversion on the electric power output from the battery 220, supplies it to the electric motor 210, drives the electric motor 210, and controls the output of the electric motor 210.
Further, the inverter 230 has a function of monitoring the amount of electric power consumed by the garbage collection device 1 in one loop operation (one loading operation).
The control device 240 controls the output of the motor 210 by controlling the inverter 230.
The control device 240 has an output control function for determining the number of times of the subsequent scheduled loading operation based on the predetermined number of times of the loading operation set by the user (the total number of job loops) and the count value of the actually executed number of jobs (predetermined loop The electric power supplied to the electric motor 210 is limited in accordance with the current battery SOC so that the operation of the remaining number of operations can be completed even when the SOC is low.
For this, the details will be described later.
The input/output device 250 has an input unit that inputs a predetermined number of times of loading operation by the user, and an image output unit that displays the predetermined number of times, the number of actually completed jobs, the number of remaining jobs, and the like.
Next, the output control function in the garbage collection device 1 will be described.
Figure 6 is a flow chart showing the output control function. Below, step by step in order.
<Step S01: Motor rotation command ON>
The control device 240 corresponds to the electric switch-on operation from the user, turns the motor rotation command ON, and proceeds to step S02.
<Step S02: SOC confirmation>
The control device 240 confirms the current SOC using the SOC detecting unit of the battery 220.
Then, the process proceeds to step S03.
<Step S03: SOC level judgment>
The control device 240 determines whether the current SOC is greater than or equal to a predetermined predetermined threshold, and if it is greater than or equal to the threshold, proceeds to step S04.
On the other hand, if the current SOC is smaller than the threshold value, the process proceeds to step S07.
<Step S04: Normal output>
The control device 240 instructs the inverter 230 to drive the motor with a normal output that does not perform output limitation.
Then, the process proceeds to step S05.
<Step S05: Motor Drive·Normal Job Execution>
The inverter 230 supplies electric power to the motor 210, drives the motor 210, and causes the garbage collection vehicle 1 to perform a loading operation.
At this time, the garbage collection device 1 performs the normal operation, that is, the drive of the pressure cylinder in which the stop switch has been operated, using the switch provided at the end of the stroke of each of the pressure cylinders that are sequentially operated, and is converted into the next cylinder drive. The above-described switch detects, for example, the stroke end of the driven member such as the loading plate 21.
Then, the process proceeds to step S06.
<Step S06: Power consumption storage of one loop>
The control device 240 stores the power consumption consumed in one cycle drive based on the information from the inverter 230.
Then, the series of processes (return) is ended, and the process returns to step S01, and the subsequent processes are repeated.
<Step S07: Judging whether or not the predetermined number of jobs can be performed>
The control device 240 determines whether or not all of the loading operations can be completed by the normal output based on the current SOC and the number of remaining operations.
The control device 240 estimates the average value of the power consumption amount in the previous loading operation as the power consumption per one cycle of the loading operation, and divides the remaining battery power estimated by the SOC by the average value to estimate the number of workable times.
Further, when the number of workable times is greater than or equal to the number of remaining jobs, it is determined that the loading operation can be completed by the normal output, and the process proceeds to step S08.
On the other hand, when the number of workable operations is lower than the number of remaining work, it is judged that the load operation cannot be completed by the normal output, and the process proceeds to step S10.
<Step S08: Normal output>
The control device 240 instructs the inverter 230 to drive the motor with a normal output that does not perform output limitation.
Then, the process proceeds to step S09.
<Step S09: Motor drive · Normal job execution>
The inverter 230 supplies electric power to the motor 210, drives the motor 210, and causes the garbage collection device 1 to perform a normal loading operation.
Then, the series of processes (return) is ended, and the process returns to step S01, and the subsequent processes are repeated.
<Step S10: Current adjustment output>
The control device 240 instructs the inverter 230 to perform motor drive with a limit output that limits the current value with respect to the normal output.
Then, the process proceeds to step S11.
<Step S11: Motor Drive·Timer Control Job Execution>
The inverter 230 supplies the limited electric power to the electric motor 210, drives the electric motor 210, and causes the garbage collection device 1 to perform a loading operation.
At this time, the garbage collection device 1 executes the timer control when the driving time of each cylinder is passed for a predetermined time set for each cylinder in advance, and ends the cylinder driving without waiting for the switching operation, and starts the next pressure. Cylinder drive.
By performing such timer control, it is possible to prevent garbage compression from consuming excessive power.
Then, the series of processes is ended (return), and the process returns to step S01, and the subsequent processes are repeated.
According to the first embodiment described above, the following effects can be obtained.
(1) The electric power supplied to the electric motor 210 is restricted by the SOC corresponding to the battery 220 and the number of remaining operations, and it is possible to prevent the remaining electric power from being too low to be operated before the end of the remaining number of operations.
(2) By performing the above control by using the average power consumption per one cycle, it is possible to perform appropriate control when the power consumption per cycle of the operation is substantially constant.
(3) Using the input/output device 250, the user can arbitrarily set the predetermined number of times of the loading operation, and can confirm the predetermined number of times, the number of executed jobs, the number of remaining jobs, and the like, thereby improving convenience.
(4) By performing the timer control that does not drive the pressure cylinder before reaching the end of the stroke, and shifts to the next operation after the predetermined driving time, it is possible to prevent excessive power consumption during the garbage compression at the end of the loading operation. The power consumption of the loops has increased dramatically.
Example 2
Next, a second embodiment of the output control device using the electric work vehicle of the present invention will be described.
It is to be noted that the same reference numerals are given to the same reference numerals as those in the first embodiment, and the description thereof will be omitted.
In the output control device of the second embodiment, it is determined whether or not the output control needs to be executed based on the power consumption amount corresponding to the number of operations described below and the reference history data of the SOC.
Fig. 7 is a graph showing an example of reference history data of power consumption and SOC corresponding to the number of times of loading.
In Fig. 7, the horizontal axis represents the number of operations (the number of loadings), the solid line indicates the SOC change, and the broken line indicates the cumulative power consumption.
As shown in Fig. 7, the cumulative power consumption increases in accordance with the number of jobs, and the SOC decreases in accordance with the number of jobs.
In addition, in the garbage collection vehicle, since the electric power required for garbage compression increases in accordance with the increase in the number of operations, there is a case where the electric power consumption (SOC reduction amount) in one operation increases, but the influence of such electric power consumption increases. It is also reflected in the benchmark historical data.
The control device 240 stores the reference history data using a database in the built-in storage device.
Such reference history data is generated based on the history of the standard power consumption of the work route in which the garbage collection vehicle operates, and the correction can be appropriately learned based on the data obtained by the operation of the subsequent work vehicle.
In the second embodiment, the control device 240 can obtain the number of possible remaining operations based on the current SOC by referring to the stored reference history data (until the SOC is reduced to the number of operations until the level of the garbage collection device 1 is hard to be driven).
Further, in the case where the number of possible remaining jobs obtained from the current SOC is small with respect to the actual number of remaining jobs (the number of jobs scheduled thereafter), it is judged that it is difficult to complete all of the electric motor by the normal output driving motor 210. The load operation performs a current adjustment output that limits the supply current to the motor 210.
In the second embodiment described above, in addition to the effects similar to those of the first embodiment described above, precise control is added to increase the influence of the increase in power consumption corresponding to the increase in the number of times of loading operations, and thus it is possible to more appropriately Control the motor output.
(Modification)
The present invention is not limited to the above-described embodiments, and various modifications and changes can be made thereto, which also fall within the technical scope of the present invention.
(1) In the respective embodiments, the electric work vehicle is, for example, a garbage collection vehicle. However, the present invention is not limited thereto, and may be applied to other types of electric work vehicles.
Further, as shown in the respective embodiments, it is not limited to a device that generates hydraulic pressure by an electric actuator to drive a hydraulic actuator, and the present invention can be applied to a device that operates only by an electric actuator.
(2) The configuration of the garbage collection device is not limited to the respective embodiments, and may be changed as appropriate. For example, the garbage collection device of each embodiment is, for example, a pressure type (compression plate type), but is not limited thereto, and may be a rotary plate type.
(3) In each of the embodiments, the user sets the number of operation loops by the input/output device, but the present invention is not limited thereto, and the inverter and the control device thereof may be configured according to the predetermined number of job loops. The output adjustment corresponding to the SOC is automatically performed.
1．．．垃圾收集裝置1. . . Garbage collection device
2．．．貨車底盤2. . . Truck chassis
3．．．框架3. . . frame
4．．．發動機4. . . engine
5．．．變速器5. . . transmission
6．．．動力傳遞(PTO)機構6. . . Power Transmission (PTO) Agency
10．．．車身10. . . Body
20．．．尾門料斗20. . . Tail door hopper
21．．．裝載板twenty one. . . Loading plate
100．．．油壓回路100. . . Hydraulic circuit
110．．．動作油箱110. . . Action tank
120．．．泵120. . . Pump
130．．．儲壓器130. . . Accumulator
140．．．篩檢程式140. . . Screening program
150．．．穩壓器150. . . Stabilizer
160．．．動作控制閥160. . . Motion control valve
210．．．電動機210. . . electric motor
220．．．電池220. . . battery
230．．．逆變器230. . . Inverter
240．．．控制裝置240. . . Control device
250．．．輸入輸出裝置250. . . Input and output device
C1．．．逆流防止壓力缸C1. . . Countercurrent prevention pressure cylinder
C2．．．升降壓力缸C2. . . Lifting pressure cylinder
C3．．．自動鎖止壓力缸C3. . . Automatic locking pressure cylinder
C4．．．上下移動壓力缸C4. . . Move the pressure cylinder up and down
C5．．．推入壓力缸C5. . . Push-in pressure cylinder
C6．．．排出壓力缸C6. . . Discharge pressure cylinder
L．．．油壓管線L. . . Oil pipeline
SV1-SV5．．．電磁閥SV1-SV5. . . The electromagnetic valve
第1圖是具有使用本發明的電動作業車輛的輸出控制裝置的實施例1的垃圾收集車的側視圖。
第2圖是實施例1的垃圾收集車的後方斜視圖。
第3圖是表示實施例1的垃圾收集車的油壓回路的結構的圖。
第4圖是表示實施例1的垃圾收集車的動作控制閥的結構的圖。
第5圖是表示實施例1的垃圾收集車的油壓泵驅動機構的結構的示意圖。
第6圖是表示實施例1的垃圾收集車中的輸出控制的流程圖。
第7圖是表示使用本發明的電動作業車輛的輸出控制裝置的實施例2中的相對於作業次數的SOC及消耗電量的基準歷史資料的一個例子的曲線。Fig. 1 is a side view of a garbage collection vehicle of a first embodiment having an output control device for an electric work vehicle according to the present invention.
Fig. 2 is a rear perspective view of the garbage collection vehicle of the first embodiment.
Fig. 3 is a view showing the configuration of a hydraulic circuit of the garbage collection vehicle of the first embodiment.
Fig. 4 is a view showing the configuration of an operation control valve of the garbage collection vehicle of the first embodiment.
Fig. 5 is a schematic view showing the configuration of a hydraulic pump drive mechanism of the garbage collection vehicle of the first embodiment.
Fig. 6 is a flow chart showing the output control in the garbage collection vehicle of the first embodiment.
FIG. 7 is a graph showing an example of the reference history data of the SOC and the power consumption amount with respect to the number of jobs in the second embodiment of the output control device for the electric work vehicle according to the present invention.
4．．．發動機4. . . engine
5．．．變速器5. . . transmission
6．．．動力傳遞(PTO)機構6. . . Power Transmission (PTO) Agency
120．．．泵120. . . Pump
210．．．電動機210. . . electric motor
220．．．電池220. . . battery
230．．．逆變器230. . . Inverter
240．．．控制裝置240. . . Control device
250．．．輸入輸出裝置250. . . Input and output device
Claims (7)
其特徵在於，具有：
剩餘電量檢測單元，其檢測上述車載電池的當前剩餘電量；
預定迴圈數計算單元，其計算直至達到預先設定的總作業迴圈數為止的預定迴圈數；以及
電力限制單元，其對應於上述剩餘電量及上述預定迴圈數，限制向上述電動致動器供給的電力。An output control device for an electric work vehicle, wherein the electric work vehicle is equipped with a work device that performs a periodic operation by being driven by an electric actuator that supplies power from an on-vehicle battery, and the output control device controls an output of the electric actuator,
It is characterized by having:
a remaining power detecting unit that detects a current remaining amount of the above-mentioned vehicle battery;
a predetermined loop number calculation unit that calculates a predetermined number of loops until a predetermined total number of loops is reached; and a power limiting unit that limits the electric actuation to the electric power limiting unit corresponding to the remaining power amount and the predetermined number of loops Power supplied by the device.
上述電力限制單元具有計算每一個作業迴圈的平均消耗電量的平均值計算單元，根據將上述剩餘電量除以平均消耗電量後的值及上述上述預定迴圈數，限制向上述電動致動器供給的電力。An output control device for an electric work vehicle according to the first aspect of the invention, characterized in that
The power limiting unit has an average value calculating unit that calculates an average power consumption amount for each of the job loops, and limits the supply to the electric actuator based on the value obtained by dividing the remaining power amount by the average power consumption amount and the predetermined number of loops. Electricity.
上述電力限制單元具有使上述車載電池的剩餘電量與可執行的作業迴圈數相關聯的資料庫，在對應於由上述剩餘電量檢測單元檢測出的剩餘電量而從上述資料庫求出的可執行的作業迴圈數低於上述預定迴圈數的情況下，限制向上述電動致動器供給的電力。An output control device for an electric work vehicle according to the first aspect of the invention, characterized in that
The power limiting unit includes a data bank that associates the remaining battery power of the vehicle battery with the number of executable job cycles, and is executable from the database in accordance with the remaining power detected by the remaining battery detecting unit. When the number of operation loops is lower than the predetermined number of loops, the electric power supplied to the electric actuator is limited.
具有學習單元，其使用實際作業中的作業迴圈數與上述車載電池的剩餘電量的推移之間的關係，更新上述資料庫。An output control device for an electric work vehicle according to claim 3, characterized in that
There is a learning unit that updates the above-described database using the relationship between the number of job loops in the actual work and the transition of the remaining battery power of the above-described vehicle battery.
具有輸入單元，利用該輸入單元，用戶對上述總作業迴圈數進行設定輸入。The output control device for an electric work vehicle according to any one of claims 1 to 4, wherein
There is an input unit by which the user inputs and inputs the total number of job loops.
具有顯示上述作總作業迴圈數的顯示單元。The output control device for an electric work vehicle according to any one of claims 1 to 4, wherein
There is a display unit that displays the above-mentioned total number of job loops.
上述作業裝置在1個迴圈中依次執行多個作業工序，在上述車載電池的剩餘電量大於規定閾值的情況下，根據用於檢測被驅動部件行程末端的開關的輸出，轉換為下一個作業工序，並且，在上述車載電池的剩餘電量小於規定閾值的情況下，在上述被驅動部件的驅動時間經過預先設定的規定時間後，轉換為下一個作業工序。The output control device for an electric work vehicle according to any one of claims 1 to 4, wherein
The work device sequentially executes a plurality of work processes in one cycle, and when the remaining battery power of the vehicle battery is greater than a predetermined threshold, the operation is switched to the next work process based on the output of the switch for detecting the stroke end of the driven member. When the remaining amount of the vehicle battery is less than a predetermined threshold, the driving time of the driven member is shifted to the next working step after a predetermined time period has elapsed.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011126899A JP2012250841A (en) | 2011-06-07 | 2011-06-07 | Output control device for electrically-driven working vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201309500A true TW201309500A (en) | 2013-03-01 |
Family
ID=47300014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101120460A TW201309500A (en) | 2011-06-07 | 2012-06-07 | Output controller for electric working vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2012250841A (en) |
| CN (1) | CN102815486A (en) |
| TW (1) | TW201309500A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6172664B2 (en) * | 2013-05-17 | 2017-08-02 | 日野自動車株式会社 | Garbage collection truck |
-
2011
- 2011-06-07 JP JP2011126899A patent/JP2012250841A/en not_active Withdrawn
-
2012
- 2012-06-07 TW TW101120460A patent/TW201309500A/en unknown
- 2012-06-07 CN CN2012101867185A patent/CN102815486A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| JP2012250841A (en) | 2012-12-20 |
| CN102815486A (en) | 2012-12-12 |
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