US20230203784A1 - Machine - Google Patents

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Publication number
US20230203784A1
US20230203784A1 US17/989,865 US202217989865A US2023203784A1 US 20230203784 A1 US20230203784 A1 US 20230203784A1 US 202217989865 A US202217989865 A US 202217989865A US 2023203784 A1 US2023203784 A1 US 2023203784A1
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United States
Prior art keywords
operating range
power source
general
control device
limit value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US17/989,865
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English (en)
Inventor
Keiichi Arai
Yuichi Onoe
Yasuhiro Nakada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Assigned to HONDA MOTOR CO., LTD. reassignment HONDA MOTOR CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NAKADA, YASUHIRO, ARAI, KEIICHI, ONOE, YUICHI
Publication of US20230203784A1 publication Critical patent/US20230203784A1/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Definitions

  • the present invention relates to a machine.
  • a load placed on the general-purpose power source can vary significantly depending on the type of machine. For example, in cases in which a machine on which an engine is mounted as a general-purpose power source is a power shovel or a lawn mower, a load placed on the engine is completely different even if the same engine is used. Placing an unexpected load on a general-purpose power source, or a work machine on which a general-purpose power source is mounted, can be a cause of breakage. It is a big problem to appropriately control the general-purpose power source when the load varies.
  • the present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to protect a machine, and a general-purpose power source mounted on a machine.
  • One aspect of the present invention to solve the problem is a machine including: a general-purpose power source that is a power source for general purposes and is configured to operate within a first operating range for a predetermined physical quantity; a driven body to be driven by power of the general-purpose power source; and a control device for outputting an instruction to the general-purpose power source, wherein a second operating range is defined for the predetermined physical quantity, and the control device instructs the general-purpose power source to operate within the second operating range when the driven body is driven.
  • a general-purpose power source that is a power source for general purposes and is configured to operate within a first operating range for a predetermined physical quantity
  • a driven body to be driven by power of the general-purpose power source
  • a control device for outputting an instruction to the general-purpose power source, wherein a second operating range is defined for the predetermined physical quantity, and the control device instructs the general-purpose power source to operate within the second operating range when the driven body is driven.
  • One aspect of the present invention has achieved the object of protecting a machine, and a general-purpose power source mounted on a machine.
  • FIG. 1 is a view of a work machine
  • FIG. 2 is a functional block diagram of a control device
  • FIG. 3 is a flowchart of a general-purpose power source control operation performed by the control device
  • FIG. 4 is a flowchart of a general-purpose power source stop operation performed by the control device
  • FIG. 5 is an explanatory view for an operating range
  • FIG. 6 is an explanatory view for control performed by the control device having a plurality of operating ranges.
  • FIG. 1 is a view of the work machine according to the present embodiment.
  • a power shovel 5 is a work machine that includes: a general-purpose power source 16 that is a power source for general purposes; a work unit 15 as a driven body driven by power of the general-purpose power source 16 ; and a control device 10 (second processor) for outputting an instruction to the general-purpose power source 16 , and performs various kinds of work by driving the work unit 15 .
  • the work unit 15 includes bucket and arm.
  • the general-purpose power source 16 is a general-purpose unit that has: a motor 19 ; a battery 20 for supplying electric power to the motor 19 ; and a power source control drive 12 (first processor) for controlling the motor 19 , and is configured to be capable of being incorporated as the power source not only into the power shovel 5 , but also into various types of devices. Moreover, this general-purpose power source 16 is configured to operate within a first operating range A for a predetermined physical quantity.
  • the predetermined physical quantity is a physical quantity related to the rating of each unit, such as a motor 19 and a battery 20 , and, for example, a current, a voltage, a temperature, an operation time, the number of revolutions, and the remaining battery capacity.
  • the physical quantity may be humidity, weather, time, illuminance, atmospheric pressure, altitude, a predetermined gas density, acceleration, vibration, etc.
  • the predetermined physical quantity may be the remaining fuel amount instead of the remaining battery capacity.
  • the power shovel 5 has a sensor 27 that detects the predetermined physical quantity in the work unit 15 , and outputs the detected value to the control device 10 and the power source control device 12 of the general-purpose power source 16 .
  • the detected value detected by the sensor 27 is an operating temperature.
  • a second operating range B for the predetermined physical quantity is defined on the basis of marginal performance of components of the work unit 15 .
  • the second operating range B is stored in the control device 10 in advance.
  • the control device 10 is configured to instruct the general-purpose power source 16 to operate within the second operating range B when the work unit 15 is driven.
  • the first operating range A is defined to protect the marginal performance of the general-purpose power source 16 as long as the detected value detected by the sensor 27 mounted on the power shovel 5 is within the first operating range A.
  • the second operating range B is defined to protect the marginal performance of the work unit 15 as long as the detected value detected by the sensor 27 mounted on the power shovel 5 is within the second operating range B.
  • the power shovel 5 includes a snow blower having a snow blowing unit on the work unit 15 , a cultivator having a cultivating device on the work unit 15 , and a lawn mower having a mowing blade on the work unit 15 , as well as a power shovel.
  • FIG. 2 is a view showing a functional configuration of the control device 10 .
  • the control device 10 has a computer including: a processor such as a central processing unit (CPU) and a micro-processing unit (MPU); a memory device such as read only memory (ROM) and random access memory (RAM); a storage device such as a hard disk drive (HDD) and a solid state drive (SSD); and an interface circuit for connecting the general-purpose power source 16 (particularly, the power source control device 12 ), the sensor 27 , and so on. Then, the control device 10 realizes various functional configurations shown in FIG. 2 by causing the processor to execute a program stored in the memory device or the storage device.
  • a processor such as a central processing unit (CPU) and a micro-processing unit (MPU); a memory device such as read only memory (ROM) and random access memory (RAM); a storage device such as a hard disk drive (HDD) and a solid state drive (SSD); and an interface circuit for connecting the general-purpose power source 16 (particularly, the power source control device 12 ), the sensor 27 , and so
  • control device 10 includes a storage unit 40 (memory), a sensor detected value acquisition unit 17 , and a determination unit 18 as the functional configurations.
  • the storage unit 40 stores a control program of the control device 10 , and the second operating range B.
  • the sensor detected value acquisition unit 17 acquires a detected value detected by the sensor 27 .
  • the determination unit 18 compares the detected value acquired by the sensor detected value acquisition unit 17 with the second operating range B, and determines what kind of control is to be performed.
  • the power source control device 12 has a computer including: a processor such as a central processing unit (CPU) and a micro-processing unit (MPU); a memory device such as read only memory (ROM) and random access memory (RAM); a storage device such as a hard disk drive (HDD) and a solid state drive (SSD); and an interface circuit for connecting the control device 10 , the sensor 27 , and so on. Then, by causing the processor to execute a program stored in the memory device or the storage device, the motor 19 is controlled to generate power, and a control function for driving the work unit 15 by the power is realized.
  • a processor such as a central processing unit (CPU) and a micro-processing unit (MPU)
  • ROM read only memory
  • RAM random access memory
  • HDD hard disk drive
  • SSD solid state drive
  • the power source control device 12 has the first operating range A ( FIG. 1 ) stored in the memory device or the storage device in advance. According to general-purpose specifications, the power source control device 12 controls the motor 19 , on the basis of the value detected by the sensor 27 , so that the predetermined physical quantity falls within the first operating range A. Moreover, when an instruction for the second operating range B ( FIG. 1 ) is given by the control device 10 , the power source control device 12 controls the motor 19 , on the basis of the value detected by the sensor 27 , so that the predetermined physical quantity falls within the second operating range B.
  • FIG. 3 is a flowchart of a comparison and determination operation for a value detected by the sensor 27 and the second operating range B.
  • the control device 10 is an aspect having a determination unit 18 for determining whether or not the value detected by the sensor 27 is outside the second operating range B.
  • a CPU 32 realizes the function of the determination unit 18 by executing the program stored in the storage unit 40 .
  • the control device 10 acquires, at the sensor detected value acquisition unit 17 , a detected value detected by the sensor 27 (step SA 1 ).
  • the determination unit 18 compares the detected value with the second operating range B, and determines whether or not the detected value is outside the second operating range B (step SA 2 ).
  • the detected value outside the second operating range B means specifically that the detected value is greater than a higher limit value H 1 of the second operating range B, or the detected value is smaller than a lower limit value L 1 of the second operating range B. It should be noted that a higher limit value H 0 of the first operating range A is greater than the higher limit value of the second operating range B. A lower limit value L 0 of the first operating range A is smaller than the lower limit value of the second operating range B (see FIG. 5 ). If the detected value is outside the second operating range B (step SA 2 : YES), the control device 10 gives a warning to an operator of, for example, the power shovel 5 through an input/output unit 50 (step SA 3 ). If the detected value is within the second operating range B (step SA 2 : NO), the control device 10 returns to step SA 1 . It should be noted that at least one of the higher limit value H 1 and the lower limit value L 1 of the second operating range B may be changeable.
  • FIG. 4 is a flowchart showing a stop operation that is performed by the control device 10 .
  • the control device 10 acquires, at the sensor detected value acquisition unit 17 , a detected value detected by the sensor 27 (step SB 1 ).
  • the determination unit 18 compares the detected value with the second operating range B stored in the storage unit 40 , and determines whether or not the detected value is outside the second operating range B (step SB 2 ). If the detected value is outside the second operating range B (step SB 2 : YES), the control device 10 instructs the power source control device 12 to perform a protection operation for protecting the general-purpose power source 16 (step SB 3 ).
  • the protection operation is an operation for making a heavily protected operating state for the general-purpose power source 16 by operating with a reduced number of revolutions of the motor 19 , or the like.
  • the operator of the power shovel 5 may input, from the input/output unit 50 , how the protection operation is to be performed.
  • the control device 10 instructs the general-purpose power source 16 to perform the protection operation, the control device 10 may output to the input/output unit 50 a warning display, and generate a warning sound for the operator.
  • the input/output unit 50 includes, for example, a display and a keyboard.
  • the determination unit 18 determines whether or not the detected value is greater than a first stopping threshold value H 2 stored in the storage unit 40 , or smaller than a second stopping threshold value L 2 (see FIG. 5 ). If the detected value is greater than the first stopping threshold value H 2 or smaller than the second stopping threshold value L 2 , the control device 10 stops the operation of the general-purpose power source 16 (step SB 5 ).
  • step SB 2 If the determination unit 18 compares the detected value with the second operating range B, and determines that the detected value is within the second operating range B (step SB 2 : NO), the control device 10 returns to step SB 1 . If the detected value is equal to or smaller than the first stopping threshold value H 2 , and equal to or greater than the second stopping threshold value L 2 (step SB 4 : NO), the control device 10 returns to step SB 3 .
  • the first stopping threshold value H 2 is preferably greater than the higher limit value H 1 of the second operating range B, and smaller than the higher limit value H 0 of the first operating range A.
  • the second stopping threshold value L 2 is preferably smaller than the lower limit value L 1 of the second operating range B, and greater than the lower limit value L 0 of the first operating range A.
  • FIG. 5 is an explanatory view about the operating ranges in the present embodiment.
  • the horizontal axis indicates the operating temperature of the power source.
  • the first operating range A is defined as a range between the lower limit value L 0 and the higher limit value H 0 .
  • the second operating range B stored by the control device 10 is defined as a range between the lower limit value L 1 and the higher limit value H 1 .
  • FIG. 5 shows the relationship among the first stopping threshold value H 2 , the second stopping threshold value L 2 , the first operating range A, and the second operating range B explained in FIG. 4 .
  • the control device 10 instructs the power source control device 12 to stop the general-purpose power source 16 . Specifically, when the detected value reaches the first stopping threshold value or the second stopping threshold value, the control device 10 performs stopping-control on the power source control device 12 .
  • the determination unit 18 of the control device 10 is provided with a plurality of operating ranges, in advance, for comparison with the detected value, and determination.
  • this is a case in which a first protection range for the work machine is selectable from a plurality of predetermined operating ranges.
  • This modified embodiment shows a case in which the work machine is a lawn mower.
  • the horizontal axis indicates the number of revolutions of an engine, which is detected by the sensor 27 , the number of revolutions increasing from left to right.
  • a third operating range C corresponding to the rating of the general-purpose power source 16 alone is defined by a higher limit value R 0 .
  • the load placed on the general-purpose power source 16 varies depending on a work target. For example, in a case in which work is carried out in a field of many plants having hard stems, since the load on a mowing blade is high, it is likely that increasing the number of revolutions will lead to breakage of the mowing blade as the work unit 15 .
  • FIG. 6 shows a case in which a plurality of operating ranges, specifically a fourth operating range D and a fifth operating range E are set as the operating ranges of the work machine.
  • a higher limit value R 1 of the fourth operating range D and a higher limit value R 2 of the fifth operating range E are smaller than the higher limit value R 0 of the third operating range C, and the higher limit R 1 of the fourth operating range D is smaller than the higher limit value R 2 of the fifth operating range E.
  • the operator operating the work machine may select one of the fourth operating range D and the fifth operating range E from the input/output unit 50 depending on a work target, and perform work.
  • the work machine can be protected according to work.
  • a machine including: a general-purpose power source that is a power source for general purposes and is configured to operate within a first operating range for a predetermined physical quantity; a driven body to be driven by power of the general-purpose power source; and a control device for outputting an instruction to the general-purpose power source, wherein a second operating range is defined for the predetermined physical quantity, and the control device instructs the general-purpose power source to operate within the second operating range when the driven body is driven.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Electric Motors In General (AREA)
  • Operation Control Of Excavators (AREA)
US17/989,865 2021-12-27 2022-11-18 Machine Pending US20230203784A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-212845 2021-12-27
JP2021212845A JP2023096832A (ja) 2021-12-27 2021-12-27 機器

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US20230203784A1 true US20230203784A1 (en) 2023-06-29

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US17/989,865 Pending US20230203784A1 (en) 2021-12-27 2022-11-18 Machine

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Publication number Priority date Publication date Assignee Title
JP2017102619A (ja) * 2015-11-30 2017-06-08 オムロン株式会社 制御パラメータ調整装置、制御パラメータ調整方法、制御パラメータ調整プログラム

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Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ARAI, KEIICHI;ONOE, YUICHI;NAKADA, YASUHIRO;SIGNING DATES FROM 20220926 TO 20220927;REEL/FRAME:061822/0694

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