JPH0923513A - Crawling controller for battery type driving car - Google Patents
Crawling controller for battery type driving carInfo
- Publication number
- JPH0923513A JPH0923513A JP7167634A JP16763495A JPH0923513A JP H0923513 A JPH0923513 A JP H0923513A JP 7167634 A JP7167634 A JP 7167634A JP 16763495 A JP16763495 A JP 16763495A JP H0923513 A JPH0923513 A JP H0923513A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- slow speed
- battery
- vehicle
- crawling
- 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
Links
Classifications
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Forklifts And Lifting Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば電気自動車やバ
ッテリ式フォークリフトにおいて、アクセルをＯＮ操作
しなくても、ブレーキをＯＦＦ状態とすれば微速走行可
能な微速走行機能を備えたバッテリ式走行車の微速走行
制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a battery-operated vehicle having an extremely low speed traveling function in an electric vehicle or a battery-powered forklift truck, which can travel at a very low speed if the brake is turned off without turning on the accelerator. The present invention relates to a slow speed traveling control device.
【０００２】[0002]
【従来の技術】バッテリ式走行車では、例えばフォーク
リフトのフォークをパレットのフォーク挿入部に挿入さ
せる場合等、インチング動作の操作性を高めるため、ト
ルクコンバータ搭載車に見られるように、アクセルをＯ
Ｎ操作しなくても微速走行するいわゆるクリープ現象を
利用した微速走行機能を付加することが望まれるが、微
速走行機能をＯＮしたまま運転台から離れた際、暴走を
阻止する制御機構が必要となる。座席を備えた機種であ
れば、図２に例示するように、座席１０の下に、運転者
が腰掛けたことを検知するプッシュ式のスイッチ（デッ
ドマスイッチ）１１を設け、そのスイッチ１１の信号を
制御回路５に入力し、その制御回路５により、微速走行
機能がＯＮ状態になっていても、座席１０に運転者が座
らなければ、インバータ２から走行用モータ３に電力を
供給させない制御手段が考えられる。2. Description of the Related Art In a battery-powered vehicle, for example, when inserting a fork of a forklift into a fork insertion portion of a pallet, in order to enhance operability of inching operation, an accelerator is turned on as seen in a vehicle equipped with a torque converter.
It is desirable to add a slow speed running function that uses a so-called creep phenomenon that runs at a slow speed without N operation, but a control mechanism is required to prevent runaway when leaving the driver's cab with the slow speed running function ON. Become. In the case of a model equipped with a seat, as illustrated in FIG. 2, a push-type switch (deadman switch) 11 for detecting that the driver sits down is provided under the seat 10 and a signal from the switch 11 is provided. Is input to the control circuit 5, and the control circuit 5 does not allow the inverter 2 to supply electric power to the traveling motor 3 if the driver does not sit in the seat 10 even if the slow speed traveling function is in the ON state. Can be considered.
【０００３】[0003]
【発明が解決しようとする課題】前記スイッチを利用し
た制御手段は、微速走行機能がＯＮ状態であると、座席
に誰も腰掛けていない場合でも、例えば座席に荷物を乗
せて荷重が加わった状態になっただけで、運転席に人が
座った場合と同様にスイッチが作動して走行してしまう
し、仮に座席に運転者が腰掛けたとしても、必ずしもそ
れが運転操作するからであるとは限らず、運転する意思
がないにも拘らず腰掛けた途端に走行してしまう。又、
座席を有しないタイプには採用できない。本発明は、実
際に運転状態であることを正確に判断し、クリープ現象
による不測の走行を防止することにある。The control means using the above-mentioned switch, when the slow speed running function is in the ON state, even when no one is seated on the seat, for example, a state in which a load is put on the seat and a load is applied. Just because, the switch actuates as if a person sat in the driver's seat, and it runs, and even if the driver sits on the seat, it is not necessarily because the driver operates. Not only that, but as soon as he sits down, he runs despite his unwillingness to drive. or,
Cannot be used for types that do not have a seat. The present invention is to accurately determine that the vehicle is actually in an operating state and prevent unexpected traveling due to a creep phenomenon.
【０００４】[0004]
【課題を解決するための手段】本発明の微速走行制御装
置は、パワーステアリングに設けられたトルクセンサの
ステアリング動作検出信号に基づいて、ステアリングが
操作されていないと判断した場合、微速走行動作を阻止
する制御手段を備えたことにあり、前記微速走行動作の
阻止は、走行用モータへの電力供給をＯＦＦすることに
より行なわれ、又、その際、ブレーキのＯＮ操作を伴な
うことができる。The slow speed traveling control device of the present invention performs the slow speed running operation when it is determined that the steering wheel is not operated based on the steering operation detection signal of the torque sensor provided in the power steering. Since the control means for blocking is provided, the blocking of the slow speed running operation is performed by turning off the power supply to the running motor, and at that time, the brake can be turned on. .
【０００５】[0005]
【作用】微速走行といえども、運転者はステアリングを
小刻みに操作するから、その動作検出信号を受け、ステ
アリングが操作されていることを判断し、微速走行動作
される。ステアリングの操作をストップし、或は下車し
てステアリングの動作検出信号が途絶えたときは、微速
走行動作は停止され、不測の走行をしない。又、微速走
行動作の停止は、電源供給をＯＦＦするだけで簡単に制
御でき、更に、ブレーキをＯＮ操作することで、確実に
停止状態が維持でき、それによって微速走行モード自体
が働かなくなる。Even if the vehicle is traveling at a very low speed, the driver operates the steering wheel in small steps. Therefore, when the driver receives a motion detection signal, it is determined that the steering wheel is being operated, and the vehicle operates at a very low speed. When the steering operation is stopped or the vehicle gets off and the steering operation detection signal is interrupted, the slow speed traveling operation is stopped and unexpected traveling is not performed. Further, the stop of the slow speed running operation can be easily controlled only by turning off the power supply, and further, by turning on the brake, the stopped state can be surely maintained, whereby the slow speed running mode itself does not work.
【０００６】[0006]
【実施例】本発明に係る微速走行制御装置の実施例を図
面に基づいて説明する。図１は制御装置のブロック図で
あり、１はバッテリ、２は前記バッテリの直流電源を交
流電源に変換するインバータ、３はその変換された交流
を電源とした走行用モータ、４は同じく前記変換された
交流を電源としたパワーステアリング用モータである。
前記インバータ２には制御回路５が接続され、その制御
回路５には、パワーステアリング６に取り付けられたト
ルクセンサ６ａの信号と、アクセルペダル７に取り付け
られたアクセルポテンショメータ７ａの信号と、ブレー
キペダル８に取り付けられたブレーキポテンショメータ
８ａの信号とが夫々入力可能となっている。又、前記制
御回路５には、微速走行モード設定スイッチ９が接続さ
れていて、その微速走行モード設定スイッチ９をＯＮ操
作することによって、微速走行機能が有効となる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a slow speed traveling control device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a control device, in which 1 is a battery, 2 is an inverter for converting a DC power supply of the battery into an AC power supply, 3 is a traveling motor using the converted AC power supply, and 4 is also the conversion. The power steering motor uses the generated alternating current as a power source.
A control circuit 5 is connected to the inverter 2, and the control circuit 5 includes a signal from a torque sensor 6a attached to a power steering 6, a signal from an accelerator potentiometer 7a attached to an accelerator pedal 7, and a brake pedal 8. The signals of the brake potentiometer 8a attached to the can be input respectively. Further, a fine speed traveling mode setting switch 9 is connected to the control circuit 5, and when the fine speed traveling mode setting switch 9 is turned on, the slow speed traveling function becomes effective.
【０００７】前記トルクセンサ６ａは、パワーステアリ
ング６の回転トルクを検出し、そのトルクをステアリン
グ動作検知信号として制御回路５に入力することによっ
て、パワーステアリング用モータ４を駆動し、かじ取り
機構を、前記検出値に応じて回動操作の支援をする重要
な役割を持っている。又、アクセルペダル７を踏圧する
と、アクセルポテンショメータ７ａでそれが察知され、
そのアクセルペダル７の踏み込み量に応じて前記制御回
路５から走行用モータ３に対する電力の供給が制御され
る。この場合、ブレーキペダル８は踏圧されていないこ
とを前提とするが、万一、アクセルペダル７とブレーキ
ペダル８との両方が同時に踏圧されている場合は、走行
用モータ３を保護するため、その走行用モータ３への電
力供給は停止される。The torque sensor 6a detects the rotational torque of the power steering 6 and inputs the torque to the control circuit 5 as a steering operation detection signal to drive the power steering motor 4 to operate the steering mechanism. It plays an important role in supporting the turning operation according to the detected value. Also, when the accelerator pedal 7 is depressed, it is detected by the accelerator potentiometer 7a,
The supply of electric power from the control circuit 5 to the traveling motor 3 is controlled according to the depression amount of the accelerator pedal 7. In this case, it is premised that the brake pedal 8 is not depressed, but if both the accelerator pedal 7 and the brake pedal 8 are depressed at the same time, in order to protect the traveling motor 3, The power supply to the traveling motor 3 is stopped.
【０００８】アクセルペダル７が踏圧されず、ブレーキ
ペダル８が踏圧されている場合は、運転車は当然に停止
状態を保つ意思があるわけであるから、この場合も前記
走行用モータ３への電力供給は停止されるが、アクセル
ペダル７もブレーキペダル８も踏圧されていない場合、
微速走行モード設定スイッチ９がＯＦＦになっていれ
ば、走行用モータ３への電力供給はない。しかし微速走
行モード設定スイッチ９がＯＮの場合は、前記トルクセ
ンサ６ａからの信号入力がある場合に限り、その走行モ
ータ３に対して微速走行に必要な電力を供給し、信号入
力がない場合は、その走行モータに対する電力の供給を
カットする。即ち、微速走行モード設定スイッチ９がＯ
Ｎであって、アクセルペダル７とブレーキペダル８とも
が踏圧されていれば微速走行モードが実行されるもの
の、トルクセンサ６ａからの信号入力がなければ、微速
走行せず、トルクセンサ６ａからの信号入力があった場
合に微速走行する。微速走行中にトルクセンサ６ａから
の信号入力が途絶えれば、走行モータに対する電力の供
給をカットし、微速走行は直ちに中止され、その後にト
ルクセンサ６ａからの信号入力が確認されると微速走行
が再開される。微速走行時にアクセルペダル７かブレー
キペダル８が操作されると、それらアクセルペダル７又
はブレーキペダル８の機能が優先し、微速走行機能は解
除される。When the accelerator pedal 7 is not stepped on and the brake pedal 8 is stepped on, the driving vehicle naturally has the intention to maintain the stopped state. In this case as well, the electric power to the traveling motor 3 is applied. The supply is stopped, but when neither the accelerator pedal 7 nor the brake pedal 8 is depressed,
If the slow speed traveling mode setting switch 9 is off, no power is supplied to the traveling motor 3. However, when the low speed traveling mode setting switch 9 is ON, the electric power required for the low speed traveling is supplied to the traveling motor 3 only when there is a signal input from the torque sensor 6a, and when there is no signal input. , The power supply to the traveling motor is cut off. That is, the slow speed traveling mode setting switch 9 is turned off.
If it is N and the accelerator pedal 7 and the brake pedal 8 are both depressed, the low speed traveling mode is executed, but if there is no signal input from the torque sensor 6a, the low speed traveling is not performed and the signal from the torque sensor 6a is not transmitted. If there is an input, it will run at a slow speed. If the signal input from the torque sensor 6a is interrupted during the low speed traveling, the electric power supply to the traveling motor is cut off and the low speed traveling is immediately stopped. Then, if the signal input from the torque sensor 6a is confirmed, the low speed traveling is stopped. It will be restarted. When the accelerator pedal 7 or the brake pedal 8 is operated during low speed traveling, the functions of the accelerator pedal 7 or the brake pedal 8 have priority and the low speed traveling function is released.
【０００９】微速走行の許容、阻止は、制御回路により
電源供給をＯＮ、ＯＦＦ操作するのみで可能であるが、
前記微速走行モードが設定されている場合、トルクセン
サ６ａからの信号入力がなければブレーキをＯＮ動作さ
せ、ブレーキのＯＮ動作によってブレーキポテンショメ
ータからの信号によって微速走行を阻止するといったよ
うに、ブレーキを併用して二重に安全性を高めることが
望ましい。このような制御装置によれば、微速走行モー
ド設定スイッチを切り忘れたまま運転席を離れたり、運
転車が座席に腰掛けただけでは、トルクセンサからのス
テアリング動作検知信号がないので微速走行することは
なく、不測の走行はなくなる。Although the slow speed travel can be permitted or blocked only by turning the power supply on and off by the control circuit,
When the slow speed running mode is set, the brake is also used so that the brake is turned on if there is no signal input from the torque sensor 6a, and the slow speed running is blocked by the signal from the brake potentiometer when the brake is turned on. Therefore, it is desirable to double the safety. According to such a control device, if the driver leaves the driver's seat without forgetting to turn off the low speed traveling mode setting switch, or if the driver's vehicle sits down on the seat, there is no steering operation detection signal from the torque sensor, so the vehicle cannot travel at low speed. There is no unexpected running.
【００１０】前記実施例はフォークリフトについて説明
したが、バッテリ式走行車であれば種類は限定されず、
アクセルは、ペダル式に代えてレバー式を採用するな
ど、適宜変更できる。In the above embodiment, the forklift has been explained, but the type is not limited as long as it is a battery type traveling vehicle,
The accelerator can be appropriately changed by adopting a lever type instead of a pedal type.
【００１１】[0011]
【発明の効果】本発明のバッテリ式走行車によれば、ク
リープ現象を微速走行に有効利用して荷役作業の操作性
を高め、クリープ微速走行機能を働かせたまま運転席を
離れたり、座席に荷物を置いたり、座席に腰掛けても運
転する意思がない場合は、微速走行が阻止されるので、
安全性に優れる。According to the battery-powered vehicle of the present invention, the creep phenomenon is effectively used for very low speed traveling to enhance the operability of the cargo handling work, and the driver can leave the driver's seat or leave the seat without changing the creep very low speed traveling function. If you do not intend to drive even if you leave your luggage or sit in your seat, slow speed driving will be blocked,
Excellent safety.
【図１】 本発明に係る制御装置の説明図である。FIG. 1 is an explanatory diagram of a control device according to the present invention.
【図２】 比較例として挙げた制御装置の説明図であ
る。FIG. 2 is an explanatory diagram of a control device given as a comparative example.
１・・バッテリ、２・・インバータ、３・・走行用モー
タ、４・・パワーステアリング用モータ、５・・制御回
路、６・・パワーステアリング、６ａ・・トルクセン
サ、７・・アクセルペダル、７ａ・・アクセルペダルポ
テンショメータ、８・・ブレーキペダル、８ａ・・ブレ
ーキペダルポテンショメータ、９・・微速走行モード設
定スイッチ。1 ... Battery 2 Inverter 3 Drive motor 4 Power steering motor 5 Control circuit 6 Power steering 6a Torque sensor 7 Accelerator pedal 7a ..Accelerator pedal potentiometer, 8 ... Brake pedal, 8a..Brake pedal potentiometer, 9..Slow speed running mode setting switch
Claims (3)
キをＯＦＦ状態とすれば、クリープ現象を利用して微速
走行可能な機能を備えたバッテリ式走行車において、パ
ワーステアリングに設けられたトルクセンサのステアリ
ング動作検出信号に基づいて、ステアリングが操作され
ていないと判断した場合、前記微速走行動作を阻止する
制御手段を備えたバッテリ式走行車における微速走行制
御装置。1. A torque sensor provided on a power steering in a battery-powered vehicle having a function of allowing a vehicle to travel at a very low speed by utilizing a creep phenomenon if the brake is turned off even if an accelerator is not turned on. The slow speed running control device for a battery-powered running vehicle, comprising control means for preventing the slow speed running operation when it is determined that the steering wheel is not operated based on the steering operation detection signal.
指令によって走行用モータへの電力供給をＯＦＦするこ
とにより行なわれる請求項１に記載のバッテリ式走行車
における微速走行制御装置。2. The low speed traveling control device for a battery-operated vehicle according to claim 1, wherein the control of the low speed traveling operation is performed by turning off power supply to the traveling motor according to a command from the control circuit.
操作を伴なう請求項１又は２に記載のバッテリ式走行車
における微速走行制御装置。3. The brake is turned on to prevent the slow speed running.
The slow speed traveling control device for a battery-powered traveling vehicle according to claim 1, which is accompanied by an operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7167634A JPH0923513A (en) | 1995-07-03 | 1995-07-03 | Crawling controller for battery type driving car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7167634A JPH0923513A (en) | 1995-07-03 | 1995-07-03 | Crawling controller for battery type driving car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0923513A true JPH0923513A (en) | 1997-01-21 |
Family
ID=15853419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7167634A Pending JPH0923513A (en) | 1995-07-03 | 1995-07-03 | Crawling controller for battery type driving car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0923513A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010136554A (en) * | 2008-12-05 | 2010-06-17 | Nippon Yusoki Co Ltd | Battery type towing tractor |
| CN108215937A (en) * | 2017-12-29 | 2018-06-29 | 爱驰汽车有限公司 | Electric vehicle crawling control method, system, equipment and storage medium |
-
1995
- 1995-07-03 JP JP7167634A patent/JPH0923513A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010136554A (en) * | 2008-12-05 | 2010-06-17 | Nippon Yusoki Co Ltd | Battery type towing tractor |
| CN108215937A (en) * | 2017-12-29 | 2018-06-29 | 爱驰汽车有限公司 | Electric vehicle crawling control method, system, equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20040406 |