WO2020137907A1 - 電動作業機 - Google Patents
電動作業機 Download PDFInfo
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- WO2020137907A1 WO2020137907A1 PCT/JP2019/050169 JP2019050169W WO2020137907A1 WO 2020137907 A1 WO2020137907 A1 WO 2020137907A1 JP 2019050169 W JP2019050169 W JP 2019050169W WO 2020137907 A1 WO2020137907 A1 WO 2020137907A1
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- switch
- circuit
- trigger
- information
- turned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
Definitions
- the present disclosure relates to an electric work machine.
- Patent Document 1 discloses an electric tool that includes an operation switch that is turned on or off by a user, a control circuit, a drive circuit, and a motor.
- the control circuit outputs a control signal to the drive circuit when recognizing that the operation switch is turned on.
- the drive circuit drives the motor based on the control signal input from the control circuit.
- the motor may be driven or stopped contrary to the user's intention.
- An electric working machine includes a motor, an operation unit, a first switch, a second switch, and a control circuit.
- the operation unit is configured to be turned on or off by a user of the electric working machine.
- the first switch is configured to turn on or off in response to an on operation or an off operation of the operation unit.
- the second switch is configured to be turned on or off in response to the operation portion being turned on or off.
- the control circuit is configured to execute motor control processing according to a computer program (that is, by software processing based on a specific program).
- the control circuit receives first switch information indicating the state of the first switch from the first switch.
- the control circuit further receives second switch information indicating the state of the second switch from the second switch, separately from the first switch information.
- the motor control process includes outputting a drive command for driving the motor in response to the first switch information and the second switch information indicating that the operation unit is turned on.
- the control circuit executes the motor control process according to the states of both the first switch and the second switch. Specifically, the control circuit outputs a drive command when the first switch information and the second switch information indicate that the operation unit is turned on. For example, when the operation unit is off-operated, if an abnormality occurs in the first switch and the first switch information indicates the on-operation, but the second switch information indicates the off-operation, the drive is performed. No command is output. Therefore, the motor can be appropriately stopped when an abnormality occurs in which the user's operation is not properly transmitted to the control circuit.
- the electric work machine may further include a drive stop circuit.
- the drive stop circuit may be configured to operate by hardware processing. That is, the operation executed by the drive stop circuit may be realized by hardware (hardware method or hardwired method) instead of software processing (software method).
- the drive stop circuit may receive the first switch information and the second switch information.
- the drive stop circuit is configured such that the state of the first switch indicated by the first switch information and/or the state of the second switch indicated by the second switch information corresponds to a state in which the operation portion is turned off. Accordingly, even if a drive command is output from the control circuit, the drive command may be invalidated and the motor may be stopped.
- the electric working machine may further include a drive circuit.
- the drive circuit may be configured to receive a drive command from the control circuit.
- the drive circuit may be configured to supply electric power to the motor and drive the motor in response to receiving the drive command.
- the drive stop circuit may be configured to stop the motor by interrupting a drive command to the drive circuit.
- the drive stop circuit can easily stop the motor when the first switch information and/or the second switch information indicates an off operation.
- the drive stop circuit may include a stop signal output circuit and a cutoff circuit.
- the state of the first switch indicated by the first switch information and/or the state of the second switch indicated by the second switch information corresponds to a state in which the operation section is turned off. It may be configured to output the stop signal in response to the presence of the signal.
- the cutoff circuit may be configured to receive the stop signal, and may be configured to cut off the drive command to the drive circuit in response to receiving the stop signal.
- the input of the drive command to the drive circuit can be easily interrupted.
- the motor can be easily stopped.
- the control circuit may be configured to receive the stop signal from the stop signal output circuit.
- control circuit can effectively use the stop signal output by the hardware process in the motor control process, for example.
- control circuit responds to (i) the first switch information and the second switch information indicate that the operation unit is turned on, and (ii) the control circuit receives the stop signal.
- the drive command may not be output.
- the first switch information and the second switch information indicate that the operation unit is turned on and the control circuit receives the stop signal
- the first switch information and the second switch information may be due to some cause.
- it does not correctly indicate the actual operating state of the operating unit. That is, there is a possibility that, for example, both the first switch information and the second switch information indicate the ON operation, although the operation unit is actually turned OFF. Therefore, when the stop signal is input from the stop signal output circuit, the drive command is not output, so that the reliability of the electric working machine can be improved.
- the first switch information and The second switch information may be configured not to output the drive command even when the second switch information changes to indicate the ON operation of the operation unit.
- the control circuit Even when the control circuit receives no stop signal while the first switch information and/or the second switch information indicates that the operation section is turned off, the first switch information and the first switch information input to the control circuit
- The/or the second switch information may not correctly indicate the actual operation state of the operation unit due to some factor. That is, there is a possibility that, for example, both the first switch information and the second switch information indicate the off operation, although the operation section is actually turned on. Therefore, even in such a case, the reliability of the electric working machine can be improved by not outputting the drive command.
- the control circuit may be configured to output a pseudo ON signal.
- the electric working machine may further include a pseudo ON circuit.
- the pseudo-on circuit may be configured to receive the pseudo-on signal.
- the pseudo-on circuit may set the first switch information so as to indicate that the operation unit is turned on in response to receiving the pseudo-on signal.
- the control circuit may store the first information indicating the first abnormal state.
- the control circuit may be further configured to execute an output process and a first storage process.
- the output process may include outputting the pseudo-on signal in response to the first switch information and the second switch information indicating that the operation unit is turned off.
- the first storage process may include storing the first information in response to the control circuit not receiving the stop signal while outputting the pseudo ON signal by the output process.
- the control circuit responds to (i) that the first switch information and the second switch information indicate that the operation unit is turned on, and (ii) the first information is stored in the control circuit.
- the drive command may not be output.
- the control circuit can confirm whether the stop signal output circuit operates properly by outputting the pseudo ON signal. That is, when the second switch information indicates the OFF operation, but the first switch information is set to the information indicating the ON operation by the pseudo ON signal, the stop signal output circuit does not operate properly. Then, a stop signal should be output. In this case, if the stop signal is not output, the stop signal output circuit may not operate properly. Therefore, in such a case, the control circuit does not output the drive command, so that the reliability of the electric working machine can be further improved.
- the control circuit may store the second information indicating the second abnormal state.
- the control circuit may be further configured to perform the second storage process.
- the second storage processing is performed in response to (i) the control circuit is outputting the pseudo-on signal, and (ii) the first switch information does not indicate that the operation unit is turned on. 2 may include storing information.
- the control circuit responds to (i) that the first switch information and the second switch information indicate that the operation unit is turned on, and (ii) the second information is stored in the control circuit.
- the drive command may not be output.
- the fact that the first switch information indicates the OFF state despite the output of the pseudo ON signal means that the pseudo ON circuit does not operate properly or some other abnormality has occurred. Therefore, in such a case, the control circuit does not output the drive command, so that the reliability of the electric working machine can be further improved.
- the first switch may be turned off when the operation unit is turned on.
- the first switch may be turned on in response to the operation portion being turned off.
- the second switch may be turned on in response to the operation portion being turned on.
- the second switch may be turned off in response to the operation portion being turned off.
- the first switch and the second switch are configured to be in mutually opposite states (that is, when one is on, the other is off, and when one is off, the other is on) in response to an operation on the operation unit.
- the operation unit may be configured so that the operation amount of the operation unit is changed in conjunction with the operation of the operation unit being turned on.
- the electric working machine may further include an information output circuit including a second switch.
- the information output circuit may output the second switch information.
- the information output circuit may output the second switch information including the information indicating the operation amount while the second switch is on.
- the control circuit may be configured to output a drive command according to the operation amount indicated by the second switch information.
- the electric work machine configured in this way, it becomes possible to control the drive of the motor according to the amount of operation of the operation unit by the user. Specifically, for example, it may be possible to control the drive of the motor so that the rotation speed of the motor increases as the operation amount increases.
- the second switch information may be indicated by a voltage according to the operation state of the operation unit. More specifically, the information output circuit may output the off voltage corresponding to the turning off of the second switch as the second switch information in response to the turning off of the second switch. The information output circuit may output the initial ON voltage lower than the OFF voltage as the second switch information in response to the change of the second switch from OFF to ON. The information output circuit may decrease the voltage from the initial ON voltage value according to the operation amount while the second switch is ON.
- the control circuit can accurately recognize that the second switch has been turned off.
- FIG. 4A is an explanatory diagram showing a state of the trigger switch unit when the trigger operation unit is not operated to pull
- FIG. 4B is a trigger when the trigger operation unit is operated to be operated by a constant operation amount smaller than the maximum operation amount
- FIG. 4C is an explanatory diagram showing a state of the switch portion
- FIG. 4C is an explanatory diagram showing a state of the trigger switch portion when the trigger operation portion is operated to pull the maximum operation amount.
- SYMBOLS 1 Electric working machine, 3... Main body part, 20... Trigger operation part, 21... Motor, 22... Motor drive circuit, 23... Control circuit, 24... CPU, 25... Memory, 26... Trigger switch part, 27... 1st Trigger switch, 28... Second trigger switch, 29... Break switch, 30... Main power switch, 36... First switching circuit, 37, 47... Switch section, 50... Overvoltage detection circuit, 60... Overheat detection section, 61... DESCRIPTION OF SYMBOLS 1 overheat detection circuit, 62... 2nd overheat detection circuit, 63... 3rd overheat detection circuit, 70... Cutoff latch circuit, 80... Trigger detection circuit.
- the electric working machine 1 shown in FIG. 1 is configured as, for example, a rechargeable brush cutter. Rechargeable brush cutters are used for cutting grass and small trees, for example.
- the electric working machine 1 includes a support rod 150, a handle 151, a cutter unit 160, and a controller unit 165.
- the support rod 150 has a long cylindrical shape.
- the cutter unit 160 is provided at the first end of the support rod 150.
- the controller unit 165 is provided at the second end of the support rod 150.
- the cutter unit 160 includes a housing 161.
- the housing 161 is fixed to the first end of the support rod 150.
- the housing 161 houses a motor 21 (see FIG. 2) described later.
- the housing 161 is configured such that the rotary blade 162 can be attached and detached.
- FIG. 1 shows a state in which the rotary blade 162 is mounted on the housing 161.
- the housing 161 is provided with a drive mechanism (not shown).
- the drive mechanism transmits the rotation of the motor 21 to the rotary blade 162.
- the motor 21 rotates
- the rotary blade 162 rotates due to the rotational driving force of the motor 21.
- the controller unit 165 includes a housing 166.
- the housing 166 houses various circuits including a control circuit 23 (see FIG. 2) described later.
- the housing 166 is configured such that the first battery pack 5 and the second battery pack 7 can be attached and detached.
- the handle 151 is provided at a substantially middle portion of the support rod 150 in the longitudinal direction.
- the handle 151 includes, for example, a U-shaped curved pipe.
- a first grip 152 is provided at the first end of the handle 151.
- a second grip 153 is provided at the second end of the handle 151.
- the first grip 152 is gripped by the right hand of the user of the electric working machine 1, for example.
- the second grip 153 is gripped by the left hand of the user, for example.
- the first grip 152 is provided with the trigger operation unit 20.
- the trigger operating unit 20 is pulled by the user.
- the pulling operation is an operation of pulling the trigger operating portion 20 toward the first grip 152 side by a user's finger or the like, in other words, an operation of pushing the trigger operating portion 20 into the first grip 152.
- the trigger operating unit 20 is urged in an operation releasing direction opposite to the pulling operating direction by an elastic member (not shown). As shown in FIG. 1, most of the trigger operating part 20 is projected from the first grip 152 by the biasing force of the elastic member when the trigger operating part 20 is not operated by being pulled by the user. When the user operates the trigger operating unit 20, the trigger operating unit 20 moves in the pulling operation direction (that is, the first grip 152 side) against the biasing force of the elastic member. The trigger operating unit 20 moves into the first grip 152 as the trigger operating unit 20 moves in the pulling operation direction.
- the first grip 152 is further provided with an operation display unit 170.
- the operation display unit 170 includes the main power switch 30 and a display panel 171.
- the main power switch 30 is operated by the user.
- the main power switch 30 of this embodiment may be, for example, a so-called momentary switch.
- the momentary switch is turned on only while being pushed by the user, and is turned off when the user releases the pushing operation.
- the control circuit 23 may alternately enable or disable the main operation each time the main power switch 30 is pushed back.
- the pushing back operation includes pushing the main power switch 30 and releasing the pushing operation.
- the main power switch 30 may be any switch.
- the main power switch 30 may be, for example, a so-called alternate switch.
- the alternate switch is switched on and off alternately each time the user operates the alternate switch.
- the control circuit 23 enables the main operation when the main power switch 30 is on, and disables the main operation when the main power switch 30 is off. May be.
- the main power switch 30 may be, for example, a slide type switch.
- the various types of information may include, for example, information indicating whether or not the main operation is enabled, or information indicating various states of the electric working machine 1.
- the display panel 171 may include any display device.
- the display panel 171 may include, for example, a liquid crystal display, an LED, or the like.
- FIG. 3 is an excerpt of a part of FIG. 2 (on the right side of the control circuit 23 in FIG. 2) and shows it in more detail.
- the electric working machine 1 includes a main body portion 3, a first battery pack 5, and a second battery pack 7.
- a main body part 3 an assembly of various electric parts, various circuits, etc. provided in each part of the electric working machine 1 is referred to as a main body part 3.
- the assembly includes the motor 21, various circuits in the housing 166, the trigger operation unit 20, and the operation display unit 170.
- the first battery pack 5 includes a battery 11 and a battery abnormality detection circuit 12.
- the battery 11 is, for example, a secondary battery. However, the battery 11 may be a primary battery.
- the battery abnormality detection circuit 12 monitors the first battery pack 5.
- the battery abnormality detection circuit 12 outputs the first discharge permission signal SA1 when the abnormality of the first battery pack 5 is not detected during the specific discharge instruction period.
- the battery abnormality detection circuit 12 may monitor the state of the battery 11, for example. More specifically, the battery abnormality detection circuit 12 determines whether or not the battery 11 is abnormal based on, for example, the voltage value of the battery 11, the value of the current discharged from the battery 11, and/or the temperature of the battery 11. May be judged. When the battery abnormality detection circuit 12 determines that the battery 11 is normal, the battery abnormality detection circuit 12 may output the first discharge permission signal SA1 to indicate that the battery 11 is normal. When determining that the battery 11 is abnormal, the battery abnormality detection circuit 12 may indicate that the battery 11 is abnormal by not outputting the first discharge permission signal SA1.
- the first battery pack 5 receives trigger detection information ST0 described below from the main body 3.
- the specific discharge instruction period may be, for example, a period in which the logic level of the trigger detection information ST0 is a high level, that is, a period in which the trigger operation unit 20 described later is turned on.
- the second battery pack 7 includes a battery 16 and a battery abnormality detection circuit 17.
- the second battery pack 7 has the same configuration as the first battery pack 5.
- the battery abnormality detection circuit 17 outputs the second discharge permission signal SA2 when the abnormality of the second battery pack 7 is not detected during the specific discharge instruction period.
- the battery abnormality detection circuit 17 may monitor the state of the battery 16, for example. More specifically, the battery abnormality detection circuit 17 determines whether or not the battery 16 is abnormal based on, for example, the voltage value of the battery 16, the value of the current discharged from the battery 16, and/or the temperature of the battery 16. May be judged. When the battery abnormality detection circuit 17 determines that the battery 16 is normal, the battery abnormality detection circuit 17 may output the second discharge permission signal SA2 to indicate that the battery 16 is normal. When determining that the battery 16 is abnormal, the battery abnormality detection circuit 17 may indicate that the battery 16 is abnormal by not outputting the second discharge permission signal SA2.
- the main body unit 3 includes a trigger operation unit 20, a motor 21, a motor drive circuit 22, a control circuit 23, a main power switch 30, a trigger switch unit 26, and a trigger detection unit.
- a circuit 80, an overvoltage detection circuit 50, a first off detection circuit 39, a second off detection circuit 49, a current detection circuit 55, an overheat detection part 60, a shutoff latch circuit 70, and a display panel 171 are provided. ..
- the main body 3 is provided with a power supply circuit (not shown).
- the power supply circuit is supplied with the battery voltage from the first battery pack 5 or the second battery pack 7 mounted on the electric working machine 1.
- the power supply circuit generates a constant power supply voltage based on the battery voltage and outputs the power supply voltage.
- the power supply voltage is supplied to each unit in the main body unit 3 via a control power supply line (not shown).
- the respective parts are operated by the power supply voltage supplied from the power supply circuit.
- the voltage value of the power supply voltage (hereinafter, referred to as “power supply voltage value Vc”) may be any value. In this embodiment, the power supply voltage value Vc is, for example, 5V.
- the power supply circuit may output the power supply voltage when the battery voltage is supplied to the power supply circuit, whether the main operation is enabled or disabled.
- the power supply circuit may output the power supply voltage while the main operation is enabled.
- the trigger switch unit 26 includes a first trigger switch 27 and a second trigger switch 28.
- the first trigger switch 27 and the second trigger switch 28 are turned on or off in synchronization with the user operating the trigger operating unit 20.
- the first trigger switch 27 is, for example, a normally open type switch.
- the second trigger switch 28 is, for example, a normally closed switch. When the trigger operation unit 20 is off, the first trigger switch 27 is off and the second trigger switch 28 is on. When the trigger operating unit 20 is turned on, the first trigger switch 27 is turned on and the second trigger switch 28 is turned off.
- the main body 3 further includes a resistor R1, a resistor R2, and a logical NOT (NOT) circuit 85.
- the first terminal of the first trigger switch 27 is connected to the ground line.
- the second terminal of the first trigger switch 27 is connected to the input terminal of the NOT circuit 85.
- the second terminal of the first trigger switch 27 is further connected to the control power supply line via the resistor R1.
- the first terminal of the second trigger switch 28 is connected to the ground line, and the second terminal of the second trigger switch 28 is connected to the control circuit 23 via the trigger detection circuit 80.
- the second end of the second trigger switch 28 is further connected to the control power supply line via the resistor R2.
- the NOT circuit 85 receives the voltage of the second terminal of the first trigger switch 27 as a binary signal.
- the binary signal is a signal indicating a logic level of high level or low level.
- the NOT circuit 85 inverts the logic level of the input binary signal and outputs it.
- the trigger switch unit 26 includes a switch box 100, a plunger 101, a first trigger switch 27, and a second trigger switch 28.
- the plunger 101 is connected to the trigger operation unit 20 and operates in conjunction with the trigger operation unit 20.
- the first trigger switch 27 includes a first contact 121, a second contact 122, and a support spring 123.
- the first contact 121 is connected to, for example, a ground line.
- the second contact 122 is connected to the NOT circuit 85, for example.
- the second contact 122 is configured to be rotatable around a rotation shaft (not shown).
- the support spring 123 biases the second contact 122 in the direction of coming into contact with the first contact 121.
- the second trigger switch 28 includes a first electrode 111, a second electrode 112, a substrate 113, and a brush 114.
- the brush 114 includes a conductor.
- the first electrode 111 and the second electrode 112 are provided on the substrate 113.
- the brush 114 is provided on the plunger 101.
- the brush 114 is moved together with the plunger 101.
- the first electrode 111 is connected to, for example, a ground line.
- the second electrode 112 is connected to the trigger detection circuit 80, for example.
- the plunger 101 moves in the left direction in FIGS. 4A to 4C, that is, in the pulling operation direction described above in response to the pulling operation of the trigger operating unit 20 by the user.
- the plunger 101 is supported at the position shown in FIG. 4A by the urging force of a spring (not shown).
- the fact that the trigger operation unit 20 has been turned off includes that the user has not touched the trigger operation unit 20.
- the second contact 122 is rotationally moved by the plunger 101 in the direction away from the first contact 121 against the biasing force of the support spring 123. Therefore, the first trigger switch 27 is turned off.
- the trigger operation unit 20 When the trigger operation unit 20 is turned off, the first electrode 111 and the second electrode 112 of the second trigger switch 28 are electrically connected via the brush 114. Therefore, the second trigger switch 28 is turned on.
- the plunger 101 moves inside the switch box 100. Along with this, in the second trigger switch 28, the brush 114 moves into the switch box 100. In the first trigger switch 27, the plunger 101 gradually moves away from the second contact 122, and the second contact 122 approaches the first contact 121 by the urging force of the support spring 123.
- the second contact 122 comes into contact with the first contact 121.
- the first trigger switch 27 is turned on.
- the brush 114 separates from the first electrode 111, as shown in FIG. 4C.
- the second trigger switch 28 is turned off.
- the above-described ON operation means that the trigger operation unit 20 is pulled so that the first trigger switch 27 is turned on and the second trigger switch 28 is turned off, as illustrated in FIG. 4C.
- the trigger detection circuit 80 has a trigger detection function.
- the trigger detection function is a function of outputting information according to the state of the trigger switch unit 26. Specifically, the trigger detection circuit 80 outputs the first trigger information ST1, the second trigger information ST2, and the trigger determination information STR.
- the trigger detection circuit 80 receives the output signal of the NOT circuit 85.
- the trigger detection circuit 80 further receives the voltage of the second terminal of the second trigger switch 28 and the first pseudo signal SF1 output from the control circuit 23.
- the voltage of the second terminal of the second trigger switch 28 input to the trigger detection circuit 80 is output to the control circuit 23 as the second trigger information ST2.
- the control circuit 23 outputs the first pseudo signal SF1 when executing the trigger detection function diagnosis described later.
- the first trigger information ST1, the second trigger information ST2, the trigger determination information STR, the signal that the trigger detection circuit 80 receives from the NOT circuit 85, and the first pseudo signal SF1 are, for example, binary signals in this embodiment.
- the first trigger information ST1 basically indicates whether or not the first trigger switch 27 is turned on.
- the second trigger information ST2 indicates whether or not the second trigger switch 28 is turned on.
- the second trigger information ST2 whose logic level is L level indicates that the second trigger switch 28 is turned on, in other words, that the trigger operating unit 20 is turned off.
- the second trigger information ST2 whose logic level is H level indicates that the second trigger switch is off, in other words, that the trigger operating unit 20 is on.
- the trigger detection circuit 80 includes a logical sum (OR) circuit 81 and a logical product (AND) circuit 82.
- the OR circuit 81 receives the output signal of the NOT circuit 85 and the first pseudo signal SF1.
- the first pseudo signal SF1 is a signal whose logic level is high level. That is, the output of the first pseudo signal SF1 means that the logic level of the first pseudo signal SF1 becomes the high level. On the contrary, the fact that the logic level of the first pseudo signal SF1 is the low level means that the first pseudo signal SF1 is not output.
- Such a correspondence relationship between the logic level of a signal and the output state of the signal indicated by the logic level is as follows: the first discharge permission signal SA1 and the second discharge permission signal SA2, the third discharge permission signal SA3 described later, Fourth discharge enable signal SA4, first off detection signal SB1, second off detection signal SB2, overvoltage signal So1, overcurrent signal So2, first overheat signal So31, second overheat signal So32, third overheat signal So33, second
- the third pseudo signal SF31, the fourth pseudo signal SF32, and the fifth pseudo signal SF33 is as follows: the first discharge permission signal SA1 and the second discharge permission signal SA2, the third discharge permission signal SA3 described later, Fourth discharge enable signal SA4, first off detection signal SB1, second off detection signal SB2, overvoltage signal So1, overcurrent signal So2, first overheat signal So31, second overheat signal So32, third overheat signal So33, second
- the pseudo signal SF2 the third pseudo signal SF31, the fourth pseudo signal SF32, and the
- the OR circuit 81 calculates the logical sum of the two input signals and outputs the first trigger information ST1 indicating the calculation result.
- the first trigger information ST1 is input to the control circuit 23 and the AND circuit 82.
- the logical level of the first trigger information ST1 becomes a low level when the trigger operating part 20 is turned off, and becomes a high level when the trigger operating part 20 is turned on.
- the fact that the logic level of the first trigger information ST1 and the logic level of the second trigger information ST2 are low level indicates that the trigger is off.
- the trigger operation unit 20 is off.
- the fact that the logic level of the first trigger information ST1 and the logic level of the second trigger information ST2 are high indicates a trigger on state. In the trigger-on state, the trigger operation unit 20 is turned on.
- the control circuit 23 can set the first trigger information ST1 to a state electrically equivalent to that when the trigger operation unit 20 is turned on. it can.
- the AND circuit 82 receives the first trigger information ST1 and the second trigger information ST2.
- the AND circuit 82 calculates the logical product of the first trigger information ST1 and the second trigger information ST2, and outputs the trigger determination information STR indicating the calculation result.
- the trigger determination information STR is input to the cutoff latch circuit 70.
- the trigger determination information STR whose logic level is low indicates a trigger-off state.
- the trigger determination information STR whose logic level is high indicates a trigger-on state.
- the motor 21 is rotationally driven by supplying motor drive power from the motor drive circuit 22.
- the rotational driving force of the motor 21 is transmitted to the output tool (not shown in FIG. 2) via the drive mechanism, and the output tool operates.
- the motor 21 of this embodiment is, for example, a brushless motor.
- the output tool is, for example, the rotary blade 162 described above in the present embodiment, but any output tool may be used.
- the output tool may be, for example, a drill bit, a driver bit, a rotary grindstone, a circular saw blade, or the like that can process a workpiece by rotating.
- the output tool may be detachable from the electric work machine 1.
- the rotation of the motor 21 may be converted into a linear motion and transmitted to the output tool.
- the electric work machine 1 further includes a first power supply line 91, a second power supply line 92, and a main power supply line 93.
- the first end of the first power supply line 91 is connected to the first battery pack 5.
- the voltage of the battery 11 is supplied to the first end of the first power supply line 91.
- the second end of the first power supply line 91 is connected to the first end of the main power supply line 93.
- the first end of the second power supply line 92 is connected to the second battery pack 7.
- the voltage of the battery 16 is supplied to the first end of the second power supply line 92.
- the second end of the second power supply line 92 is connected to the first end of the main power supply line 93.
- the second end of the main power supply line 93 is connected to the motor drive circuit 22.
- a capacitor C0 is connected between the main power feeding line 93 and the ground line.
- the power of the battery 11 is supplied to the motor drive circuit 22 via the first power supply line 91 and the main power supply line 93.
- the power of the battery 16 is supplied to the motor drive circuit 22 via the second power supply line 92 and the main power supply line 93.
- the motor drive circuit 22 is supplied with the electric power of the battery 11 or the electric power of the battery 16, as described later. That is, the voltage of the battery 11 or the voltage of the battery 16 is supplied to the main power supply line 93.
- the voltage of the battery 11 or the voltage of the battery 16 supplied to the main power supply line 93 will be referred to as “input battery voltage”.
- the first power supply line 91 is provided with a first charge suppression circuit 31 and a first switching circuit 36.
- the first switching circuit 36 includes a switch unit 37 and an AND circuit 38.
- the switch unit 37 connects or disconnects the first power supply line 91. When the switch part 37 is turned on, the portion of the first power supply line 91 where the switch part 37 is provided is electrically connected. When the switch unit 37 is turned off, the portion of the first power supply line 91 where the switch unit 37 is provided is shut off, and the power supply from the battery 11 to the motor 21 is shut off.
- the switch unit 37 is turned on when the logic level of the signal output from the AND circuit 38 is high level.
- the switch unit 37 is turned off when the logic level of the signal output from the AND circuit 38 is the low level.
- the switch unit 37 may have any configuration.
- the switch unit 37 includes, for example, an n-channel metal oxide semiconductor field effect transistor (MOSFET).
- MOSFET metal oxide semiconductor field effect transistor
- the switch units 32, 42, and 47 to be described later may have any configuration, and in the present embodiment, for example, include n-channel MOSFETs.
- the AND circuit 38 has three signal input terminals.
- the three signal input terminals receive the first discharge permission signal SA1, the third discharge permission signal SA3 output from the control circuit 23, and the second off detection signal SB2.
- the second off detection signal SB2 is output from the second off detection circuit 49.
- the AND circuit 38 calculates the logical product of the signals input to the signal input terminals and outputs a signal indicating the calculation result to the gate of the switch unit 37.
- the AND circuit 38 outputs a high level signal when receiving the first discharge permission signal SA1, the third discharge permission signal SA3 and the second off detection signal SB2.
- the AND circuit 38 outputs a low level signal when not receiving the first discharge permission signal SA1, the third discharge permission signal SA3 and/or the second off detection signal SB2.
- the second off detection circuit 49 outputs the second off detection signal SB2 when the switch part 42 of the second charge suppression circuit 41 and the switch part 47 of the second switching circuit 46 are off.
- the switch unit 42 and/or the switch unit 47 are turned on, the second off detection signal SB2 is not output. Therefore, for example, when the switch unit 47 is turned on, the second off detection signal SB2 is not input to the AND circuit 38. In this case, the output of the AND circuit 38 becomes low level and the switch unit 37 is turned off. As a result, the switch parts 37 and 47 are prevented from being turned on at the same time.
- the first charge suppression circuit 31 includes a switch unit 32 and a synchronous rectification circuit 33.
- the switch unit 32 connects or disconnects the first power supply line 91.
- the switch part 32 When the switch part 32 is turned on, the part of the first power supply line 91 where the switch part 32 is provided is made conductive.
- the switch unit 32 When the switch unit 32 is turned off, the portion of the first power supply line 91 where the switch unit 32 is provided is shut off.
- the switch unit 32 is turned on or off by the synchronous rectification circuit 33.
- the gate of the switch unit 32 is connected to the synchronous rectification circuit 33.
- the source of the switch unit 32 is connected to the first battery pack 5 and the synchronous rectification circuit 33.
- the drain of the switch unit 32 is connected to the drain of the switch unit 37.
- the synchronous rectification circuit 33 turns on or off the switch unit 32 based on the voltage between the source and drain of the switch unit 32. Specifically, when the discharge current from the first battery pack 5 flows through the parasitic diode existing between the source and the drain of the switch unit 32, the synchronous rectification circuit 33 detects the discharge current and turns on the switch unit 32. Turn on. The synchronous rectification circuit 33 supplies the charging current to the first battery pack 5 via the first power supply line 91 when the discharge from the first battery pack 5 is stopped while the switch unit 32 is turned on. When it is detected, the switch unit 32 is turned off.
- the switch unit 32 when a current flows from the main body unit 3 to the battery 11, the switch unit 32 is turned off and the current is cut off, and charging of the battery 11 is suppressed or prevented. More specifically, the synchronous rectification circuit 33 controls the gate voltage of the switch unit 32 so that the drain-source voltage value of the switch unit 32 becomes a predetermined voltage value (for example, about 30 mV).
- the second power supply line 92 is provided with the second charge suppression circuit 41 and the second switching circuit 46.
- the second switching circuit 46 includes a switch unit 47 and an AND circuit 48.
- the switch unit 47 connects or disconnects the second power supply line 92.
- the switch part 47 When the switch part 47 is turned on, the part of the second power supply line 92 where the switch part 47 is provided is made conductive.
- the switch unit 47 When the switch unit 47 is turned off, the portion of the second power supply line 92 where the switch unit 47 is provided is shut off, and the power supply from the battery 16 to the motor 21 is shut off.
- the switch unit 47 is turned on when the logic level of the signal output from the AND circuit 48 is high level.
- the switch unit 47 is turned off when the logic level of the signal output from the AND circuit 48 is the low level.
- the AND circuit 48 has three signal input terminals.
- the signal input terminal of the AND circuit 48 receives the second discharge permission signal SA2, the fourth discharge permission signal SA4, and the first off detection signal SB1.
- the first off detection signal SB1 is output from the first off detection circuit 39.
- the AND circuit 48 calculates the logical product of the signals input to the signal input terminals and outputs a signal indicating the calculation result to the gate of the switch unit 47.
- the AND circuit 48 outputs a high level signal when receiving the second discharge permission signal SA2, the fourth discharge permission signal SA4 and the first off detection signal SB1.
- the AND circuit 48 outputs a low-level signal when the second discharge permission signal SA2, the fourth discharge permission signal SA4 and/or the first off detection signal SB1 are not input.
- the first off detection circuit 39 outputs the first off detection signal SB1 when the switch part 32 of the first charge suppression circuit 31 and the switch part 37 of the first switching circuit 36 are off, as described later.
- the switch unit 32 and/or the switch unit 37 are turned on, the first off detection signal SB1 is not output. Therefore, for example, when the switch unit 37 is turned on, the first off detection signal SB1 is not input to the AND circuit 48. In this case, the output of the AND circuit 48 becomes low level and the switch section 47 is turned off. As a result, the switch parts 37 and 47 are prevented from being turned on at the same time.
- the second charge suppression circuit 41 includes a switch unit 42 and a synchronous rectification circuit 43.
- the switch unit 42 connects or disconnects the second power supply line 92. When the switch part 42 is turned on, the part of the second power supply line 92 where the switch part 42 is provided is made conductive. When the switch part 42 is turned off, the part of the second power supply line 92 where the switch part 42 is provided is shut off. The switch unit 42 is turned on or off by the synchronous rectification circuit 43.
- the gate of the switch unit 42 is connected to the synchronous rectification circuit 43.
- the source of the switch unit 42 is connected to the second battery pack 7 and the synchronous rectification circuit 43.
- the drain of the switch unit 42 is connected to the drain of the switch unit 47.
- the synchronous rectification circuit 43 turns on or off the switch unit 42 based on the voltage between the source and the drain of the switch unit 42. Specifically, when the discharge current from the second battery pack 7 flows through the parasitic diode existing between the source and the drain of the switch unit 42, the synchronous rectification circuit 43 detects the discharge current and turns on the switch unit 42. Turn on. When the switch unit 42 is turned on, the synchronous rectification circuit 43 stops discharging from the second battery pack 7, or supplies a charging current to the second battery pack 7 via the second power supply line 92. If it is detected that the switch unit 42 is turned on, the switch unit 42 is turned off.
- the switch unit 42 when a current flows from the main body unit 3 to the battery 16, the switch unit 42 is turned off to cut off the current, and the charging of the battery 16 is suppressed or prevented. More specifically, the synchronous rectification circuit 43 controls the gate voltage of the switch unit 42 so that the drain-source voltage value of the switch unit 42 becomes a predetermined voltage value (for example, about 30 mV).
- the first OFF detection circuit 39 is input with the voltage between the first charge suppression circuit 31 and the first switching circuit 36 in the first power supply line 91.
- the first off detection circuit 39 detects that the switch section 32 and the switch section 37 are off.
- the first off detection circuit 39 outputs the first off detection signal SB1 (high level signal) when the switch section 32 and the switch section 37 are off.
- the first off detection circuit 39 does not output the first off detection signal SB1 when the switch part 32 and/or the switch part 37 is on. In this case, the output port of the first off detection signal SB1 in the first off detection circuit 39 becomes low level.
- the voltage between the second charge suppression circuit 41 and the second switching circuit 46 in the second power supply line 92 is input to the second off detection circuit 49.
- the second off detection circuit 49 detects that the switch section 42 and the switch section 47 are off.
- the second off detection circuit 49 outputs the second off detection signal SB2 (high level signal) when the switch section 42 and the switch section 47 are off.
- the second off detection circuit 49 does not output the second off detection signal SB2 when the switch section 42 and/or the switch section 47 is on. In this case, the output port of the second off detection signal SB2 in the second off detection circuit 49 becomes low level.
- the motor drive circuit 22 converts the electric power supplied from the first battery pack 5 or the second battery pack 7 (hereinafter referred to as “battery electric power”) into the above-mentioned motor drive power, and supplies the electric power to the motor 21.
- the motor drive power is, for example, three-phase power.
- the motor drive circuit 22 of this embodiment includes, for example, an inverter (not shown).
- the inverter includes a U-phase switch pair, a V-phase switch pair, and a W-phase switch pair that are connected in parallel with each other.
- Each of the U-phase switch pair, the V-phase switch pair, and the W-phase switch pair includes two semiconductor switching elements that are connected in series. That is, the motor drive circuit 22 includes six semiconductor switching elements.
- the U-phase switch pair, the V-phase switch pair, and the W-phase switch pair are connected to the motor 21.
- the U-phase switch pair supplies the U-phase voltage to the motor 21.
- the U-phase voltage is the voltage at the connection point of two semiconductor switching elements connected in series in the U-phase switch pair.
- the V-phase switch pair supplies the V-phase voltage to the motor 21.
- the V-phase voltage is the voltage at the connection point of two semiconductor switching elements connected in series in the V-phase switch pair.
- the W-phase switch pair supplies the W-phase voltage to the motor 21.
- the W-phase voltage is the voltage at the connection point of two semiconductor switching elements connected in series in the W-phase switch pair.
- the motor drive circuit 22 is connected to the control circuit 23 via the drive line 90.
- the motor drive circuit 22 receives a motor drive command SD from the control circuit 23 via the drive line 90.
- the motor drive circuit 22 turns on or off the six semiconductor switching elements according to the motor drive command SD.
- motor drive power including the U-phase voltage, the V-phase voltage, and the W-phase voltage described above is generated.
- the drive line 90 is provided with a cutoff switch 29.
- the cutoff switch 29 connects or disconnects the drive line 90.
- the cutoff switch 29 When the cutoff switch 29 is turned on, the motor drive command SD output from the control circuit 23 is input to the motor drive circuit 22 via the cutoff switch 29.
- the cutoff switch 29 When the cutoff switch 29 is turned off, the transmission of the motor drive command SD from the control circuit 23 to the motor drive circuit 22 is cut off.
- the cutoff switch 29 is turned on or off according to the cutoff information SS output from the cutoff latch circuit 70.
- the cutoff switch 29 is turned on when the logic level of the cutoff information SS is a high level.
- the cutoff switch 29 is turned off when the logic level of the cutoff information SS is a low level.
- the high-level cutoff information SS indicates command permission.
- the low-level cutoff information SS indicates command cutoff.
- the break switch 29 may be configured in any way.
- the cutoff switch 29 may include, for example, a MOSFET.
- the overvoltage detection circuit 50, the current detection circuit 55, and the overheat detection unit 60 are provided to detect five abnormal states.
- the five abnormal states include an overvoltage state, an overcurrent state, a U-phase overheated state, a V-phase overheated state, and a W-phase overheated state.
- the overvoltage state indicates, for example, a state in which the input battery voltage value is higher than the specified normal voltage range.
- the input battery voltage value is the value of the input battery voltage supplied to the motor drive circuit 22 via the main power supply line 93.
- the overcurrent state indicates, for example, a state in which the motor current value is higher than the specified normal current range.
- the motor current value is the value of the current supplied to the motor 21 via the motor drive circuit 22.
- the U-phase overheating state indicates, for example, a state in which the U-phase temperature described later is higher than the specified normal temperature range.
- the V-phase overheated state indicates, for example, a state in which a V-phase temperature described later has a value higher than a specified normal temperature range.
- the W-phase overheated state indicates, for example, a state in which the W-phase temperature described later has a value higher than the specified normal temperature range.
- the overvoltage detection circuit 50, the current detection circuit 55, and the overheat detection unit 60 detect the corresponding abnormal state not by software processing based on a program (computer program) but by hardware processing.
- the overvoltage detection circuit 50 detects the input battery voltage value and outputs information based on the detected input battery voltage value. Specifically, the overvoltage detection circuit 50 outputs the voltage signal SV.
- the voltage signal SV is an analog signal indicating the input battery voltage value.
- the overvoltage detection circuit 50 further has a function of detecting an overvoltage state. Specifically, the overvoltage detection circuit 50 outputs the overvoltage signal So1 when the input battery voltage value is, for example, the first voltage threshold or more.
- the overvoltage signal So1 indicates that an overvoltage state has occurred.
- the first voltage threshold may be, for example, a value higher than the normal voltage range described above.
- the overvoltage detection circuit 50 receives the second pseudo signal SF2 from the control circuit 23.
- the control circuit 23 outputs the second pseudo signal SF2 when executing the overvoltage protection function diagnosis described later.
- the overvoltage detection circuit 50 may be configured as shown in FIG. 3, for example. As shown in FIG. 3, the overvoltage detection circuit 50 includes a comparator 51, a buffer 52, resistors R3 and R4, a capacitor C1, and a diode D1.
- the anode of the diode D1 is connected to the main power supply line 93.
- the cathode of diode D1 is connected to the first terminal of resistor R3.
- the second terminal of resistor R3 is connected to the first terminal of resistor R4.
- the second terminal of the resistor R4 is connected to the ground line.
- the first terminal of the capacitor C1 is connected to the cathode of the diode D1.
- the second terminal of the capacitor C1 is connected to the ground line.
- the circuit including the diode D1 and the capacitor C1 functions as a so-called peak hold circuit.
- the voltage at the connection point between the resistors R3 and R4 (that is, the voltage at the first terminal of the resistor R4) is output to the control circuit 23 as a voltage signal SV.
- the voltage at the connection point between the resistors R3 and R4 is further input to the comparator 51.
- the comparator 51 is configured not to output the overvoltage signal So1 when the input battery voltage value is lower than the first voltage threshold value, and to output the overvoltage signal So1 when the input battery voltage value is equal to or higher than the first voltage threshold value. ..
- the buffer 52 receives the second pseudo signal SF2.
- the output signal of the buffer 52 is input to the comparator 51.
- the voltage value of the second pseudo signal SF2 is a value that allows the comparator 91 to output the overvoltage signal So1 if the overvoltage detection circuit 50 is normal.
- the comparator 51 outputs the overvoltage signal So1 in response to receiving the second pseudo signal SF2. Therefore, if the overvoltage detection circuit 50 is normal, the overvoltage detection circuit 50 outputs the overvoltage signal So1 in response to the second pseudo signal SF2 even if the overvoltage state does not actually occur.
- the second pseudo signal SF2 is a signal for artificially generating an overvoltage state.
- the current detection circuit 55 detects the motor current value and outputs information based on the detected motor current value. Specifically, the current detection circuit 55 outputs the current signal SC.
- the current signal SC is an analog signal indicating the motor current value.
- the current detection circuit 55 further has a function of detecting an overcurrent state. Specifically, the current detection circuit 55 outputs the overcurrent signal So2 when the motor current value is, for example, the first current threshold value or more.
- the overcurrent signal So2 indicates that an overcurrent state has occurred.
- the first current threshold may be, for example, a value higher than the normal current range described above.
- the current detection circuit 55 may be configured as shown in FIG. 3, for example. As shown in FIG. 3, the current detection circuit 55 includes an amplifier circuit 57, a comparator 56, and a resistor R5. The resistor R5 is provided in the energizing path through which the motor current flows, and the motor current flows therethrough. Therefore, a voltage corresponding to the value of the motor current is generated across the resistor R5. The amplifier circuit 57 amplifies the voltage across the resistor R5.
- the voltage amplified by the amplifier circuit 57 is output to the control circuit 23 as a current signal SC.
- the voltage amplified by the amplifier circuit 57 is further input to the comparator 56.
- the comparator 56 does not output the overcurrent signal So2 when the motor current value is lower than the first current threshold value.
- the comparator 56 outputs the overcurrent signal So2 when the motor current value is equal to or higher than the first current threshold value.
- the overheat detection unit 60 detects the temperature of the motor drive circuit 22. More specifically, the overheat detection unit 60 includes a first overheat detection circuit 61, a second overheat detection circuit 62, and a third overheat detection circuit 63, as shown in FIG.
- the first overheat detection circuit 61 detects the temperature of the U-phase switch pair in the motor drive circuit 22 (hereinafter, referred to as “U-phase temperature”).
- the U-phase temperature may be, for example, the temperature of one of the two semiconductor switching elements included in the U-phase switch pair.
- the U-phase temperature may be, for example, the temperature of one of the two semiconductor switching elements whose ON period is relatively long.
- the first overheat detection circuit 61 outputs information based on the detected U-phase temperature. Specifically, the first overheat detection circuit 61 outputs the first temperature signal STM1.
- the first temperature signal STM1 is an analog signal indicating the U-phase temperature.
- the first overheat detection circuit 61 further has a function of detecting a U-phase overheat state. Specifically, the first overheat detection circuit 61 outputs the first overheat signal So31 when the U-phase temperature is, for example, the first U-phase temperature threshold or higher. The first overheat signal So31 indicates that the U-phase overheat state has occurred.
- the first U-phase temperature threshold may be, for example, a value higher than the above-mentioned normal temperature range.
- the first overheat detection circuit 61 receives the third pseudo signal SF31 from the control circuit 23.
- the control circuit 23 outputs the third pseudo signal SF31 when executing the first overheat protection function diagnosis described later.
- the first overheat detection circuit 61 may be configured as shown in FIG. 3, for example. As shown in FIG. 3, the first overheat detection circuit 61 includes a temperature detection element 66, a comparator 67, a switch 68, and a resistor R6. The temperature detection element 66 is provided at or near the U-phase temperature detection target so as to detect the U-phase temperature. In the present embodiment, the temperature detecting element 66 may be, for example, an NTC thermistor having a negative resistance temperature characteristic.
- the first terminal of the resistor R6 is connected to the control power line.
- the second terminal of the resistor R6 is connected to the first terminal of the temperature detecting element 66.
- the second terminal of the temperature detecting element 66 is connected to the ground line.
- the first terminal of the switch 68 is connected to the connection point between the resistor R6 and the temperature detection element 66 (that is, the first terminal of the temperature detection element 66).
- the second terminal of the switch 68 is connected to the ground line.
- the voltage at the connection point between the resistor R6 and the temperature detection element 66 is output to the control circuit 23 as the first temperature signal STM1.
- the voltage at the connection point between the resistor R6 and the temperature detection element 66 is further input to the comparator 67.
- the comparator 67 does not output the first overheat signal So31 when the U-phase temperature is lower than the first U-phase temperature threshold value, and outputs the first overheat signal So31 when the U-phase temperature is equal to or higher than the first U-phase temperature threshold value. It is configured.
- the switch 68 is normally off when the third pseudo signal SF31 is not input to the first overheat detection circuit 61.
- the switch 68 is turned on while the third pseudo signal SF3 is input to the first overheat detection circuit 61.
- the value of the voltage input to the comparator 67 becomes approximately 0V. In this case, if the first overheat detection circuit 61 is normal, the comparator 67 outputs the first overheat signal So31. That is, even if the U-phase overheat state does not actually occur, when the third pseudo signal SF31 is input to the first overheat detection circuit 61, the pseudo U-phase overheat state occurs.
- the second overheat detection circuit 62 and the third overheat detection circuit 63 have the same configuration as the first overheat detection circuit 61 except for the position where the temperature detection element 66 is provided.
- the second overheat detection circuit 62 detects the temperature of the V-phase switch pair in the motor drive circuit 22 (hereinafter referred to as “V-phase temperature”).
- the V-phase temperature may be the temperature of one of the two semiconductor switching elements included in the V-phase switch pair, like the U-phase temperature.
- the second overheat detection circuit 62 outputs an analog second temperature signal STM2 indicating the detected V-phase temperature.
- the second overheat detection circuit 62 further has a function of detecting the V-phase overheat state. Specifically, the second overheat detection circuit 62 outputs the second overheat signal So32 when the V-phase temperature is, for example, the first V-phase temperature threshold or higher. The second overheat signal So32 indicates that the V-phase overheat state is occurring.
- the first V-phase temperature threshold may be, for example, a value higher than the above-mentioned normal temperature range.
- the second overheat detection circuit 62 receives the fourth pseudo signal SF32 from the control circuit 23.
- the control circuit 23 outputs the fourth pseudo signal SF32 when executing the second overheat protection function diagnosis described later.
- the fourth pseudo signal SF32 is input to the second overheat detection circuit 62, the V phase overheat state is artificially generated even if the V phase overheat state is not actually generated.
- the second overheat detection circuit 62 outputs the second overheat signal So32 when receiving the fourth pseudo signal SF2.
- the third overheat detection circuit 63 detects the temperature of the W-phase switch pair in the motor drive circuit 22 (hereinafter referred to as “W-phase temperature”).
- W-phase temperature may be, for example, one of the two semiconductor switching elements included in the W-phase switch pair, like the U-phase temperature.
- the third overheat detection circuit 63 outputs an analog third temperature signal STM3 indicating the detected W-phase temperature.
- the third overheat detection circuit 63 further has a function of detecting a W-phase overheat state. Specifically, the third overheat detection circuit 63 outputs the third overheat signal So33 when the W-phase temperature is, for example, the first W-phase temperature threshold or higher.
- the third overheat signal So33 indicates that the W-phase overheat state has occurred.
- the first W-phase temperature threshold value may be, for example, a value higher than the normal temperature range described above.
- the third overheat detection circuit 63 receives the fifth pseudo signal SF33 from the control circuit 23.
- the control circuit 23 outputs the fifth pseudo signal SF33 when executing the third overheat protection function diagnosis described later.
- the fifth pseudo signal SF33 is input to the third overheat detection circuit 63, the W-phase overheat state is artificially generated even if the W-phase overheat state is not actually generated.
- the third overheat detection circuit 63 Upon receiving the fifth pseudo signal SF3, the third overheat detection circuit 63 outputs the third overheat signal So33.
- At least two of the first U-phase temperature threshold, the first V-phase temperature threshold and the first W-phase temperature threshold may be equal.
- the first U-phase temperature threshold, the first V-phase temperature threshold and the first W-phase temperature threshold may be different from each other.
- the cutoff latch circuit 70 receives the trigger determination information STR.
- the cutoff latch circuit 70 can further receive an overvoltage signal So1, an overcurrent signal So2, a first overheat signal So31, a second overheat signal So32, and a third overheat signal So33.
- the cutoff latch circuit 70 outputs cutoff information SS based on these information and signals.
- the cutoff latch circuit 70 may also output abnormality detection information Sor.
- the cutoff latch circuit 70 turns on the cutoff switch 29 by outputting the high level cutoff information SS indicating the command permission when the electric working machine 1 is in the drive permission state.
- the drive permission state means a state in which the motor 21 may be driven.
- the cutoff latch circuit 70 outputs the low level cutoff information SS indicating the command cutoff to turn off the cutoff switch 29.
- the drive prohibited state means a state in which the motor 21 should not be driven.
- the drive permission state includes the state in which the trigger determination information STR indicates the trigger on state and the abnormality undetected state.
- the abnormality undetected state indicates a state in which the overvoltage signal So1, the overcurrent signal So2, the first overheat signal So31, the second overheat signal So32, and the third overheat signal So33 are not input.
- the abnormality-undetected state indicates a state in which none of the above-mentioned five abnormal states has been detected.
- the drive prohibition state includes a state in which the trigger determination information STR indicates a trigger off state and/or an abnormality detection state.
- the abnormality detection state indicates a state in which the overvoltage signal So1, the overcurrent signal So2, the first overheat signal So31, the second overheat signal So32, and/or the third overheat signal So33 are input.
- the abnormality detection state indicates a state in which one or more of the above-mentioned five abnormal states are detected.
- the cutoff latch circuit 70 further has a cutoff latch function.
- the cutoff latch function is such that at least the trigger operating unit 20 is once turned off even if the electric work machine 1 changes to the undetected abnormality state after the cutoff switch 29 is turned off due to the electric work machine 1 being in the abnormality detection state. Until that time, the function is to keep the cutoff switch 29 off.
- the interruption latch circuit 70 keeps the interruption switch 29 off by continuously outputting the interruption information SS indicating the instruction interruption.
- the cutoff latch circuit 70 may be configured as shown in FIG. 3, for example.
- the cutoff latch circuit 70 includes a first flip-flop (FF) 71, an OR circuit 72, a NOT circuit 73, an OR circuit 74, a second FF 75, an AND circuit 76, and a resistor R7. , R8 and capacitors C2 and C3.
- the first FF 71 and the second FF 75 are, for example, D-type FFs.
- the first FF 71 and the second FF 75 have a clock input terminal, a data input terminal, and an output terminal.
- Each of the first FF 71 and the second FF 75 outputs the logic of the signal input to the data input terminal at every rising edge (that is, the change in the logic level from the low level to the high level) of the signal input to the clock input terminal.
- the signal of the same logic level as the level is output from the output terminal.
- the first FF 71 and the second FF 75 after the rising edge occurs, until the rising edge occurs again, even if the logical level of the signal input to the data input terminal changes, the logical level of the signal output from the output terminal. To maintain.
- the OR circuit 72 has five input terminals.
- An overvoltage signal So1, an overcurrent signal So2, a first overheat signal So31, a second overheat signal So32, and a third overheat signal So33 can be input to the five input terminals.
- the OR circuit 72 calculates the logical sum of the signals input to the five input terminals and outputs the calculation result.
- the trigger determination information STR is input to the clock input terminal of the first FF 71 and the AND circuit 76.
- the trigger determination information STR is further input to the OR circuit 74 via the capacitor C2.
- a resistor R8 is connected between the connection point between the capacitor C2 and the OR circuit 74 and the ground line.
- the circuit including the capacitor C2 and the resistor R8 functions as a differentiating circuit that differentiates the trigger determination information STR and outputs it to the OR circuit 74.
- the output signal of the OR circuit 72 is input to the NOT circuit 73 and also to the OR circuit 74 via the resistor R7.
- the output signal of the OR circuit 72 is further input to the control circuit 23 as the abnormality detection information Sor.
- a capacitor C3 is connected between the connection point between the resistor R7 and the OR circuit 74 and the ground line.
- the circuit including the resistor R7 and the capacitor C3 functions as an integrating circuit that integrates the output signal of the OR circuit 72 and outputs the integrated signal to the OR circuit 74.
- the output signal of the OR circuit 74 is input to the clock input terminal of the second FF 75.
- the output signal of the NOT circuit 73 is input to the data input terminal of the first FF 71 and the data input terminal of the second FF 75.
- the output signal of the first FF 71 and the output signal of the second FF 75 are input to the AND circuit 76.
- the cutoff latch circuit 70 configured as described above operates as follows, for example. For example, it is assumed that the electric working machine 1 is in the abnormal undetected state and the logic level of the trigger determination information STR is the low level indicating the trigger off state. In this situation, the output signal of the AND circuit 76 is low level. That is, in this situation, the cutoff information SS indicates the command cutoff. Therefore, the cutoff switch 29 is turned off.
- the overvoltage signal So1, the overcurrent signal So2, the first overheat signal So31, the second overheat signal So32, and the third overheat signal So33 are not input to the OR circuit 72.
- the logic levels of the data input terminals of the first FF 71 and the second FF 75 are high level.
- the logic level of the trigger determination information STR changes to the high level indicating the trigger-on state.
- the logic level of the trigger determination information STR changes to the high level
- rising edges occur in the signals input to the clock input terminals of the first FF 71 and the second FF 75. Therefore, the logic levels of the signals output from the output terminals of the first FF 71 and the second FF 75 change to the high level.
- the output signal of the AND circuit 76 changes to the high level. That is, in this case, the cutoff information SS changes to information indicating the command permission. Therefore, the cutoff switch 29 is turned on.
- the output signal of the second FF 75 changes to the low level
- the output signal of the AND circuit 76 changes to the low level. That is, the cutoff information SS changes to information indicating the command cutoff. Therefore, the cutoff switch 29 is turned off.
- the time difference from the timing when the logic level of the data input terminal becomes the low level to the timing when the logic level of the clock input terminal becomes the high level is based on the time constant of the integration circuit described above.
- the high level signal input to the OR circuit 72 is changed to the low level because the abnormality is recovered from the situation in which the interruption information SS indicating the instruction interruption is output due to the abnormality. Assume the situation. In this situation, the logic levels of the data input terminals of the first FF 71 and the second FF 75 change to the high level. However, while the trigger determination information STR is maintained at the high level, the output signals of the first FF 71 and the second FF 75 do not change, and the cutoff information SS is maintained as the information indicating the command cutoff. Therefore, the cutoff switch 29 is maintained in the off state.
- the trigger operation unit 20 is turned off and then turned on again.
- the logic levels of the clock input terminals of the first FF 71 and the second FF 75 change to the low level.
- the trigger operating unit 20 is turned on again after the trigger operating unit 20 is turned off, the logic levels of the clock input terminals of the first FF 71 and the second FF 75 change to the high level, and the output signals of the first FF 71 and the second FF 75 change. Change to high level.
- the output signal of the AND circuit 76 changes to high level, and the cutoff information SS changes to information indicating command permission. Therefore, the cutoff switch 29 is turned on.
- the cutoff latch circuit 70 executes various functions including a function of outputting cutoff information SS and a cutoff latch function by hardware processing without performing software processing.
- the control circuit 23 operates with the power supply voltage supplied from the power supply circuit described above.
- the control circuit 23 includes a microcomputer including a CPU 24 and a memory 25.
- the memory 25 may include a semiconductor memory such as a RAM, a ROM, or a flash memory.
- the memory 25 stores various programs and data read and executed by the CPU 24 to achieve various functions of the electric working machine 1. These various functions are not limited to the software processing as described above, and some or all of them may be achieved by hardware including a logic circuit, an analog circuit, and the like.
- the control circuit 23 controls the first trigger information ST1, the second trigger information ST2, the trigger determination information STR, the first discharge permission signal SA1, the second discharge permission signal SA2, the first off detection signal SB1, and the second off detection signal SB2.
- the cutoff information SS, the voltage signal SV, the current signal SC, the first temperature signal STM1 to the third temperature signal STM3, and the abnormality detection information Sor are received.
- the control circuit 23 further receives from the main power switch 30 information indicating the operation of the main power switch 30 by the user.
- the control circuit 23 enables or disables the main operation of the electric working machine 1 based on the information input from the main power switch 30.
- the control circuit 23 alternately enables or disables the main operation each time the main power switch 30 is pushed back.
- the control circuit 23 executes various functions based on the above-mentioned information and signals input to the control circuit 23.
- control circuit 23 of the present embodiment disables the main operation if the trigger operation unit 20 is not pulled and operated for a specified time even if the main power switch 30 is not operated.
- the control circuit 23 When the control circuit 23 receives the first discharge permission signal SA1 and the second discharge permission signal SA2, the control circuit 23 outputs the third discharge permission signal SA3 or the fourth discharge permission signal SA4. In this case, the switch unit 37 on the first power supply line 91 or the switch unit 47 on the second power supply line 92 is turned on.
- the control circuit 23 When the control circuit 23 receives the first discharge permission signal SA1 but not the second discharge permission signal SA2, the control circuit 23 outputs the third discharge permission signal SA3 and the fourth discharge permission signal SA4. do not do. In this case, the switch unit 37 on the first power supply line 91 is turned on, and the switch unit 47 on the second power supply line 92 is turned off.
- the control circuit 23 When the control circuit 23 receives the second discharge permission signal SA2 and not the first discharge permission signal SA1, the control circuit 23 outputs the fourth discharge permission signal SA4 and outputs the third discharge permission signal SA3. do not do. In this case, the switch unit 47 on the second power supply line 92 is turned on, and the switch unit 37 on the first power supply line 91 is turned off.
- the control circuit 23 drives the motor 21 by outputting the motor drive command SD to the motor drive circuit 22 when the trigger operation unit 20 is turned on during the enabling period in which the main operation is enabled.
- the control circuit 23 determines that the trigger operating unit 20 has been turned on, and the motor The drive command SD is output.
- the control circuit 23 determines that the trigger operating unit 20 has been turned off. , The motor drive command SD is not output.
- the control circuit 23 outputs the trigger detection information ST0 to the first battery pack 5 and the second battery pack 7.
- the trigger detection information ST0 indicates whether or not the trigger operation unit 20 is turned on.
- the control circuit 23 determines that the trigger operation unit 20 is turned off, the control circuit 23 outputs the trigger detection information ST0 whose logic level is low.
- the trigger detection information ST0 whose logic level is low indicates that the trigger operation unit 20 is off.
- the control circuit 23 determines that the trigger operation unit 20 is turned on, the control circuit 23 outputs the trigger detection information ST0 whose logic level is high.
- the trigger detection information ST0 whose logic level is high indicates that the trigger operating unit 20 is turned on. While the power supply voltage is not supplied to the control circuit 23 and the operation of the control circuit 23 is stopped, the logic level of the trigger detection information ST0 is maintained at the low level.
- the control circuit 23 stores the motor drive history indicating that the motor 21 has been driven in the memory 25.
- the control circuit 23 has an abnormality detection function.
- the abnormality detection function specifically includes an overvoltage detection function, an overcurrent detection function, and an overheat detection function.
- the abnormality detection function is executed by the CPU 24 in the control circuit 23 by executing a main process described later. That is, these abnormality detection functions are executed based on software.
- the overvoltage detection function is a function that detects the above-mentioned overvoltage state.
- Control circuit 23 detects the overvoltage state based on the input battery voltage value indicated by voltage signal SV received from overvoltage detection circuit 50. For example, the control circuit 23 may determine that the overvoltage state has occurred when the input battery voltage value is equal to or higher than the second voltage threshold value.
- the second voltage threshold may be, for example, a value higher than the normal voltage range described above.
- the second voltage threshold may be, for example, the same value as the first voltage threshold, may be larger than the first voltage threshold, or may be smaller than the first voltage threshold.
- the overcurrent detection function is a function to detect the above-mentioned overcurrent state.
- the control circuit 23 detects the overcurrent state based on the motor current value indicated by the current signal SC received from the current detection circuit 55. For example, the control circuit 23 may determine that the overcurrent state has occurred when the motor current value is equal to or higher than the second current threshold value.
- the second current threshold may be, for example, a value higher than the normal current range described above.
- the second current threshold value may be, for example, the same value as the first current threshold value, may be larger than the first current threshold value, or may be smaller than the first current threshold value.
- the overheat detection function has a first overheat detection function, a second overheat detection function, and a third overheat detection function.
- the first overheat detection function is a function to detect the above-mentioned U-phase overheat state.
- the control circuit 23 detects the U-phase overheat state based on the U-phase temperature indicated by the first temperature signal STM1 received from the first overheat detection circuit 61. For example, the control circuit 23 may determine that the U-phase overheat state has occurred when the U-phase temperature is equal to or higher than the second U-phase temperature threshold.
- the second U-phase temperature threshold may be a value higher than the normal temperature range described above.
- the second U-phase temperature threshold value may be, for example, the same value as the first U-phase temperature threshold value, may be higher than the first U-phase temperature threshold value, or may be lower than the first U-phase temperature threshold value.
- the second overheat detection function is a function to detect the above-mentioned V-phase overheat state.
- the control circuit 23 detects the V-phase overheat state based on the V-phase temperature indicated by the second temperature signal STM2 received from the second overheat detection circuit 62. For example, the control circuit 23 may determine that the V-phase overheat state has occurred when the V-phase temperature is equal to or higher than the second V-phase temperature threshold.
- the second V-phase temperature threshold may be a value higher than the above-mentioned normal temperature range.
- the second V-phase temperature threshold value may be, for example, the same value as the first V-phase temperature threshold value, may be higher than the first V-phase temperature threshold value, or may be lower than the first V-phase temperature threshold value.
- the third overheat detection function is a function to detect the above-mentioned W-phase overheat state.
- the control circuit 23 detects the W-phase overheat state based on the W-phase temperature indicated by the third temperature signal STM3 received from the third overheat detection circuit 63. For example, the control circuit 23 may determine that the W-phase overheat state has occurred when the W-phase temperature is equal to or higher than the second W-phase temperature threshold.
- the second W-phase temperature threshold may be a value higher than the normal temperature range described above.
- the second W-phase temperature threshold value may be, for example, the same value as the first W-phase temperature threshold value, may be higher than the first W-phase temperature threshold value, or may be lower than the first W-phase temperature threshold value.
- the second U-phase temperature threshold, the second V-phase temperature threshold and the second W-phase temperature threshold may have the same value, or any two of them may have the same value, or all may have different values.
- the control circuit 23 executes the forced stop function while outputting the motor drive command SD.
- the forced stop function stops the output of the motor drive command SD and stops the motor 21 even if the trigger operation unit 20 is turned on in response to the detection of any of the abnormalities by the abnormality detection function. Including that.
- the forced stop function includes storing the abnormal drive history in the memory 25. The abnormal drive history indicates that an abnormality has been detected while driving the motor.
- the control circuit 23 has a self-diagnosis function.
- the self-diagnosis function is a function of executing a plurality of self-diagnosis corresponding to a plurality of diagnosis items one by one in a prescribed order at corresponding diagnosis timings.
- the plurality of diagnostic items include, for example, a first diagnostic item, a second diagnostic item, a third diagnostic item, a fourth diagnostic item, a fifth diagnostic item, and a sixth diagnostic item.
- the first diagnostic item is trigger detection function diagnostics.
- the second diagnosis item is a power supply line function diagnosis.
- the third diagnosis item is the first overheat protection function diagnosis.
- the fourth diagnosis item is the second overheat protection function diagnosis.
- the fifth diagnosis item is the third overheat protection function diagnosis.
- the sixth diagnostic item is overvoltage protection function diagnostics.
- the prescribed order for executing self-diagnosis for each diagnostic item may be any order.
- the first order is the first diagnosis item
- the second is the second diagnosis item
- the third is the third diagnosis item
- the fourth is the fourth diagnosis item
- the fifth is the fifth diagnosis item.
- the sixth is the sixth diagnostic item. After the sixth diagnosis item, the first diagnosis item is returned to, and the diagnosis is executed again in the above order from the first diagnosis item.
- the diagnostic timing of each diagnostic item corresponds to the disabling timing, except for the diagnostic timing of the power supply line functional diagnostics, for example.
- the disabling timing is when the main operation is disabled.
- the disabling timing may correspond to any timing from immediately after the main operation is disabled until a fixed time elapses.
- the control circuit 23 of the present embodiment is configured to interrupt the self-diagnosis when the trigger operation unit 20 is turned on during execution of the self-diagnosis. If the self-diagnosis is executed at the timing when the trigger operation unit 20 is unlikely to be turned on, the self-diagnosis is less likely to be interrupted. It can be considered that the disabling timing corresponds to the timing at which the user of the electric working machine 1 indicates that the work using the electric working machine 1 is completed. It is expected that the trigger operation unit 20 is unlikely to be turned on for a while after this timing. Therefore, in the present embodiment, the diagnostic timing of each diagnostic item is set to the disabling timing except the diagnostic timing of the power supply line functional diagnostic.
- the control circuit 23 does not execute the self-diagnosis when the motor driving history is not stored during the immediately preceding enabling period or when the abnormal driving history is stored during the immediately preceding enabling period at the disable timing. In this case, the diagnostic item at the next diagnostic timing is set again to the diagnostic item not executed this time.
- the immediately preceding enabling period means the immediately preceding enabling period of the disable timing.
- the fact that the motor drive history has not been stored during the immediately preceding enabling period means that the motor 21 has not been driven during the immediately preceding enabling period.
- the fact that the abnormal drive history is stored during the immediately preceding enabling period means that during the immediately preceding enabling period, an abnormality was detected while the motor 21 was being driven and the motor 21 was stopped.
- the execution timing of the power supply line function diagnosis corresponds to the enabling timing, for example.
- the enabling timing is when the main operation is enabled.
- the enabling timing may correspond to any timing from immediately after the main operation is enabled until a fixed time elapses.
- the control circuit 23 stores, in the memory 25, a self-diagnosis history showing the result of self-diagnosis for each diagnostic item. Specifically, the control circuit 23 stores information indicating abnormality determination as a self-diagnosis history when the result of the diagnosis indicates abnormality. In this case, the control circuit 23 re-executes the self-diagnosis of the same diagnostic item as this time at the next enabling timing. The control circuit 23 stores information indicating normality determination as a self-diagnosis history when the diagnosis result indicates normality.
- control circuit 23 When the diagnosis is interrupted without being normally completed, the control circuit 23 performs the self-diagnosis of the same diagnosis item as this time again at the regular diagnosis timing corresponding to the diagnosis item that comes first after the interruption. Execute.
- the control circuit 23 diagnoses whether the trigger detection circuit 80 and the cutoff latch circuit 70 operate normally. Specifically, the control circuit 23 outputs the first pseudo signal SF1 to the trigger detection circuit 80 to set the first trigger information ST1 to information indicating a pseudo trigger-on state (that is, high level).
- the control circuit 23 executes the diagnosis based on the first trigger information ST1, the second trigger information ST2, and the cutoff information SS received by the control circuit 23 while outputting the first pseudo signal SF1.
- the main power switch 30 is off. Therefore, if the trigger detection circuit 80 and the cutoff latch circuit 70 are normal, when the first pseudo signal SF1 is output, the first trigger information ST1 becomes high level, the second trigger information ST2 becomes low level, and the cutoff information SS. Becomes a low level.
- the control circuit 23 when the above-mentioned respective information is proper information (that is, the first trigger information ST1 is high level, the second trigger information ST2 and the cutoff information SS are low level), the trigger detection circuit 80 and the cutoff latch. It is determined that the circuit 70 operates normally. In this case, the control circuit 23 determines that the self-diagnosis result is normal, and stores the self-diagnosis history indicating the normal determination in the memory 25.
- the control circuit 23 determines that the trigger detection circuit 80 does not operate normally when the first trigger information ST1 is not proper information. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the control circuit 23 determines that the trigger detection circuit 80 or the cutoff latch circuit 70 does not operate normally. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- control circuit 23 may determine that the trigger detection circuit 80 does not operate normally, but in this embodiment, the diagnosis is interrupted.
- control circuit 23 diagnoses whether the first switching circuit 36 and the second switching circuit 46 operate normally.
- the control circuit 23 outputs the third discharge permission signal SA3 when the first discharge permission signal SA1 is not received from the first battery pack 5.
- the control circuit 23 receives the first off detection signal SB1 from the first off detection circuit 39 while outputting the third discharge permission signal SA3 (that is, when the switch sections 32 and 37 are off), It is determined that the first switching circuit 36 is normal.
- the control circuit 23 does not receive the first off detection signal SB1 from the first off detection circuit 39 while outputting the third discharge permission signal SA3, the control circuit 23 determines that the first switching circuit 36 is not normal. ..
- the control circuit 23 further outputs the fourth discharge permission signal SA4 when the second discharge permission signal SA2 is not received from the second battery pack 7.
- the control circuit 23 receives the second off detection signal SB2 from the second off detection circuit 49 while outputting the fourth discharge permission signal SA4 (that is, when the switch sections 42 and 47 are off), It is determined that the second switching circuit 46 is normal.
- the control circuit 23 does not receive the second off detection signal SB2 from the second off detection circuit 49 while outputting the fourth discharge permission signal SA4, the control circuit 23 determines that the second switching circuit 46 is not normal. ..
- the control circuit 23 determines that the self-diagnosis result is normal when the power supply line function diagnosis does not determine that the result is not normal. In this case, the control circuit 23 stores the self-diagnosis history indicating the normality determination in the memory 25. If the control circuit 23 determines that either one of the first switching circuit 36 and the second switching circuit 46 is not normal, the control circuit 23 determines that the self-diagnosis result is abnormal. In this case, the control circuit 23 stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the battery abnormality detection circuit 12 when the abnormality of the first battery pack 5 is not detected, the battery abnormality detection circuit 12 outputs the first discharge permission signal SA1 based on the trigger detection information ST0. More specifically, the battery abnormality detection circuit 12 recognizes that the trigger operation unit 20 has been turned on based on the trigger detection information ST0, and then, for a certain period of time after the recognition, the first discharge permission is permitted. The signal SA1 is output. Depending on the usage status of the electric working machine 1 by the user, the main operation may be disabled before a certain period of time has elapsed after the trigger operation unit 20 was turned on.
- the main operation may be disabled while the first discharge permission signal SA1 is being output.
- the power supply line function diagnosis cannot be properly executed.
- the diagnosis timing of the power supply line function diagnosis is set to the enabling timing.
- the control circuit 23 diagnoses whether or not the first overheat detection circuit 61 and the cutoff latch circuit 70 operate normally. Specifically, the control circuit 23 outputs the third pseudo signal SF31 to the first overheat detection circuit 61 to artificially generate the U-phase overheat state. The control circuit 23 executes the diagnosis based on the first temperature signal STM1 and the abnormality detection information Sor received by the control circuit 23 while outputting the third pseudo signal SF31.
- the control circuit 23 determines the first overheat detection circuit 61 and the cutoff latch circuit. It is determined that 70 operates normally. In this case, the control circuit 23 determines that the self-diagnosis result is normal, and stores the self-diagnosis history indicating the normal determination in the memory 25.
- the U-phase threshold value may be any value.
- the U-phase threshold value may be, for example, a specific value higher than the above-mentioned normal temperature range.
- the U-phase threshold may be the same value as the above-mentioned first U-phase temperature threshold or second U-phase temperature threshold, for example.
- the control circuit 23 determines that the first overheat detection circuit 61 does not operate normally when the U-phase temperature indicated by the first temperature signal STM1 is lower than the U-phase threshold. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the control circuit 23 shuts off the shutoff latch. It is determined that the circuit 70 does not operate normally. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the control circuit 23 In the second overheat protection function diagnosis, the control circuit 23 outputs the fourth pseudo signal SF32 to the second overheat detection circuit 62. Then, the control circuit 23 determines, based on the second temperature signal STM2 and the abnormality detection information Sor, whether the second overheat detection circuit 62 and the cutoff latch circuit 70 operate normally in the same manner as the first overheat protection function diagnosis. To diagnose.
- the control circuit 23 In the third overheat protection function diagnosis, the control circuit 23 outputs the fifth pseudo signal SF33 to the third overheat detection circuit 63. Then, the control circuit 23 determines, based on the third temperature signal STM3 and the abnormality detection information Sor, whether or not the third overheat detection circuit 63 and the cutoff latch circuit 70 operate normally in the same manner as the first overheat protection function diagnosis. To diagnose.
- the control circuit 23 diagnoses whether the overvoltage detection circuit 50 and the cutoff latch circuit 70 operate normally. Specifically, the control circuit 23 outputs the second pseudo signal SF2 to the overvoltage detection circuit 50 to artificially generate the overvoltage state. The control circuit 23 executes the diagnosis based on the voltage signal SV received by the control circuit 23 and the abnormality detection information Sor while outputting the second pseudo signal SF2.
- the control circuit 23 determines that the overvoltage detection circuit 50 and the cutoff latch circuit 70 are normal. It is determined to work. In this case, the control circuit 23 determines that the self-diagnosis result is normal, and stores the self-diagnosis history indicating the normal determination in the memory 25.
- the voltage determination threshold may be any value.
- the voltage determination threshold may be, for example, a specific value higher than the above-mentioned normal voltage range.
- the voltage determination threshold may be the same value as the above-mentioned first voltage threshold or second voltage threshold, for example.
- the control circuit 23 determines that the overvoltage detection circuit 50 does not operate normally when the input battery voltage value indicated by the voltage signal SV is lower than the voltage determination threshold value. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the control circuit 23 When the input battery voltage value indicated by the voltage signal SV is equal to or higher than the voltage determination threshold value (that is, the overvoltage detection circuit 50 is normal) while the abnormality detection information Sor is at the low level, the control circuit 23 operates the overvoltage detection circuit 50. It is determined that it does not operate normally. In this case, the control circuit 23 determines that the self-diagnosis result is abnormal, and stores the self-diagnosis history indicating the abnormality determination in the memory 25.
- the voltage determination threshold value that is, the overvoltage detection circuit 50 is normal
- the first execution example shown in FIG. 5 shows a case where the result of each self-diagnosis is normal.
- the first diagnosis item to be executed after time t1 is set as the first diagnosis item.
- the main operation is enabled at time t1. Since the diagnostic timing of the first diagnostic item corresponds to the disabling timing, the self-diagnosis of the first diagnostic item is not yet executed at time t1.
- Time t2 corresponds to the diagnosis timing of the first diagnosis item.
- the motor 21 was not driven during the immediately preceding enabling period corresponding to time t2, the self-diagnosis of the first diagnostic item is not performed at time t2.
- the main operation is enabled at time t3, the main operation is disabled at time t4.
- the trigger operation unit 20 is turned on for a predetermined period from time t3 to time t4.
- the motor 21 is driven normally without being abnormally stopped while the trigger operation unit 20 is turned on.
- the self-diagnosis of the first diagnostic item is executed based on the fact that the time t4 corresponds to the diagnostic timing of the first diagnostic item.
- the first execution example shows an example in which the result of the self-diagnosis of the first diagnostic item started at time t4 is normal.
- the main operation is enabled at time t5.
- the self-diagnosis item to be executed next (hereinafter referred to as "next diagnosis item") is the second diagnosis item, and the diagnosis timing of the second diagnosis item corresponds to the enabling timing.
- the self-diagnosis of the second diagnostic item is executed based on the.
- the fact that the next diagnostic item is the second diagnostic item is based on the fact that the diagnostic result of the first diagnostic item executed at time t4 was normal.
- the first execution example shows an example in which the result of the self-diagnosis of the second diagnostic item started at time t5 is normal.
- the main operation is disabled at time t6, and the main operation is enabled at time t7.
- the next diagnostic item is the third diagnostic item.
- the fact that the next diagnostic item is the third diagnostic item is based on the fact that the diagnostic result of the second diagnostic item executed at time t5 was normal.
- the diagnostic timing of the third diagnostic item corresponds to the disabling timing. Therefore, at time t7, the self-diagnosis of the third diagnostic item is not yet executed.
- the main operation is disabled at time t8.
- the trigger operation unit 20 is turned on for a predetermined period from time t7 to time t8.
- the motor 21 is driven while the trigger operation unit 20 is turned on.
- the on-operation of the trigger operating unit 20 is invalidated and the motor 21 is stopped. To be done.
- the time t8 originally corresponds to the diagnostic timing of the third diagnostic item to be executed next. However, in the immediately preceding enabling period corresponding to time t8, the motor 21 is stopped due to the detection of the abnormality as described above. Therefore, at time t8, the self-diagnosis of the third diagnosis item is not performed.
- the main operation is enabled at time t9. Since the diagnostic timing of the third diagnostic item corresponds to the disabling timing, the self-diagnosis of the third diagnostic item is not yet executed at time t9.
- the main operation is disabled at time t10.
- the trigger operation unit 20 is turned on for a predetermined period from time t9 to time t10.
- the motor 21 was normally driven without being abnormally stopped while the trigger operation unit 20 was turned on.
- the self-diagnosis of the third diagnostic item is executed based on the fact that the time t10 corresponds to the diagnostic timing of the third diagnostic item.
- the first execution example shows an example in which the result of the self-diagnosis of the third diagnostic item started at time t10 is normal.
- the main operation is enabled at time t11.
- the next diagnostic item is the fourth diagnostic item.
- the fact that the next diagnostic item is the fourth diagnostic item is based on the fact that the diagnostic result of the third diagnostic item executed at time t10 was normal.
- the diagnostic timing of the fourth diagnostic item corresponds to the disabling timing. Therefore, at time t11, the self-diagnosis of the fourth diagnostic item is not yet executed.
- the main operation is disabled at time t12.
- the trigger operation unit 20 is turned on for a predetermined period from time t11 to time t12.
- the motor 21 was normally driven without being abnormally stopped while the trigger operation unit 20 was turned on.
- the self-diagnosis of the fourth diagnostic item is executed based on the fact that the time t12 corresponds to the diagnostic timing of the fourth diagnostic item.
- the first execution example shows an example in which the result of the self-diagnosis of the fourth diagnostic item started at time t12 is normal.
- the main operation is enabled at time t13.
- the next diagnostic item is the fifth diagnostic item.
- the fact that the next diagnostic item is the fifth diagnostic item is based on the fact that the diagnostic result of the fourth diagnostic item executed at time t12 was normal.
- the diagnostic timing of the fifth diagnostic item corresponds to the disabling timing. Therefore, at time t13, the self-diagnosis of the fifth diagnostic item is not yet executed.
- the second execution example includes a case where the result of self-diagnosis of abnormality is obtained.
- the first diagnostic item is set as the first diagnostic item to be executed after time t21.
- the main operation is enabled at time t21 and the main operation is disabled at time t22.
- the trigger operation unit 20 is turned on for a predetermined period from time t21 to time t22. While the trigger operating unit 20 is turned on, the motor 21 is normally driven without abnormal stop.
- the self-diagnosis of the first diagnostic item is executed based on the fact that the time t22 corresponds to the diagnostic timing of the first diagnostic item.
- the second execution example shows an example in which a result of abnormality is obtained in the self-diagnosis of the first diagnosis item started at time t22.
- the main operation is enabled at time t23.
- the next diagnostic item is still the first diagnostic item.
- the fact that the next diagnostic item is still the first diagnostic item is based on the fact that the diagnostic result of the first diagnostic item was abnormal in the previous self-diagnosis executed at time t22.
- the diagnostic timing of the first diagnostic item essentially corresponds to the disabling timing.
- the diagnostic timing becomes the enabling timing. Therefore, the self-diagnosis of the first diagnostic item is executed again at the enabling timing at time t23.
- the second execution example shows an example in which the result of abnormality is obtained even in the self-diagnosis of the first diagnosis item started at time t23. In this case, as illustrated from time t23 to time t24 in FIG. 6, the motor 21 is not driven even if the trigger operation unit 20 is turned on.
- the main operation is disabled at time t24, and the main operation is enabled at time t25.
- the self-diagnosis of the first diagnostic item is executed again at the enabling timing of the time t25 based on the previous self-diagnostic result of the first diagnostic item being abnormal.
- the second execution example shows an example in which the result of abnormality is obtained even in the self-diagnosis of the first diagnostic item started at time t25. In this case, as illustrated from time t25 to t26 in FIG. 6, the motor 21 is not driven even if the trigger operation unit 20 is turned on.
- the main operation is disabled at time t26, and the main operation is enabled at time t27.
- the self-diagnosis of the first diagnostic item is executed again at the enabling timing of the time t27 based on the previous self-diagnostic result of the first diagnostic item being abnormal. ..
- the second execution example shows an example in which the result of the self-diagnosis started at time t27 is normal. In this case, as illustrated from time t27 to t28 in FIG. 6, when the trigger operation unit 20 is turned on, the motor 21 is driven.
- the main operation is disabled at time t28, and the main operation is enabled at time t29.
- the next diagnostic item is the second diagnostic item, and the self-diagnosis of the second diagnostic item is executed based on the fact that the diagnostic timing of the second diagnostic item corresponds to the enabling timing.
- the fact that the next diagnostic item is the second diagnostic item is based on the fact that the diagnostic result of the first diagnostic item was normal in the previous self-diagnosis executed at time t27.
- the second execution example shows an example in which a result of abnormality is obtained in the self-diagnosis started at time t29.
- the main operation is disabled at time t30, and the main operation is enabled at time t31.
- the self-diagnosis of the second diagnostic item is executed again based on the fact that the diagnostic result of the second diagnostic item was abnormal in the previous self-diagnosis.
- the second execution example shows an example in which the result of abnormality is obtained even in the self-diagnosis started at time t31.
- the main operation is disabled at time t32, and the main operation is enabled at time t33.
- the self-diagnosis of the second diagnostic item is executed again at the enabling timing of the time t33 based on the previous self-diagnostic result of the second diagnostic item being abnormal.
- the second execution example shows an example in which the result of the self-diagnosis started at time t33 is normal.
- the third execution example includes a case where the self-diagnosis is interrupted.
- the first diagnosis item to be executed after the time t41 is set as the first diagnosis item.
- the operation from time t41 to time t47 is the same as the operation from time t1 to t7 in the first execution example shown in FIG. Therefore, the description of the operation from time t41 to time t47 is omitted.
- the main operation is enabled at time t47, and the main operation is disabled at time t48.
- the trigger operation unit 20 is turned on for a predetermined period from time t47 to time t48.
- the motor 21 is normally driven without being abnormally stopped while the trigger operation unit 20 is turned on.
- the self-diagnosis of the third diagnostic item is executed based on the fact that the time t48 corresponds to the diagnostic timing of the third diagnostic item.
- the third execution example shows an example in which the self-diagnosis started at time t48 is interrupted before being normally completed.
- the control circuit 23 suspends the self-diagnosis when the interruption condition is satisfied during the execution of the self-diagnosis.
- the interruption condition may include any condition. The interruption condition may be satisfied, for example, when the trigger operation unit 20 is turned on.
- the main operation is enabled at time t49.
- the next diagnostic item is continuously maintained at the interrupted diagnostic item.
- next diagnosis timing after the interruption is different from the next diagnosis timing when the self-diagnosis result is abnormal.
- the next diagnostic timing after the interruption corresponds to the prescribed diagnostic timing corresponding to the diagnostic item.
- the third execution example shows an example in which a result of normal is obtained in the self-diagnosis started at time t50.
- the driving of the motor 21 is not restricted and the trigger operation unit 20 is turned on in the next enabling period.
- the motor 21 is driven.
- the operation after time t51 is the same as the operation after time t11 in the first execution example shown in FIG. Therefore, the description of the operation after time t51 is omitted.
- the CPU 24 of the control circuit 23 executes main processing based on a main processing program stored in the memory 25 during a predetermined execution period.
- the predetermined execution period may be, for example, a period from when the main power supply switch 30 is turned on to immediately after the main power supply switch 30 is turned off until the self-diagnosis process of S180 described later is completed.
- Each of the execution examples illustrated in FIGS. 5 to 7 is executed by the CPU 24 executing the main process.
- the CPU 24 determines in S110 whether or not the time base has passed from the timing of the previous shift from S110 to S120.
- the time base means a control cycle.
- the control cycle may be any time.
- the CPU 24 executes switch operation detection processing. Specifically, the CPU 24 detects the operating state of the trigger operating unit 20 by the user of the electric working machine 1 based on the first trigger information ST1 and the second trigger information ST2. The CPU 24 outputs the trigger detection information ST0 according to the detected operation state from the control circuit 23 to the first battery pack 5 and the second battery pack 7.
- the CPU 24 executes battery state processing.
- the details of the battery state process are as shown in FIG. That is, when shifting to the battery state process, the CPU 24 executes the battery communication process in S210. Specifically, the CPU 24 performs specific data communication with the first battery pack 5 and the second battery pack 7.
- the battery communication process includes a process of acquiring the first discharge permission signal SA1 and a process of acquiring the second discharge permission signal SA2.
- the CPU 24 executes discharge permission setting processing. Specifically, when the first discharge permission signal SA1 and the second discharge permission signal SA2 are acquired in the battery communication process of S210, the CPU 24 causes the control circuit 23 to discharge the third discharge permission signal SA3 or the fourth discharge permission. The signal SA4 is output. When the first discharge permission signal SA1 and the second discharge permission signal SA2 are not acquired in the battery communication process of S210, the CPU 24 outputs the third discharge permission signal SA3 from the control circuit 23. When the second discharge permission signal SA2 and the first discharge permission signal SA1 are not acquired in the battery communication process of S210, the CPU 24 outputs the fourth discharge permission signal SA4 from the control circuit 23.
- the CPU 24 executes AD conversion processing. Specifically, the CPU 24 controls an AD conversion circuit (not shown), and the AD conversion circuit converts various analog signals input to the control circuit 23 into digital values that can be processed by the CPU 24. Convert A to D. The CPU 24 acquires the digital value converted by the AD conversion circuit.
- the CPU 24 executes abnormality detection processing. Specifically, the CPU 24 executes the above-mentioned abnormality detection function. That is, the CPU 24 has an overvoltage detection function based on the voltage signal SV, an overcurrent detection function based on the current signal SC, a first overheat detection function based on the first temperature signal STM1, and a second overheat detection function based on the second temperature signal STM2. And a third overheat detection function based on the third temperature signal STM3.
- the CPU 24 executes motor control processing.
- the details of the motor control process are as shown in FIG.
- the CPU 24 determines in S310 whether or not the trigger operating unit 20 is turned on based on the first trigger information ST1 and the second trigger information ST2.
- the process proceeds to S350. If the trigger operation unit 20 is turned off, the process proceeds to S320. In S320, the CPU 24 determines whether or not an abnormality is detected in one or more of the detection functions in the abnormality detection process of S150. If an abnormality is detected in the abnormality detection process, the process proceeds to S350. When no abnormality is detected in the abnormality detection processing, the CPU 24 further determines whether or not the cutoff information SS indicates command permission. When the cutoff information SS indicates that the command is permitted, the CPU 24 determines that no abnormality has occurred in the electric working machine 1 and proceeds to S330. When the cutoff information SS indicates the command cutoff, the CPU 24 determines that an abnormality has occurred in the electric work machine 1 and proceeds to S350.
- the CPU 24 determines whether the self-diagnosis status described later is set to "abnormal". If the self-diagnosis status is set to "abnormal”, the process proceeds to S350. If the self-diagnosis status is not set to "abnormal", the process proceeds to S340.
- the CPU 24 executes motor drive processing. Specifically, the CPU 24 calculates various parameters. The various parameters are used by the CPU 24 so that the CPU 24 controls the motor drive circuit 22 to drive the motor 21. The CPU 24 further drives the motor 21 by outputting a motor drive command SD according to various calculated parameters to the motor drive circuit 22. After the process of S340 is performed, the process proceeds to S170 (see FIG. 8).
- S350 the CPU 24 determines whether or not the motor 21 needs to be braked.
- the shift to S350 means that the motor 21 needs to be stopped.
- the processing of S350 to S370 is processing for properly stopping the motor 21.
- the CPU 24 determines whether or not the motor 21 needs to be braked, for example, based on a rotation signal input from a rotation sensor (not shown).
- the rotation signal indicates the rotation state of the motor 21. For example, it is necessary to brake the motor 21 when the motor 21 is rotating at a specified speed or higher. If the motor 21 needs to be braked, the process proceeds to S360.
- the CPU 24 sets the brake flag. As a result, braking is executed. Specifically, the CPU 24 executes the braking in response to the setting of the brake flag in the braking processing which is executed in parallel with the main processing separately from the main processing. After the processing of S360 is executed, this processing proceeds to S170.
- the process proceeds to S370.
- S370 the CPU 24 clears the brake flag.
- the braking is stopped in response to the clearing of the brake flag.
- this processing moves to S170.
- the motor control process when it is determined that there is no abnormality in S320 and the self-diagnosis status is not set to “abnormal” in S330, the process proceeds to S340 and the motor drive command SD is output. To be done.
- the abnormality is determined in S320 or the self-diagnosis status is set to "abnormal" in S330, the motor drive command SD is not output and the motor 21 is not driven.
- the CPU 24 executes display processing. Specifically, the CPU 24 displays various information on the display panel 171.
- the CPU 24 executes self-diagnosis processing. Details of the self-diagnosis processing are as shown in FIG. When shifting to the self-diagnosis processing, the CPU 24 executes the self-diagnosis history reading processing in S410. The details of the self-diagnosis history reading process are as shown in FIG.
- the CPU 24 shifts to the self-diagnosis history read processing, in S510, the CPU 24 determines whether or not the self-diagnosis history most recently written in the memory 25 has already been read.
- the self-diagnosis history most recently written in the memory 25 shows the result of the self-diagnosis executed last time.
- the self-diagnosis history is written in the memory 25 in S830 or S850 in the self-diagnosis history writing processing described later shown in FIG.
- the process proceeds to S420 (see FIG. 11). If the self-diagnosis history has not been read yet, the process proceeds to S520. In S520, the CPU 24 reads from the memory 25 the self-diagnosis history written in the memory 25 in the latest processing of S830 or S850.
- the CPU 24 determines whether or not the self-diagnosis history read at S520 indicates normality determination. If the self-diagnosis history read in S520 indicates normality determination, the process proceeds to S540. In S540, the CPU 24 determines the next diagnostic item (that is, the diagnostic item of the self-diagnosis to be executed this time, in other words, the diagnostic item of the self-diagnosis to be executed first from the next diagnostic item) in the previously specified order in the previously specified order. Set it to the next diagnostic item after the item. At S550, the CPU 24 sets the self-diagnosis status to "uninspected". After the processing of S550 has been executed, this processing moves to S420 (see FIG. 11). The self-diagnostic status is reset to a prescribed initial value each time the main operation is disabled or the main operation is enabled.
- S530 if the self-diagnosis history read in S520 is not information indicating normality determination, the process proceeds to S560.
- the CPU 24 determines whether or not the self-diagnosis history read in S520 indicates abnormality determination. If the self-diagnosis history read in S520 indicates an abnormality determination, the process proceeds to S570.
- S570 the CPU 24 sets the next diagnostic item to the diagnostic item corresponding to the self-diagnosis history read this time. That is, the CPU 24 sets the next diagnostic item to the same diagnostic item as the self-diagnosis executed last time.
- the CPU 24 sets the self-diagnosis status to “abnormal”. After the self-diagnosis status is set to "abnormal” in S580, while the state in which the self-diagnosis status is set to "abnormal” continues, a positive determination is made in S330 (see FIG. 10) and the motor 21 is Not driven.
- the CPU 24 sets the self-diagnosis request flag.
- the self-diagnosis request flag is cleared every time the main operation is disabled or the main operation is enabled. After the processing of S590 has been executed, this processing proceeds to S420 (see FIG. 11).
- this process proceeds to S600.
- the CPU 24 sets the next diagnostic item as the first (first) diagnostic item in the specified order.
- the CPU 24 sets the self-diagnosis status to "uninspected”. After the processing of S610 is executed, this processing moves to S420 (see FIG. 11).
- the CPU 24 executes a self-diagnosis execution process. Details of the self-diagnosis execution process are as shown in FIG. After shifting to the self-diagnosis execution processing, the CPU 24 determines in S710 whether the self-diagnosis start condition is satisfied.
- the self-diagnosis start condition differs depending on the prescribed diagnosis timing corresponding to the next diagnosis item. That is, the self-diagnosis start condition of the diagnosis item (the power supply line function diagnosis of the second diagnosis item in the present embodiment) in which the specified diagnosis timing corresponds to the enabling timing is satisfied when the enabling timing arrives.
- the main process is started when the main operation is enabled. Therefore, if the prescribed diagnosis timing corresponding to the next diagnosis item corresponds to the enabling timing after the start of the main processing, it is determined in S710 that the self-diagnosis start condition is satisfied.
- the self-diagnosis start condition of the diagnosis item in which the specified diagnosis timing corresponds to the disabling timing is satisfied when the following (i) and (ii) are satisfied.
- the disabling timing has arrived.
- the motor drive command SD is output (that is, the motor 21 is being driven) during the immediately preceding enabling period, and the motor 21 is not abnormally stopped.
- the above (ii) may be judged based on the above-mentioned motor drive history and abnormal drive history.
- the process proceeds to S730.
- the process proceeds to S720.
- the CPU 24 sets the self-diagnosis request flag.
- the CPU 24 determines whether or not the self-diagnosis request flag is set. If the self-diagnosis request flag is not set, the process proceeds to S430 (see FIG. 11). If the self-diagnosis request flag is set, the process proceeds to S740. In S740, the self-diagnosis of the next diagnostic item is performed.
- the self-diagnosis is executed in S740 when the self-diagnosis start condition is satisfied in S710 for the next diagnosis item and the self-diagnosis request flag is set in S720. If the self-diagnosis start condition is not satisfied, the self-diagnosis in S740 is not performed. However, if the same diagnostic item is to be self-diagnosed again this time due to the abnormality determination in the previous self-diagnosis, the self-diagnosis request flag is set in S590 of FIG. Therefore, in this case, even if the self-diagnosis start condition is not satisfied, a positive determination is made in S730 and the self-diagnosis is executed in S740. After completion of the self-diagnosis in S740, the process proceeds to S430 (see FIG. 11).
- the CPU 24 executes a self-diagnosis history writing process.
- the details of the self-diagnosis history writing process are as shown in FIG.
- the CPU 24 determines in S810 whether or not the self-diagnosis of the present diagnostic item is completed. If the self-diagnosis is interrupted for some reason, the CPU 24 ends the self-diagnosis history writing process and proceeds to S110 (see FIG. 8).
- the process proceeds to S820.
- the CPU 24 determines whether or not the diagnosis result of the self-diagnosis executed this time is normal. If the diagnosis result is normal, the CPU 24 writes the self-diagnosis history in the memory 25 in S830. Specifically, the CPU 24 writes information indicating normality determination.
- the CPU 24 further sets the self-diagnosis status to, for example, “examined”. As a result, if the main operation is not disabled when the process of S830 is executed, a negative determination is made in the process of S330, and the motor 21 is driven by the process of S340. After the processing of S830 is executed, this processing moves to S110 (see FIG. 8).
- the CPU 24 determines in S840 whether the diagnosis result is abnormal. If the diagnostic result is not abnormal, it is possible that the diagnostic result was not obtained correctly for some reason. Therefore, if the diagnosis result is not abnormal, the CPU 24 proceeds to S110 (see FIG. 8) without writing the self-diagnosis history.
- the CPU 24 If the diagnosis result is abnormal in S820, the CPU 24 writes the self-diagnosis history in the memory 25 in S850. Specifically, the CPU 24 writes information indicating the abnormality determination. In S850, the CPU 24 further sets the self-diagnosis status to "abnormal". When the self-diagnosis status is set to "abnormal" in S850, a positive determination is made in the process of S330 (see FIG. 10) while the state in which the self-diagnosis status is set to "abnormal" continues thereafter. , The motor 21 is not driven. After the processing of S850 is executed, this processing proceeds to S110 (see FIG. 8).
- the trigger detection function diagnosis of the first diagnosis item includes the trigger detection function diagnosis process shown in FIG. In S740 of FIG. 13, the CPU 24 executes the trigger detection function diagnosis process shown in FIG. 15 when the set next diagnostic item is the trigger detection function diagnosis.
- the CPU 24 When starting the trigger detection function diagnosis processing, the CPU 24 outputs the first pseudo signal SF1 (binary signal of high level) in S1210. In S1220, the CPU 24 determines whether or not the first trigger information ST1 indicates an ON operation of the trigger operation unit 20. If the first trigger information ST1 does not indicate the ON operation of the trigger operation unit 20, the CPU 24 executes the process of S1260. In S1260, the CPU 24 determines that the diagnosis result is abnormal, sets the self-diagnosis status to “abnormal”, and ends the trigger detection function diagnosis process. When the first trigger information ST1 indicates the ON operation of the trigger operation unit 20, the process proceeds to S1230.
- the first trigger information ST1 indicates the ON operation of the trigger operation unit 20.
- the CPU 24 determines whether or not the second trigger information ST2 indicates an off operation of the trigger operation unit 20.
- the second trigger information ST2 does not indicate the OFF operation of the trigger operating unit 20
- the CPU 24 suspends the trigger detection function diagnosis of the currently executed first diagnosis item in S1270.
- the process proceeds to S1240.
- the CPU 24 determines whether or not the cutoff information SS indicates command cutoff. If the blocking information SS does not indicate command blocking, that is, if command blocking is permitted, the process proceeds to S1260. In S1260, the CPU 24 determines that the diagnosis result is abnormal and sets the self-diagnosis status to “abnormal”. When the cutoff information SS indicates the command cutoff, the present process proceeds to S1250. In S1250, the CPU 24 determines that the diagnosis result is normal, sets the self-diagnosis status to “normal”, and ends the trigger detection function diagnosis process.
- the control circuit 23 (more specifically, the CPU 24) of the present embodiment, in parallel with the main processing described above, performs the trigger-off detection check processing shown in FIG. Execute the process.
- the trigger-off detection check process is a process for confirming whether or not the trigger operation unit 20 is off-operated properly based on the first trigger information ST1 and the second trigger information ST2.
- the trigger-on detection check process is a process for confirming whether or not the trigger operation unit 20 is on-operated can be properly recognized based on the first trigger information ST1 and the second trigger information ST2.
- the trigger off detection check process may be included in the above main process.
- the control circuit 23 may first perform the trigger-off detection check processing after the start of the main processing, and then may proceed to S110.
- the trigger-on detection check process may be included in the above main process.
- the control circuit 23 may perform the trigger-on detection check process before the process of S330.
- the control circuit 23 executes the trigger-off detection check processing shown in FIG. 16, for example, every time the main operation is enabled, immediately after the enabling.
- the control circuit 23 stops the output of the first pseudo signal SF1 in S1010.
- the first pseudo signal SF1 is basically not output. Therefore, the process of S1010 is substantially a process of maintaining the state in which the first pseudo signal SF1 is not output.
- the control circuit 23 determines whether or not the first trigger information ST1 indicates an off operation of the trigger operation unit 20. If the first trigger information ST1 does not indicate the OFF operation of the trigger operating unit 20, it is possible that the main power switch 30 is turned ON while the trigger operating unit 20 is ON. Therefore, when the first trigger information ST1 does not indicate the OFF operation of the trigger operating unit 20, the control circuit 23 performs the process of S1020 until the first trigger information ST1 indicates the OFF operation of the trigger operating unit 20. repeat.
- S1020 when the first trigger information ST1 indicates the OFF operation of the trigger operating unit 20, the process proceeds to S1030.
- the control circuit 23 determines whether or not the second trigger information ST2 indicates an off operation of the trigger operation unit 20. If the second trigger information ST2 does not indicate the OFF operation of the trigger operation unit 20, the process proceeds to S1020. When the second trigger information ST2 indicates the off operation of the trigger operation unit 20, the process proceeds to S1040.
- the processing of S1040 to S1060 is the same as the processing of S1240 to S1260 in FIG. 15 described above. That is, when the cutoff information SS does not indicate the command cutoff, the control circuit 23 sets the self-diagnosis status to "abnormal" in S1060. If the cutoff information SS indicates the command cutoff, the control circuit 23 sets the self-diagnosis status to "normal” in S1050.
- the control circuit 23 recognizes the trigger-on detection check process shown in FIG. 17, for example, the on-operation of the trigger operation unit 20 based on the first trigger information ST1 and the second trigger information ST2. Execute when you do.
- the control circuit 23 stops the output of the first pseudo signal SF1 in S1110, as in S1010 of FIG. In S1120, the control circuit 23 determines whether or not the first trigger information ST1 indicates an ON operation of the trigger operation unit 20. When the first trigger information ST1 does not indicate the ON operation of the trigger operating unit 20, the control circuit 23 repeats the process of S1120 until the first trigger information ST1 indicates the ON operation of the trigger operating unit 20. ..
- S1120 when the first trigger information ST1 indicates the ON operation of the trigger operation unit 20, the process proceeds to S1130.
- the control circuit 23 determines whether or not the second trigger information ST2 indicates an ON operation of the trigger operation unit 20. If the second trigger information ST2 does not indicate the ON operation of the trigger operation unit 20, the process proceeds to S1120. When the second trigger information ST2 indicates the ON operation of the trigger operation unit 20, the process proceeds to S1140.
- the control circuit 23 determines whether or not the cutoff information SS indicates command permission. If the cutoff information SS does not indicate the command permission, that is, if the command cutoff is indicated, the process proceeds to S1160. In S1160, the control circuit 23 sets the self-diagnosis status to "abnormal". If the blocking information SS indicates that the command is permitted, the process proceeds to S1150. In S1150, the control circuit 23 sets the self-diagnosis status to “normal”.
- the control circuit 23 executes main processing according to the states of both the first trigger switch 27 and the second trigger switch 28. Specifically, the control circuit 23 outputs the motor drive command SD when the first trigger information ST1 and the second trigger information ST2 indicate the trigger-on state. For example, it is assumed that when the trigger operation unit 20 is turned off, an abnormality occurs in the first trigger switch 27 and the first trigger information ST1 indicates the trigger on state. In this case, if the second trigger information ST2 indicates the trigger-off state, the motor drive command SD is not output. Therefore, the motor 21 can be appropriately stopped when an abnormality occurs in which the operation of the trigger operating unit 20 by the user is not properly transmitted to the control circuit 23.
- the electric working machine 1 in addition to the control circuit 23, further includes a circuit configured to operate by hardware processing.
- the control circuit 23 includes a trigger detection circuit 80 and a cutoff switch 29.
- the cutoff switch 29 cuts off the motor drive command SD from the control circuit 23 to the motor drive circuit 22. Therefore, it becomes possible to provide the highly reliable electric working machine 1.
- the cutoff switch 29 is turned on or off based on the cutoff information SS input from the cutoff latch circuit 70.
- the cutoff switch 29 is provided in the drive line 90 through which the motor drive command SD is transmitted, and connects or disconnects the drive line 90. Therefore, the input of the motor drive command SD to the motor drive circuit 22 can be easily cut off.
- the blocking information SS is information that reflects the trigger determination information STR. More specifically, when the above-mentioned five abnormal states have not occurred, the cutoff information SS is equivalent to the trigger determination information STR. That is, in this case, it can be considered that the trigger determination information STR is input to the cutoff switch 29 via the cutoff latch circuit 70. When at least one of the above-mentioned five abnormal states occurs, the cutoff switch 29 is turned off regardless of the content of the trigger determination information STR. Therefore, when the trigger determination information STR indicates the trigger-off state, the cutoff switch 29 is appropriately turned off.
- the cutoff information SS is also input to the control circuit 23. Therefore, the control circuit 23 can effectively use the blocking information SS in the main process.
- the control circuit 23 receives the interruption information SS indicating the instruction interruption even if both the first trigger information ST1 and the second trigger information ST2 indicate the trigger-on state. In this case, the motor drive command SD is not output. This makes it possible to increase the reliability of the electric working machine 1.
- the control circuit 23 can diagnose whether or not the trigger detection circuit 80 and the cutoff latch circuit 70 operate properly by outputting the first pseudo signal SF1. That is, the control circuit 23 outputs the first trigger information ST1, the second trigger information ST2, and the cutoff information SS before outputting the first pseudo signal SF1, and the first trigger information when the first pseudo signal SF1 is output. It is possible to detect whether the trigger detection circuit 80 and/or the cutoff latch circuit 70 is operating properly based on ST1, the second trigger information ST2, and the cutoff information SS. This makes it possible to further increase the reliability of the electric working machine 1.
- the first trigger switch 27 is a normally open type switch, while the second trigger switch 28 is a normally closed type switch. That is, the first trigger switch 27 and the second trigger switch 28 are in mutually opposite states according to the operation on the trigger operation unit 20.
- the electric working machine 1 of the present embodiment has a plurality of functions achieved by at least one of the circuits to be diagnosed in the first to sixth diagnostic items.
- the electric working machine 1 is provided with a dual system corresponding to each of the plurality of functions for suppressing malfunction of the function.
- the electric working machine 1 has a motor drive function of driving the motor 21 when the trigger operation unit 20 is turned on.
- the electric working machine 1 includes a first dual system corresponding to the motor driving function. The first double system suppresses unintended rotation of the motor 21.
- the first dual system includes a first motor drive system and a second motor drive system.
- the motor 21 is normally driven or stopped when both the first motor drive system and the second motor drive system are normal.
- the first motor drive system includes a system from the trigger switch unit 26 to the drive line 90 via the trigger detection circuit 80 and the control circuit 23. That is, in the first motor drive system, the motor drive command SD is output from the control circuit 23 in response to the trigger operation unit 20 being turned on.
- the second motor drive system includes a system from the trigger switch unit 26 to the cutoff switch 29 through the trigger detection circuit 80 and the cutoff latch circuit 70. That is, in the second motor drive system, the interruption information SS indicating the instruction permission is output from the interruption latch circuit 70 to the interruption switch 29 in response to the trigger operation unit 20 being turned on.
- the motor drive command SD is erroneously output from the control circuit 23 even though the trigger operation unit 20 is not turned on.
- the cutoff switch 29 is turned off when the trigger operation unit 20 is not turned on, so the motor 21 is not driven.
- the second motor drive system for example, it is assumed that there is an abnormality in which the cutoff switch 29 is turned on although the trigger operation unit 20 is not turned on. In this case, if the first motor drive system is normal, the motor drive command SD is not output from the control circuit 23 unless the trigger operation unit 20 is turned on, so the motor 21 is not driven.
- the electric working machine 1 has a first switching function of connecting or disconnecting the first power feeding line 91 by the first switching circuit 36.
- the electric working machine 1 includes a second dual system corresponding to the first switching function. The second dual system prevents the switch unit 37 of the first switching circuit 36 from being turned on by mistake.
- the second dual system includes a first on-permission system and a second on-permission system.
- the switch unit 37 of the first switching circuit 36 is normally turned on when both the first ON permission system and the second ON permission system are normal.
- the first ON permission system includes a system in which the control circuit 23 outputs the third discharge permission signal SA3 to turn on the switch unit 37 in response to the control circuit 23 receiving the first discharge permission signal SA1. .. More specifically, the control circuit 23 outputs the third discharge permission signal SA3 in response to receiving the first discharge permission signal SA1 and the second off detection signal SB2.
- the second ON permission system includes a system in which the first discharge permission signal SA1 is input to the first switching circuit 36 without passing through the control circuit 23.
- the switch section 37 is not turned on by the low level signal being input from the battery abnormality detection circuit 12 to the AND circuit 38. As a result, the power supply from the battery 11 to the motor 21 is cut off, and the motor 21 is not driven by the power of the battery 11.
- the first discharge permission signal SA1 is not input from the battery abnormality detection circuit 12 to the electric working machine 1
- the first discharge permission signal SA1 in the AND circuit 38 Assume a situation in which there is an abnormality in which the input terminal goes high. In this case, if the first ON permission system is normal, the control circuit 23 does not output the third discharge permission signal SA3, so the switch unit 37 does not turn ON.
- the electric working machine 1 has a second switching function of connecting or disconnecting the second power supply line 92 by the second switching circuit 46.
- the electric working machine 1 includes a third dual system corresponding to the second switching function.
- the third dual system prevents the switch section 47 of the second switching circuit 46 from being accidentally turned on.
- the control circuit 23 does not receive the second discharge permission signal SA2, but an abnormality occurs in which the control circuit 23 outputs the fourth discharge permission signal SA4.
- the switch section 47 will not turn on. As a result, the power supply from the battery 16 to the motor 21 is cut off, and the motor 21 is not driven by the power of the battery 16.
- the electric working machine 1 further includes a fourth dual system corresponding to the first switching function.
- the fourth dual system prevents the switch unit 37 of the first switching circuit 36 from being turned on by mistake.
- the fourth dual system includes a third on-permission system and a fourth on-permission system.
- the switch unit 37 is normally turned on when both the third ON permission system and the fourth ON permission system are normal.
- the third ON permission system includes a system in which the control circuit 23 outputs the third discharge permission signal SA3 to turn on the switch unit 37 in response to the control circuit 23 receiving the second OFF detection signal SB2. .. More specifically, the control circuit 23 outputs the third discharge permission signal SA3 in response to receiving the second off detection signal SB2 and the first discharge permission signal SA1.
- the fourth ON permission system includes a system in which the second OFF detection signal SB2 is input to the first switching circuit 36 without passing through the control circuit 23.
- the control circuit 23 In the third ON permission system, for example, there is an abnormality such that the control circuit 23 outputs the third discharge permission signal SA3 even though the second OFF detection signal SB2 is not output to the control circuit 23. Assume the situation. In this case, if the fourth ON permission system is normal, the switch unit 37 does not turn ON. On the contrary, in the fourth ON permission system, for example, the input terminal of the second OFF detection signal SB2 in the AND circuit 38 is high even though the second OFF detection signal SB2 is not output from the second OFF detection circuit 49. Assume a situation in which a level abnormality has occurred. In this case, if the third ON permission system is normal, the control circuit 23 does not output the third discharge permission signal SA3, so the switch unit 37 does not turn ON.
- the electric working machine 1 has an overvoltage protection function by the overvoltage detection circuit 50.
- the electric working machine 1 is provided with a fifth dual system corresponding to this overvoltage protection function.
- the fifth duplex system properly stops the motor 21 when an overvoltage condition occurs.
- the fifth duplex system includes a first overvoltage protection system and a second overvoltage protection system.
- the first overvoltage protection system includes a system in which the interruption latch circuit 70 turns off the interruption switch 29 in response to the overvoltage signal So1.
- the second overvoltage protection system includes a system in which the control circuit 23 stops the motor drive command SD when the control circuit 23 detects the occurrence of the overvoltage state based on the voltage signal SV.
- the electric working machine 1 has an overcurrent protection function by the current detection circuit 55.
- the electric working machine 1 is provided with a sixth dual system corresponding to this overcurrent protection function.
- the sixth duplex system properly stops the motor 21 when an overcurrent condition occurs.
- the sixth dual system includes a first overcurrent protection system and a second overcurrent protection system.
- the first overcurrent protection system includes a system in which the interruption latch circuit 70 turns off the interruption switch 29 in response to the overcurrent signal So2.
- the second overcurrent protection function includes a system in which the control circuit 23 stops the motor drive command SD when the control circuit 23 detects the occurrence of the overcurrent state based on the current signal SC.
- the electric working machine 1 has a first overheat protection function by the first overheat detection circuit 61.
- the electric working machine 1 includes a seventh dual system corresponding to the first overheat protection function.
- the seventh dual system properly stops the motor 21 when a U-phase overheat condition occurs.
- the seventh dual system includes a first overheat protection system and a second overheat protection system.
- the first overheat protection system includes a system in which the interruption latch circuit 70 turns off the interruption switch 29 in response to the first overheat signal So31.
- the second overheat protection system includes a system in which the control circuit 23 stops the motor drive command SD when the control circuit 23 detects the occurrence of the U-phase overheat state based on the first temperature signal STM1.
- each of the second overheat protection function of the second overheat detection circuit 62 and the third overheat protection function of the third overheat detection circuit 63 similarly to the first overheat protection function, two protection systems are constructed. ..
- the trigger operation unit 20 corresponds to an example of the operation unit in the present disclosure.
- the first trigger switch 27 corresponds to an example of the first switch in the present disclosure.
- the second trigger switch 28 corresponds to an example of the second switch in the present disclosure.
- the first trigger information ST1 corresponds to an example of first switch information in the present disclosure.
- the second trigger information ST2 corresponds to an example of second switch information in the present disclosure.
- the motor drive command SD corresponds to an example of the drive command in the present disclosure.
- the motor drive circuit 22 corresponds to an example of the drive circuit in the present disclosure.
- the trigger detection circuit 80, the cutoff latch circuit 70, and the cutoff switch 29 correspond to an example of the drive stop circuit in the present disclosure.
- the AND circuit 82 in the trigger detection circuit 80 corresponds to an example of the stop signal output circuit in the present disclosure.
- the cutoff switch 29 corresponds to an example of the cutoff circuit in the present disclosure.
- the first pseudo signal SF1 corresponds to an example of the pseudo ON signal in the present disclosure.
- the OR circuit 81 in the trigger detection circuit 80 corresponds to an example of the pseudo ON circuit in the present disclosure.
- the process of S1210 in FIG. 15 corresponds to an example of the output process in the present disclosure.
- the process of S1260 in FIG. 15 corresponds to an example of the first storage process and the second storage process in the present disclosure.
- the first terminal is connected to the ground line and the second terminal is connected to the control power supply line via the resistor. Then, the voltage of the second terminal is reflected in the first trigger information ST1.
- the state of the first trigger switch 27 may be reflected in the first trigger information ST1 by any method.
- the first terminal of the first trigger switch 27 may be connected to the control power supply line via a resistor. The same applies to the second trigger switch 28.
- the NOT circuit 85 and the OR circuit 81 may be connected to the second end of the second trigger switch 28.
- the cutoff switch 29 may be any switch.
- the cutoff switch 29 may be a single switch or may be configured by a circuit including a plurality of elements.
- the trigger determination information STR output from the trigger detection circuit 80 may be input to the cutoff switch 29 without passing through the cutoff latch circuit 70.
- an OR circuit that calculates the logical sum of the trigger determination information STR and the cutoff information SS may be provided.
- the output signal of the OR circuit may be input to the cutoff switch 29.
- Each of the first trigger switch 27 and the second trigger switch 28 may be a normally closed type switch or a normally open type switch. In that case, for example, the NOT circuit 85 may be omitted.
- the overvoltage detection circuit 50, the current detection circuit 55, the overheat detection unit 60, the cutoff latch circuit 70, and the trigger detection circuit 80 may be different from the circuit configurations shown in FIGS. 2 and 3.
- the electric working machine 1 may have a self-diagnosis function for the current detection circuit 55.
- the control circuit 23 may have a function of outputting a sixth pseudo signal for artificially generating an overcurrent state to the current detection circuit 55.
- the current detection circuit 55 may be configured such that, upon receiving the sixth pseudo signal, the current signal SC becomes a signal indicating an overcurrent state. With such a configuration, the control circuit 23 can diagnose whether or not the current detection circuit 55 operates normally based on the current signal SC when the sixth pseudo signal is output.
- the cutoff information SS and the abnormality detection information Sor are individually input to the control circuit 23.
- the logical sum of the cutoff information SS and the abnormality detection information Sor is controlled. It may be input to the circuit 23.
- the electric working machine 1 may include an OR circuit 95.
- the OR circuit 95 may receive the cutoff information SS and the abnormality detection information Sor.
- the control circuit 23 may receive the output signal of the OR circuit 95 instead of receiving the cutoff signal SS and the abnormality detection information Sor.
- the prescribed order may be any order.
- the weight may be set for each diagnostic item. In that case, the prescribed order may be determined according to the weight. More specifically, the prescribed order may be determined such that the diagnostic item having a larger weight has a higher execution frequency.
- At least one of the six types of diagnostic items may be arranged consecutively in the specified order.
- a plurality of diagnostic items may be associated in the same order. That is, the diagnosis of a plurality of diagnosis items may be executed in sequence or in parallel at one diagnosis timing.
- the execution order of self-diagnosis is not limited to the specified order, and may be any order.
- the execution order may be randomly determined.
- the electric working machine 1 may include a random number generator, and the next diagnostic item may be determined based on the random number generated by the random number generator.
- FIG. 19 shows a second modified example of the main body portion of the electric working machine configured as described above.
- FIG. 19 mainly illustrates a part of the main body 200 of the second modification which is different from the main body 3 shown in FIG.
- illustration of the same components as those of the main body 3 of FIG. 2 is omitted. That is, the main body 200 shown in FIG. 19 is different from the main body 3 of FIG. 2 in the circuit configuration and the control circuit 201 for transmitting the operation state of the trigger operating unit 20 to the control circuit 201 and the interruption latch circuit 70. Part of the contents of the motor control process by is different.
- the trigger switch section 210 includes a first trigger switch 211 and a trigger information output circuit (hereinafter abbreviated as “information output circuit”) 212.
- the information output circuit 212 includes a second trigger switch 212a and a variable resistor R11.
- the trigger switch unit 210 further includes a third trigger switch 213.
- the first trigger switch 211, the second trigger switch 212a, and the third trigger switch 213 are turned off when the trigger operating unit 20 is not operated (for example, pulled).
- FIG. 19 shows the trigger switch section 210 in the non-operated state.
- the second trigger switch 212a When the user starts the pulling operation of the trigger operating unit 20, or when the trigger operating unit 20 is pulled by a certain amount after the pulling operation is started, the second trigger switch 212a is turned on first. After the second trigger switch 212a is turned on, when the trigger operation unit 20 is further operated by a certain amount, the first trigger switch 211 is turned on next. After the first trigger switch 211 is turned on, when the pulling operation of the trigger operating portion 20 is further advanced and the pulling operation is performed up to the specified maximum operation amount, the third trigger switch 213 is turned on.
- the ON operation of the trigger operation unit 20 means a pulling operation in which the first trigger switch 211 and the second trigger switch 212a are turned on.
- the first terminal of the first trigger switch 211 is connected to the ground line.
- the second terminal of the first trigger switch 211 is connected to the control power supply line via the resistor R13 and is also connected to the input terminal of the NOT circuit 204.
- the main body 200 further includes a voltage dividing circuit 205.
- the voltage dividing circuit 205 includes a resistor R14 and a resistor R15.
- the voltage dividing circuit 205 divides the power supply voltage.
- the voltage dividing circuit 205 outputs the divided voltage (hereinafter, referred to as “divided voltage”) to the trigger switch unit 210.
- the first terminal of the resistor R14 is connected to the control power supply line.
- the second end of resistor R14 is connected to the first terminal of resistor R15.
- the second terminal of the resistor R15 is connected to the ground line.
- the resistance value of each of the resistors R14 and R15 may be any value.
- the resistance value of the resistor R14 may be 470 ⁇ or in the vicinity thereof.
- the resistance value of the resistor R15 may be, for example, 1 k ⁇ or the vicinity thereof.
- the divided voltage from the voltage dividing circuit 205 is applied to the first terminal of the variable resistor R11.
- the second terminal of the variable resistor R11 is connected to the ground line.
- the movable contact of the variable resistor R11 is connected to the first terminal of the second trigger switch 212a.
- the second terminal of the second trigger switch 212a is connected to the first terminal of the third trigger switch 213.
- the second terminal of the third trigger switch 213 is connected to the ground line.
- the voltage of the second terminal of the second trigger switch 212a is input to the control circuit 201 as the second trigger information ST2 via the trigger detection circuit 220.
- the variable resistor R11 of the variable resistor R11 is changed according to the operation amount.
- the movable contact moves from the initial position to the end position.
- the second trigger switch 212a is turned on, the movable contact is in the initial position.
- the resistance value between the second terminal of the variable resistor R11 and the movable contact is a predetermined initial value (for example, 20 k ⁇ ).
- the resistance value on the ground side decreases as the movable contact of the variable resistor R11 moves from the initial position to the end position (that is, as the amount of pulling operation of the trigger operating unit 20 increases).
- the timing at which the ground-side resistance value starts to decrease from the initial value may be immediately after the trigger operation unit 20 changes from the OFF operation to the ON operation, or immediately after the change, the trigger operation unit 20 further operates the constant amount pulling operation. It may be the time when it was performed.
- the second trigger information ST2 in the second modified example includes an analog voltage signal. This voltage signal indicates whether the second switching element 212a is on or off. The voltage signal further indicates the pulling operation amount of the trigger operating portion 20 (in other words, information according to the ground side resistance value) while the second switching element 212a is turned on.
- the control circuit 201 includes an A/D conversion circuit (not shown). Upon receiving the voltage signal, the control circuit 201 converts the voltage signal into digital data by the A/D conversion circuit. The CPU 202 of the control circuit 201 performs various controls based on the data converted by the A/D conversion circuit. In the following description, the second trigger information ST2 is referred to as "A/D input value Vad".
- the trigger detection circuit 220 includes an OR circuit 221, a transmission circuit 222, and an AND circuit 223.
- the transmission circuit 222 includes a switching element 222a and a resistor R12.
- the output signal of the NOT circuit 204 is input to the first input terminal of the OR circuit 221.
- the second input terminal of the OR circuit 221 is connected to the output terminal of the control circuit 201 for the first pseudo signal SF1.
- the output signal of the OR circuit 221 is input to the control circuit 201 and the AND circuit 223 as the first trigger information ST1.
- the transmission circuit 222 transmits the ON or OFF state of the second trigger switch 212a to the AND circuit 223. Specifically, when the second trigger switch 212a is off, the transmission circuit 222 inputs the low-level transmission signal to the first input terminal of the AND circuit 223. When the second trigger switch 212a is turned on, the transmission circuit 222 inputs the high-level transmission signal to the first input terminal of the AND circuit 223. The low-level transmission signal is generated when the switching element 222a is turned off. The high-level transmission signal is generated when the switching element 222a is turned on.
- the transmission circuit 222 is more specifically configured as follows. That is, for example, a p-channel MOSFET is provided as the switching element 222a.
- the gate of the switching element 222a is connected to the second terminal of the second trigger switch 212a.
- the drain of the switching element 222a is connected to the control power supply line.
- the source of the switching element 222a is connected to the first input terminal of the AND circuit 223.
- the resistor R12 is connected between the gate and the drain of the switching element 222a.
- the resistance value of the resistor R12 may be any value.
- the resistance value of the resistor R12 may be, for example, 2.2 M ⁇ or the vicinity thereof.
- First trigger information ST1 is input to the second input terminal of the AND circuit 223.
- the output signal of the AND circuit 223 is input to the cutoff latch circuit 70 as the trigger determination information STR.
- the A/D input value Vad changes as illustrated in FIG. 20 according to the operating state of the trigger operating unit 20. That is, when the trigger operating unit 20 is in the non-operating state, that is, when the stroke (pulling operation amount) of the trigger operating unit 20 is 0, the A/D input value Vad becomes the predetermined off-voltage value Voff.
- the off voltage value Voff is substantially equal to the power supply voltage value Vc (for example, 5V). That is, in this case, since the second trigger switch 212a is turned off, the power supply voltage having the power supply voltage value Vc is input to the control circuit 201 as the A/D input value Vad via the resistor R12.
- the second trigger switch 212a When the trigger operation unit 20 is pulled and the stroke increases, the second trigger switch 212a first turns on as described above. When the second trigger switch 212a is turned on, the A/D input value Vad drops to a predetermined first on-voltage value Von1 (for example, 3.4V). Immediately after the second trigger switch 212a is turned on, the ground side resistance value of the variable resistor R11 is an initial value, and thus the first on-voltage value Von1 is substantially equal to the value of the divided voltage from the voltage dividing circuit 205. The first on-voltage value Von1 corresponds to an example of the initial on-voltage value in the present disclosure.
- a predetermined first on-voltage value Von1 for example, 3.4V
- the first trigger switch 211 is turned on when the stroke of the trigger operating unit 20 is further increased by a certain amount.
- the control circuit 201 confirms that the trigger operation unit 20 has been turned on. recognize.
- the control circuit 201 starts driving the motor 21 in response to recognizing that the trigger operation unit 20 has been turned on.
- the ground side resistance value of the variable resistor R11 decreases as the stroke of the trigger operating unit 20 increases from the reference stroke to the maximum stroke. Therefore, the A/D input value Vad decreases as the stroke increases.
- the reference stroke corresponds to the stroke immediately before the movable contact of the variable resistor R11 starts moving from the initial position toward the end position.
- the maximum stroke corresponds to the above-mentioned maximum operation amount.
- the A/D input value Vad immediately before the stroke reaches the maximum stroke becomes the second ON voltage value Von2.
- the resistance value on the ground side of the variable resistor R11 at this time is, for example, 0 ⁇ or a value close to 0 ⁇ .
- the first trigger switch 211 is configured to be turned on when a predetermined stroke is reached until the operation amount of the trigger operating unit 20 reaches the reference stroke after the second trigger switch 212a is turned on.
- the control circuit 201 controls the motor 21 according to the A/D input value Vad while the trigger operation unit 20 is turned on. Specifically, the control circuit 201 controls the rotation speed of the motor 21 to be a predetermined minimum rotation speed when the A/D input value Vad is the first on-voltage value Von1, for example. The control circuit 201 increases the rotation speed of the motor 21 in response to the A/D input value Vad decreasing from the first on-voltage value Von1. The control circuit 201 controls the rotation speed of the motor 21 to reach a predetermined maximum rotation speed when the A/D input value Vad becomes equal to or lower than the second ON voltage value Von2.
- the third trigger switch 213 may not be provided. However, by providing the third trigger switch 213, the A/D input value Vad is surely lowered to the second on-voltage value Von2 or less when the trigger operating portion 20 is pulled to the maximum stroke (that is, the motor 21 is driven). It is possible to reliably control the rotation speed to the maximum rotation speed).
- the control circuit 201 includes a CPU 202 and a memory 203.
- the memory 203 stores basically the same programs and data as the memory 25 of FIG.
- the CPU 202 executes a motor control processing program stored in the memory 203.
- the motor control processing program stored in the memory 203 is partially different from the motor control processing program (see FIG. 10) stored in the memory 25 (see FIG. 2 ).
- the motor control process executed by the CPU 202 according to the program stored in the memory 203 will be described with reference to FIG.
- the CPU 202 determines in S1210 whether the A/D input value Vad is the first on-voltage value Von1 or less. In other words, this process is a process of determining whether or not the second trigger switch 212a is turned on.
- the process proceeds to S1220.
- S1220 it is determined whether the first trigger information ST1 is at the high level. In other words, this process is a process of determining whether or not the first trigger switch 211 is turned on.
- the process proceeds to S1260.
- the process proceeds to S1230.
- the CPU 202 recognizes that the trigger operation unit 20 is turned on by making a positive determination in S1210 and S1220, and proceeds to the motor drive process of S1250 through the processes of S1230 to S1240.
- the processing of S1230 to S1240 is the same as the processing of S320 to S330 in FIG.
- the motor drive processing of S1250 is partially different from that of S340 in FIG. Specifically, in S1250, a motor drive command SD for rotating the motor 21 at a rotation speed corresponding to the A/D input value Vad is output to the motor drive circuit 22 (not shown in FIG. 19, see FIG. 2). To do.
- the correspondence relationship between the A/D input value Vad and the rotation speed is as described above.
- the control circuit 201 in the second modified example shown in FIGS. 19 to 21 has a self-diagnosis function using the first pseudo signal SF1 and the like, similarly to the control circuit 23 (see FIG. 2) of the above embodiment. Is equipped with. However, the control circuit 201 does not necessarily have to have such a self-diagnosis function.
- FIG. 22 shows an example of an electric working machine that does not have a self-diagnosis function using the first pseudo signal SF1 and the like as a third modification.
- the NOT circuit 204 is omitted from the main body 200 of the second modification shown in FIG. Further, the main body 230 differs from the main body 200 in part of the configuration of the trigger detection circuit 240 and the processing content of the control circuit 231.
- the trigger detection circuit 240 in the third modified example is different from the trigger detection circuit 220 in FIG. 19 in that the OR circuit 221 is omitted and the NOT circuit 241 is provided.
- the voltage at the second terminal of the first trigger switch 211 is input to the control circuit 231 as the first trigger information ST1 via the trigger detection circuit 240.
- the first trigger information ST1 is further input to the input terminal of the NOT circuit 241.
- the output signal of the NOT circuit 241 is input to the second input terminal of the AND circuit 223.
- the first trigger information ST1 is at high level while the first trigger switch 211 is off.
- the first trigger information ST1 becomes low level.
- the control circuit 231 includes a CPU 232 and a memory 233.
- the memory 233 stores basically the same programs and data as the memory 203 in FIG. However, the program stored in the memory 233 differs from the program stored in the memory 203 (see FIG. 19) in that the self-diagnosis processing is not executed. Further, a part of the motor control processing in the program stored in the memory 233 is different from the motor control processing (see FIG. 21) stored in the memory 203.
- the motor control processing stored in the memory 233 and executed by the CPU 232 will be described with reference to FIG.
- the CPU 232 determines in S1310 whether the A/D input value Vad is the first on-voltage value Von1 or less, as in S1210 of FIG. When the A/D input value Vad is larger than the first ON voltage value Von1, the determination of S1310 is repeated. If the A/D input value Vad is less than or equal to the first on-voltage value Von1, the process proceeds to S1320.
- S1320 it is determined whether or not the first trigger information ST1 is at the low level. This process is a process of determining whether or not the first trigger switch 211 is turned on, as in S1220 of FIG.
- the process moves to S1310. If the first trigger information ST1 is at the high level, this process moves to S1310. If the first trigger information ST1 is at the low level (that is, the first trigger switch 211 is turned on), the process proceeds to S1330. In S1330, the motor drive command SD for rotating the motor 21 at the rotation speed corresponding to the A/D input value Vad is output to the motor drive circuit 22.
- the first trigger switch 211 may be configured to be turned on before the second trigger switch 212a according to the operation of the trigger operation unit 20.
- the first trigger switch 211 may be configured to turn on at the same time as the second trigger switch 212a.
- the motor of the present disclosure may be a motor different from the brushless motor.
- the electric work machine of the present disclosure is not limited to the electric work machine driven by battery power, and may be an electric work machine driven by AC power when AC power is input.
- the technology of the present disclosure may be applied to various electric working machines such as electric working machines for gardening other than brush cutters, electric tools for masonry, metalworking, and woodworking. More specifically, the present disclosure is, for example, an electric hammer, an electric hammer drill, an electric drill, an electric screwdriver, an electric wrench, an electric grinder, an electric circle saw, an electric reciprocating saw, an electric jigsaw, an electric cutter, an electric chain saw, an electric canner, an electric nailer. It may be applied to various electric working machines such as a machine (including a tacker), an electric hedge trimmer, an electric lawn mower, an electric lawn clipper, an electric cleaner, an electric blower, an electric sprayer, an electric spreader, and an electric dust collector.
- a machine including a tacker
- an electric hedge trimmer an electric lawn mower, an electric lawn clipper, an electric cleaner, an electric blower, an electric sprayer, an electric spreader, and an electric dust collector.
- a plurality of functions of one constituent element in the above embodiment may be achieved by a plurality of constituent elements, or one function of one constituent element may be achieved by a plurality of constituent elements. ..
- a plurality of functions of a plurality of constituent elements may be achieved by one constituent element, or one function realized by a plurality of constituent elements may be achieved by one constituent element.
- a part of the configuration of the above embodiment may be omitted. At least a part of the configuration of the above-described embodiment may be added or replaced with respect to the configuration of the other above-described embodiment.
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Abstract
Description
図1に示す電動作業機1は、例えば、充電式刈払機として構成されている。充電式刈払機は、例えば草や小径木などを刈り払うために用いられる。電動作業機1は、支持棹150と、ハンドル151と、カッタユニット160と、コントローラユニット165とを備える。
図2及び図3を参照して、本実施形態の電動作業機1の電気的構成について説明する。図3は、図2の一部(図2における、制御回路23の右側)を抜粋してより詳細に図示したものである。図2に示すように、電動作業機1は、本体部3と、第1バッテリパック5と、第2バッテリパック7とを備える。図2では、説明の便宜上、電動作業機1の各部に設けられた各種電気部品、各種回路などの集合体を、本体部3と称している。集合体は、モータ21、ハウジング166内の各種回路、トリガ操作部20及び操作表示部170を含む。
このように遮断ラッチ回路70から指令許可を示す遮断情報SSが出力されている状況から、過電圧信号So1、過電流信号So2、第1過熱信号So31、第2過熱信号So32及び/または第3過熱信号So33がOR回路72に入力された状況(即ち、電動作業機1が異常検出状態に変化した状況)を想定する。この状況では、第2FF75のデータ入力端子の論理レベルがlowレベルに変化する。第2FF75のデータ入力端子の論理レベルがlowレベルに変化した後、第2FF75のクロック入力端子の論理レベルがhighレベルに変化する。これにより、第2FF75の出力信号がlowレベルに変化し、AND回路76の出力信号がlowレベルに変化する。つまり、遮断情報SSが、指令遮断を示す情報に変化する。そのため、遮断スイッチ29がオフする。データ入力端子の論理レベルがlowレベルになるタイミングからクロック入力端子の論理レベルがhighレベルになるタイミングまでの時間差は、前述の積分回路の時定数に基づく。
制御回路23は、自己診断機能を備える。自己診断機能は、複数の診断項目に対応した複数の自己診断を、規定順序に従って1つずつ、対応する診断タイミングで実行する機能である。
次に、制御回路23による自己診断機能の実行例を、図5~図7を参照して説明する。
次に、制御回路23が実行するメイン処理について、図8~図14を参照して説明する。制御回路23のCPU24は、所定の実行期間に、メモリ25に記憶されているメイン処理のプログラムに基づいてメイン処理を実行する。所定の実行期間は、例えば、主電源スイッチ30がオンしてから、主電源スイッチ30がオフしてその直後に後述するS180の自己診断処理が完了するまでの間であってもよい。図5~図7に例示した各実行例は、CPU24がメイン処理を実行することによって実行される。
(i)ディスエーブリングタイミングが到来したこと。
(ii)直前イネーブリング期間中にモータ駆動指令SDを出力しており(即ち、モータ21を駆動させており)、しかも、モータ21が異常停止されていないこと。
第1診断項目のトリガ検出機能診断は、図15に示すトリガ検出機能診断処理を含む。CPU24は、図13のS740において、設定されている次診断項目がトリガ検出機能診断である場合、図15に示すトリガ検出機能診断処理を実行する。
本実施形態の制御回路23(詳しくはCPU24)は、前述のメイン処理と並行して、図16に示すトリガオフ検出チェック処理、及び図17に示すトリガオン検出チェック処理を実行する。
制御回路23は、図16に示すトリガオフ検出チェック処理を、例えば、主動作がイネーブルされる度に、そのイネーブルされた直後に実行する。制御回路23は、トリガオフ検出チェック処理を開始すると、S1010で、第1疑似信号SF1の出力を停止する。主動作がイネーブルされた直後は、基本的には、第1疑似信号SF1は出力されていない。そのため、S1010の処理は、実質的には、第1疑似信号SF1が出力されていない状態を維持する処理である。
制御回路23は、図17に示すトリガオン検出チェック処理を、例えば、第1トリガ情報ST1と第2トリガ情報ST2とに基づいてトリガ操作部20のオン操作を認識したときに実行する。
以上説明した実施形態によれば、以下の(a)~(i)の効果を奏する。
これにより、電動作業機1の信頼性をより高めることが可能となる。
以上、本開示の実施形態について説明したが、本開示は上述の実施形態に限定されることなく、種々変形して実施することができる。
Claims (12)
- 電動作業機であって、
モータと、
前記電動作業機の使用者によってオン操作又はオフ操作されるように構成された操作部と、
前記操作部がオン操作又はオフ操作されることに応じてオン又はオフするように構成された第1のスイッチと、
前記操作部がオン操作又はオフ操作されることに応じてオン又はオフするように構成された第2のスイッチと、
コンピュータプログラムに従ってモータ制御処理を実行するように構成された制御回路であって、前記第1のスイッチから前記第1のスイッチの状態を示す第1スイッチ情報を受けるように構成され、前記第2のスイッチから前記第2のスイッチの状態を示す第2スイッチ情報を受けるように構成された制御回路と、
を備え、
前記モータ制御処理は、前記操作部がオン操作されていることを前記第1スイッチ情報及び前記第2スイッチ情報が示していることに応じて、前記モータを駆動するための駆動指令を出力することを含む、
電動作業機。 - 請求項1に記載の電動作業機であって、
さらに、ハードウェア処理により動作するように構成された駆動停止回路であって、前記第1スイッチ情報及び前記第2スイッチ情報を受けるように構成され、前記第1スイッチ情報により示される前記第1のスイッチの状態、及び/または前記第2スイッチ情報により示される前記第2のスイッチの状態が、前記操作部がオフ操作されている状態に対応していることに応じて、前記制御回路からの前記駆動指令を無効化して前記モータを停止するように構成された駆動停止回路を備える、電動作業機。 - 請求項2に記載の電動作業機であって、
さらに、前記制御回路から前記駆動指令を受けるように構成された駆動回路であって、前記駆動指令を受けることに応じて前記モータへ電力を供給して前記モータを駆動するように構成された駆動回路を備え、
前記駆動停止回路は、前記駆動回路への前記駆動指令を遮断することによって前記モータを停止するように構成されている
電動作業機。 - 請求項3に記載の電動作業機であって、
前記駆動停止回路は、
前記第1スイッチ情報により示される前記第1のスイッチの状態及び/または前記第2スイッチ情報により示される前記第2のスイッチの状態が、前記操作部がオフ操作されている状態に対応していることに応じて、停止信号を出力するように構成された停止信号出力回路と、
前記停止信号を受けるように構成され、前記停止信号を受けることに応じて前記駆動回路への前記駆動指令を遮断するように構成された遮断回路と、
を備える電動作業機。 - 請求項4に記載の電動作業機であって、
前記制御回路は、前記停止信号出力回路からの前記停止信号を受けるように構成されている、電動作業機。 - 請求項5に記載の電動作業機であって、
前記制御回路は、(i)前記操作部がオン操作されていることを前記第1スイッチ情報及び前記第2スイッチ情報が示していて、且つ(ii)前記制御回路が前記停止信号を受けることに応じて、前記駆動指令を出力しないように構成されている、電動作業機。 - 請求項5又は請求項6に記載の電動作業機であって、
前記制御回路は、前記操作部がオフ操作されていることを前記第1スイッチ情報及び/または前記第2スイッチ情報が示している一方で前記制御回路が前記停止信号を受けていない状況において、前記操作部がオン操作されていることを示すように前記第1スイッチ情報及び前記第2スイッチ情報が変化することに応じて、前記駆動指令を出力しないように構成されている、電動作業機。 - 請求項4~請求項7のいずれか1項に記載の電動作業機であって、
前記制御回路は、疑似オン信号を出力するように構成されており、
前記電動作業機は、さらに、
前記疑似オン信号を受けるように構成された疑似オン回路であって、前記疑似オン信号を受けることに応じて、前記操作部がオン操作されていることを示すように前記第1スイッチ情報を設定するように構成された疑似オン回路を備え、
前記制御回路は、第1の異常状態を示す第1情報を記憶するように構成されており、
前記制御回路は、
前記操作部がオフ操作されていることを前記第1スイッチ情報及び前記第2スイッチ情報が示していることに応じて前記疑似オン信号を出力する出力処理と、
前記出力処理により前記疑似オン信号を出力している間に前記制御回路が前記停止信号を受けないことに応じて前記第1情報を記憶する第1の記憶処理と、
を実行するように構成されており、
前記制御回路は、(i)前記操作部がオン操作されていることを前記第1スイッチ情報及び前記第2スイッチ情報が示していて、且つ(ii)前記制御回路に前記第1情報が記憶されていることに応じて、前記駆動指令を出力しないように構成されている
電動作業機。 - 請求項8に記載の電動作業機であって、
前記制御回路は、第2の異常状態を示す第2情報を記憶するように構成されており、
前記制御回路は、さらに、(i)前記制御回路が前記疑似オン信号を出力していて、且つ(ii)前記操作部がオン操作されていることを前記第1スイッチ情報が示していないことに応じて、前記第2情報を記憶する第2の記憶処理を実行するように構成されており、
前記制御回路は、(i)前記操作部がオン操作されていることを前記第1スイッチ情報及び前記第2スイッチ情報が示していて、且つ(ii)前記制御回路に前記第2情報が記憶されていることに応じて、前記駆動指令を出力しないように構成されている
電動作業機。 - 請求項1~請求項9のいずれか1項に記載の電動作業機であって、
前記第1のスイッチは、前記操作部がオン操作されることに応じてオフするように構成されており、
前記第1のスイッチは、前記操作部がオフ操作されることに応じてオンするように構成されており、
前記第2のスイッチは、前記操作部がオン操作されることに応じてオンするように構成されており、
前記第2のスイッチは、前記操作部がオフ操作されることに応じてオフするように構成されている、
電動作業機。 - 請求項1~請求項9のいずれか1項に記載の電動作業機であって、
前記操作部は、前記操作部がオン操作されることに連動して前記操作部の操作量が変更されるように構成されており、
前記電動作業機は、さらに、前記第2のスイッチを含む情報出力回路を備え、
前記情報出力回路は、前記第2スイッチ情報を出力するように構成され、前記第2のスイッチがオンしている間は前記操作量を示す情報を含む前記第2スイッチ情報を出力するように構成されており、
前記制御回路は、前記第2スイッチ情報により示される前記操作量に応じた前記駆動指令を出力するように構成されている、
電動作業機。 - 請求項11に記載の電動作業機であって、
前記第2スイッチ情報は、前記操作部の操作状態に応じた電圧によって示され、
前記情報出力回路は、前記第2のスイッチがオフすることに応じて、前記第2のスイッチのオフに対応するオフ電圧を前記第2スイッチ情報として出力するように構成され、
前記情報出力回路は、前記第2のスイッチがオフからオンに変化することに応じて、前記オフ電圧よりも低い初期オン電圧を前記第2スイッチ情報として出力するように構成され、
前記情報出力回路は、前記第2のスイッチがオンしている間、前記電圧を前記操作量に応じて前記初期オン電圧から低下させるように構成されている、
電動作業機。
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AU2019411895A AU2019411895A1 (en) | 2018-12-26 | 2019-12-20 | Electric work machine |
US17/418,595 US11926031B2 (en) | 2018-12-26 | 2019-12-20 | Electric work machine |
CN201980085650.1A CN113226655B (zh) | 2018-12-26 | 2019-12-20 | 电动作业机 |
JP2020563213A JP7289319B2 (ja) | 2018-12-26 | 2019-12-20 | 電動作業機 |
BR112021012659-7A BR112021012659A2 (pt) | 2018-12-26 | 2019-12-20 | Máquina de trabalho elétrica |
CA3125087A CA3125087A1 (en) | 2018-12-26 | 2019-12-20 | Electric work machine |
EP19905477.6A EP3904011B1 (en) | 2018-12-26 | 2019-12-20 | Electric work machine |
JP2023043528A JP2023063613A (ja) | 2018-12-26 | 2023-03-17 | 電動作業機 |
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US (1) | US11926031B2 (ja) |
EP (1) | EP3904011B1 (ja) |
JP (2) | JP7289319B2 (ja) |
CN (1) | CN113226655B (ja) |
AU (1) | AU2019411895A1 (ja) |
BR (1) | BR112021012659A2 (ja) |
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CN113226655A (zh) | 2021-08-06 |
EP3904011A1 (en) | 2021-11-03 |
JP7289319B2 (ja) | 2023-06-09 |
CA3125087A1 (en) | 2020-07-02 |
JP2023063613A (ja) | 2023-05-09 |
BR112021012659A2 (pt) | 2021-09-08 |
EP3904011A4 (en) | 2022-09-28 |
US11926031B2 (en) | 2024-03-12 |
EP3904011B1 (en) | 2024-05-22 |
CN113226655B (zh) | 2024-06-11 |
JPWO2020137907A1 (ja) | 2021-11-04 |
US20220072694A1 (en) | 2022-03-10 |
AU2019411895A1 (en) | 2021-08-05 |
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