JP2012250841A - Output control device for electrically-driven working vehicle - Google Patents

Abstract

An output control device for an electric work vehicle capable of reliably executing an operation for a predetermined number of times is provided.
An output control device 240 for controlling the output of an electric actuator in an electric work vehicle equipped with a work device 1 that is driven by an electric actuator 210 supplied with power from an in-vehicle battery 220 and performs periodic work is mounted on the vehicle. A remaining power amount detecting means for detecting the current remaining power amount of the battery, a scheduled cycle number calculating means for calculating a planned cycle number until reaching a preset total number of work cycles, and a remaining power amount and a scheduled cycle number. Accordingly, power limiting means for limiting the power supplied to the electric actuator is provided.
[Selection] Figure 5

Description

  The present invention relates to an output control device for an electric work vehicle such as an electric dust collection vehicle, and more particularly to an apparatus that can reliably execute an operation for a predetermined number of operations.

In a garbage collection vehicle, which is a type of work vehicle, power from a traveling engine is extracted by a power take-off (PTO) mechanism to drive a hydraulic pump, and the hydraulic pressure of the work device is generated using the generated hydraulic pressure. A configuration for driving a cylinder or the like has been common.
In recent years, so-called electric work vehicles that use a battery mounted on a vehicle as a power source and drive an electric motor by inverter control to rotate a hydraulic pump have become widespread.
For example, Patent Document 1 describes an example of such an electric work vehicle.

In such an electric work vehicle, there is a concern that the scheduled work cannot be completed if the power consumption of the battery is excessive. For example, in the case of a garbage truck, if the remaining power of the battery decreases during the work route that goes around the planned loading place, all loading cannot be completed by the electric motor, Operation will be hindered.
On the other hand, Patent Document 2 describes a drive control device for a work equipment that monitors increase / decrease in power capacity and controls increase / decrease in output of the work equipment for each preset area based on the monitoring result. Has been.

JP 2009-262759 A JP 2004-189409 A

However, in the technique described in Patent Document 2, the torque of the electric motor is simply controlled according to the remaining amount of the battery, and the remaining number of loadings is not taken into consideration. It is not possible to guarantee that the operation is completed by the electric motor in all loading operations that are carried out in a round.
The subject of this invention is providing the output control apparatus of the electrically-driven work vehicle which can perform the operation | movement of predetermined | prescribed number of work reliably.

The present invention solves the above-described problems by the following means.
The invention according to claim 1 is an output control device that controls the output of the electric actuator in an electric work vehicle equipped with a work device that is driven by an electric actuator supplied with power from a vehicle-mounted battery and that performs periodic work. A remaining power amount detecting means for detecting a current remaining power amount of the in-vehicle battery, a planned cycle number calculating means for calculating a planned cycle number until reaching a preset total number of work cycles, and the remaining power amount And an electric power control means for limiting electric power supplied to the electric actuator according to the planned number of cycles.
According to this, by limiting the power supplied to the electric actuator according to the remaining power amount and the planned number of cycles, the remaining power amount decreases excessively before the end of the planned number of cycles, making it impossible to work. Can be prevented.

The invention according to claim 2 is characterized in that the power limiting means includes an average value calculating means for calculating an average power consumption per work cycle, the value obtained by dividing the remaining power amount by the scheduled number of cycles, and 2. The output control device for an electric work vehicle according to claim 1, wherein electric power supplied to the electric actuator is limited based on an average power consumption.
According to this, appropriate control can be performed when the power consumption per work cycle changes substantially constant.

According to a third aspect of the present invention, the power limiting unit has a database that associates the remaining power amount of the in-vehicle battery with the number of work cycles that can be executed, and the remaining power amount detected by the remaining power amount detecting unit 2. The electric work vehicle according to claim 1, wherein when the number of executable work cycles obtained from the database falls below the predetermined number of cycles, electric power supplied to the electric actuator is limited. Output control device.
According to this, even when the power consumption per work cycle changes with the progress of work, appropriate output control reflecting such influence can be performed.

The invention according to claim 4 comprises learning means for updating the database using a correlation between the number of work cycles in actual work and the transition of the remaining electric energy of the in-vehicle battery. It is an output control device of an electric work vehicle.
According to this, it is possible to execute output control with higher accuracy reflecting the actual work results.

The invention according to claim 5 is provided with input means for allowing the user to set and input the total number of work cycles, and output control of the electric work vehicle according to any one of claims 1 to 4 Device.
According to this, the user can arbitrarily set the total number of work cycles, and convenience is improved.

The invention according to claim 6 is an output control device for an electric work vehicle according to any one of claims 1 to 5, further comprising display means for displaying the total number of work cycles. .
According to this, it becomes possible for the user to easily check the total number of work cycles currently set, and convenience is improved.

According to a seventh aspect of the present invention, the work device sequentially executes a plurality of work steps in one cycle, and when the remaining electric energy of the in-vehicle battery is larger than a predetermined threshold, the stroke of the driven member Based on the output of the switch that detects the end, the process proceeds to the next work step, and when the remaining electric energy of the in-vehicle battery is smaller than a predetermined threshold, the driving time of the driven member is set to a predetermined time set in advance. The output control device for an electric work vehicle according to any one of claims 1 to 6, wherein after the elapse of time, the process proceeds to the next work process.
According to this, for example, in a garbage truck, it is possible to prevent an excessive increase in power consumption per cycle due to excessive power consumption for dust compression in the latter stage of the loading operation.

  As described above, according to the present invention, it is possible to provide an output control device for an electric work vehicle that can reliably execute an operation for a predetermined number of times.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the refuse collection vehicle which has Example 1 of the output control apparatus of the electrically-driven work vehicle to which this invention is applied. It is a rear perspective view of the refuse collection vehicle of Example 1. It is a figure which shows the structure of the hydraulic circuit of the refuse collection vehicle of Example 1. FIG. It is a figure which shows the structure of the operation control valve | bulb of the refuse collection vehicle of Example 1. FIG. It is a schematic diagram which shows the structure of the hydraulic pump drive mechanism of the garbage truck of Example 1. FIG. It is a flowchart which shows the output control in the garbage truck of Example 1. FIG. It is a graph which shows an example of the reference | standard log | history data of SOC with respect to the frequency | count of work in Example 2 of the output control apparatus of the electric working vehicle to which this invention is applied.

  An object of the present invention is to provide an output control device for an electric work vehicle that can reliably execute an operation for a predetermined number of operations, and to limit the output power to the motor based on the current SOC of the battery and the remaining number of operations. Solved by doing.

A first embodiment of an output control device for an electric work vehicle to which the present invention is applied will be described below.
In the first embodiment, the electric work vehicle is, for example, a dust collection vehicle including a press-type dust collection device.
As shown in FIGS. 1 and 2, the dust collecting device 1 is mounted on a truck chassis 2 and constitutes a dust collecting vehicle which is a kind of electric work vehicle.
The truck chassis 2 includes a frame 3, an engine 4, a transmission 5, a power take-off (PTO) mechanism 6, and the like.
The frame 3 is a structural member on which the cabin and the dust collecting device 1 are mounted and to which a power train, a suspension, and the like are attached.
The engine 4 is a driving power source for the vehicle, and is an internal combustion engine such as a diesel engine.
The transmission 5 increases / decreases the rotational output of the engine 4 and transmits it to the rear wheel axle via the propeller shaft and the final reduction gear.
The PTO mechanism 6 is provided along with the transmission 5 to extract the rotational output of the engine 4 and transmit it to the pump 120.

  The dust collecting device 1 includes a body 10, a tailgate hopper 20, a backflow prevention cylinder C1, a lift cylinder C2, an automatic lock cylinder C3, a vertical movement cylinder C4, an oyster cylinder C5, a discharge cylinder C6, and the like.

The body 10 is configured in a box shape in which an opening is provided on the vehicle rear side.
The body 10 is a part (packing box) in which the collected dust is accommodated.
In addition, a discharge panel 11 is provided inside the body 10 to push out the stored dust to the rear side.

The tailgate hopper 20 is disposed so as to substantially close the rear opening of the body 10.
The tailgate hopper 20 rotates around a hinge provided at the upper end of the opening of the body 10 so that the opening of the body 10 can be opened and closed.
The tailgate hopper 20 includes a loading device that compresses the dust thrown in by the loading panel 21 and pushes it into the body 10.
The loading device scoops up the dust thrown into the lower portion of the tailgate hopper 20 by a loading panel 21 driven along a predetermined locus, and scrapes it into the body 10.

The backflow prevention cylinder C1 is a hydraulic cylinder that performs the backflow prevention panel oystering and reversing operation in order to prevent the backflow of the loaded dust.
The lift cylinder C <b> 2 is a hydraulic cylinder that opens and closes the opening of the body 10 by rotating the tailgate hopper 20.
The automatic lock cylinder C3 is a hydraulic cylinder that drives a lock mechanism that locks the tailgate hopper 20 and restricts relative rotation with respect to the body 10.
The vertical movement cylinder C4 is a hydraulic cylinder that moves the loading panel 21 of the tailgate hopper 20 up and down.
The oyster cylinder C5 is a hydraulic cylinder that performs oystering operation and reversing operation of the loading panel 21.
The discharge cylinder C6 is a hydraulic cylinder that performs discharge and return operations of a discharge panel that pushes and discharges the dust loaded in the body 10 to the vehicle rear side.

The cylinders C1 to C6 described above are driven by a hydraulic circuit described below.
FIG. 3 is a diagram illustrating a configuration of a hydraulic circuit of the dust collecting apparatus according to the embodiment.
The hydraulic circuit 100 includes a hydraulic oil tank 110, a pump 120, an accumulator 130, a filter 140, a regulator 150, an operation control valve 160, and the like.
The hydraulic oil tank 110 is a container that stores hydraulic oil that drives the cylinders C1 to C6.
The pump 120 is a pump such as a gear pump that pressurizes and discharges the hydraulic oil stored in the hydraulic oil tank 110.
The accumulator 130 is a pressure accumulating container that accumulates high-pressure hydraulic oil discharged from the pump 120.
The accumulator 130 is provided between the regulator 150 and the operation control valve 160.
The filter 140 filters hydraulic oil that returns from the hydraulic control valve 160 and the regulator 150 to the hydraulic oil tank 110.
The regulator 150 controls the flow rate of hydraulic oil sent from the pump 120 to the operation control valve 160.

The operation control valve 160 supplies hydraulic oil supplied from the pump 120 via the regulator 150 and the accumulator 130 to the cylinders C1 to C6 via the hydraulic line L.
FIG. 4 is a diagram showing the configuration of the operation control valve 160.
The operation control valve 160 includes solenoid valves SV1 to SV5 that are three-position direction control valves.
Each solenoid valve SV1 to SV5 switches the presence / absence and direction of hydraulic pressure supplied to each cylinder C1 to C6 in accordance with drive power supplied from a control device (not shown).

The solenoid valve SV1 supplies hydraulic pressure to the backflow prevention cylinder C1.
The solenoid valve SV2 supplies hydraulic pressure to the lift cylinder C2 and the automatic lock cylinder C3.
The solenoid valve SV3 supplies hydraulic pressure to the vertical movement cylinder C4.
The solenoid valve SV4 supplies hydraulic pressure to the cylinder C5.
The solenoid valve SV5 supplies hydraulic pressure to the discharge cylinder C6.
The oil passages for supplying hydraulic pressure from the solenoid valves SV1, SV2, SV4, SV5 to each cylinder include a relief valve that bleeds the hydraulic oil to the hydraulic oil tank 110 when the pressure exceeds a predetermined value. Is provided.

As shown in FIG. 5, in the first embodiment, the pump 120 can be selected from driving by the output of the engine 4 using the PTO mechanism 6 and driving by an electric motor.
The garbage collection device 1 includes a motor 210, a battery 220, an inverter 230, a control device 240, an input / output device 250, and the like.
The motor 210 is, for example, an AC motor provided coaxially with the input shaft of the pump 120 at the end of the pump 120 on the PTO mechanism 6 side.
The rotating shaft (output shaft) of the motor 210 is connected to the input shaft of the pump 120.
The PTO mechanism 6 is connected to the end of the rotating shaft of the motor 210 opposite to the pump 120 side via a power transmission shaft.

The battery 220 is a secondary battery such as a lithium ion battery, a nickel metal hydride battery, or a lead storage battery, and supplies power for driving the motor 210.
The battery 220 may be charged at a station, for example, or may be additionally charged during operation of the vehicle using regenerative power generation means.
The battery 220 is mounted on, for example, the lower part of the dust collecting device 1.
Further, the battery 220 includes SOC detection means for detecting a state of charge (SOC) that is a charged state.

The inverter 230 performs DC-AC conversion on the power output from the battery 220 and supplies it to the motor 210 to drive the motor 210 and to control the output of the motor 210.
Further, the inverter 230 has a function of monitoring the amount of power consumed for one cycle operation (one loading operation) of the dust collecting apparatus 1.

The control device 240 controls the output of the motor 210 by controlling the inverter 230.
Based on the scheduled number of loading operations (total number of work cycles) set by the user and the count value of the number of actually performed operations, the control device 240 determines the number of loading operations scheduled in the future (scheduled cycle). And an output control function for limiting the power supplied to the motor 210 so that the operation of the remaining number of operations is possible even when the SOC is low, according to the SOC of the current battery.
This point will be described in detail later.

  The input / output device 250 includes input means for the user to input the scheduled number of loading operations, image output means for displaying the scheduled number of times, the number of performed tasks, the number of remaining tasks, and the like.

Hereinafter, the output control function in the dust collecting apparatus 1 described above will be described.
FIG. 6 is a flowchart showing this output control function. Hereinafter, the steps will be described step by step.

<Step S01: Motor rotation command ON>
Control device 240 turns on the motor rotation command in response to an electric switch-on operation from the user, and proceeds to step S02.

<Step S02: SOC confirmation>
Control device 240 confirms the current SOC using the SOC detection means of battery 220.
Thereafter, the process proceeds to step S03.

<Step S03: SOC Level Determination>
The control device 240 determines whether or not the current SOC is equal to or greater than a predetermined threshold value, and if it is equal to or greater than the threshold value, the process proceeds to step S04.
On the other hand, if the current SOC is less than the threshold value, the process proceeds to step S06.

<Step S04: Normal output>
Control device 240 instructs inverter 230 to drive the motor with a normal output that does not limit the output.
Thereafter, the process proceeds to step S05.

<Step S05: Motor Drive / Normal Work Execution>
The inverter 230 supplies electric power to the motor 210 to drive the motor 210, and causes the garbage collector 1 to perform a loading operation.
At this time, the dust collecting apparatus 1 uses a switch provided at the stroke end of each cylinder that operates sequentially to stop the drive of the cylinder in which the switch is operated and to perform a normal operation of shifting to the next cylinder drive. . These switches detect, for example, the stroke end of a driven member such as the loading panel 21.
Thereafter, the process proceeds to step S06.

<Step S06: Storage of power consumption for one cycle>
Based on information from inverter 230, control device 240 stores the power consumption consumed for one cycle of driving.
Thereafter, the series of processes is terminated (returned), and the process returns to step S01 to repeat the subsequent processes.

<Step S07: Determining whether the scheduled number of operations can be driven>
Based on the current SOC and the number of remaining operations, the control device 240 determines whether or not all loading operations can be completed with normal output.
The control device 240 estimates the average power consumption amount in the previous loading operation as the power consumption amount per cycle of the loading operation, and determines the remaining power amount of the battery 220 estimated based on the SOC. Divide by this average value to estimate the number of possible operations.
If the possible work number is equal to or greater than the remaining work number, it is determined that the loading work can be completed by the normal output, and the process proceeds to step S08.
On the other hand, when the possible work number is less than the remaining work number, it is determined that the loading work cannot be completed by the normal output, and the process proceeds to step S10.

<Step S08: Normal output>
Control device 240 instructs inverter 230 to drive the motor with a normal output that does not limit the output.
Thereafter, the process proceeds to step S09.

<Step S09: Motor Drive / Normal Work Execution>
The inverter 230 supplies electric power to the motor 210 to drive the motor 210, and causes the garbage collector 1 to perform a normal loading operation.
Thereafter, the series of processes is terminated (returned), and the process returns to step S01 to repeat the subsequent processes.

<Step S10: Current adjustment output>
The control device 240 instructs the inverter 230 to drive the motor with the limited output in which the current value is limited with respect to the normal output.
Then, it progresses to step S11.

<Step S11: Motor drive / timer control work execution>
The inverter 230 supplies the limited electric power to the motor 210 to drive the motor 210, and causes the garbage collector 1 to perform a loading operation.
At this time, when the driving time of each cylinder has passed a predetermined time set in advance for each cylinder, the dust collecting device 1 ends the driving of the cylinder without waiting for the switch operation and performs the next cylinder driving. Execute timer control to start.
By executing such timer control, it is possible to prevent excessive electric power from being consumed for dust compression.
Thereafter, the series of processes is terminated (returned), and the process returns to step S01 to repeat the subsequent processes.

According to Example 1 demonstrated above, the following effects can be acquired.
(1) By limiting the power supplied to the motor 210 in accordance with the SOC of the battery 220 and the number of remaining operations, it is possible to prevent the remaining power from being excessively lowered before the remaining number of operations is completed, thereby making the operation impossible. can do.
(2) By performing the above-described control using the average power consumption per cycle, appropriate control can be performed when the power consumption per work cycle changes substantially constant.
(3) The user can arbitrarily set the scheduled number of loading operations using the input / output device 250, and can confirm the scheduled number of times, the number of performed tasks, the number of remaining tasks, and the like. This is possible and improves convenience.
(4) The cylinder is not driven until the end of the stroke, and the timer control that shifts to the next operation after a predetermined driving time is executed, so that excessive power is consumed to compress the dust in the later stage of the loading operation. It is possible to prevent the power consumption per cycle from increasing rapidly.

Next, a second embodiment of the output control device for an electric work vehicle to which the present invention is applied will be described.
In addition, about the location which is substantially common with Example 1 mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted and a difference is mainly demonstrated.
The output control apparatus according to the second embodiment is characterized in that it is determined whether or not output control is to be executed based on power consumption and SOC reference history data according to the number of operations described below.
FIG. 7 is a graph showing an example of power consumption and SOC reference history data according to the number of times of loading.
In FIG. 7, the horizontal axis indicates the number of operations (number of loadings), the solid line indicates the transition of the SOC, and the broken line indicates the accumulated power consumption.
As shown in FIG. 7, the accumulated power consumption increases according to the number of operations, and the SOC decreases according to the number of operations.

In addition, in a garbage truck, the power required to compress the dust increases as the number of operations increases, so the power consumption per operation (SOC reduction amount) may increase. The influence of the increase in electric power is also reflected in the reference history data.
The control device 240 holds such reference history data as a database in a built-in storage device.
Such reference history data is generated based on the standard power consumption history of the work route in which the garbage truck is operated, and is further appropriately corrected by learning using data obtained by subsequent operation of the work vehicle. .

In the second embodiment, the control device 240 refers to the stored reference history data, thereby allowing the remaining number of work operations based on the current SOC (until the SOC decreases to a level at which it is difficult to drive the dust collecting device 1). Work number).
If the remaining number of possible operations obtained based on the current SOC is smaller than the actual remaining number of operations (the number of operations scheduled in the future), the total product is obtained when the motor 210 is driven with normal output. It is determined that it is difficult to complete the driving operation by electric drive, and a current adjustment output that limits the supply current to the motor 210 is executed.
In the second embodiment described above, in addition to the effects that are substantially the same as the effects of the first embodiment described above, precise control that takes into account the influence of an increase in power consumption according to the increase in the number of loading operations is performed. By doing so, the motor output can be more appropriately controlled.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) In each embodiment, the electric work vehicle is, for example, a garbage collection vehicle. However, the present invention is not limited to this and can be applied to other types of electric work vehicles.
In addition, as in each of the embodiments, the present invention is not limited to the case where the hydraulic actuator is driven by generating the hydraulic pressure by the electric actuator, and the present invention can be applied to the case where only the electric actuator is operated.
(2) The configuration of the dust collecting device is not limited to that of each embodiment, and can be changed as appropriate. For example, although the dust collection apparatus of each Example was a press type (compression plate type), for example, it is not restricted to this, A rotary plate type may be used.
(3) In each embodiment, the user sets the number of work cycles by the input / output device. However, the present invention is not limited to this, and the inverter and its control device are automatically operated based on the preset number of work cycles. Alternatively, the output may be adjusted according to the SOC.

DESCRIPTION OF SYMBOLS 1 Dust collection apparatus 2 Truck chassis 3 Frame 4 Engine 5 Transmission 6 PTO mechanism 10 Body 11 Discharge panel 20 Tailgate hopper 21 Loading panel C1 Backflow prevention cylinder C2 Lift cylinder C3 Automatic lock cylinder C4 Vertical motion cylinder C5 Oyster cylinder C6 Discharge cylinder DESCRIPTION OF SYMBOLS 100 Hydraulic circuit 110 Hydraulic oil tank 120 Pump 130 Accumulator 140 Filter 150 Regulator 160 Operation control valve SV1-SV5 Solenoid valve 210 Motor 220 Battery 230 Inverter 240 Controller 250 Input / output device

Claims (7)

An output control device for controlling the output of the electric actuator in an electric work vehicle equipped with a work device that is driven by an electric actuator supplied with power from an in-vehicle battery and executes periodic work,
A remaining power amount detecting means for detecting a current remaining power amount of the in-vehicle battery;
A planned cycle number calculating means for calculating a planned cycle number until reaching a preset total work cycle number;
An output control device for an electric work vehicle, comprising: a power limiting unit configured to limit power supplied to the electric actuator according to the remaining power amount and the scheduled number of cycles. The power limiting means has an average value calculating means for calculating an average power consumption per work cycle, and based on the value obtained by dividing the remaining power amount by the planned number of cycles and the average power consumption The output control device for an electric work vehicle according to claim 1, wherein electric power supplied to the electric actuator is limited. The power limiting means has a database that associates the remaining power amount of the in-vehicle battery and the number of work cycles that can be executed, and is obtained from the database according to the remaining power amount detected by the remaining power amount detecting means. 2. The output control device for an electric work vehicle according to claim 1, wherein the electric power supplied to the electric actuator is limited when a possible number of work cycles falls below the predetermined number of cycles. The output control device for an electric work vehicle according to claim 3, further comprising learning means for updating the database using a correlation between the number of work cycles in actual work and a transition of the remaining electric energy of the in-vehicle battery. The output control device for an electric work vehicle according to any one of claims 1 to 4, further comprising input means for a user to set and input the total number of work cycles. The output control device for an electric work vehicle according to any one of claims 1 to 5, further comprising display means for displaying the total number of work cycles. The work device sequentially executes a plurality of work steps in one cycle. When the remaining electric energy of the in-vehicle battery is larger than a predetermined threshold value, the work device outputs the switch to detect the stroke end of the driven member. And when the remaining electric energy of the in-vehicle battery is smaller than a predetermined threshold value, the drive time of the driven member passes after the predetermined time set in advance and the next work step is started. The output control device for an electric work vehicle according to any one of claims 1 to 6, wherein the output control device shifts.

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