JP3139844B2 - Battery usable time prediction device and floor cleaning machine provided with the device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for accurately estimating a usable time of a battery by fuzzy control, and a floor cleaning machine provided with the apparatus.

[0002]

2. Description of the Related Art Conventionally, floor cleaning machines having various structures such as sweepers, polishers or scrubbers (hereinafter simply referred to as floor cleaning machines) have been used for maintenance of factories and buildings. And the like are often used indoors, and require low noise, indoor environment preservation, easy work, operability, and the like. As a result, battery-powered electric vehicles are often used.

Therefore, when using the above-mentioned floor cleaning machines, it is important to perform the cleaning operation efficiently within a limited range of the battery capacity. Since the work must be carried out systematically so as not to interrupt the work, the worker must always proceed with the work without wasting time while correctly predicting and confirming the remaining capacity of the battery, that is, the usable time of the battery. there were.

Therefore, a method of measuring the terminal voltage of a battery and predicting the usable time (remaining capacity) of the battery from the value of the terminal voltage has been conventionally used. A method of estimating the available time by integrating the amount of power based on the discharge current value and the usage time value during actual use, and calculating backward from the power amount when the battery is fully charged. The current or power is measured at regular intervals, and based on the load pattern stored in advance, the predicted value of the discharge duration until the terminal voltage of the battery reaches the preset discharge end voltage is calculated, and How to predict uptime. The floor cleaning device is provided with a battery remaining capacity detection device that employs various prediction methods described above, so that the operation is being performed while monitoring the remaining battery capacity.

[0005]

However, in the above-mentioned conventional method, a change occurs in the current due to a load fluctuation or a difference in operation drive level, and as a result, a difference occurs in the remaining capacity. There is a problem that it is not possible to accurately predict the usable time of the battery.
Poor followability is required.Moreover, a large amount of data is required to create a highly accurate pattern, and a large storage device is required for storing and processing the data. There was a problem that the cost was required and the cost increased.

[0006] Therefore, the technical problem of the present invention is to accurately and accurately calculate the usable time of a battery, which could not be accurately predicted by the conventional method, using fuzzy theory which has been researched and applied in various fields recently. Another object of the present invention is to provide a floor cleaning device which can be predicted so that an operator can easily check it, and further, the floor cleaning area can be predicted from the predicted usable time of the battery.

[0007]

Means taken by the present invention to solve the above-mentioned technical problems are as follows. (1) Terminal voltage detecting means for detecting the terminal voltage of the battery, voltage drop detecting means for detecting the drop of the terminal voltage of the battery, and the terminal voltage and the voltage drop described above as condition parts. Fuzzy control that sets a fuzzy rule that uses battery usable time as a conclusion part, and infers battery usable time based on the fuzzy rule from the terminal voltage and the amount of voltage drop detected by each of the above detecting means. Means, and display means for displaying the usable time inferred by the fuzzy control means.

(2) Temperature detection means for detecting the temperature of the electrolyte of the battery, and temperature correction means for correcting the usable time of the battery inferred by the fuzzy control means with the electrolyte temperature of the battery detected by the temperature detection means. And having.

(3) In addition to the means described in (1) and (2) above, the usable time of the battery inferred and corrected by the fuzzy control means, the traveling speed of the cleaning machine detected by the speed sensor, and A cleaning area calculating and displaying means for calculating a cleaning area of the cleaning machine with respect to the remaining capacity of the battery from the cleaning width of the cleaning machine and displaying the calculated area.

[0010]

The above means operates as follows. According to the above-mentioned means (1), even if the current changes due to a change in load or a difference in drive level, etc., the terminal voltage of the battery and the amount of voltage drop of the battery are detected, and the fuzzy inference unit detects the battery. With the voltage and the amount of drop as the condition part, the remaining capacity of the battery can be accurately inferred as the usable time of the battery based on the fuzzy rule, and the usable time is displayed so that it can be visually confirmed. Can accurately determine how much battery capacity can be used in the future.

According to the above-mentioned means (2), the usable time of the battery inferred by the fuzzy control means is corrected in accordance with the change in the temperature of the electrolytic solution of the battery, and a more accurate usable time of the battery is predicted. To be able to

According to the above-mentioned means (3), the area that can be cleaned by various floor cleaning vehicles that operate using the battery as a drive source is calculated based on the available time of the battery predicted by the fuzzy control unit, and this is calculated. Since the display is performed so that the operator can visually check it, the cleaning operation can be systematically performed in accordance with the cleanable area. As described above, the technical problems described above can be solved by the above means, and the problems of the conventional technology can be solved.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an apparatus for estimating a usable time of a battery according to the present invention and a floor cleaning apparatus provided with the apparatus. FIG. 1 is a block diagram showing a schematic configuration of a battery usable time predicting apparatus according to the present invention. FIG. 2 is a floor cleaning machine constituting the predicting apparatus, specifically, an internal structure of the floor cleaning machine. In FIG. 2, 1 is a vehicle body of a floor washer, 1a is an operation handle, CU
Is a control unit, 2 is a traveling wheel driven and rotated by a motor 2M, 2X is a speed sensor for measuring a rotational speed P of the traveling wheel, 3 is a rear wheel that is rotatable, and 4 and 5 are a body 1
A tank for washing water CW and a tank for sewage DW mounted therein, 4a are upper and lower float switches provided in the washing water tank 4, 5a is a sewage recovery hose having a squeegee 5b attached to a lower end thereof, 5c is a hose for draining sewage, 6 is a water supply pump for supplying cleaning water CW in a cleaning water tank 4 to a rotating brush 8 through a water supply pipe 7, and 8M is a rotating brush 8M.
Motor 9 for the sewage tank 5 through the suction pipe 10
A suction blower that exerts a suction action on the inside, and the suction force applied to the sewage tank 5
The squeegee 5b is acted on through the a to suck and collect sewage on the floor surface into the sewage tank 5.

Reference numeral 11 denotes a battery serving as a power source for the running motor 2M, brush motor 8M, and suction blower 9, and reference numeral 11T denotes a temperature sensor for measuring the temperature T of the electrolyte of the battery 11. The battery 11 is provided with a voltage sensor 11S (see FIG. 3) for measuring a terminal voltage V of the battery and a voltage drop (ΔV / Δt).

FIG. 3 shows a fuzzy inference control circuit.
U14 is based on each detection data sent from the voltage sensor 11S, the electrolyte temperature sensor 11T, and the speed sensor 2X via the sensor input circuit 12 and the A / D converter 13, respectively.
The mechanism controls the display device 16 and the fuzzy controller 17 according to the system program stored in the memory 15.

The fuzzy controller 17 uses the terminal voltage V and the amount of voltage drop ΔV / Δt of the battery 11 sent from the voltage sensor 11S as a condition part (antecedent part), and the usable time te of the battery 11 corresponding thereto. Is set as a conclusion part (consequent part), and the most appropriate battery available time te is inferred from each data detected by the voltage sensor 11S based on the fuzzy rule. Is sent to the display device 16 via the CPU 14, and the control unit C shown in FIG.
5 is displayed on the display unit 20 provided on the control panel CP of FIG.
Are displayed as shown in the display patterns 20-1, 20-2, and 20-3.

In FIG. 4, 21 is a main switch for power supply, 22 is an ON / OFF switch for operation, and 23 is ON / OFF for supplying cleaning water CW to the rotating brush 8.
Switch for water supply, 24 is ON / OFF for suction blower 9
OFF switch, 25 is ON of rotary brush motor 8M
/ OFF switch, 26 indicates a shortage of washing water CW, 27 indicates a ground pressure of the rotary brush 8, 28 indicates a full indicator of the sewage tank 5, 29 indicates a mode switch for switching display contents of the display unit 20, and 30 indicates a mode switch. Battery 11
Power meter that displays the usage status of water, 31 is the wash water CW
2 shows an operation dial for setting the flow rate.

The fuzzy rules described above are, for example, as shown in the fuzzy table shown in FIG. 3, for example: (1) if “V is VL” and “ΔV / Δt is VB” then “te is VS” (2) if “V is VL” and “ΔV / Δt is B” then “te is VS” (3) if “V is VL” and “ΔV / Δt is M” then “te is VS” ↓ ↓ ↓ ↓ (18) There are a total of 18 settings such as if “V is VH” and “ΔV / Δt is VS” then “te is VL”.

FIG. 7 shows a membership function of the voltage drop ΔV / Δt (condition part) of the battery 11 detected by the voltage sensor 11S. In this membership function, each label is represented by VS: Very little. S: The amount of voltage drop is small. M: Voltage drop is standard. B: The amount of voltage drop is large. VB: The amount of voltage drop is very large. Is shown.

FIG. 8 shows a membership function of the terminal voltage V (condition part) of the battery 11 similarly detected by the voltage sensor 11S. In this membership function, each label has a very low VL: voltage. L: Voltage is low. M: Voltage is standard. H: Voltage is high. VH: The voltage is very high. Is shown.

FIG. 9 shows the usable time t of the battery 11.
e shows the membership function of e (conclusion), in which each label has a very short available time: VS. S: Usable time is short. FS: Available time is slightly short. M: Usable time is standard. FL: Usable time is slightly long. L: Usable time is long. VL: The usable time is very long. Is shown.

Next, a description will be given of the fuzzy inference control operation of the battery usable time predicting apparatus configured as described above. The battery voltage sensor 11S shown in FIG. 3 outputs the voltage drop amount ΔV / Δt (ΔV / Δt = X1.
When the terminal voltage V (V = X2; see FIG. 8) is detected, the usable time (remaining capacity) of the battery 11 is detected.
Is controlled by fuzzy inference as follows.

First, the voltage drop ΔV / Δt = X1
And the label (fuzzy value of the fuzzy variable) of the conditional part and the grade, including the terminal voltage V = X2, and the grade of the conditional part. Rule X1 = S (0.8) X2 = VH (0.55) Conformance value 0.55 Rule X1 = S (0.8) X2 = H (0.4) Conformance value 0.4 Rule X1 = VS (0) .2) X2 = VH (0.55) Conformance value 0.2 Rule X1 = VS (0.2) X2 = H (0.4) Conformance value 0.2

Next, when the membership function of the conclusion part Y1 is corrected in accordance with each of the above-mentioned fitness levels, the shape of the fuzzy set of the conclusion part Y1 is as shown by each shaded part in FIG. That is, Rule Y1 = L (0.55) (see the hatched portion) Rule Y1 = FS (0.4) (see the hatched portion) Rule Y1 = VL (0.2) (see the hatched portion) Rule Y1 = M (0 .2) (See the shaded area)

Next, the results of each of the above fuzzy rules are added together as shown in FIG. 11 to obtain a maximum, and a center of gravity Z1 which divides the area of these maxes into two is determined. The possible time (approximately 130 minutes in the case shown) is set, and this time is used by the CPU 14 for the display device 1.
6 is displayed on the display section 20 of the control panel CP.

In the display pattern of the remaining operable time shown in FIG. 5, that is, the usable time of the battery 11, the upper display pattern 20-1 is the power switch 22.
Is turned on and the display is displayed for several seconds while measuring the change in the battery voltage.
2 shows a display example when the remaining operation time is 80 minutes or more and the remaining capacity of the battery 11 is sufficient, and the lower display pattern 20-3 shows the remaining time displayed when the remaining operation time is less than 80 minutes. This is a display example. Therefore, in the case of the usable time of 130 minutes shown in FIG. 11, the display is displayed in the display pattern 20-2 of interruption, but this display example is an example of the embodiment and changes every moment. Remaining operation time (usable time)
May be displayed at any time from the beginning to the end.

Further, in the present invention, the feasible battery use time te inferred as described above is determined by the temperature sensor 11.
By correcting the battery electrolyte temperature T detected by T, the usable time of the battery 11 can be made more accurate in light of the temperature condition during use (during discharge). still,
The correction process of the usable time is performed by the CPU 14 according to the system program stored in the memory 15, and the correction time can be obtained by the following conversion formula. Correction available time t. t = te ｛1 + 0.008 (T−
30)｝

In addition, the floor cleaning device equipped with the battery usable time predicting device according to the present invention is capable of correcting the calculated usable usable time t. The cleaning area S (m ² ) is stored in the memory 15 based on t, the traveling speed P (m / min) of the cleaning device detected by the speed sensor 2X described above, and the cleaning width A (m) of the cleaning device. CPU 14 according to the system program
The calculated cleaning area S is displayed on the display unit 20 by driving the display device 16 in accordance with the switching operation of the mode switch 29. The display pattern example 20-A shown in FIG. , 20-B. The above-mentioned area S that can be cleaned can be obtained by the following equation. Cleanable area S = A × P × t. t

[0029]

As described above, the apparatus for estimating the usable time of a battery according to the present invention and the floor cleaning machine provided with the apparatus have the following effects. Since the discharge state of the battery is different due to a change in load or a difference in the operation drive level, the conventional prediction method or apparatus cannot accurately predict the usable time of the battery. By inferring how much work can be done in the current working situation in the future, that is, how much battery can be used in the future, and furthermore, this prediction time is corrected by the electrolyte temperature of the battery to further improve its accuracy In addition, it is possible to accurately predict the usable time of the battery. In addition, the above-mentioned battery usable time estimated by fuzzy inference is displayed on the display unit, or in the case of a floor cleaning machine, the estimated time is converted into a floor-cleanable area and displayed on the display unit. Resolving the problem of the battery being cut off halfway through the work while watching the display and interrupting the work in the middle, and performing various tasks such as cleaning the floor surface while checking the remaining capacity of the battery systematically You can proceed. The battery can be charged systematically while watching the display to prevent the battery from deeply discharging (discharge rate of 80% or more), so that the life of the battery can be extended. There is no need to accumulate detailed data in memory or calculate the detection data with a computer to predict the usable time.Since it is possible to make an immediate judgment based on the detection data from each sensor, a relatively low-cost device can be used. And can be implemented economically.

[Brief description of the drawings]

FIG. 1 is a block diagram clearly showing a schematic configuration of a battery usable time prediction device according to the present invention.

FIG. 2 is a block diagram illustrating an internal structure of a floor cleaning machine equipped with a device for estimating a usable time of a battery according to the present invention.

FIG. 3 is a block diagram of a fuzzy inference control circuit used in the present invention.

FIG. 4 is a front view of a control panel.

FIG. 5 is a configuration diagram showing a display pattern of a usable time of a battery.

FIG. 6 is a configuration diagram showing a display pattern of a cleanable area.

FIG. 7 is an explanatory diagram showing a membership function of a voltage drop amount of a battery.

FIG. 8 is an explanatory diagram showing a membership function of a terminal voltage of a battery.

FIG. 9 is an explanatory diagram showing a membership function of a usable time of a battery.

FIG. 10 is an explanatory diagram showing a modification of a membership function of a conclusion part.

FIG. 11 is an explanatory diagram for determining the use time of a battery.

[Explanation of symbols]

 2X speed sensor 11 battery 11S battery voltage sensor 11T electrolyte temperature sensor 16 display 17 fuzzy controller 20 display

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-70583 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A47L 11/16 A47L 11/283 H01M 10 / 48

Claims (3)

(57) [Claims] 1. A terminal voltage detecting means for detecting a terminal voltage of a battery, a voltage drop detecting means for detecting a drop of a terminal voltage of a battery, and the terminal voltage and the voltage drop as a condition part. Correspondingly, a fuzzy rule that sets the usable time of the battery as a conclusion part is set, and the usable time of the battery is inferred from the terminal voltage and the amount of voltage drop detected by each of the detecting means based on the fuzzy rule. An apparatus for estimating a usable time of a battery, comprising: fuzzy control means; and display means for displaying a usable time inferred by the fuzzy control means. 2. Temperature detecting means for detecting the temperature of the electrolyte of the battery, and temperature correcting means for correcting the usable time of the battery inferred by the fuzzy control means with the electrolyte temperature of the battery detected by the temperature detecting means. The battery usable time estimating device according to claim 1, further comprising: 3. An apparatus for estimating a usable time of a battery according to claim 1 or 2, further comprising an inferred and corrected usable time of the battery, a running speed of the cleaner detected by a speed sensor, A floor cleaning apparatus comprising: a cleaning area calculating and displaying means for calculating a cleaning area of the cleaning apparatus with respect to a remaining capacity of a battery from a cleaning width of the cleaning apparatus and displaying the cleaning area.