JP7369846B2 - Vehicle control device - Google Patents

Description

The present invention provides a traveling drive source, a working device that operates in response to the driving force of the traveling driving source, and a power extraction device for connecting or disconnecting the traveling driving source and the working device. The present invention relates to a vehicle control device including a control section that controls driving of the traveling drive source to control an output value of the working device.

In a powder transport vehicle used as a work vehicle, the power extraction device is switched from the disconnected state to the connected state and the compressor (working device) is operated by the power from the engine (travel drive source) to remove the powder and granular material in the tank. Perform the discharge work. During this discharge operation, the engine rotational speed is increased or decreased so that the discharge rate of the powder or granules can be increased or decreased, thereby making it possible to vary the amount of air discharged from the compressor.

This powder transport vehicle is provided with a volume for indicating the engine speed, and the engine speed is changed depending on the operating position of the volume (for example, Patent Document 1).

Patent No. 5160490

The above configuration has room for improvement in the operation of the volume to the target position.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a vehicle control device that can eliminate the need for operation.

The vehicle control device of the present invention includes a traveling drive source, a working device that operates in response to the driving force of the traveling driving source, and a connecting state or a disconnected state between the traveling driving source and the working device. a power extraction device for controlling the driving of the traveling drive source, a control unit that controls the output value of the working device by controlling the driving of the traveling drive source, a target output value setting unit that sets a target output value of the working device, and a control unit that controls the output value of the working device; current output value detection means for detecting a current output value of the device, and the control unit converts the current output value of the working device detected by the current output value detecting device at the end of the previous work into a target value of the working device. It is characterized in that it is set and stored as an output value, and the target output value of the working device set at the end of the previous work is read out and set as the target output value of the working device during the next work.

According to the above configuration, it is not necessary to manually set the target output value every time the work is performed. Moreover, the amount of adjustment needed to adjust the target output value from the previous target output value can be small.

INDUSTRIAL APPLICATION This invention can provide the vehicle control apparatus which can eliminate the effort of operation.

FIG. 3 is a front view of a meter panel attached to a powder transport vehicle. It is a front view showing the meter screen of the same meter panel. It is a front view showing the setting screen of the same meter panel. It is a flowchart which shows the process of setting the lower limit value and upper limit value of the output of a working device. FIG. 2 is a block diagram showing the relationship between a switch, an engine, and a compressor used when setting a lower limit value and an upper limit value of the output of the working device. It is a graph showing changes in the rotation speed of the compressor. It is a flowchart which shows control of the rotation speed of a compressor. It is a flowchart which shows other control of the rotation speed of a compressor.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A powder and granular material transport vehicle equipped with a vehicle control device according to an embodiment of the present invention will be described below. Although not shown, a powder transport vehicle is assembled by procuring a chassis equipped with an engine as a drive source from a chassis manufacturer, and attaching a working device to the chassis that operates by receiving the driving force of the engine. . Note that engine specifications (for example, minimum engine speed and maximum engine speed) differ depending on the chassis manufacturer. The chassis manufacturer is a manufacturer that manufactures the chassis on which the engine is mounted, excluding the working equipment, and ships the assembled powder and granular material carrier by attaching the working equipment to the car body with the engine installed to the client (customer). The manufacturer is called a bodywork manufacturer.

The working device is composed of a compressor that introduces pressurized air into a tank containing powder and granular material through an introduction pipe. The compressed air from the compressor causes the powder in the tank to flow and is configured to be discharged to the outside through a discharge pipe. The compressor is provided with a rotation speed sensor (measuring means) that detects the rotation speed of the compressor. This rotation speed sensor is referred to as current output value detection means 15 for detecting the current output value of the compressor (see FIG. 5). A working device is one that receives direct mechanical motion from a drive source. For example, in this embodiment, the compressor is subjected to rotational motion of the engine.

A meter panel 1 shown in FIG. 1 is attached to the powder transport vehicle. This meter panel 1 is used when discharging the granular material in the tank and when setting at least one of the upper limit and lower limit of the rotation speed of the compressor 2 (see FIG. 5). Specifically, the right end of the meter panel 1 is provided with a main switch 3, a rotation speed adjustment switch 4 for the compressor 2, and a screen changeover switch 5 in order from the top, and a liquid crystal meter screen 6 as a display section is provided in the center left and right. It is equipped with

The main switch 3 is a toggle switch, and is configured as an alternate operation type in which it is switched to an ON or OFF state and maintained in the switched state by tilting the operating lever upward or downward only once. Here, when the operating lever is tilted upward, it is switched to work using the compressor 2 (ON state), and this state is maintained until the next operation (downward operation) is performed. Furthermore, when the operating lever is pushed downward, it is switched to when the vehicle is running (OFF state), and this state is maintained until the next operation (upward operation) is performed.

The rotation speed adjustment switch 4 constitutes a target output value setting means for varying the rotation speed, which is the output value of the compressor 2, when the compressor 2 is in operation. Specifically, the rotation speed adjustment switch 4 is a toggle switch, and when not operated, is biased to return to the neutral position, which is the horizontal position shown in FIG. It is configured as a momentary operation type that turns on only when it is tilted to the side. Here, when the operating lever is tilted upward, the rotation speed of the compressor 2 is increased. Further, when the operating lever is pushed downward, the rotation speed of the compressor 2 is lowered. Note that if it is desired to continuously change the rotation speed of the compressor 2, the operation lever must be kept in an upward or downward position. This rotation speed adjustment switch 4 also functions as a fine adjustment switch as a fine adjustment means when finely adjusting the minimum rotation speed (lower limit value) and maximum rotation speed (upper limit value) of the compressor 2.

The screen changeover switch 5 is a toggle switch that is biased to return to the neutral position, which is the horizontal position shown in FIG. It is configured to be a momentary operation type in which only the first switch is in the ON state. Here, when the operating lever is tilted upward, the screen is switched to, for example, the meter screen 6 shown in FIG. 2. In addition, by tilting the control lever downward and keeping it in the tilted state for a predetermined period of time (several seconds) (long press), the value of the trip meter (odometer) can be reset. This screen changeover switch 5 also functions as a decision memory switch as a deciding means for determining the minimum rotation speed and maximum rotation speed of the compressor 2 set by the rotation speed adjustment switch 4.

The meter screen 6 shown in FIG. 2 displays the rotation speed (850 rpm in FIG. 2) of the compressor 2 operated by the power from the engine 7 (see FIG. 5), as well as the measured value of the pressure gauge in the tank (see FIG. In Fig. 2, 0.150 MPa) and the measured value of the pressure gauge inside the pipe (0.175 MPa in Fig. 2) are displayed. Although not shown, the operation information screen can also be switched to the operation information screen, which displays the total operating time of the compressor, today's operating time of the compressor, the compressor temperature, error display and error history, etc. is displayed.

Further, as shown in FIG. 5, operation signals from the rotation speed adjustment switch 4 and the screen changeover switch 5 are input to the control unit 8, and the engine 7 and the compressor 2 are connected or disconnected. A power take-off device (PTO) 9 capable of switching the power take-off device 9 and a changeover switch 10 that switches the power take-off device 9 between a connected state and a cutoff state are connected to the control section 8.

The controller 11 includes a control section 8 and a storage means 12. The storage means 12 stores a plurality of upper limit voltage values and lower limit voltage values of the engine rotation speed for each chassis manufacturer, and since there is a small difference between the upper limit and the lower limit of the compressor rotation speed for each compressor manufacturer, One rotational speed is stored. In addition, the storage means 12 (see FIG. 5) also stores the gain, which is the increase or decrease when the rotation speed adjustment switch 4 is operated upward or downward during operation of the compressor 2. is stored in Then, by inserting a setting harness to be described later into the controller 11, it switches to the setting mode, specifies which chassis manufacturer's engine is used, and selects the voltage value that generates the minimum rotation speed of the specified engine and the voltage value corresponding thereto ( The rotation speed of the compressor 2 (rotated by the rotational force of the engine) is read out. The read voltage value and the rotation speed of the compressor 2 are displayed on a setting screen to be described later.

The settings required when assembling the powder transport vehicle, that is, the process of setting the minimum and maximum rotation speeds of the compressor 2 will be explained based on FIGS. 3 and 4.

First, the controller 11 is mounted on a powder transport vehicle (step S1). Next, the controller 11 is switched to the setting mode by inserting the setting harness into the controller 11 (step S2). Next, the engine 7 is started and the changeover switch 10 is turned ON to turn the power take-off device (PTO) 9 ON (connected state), and the main switch 3 is turned upward to switch to "during work" (step S3). . At this time, it is determined that the power take-off device (PTO) 9 is electrically connected by the ON signal of the changeover switch 10, and the voltage value of the upper limit value and the lower limit value of the engine speed and the respective voltage values are determined. Read out the rotation speed of the compressor 2 that operates based on the voltage value. This switches the meter screen 6 to the setting screen shown in FIG. In the upper part of FIG. 3, the rotation speed of the compressor 2 at the minimum rotation setting of 700 rpm and the rotation speed of the compressor 2 at the maximum rotation setting of 900 rpm are displayed. Subsequently, by inserting the setting harness into the controller 11, the engine 7 is driven with the driving voltage value (preset command value of 2.20 V) of the engine 7 corresponding to the read minimum rotation speed (step S4). By this driving, the current driving voltage value of the engine 7 and the rotational speed of the compressor 2 actually measured by the measuring means are displayed (step S5). At this time, due to individual differences between the engine 7 and the compressor 2, the display differs from the minimum rotation speed (preset command value) stored in advance. In the upper part of Fig. 3, the voltage value is 2.20V and the rotation speed is 760 rpm, and the rotation speed adjustment switch 5 is adjusted downward to adjust the minimum rotation speed from 760 rpm to 700 rpm (Fig. 3 (see middle row). After making the adjustment, press and hold the screen changeover switch 5 downward to set the minimum rotation speed (regular lower limit value) (step S6). This set minimum rotation speed (regular lower limit value) is stored in the storage means 12 as a lower limit value (step S7). After storage, the rotation speed is increased to the maximum rotation speed of 900 rpm (the voltage value at this time is 2.50 V) by tilting the rotation speed adjustment switch 4 upward (see the lower part of FIG. 3). When the maximum rotation speed reaches 900 rpm, the screen changeover switch 5 is held down to set the maximum rotation speed (step S8). This set maximum rotation speed (regular upper limit value) is stored in the storage means 12 as an upper limit value (step S9). After saving, the inserted setting harness is removed from the controller 11 to switch to the work mode (step S10). After switching, the operation of the compressor 2 is confirmed (step S11), and when it is confirmed that the operation is normal, the setting work is ended. Here, the minimum rotation speed is made to match from 760 rpm to 700 rpm, but the minimum rotation speed may be adjusted so as to be closer to 700 rpm. After determining and storing the drive value of the engine 7 corresponding to the regular output value as the set value, it is possible to prevent the output value of the compressor 2 from deviating from the target output value, so the output value can be adjusted. The output value of the compressor 2 can be varied by the means 4 to perform desired work. Moreover, compared to the case where the output value of the compressor 2 is manually adjusted from scratch, the adjustment range is smaller, and the effort required for adjustment can be reduced.

Furthermore, by setting a prohibited area (two areas, a minimum area and a maximum area) in which the minimum rotation speed and maximum rotation speed cannot be set for each chassis manufacturer, it is possible to avoid an error in the engine 7. ing.

Further, as shown in FIGS. 5 and 6, the control unit 8 increases the drive of the engine 7 at a predetermined rate of increase up to a predetermined output value lower than the target output value set by the target output value setting means 4. It includes a first drive control 13 and a second drive control 14 that increases the drive of the engine 7 at an increase rate lower than the predetermined increase rate when the predetermined output value is reached. Note that increasing the drive of the engine 7 means increasing the voltage value applied to the engine to increase the amount of fuel injected into the engine 7, thereby increasing the rotational speed of the engine 7. Here, the fuel injection amount to the engine 7 is adjusted by adjusting the voltage value applied to the engine 7, but the cover of the engine 7 and the accelerator pedal (or hand-operated accelerator lever) are connected by wire or They may be mechanically connected using a link, and the amount of fuel injected into the engine 7 may be adjusted by the amount of operation of the accelerator pedal (or accelerator lever).

The predetermined output value is set to a lower limit value (here, 700 rpm) that is the lowest output value of the compressor, which is preset when the compressor 2 is in operation. By setting the lower limit value, the rate of increase in the voltage value applied to the engine 7 can be increased until the lower limit value is reached, and the time required to reach the target value can be shortened. Furthermore, even if the rate of increase in the voltage value of the engine 7 is increased, the rate of increase is lowered from the lower limit value, so overshooting the target value can be further suppressed.

Therefore, as shown in FIG. 6, from the idling rotation speed of the compressor 2 to the lower limit value, first drive control is performed to increase the voltage value of the engine 7 at a predetermined (constant) first increase rate, so that the rotation speed reaches the lower limit value. When reaching , the second drive control is performed to increase the voltage value of the engine 7 to the target output value at a second increase rate lower than the first increase rate. Therefore, overshooting of the target output value can be suppressed. Moreover, since the drive source for driving the work device is continuously driven to the target output value, the effort of operation can be eliminated.

Here, the first increasing rate and the second increasing rate are increasing rates that increase linearly, but may be increasing rates that increase using a quadratic or higher-order function.

Rotation speed control for bringing the rotation speed of the compressor 2 to the target rotation speed will be explained based on the flowchart of FIG. 7.

It is checked whether the main switch 3 has been turned on (step S20), and if it has been turned on, the operation mode of the rotation speed adjustment switch 4 (the target rotation speed of the compressor, which is the target value) is read out, assuming that the main switch 3 has been turned on. Step S21). It is checked whether the target value is higher than the lower limit value (step S22), and if the target value is higher than the lower limit value, rotation speed control is started. If the target value is the same as the lower limit value, control is stopped. In addition, when the said target value is the same as a lower limit value, he is trying to increase to the target rotation speed by the said 1st increase rate. When the rotation speed control is started, the rotation speed of the compressor 2 is increased at speed 1 (step S23). In order to increase the rotation speed of the compressor 2, the voltage value applied to the engine 7 is increased in order to increase the rotation speed of the engine 7, as described above. When the rotation speed of the compressor 2 is increased at speed 1 and the rotation speed reaches the lower limit value (step S24), the rotation speed of the compressor 2 is increased by changing from speed 1 to speed 2 (a speed slower than speed 1). (Step S25). When the rotation speed of the compressor 2 reaches the target rotation speed (step S26), the work is performed while maintaining the rotation speed (step S27). When the work is completed, control is terminated.

Further, the target rotation speed (target output value) of the compressor (work device) 2 set at the end of the previous work may be set as the target rotation speed (target output value) of the compressor (work device) 2 during the next work, The configuration will be explained based on the flowchart of FIG.

It is checked whether the main switch 3 is turned on (step S30), and if it is turned on, the value at the end of the previous work (the target rotation speed of the compressor which is the target value) is read out (step S31). It is checked whether the target value is higher than the lower limit value (step S32), and if the target value is higher than the lower limit value, rotation speed control is started. If the target value is the lower limit value, control is stopped. Note that when the target value is the lower limit value, the rotation speed is increased to the target rotation speed at the first increase rate. When the rotation speed control is started, the rotation speed of the compressor 2 is increased at speed 1 (step S33). In order to increase the rotation speed of the compressor 2, the voltage value applied to the engine 7 is actually increased in order to increase the rotation speed of the engine 7. When the rotation speed of the compressor 2 is increased at speed 1 and the rotation speed reaches the lower limit value (step S34), the speed is changed from speed 1 to speed 2 (a speed slower than speed 1) and the rotation speed of the compressor 2 is increased. (Step S35). When the rotation speed of the compressor 2 reaches the target rotation speed (step S36), the work is performed while maintaining the rotation speed (step S37). When the work is finished, it is checked whether the main switch 3 has been turned off (step S38), and if it has been turned off, the rotation speed of the compressor 2 during the work is stored (step S39), and the control is ended.

The present invention can be modified in various ways without departing from its spirit. In addition, the specific configuration of each part is not limited to the above embodiment. For example, the specially equipped vehicle of the present invention is not limited to a powder transport vehicle. The configuration may be variable when operating the working device, or may be constant instead of variable. Here, as a working device driven by an engine, there is one that applies energy to a load using fluid moved by the working device and loads the cargo into a vehicle or discharges the cargo out of the vehicle. Note that this also includes cases where the fluid to be moved by the working device is the cargo itself. The granular material transport vehicle of this embodiment applies pressure to the granular material (load) using air (fluid) compressed by a compressor, which is a working device, and discharges the cargo. An example of a load itself that is moved by a working device is a tank truck. In this case, a pump, which is a working device, applies pressure to the oil (load), which is a fluid, to load or discharge the oil. Further, some working devices driven by an engine include an actuator that converts fluid moved by the working device into mechanical motion. There are two types: either the actuator moves the machine on board, or the machine operated by the actuator loads and unloads cargo. For example, there are concrete pump trucks equipped with a concrete pump that adjusts the amount of concrete discharged during operation. This concrete pump has a hydraulic pump and a hydraulic cylinder, and the hydraulic cylinder (actuator) is moved by hydraulic oil (fluid) pressurized by the hydraulic pump (working device). The hydraulic cylinder moves a boom (machine) or another hydraulic cylinder (actuator) to discharge the concrete. Note that a pump that applies pressure to hydraulic oil is sometimes called a hydraulic pump, and a pump that applies pressure to cargo is sometimes called a loading/unloading pump. A specially equipped vehicle equipped with a hydraulic pump operates a hydraulic actuator using the hydraulic pressure of the hydraulic pump. The amount of oil discharged from the hydraulic pump corresponds to the output value of the working device. The powder transport vehicle of this embodiment is also included as a specially equipped vehicle equipped with a loading/unloading pump. Another example is a garbage truck that generates electricity with a working device. The working device of the garbage truck is a generator. Garbage trucks supply electric power from a generator to a motor, the motor drives a hydraulic pump, hydraulic oil pressurized by the hydraulic pump drives a hydraulic actuator, and the hydraulic actuator drives a loading device to collect garbage. Load.

In the embodiment described above, the meter screen is switched to the setting mode by inserting the setting harness into the controller 11, but the meter screen may be switched by operating the setting mode changeover switch.

Furthermore, in the above embodiment, the preset command values are read by inserting the setting harness into the controller 11, but a plurality of DIP switches for selecting a plurality of preset command values stored for each chassis manufacturer are installed on the board. The preset command value may be read by operating a specific DIP switch.

Further, in the above embodiment, the main switch 3, the rotation speed adjustment switch 4, and the screen changeover switch 5 are all configured as toggle switches, but some or all of the switches may be configured as a push button type or a slide type. Further, the rotation speed adjustment switch 4 may be constructed from a rotationally operated volume.

Further, in the above embodiment, the fine adjustment switch is also used as the rotation speed adjustment switch 4, but it may be a dedicated switch provided separately. Alternatively, the fine adjustment switch and the rotation speed adjustment switch 4 may be constructed from one push button, and by pressing the push button, only an up signal to increase the rotation speed or a down signal to decrease the rotation speed may be output. . In this case, the configuration may be such that when the push button is pressed and the upper limit value is reached, the lower limit value is returned. Moreover, on the contrary, when the push button is pressed and the lower limit value is reached, the upper limit value may be returned to.

Further, in the above embodiment, it is determined that the power take-off device (PTO) 9 is electrically connected by the ON signal of the changeover switch 10, and the preset command value is read out to drive the engine 7. Even if the compressor 2 is configured to include a detection means for detecting that the and the compressor 2 are electrically connected, and a drive voltage value of the engine 7 is read out based on the detection signal from the detection means and the compressor 2 is operated. good. The detection means may include a rotation sensor that detects whether the compressor 2 is rotating or a sound sensor that detects the sound when the compressor 2 rotates. In this way, the drive voltage value (drive value) of the engine (travel drive source) is read out based on the detection signal from the detection means and the compressor (work device) is operated. Fine adjustment of the actual measured value is not performed when the compressor (working device) is not electrically connected.

Further, in the above embodiment, the predetermined output value is set to the lower limit value, but the rotation speed may be set to be lower than the lower limit value.

Further, in the above embodiment, the target output value is set by the operation position of the rotation speed adjustment switch, but it may be configured to be stored in the control unit in advance or stored in the control unit before work.

Further, in the above embodiment, the engine 7 is used as an example of the drive source for driving, but an electric motor powered by a battery may be used.

Moreover, although the second drive control is set to one increase rate, it may be configured to reach the target value while changing in multiple stages using a plurality of increase rates.

In the vehicle control device of the present invention, the predetermined output value may be set to a lower limit value that is a minimum output value of the working device that is preset when the working device is working.

As mentioned above, if the predetermined output value is set to the lower limit value, which is the minimum output value of the work equipment set in advance during work, the output of the drive source for traveling will not exceed the lower limit value. By increasing the rate of increase in value, it is possible to shorten the time it takes to reach the target value.

Further, in the vehicle control device of the present invention, the target output value of the working device set at the end of the previous work may be set as the target output value of the working device during the next work.

According to the above configuration, it is not necessary to manually set the target output value every time the work is performed. Moreover, the amount of adjustment needed to adjust the target output value from the previous target output value can be small.

Further, the present invention may be a work vehicle including the vehicle control device.

1... Meter panel, 2... Compressor (work device), 3... Main switch, 4... Rotation speed adjustment switch (target output value setting means, output value adjustment means, fine adjustment means), 5... Screen changeover switch (determining means, decision memory switch), 6...meter screen, 7...engine (driving source), 8...control unit, 9...power take-off device (PTO), 10...changeover switch, 11...controller, 12...storage means, 13... First drive control, 14...Second drive control, 15...Current output value detection means

Claims (1)

A driving source for driving,
a working device that operates in response to the driving force of the traveling drive source;
a power extraction device for connecting or disconnecting the traveling drive source and the working device;
a control unit that controls the drive of the traveling drive source to control the output value of the working device;
Target output value setting means for setting a target output value of the working device;
operating means for starting work using the work device;
an operating means for finishing the work started using the work device,
The control unit memorizes the target output value of the working device by operating the operating means for ending the work , and stores the target output value of the working device by operating the operating means for starting the work at the next time. A vehicle control device characterized in that a target output value of the working device, which was set at the end of the previous work, is read out and set as the target output value of the working device.