JPH01278206A - Controller for battery-powered vehicle - Google Patents

Abstract

PURPOSE:To easily regulate traveling and loading performances and to effectively perform the performance in a short time by selecting part of a plurality of control data stored in storage means, and controlling driving means on the basis of the selected data. CONSTITUTION:An operator inputs by input means 1 a plurality of control data of traveling and loading performances responsive to a plurality of different works and an operator's experience. The input data are stored in storage means 2 through selecting means 3. The means 3 selects one of the data stored in the means 2 on the basis of a signal from the input means, and outputs it to control means 4. The means 4 controls driving means 5 made of a traveling motor and a loading motor on the basis of the selected data. Display means 6 displays the data selected by the means 3.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a control device for a battery vehicle such as a forklift.

Conventional technologyForklifts, for example, are used in a variety of work environments, and the objects to be handled and the experience of the operators are also diverse. Therefore, the acceleration speed (traveling power) when starting and moving depends on the load and work situation. The user can freely set the cargo handling performance such as the tilt speed and lift speed of the forklift.

FIGS. 14(a) and 14(b) show schematic diagrams of conventional forklift driving power control and cargo handling performance adjustment circuits.

As shown in Figure 14 (a), the running power is controlled by operating the volume 110 provided on the operation panel, and the cargo handling performance is controlled by the volume 110 provided on the control board as shown in Figure 14 (b). This was done using multiple trimmers 120.

Problems to be Solved by the Invention However, the above-mentioned adjustment of the cargo handling performance is performed by a trimmer installed on the control board, but since this control board is installed inside the machine, the trimmer adjustment work is difficult. This was extremely troublesome and required a long time for adjustment. In addition, it is difficult and inconvenient for the user to adjust the adjustment as desired by the user, and furthermore, it is preferable to adjust the adjustment to the value that best suits the driver and the type of work, and it is more difficult to perform this adjustment frequently. Met.

On the other hand, the driving power adjustment volume is located in front of the driver's seat and is easy to operate, but it is difficult to know the specific acceleration performance just from the volume scale, and it is inconvenient for beginners and waterproof. Countermeasures were also difficult.

In view of the above-mentioned conventional technology, the present invention allows an operator to easily and reliably adjust driving performance and cargo handling performance in a short time.
The purpose of the present invention is to provide a control device for a battery vehicle that allows different settings to be made depending on work conditions, operator experience, etc.

Means to solve problems FIG. 1 is a functional block diagram of the present invention.

In order to achieve the above object, the present invention includes a drive means 5 such as a motor, an input means 1 for inputting a plurality of control data using a plurality of keys, and a display means for displaying the control data input by the input means. 6, a storage means 2 for storing the plurality of control data etc. inputted by the input means, and a part of the plurality of control data stored in the storage means is selected by a signal from the input means. The gist of the present invention is to include a selection means 3 and a control means 4 for controlling the driving means based on control data selected by the selection means.

action The operation of the means of the invention is as follows.

The operator inputs, through the input means 1, a plurality of pieces of control data for driving performance and cargo handling performance in accordance with, for example, a plurality of different tasks and the operator's experience, and stores them in the storage means 2 via the selection means 3. The selection means 3 selects a part of the plurality of control data stored in the storage means 2 based on the signal from the input means and outputs it to the control means 4. The control means 4 controls the drive means 5, which includes, for example, a traveling motor and a cargo handling motor, based on the control data. Further, the display means 6 displays the control data selected by the selection means 3.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 2 is an external view of a forklift operation panel 10, which is an embodiment of the present invention. In the figure, a switch panel section 11 serving as input means includes a mode key 11a for setting driving performance and cargo handling performance, and a data input key 11b.
, tic, a touch panel equipped with a type key lid for switching multiple control data, and a mode key 1
By operating 1a, various modes can be selected cyclically in the following order: maximum driving speed mode → driving acceleration mode → lift speed mode → tilt speed mode → power steering steering force mode → maximum speed mode It looks like this. The maximum running speed mode is a mode that automatically controls the forklift so that it does not run at a speed exceeding its maximum speed.The zero-order running acceleration mode is a mode that sets the acceleration speed at the time of starting and running. Further, the lift speed mode and the tilt speed mode are modes for cargo handling regeneration in which the operating speeds of the lift operation and tilt operation of the fork are set, respectively. Furthermore, the power steering steering force mode is a mode for adjusting the steering force. Each of the above setting modes is sequentially assigned a mode ID of "01", "02", etc. starting from the driving acceleration mode, and each setting mode has several types of setting values (in this example, control data) in advance. There are 6 types of setting values available. For example, maximum driving speed mode (mode 1,
DrolJ: 4km/h, 5km/h, 6kl
/h, 81aa/h, 9km/hSl lkm/h
It is possible to set the maximum running speed in 6 stages).

To select the setting value in each setting mode, use the data input key - 1lb.
Alternatively, it can be performed by operating the llc. The six types of setting values are marked with setting values rD rl, ~ "6", and can be changed from "1" to "2" by operating the data input key 11b.
→... "6" → r1. In this order, enter the data again.
By operating 11c, "6" → "5" →... "1" →
Setting value IDs can be cyclically set in the order of "6".

Furthermore, a plurality of setting modes (three types in this embodiment) are prepared depending on the work and the driver, and each setting mode can be set according to the type (three types: type ID rl, ``2'', ``3''). It is possible to select a plurality of each setting mode, and these selections can be made by operating the type key lid. The three types of setting values are marked with setting values IDrlJ~"6", and can be changed from "1" to "6" by operating the type key lid.
Cycling the type ID in the order of "2" → "3" → "1"
Can be set to link.

The display means is a display device such as a liquid crystal panel 12 that displays in two display modes, a normal mode and a setting mode, and includes a display segment 12a and six rectangular display bodies 21.
22, 23, 24, 25, 26, and a display segment 12c for displaying rkm/hJ provided on the right side of the drawing. In the normal mode, the display unit 12 displays the current traveling speed in a two-digit numerical value on the display segment 12a. On the other hand, in the setting mode, the ID number of the mode selected by operating the mode key 11a of the switch member 1 is displayed on the display segment 12a, and the display segment 12 is displayed on the display segment 12b.
Displays the setting value ID currently set (selected) in the mode displayed in a. Further, the type ID selected by the type key is displayed on the display 12d at the upper right of the screen. The display body 12d of this type ID is the display part 1.
Although it is always displayed regardless of the normal mode or the setting mode of 2, it may be displayed only in the setting mode.

In FIG. 2, the type ID "
1” is the driving acceleration mode I in the display segment 12a.
"02", which is D, and the set value ID rlJ in the driving acceleration mode are shown in the display segment 12b by the lighting of the display 21. Furthermore, the display segment 12b
The number of display bodies 21 to 26 equal to the value of the setting value ID is displayed.
lights up, so you can know the currently set setting value ID from the number of lights up.

Inside the operation panel, a control circuit for the operation panel 10 is mounted on a control printed board 13 indicated by dotted lines in FIG.

FIG. 3 shows an operation panel 10 that functions as a selection means.
FIG. 3 is a block diagram showing a circuit configuration of a control circuit 30 of FIG.

In the figure, a CPU 31 is a microprocessor that executes a program stored in a ROM 32 to control the entire control circuit 30. Each 0N10FF signal of the mode key 11a, data setting keys 11b, llc, and type key lid of the switch panel 11 is inputted to the PI034 via a chattering prevention filter 33.

PIO34 is a parallel input/output interface, and has a mode key 11a, a data setting key 11b, and llc.

CP when any key of type key lid is turned on
Request an interrupt to U31. CPU31 is PI03
When the interrupt from 4 is accepted, the process corresponding to the operated key is performed.

In addition, the CPU 31 has a type key lid and a mode key lla.
Mode I corresponding to the setting mode selected by the operation of
D and type TD, and data setting key 1.1b, llc
Output the setting value ID set by to PIO34,
Type ID, mode I to buffer 35 via PIO 34
Write D and set value LD. The liquid crystal panel 12 reads the data stored in the buffer 35 at predetermined intervals, and displays the type ID, mode ID, and setting value ID on display segments 12a, 12b, and 12d, respectively.

Furthermore, the CPU 31 inputs 5I setting values corresponding to each TD set by the operator through key operations on the switch panel 11.
Output to 036. 51036 is a serial input/output interface for transmitting and receiving data with a traveling control circuit to be described later; mode 10, which is input from the CPU 31;
The mode ID and setting value are output as 2-byte serial data to the travel control circuit via the buffer 37. Also 5
I036 inputs vehicle speed data from the travel control circuit via the filter 38, and outputs it to the CPU 3t.

Furthermore, EEPROM (ELE
ct-rally Erasable Progr
ammable ROM) 39 is a rewritable ROM that stores the latest set value ID for each mode set by the operator by key operations on the switch panel 11; Write the setting value ID to EEPROM. The internal structure of the EEPROM 39 is shown in FIG. As shown in the figure, the EEPROM 39 includes a setting value ID storage section 39a that stores the setting value ID of each mode for each type ID, and converts the setting value ID of each mode into a specific setting value such as speed or acceleration. It has a conversion table 39b for doing so. Setting value rD storage section 39a
Inside, the setting value ID of each type and each mode is type 1.
(Mode 01, Mode 02,...Mode 21...)
, type 2 (mode 01...)...

On the other hand, the buzzer 40 is a sounding device for notifying the operator whether or not the set values of each mode set by the operator by operating the keys on the switch panel 11 have been set correctly. When the mode ID and set value ID transmitted to the control circuit are correctly transmitted to the travel control circuit, a setting completion alarm signal is output to the buzzer 40 via the amplifier 41 for signal amplification, A one-second beep will be emitted to notify the operator that the beep has been correctly made.

The travel control circuit also sends back the mode ID and setting value sent from the CPU 31 to the 31036, and also sends error data to the 31036 if there is a reception error. The CPU 31 determines whether correct data has been sent to the travel control circuit based on the mode ID or setting value input via the Sr○36, or determines whether a transmission error has occurred based on error data received from the travel control circuit. The alarm signal is output to the buzzer 40 via the amplifier 41, and
0, an error beep (for example, beep for 1 second on, 0.5 seconds off, and 1 second on) is performed.

Further, the RAM 42 is a memory having a work area necessary when the CPU 31 executes various processes.

Next, FIG. 5 is a block diagram showing the circuit configuration of the travel control circuit. In the figure, a CPU 51 is a microprocessor that executes a program stored in a ROM 52 to control the entire travel control circuit. In addition, RAM53 is
This is a memory for storing mode setting values transmitted from the control circuit 30 of the operation panel 10, and has a work area and the like necessary when the CPU 51 executes various processes. The CPU 51 is connected to the operation panel 10.
Human output of data to and from the control circuit 30 is performed via the 51054. 5I054 is a serial input/output interface similar to S036, and inputs the mode ID and setting value transmitted from the control circuit 30 via the filter 55 for noise removal, and also inputs it from the CPU 51. The speed data is output to the control circuit 30 via the buffer 56. The A/D converter 57 is an A/D converter that converts analog data of an accelerator voltage corresponding to the depression angle of a traveling accelerator pedal inputted from an accelerator voltage detection circuit (not shown) into digital data and outputs the digital data to the CPU 51. The CTR 58 is a counter that counts the number of pulses, and the vehicle speed sensor 71 installed near the differential ring gear 70 converts the pulses generated each time the tooth tip of the ring gear 70 is detected into an amplified waveform for waveform shaping. The pulses are input via the shaping circuit 72 and the counted number of pulses is output to the CPU 51. The CPU 51 is a CT
The R58 detects the rotation speed of the ring gear based on the number of pulses counted within a predetermined time and the number of tooth tips of the ring gear, and further calculates the vehicle speed (traveling speed) from the rotation speed. CPU
51 is the control circuit 3 of the operation panel 10 via 5IO54
When a vehicle speed input request command is input from 0, the calculated vehicle speed data is transmitted to the control circuit 30 via the 5TO 54 and the buffer 56. PTM (programmable timer) 59
is a waveform generation circuit that generates a rectangular wave corresponding to the conductivity data inputted from the CPU 51, and the generated rectangular wave is output to the base drive circuit 61 via the buffer 60. The base drive circuit 61 is a circuit that controls ON10FF of the base current of the main transistor TM according to a rectangular wave inputted via the buffer 60, and chopper control of the driving motor 101 is performed by ON10FF of the main transistor TM. be exposed.

Further, the direction switch 63 outputs a forward direction signal and a backward direction signal when forward or reverse movement is instructed by operating a direction lever (not shown).
This is a switch that outputs to PIO62 by setting it to N. The accelerator switch 64 is a switch that is turned ON when a driving accelerator pedal (not shown) is stepped on, and outputs an accelerator signal indicating the state of the driving accelerator pedal to the PI 062.

The PI○62 is a parallel input/output interface, and stores the ON10FF state of the forward/reverse instruction signal input from the direction switch 63 and the accelerator signal input from the accelerator switch 64. Based on the PI062, the CPU 51 receives the traveling direction data selected by the direction switch 63 and the accelerator switch 64.
The ON10FF state of the vehicle is read out, and the traveling direction and traveling speed are controlled. In addition, the PI062 turns on the current flowing through the buffers 65, 66, 67 to the electromagnetic coil 102d of the forward contactor MF, the electromagnetic coil 103d of the reverse contactor MR, and the electromagnetic coil 104b of the regeneration contactor MG according to a command from the CPU 51. FF is controlled.

The forward/reverse contactors MF and MR are electromagnetic contactors for switching forward/reverse, and the movable contact 102a of the main contact 102 of the forward/reverse contactor MF switches to the fixed contact 102 when the contactor MF falls off.
b and comes into contact with the fixed contact 102c when turned on. Further, the movable contact 103a of the main contact 103 of the backward contactor MR is connected to the fixed contact 103b when the vehicle is turned on, and to the fixed contact 103C when it is released. Furthermore, the regeneration contactor MG is an electromagnetic contactor for regenerating the electric power generated by the travel motor 101 to the battery 105, which is obtained by regeneratively controlling the travel motor 101 during forward/reverse switching. The main contact 104a is provided between the positive electrode side of the battery 105 and one end of the current sensor 106.
The other end of 06 is connected to an armature coil (not shown) of the traveling motor 101. One end of the field coil 101a of the traveling motor 101 is connected to the anode of a flywheel diode 107, and the other end is connected to the anode of a flywheel diode 108, and the cathodes of the flywheel diodes 107 and 108 are both connected to the positive electrode side of the battery 105. It is connected to the.

Further, one end of the field coil 101a connected to the anode of the flywheel diode 107 is connected to the movable contact 102a of the contactor MF for forward movement, and the other end of the field coil 101a connected to the anode of the flywheel diode 103 is connected to the movable contact 102a of the contactor MF for forward movement. It is connected to the movable contact 103a of the contactor MR.

In addition, the collector of the main transistor TM that chopper-controls the current flowing through the traveling motor 101 is connected to the fixed contact 102C of the forward contactor MF and the reverse contactor MR.
The emitter of the fixed contact 103C is connected to the negative electrode side of the battery 105.

Next, the operation of this embodiment configured as above will be explained. First, a method of setting travel and cargo handling performance using the operation panel 10 will be explained.

Figures 6(a) to (f) show that the running acceleration setting value ID in type IDr2J and mode IDr02J is "5".
FIG. 3 is a diagram illustrating a key operation method of the switch panel section 11 when setting to .

First, as shown in FIG. 5A, when the mode key 11a of the switch panel section 11 is operated, the display section 12 is switched from the normal mode to the setting mode, and the display segment 12d
Mode IDr01J, which is the highest driving mode, is displayed.

Furthermore, when the type key lid is operated as shown in FIG.
b has type ID “2” and mode ID “
In the mode 01J (maximum running speed), the currently set setting value ID r4° is displayed. Next, as shown in FIG. 3C, by operating the mode key 11a again, the type 2 driving acceleration mode is selected, and the display segment 12d shows the type ID r2J, and the display segment 12a shows the driving acceleration mode. Mode IDr2'' is displayed, and the travel acceleration setting value IDr3J currently set in the travel acceleration mode is displayed in the display segment) 12b. That is, the first operation of mode key lla switches the display mode to setting mode and switches to mode I.
DrOIJ is selected, and the next operation of the type key lid and mode key 11a selects the driving acceleration mode of "Mode ID r02" in the same type ID Dr2J, and the setting value ID already set in the driving acceleration mode is selected.
r3. + is displayed in display segment l-12b. In this way, the display segment l-12b includes the type key,
By operating the mode key, each setting value ID for each type and mode is displayed.

Note that the operations in FIGS. 3B and 3C may be reversed, and the target set value is displayed on the display segment 12b by operating the type key lid and mode key 11a.

Next, by operating the data setting key 11b as shown in (d) of the same figure, the set value IDr4J of traveling acceleration is displayed on the display segment 12b, and as shown in (e) of the same figure, the data setting key 11b is displayed. By operating the set value IDr5. in the display segment 12b. is displayed.

After setting the setting value ID "5" in the driving acceleration mode by the above key operations, if no key operations are performed for a predetermined period of time (for example, 3 seconds or more), the buzzer will sound as shown in (f) of the same figure. 40, a one-second beep is generated to notify the operator that the set value ID "5" has been set as the traveling acceleration.

Although the method for setting the travel acceleration has been described above, other travel performance such as maximum travel speed, and cargo handling performance such as lift speed and tilt speed can also be similarly set by key operations on the switch panel section 11.

The processing operation of the control circuit 30 performed under the control of the CPU 31 when a key operation is performed on the switch panel unit 10 as described above will be described with reference to the flowchart of FIG. Note that data 1, data 2, and data 3 are data in which the type ID, mode rD, and set value ID set by key operations on the switch panel section 11 are stored in the working area of the RAM 42, respectively.

First, when the key switch is turned on and the power is turned on to start up the system, the CPU 31 clears the data in the RAM 42, sets the mode of each input/output port of PI034, initializes interrupt conditions, etc., and sets the communication mode of each channel of 5I036. Initial settings such as interrupt condition settings, initial display on the display unit 12, etc. are performed (processing 5AI).

Then, at 31036, a command for requesting vehicle speed input is sent to the travel control circuit via the buffer 37, and the filter 38
, S[036] input vehicle speed data from the travel control circuit (processing 5A2). When the CPU 51 receives a vehicle speed data input request from the CPU 31 via the 5IO 54, the CPU 51 outputs the calculated vehicle speed data to the 5IO 36 of the control circuit 30 via the buffer 56.

Next, the display mode stored in the RAM 42 is determined (step 5A3), and if it is the normal mode, the vehicle speed data input from the travel control circuit is sent to the display segment (12a) of the display unit 12 via the PI034 and the buffer 35 in step SA2. (Processing 5A4). Incidentally, the type ID is always displayed on the display body 12d regardless of the display mode.

Next, processing 5A5) determines whether or not a key on the switch panel unit 11 is input from the PIO 34, and further processing 5A5) determines whether the key input is a type key.
50), when the type key is input, 1 is added to data 3 indicating the type ID (processing 5A51), and it is determined whether data 3 exceeds the maximum value M A X 3 of the type ID (processing 5A52). , if it exceeds, return data 3 to Ol (5A53), changed type ID
5A54), and the traveling control circuit is controlled by this type ID as described later.

Further, if the maximum value M A X 3 is not exceeded, data 3 is transmitted as is in process 5A54 and returns to process SA2. Through such processing 5A50 to 54, the settings of type 10 can be freely changed even in the normal mode.

Next, if the type key is not operated in the process SA5, it is determined whether the mode key 11a is next operated (process 5A6). If the mode key 11a is operated, the display mode is stored in the RAM 42 as the setting mode (process 5A7), "01" is set in data 1 (process 5A8), and the process returns to process SA2. On the other hand, if a key other than the above-mentioned processes SA5 and SA6 is input, or if no input is made, the process returns to process SA2 again.

Therefore, if the mode key 11a of the switch panel section 11 is not operated in the normal mode, the normal mode remains, processes SAI to SA5 are repeated, and the display section 1
The current vehicle speed is displayed on the display segment 12a of No. 2, and by operating the type key 12d in the normal mode, a type having an appropriate setting value can be immediately set according to the driver and work situation.

On the other hand, if the mode key 11a is operated in the normal mode, it is determined that the mode is the setting mode in the process SA3, and the E
Data 3 from the setting value ID storage section 39a of the EPROM 39
The setting value rD corresponding to the type ID equal to the value of and the mode ID equal to the value of data 1 is set to read data 2. (Processing 5A9) Then, the mode ID indicated by data 1 is transmitted to the display segment 12a of the display section 12 through the PIO 34 and the buffer 35, the setting value ID indicated by data 2 is transmitted to the display segment 12b, and the data 3 is transmitted to the display body 12d. Display type ■D.

(Processing 5AIO).

Next, the on/off state of each key is read from the switch panel section 11 via the filter 33 and PIO 34, and it is determined whether a key input has been made (processing 5AII). If it is determined that a key input is being performed, it is determined whether the type key lid has been operated (process 5A12), and if the type key lid has been operated, 1 is added to the data (process 5A13). Process 5 to determine whether the value of 3 is greater than MAX, which is the maximum value of type ID.
A14), if it is large, set "l" to data 3 (
Processing 5A15), the process returns to processing SA2 again. in this way,
While the setting mode is selected, every time the type key lid is operated, the value of the type ID is cyclically changed from "1" to rMAXsJ in processes 5A13 to 5A15, and the value of the type ID is displayed in process 5AIO. Since the type ID is displayed on the segment 12d, the type ID set by operating the type key lid can be confirmed on the liquid crystal panel 12.

Similarly, if the type key lid has not been operated in the above process 5A14, it is determined whether the mode key 11a has been operated (process 5A16), and if the mode key 11a has been operated, 1 is added to the data (process 5A17). . Then, it is determined whether the value of data 1 is greater than MAX, which is the maximum value of mode rD (processing 5A1B), and if it is, data 1 is set to "01" (processing 5A19),
The process returns to process SA2 again.

On the other hand, if the type key 11d and mode key 11a are not operated in the above process 5A12.16, it is difficult to determine whether the data input key 11c has been operated or not.
), if the data input key 11c has been operated, 1 is subtracted from data 2 (process 5A21), and then it is determined whether the value of data 2 is "0" (process 5A22). Then, if the value of data 2 is "0", "6" is added to data 2.
is set (process 5A23), and the process returns to process SA2 again.

Further, if the data input key 11c is not operated in the above process SA20, it is determined whether the data input key 11b is operated or not.
11b has been operated, 1 is added to the second data value (process 5A25), and the value of data 2 becomes r6. It is determined whether it is larger (processing 5A26). If the value of data 2 is greater than "6", data 2 is set to "1" (process 5A27), and the process returns to process SA2 again.

In this way, in the setting mode, press the data input key 11b.
Each time the data input key 11c is operated, the value of data 2 is cyclically changed from rl to "6" in processes SA21 to 5A23, and each time the data input key 11c is operated, processes 5A25 to SA23 are executed.
At 5A27, the value of data 2 is cyclically changed from "6" to "1". Then, in step 5AIO, the value of data 2 is displayed on the display segment 12b of the display section 12, so that the operator can check the setting value ID of the type and mode that he/she has set on the display section 12.

On the other hand, if it is determined in the process 5A11 that there is no key input, the timer counter starts counting, and if no key input is made until a predetermined period of time (for example, 9 seconds) has elapsed, 5I036 and the buffer 37 are EE sets the type ID set in the process 5A13, the mode ID set in 5A17, and the setting value ID set in the process 5A21 or 5A25.
Obtained from the conversion table 39b of FROM39, 5103
．． 6. Perform a transmission process for outputting to the travel control circuit via the buffer 37 (processes 5AII, 5A28 to 5A30).

FIG. 8 shows a flowchart of the transmission process performed in process 5A30. First, based on the values of data 1, data 2, and data 3, set value I of the mode ID indicated by data 1 and the type ID indicated by data 3 stored in the EEFROM 39.
D is rewritten to the new setting value ID indicated by data 2 (processing 5BI).

Then, 5I036 and the buffer 37 refer to the conversion table 39b of the EEPROM 39 based on the mode ID indicated by data 1, the setting value ID indicated by data 2, and the type ID indicated by data 3, and use the changed setting value data for driving control. Output to the circuit (processing 5B2). Next, the process SB2
The mode ID, type ID, and setting values sent to the travel control circuit in the filter 38.5I036 are sent from the travel control circuit again.
5B3) In order to check whether the contents of the transmitted data are correct, the status data of 5IO54 of the travel control circuit is sent to sI.

36, and it is determined whether a transmission error such as a parity error has occurred in the transmission data (processing 5B4).

Next, if it is determined that the mode ID and set value have been correctly transmitted to the travel control circuit, the buzzer 40 is sounded for one second via the PI 034 and the amplifier 41 to notify the operator that the setting has been completed. (Process 5B5).

Then, the display mode is switched to normal mode and it is stored in the RAM 41 that the mode is normal mode (processing 5B6).
.

On the other hand, if it is determined in the above process SB4 that a transmission error has occurred, the buzzer 40 issues a sound through the PI 034 and the amplifier 41 to indicate that an error has occurred.

This alarm sound is made by ringing the buzzer 4o twice for 1 second at intervals of, for example, 0.5 seconds.

In this way, the setting value ID of the mode set by the operator by key operation on the switch panel section 11 is EEPRO.
The set value corresponding to the set value ID is written to M39 and transmitted to the travel control circuit via 31036 and buffer 37.

On the other hand, if it is determined in process SB4 that a transmission error has occurred, the process is repeated until the mode ID and setting value can be transmitted correctly.

Next, the operation of the travel control circuit will be explained.

FIG. 9 is a flowchart showing the operation of the entire processing flow of the traveling cargo handling control circuit performed by the CPU 51.

In the figure, processing S1 is type I in processing SA51 to SA54 when the system is started or when the operation panel IO is in the normal mode.
The type ID when the data 3 indicating D was changed is input, and the following processing is controlled based on this type ID.

Next, process S2 is a process for controlling running performance such as running speed and running acceleration. The conductivity of the main transistor TM for chopper control of the running motor is controlled based on the type ID setting data input in the process Sl among the setting data, thereby controlling running performance.

Next, in process S3, the operator also operates the operation panel lO
RA set by key operation on the switch panel section 11 of
Among the cargo handling performance setting data stored in M53,
This process performs chopper control of the cargo handling motor based on the type rD setting data input in the process S1, and controls cargo handling performance such as the lift speed and tilt speed of the fork.

Further, as shown in the flowchart of FIG. 10, process S4 is a process for calculating the vehicle speed (process S5), and transmitting the calculated vehicle speed to the control circuit 30 of the operation panel 10 (process S6).

The CPU 51 repeatedly performs the above processes 81 to S4, and also switches the direction switch 63 and the accelerator switch 64.
The state of the vehicle is read from the PI062 to perform travel control operations, and the cargo handling performance is controlled by the on/off states of the tilt switch and lift switch, which are turned on and off by operating the tilt lever and lift lever.

Next, an interrupt accompanying data writing to the RAM 53 will be explained. 'In the process SB2, the operation panel section 10
The data transmitted from the 5I054 is received via the filter 55 of the travel control circuit. 5I054, when the mode ID and stage data are input from the operation panel section 10, C
Interrupts the PU51. CPU51 is 5I05
When an interrupt request from 4 is input, the type ID, mode ID, and setting value data sent by the control circuit 30 of the operation panel 10 are read from 5I054, and the setting value data of the type rD and mode ID stored in the RAM 53 are read out from 5I054. Performs processing to rewrite the setting value data read from.

The details of the above processing are shown in the flowchart of FIG. The data format that the control circuit 30 of the operation panel IO sends to the 51054 is as shown in Figure 12, where the first byte is the type ID, the next byte is the mode ID, and the next byte is the mode ID. Send the setting value data.

When the CPU 51 inputs an interrupt request from 5I054,
The type ID, mode ID, and setting value data are read from 31054 (processing 5CI). Next, it is determined whether the first byte of data (type ID) read first is "1" or not (5C2). If the first byte is "l", then the next second byte of data ( mode ID) is “0”
5C3), RAM 53
Rewrite the maximum running speed data with the mode ID “01” stored in the 3rd byte data (processing 5C
4).

On the other hand, in the process SC3, the second byte data is "Ol"
If not, process 5C6) to determine whether the second byte data is "02", and if it is "02", the RAM 5
The traveling acceleration data with the mode ID "02" stored in 3 is rewritten to the data of the 3rd byte (processing 5C7
). If the data of the first byte is not "1", then it is determined whether it is "2" (processing 5C5).

Similarly, the data in the first byte is "2" to "MA".
Determine which value is up to " and the mode ID indicated by the second byte data, the corresponding setting value data is rewritten.

In this way, the set value data for each type and each mode set by key operations on the switch panel section 11 of the operation panel 10 is transmitted from the control circuit 30 of the operation panel 10 to the travel control circuit, and is stored in the RAM 53 by interrupt processing. be done.

Next, the control of travel and cargo handling performed by the CPU 51 based on the travel and cargo handling performance setting data stored in the RAM 53 will be explained with reference to the flowchart of FIG. 13 as an example.

During travel control, first press the direction switch 6.
The state of No. 3 is read from the PI 062, and it is determined which direction of travel is instructed (processing 5DI). and,
If the forward direction is specified, PI062, amplifier 66
The MF coil is energized via the MF coil to turn on the forward contactor MF (processing 5D2). As a result, the movable contact 102a of the forward contactor MF is connected to the fixed contact 102C. As a result, the travel motor 101 rotates in the forward drive direction. Next, the on/off state of the axle switch 64 is read from the PIO 62, and it is determined whether the accelerator switch 64 is on (processing 5D3). Then, if the accelerator switch 64 is on, the value of the accelerator voltage is read from the A/D converter 57 (processing 5D4), the conductivity of the main transistor TM is calculated according to the accelerator voltage, and the conductivity is P
Set it to TM59. The PTM 59 generates a pulse signal according to the set conductivity, and applies the pulse signal to the base drive circuit 61 via the buffer 60. The base drive circuit 61 performs chopper control on the main transistor TM according to the duty of the input pulse signal. As a result, the traveling speed becomes a speed corresponding to the depression angle of the traveling accelerator pedal (processing 5D5). Next, read out from the counter 58 the number of counters on the tips of the teeth of the differential ring gear 70 detected by the vehicle speed sensor 71 within a predetermined time (5D6), and calculate the current vehicle speed (traveling speed) based on the counter number. (processing 5D7). continue,
The set value of the maximum running speed is read from the RAM 53, and (current running speed - set maximum running speed) x KO value A is calculated (processing 5D8). Note that K is an arbitrary constant for converting the running speed into the conductivity of the main transistor TM, and the value of A is the excessive conductivity of the main transistor TM that causes the maximum running speed to be exceeded.

Next, process to determine whether the value of A is greater than 0 5D9)
, O, the running speed exceeds the specified maximum running speed, so the value of is subtracted from the conduction rate calculated in the process SD5, and the main transistor TM is turned on to obtain the maximum running speed. Calculate the rate. (Processing 5DIO
). Then, the conductivity is set in the PTM 59 (processing 5D11). The PTM 59 generates a pulse signal according to the input conductivity and outputs it to the base drive circuit 61 via the buffer 60. The base drive circuit 61 has P
0N10FF control of the base current of the main transistor TM is performed based on the pulse signal input from the TM59, so that the conductivity of the main transistor TM is controlled to be equal to the conductivity calculated in the process 5DIO. As a result, the traveling speed becomes equal to the set maximum speed.

In this way, if you press the accelerator pedal too much and the conductivity obtained from the accelerator voltage exceeds the vehicle speed or the set maximum travel speed, adjust the conductivity so that it is equal to the maximum travel speed. The vehicle is controlled by the vehicle. In this way, while detecting the current running speed, the running speed is controlled by checking whether the running speed exceeds the set maximum running speed and adjusting the conductivity of the main transistor TM. Therefore, the vehicle speed is designed not to exceed the set maximum running speed.

On the other hand, if the accelerator switch is turned off in the above processing SD3, the conductivity rate "0" is set in the PTM 59, the main transistor TM is turned off via the buffer 60 and the base drive control circuit 61, and the chopper of the driving motor 101 is turned off. Control is stopped (processing 5012).

Furthermore, if the direction instruction of the direction switch 62 read from PI062 in the processing SDI is reverse, current is passed through the electromagnetic coil 103d of the reverse contactor MR through the PI072 and the amplifier 67, and the reverse contactor MR is turned on. (processing 5D13). As a result, the movable contact 103a of the forward contactor MR is replaced by the fixed contact 103a.
3C are connected, and the traveling motor 101 rotates in the reverse driving direction.

Also, if the direction switch 63 is in neutral in the above processing SDI, the PI062 and the amplifier 6
6. Turn off the current flowing to the electromagnetic coils 102d and 103d of the forward and reverse contactors MF and MR through 67,
Both the forward and reverse contactors MF and MR are separated, and the rotation of the travel motor 101 is stopped (processing 5D14).

Although not shown, the cargo handling control circuit can be configured with a circuit almost similar to the travel control circuit, and the operation panel 10
The cargo handling motor may be chopper-controlled in the same manner as the travel motor is chopper-controlled based on set values such as lift speed and tilt speed set by key operations, and the fork may be controlled by hydraulic drive.

In this way, in this embodiment, the EEPROM of the operation panel IO is
Since the setting values set by the user are stored in 39, the setting data will be saved even if the key switch is turned off and the power is turned off. Therefore, there is no need to reset the set value every time the vehicle starts traveling, which is convenient. Furthermore, in this embodiment, the setting values of each mode for multiple types set in the display mode can be cyclically switched by operating the type key in the normal mode, which reduces the operator's experience. It can be set instantly according to the work situation. Furthermore, in this embodiment, two CPUs are used, and each CPU shares the control of the operation panel and the travel/cargo handling control circuit, so the keys on the operation panel cannot be operated during the travel/cargo handling control. Driving and cargo handling control are performed smoothly. Furthermore, since data is sent and received between the two CPUs by serial transmission via 310, the number of wires is reduced, and high-density packaging is possible.

In addition, in this embodiment, the memory that stores the setting values is E
The information is not limited to the ROM, but may also be a RAM, in which case the memory may be retained by battery backup. Furthermore, data may be transmitted and received between the two CPUs by parallel transmission (or, one CPU may control the operation panel and the traveling/cargo handling control circuit).

DETAILED DESCRIPTION OF THE INVENTION According to the present invention, as described in detail, the driving performance and cargo handling performance can be easily adjusted by operating the keys on the operation panel, so that optimal driving and cargo handling can be performed according to the driving environment and work environment. This improves driving/work safety and work efficiency. Further, the selection means and the storage means allow easy and quick switching of running performance and cargo handling performance according to the operator's operating skill level and preference, and work conditions. Furthermore, since the running power was conventionally adjusted by the volume, it was difficult to take measures to make the volume waterproof, but according to the present invention, waterproof measures can be easily taken, and other excellent effects can be achieved.

[Brief explanation of the drawing]

FIG. 1 is a functional block diagram of the present invention, FIG. 2 is an external view of the operation panel 10, and FIG. 3 is a control circuit 30 of the operation panel 10.
FIG. 4 is an internal configuration diagram of the EEPROM 39, FIG. 5 is a block diagram showing the configuration of the travel control circuit, and FIGS. A diagram showing how to set the acceleration, FIG. 7 is a flowchart explaining the processing operation when operating the keys on the operation panel 10, FIG. 8 is a flowchart explaining the operation of the transmission processing on the operation panel 10 side, and FIG. 9 is a flowchart explaining the operation when operating the keys on the operation panel 10. A general flowchart showing the process flow of the entire cargo handling control circuit, FIG. 10 is a flowchart of peripheral control processing of the travel control circuit, FIG. 11 is a flowchart of setting value change processing of the travel control circuit, and FIG. 12 is a flowchart of the operation/< control circuit 3 of channel 10
Format of data sent from 0 to the travel control circuit,
FIG. 13 is a flowchart of the travel control process of the travel control circuit, and FIG. 14(a) ([available]) is a diagram illustrating a conventional method for adjusting travel and cargo handling performance. 1--data input means, 2--storage means, 3--control means, 4--driving means, 5--display means, 10--.
Operation panel, 11-switch panel section, 12-LCD panel, 31/51-CPU, 36/54-3 IO
239-EEP ROM. Patent Applicant: Toyoda Automatic Loom Works, Ltd. Hamnel 10 Fig. 2 Fig. 3 Internal configuration diagram of EEPROM 39 Fig. 4 (b) B 173 Day 1 md1 mouth (C) 4 to )E'” 1'23 0E!
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Ishimieda Hyakuzu Figure 14

Claims (1)

[Scope of Claims] 1. Driving means; Input means for inputting a plurality of control data; Display means for displaying the control data input by the input means; and Display means for displaying the control data input by the input means storage means for storing control data, etc.; selection means for selecting part of a plurality of control data stored in the storage means according to a signal from the input means; and control data selected by the selection means. 1. A control device for a battery vehicle, comprising: a control means for controlling the drive means based on the control means.