Electric working machine and method for controlling motor in electric working machine

Abstract

The invention provides an electric working machine and a method for controlling a motor in the electric working machine. An electric working machine according to one embodiment of the present invention is provided with a motor, a first manual switch, a second manual switch, and a control circuit. The control circuit executes drive control, first stop control, and second stop control. The first stop control includes stopping the motor on the basis of a first stop operation received by the first manual switch during rotation of the motor. The second stop control includes stopping the motor on the basis of a second stop operation received by the second manual switch during rotation of the motor. The second stop control is different from the first stop control.

Description

Technical Field

[0001] The present invention relates to an electric working machine and a method for controlling a motor in the electric working machine. Background Art

[0002] Japanese Patent No. 5351752 discloses a lawn mower having a trigger switch. In this lawn mower, when the user turns on the trigger switch, the motor rotates. When the trigger switch is turned off during the rotation of the motor, a predetermined control (hereinafter referred to as "stop control") is performed to stop the motor. Summary of the invention

[0003] Regardless of the state of the lawn mower when the stop control is started, the same stop control will reduce the user's usability. This is also true for various electric working machines other than lawn mowers.

[0004] One aspect of the present invention is to provide an electric working machine that provides a good usability when a motor is decelerated or stopped.

[0005] One aspect of the present invention provides an electric working machine including a motor, a first manual switch, a second manual switch, and a control circuit.

[0006] The first manual switch is configured to selectively receive a first drive operation or a first stop operation. The second manual switch is configured to selectively receive a second drive operation or a second stop operation. The first drive operation, the first stop operation, the second drive operation, and the second stop operation are manually operated by a user of the electric working machine.

[0007] The control circuit performs drive control including rotating the motor based on (i) the first manual switch accepting a first drive operation and (ii) the second manual switch accepting a second drive operation.

[0008] The control circuit executes a first stop control. The first stop control includes stopping the motor based on (i) the motor rotating and (ii) the first manual switch receiving a first stop operation.

[0009] The control circuit executes a second stop control. The second stop control includes stopping the motor based on (i) the motor rotating and (ii) the second manual switch receiving a second stop operation. The second stop control is different from the first stop control.

[0010] In the electric working machine thus constructed, the user can decelerate (and then stop) the motor by performing the first stop operation on the first manual switch and / or the second stop operation on the second manual switch. Moreover, the first stop control based on the first stop operation is different from the second stop control based on the second stop operation. Thus, the user can selectively use the first stop operation or the second stop operation according to, for example, the operating condition or usage condition of the electric working machine when the motor is decelerated or stopped. Therefore, it is possible to provide an electric working machine that has a good feel when the motor is decelerated or stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] Figure 1 It is a perspective view of the electric working machine according to the embodiment.

[0013] Figure 2 It is a three-dimensional diagram of the right handle and the operating unit.

[0014] Figure 3 This is a diagram for explaining the operation panel.

[0015] Figure 4 It is a side view of the right handle and operating unit.

[0016] Figure 5 This is an explanatory diagram showing the electrical structure of the electric working machine.

[0017] Figure 6 It is an explanatory diagram showing various states of the electric working machine corresponding to the position of the second manual switch.

[0018] Figure 7 It is an explanatory diagram showing the processing executed by the control circuit. DETAILED DESCRIPTION

[0019] [1. Overview of Implementation Methods]

[0020] A certain embodiment can provide an electric working machine having at least any one of the following features 1 to 18.

[0021] Feature 1: Motor.

[0022] ·Feature 2: First manual switch (or first operating unit).

[0023] Feature 3: The first manual switch is configured to selectively receive a first drive operation or a first stop operation.

[0024] Feature 4: The first driving operation and the first stopping operation are performed manually by a user of the electric working machine. The first driving operation may correspond to a request for rotation of the motor. The first stopping operation may correspond to a request for deceleration and / or stopping of the motor.

[0025] ·Feature 5: Second manual switch (or second operating unit).

[0026] Feature 6: The second manual switch is configured to selectively receive a second drive operation or a second stop operation.

[0027] Feature 7: The second driving operation and the second stopping operation are performed manually by the user. The second driving operation may correspond to a request for rotation of the motor. The second stopping operation may correspond to a request for deceleration and / or stopping of the motor.

[0028] ·Feature 8: Control circuit.

[0029] Feature 9: The control circuit is configured to perform drive control (or drive operation).

[0030] Feature 10: The drive control includes rotating the motor.

[0031] Feature 11: The drive control includes rotating the motor based on (i) the first manual switch accepting the first drive operation and (ii) the second manual switch accepting the second drive operation.

[0032] Feature 12: The control circuit is configured to execute a first stop control (or a first stop operation).

[0033] Feature 13: The first stop control includes stopping the motor.

[0034] Feature 14: The first stop control includes stopping the motor based on (i) the motor rotating and (ii) the first manual switch receiving the first stop operation. The motor rotating may include the motor rotating based on the drive control.

[0035] Feature 15: The control circuit is configured to execute a second stop control (or a second stop operation).

[0036] Feature 16: The second stop control includes stopping the motor.

[0037] Feature 17: The second stop control is different from the first stop control.

[0038] Feature 18: The second stop control includes stopping the motor based on (i) the motor rotating and (ii) the second manual switch receiving the second stop operation. The motor rotating may include the motor rotating based on the drive control.

[0039] The second manual switch may also be independent of the first manual switch. That is, the first and second manual switches may also be set separately from each other. When the second stop control is compared with the first stop control, (i) the time from the start of execution to the stop of the motor, (ii) the deceleration from the start of execution to the stop of the motor (e.g., time-series changes and / or average values), and / or (iii) the mode of applying the braking force from the start of execution to the stop of the motor (e.g., the time of application and / or the magnitude of the braking force) may also be different.

[0040] The electric working machine may also include a drive circuit. The drive circuit may also be electrically connected to the control circuit and the motor. The drive circuit may also be configured to receive a motor control signal from the control circuit directly or via an intermediate circuit. In order to drive or stop the motor (in other words, to control the motor), a motor control signal is generated by the control circuit. The drive circuit may also be configured to supply power to the motor or stop supplying power to the motor according to the motor control signal. The motor may also be configured to receive the power from the drive circuit and rotate accordingly. The intermediate circuit may also include a gate circuit. The gate circuit may also be configured to receive the motor control signal. The gate circuit may also be configured to output the motor control signal to the drive circuit. The gate circuit may also be configured to output a motor drive signal corresponding to the motor control signal to the drive circuit. In this case, the drive circuit may also be configured to supply power to the motor or stop supplying power to the motor according to the motor drive signal.

[0041] According to the electric working machine having at least features 1 to 18, it is possible to improve the usability when the motor is decelerated or stopped.

[0042] In addition to or instead of at least any one of the above-mentioned features 1 to 18, a certain embodiment may include at least any one of the following features 19 to 23.

[0043] Feature 19: The first stop control includes stopping the motor by decelerating the motor at a first average deceleration rate based on (i) the motor rotating and (ii) the first manual switch receiving the first stop operation.

[0044] Feature 20: The first average deceleration is an average value of the deceleration of the motor during a period from when the first manual switch receives the first stop operation until the motor stops.

[0045] Feature 21: The second stop control includes stopping the motor by decelerating the motor at a second average deceleration rate based on (i) the motor rotating and (ii) the second manual switch receiving the second stop operation.

[0046] Feature 22: The second average deceleration is an average value of the deceleration of the motor during a period from when the second manual switch receives the second stop operation until the motor stops.

[0047] Feature 23: The second average deceleration is different from the first average deceleration.

[0048] The motor rotating may also include: the motor rotating through the drive control.

[0049] For example, assuming that the motor is rotating at a predetermined rotation speed, the time required until the motor stops when the first stop operation is performed in this state is different from the time required until the motor stops when the second stop operation is performed in this state.

[0050] The first average deceleration may correspond to a value obtained by, for example, dividing the first starting speed by the first required stop time. The first starting speed may also be the rotation speed of the motor when the first stop operation is performed (or when the first stop control is started). The first required stop time may also be the time required from the first stop operation (or when the first stop control is started) to the motor stopping.

[0051] The second average deceleration may correspond to a value obtained by, for example, dividing the second starting speed by the second stop required time. The second starting speed may also be: the rotation speed of the motor when the second stop operation is performed (or when the second stop control is started). The second stop required time may also be: the time required from the time when the second stop operation is performed (or when the second stop control is started) until the motor stops.

[0052] The deceleration of the motor from the first stop operation until the motor stops may be (i) arbitrarily changed or (ii) maintained constant. The same applies to the deceleration from the second stop operation until the motor stops.

[0053] According to the electric working machine having at least features 1 to 23, the user can select the degree of deceleration when decelerating or stopping the motor.

[0054] In addition to or instead of at least any one of the above-mentioned features 1 to 23, a certain embodiment may have the following features.

[0055] Feature 24: The first average deceleration is smaller than the second average deceleration.

[0056] An electric working machine having at least features 1 to 24 can provide the following usage form to the user. Assume: for example, a scenario in which (i) the drive control is temporarily stopped, and (ii) the drive control is then executed again before the motor stops. At this time, the user may also perform the first stop operation on the first manual switch to thereby execute the first stop control. Alternatively, in the case of wanting to stop the motor quickly, the user may also perform the second stop operation on the second manual switch to thereby execute the second stop control.

[0057] In addition to or instead of at least any one of the above-mentioned features 1 to 24, a certain embodiment may include the following feature 25 and / or feature 26.

[0058] Feature 25: The first stop control includes: decelerating the motor at a first initial average deceleration rate during a first deceleration period based on (i) the motor rotating and (ii) the first manual switch accepting the first stop operation. The first deceleration period may also be a period from the first stop operation (or from the start of the first stop control) until the first deceleration time has passed. The first initial average deceleration rate is an average value of the deceleration rate of the motor during the first deceleration period.

[0059] ·Feature 26: The second stop control includes: based on (i) the motor rotating and (ii) the second manual switch accepting the second stop operation, the motor is decelerated at a second initial average deceleration during the second deceleration period. The second deceleration period may also be: a period after the second stop operation is performed (or from the start of the second stop control) until the second deceleration time has passed. The second initial average deceleration is: an average value of the deceleration of the motor during the second deceleration period. The second initial average deceleration is different from the first initial average deceleration.

[0060] The first deceleration time is shorter than the time from when the first stop operation is performed until the motor stops. The second deceleration time is shorter than the time from when the second stop operation is performed until the motor stops. That is, at the time point when the first deceleration time has passed after the first stop operation is performed, the motor is still rotating. At the time point when the second deceleration time has passed after the second stop operation is performed, the motor is still rotating.

[0061] The first initial average deceleration may be smaller than the second initial average deceleration.

[0062] In addition to or instead of at least any one of the above-mentioned features 1 to 26, a certain embodiment may include at least any one of the following features 27 to 31.

[0063] Feature 27: The first stop control includes causing the motor to rotate by inertia until a first time has elapsed after the first manual switch receives the first stop operation.

[0064] Feature 28: The first stop control includes applying a braking force to the motor based on a lapse of the first time after the first manual switch receives the first stop operation, thereby decelerating the motor.

[0065] Feature 29: The second stop control includes causing the motor to rotate by inertia until a second time has elapsed after the second manual switch receives the second stop operation.

[0066] Feature 30: The second time is shorter than the first time.

[0067] Feature 31: The second stop control includes applying a braking force to the motor based on a lapse of the second time after the second manual switch receives the second stop operation, thereby decelerating the motor.

[0068] According to the electric working machine having at least features 1 to 18 and 27 to 31, by providing a time difference in the time of inertial rotation, the desired first and second stop controls can be easily implemented.

[0069] In one embodiment, in either the first stop control or the second stop control, a braking force may be applied to the motor without causing the motor to rotate by inertia. In this case, the first braking force in the first stop control may be smaller than the second braking force in the second stop control.

[0070] When a certain embodiment includes feature 27 and / or feature 28, in the second stop control, a braking force may be applied to the motor without causing the motor to rotate by inertia.

[0071] In one embodiment, in the first stop control, the motor may be stopped by allowing the motor to continue rotating by inertia without applying a braking force. In this case, in the second stop control, the motor may be stopped by allowing the motor to rotate by inertia for a predetermined time before applying a braking force to the motor.

[0072] In addition to or instead of at least any one of the above-mentioned features 1 to 31, a certain embodiment may include at least any one of the following features 32 to 34.

[0073] Feature 32: The second stop control includes stopping the motor according to predetermined control content. The predetermined control content may be configured to stop the motor.

[0074] Feature 33: The predetermined control content is based on the first actual speed (or the actual speed during operation).

[0075] Feature 34: The first actual speed is an actual rotation speed of the motor when the second manual switch receives the second stop operation.

[0076] The predetermined control content is a predetermined process (in other words, a process, a process flow, a control flow, a control method, a control action, or a control profile) executed by the control circuit to stop the motor after the second stop operation is performed until the motor stops. In such an electric working machine, when the second stop operation is performed, the degree of deceleration of the motor can be made different according to the first actual speed.

[0077] In addition to or instead of at least any one of the above-mentioned features 1 to 34, a certain embodiment may include at least any one of the following features 35 to 38.

[0078] Feature 35: The predetermined control content is configured such that the second average deceleration in the first state is greater than the second average deceleration in the second state.

[0079] Feature 36: The second average deceleration is an average value of the deceleration of the motor during a period from when the second manual switch receives the second stop operation until the motor stops.

[0080] Feature 37: The first state corresponds to a state where the first actual speed is lower than a threshold speed.

[0081] Feature 38: The second state corresponds to a state where the first actual speed is equal to or higher than the threshold speed.

[0082] According to the electric working machine having at least features 1 to 18 and 32 to 38, when the second stop operation is performed, the degree of deceleration of the motor may be made different depending on whether the first actual speed is equal to or higher than the threshold speed.

[0083] In addition to or instead of at least any one of the above-mentioned features 1 to 38, a certain embodiment may include the following feature 39 and / or feature 40.

[0084] Feature 39: The prescribed control content includes: when the first actual speed is greater than or equal to the threshold speed, decelerating the motor at a third initial average deceleration during the second deceleration period. The second deceleration period may also be: after the second stop operation is performed (or from the start of the second stop control) until the second deceleration time has passed. The third initial average deceleration is: the average value of the deceleration of the motor during the second deceleration period.

[0085] Feature 40: The predetermined control content includes: when the first actual speed is less than the threshold speed, decelerating the motor at a fourth initial average deceleration during the second deceleration period. The fourth initial average deceleration is: an average value of the deceleration of the motor during the second deceleration period. The fourth initial average deceleration is greater than the third initial average deceleration.

[0086] The second deceleration time is shorter than the time from when the second stop operation is performed until the motor stops. That is, the motor is still rotating at the time when the second deceleration time has passed after the second stop operation is performed.

[0087] In addition to or instead of at least any one of the above-mentioned features 1 to 40, a certain embodiment may include at least any one of the following features 41 to 43.

[0088] Feature 41: The predetermined control content includes: based on the first actual speed being equal to or higher than the threshold speed, causing the motor to rotate by inertia until a predetermined time has elapsed after the second manual switch receives the second stop operation.

[0089] Feature 42: The predetermined control content includes applying a braking force to the motor to decelerate the motor based on (i) the first actual speed being equal to or greater than the threshold speed and (ii) the predetermined time having passed since the second manual switch received the second stop operation.

[0090] Feature 43: The predetermined control content includes: applying a braking force to the motor without causing the motor to rotate by inertia, thereby decelerating the motor, based on the first actual speed being lower than the threshold speed.

[0091] The above-mentioned feature 42 may be stated in another way: a braking force is applied to the motor after the prescribed time has elapsed, thereby decelerating the motor.

[0092] The predetermined time may be the same as the second time.

[0093] According to the electric working machine having at least features 1 to 18 and 32 to 43, the degree of deceleration of the motor can be easily varied according to the first actual speed.

[0094] In addition to or instead of at least any one of the above-mentioned features 1 to 43, a certain embodiment may include at least any one of the following features 44 to 48.

[0095] Feature 44: The predetermined control content includes: based on the first actual speed being equal to or higher than the threshold speed, causing the motor to rotate by inertia until a first predetermined time has elapsed after the second manual switch receives the second stop operation.

[0096] Feature 45: The prescribed control content includes: applying a braking force to the motor to decelerate the motor based on (i) the first actual speed being greater than the threshold speed and (ii) the first prescribed time having passed since the second manual switch received the second stop operation.

[0097] Feature 46: The predetermined control content includes: based on the first actual speed being lower than the threshold speed, causing the motor to rotate by inertia until a second predetermined time has elapsed after the second manual switch receives the second stop operation.

[0098] Feature 47: The prescribed control content includes applying a braking force to the motor to decelerate the motor based on (i) the first actual speed being less than the threshold speed and (ii) the second prescribed time having passed since the second manual switch received the second stop operation.

[0099] Feature 48: The second predetermined time is shorter than the first predetermined time.

[0100] The above-mentioned feature 45 can also be stated in another way: after the first specified time has passed, a braking force is applied to the motor, thereby decelerating the motor. The above-mentioned feature 47 can also be stated in another way: after the second specified time has passed, a braking force is applied to the motor, thereby decelerating the motor.

[0101] According to the electric working machine having at least features 1 to 18, 32 to 38, and 44 to 48, the degree of deceleration of the motor can be easily controlled according to the first actual speed.

[0102] In addition to or instead of at least any one of the above-mentioned features 1 to 48, a certain embodiment may include at least any one of the following features 49 to 51.

[0103] Feature 49: The second manual switch is configured to be moved within a moving range including the first area and the second area by manual operation of the user.

[0104] Feature 50: The second driving operation includes: (i) the second manual switch is moved into the first area or (ii) the second manual switch is arranged in the first area.

[0105] Feature 51: The second stop operation includes: (i) the second manual switch is moved into the second area or (ii) the second manual switch is arranged in the second area.

[0106] According to the electric working machine having at least features 1 to 18 and 49 to 51, the user can easily perform the second driving operation and the second stopping operation.

[0107] In addition to or instead of at least any one of the above-mentioned features 1 to 51, a certain embodiment may include the following feature 52 and / or feature 53.

[0108] Feature 52: The drive control includes setting a target rotation speed according to a position of the second manual switch in the first area based on the second manual switch being in the first area.

[0109] Feature 53: The drive control includes rotating the motor at the set target rotation speed.

[0110] According to the electric working machine having at least features 1 to 18 and 49 to 53, the rotation speed of the motor can be easily adjusted by moving the second manual switch within the first region.

[0111] In addition to or instead of at least any one of the above-mentioned features 1 to 53, a certain embodiment may have the following features.

[0112] Feature 54: The drive control includes: reducing the target rotation speed in response to the second manual switch approaching the second area within the first area. When the second manual switch reaches the boundary between the first area and the second area, the target rotation speed may be set to zero or to a speed greater than zero.

[0113] In addition to or instead of at least any one of the above-mentioned features 1 to 54, a certain embodiment may include at least any one of the following features 55 to 58.

[0114] Feature 55: The moving range further includes a third area.

[0115] Feature 56: The second driving operation includes: (i) the second manual switch is moved into the third area or (ii) the second manual switch is arranged in the third area.

[0116] Feature 57: The drive control includes setting a target rotation speed according to a magnitude of a load applied to the motor based on the second manual switch being in the third region.

[0117] Feature 58: The drive control includes rotating the motor at the set target rotation speed.

[0118] According to the electric working machine having at least features 1 to 18, 49 to 51, and 55 to 58, it is possible to use the second manual switch to easily and selectively select a plurality of different control methods (specifically, the control method corresponding to the first area and the control method corresponding to the third area).

[0119] A certain embodiment may further include the following features.

[0120] Feature 59: The drive control includes reducing the target rotation speed in response to the second manual switch approaching the second area within the first area.

[0121] According to the electric working machine having at least features 1 to 18, 32 to 38, 49 to 51, and 59, when the user moves the second manual switch closer to the second area in the first area, the rotation speed of the motor is reduced. Moreover, when the second manual switch enters the second area in a state where the rotation speed is reduced to a certain extent (for example, a state less than the threshold speed), the motor is decelerated at a relatively large deceleration. The user can infer that the position where the large deceleration starts is the boundary between the first area and the second area or near the boundary. Thus, the user can easily recognize the boundary by, for example, slowly approaching the second manual switch to the second area in the first area. After recognizing the boundary, the user can rotate the motor at the lowest possible rotation speed by moving the second manual switch little by little toward the first area. That is, such an electric working machine is particularly useful for users who want to rotate the motor at the lowest possible rotation speed.

[0122] In addition to or instead of at least any one of the above-mentioned features 1 to 59, a certain embodiment may include the following feature 60 and / or feature 61.

[0123] Feature 60: The first manual switch includes a trigger.

[0124] Feature 61: The first driving operation includes: the trigger moving from an initial position by a distance greater than a certain distance.

[0125] A certain embodiment may also include the following feature 62.

[0126] Feature 62: The second manual switch includes a toggle configured to be rotated by the user.

[0127] The lever may be configured such that a front end portion of the lever is movable along an arc-shaped movement path.

[0128] The electric working machine may also include a handle configured to be held by a single hand of a user of the electric working machine. In this case, the first manual switch and the second manual switch may also be arranged near the handle or on the handle. More specifically, the first manual switch and the second manual switch may also be arranged so that the user can simultaneously operate the first manual switch and the second manual switch with the single hand while holding the handle with the single hand.

[0129] A certain embodiment may provide a method of controlling a motor in an electric working machine having at least any one of the following features 63 to 66.

[0130] Feature 63: The motor is stopped in accordance with a first stopping pattern based on (i) the motor rotating and (ii) the first manual switch receiving a first stop operation manually performed by a user of the electric working machine.

[0131] Feature 64: The motor is stopped in accordance with a second stopping method based on (i) the motor rotating and (ii) the second manual switch receiving a second stop operation manually performed by the user.

[0132] Feature 65: The second manual switch is different from the first manual switch.

[0133] Feature 66: The second stopping mode is different from the first stopping mode.

[0134] The method including features 63 to 66 can improve the usability when the motor is decelerated or stopped.

[0135] Examples of the electric working machine include various on-site electrical equipment used in work sites such as amateur carpentry, manufacturing, gardening, and construction and configured to be driven by batteries. Specifically, they include: power tools for masonry, metalworking, and carpentry, and work machines for gardening. More specifically, they include: electric lawn mowers (or electric lawn mowers), electric lawn mowers, electric push mowers, electric hedge trimmers, electric hammers, electric hammer drills, electric drills, electric screwdrivers, electric wrenches, electric grinders, electric circular saws, electric reciprocating saws, electric wire saws, electric knives, electric chainsaws, electric planers, electric cleaners, electric sprayers, electric spreaders, electric dust collectors, battery-powered carts, battery-powered bicycles, and air-conditioned clothing.

[0136] In a certain embodiment, the control circuit may also be integrated into a single electronic unit or a single electronic device or a single circuit substrate.

[0137] In a certain embodiment, the control circuit may be a combination of two or more electronic circuits, two or more electronic units, or two or more electronic devices respectively provided in the electric working machine.

[0138] In a certain embodiment, the control circuit may also have: a microcomputer (or a microcontroller, or a microprocessor), wiring logic, an integrated circuit for a specific purpose (ASIC), a general purpose product for a specific purpose (ASSP), a programmable logic device (such as a field programmable gate array (FPGA)), discrete electronic components, and / or a combination thereof.

[0139] Examples of the motor include a brushless motor (or brushless DC motor), a brushed DC motor, an AC motor, and a stepping motor.

[0140] In a certain embodiment, the above-mentioned features 1 to 66 may be combined in any combination.

[0141] In a certain embodiment, any one of the above-mentioned features 1 to 66 may be removed.

[0142] [2. Specific exemplary embodiments]

[0143] Hereinafter, exemplary embodiments of the present invention will be described.

[0144] [2-1. Implementation method]

[0145] (2-1-1) Overview of electric working machines

[0146] Figure 1 The electric working machine 1 of the present embodiment shown is in the form of a lawn mower. The electric working machine 1 includes a main pipe 2. The main pipe 2 has a long and hollow rod shape.

[0147] The electric working machine 1 includes a control unit 3. The control unit 3 is provided at the rear end of the main pipe 2. The control unit 3 is in the form of a hollow shell. A battery mounting portion is provided at the rear end of the control unit 3. The battery pack 100 is mounted in the battery mounting portion in a detachable manner. The control unit 3 controls the controller 40 and the motor 60 (see Figure 5 ) for containment.

[0148] The battery pack 100 includes a battery 100a (see Figure 5 The storage battery 100a can supply electric power (hereinafter referred to as "battery power") to each part in the control unit 3. The storage battery 100a may be in the form of a secondary battery, for example.

[0149] The electric working machine 1 includes a drive unit 4. The drive unit 4 is provided at the front end of the main pipe 2. The drive unit 4 accommodates the gear mechanism. The main pipe 2 accommodates a driving force transmission shaft (not shown). The driving force transmission shaft is connected to the motor 60 and the gear mechanism. The driving force transmission shaft transmits the rotational force of the motor 60 (more specifically, the rotor of the motor 60) to the gear mechanism.

[0150] The gear mechanism has an output shaft (not shown). The cutter 5 is mounted on the output shaft in a detachable manner. The cutter 5 is used to cut the cutting object. The cutting object includes, for example, grass and small-diameter wood. The cutter 5 of this embodiment has a roughly circular plate shape and has: a saw blade arranged along the outer circumference. The rotation of the motor 60 is transmitted to the output shaft via the gear mechanism. Accordingly, the output shaft and the cutter 5 rotate as a whole.

[0151] The electric working machine 1 includes a cover 6. The cover 6 is provided near the front end of the main pipe 2. The cover 6 is used to prevent objects (eg, cutting objects) around the cutting blade 5 from flying toward the user of the electric working machine 1.

[0152] The electric working machine 1 includes a joystick 7. The joystick 7 has a U-shaped shape. The joystick 7 is connected to the trunk pipe 2 near the middle position of the trunk pipe 2 in the longitudinal direction of the trunk pipe 2. A right handle 8 is provided at the first end of the joystick 7. A left handle 9 is provided at the second end of the joystick 7. The right handle 8 is held by the right hand of the user. The left handle 9 is held by the left hand of the user.

[0153] The electric working machine 1 includes an operation unit 12 . The operation unit 12 is provided at the front end of the right handle 8 .

[0154] The electric working machine 1 includes a lock-off switch 10 and a first manual switch 11. In the present embodiment, the first manual switch 11 is in the form of a trigger.

[0155] The first manual switch 11 is provided at the front end side and the front surface side of the right handle 8. The first manual switch 11 is manually operated by the user to instruct the drive (i.e., rotation) or stop of the motor 60. The user can press the first manual switch 11 backward (i.e., toward the right handle 8 side) with a right finger (e.g., index finger) while holding the right handle 8 with the right hand.

[0156] The first manual switch 11 is urged toward the front of the right handle 8 (that is, toward a direction away from the right handle 8) by a first elastic body (not shown). Thus, when the first manual switch 11 is not touched by the user, the first manual switch 11 is in a first initial position. Figure 1 , Figure 2 , Figure 4 The first manual switch 11 is shown in the first initial position.

[0157] The lock-off switch 10 is provided on the front end side and the rear surface side of the right handle 8. The lock-off switch 10 is used to mechanically allow, inhibit or prevent the first manual switch 11 from moving backward from the first initial position.

[0158] The lock-off switch 10 is urged toward the rear of the right handle 8 (that is, toward a direction away from the right handle 8) by a second elastic body (not shown). Thus, when the lock-off switch 10 is not touched by the user, the lock-off switch 10 is in the second initial position. Figure 1 , Figure 2 , Figure 4 The lock-off switch 10 is shown in the second initial position.

[0159] The lock-off switch 10 in the second initial position is used to inhibit or prevent the first manual switch 11 from moving backward from the first initial position (i.e., being turned on). More specifically, the lock-off switch 10 in the second initial position is used to prevent the trigger switch 21 (refer to Figure 5 ) is turned on. The trigger switch 21 can be turned on or off in conjunction with the first manual switch 11. When the first manual switch 11 is in the first initial position, the trigger switch 21 is turned off. The trigger switch 21 is accommodated in the operation unit 12.

[0160] When the user holds the right handle 8 with the right hand, the lock-off switch 10 is pressed forward (that is, toward the right handle 8) by the right hand (specifically, for example, the palm or the base of the thumb). As a result, the lock-off switch 10 overcomes the elastic force of the second elastic body and moves forward from the second initial position.

[0161] When the lock-off switch 10 moves forward, the movement of the first manual switch 11 is allowed. That is, when the first manual switch 11 is pressed while the lock-off switch 10 moves forward, the first manual switch 11 overcomes the elastic force of the first elastic body and moves backward from the first initial position. When the first manual switch 11 moves backward from the first initial position by a certain distance or more, the trigger switch 21 is turned on. The certain distance may also be zero.

[0162] (2-1-2) Operation unit

[0163] Reference Figure 2 to Figure 4 , the specific structure of the operating unit 12 is described. Figure 2 As shown, the operating unit 12 includes: an operating panel 13. Figure 3 As shown, the operation panel 13 includes a main power switch 14a. The main power switch 14a is pressed by the user. The main power switch 14a outputs a main power signal while the main power switch 14a is pressed. The main power switch 14a is pressed by the user to set the main power state of the electric working machine 1 (specifically, the controller 40 described later) to on or off.

[0164] "Main power state" means: the controller 40 (refer to Figure 5 ) state. Specifically, the so-called main power state means whether the controller 40 is in a state where it can operate. More specifically, the so-called main power state means whether the control circuit 41 described later is in a state where it can operate. When the main power state is on, the electric working machine 1 can perform various actions. When the main power state is off, the electric working machine 1 does not operate.

[0165] In the electric working machine 1 of the present embodiment, the rotation direction and the operation mode are set separately. The rotation direction is set to forward rotation or reverse rotation. The operation mode is selectively set to any one of the manual speed change mode, the stop mode, and the automatic speed change mode.

[0166] In order to further set the rotation direction, the user operates the main power switch 14a. In the initial state of the controller 40, the rotation direction is set to forward rotation. The initial state is: the state after the main power state has just been switched to on. While the main power state is on, the rotation direction is alternately switched each time the main power switch 14a is pressed in the first posture. When the main power state is on, when the main power switch 14a is pressed in the second posture, the main power state is switched to off. When the main power state is off, when the main power switch 14a is pressed, the main power state is switched to on.

[0167] The first posture and the second posture may be any postures. In the present embodiment, the first posture is a short press and the second posture is a long press. The so-called long press means: pressing continuously for more than a certain time. The so-called short press means: releasing before a certain time has passed after starting to press.

[0168] like Figure 3 As shown, the operation panel 13 includes: a first display unit 14b. The first display unit 14b of this embodiment includes: a first LED. When the main power state is set to off, the first display unit 14b is turned off (that is, the first LED is turned off). When the main power state is set to on, the first display unit 14b is turned on.

[0169] like Figure 3 As shown, the operation panel 13 includes a second display unit 14c. The second display unit 14c of the present embodiment includes a second LED. When the operation mode is set to the automatic speed change mode, the second display unit 14c is lit (i.e., the second LED is lit). When the rotation direction is set to reverse, the first display unit 14b and the second display unit 14c flash.

[0170] like Figure 2 , Figure 4 As shown, the operating unit 12 includes a second manual switch 16. In the present embodiment, the second manual switch 16 is in the form of a shifter. The second manual switch 16 can also be referred to as a "shifter 16". The second manual switch 16 can rotate around a rotation axis 160. More specifically, Figure 4 As shown, the second manual switch 16 can move (ie, rotate) in the first direction D1 and the second direction D2 between the first position P1 and the fourth position P4. Figure 2 , Figure 4 As shown in FIG. 1 , the operation unit 12 includes a stopper 17 . The second manual switch 16 comes into contact with the stopper 17 when reaching the fourth position P4 .

[0171] like Figure 2 As shown in FIG. 1 , the second manual switch 16 includes a shaft portion 16a and a front end portion 16b. The first end of the shaft portion 16a is fixed to a shift support member (not shown) in the operating unit 12. The front end portion 16b is provided at the second end of the shaft portion 16a. The rotation axis 160 is an imaginary axis existing near the first end of the shaft portion 16a. The shaft portion 16a extends from the rotation axis 160 in a direction orthogonal or substantially orthogonal to the rotation axis 160.

[0172] The tip 16b is touched by the user when the user moves the second manual switch 16. The user can move the second manual switch 16 by applying a load in the first direction D1 or the second direction D2 to the tip 16b using, for example, the user's thumb.

[0173] With such a configuration, the front end portion 16b moves along the arc-shaped moving path Y (see Figure 4 ). The moving path Y is located on an arc of a circle whose radius is the distance from the rotating shaft 160 to the front end of the second manual switch 16. The first direction D1 and the second direction D2 are along the arc. The first end of the moving path Y corresponds to the first position P1, and the second end of the moving path Y corresponds to the fourth position P4.

[0174] The second manual switch 16 moves in the second direction D2 in response to being pressed from the first position P1 toward the second direction D2 by the user. In this case, the second manual switch 16 can reach the fourth position P4 via the second position P2 and the third position P3. The second manual switch 16 moves in the first direction D1 in response to being pressed from the fourth position P4 toward the first direction D1 by the user. In this case, the second manual switch 16 can reach the first position P1 via the third position P3 and the second position P2.

[0175] The moving range of the second manual switch 16 includes: the first area R1, the second area R2, and the third area R3. The first area R1 is the area between the first position P1 and the second position P2. The second area R2 is the area between the second position P2 and the third position P3. The third area R3 is the area between the third position P3 and the fourth position P4. Therefore, when the second manual switch 16 moves from the first area R1 to the third area R3, the second manual switch 16 passes through the second area R2. When the second manual switch 16 moves from the third area R3 to the first area R1, the second manual switch 16 passes through the second area R2.

[0176] The operation unit 12 controls the shift switch 22 and the speed change signal output unit 23 (see Figure 5 The shift switch 22 is turned on or off according to the position of the second manual switch 16. The speed change signal output unit 23 outputs a speed change signal corresponding to the position of the second manual switch 16.

[0177] The user can manually operate the first manual switch 11 and the second manual switch 16 simultaneously with one hand (for example, the right hand) while holding the right handle 8. Specifically, the user can move the second manual switch 16 with the thumb while pressing the first manual switch 11 with the index finger, for example.

[0178] (2-1-3) Electrical configuration

[0179] Reference Figure 5 The electric working machine 1 is provided with a motor 60 and a controller 40. The battery pack 100 is mounted on the battery mounting portion. Figure 5 As shown, the battery 100 a is electrically connected to the controller 40 .

[0180] In the present embodiment, the motor 60 is in the form of a brushless motor. The motor 60 includes terminals 60a, 60b, and 60c. The terminals 60a, 60b, and 60c are electrically connected to the controller 40 (the drive circuit 45 described later in detail). The motor 60 includes three windings (not shown) inside. The three windings are connected in a delta connection or a star connection. The three windings are electrically connected to the terminals 60a, 60b, and 60c. The motor 60 receives three-phase power from the controller 40 via the terminals 60a, 60b, and 60c, and rotates accordingly.

[0181] The controller 40 includes a control circuit 41. The control circuit 41 includes a microcomputer including a CPU 41a and a memory 41b. The memory 41b includes, for example, a semiconductor memory such as a ROM, a RAM, an NVRAM, and a flash memory. The control circuit 41 (CPU 41a in detail) implements various functions by executing programs stored in the memory 41b. In addition, the control circuit 41 stores temporary data generated corresponding to various functions in the memory 41b.

[0182] Part or all of the various functions implemented by the control circuit 41 may be achieved by executing a program (i.e., by software processing), or by one or more hardware. For example, instead of or in addition to a microcomputer, the control circuit 41 may also include: a logic circuit including a plurality of electronic components, an integrated circuit for a specific purpose such as an ASIC and / or an ASSP, or a programmable logic device such as an FPGA that can construct an arbitrary logic circuit.

[0183] The controller 40 includes a power supply control circuit 42 and a regulator 43. The power supply control circuit 42 is electrically connected to the positive electrode of the battery 100a, and receives direct current battery power from the battery 100a. The power supply control circuit 42 controls the battery power supplied to the regulator 43. When the regulator 43 receives the battery power from the power supply control circuit 42, it generates a control voltage according to the battery power. The control voltage is in the form of a direct current voltage. The regulator 43 supplies the control voltage to each part in the controller 40.

[0184] When the battery pack 100 is mounted in the battery mounting portion, the main power state of the controller 40 (in other words, the main power state of the control circuit 41) is OFF. That is, at this time, the control voltage is not supplied to the control circuit 41, and the control circuit 41 is not activated.

[0185] The control circuit 41 is electrically connected to the main power switch 14a. After the battery pack 100 is mounted in the battery mounting portion, once the main power switch 14a is pressed, a main power signal is input from the main power switch 14a to the power control circuit 42 and the control circuit 41. The power control circuit 42 supplies battery power to the regulator 43 based on the reception of the main power signal. Accordingly, a control voltage is supplied from the regulator 43 to the control circuit 41, and the control circuit 41 starts to start.

[0186] Once activated, the control circuit 41 sets the main power supply state to on, and continuously outputs a power supply holding signal to the power supply control circuit 42. The power supply control circuit 42 supplies the battery voltage to the regulator 43 while receiving the power supply holding signal.

[0187] When the main power state is on, once the main power switch 14a is long pressed, the control circuit 41 (i) performs the processing required to stop its own operation, and (ii) then sets the main power state to off. When the control circuit 41 sets the main power state to off, it stops the power hold signal. When the main power state is on, the control circuit 41 alternately switches the rotation direction each time the main power switch 14a is short pressed.

[0188] When the input of the power supply holding signal to the power supply control circuit 42 stops, the power supply control circuit 42 stops supplying the battery power to the regulator 43. Accordingly, the control voltage is not generated by the regulator 43, and the operation of the control circuit 41 stops. The on and off of the main power supply state can also be defined arbitrarily. For example, the state in which the control voltage is supplied to the control circuit 41 and the control circuit 41 starts can also be defined as the on state of the main power supply. For example, the state in which the control voltage is not supplied to the control circuit 41 and the control circuit 41 stops operating can also be defined as the off state of the main power supply.

[0189] The controller 40 includes a gate circuit 44 and a drive circuit 45. The gate circuit 44 is electrically connected to the positive electrode of the battery 100a and receives battery power. The drive circuit 45 is electrically connected to the positive electrode of the battery 100a via a disconnect switch 49 and receives battery power via the disconnect switch 49.

[0190] The drive circuit 45 of this embodiment is in the form of a three-phase full-bridge circuit. That is, the drive circuit 45 has: three switch elements on the high side and three switch elements on the low side. Each switch element and the disconnect switch 49 are in the form of, for example, semiconductor switch elements, more specifically, in the form of, for example, MOSFET.

[0191] The control circuit 41 outputs the first switch control signal and the motor control signal to the gate circuit 44. The first switch control signal controls the disconnect switch 49. The motor control signal controls the drive circuit 45, thereby controlling the rotation of the motor 60. The motor control signal includes six second switch control signals corresponding to the six switch elements in the drive circuit 45. In the present embodiment, the six second switch control signals may be in the form of a pulse width modulation signal (PWM signal), for example.

[0192] The gate circuit 44 outputs the first switch drive signal based on the first switch control signal to the disconnect switch 49. When the first switch control signal indicates that the disconnect switch 49 is turned on, the gate circuit 44 outputs the first switch drive signal for turning on the disconnect switch 49 to the disconnect switch 49. Accordingly, the disconnect switch 49 is turned on, and the drive circuit 45 is connected to the battery 100a via the disconnect switch 49. The gate circuit 44 outputs the motor drive signal based on the motor control signal to the drive circuit 45. The motor drive signal includes: 6 second switch drive signals output to the 6 switch elements respectively. The 6 switch elements are turned on or off according to the corresponding second switch drive signals. The gate circuit 44 generates the first switch drive signal and the motor drive signal according to the battery power.

[0193] When the control circuit 41 drives the motor 60, the first switch control signal and the motor control signal turn on the disconnect switch 49 through the gate circuit 44 to drive the drive circuit 45. As a result, the motor 60 is driven.

[0194] The drive circuit 45 operates according to the motor control signal from the control circuit 41 (more specifically, according to the motor drive signal from the gate circuit 44). When the motor control signal for driving the motor 60 is output, the drive circuit 45 generates three-phase power according to the motor control signal and supplies it to the motor 60.

[0195] The controller 40 includes a battery voltage detector 24. The battery voltage detector 24 (i) detects a battery voltage value, and (ii) outputs a voltage signal indicating the detected battery voltage value to the control circuit 41. The battery voltage value corresponds to the magnitude of the output voltage of the battery pack 100.

[0196] The controller 40 includes a current detection circuit 46. The current detection circuit 46 (i) detects the battery current value, and (ii) outputs a current signal indicating the detected battery current value to the control circuit 41. The battery current value corresponds to the magnitude of the current supplied from the battery pack 100 to the drive circuit 45 (and further to the motor 60).

[0197] The controller 40 includes a temperature detection circuit 47 . The temperature detection circuit 47 (i) detects the circuit temperature of the controller 40 , and (ii) outputs a temperature signal indicating the detected circuit temperature to the control circuit 41 .

[0198] The controller 40 includes a position detection circuit 48. The position detection circuit 48 is electrically connected to the terminals 60a, 60b, and 60c of the motor 60. The position detection circuit 48 receives first to third induced voltages from the terminals 60a, 60b, and 60c. The first induced voltage is an induced voltage generated between the terminals 60a and 60b as the motor 60 rotates. The second induced voltage is an induced voltage generated between the terminals 60b and 60c. The third induced voltage is an induced voltage generated between the terminals 60c and 60a.

[0199] The position detection circuit 48 outputs a position detection signal based on the first to third induced voltages to the control circuit 41. The position detection signal indicates the rotational position of the motor 60. Specifically, the position detection circuit 48 detects the following three moments (zero crossing points), namely: (i) the moment when the first induced voltage crosses the reference voltage value during its change (the first zero crossing point), (ii) the moment when the second induced voltage crosses the reference voltage value during its change (the second zero crossing point), and (iii) the moment when the third induced voltage crosses the reference voltage value during its change (the third zero crossing point). The position detection circuit 48 outputs the position detection signal indicating the detected first to third zero crossing points to the control circuit 41.

[0200] The control circuit 41 detects the rotation position and rotation speed of the motor 60 based on the position detection signal (i.e., based on the first to third zero crossing points). In addition, the method of detecting the rotation position and rotation speed based on the first to third induced voltages is well known as a core technology for sensorless driving of brushless motors.

[0201] The control circuit 41 rotates the motor 60 forward based on (i) the rotation direction is set to forward rotation and (ii) the driving requirements are satisfied. When the motor 60 rotates forward, the cutter 5 rotates in the cutting direction. The cutting direction is the rotation direction that can cut the cutting object.

[0202] On the other hand, when (i) the rotation direction is set to reverse and (ii) the first manual switch 11 is turned on, the control circuit 41 reverses the motor 60 for a certain period of time. Once the motor 60 is reversed, the cutter 5 rotates in the winding direction. The winding direction is opposite to the cutting direction. By rotating the cutter 5 in the winding direction, the cutting object that is wound around the cutter 5 when rotating in the cutting direction can be removed from the cutter 5.

[0203] The control circuit 41 sets the rotation direction of the motor 60 to forward rotation after causing the motor 60 to rotate in the reverse direction for a certain period of time.

[0204] The control circuit 41 is electrically connected to the trigger switch 21. While the trigger switch 21 is turned on, a first signal is input from the trigger switch 21 to the control circuit 41. The first signal indicates that the trigger switch 21 is turned on (and the first manual switch 11 is turned on, more specifically, the first manual switch 11 is moved from the first initial position by a certain distance or more).

[0205] The control circuit 41 is electrically connected to the shift switch 22 and the speed change signal output unit 23. While the shift switch 22 is turned on, the second signal is input from the shift switch 22 to the control circuit 41. Figure 6As shown, the toggle switch 22 is turned off when the second manual switch 16 is in the third region R3, and is turned on when the second manual switch 16 is in the first region R1 or the second region R2. The second signal indicates that the toggle switch 22 is turned on (and therefore the second manual switch 16 is in the first region R1 or the second region R2).

[0206] The speed change signal has a voltage corresponding to the position of the second manual switch 16. Figure 6 As shown, when the second manual switch 16 is between the reference position and the fourth position P4, the speed change signal has a substantially constant voltage value close to 0 [V]. The reference position corresponds to a predetermined position in the second region R2. When the second manual switch 16 moves from the reference position toward the first direction D1, the voltage value of the speed change signal (hereinafter referred to as "speed change signal value") gradually increases with the movement. That is, the speed change signal value increases in accordance with the increase in the distance from the reference position.

[0207] In the present embodiment, when the second manual switch 16 reaches the highest speed arrival position Pc, the increase in the speed change signal value stops. Even if the second manual switch 16 moves further toward the first direction D1 from the highest speed arrival position Pc, the speed change signal value does not change. The highest speed arrival position Pc can also be set at any position within the first area R1 (except the second position P2). Alternatively, the highest speed arrival position Pc may not be set. In other words, the highest speed arrival position Pc may also be consistent with the first position P1. In this case, the speed change signal value gradually increases until the second manual switch 16 moves from the second position P2 toward the first position P1.

[0208] In the present embodiment, the speed change signal value increases linearly. However, the speed change signal value may also increase arbitrarily. For example, it may also increase nonlinearly. More specifically, the speed change signal value may also increase in stages, for example.

[0209] The control circuit 41 is electrically connected to the first display unit 14b and the second display unit 14c. The control circuit 41 controls the first display unit 14b and the second display unit 14c. Specifically, as described above, the control circuit 41 turns on, flashes, or turns off the first LED and the second LED according to the state of the electric working machine 1.

[0210] (2-1-4) Action Mode

[0211] Reference Figure 6 , specifically explain the action mode. The action mode is set by the control circuit 41. In this embodiment, when the rotation direction is set to forward rotation, the action mode is set. Specifically, Figure 6As shown, the operation mode is set according to the position of the second manual switch 16. The operation mode means the operation mode of the control circuit 41 (and further the operation mode of the controller 40 or the operation mode of the electric working machine 1).

[0212] The control circuit 41 (i) sets the operation mode to the manual shift mode when the second manual switch 16 is in the first area R1, (ii) sets the operation mode to the stop mode when the second manual switch 16 is in the second area R2, and (iii) sets the operation mode to the automatic shift mode when the second manual switch 16 is in the third area R3.

[0213] In this embodiment, the control circuit 41 determines whether the second manual switch 16 has moved to the first region R1 (or whether it is in the first region R1) based on the speed change signal value. When the speed change signal value is less than the signal threshold, the control circuit 41 determines that the second manual switch 16 is not in the first region R1. The signal threshold is: Figure 6 The speed change signal value at the operating point G shown in FIG. The operating point G corresponds to the boundary between the first region R1 and the second region R2. When the speed change signal value is greater than the signal threshold, the control circuit 41 determines that the second manual switch 16 is in the first region R1 and sets the operating mode to the manual speed change mode.

[0214] When the shift switch 22 is turned on and the speed change signal value is smaller than the signal threshold value, the control circuit 41 determines that the second manual switch 16 is in the second region R2 and sets the operation mode to the stop mode.

[0215] When the toggle switch 22 is turned off, the control circuit 41 determines that the second manual switch 16 is in the third region R3 and sets the operation mode to the automatic shift mode.

[0216] The control circuit 41 performs drive control for rotating the motor 60 based on the fact that the drive requirements are satisfied. The drive control includes rotating the motor 60 using the first switch control signal and the motor control signal. In the present embodiment, the drive requirements are satisfied based on (i) the rotation direction is set to forward rotation, (ii) the trigger switch 21 is turned on, and (iii) the second manual switch 16 is in the first region R1 or the third region R3 (or the operation mode is set to the manual shift mode or the automatic shift mode).

[0217] When the driving requirements are satisfied and the operation mode is set to the manual speed change mode (that is, the second manual switch 16 is in the first region R1), the control circuit 41 performs drive control according to the first control method, thereby rotating the motor 60. In other words, the control circuit 41 controls the drive circuit 45 using the first switch control signal and the motor control signal so that the motor 60 rotates according to the first control method.

[0218] The first control mode is a control mode corresponding to the manual speed change mode.

[0219] In the first control mode, the motor 60 is controlled so that the motor 60 rotates at a target rotation speed corresponding to the position of the second manual switch 16. Specifically, in the first control mode, the control circuit 41 sets the target rotation speed based on the position of the second manual switch 16 (specifically, based on the speed change signal value). Figure 6 An example of setting the target rotation speed in the first control mode is shown. Figure 6 As shown, in the present embodiment, the target rotation speed increases as the second manual switch 16 moves from the second position P2 toward the highest speed arrival position Pc. The target rotation speed reaches a maximum value when the second manual switch 16 reaches the highest speed arrival position Pc. In other words, the target rotation speed gradually decreases as the second manual switch 16 moves from the highest speed arrival position Pc toward the second direction D2 (that is, toward the second region R2). In the present embodiment, even if the second manual switch 16 moves further from the highest speed arrival position Pc toward the first direction D1, the target rotation speed is maintained at the maximum value. The target rotation speed (that is, the minimum value of the target rotation speed) when the second manual switch 16 is at the second position P2 can be greater than zero or zero.

[0220] The target rotational speed may also be increased along with the movement from the second position P2 toward the first position P1. The target rotational speed may also be increased arbitrarily. The target rotational speed may also be increased linearly or nonlinearly, for example. The target rotational speed may also be increased discontinuously (for example, in stages). Intervals in which the target rotational speed increases continuously and intervals in which the target rotational speed increases discontinuously may also be mixed.

[0221] The control circuit 41 detects the rotation speed (that is, the actual rotation speed) of the motor 60 based on the position detection signal from the position detection circuit 48. The control circuit 41 compares the detected rotation speed with the set target rotation speed. The control circuit 41 generates and outputs a motor control signal in such a way that the actual rotation speed matches the target rotation speed.

[0222] In the stop mode, the control circuit 41 stops the motor 60 regardless of the state of the trigger switch 21. That is, even if the trigger switch 21 is turned on, the control circuit 41 stops the motor 60 in the stop mode. In addition, when the trigger switch 21 is turned off, the control circuit 41 stops the motor 60 regardless of the position of the second manual switch 16.

[0223] When the driving requirements are satisfied and the operation mode is set to the automatic speed change mode (that is, the second manual switch 16 is in the third region R3), the control circuit 41 performs drive control according to the second control method, thereby rotating the motor 60. In other words, the control circuit 41 controls the drive circuit 45 using the first switch control signal and the motor control signal so that the motor 60 rotates according to the second control method.

[0224] The second control method is a control method corresponding to the automatic speed change mode, and is different from the first control method.

[0225] In the second control mode, the motor 60 is controlled so that the motor 60 rotates at a target rotation speed corresponding to the size of the load applied to the motor 60. Specifically, in the second control mode, the control circuit 41 detects the size of the load applied to the motor 60. The load referred to here is, for example, a force received by the rotor of the motor 60 in a direction opposite to the rotation direction of the motor 60. The load applied to the motor 60 can change according to the conditions of the cutting operation performed by the cutting knife 5. When the cutting operation is not performed and the cutting knife 5 is idling, the load is minimum. When the cutting knife 5 is brought into contact with the cutting object and the cutting operation is performed, the load increases. The size of the load can also be detected arbitrarily. The size of the load can also be detected based on the battery current value shown in the current signal, for example.

[0226] The control circuit 41 sets the target rotation speed according to the size of the load in the second control mode. Specifically, in the present embodiment, the target rotation speed is increased in response to the increase in the load. The control circuit 41 may also arbitrarily set the target rotation speed according to the size of the load. For example, when the size of the load is less than the load threshold, the control circuit 41 may set the target rotation speed to the first speed, and when the size of the load is greater than the load threshold, the control circuit 41 may set the target rotation speed to the second speed. The second speed is greater than the first speed. In the case where the cutter 5 is idling, a target rotation speed smaller than the first speed may also be set. The target rotation speed may vary continuously or in stages according to the size of the load.

[0227] As described above, the control circuit 41 rotates the motor 60 according to the first control method based on (i) the driving requirements are satisfied and (ii) the second manual switch 16 is in the first region R1. When the motor 60 rotates according to the first control method, once the trigger switch 21 is turned off or the second manual switch 16 moves to the second region R2, the control circuit 41 performs stop control. The stop control includes: stopping the rotation of the motor 60.

[0228] The stop control includes a first stop control (or a control based on a first stop method) and a second stop control (or a control based on a second stop method). The second stop control is different from the first stop control. The control circuit 41 executes either the first or second stop control to stop the motor 60.

[0229] Specifically, in this embodiment, the control circuit 41 executes the first stop control based on the trigger switch 21 being turned off, thereby stopping the motor 60. The control circuit 41 executes the second stop control based on the second manual switch 16 being moved to the second region R2, thereby stopping the motor 60.

[0230] The first stop control differs from the second stop control in the degree of deceleration. The first stop control decelerates the motor 60 more slowly than the second stop control.

[0231] That is, it is assumed that the motor 60 rotates at a certain rotation speed (for example, 2000 rpm). In this case, when the trigger switch 21 is turned off, the first stop control is performed, and the motor 60 is decelerated and finally stops. The average value of the deceleration from the time when the trigger switch 21 is turned off until the motor 60 stops in this case is defined as the first average deceleration.

[0232] On the other hand, when the second manual switch 16 has moved to the second region R2 under the above-mentioned condition, the second stop control is performed, whereby the motor 60 is decelerated and finally stops. The average value of the deceleration from the time when the second manual switch 16 moves to the second region R2 until the motor 60 stops is defined as the second average deceleration.

[0233] In the present embodiment, the first average deceleration is smaller than the second average deceleration. In other words, the first stop required time is longer than the second stop required time. The first stop required time is the time from the start of the first stop control until the motor 60 stops when the first stop control is executed under the above conditions. The second stop required time is the time from the start of the second stop control until the motor 60 stops when the second stop control is executed under the above conditions.

[0234] The first average deceleration may be an average value of the decelerations during the first deceleration period. The first deceleration period may be a period from when the trigger switch 21 is turned off (in other words, after the first manual switch 11 is turned off or when the first stop control starts) until the first deceleration time has passed.

[0235] The second average deceleration may be an average value of the decelerations in the second deceleration period. The second deceleration period may be a period from when the second manual switch 16 moves into the second region R2 (in other words, from when the second stop control starts) until the second deceleration time elapses.

[0236] The end of the first and second deceleration periods may be, for example, a predetermined time before the motor 60 stops (that is, during the rotation of the motor 60), or when the motor 60 stops. The second deceleration time may be the same as the first deceleration time.

[0237] The first and second stop controls may be performed by any method (in other words, according to any predetermined control content). In the present embodiment, the first and second stop controls are implemented by free running and / or braking.

[0238] Specifically, in the first stop control, the control circuit 41 rotates the motor 60 by inertia (i.e., free running) until the first time T1 [seconds] (e.g., 2 seconds) has passed after the trigger switch 21 is turned off. That is, the control circuit 41 turns off all six switch elements in the drive circuit 45. Furthermore, after the first time T1 has passed, the control circuit 41 operates the brake of the motor 60 (i.e., applies a braking force to the motor 60), thereby decelerating the motor 60.

[0239] Braking can also be performed by any method that can apply braking force to the motor 60. The braking of this embodiment includes short-circuit braking (dynamic braking). Short-circuit braking works by electrically short-circuiting two or more of the terminals 60a, 60b, and 60c of the motor 60 with the help of the drive circuit 45.

[0240] In the second stop control, the motor 60 is basically decelerated in such a manner that the motor 60 stops earlier than in the first stop control. Based on such control, in the second stop control of the present embodiment, the motor 60 is also stopped according to a prescribed control content corresponding to the first actual speed Spr. The first actual speed Spr corresponds to the actual rotation speed of the motor 60 at the start of the second stop control (in other words, when the position of the second manual switch 16 changes to the second region R2). The prescribed control content is: a control flow for stopping the motor 60. From the start of the second stop control to the stop of the motor 60, the prescribed control content is executed by the control circuit 41.

[0241] In the present embodiment, the predetermined control content is determined such that the second average deceleration in the second deceleration period becomes higher as the first actual speed Spr decreases. In the following description, as an example, the end of the second deceleration period is assumed to be when the motor 60 is stopped.

[0242] In order to simplify the control, the control content specified in this embodiment is set as follows: the second average deceleration in the first case is greater than the second average deceleration in the second case. The first case corresponds to the case where the first actual speed Spr is less than the threshold speed Sp1. The second case corresponds to the case where the first actual speed Spr is greater than the threshold speed Sp1.

[0243] The more specific content of the prescribed control content can also be determined arbitrarily. The prescribed control content of the present embodiment includes: free running and / or braking. Specifically, in the second case, the control circuit 41 rotates the motor 60 by inertia from the start of the second stop control until the second time (or the prescribed time or the first prescribed time) T2 has passed. And, corresponding to the second time T2, the control circuit 41 operates the brake to decelerate the motor 60. The second time T2 is shorter than the first time T1.

[0244] On the other hand, in the first case, after starting the second stop control, the control circuit 41 does not rotate the motor 60 by inertia, but operates the brake to decelerate the motor 60 .

[0245] Alternatively, in the first case, the control circuit 41 may also rotate the motor 60 by inertia until the third time (or second predetermined time) T3 has passed after the second stop control is started. Furthermore, the control circuit 41 may also operate the brake in response to the third time T3 having passed to decelerate the motor 60. The third time T3 is shorter than the second time T2.

[0246] The magnitude of the braking force of the first brake may be the same as or different from the magnitude of the braking force of the second brake. The first brake corresponds to the brake operated by the first stop control. The second brake corresponds to the brake operated by the second stop control.

[0247] In the present embodiment, the threshold speed Sp1 is greater than the minimum value of the target rotation speed set in the manual shift mode. When the second manual switch 16 is slowly moved toward the second region R2, the actual rotation speed of the motor 60 quickly follows the target rotation speed or its vicinity. In this case, the actual rotation speed when the second manual switch 16 reaches the second position P2 is less than the threshold speed Sp1.

[0248] When the motor 60 is driven in the automatic speed change mode (that is, when the second manual switch 16 is in the third region R3), the control circuit 41 also performs the second stop control when the second manual switch 16 has moved to the second region R2.

[0249] (2-1-5) Control circuit processing

[0250] Reference Figure 7 , which describes the processing performed by the control circuit 41 (CPU 41a in detail) to achieve the above-mentioned various actions. In this embodiment, for example, the memory 41b stores Figure 7 The control circuit 41 implements the processing program shown in FIG. Figure 7 In addition, for the sake of simplicity and efficiency, Figure 7 The state of the control circuit 41 and the processing executed by the control circuit 41 are also described. Figure 7 In FIG. 1 , “shift” means the second manual switch 16 .

[0251] When the battery pack 100 is not installed in the battery assembly section, the main power state of the control circuit 41 is set to off (state A01). At this time, the motor 60 stops. Immediately after the battery pack 100 is installed in the battery assembly section, the main power state is still maintained as off (state A01). After the battery pack 100 is installed in the battery assembly section, once the main power switch 14a is pressed, the control circuit 41 starts immediately. Once the control circuit 41 starts, the main power state is set to on (S100). Accordingly, the main power state is set to on (state A02).

[0252] When the main power state is set to on (state A02), if the main power switch 14a is long pressed, the control circuit 41 stops outputting the power hold signal and sets the main power state to off (S110). Accordingly, the main power state is set to off (state A01).

[0253] When the main power state is set to on (state A02), once the trigger switch 21 is turned on and the second manual switch 16 is moved to the driving position, the control circuit 41 performs driving control to rotate the motor 60 (S120). The driving position corresponds to the first region R1 or the third region R3.

[0254] During the execution of the drive control, once the trigger switch 21 is turned off, the control circuit 41 executes the first stop control (S130). Specifically, the control circuit 41 first allows the motor 60 to run freely during the first time T1 (S131). After the first time T1 has passed, the control circuit 41 operates the brake of the motor 60 (S132). As a result, the motor 60 stops (state A02).

[0255] After the first stop control is started ( S130 ), when the trigger switch 21 is turned on before the motor 60 stops, the control circuit 41 performs drive control to rotate the motor 60 ( S120 ).

[0256] During the execution of the drive control (S120), once the second manual switch 16 moves to the second region R2, the control circuit 41 executes the second stop control (S140). Specifically, the control circuit 41 obtains the actual rotation speed (i.e., the first actual speed Spr) when the second manual switch 16 has moved to the second region R2. Furthermore, when the first actual speed Spr is greater than the threshold speed Sp1, the control circuit 41 first allows the motor 60 to run freely during the second time T2 (S141). Furthermore, after the second time T2 has passed, the control circuit 41 operates the brake of the motor 60 (S142). Accordingly, the motor 60 stops (state A02).

[0257] On the other hand, when the first actual speed Spr is less than the threshold speed Sp1, the control circuit 41 does not allow the motor 60 to run freely, but applies a brake to the motor 60 (S142). Accordingly, the motor 60 stops (state A02). Alternatively, the control circuit 41 may first allow the motor 60 to run freely during the third time T3 (S143). Furthermore, the control circuit 41 may also operate the brake in response to the passage of the third time T3 (S142). As described above, the third time T3 is shorter than the second time T2.

[0258] After the second stop control is started ( S140 ), if the second manual switch 16 has been moved to the driving position before the motor 60 stops, the control circuit 41 performs the driving control to rotate the motor 60 ( S120 ).

[0259] (2-1-6) Correspondence of terms

[0260] The operation of the first manual switch 11 for turning on the trigger switch 21 is an example of the first drive operation in the summary of the embodiment. In other words, the movement of the first manual switch 11 from the first initial position to the rear by a certain length or more is an example of the first drive operation in the summary of the embodiment. The operation of the first manual switch 11 for turning off the trigger switch 21 is an example of the first stop operation in the summary of the embodiment. Moving the second manual switch 16 to the first region R1 or the third region R3 is an example of the second drive operation in the summary of the embodiment. Moving the second manual switch 16 to the second region R2 is an example of the second stop operation in the summary of the embodiment. The second time T2 is an example of the second time, the specified time, and the first specified time in the summary of the embodiment. The third time T3 is an example of the second specified time in the summary of the embodiment. The first stop control is an example of the first stop method in the summary of the embodiment. The second stop control is an example of the second stop method in the summary of the embodiment.

[0261] [2-2. Other embodiments]

[0262] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be implemented in various modified forms.

[0263] (2-2-1) In the above embodiment, the first stop control includes free running and braking. However, the first stop control may also be implemented by other methods. For example, the first stop control may not include free running. The first stop control may also be configured to decelerate the motor 60 by only braking. The same is true for the case in which the first actual speed Spr is greater than the threshold speed Sp1 in the second stop control. In the case in which the first actual speed Spr is less than the threshold speed Sp1 in the second stop control, free running and braking may be used together. The first stop control may not include braking. The first stop control may also decelerate the motor 60 by only free running.

[0264] (2-2-2) In the second stop control of the above-mentioned embodiment, the control method is replaced based on the threshold speed Sp1. However, the control method can also be arbitrarily replaced according to the first actual speed Spr. For example, multiple threshold speeds can also be set. Moreover, the level of the first actual speed Spr can also be determined based on the comparison between the first actual speed Spr and multiple threshold speeds. Moreover, the prescribed control content corresponding to the determined level can also be used among the multiple prescribed control contents. The multiple prescribed control contents can also be set as follows: the higher the level of the first actual speed Spr, the smaller the second average deceleration will be.

[0265] (2-2-3) The first region R1 (manual shift mode), the second region R2 (stop mode), and the third region R3 (automatic shift mode) may be set at any position on the movement path Y.

[0266] In the above embodiment, the first region R1, the second region R2, and the third region R3 are arranged along the second direction D2, but the first region R1, the second region R2, and the third region R3 may be arranged along the first direction D1. That is, the operation mode may be switched to the automatic shift mode by moving the second manual switch 16 from the second region R2 toward the first direction D1, and the operation mode may be switched to the manual shift mode by moving the second manual switch 16 from the second region R2 toward the second direction D2.

[0267] For example, the first region R1 and the third region R3 may be adjacent to each other. That is, the second manual switch 16 may move from the first region R1 to the third region R3, or from the third region R3 to the first region R1, without passing through the second region R2.

[0268] (2-2-4) In the automatic transmission mode, the target rotational speed may be arbitrarily set according to the load. For example, contrary to the above-mentioned embodiment, the target rotational speed may be reduced as the load increases. Specifically, for example, the target rotational speed may be set to the second speed when the load is less than the load threshold, and the target rotational speed may be set to the first speed when the load is greater than the load threshold. The first speed is less than the second speed.

[0269] (2-2-5) The second manual switch 16 and the first manual switch 11 may be provided on the left handle 9 or in the vicinity thereof. Alternatively, the second manual switch 16 and the first manual switch 11 may be provided on handles that are separate from each other.

[0270] (2-2-6) The second manual switch 16 may be in any form. The moving path Y of the second manual switch 16 may be set arbitrarily. The second manual switch 16 may be in a form different from a shifter. For example, the second manual switch 16 may be in the form of a slide switch, a dial, or the like.

[0271] The second manual switch of the present invention may be provided in any form and at any position in the operating unit 12. The second manual switch may be provided, for example, on a surface provided with the operating panel 13. The second manual switch may be moved in any direction and / or within any range.

[0272] (2-2-7) The motor 60 may be provided outside the control unit 3. The motor 60 may be accommodated in the drive unit 4, for example.

[0273] (2-2-8) In the above-mentioned embodiments, multiple functions of one component can be realized by multiple components, or one function of one component can be realized by multiple components. In addition, multiple functions of multiple components can be realized by one component, or one function realized by multiple components can be realized by one component. In addition, part of the components of the above-mentioned embodiments can be omitted. In addition, at least part of the components of the above-mentioned embodiments can be added to or replaced with the components of other above-mentioned embodiments.

Claims

1. An electric working machine, characterized in that: The electric working machine comprises: motor; a first manual switch configured to selectively receive a first drive operation or a first stop operation, wherein the first drive operation and the first stop operation are manually performed by a user of the electric working machine; a second manual switch configured to selectively receive a second drive operation or a second stop operation, wherein the second drive operation and the second stop operation are manually performed by the user; as well as A control circuit configured to execute drive control, first stop control, and second stop control, In the drive control, the motor is rotated based on (i) the first manual switch accepting the first drive operation and (ii) the second manual switch accepting the second drive operation, In the first stop control, the motor is stopped based on (i) the motor rotating and (ii) the first manual switch receiving the first stop operation. In the second stop control, the motor is stopped based on (i) the motor rotating and (ii) the second manual switch receiving the second stop operation, The second stop control is different from the first stop control.

2. The electric working machine according to claim 1, characterized in that: The first stop control includes: based on (i) the motor rotating and (ii) the first manual switch receiving the first stop operation, the motor is decelerated at a first average deceleration to stop the motor; The first average deceleration is an average value of the deceleration of the motor during a period from when the first manual switch receives the first stop operation until the motor stops. The second stop control includes: based on (i) the motor rotating and (ii) the second manual switch receiving the second stop operation, the motor is decelerated at a second average deceleration rate to stop the motor; The second average deceleration is (i) an average value of the deceleration of the motor during a period from when the second manual switch receives the second stop operation until the motor stops, and (ii) different from the first average deceleration.

3. The electric working machine according to claim 2, characterized in that: The first average deceleration is smaller than the second average deceleration.

4. The electric working machine according to any one of claims 1 to 3, characterized in that: The first stop control includes: After the first manual switch receives the first stop operation, the motor is caused to rotate by inertia until a first time has passed; and applying a braking force to the motor based on the first time period having passed since the first manual switch received the first stop operation, thereby decelerating the motor; The second stop control includes: After the second manual switch receives the second stop operation, the motor is rotated by inertia until a second time has passed, the second time being shorter than the first time; and Based on the lapse of the second time after the second manual switch receives the second stop operation, a braking force is applied to the motor, thereby decelerating the motor.

5. The electric working machine according to any one of claims 1 to 4, characterized in that: The second stop control includes: stopping the motor according to a predetermined control content; The prescribed control content is based on the first actual speed, The first actual speed is an actual rotation speed of the motor when the second manual switch receives the second stop operation.

6. The electric working machine according to claim 5, characterized in that: The predetermined control content is configured such that the second average deceleration in the first state is greater than the second average deceleration in the second state, The second average deceleration is an average value of the deceleration of the motor during a period from when the second manual switch receives the second stop operation until the motor stops. The first state corresponds to a state in which the first actual speed is lower than a threshold speed, and the second state corresponds to a state in which the first actual speed is higher than the threshold speed.

7. The electric working machine according to claim 6, characterized in that: The control content of the regulations includes: Based on the first actual speed being equal to or greater than the threshold speed, the motor is rotated by inertia until a predetermined time has passed after the second manual switch receives the second stop operation; applying a braking force to the motor to decelerate the motor based on (i) the first actual speed being equal to or greater than the threshold speed and (ii) the predetermined time having passed since the second manual switch received the second stop operation; as well as Based on the fact that the first actual speed is lower than the threshold speed, a braking force is applied to the motor without causing the motor to rotate by inertia, thereby decelerating the motor.

8. The electric working machine according to claim 6, characterized in that: The control content of the regulations includes: Based on the first actual speed being equal to or greater than the threshold speed, the motor is caused to rotate by inertia until a first predetermined time has elapsed after the second manual switch receives the second stop operation; applying a braking force to the motor to decelerate the motor based on (i) the first actual speed being equal to or greater than the threshold speed and (ii) the first predetermined time having elapsed since the second manual switch received the second stop operation; Based on the first actual speed being lower than the threshold speed, the motor is rotated by inertia until a second predetermined time has passed after the second manual switch receives the second stop operation, the second predetermined time being shorter than the first predetermined time; as well as The motor is decelerated by applying a braking force to the motor based on (i) the first actual speed being lower than the threshold speed and (ii) the second predetermined time having elapsed since the second manual switch received the second stop operation.

9. The electric working machine according to any one of claims 1 to 8, characterized in that: The second manual switch is configured to be moved within a moving range including the first area and the second area by manual operation of the user. The second driving operation includes: the second manual switch is moved to or arranged in the first area, The second stop operation includes: the second manual switch is moved to or arranged in the second area.

10. The electric working machine according to claim 9, characterized in that: The drive control comprises: setting a target rotation speed corresponding to a position of the second manual switch in the first area based on the second manual switch being in the first area; and The motor is rotated at the set target rotation speed.

11. The electric working machine according to claim 10, characterized in that: The drive control includes reducing the target rotation speed in response to the second manual switch approaching the first area toward the second area.

12. The electric working machine according to any one of claims 9 to 11, characterized in that: The moving range also includes a third area, The second driving operation includes: the second manual switch is moved to or arranged in the third area, The drive control comprises: setting a target rotation speed in accordance with the magnitude of a load applied to the motor based on the second manual switch being in the third region; and The motor is rotated at the set target rotation speed.

13. The electric working machine according to claim 6, characterized in that: The second manual switch is configured to be moved within a moving range including the first area and the second area by manual operation of the user. The second driving operation includes: the second manual switch is moved to or arranged in the first area, The second stop operation includes: the second manual switch is moved to or arranged in the second area, The drive control comprises: a target rotation speed is set based on the second manual switch being in the first area, and the target rotation speed is reduced in response to the second manual switch approaching the second area; as well as The motor is rotated at the set target rotation speed.

14. The electric working machine according to any one of claims 1 to 13, characterized in that: The first manual switch has a trigger. The first driving operation includes: the trigger moving from an initial position by a predetermined distance or more.

15. The electric working machine according to any one of claims 1 to 14, characterized in that: The second manual switch includes a toggle configured to be rotated by the user.

16. A method for controlling a motor in an electric working machine, characterized in that: The control method comprises the following steps: The motor is stopped in a first stopping manner based on (i) the motor rotating and (ii) the first manual switch accepting a first stop operation manually performed by a user of the electric working machine; and The motor is stopped in accordance with a second stopping method based on (i) the motor rotating and (ii) the second manual switch receiving a second stop operation manually performed by the user, The second manual switch is different from the first manual switch, and the second stop mode is different from the first stop mode.

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