Electric transport vehicle

Abstract

To properly control a non-excitation activated type electromagnetic brake in an electric transport vehicle mounted with the electromagnetic brake.SOLUTION: An electric transport vehicle includes a non-excitation activated type electromagnetic brake. The electromagnetic brake has an electromagnetic coil. The electric transport vehicle includes a brake control circuit. The brake control circuit outputs a first control signal and a second control signal when a release condition is established. The electric transport vehicle includes a signal processing circuit. The signal processing circuit outputs a release signal in response to the first control signal and the second control signal. The electric transport vehicle includes a drive circuit. The drive circuit supplies a current to the electromagnetic coil in response to the release signal.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to electric transport vehicles. [Background technology]

[0002] Patent Document 1 discloses a transport cart equipped with an electromagnetic brake, which brakes the wheels while power is supplied to the electromagnetic brake and releases the wheel brake while power is not supplied to the electromagnetic brake. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6865512 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to prioritize preventing the transport cart from moving when it is stopped or not in use, a non-excitation actuated electromagnetic brake, which is the opposite of the electromagnetic brake described above, is sometimes used. A non-excitation actuated electromagnetic brake brakes the wheels while no power is being supplied to the electromagnetic brake, and releases the wheel brake while power is being supplied to the electromagnetic brake.

[0005] In a transport cart that uses a non-excitation type electromagnetic brake, if a malfunction occurs in the circuit that controls the power supply to the electromagnetic brake, power may be unintentionally supplied to the electromagnetic brake, causing the wheels to release their braking.

[0006] One aspect of the present disclosure aims to enable appropriate control of a non-excitation-activated electromagnetic brake in an electric transport vehicle equipped with the electromagnetic brake. [Means for solving the problem]

[0007] An electric transport vehicle according to one aspect of the present disclosure includes a motor. The motor rotates by receiving power from a first battery. The electric transport vehicle includes wheels. The wheels are driven by the motor. The electric transport vehicle includes a grip. The grip is held by a user of the electric transport vehicle while the user is standing on a road surface on which the electric transport vehicle travels.

[0008] The electric transport vehicle is equipped with an electromagnetic brake. The electromagnetic brake has an electromagnetic coil. The electromagnetic brake is of a non-excitation operation type. That is, the electromagnetic brake releases the braking of the rotation of the wheels when a current is supplied to the electromagnetic coil. The electromagnetic brake brakes the rotation of the wheels when the current to the electromagnetic coil is cut off.

[0009] The electric transport vehicle includes a brake control circuit that outputs a first control signal and a second control signal in response to the establishment of a release condition that corresponds to a condition for releasing the electromagnetic brake.

[0010] The electric transport vehicle includes a signal processing circuit that receives a first control signal and a second control signal and outputs a release signal in response to receiving the first control signal and the second control signal.

[0011] The electric vehicle includes a drive circuit that receives a release signal and supplies a current to the electromagnetic coil in response to the release signal. In such an electric transport vehicle, even if the first control signal or the second control signal is output despite the release condition not being met due to some malfunction (for example, an abnormality in the brake control circuit), the braking by the electromagnetic brake will not be released. In other words, the braking by the electromagnetic brake will not be released even if only one of the first control signal or the second control signal is output. Therefore, in such an electric transport vehicle, it is possible to properly control the electromagnetic brake. More specifically, it is possible to prevent the braking by the electromagnetic brake from being released unintentionally. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of an electric transport vehicle according to an embodiment. [Diagram 2] FIG. 2 is a bottom view of the electric truck with the carrier removed. [Diagram 3] FIG. 3 is a cross-sectional view taken along line III-III in FIG. [Figure 4] FIG. 2 is a block diagram showing the configuration of an electrical system of the electric transport vehicle. [Diagram 5] FIG. 2 is an electric circuit diagram showing a detailed configuration of a signal processing circuit and a drive circuit. [Figure 6] 4 is a time chart showing an example of the operation of an electromagnetic brake. [Figure 7] 4 is a flowchart of an electromagnetic brake process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [1. Overview of the embodiment] In an embodiment, the electric transporter may include a motor. The motor may rotate by receiving power from the first battery. Additionally / alternatively, the electric transporter may include wheels configured to be driven by the motor. Additionally / alternatively, the electric transporter may include a grip. The grip may be held by a user of the electric transporter. The grip may be held by the user while the user is standing on a travel surface of the electric transporter.

[0014] Additionally / alternatively, the electric transporter may include an electromagnetic brake. The electromagnetic brake may have an electromagnetic coil. The electromagnetic brake may release the brake on the rotation of the wheel when a current is supplied to the electromagnetic coil. The electromagnetic brake may brake the rotation of the wheel when a current to the electromagnetic coil is cut off.

[0015] Additionally / alternatively, the electric transport vehicle may include a brake control circuit. The brake control circuit may output a first control signal and a second control signal in response to the establishment of a release condition. The release condition may correspond to a condition for releasing the braking by the electromagnetic brake.

[0016] Additionally / alternatively, the electric transport vehicle may include a signal processing circuit. The signal processing circuit may receive the first control signal and the second control signal. The signal processing circuit may output a release signal in response to receiving the first control signal and the second control signal.

[0017] Additionally or alternatively, the electric vehicle may include a drive circuit. The drive circuit may receive the release signal. The drive circuit may provide a current to the electromagnetic coil in response to receiving the release signal.

[0018] In an embodiment, when an electric cart includes the motor, the wheels, the grip, the electromagnetic brake, the brake control circuit, the signal processing circuit, and the drive circuit, the electric cart can appropriately control the electromagnetic brake, and more specifically, can prevent the electromagnetic brake from being released unintentionally.

[0019] Additionally / alternatively, the first control signal may include a DC voltage. A state in which the first control signal includes the DC voltage may correspond to the first control signal being in a proper state. The second control signal may include a plurality of pulses that are generated periodically or non-periodically. A state in which the second control signal includes the plurality of pulses may correspond to the second control signal being in a proper state. The signal processing circuit may output a release signal in response to the first control signal being in a proper state and the second control signal being in a proper state. When an electric transport vehicle in an embodiment includes a signal processing circuit having the above-mentioned characteristics, the electromagnetic brake is released when the first control signal and the second control signal, which have different signal forms, are both outputted properly. This can increase the reliability of the electromagnetic brake.

[0020] Additionally / alternatively, the signal processing circuit may include a first circuit. The first circuit may enable the second control signal in response to both the first control signal and the second control signal being in a proper state. Additionally / alternatively, the signal processing circuit may include a second circuit. The second circuit may detect that the second control signal is enabled by the first circuit. Additionally / alternatively, the signal processing circuit may include a third circuit. The third circuit may output a release signal while it is detected that the second control signal is enabled by the second circuit. When an electric transport vehicle in an embodiment includes a signal processing circuit having the above-mentioned characteristics, such an electric transport vehicle can output a release signal with high reliability, and thus the reliability of the electromagnetic brake can be further improved.

[0021] Additionally / alternatively, the motor may be configured to receive power from the second battery. The motor may be configured to rotate in response to power being supplied from the second battery. The motor may be configured to receive power from the first battery or the second battery. The motor may rotate by receiving power from the first battery or by receiving power from the second battery. Additionally / alternatively, the drive circuit may receive current from the first battery or the second battery and supply the current to the electromagnetic coil. When an electric transport vehicle in an embodiment includes a motor and a drive circuit having the above-mentioned characteristics, such an electric transport vehicle can provide a variety of usage forms to a user with respect to the first battery and the second battery. For example, by mounting both the first battery and the second battery, it is possible to enable continuous running for a long time. On the other hand, the electric transport vehicle can be run with only the first battery or the second battery.

[0022] Additionally / alternatively, the electric transporter may include a selection circuit. The selection circuit is connected to the positive terminal of the first battery and the positive terminal of the second battery. The selection circuit selectively outputs one of a current from the first battery or a current from the second battery. Additionally / alternatively, the drive circuit may supply the current output from the selection circuit to the electromagnetic coil.

[0023] Additionally / alternatively, the selection circuit may include a first rectifier circuit. The first rectifier circuit may be connected to the positive pole of the first battery such that the forward direction is from the positive pole of the first battery to the drive circuit. Additionally / alternatively, the selection circuit may include a second rectifier circuit. The second rectifier circuit may be connected to the positive pole of the second battery such that the forward direction is from the positive pole of the second battery to the drive circuit. When an electric vehicle in an embodiment includes a selection circuit and a drive circuit having the above features, such an electric vehicle can easily supply power from the first battery or power from the second battery to the electromagnetic coil.

[0024] Additionally / alternatively, the electric work machine may include a voltage control circuit. The voltage control circuit may control the voltage applied to the electromagnetic coil. When an electric transport vehicle in an embodiment includes a voltage control circuit having the above-mentioned characteristics, the electric transport vehicle can efficiently control the electromagnetic brake.

[0025] Additionally / alternatively, the brake control circuit may output a voltage command signal to the voltage control circuit. The voltage command signal corresponds to a target value of the voltage. Additionally / alternatively, the voltage control circuit may receive the voltage command signal. The voltage control circuit may control the voltage such that the value of the voltage matches the target value. When an electric cart in an embodiment includes a brake control circuit and a voltage control circuit having the above features, such an electric cart can control the electromagnetic brake more efficiently.

[0026] Additionally / alternatively, the brake control circuit may execute a first process and a second process in response to the establishment of a release condition. The first process includes outputting a voltage command signal corresponding to a first target value for a certain period of time. The second process is executed after the first process is executed. The second process includes outputting a voltage command signal corresponding to a second target value. The second target value is lower than the first target value. When an electric transport vehicle in an embodiment includes a brake control circuit having the above-mentioned characteristics, such an electric transport vehicle can continuously release the electromagnetic brake while reducing power consumption by the electromagnetic brake.

[0027] Additionally / alternatively, the voltage control circuit may include a voltage detection circuit. The voltage detection circuit receives a voltage actually applied to the electromagnetic coil and generates an actual voltage signal corresponding to an average value of the voltage. Additionally / alternatively, the voltage control circuit may control the voltage such that the average value indicated by the actual voltage signal detected by the voltage detection circuit matches the target value (e.g., the first target value or the second target value).

[0028] Additionally / alternatively, the voltage control circuit may supply a current from the drive circuit to the electromagnetic coil in response to the average value indicated by the actual voltage signal being lower than the target value indicated by the voltage command signal while the drive circuit is receiving the release signal. The voltage control circuit may stop supplying a current from the drive circuit to the electromagnetic coil in response to the average value indicated by the actual voltage signal being equal to or higher than the target value indicated by the voltage command signal while the drive circuit is receiving the release signal.

[0029] 2. SPECIFIC EXEMPLARY EMBODIMENTS (1) Overview of the electric transport vehicle As shown in Fig. 1 and Fig. 2, the electric transporter 1 of this embodiment includes a main body 2 and a plurality of wheels. The plurality of wheels include one or more front wheels and one or more rear wheels. In this embodiment, the one or more front wheels include, for example, two front wheels 8, 9, and the one or more rear wheels include, for example, two rear wheels 10, 11. That is, the electric transporter 1 of this embodiment has the form of a four-wheeled vehicle.

[0030] In this embodiment, for example, the front wheels 8 and 9 correspond to driving wheels, and the rear wheels 10 and 11 correspond to driven wheels. That is, the front wheels 8 and 9 are driven (i.e., rotated) by a motor 25 (see Figs. 3 and 4) described later.

[0031] A loading platform 3 is fixed to the main body 2. The loading platform 3 is detachable from the main body 2. Various types of luggage can be placed on the loading platform 3. A user of the electric transport vehicle 1 can transport luggage by placing the luggage on the loading platform 3 and running the electric transport vehicle 1. The user can selectively fasten one of multiple types of loading platforms 3 to the main body 2.

[0032] The electric cart 1 further includes a motor unit 20 as shown in Figures 2 and 3. As shown in Figure 3, the motor 25 is housed in the motor unit 20. The electric cart 1 further includes an electromagnetic brake 30 as shown in Figures 3 and 4. In this embodiment, the electromagnetic brake 30 is housed in the motor unit 20, for example.

[0033] As shown in Fig. 3, the motor 25 includes a motor stator 26, a motor rotor 27, and a motor shaft 28. The motor rotor 27 includes, for example, a permanent magnet. The motor shaft 28 is fixed to the motor rotor 27. When the motor rotor 27 rotates, the motor shaft 28 rotates accordingly. In this embodiment, "rotation" of the motor 25 specifically means that the motor shaft 28 rotates.

[0034] The motor 25 of this embodiment is, for example, a three-phase brushless motor. As shown in Fig. 4, the motor 25 has a first terminal 25u, a second terminal 25v, and a third terminal 25w. The motor stator 26 has, for example, three windings (not shown). Each of the three windings is connected to one or two of the first to third terminals 25u to 25w. In this embodiment, the three windings are, for example, delta-connected to each other. When power is supplied to the three windings via the first to third terminals 25u to 25w, the motor rotor 27 rotates (and thus the motor shaft 28 rotates).

[0035] The rotation of the motor shaft 28 is transmitted to the transmission mechanism 21 shown in Figures 1 and 2. The transmission mechanism 21 is mechanically connected to the motor 25 and the drive wheels. The transmission mechanism 21 transmits the rotation of the motor 25 to the drive wheels. More specifically, the transmission mechanism 21 transmits the rotation of the motor 25 to the right front wheel 8 via the right drive shaft 22, and transmits it to the left front wheel 9 via the left drive shaft 23. The transmission mechanism 21 may include, for example, a differential gear.

[0036] The electric transporter 1 further includes a mechanical brake 24, as shown in FIG. 2. The mechanical brake 24 brakes the rotation of the front wheels 8, 9 by frictional force. In this embodiment, the mechanical brake 24 includes, for example, a right disc brake 24a and a left disc brake 24b. The right disc brake 24a brakes the rotation of the right front wheel 8. That is, the right disc brake 24a includes a brake disc that rotates integrally with the right front wheel 8. The left disc brake 24b includes a brake disc that rotates integrally with the left front wheel 9. The mechanical brake 24 is operated in response to manual operation by the user. When the mechanical brake 24 is operated, the front wheels 8, 9 are braked by each brake disc being clamped by brake pads.

[0037] As shown in Fig. 1, the main body 2 includes a right handlebar 12 and a left handlebar 13. The right handlebar 12 and the left handlebar 13 each have a rod-like shape bent, for example, into an L-shape. As shown in Figs. 1 and 2, a right grip 12a is provided at a first end of the right handlebar 12. A left grip 13a is provided at a first end of the left handlebar 13. The right grip 12a is held, for example, by the right hand of the user. The left grip 13a is held, for example, by the left hand of the user.

[0038] As shown in Fig. 2, the main body 2 includes a brake lever 13b. The brake lever 13b is provided, for example, near the left grip 13a on the left handlebar 13. A user can operate the brake lever 13b with the left hand, for example, while holding the left grip 13a with the left hand. When the brake lever 13b is operated, the mechanical brake 24 is actuated, and a braking force by the mechanical brake 24 is applied to the front wheels 8, 9. The braking force by the mechanical brake 24 changes depending on the amount of operation of the brake lever 13b by the user.

[0039] The electromagnetic brake 30 of this embodiment is of a non-excitation type. As shown in Fig. 3, the electromagnetic brake 30 of this embodiment includes, for example, a brake stator 31, a brake plate 32, an armature 33, and a brake rotor 34. An electromagnetic coil 31a is built into the brake stator 31. The brake stator 31 and the brake plate 32 are fixed inside the motor unit 20.

[0040] The brake rotor 34 is fixed to the motor shaft 28. When the motor shaft 28 rotates, the brake rotor 34 also rotates. The armature 33 is elastically supported so as to be movable in a direction perpendicular to the rotation plane of the brake rotor 34 (i.e., a direction parallel to the axial direction of the motor shaft 28). An elastic force is applied to the armature 33 in a direction toward the brake plate 32.

[0041] When power (i.e., current) is not supplied to the electromagnetic coil 31a, the electromagnetic brake 30 is turned on (i.e., activated). That is, the rotation of the motor 25 is braked (and thus the drive wheels are braked) by the electromagnetic brake 30. Specifically, when current is not supplied to the electromagnetic coil 31a, the armature 33 is displaced toward the brake plate 32 by the elastic force described above. As a result, the brake rotor 34 is sandwiched between the armature 33 and the brake plate 32, and the rotation of the brake rotor 34 is braked. When the brake rotor 34 is braked, the motor 25 is braked (more specifically, the rotation of the motor shaft 28 is braked), and thus the drive wheels are braked.

[0042] On the other hand, when a current is supplied to the electromagnetic coil 31a, the electromagnetic coil 31a is excited and functions as an electromagnet. When the electromagnetic coil 31a is excited, the electromagnetic brake 30 is turned off. That is, the braking of the motor 25 (and thus the braking of the drive wheels) by the electromagnetic brake 30 is released. Specifically, when a current is supplied to the electromagnetic coil 31a, the armature 33 is separated from the brake plate 32 and the brake rotor 34 by the magnetic force of the electromagnetic coil 31a. As a result, the brake rotor 34 is no longer in contact with the armature 33 and the brake plate 32, and the braking force by the electromagnetic brake 30 is no longer applied to the motor shaft 28.

[0043] In addition to the mechanical brake 24 and the electromagnetic brake 30, the electric cart 1 of this embodiment further includes a short-circuit brake as a braking means for the electric cart 1. The short-circuit brake includes at least one of a three-phase short-circuit brake and a two-phase short-circuit brake. The three-phase short-circuit brake corresponds to short-circuiting the first to third terminals 25u to 25w of the motor 25 with each other. The two-phase short-circuit brake corresponds to short-circuiting any two of the first to third terminals 25u to 25w with each other.

[0044] 1, the main body 2 includes an operation switch 14. The operation switch 14 is provided, for example, near the right grip 12a on the right handlebar 12. For example, a user can operate (e.g., pull) the operation switch 14 with his / her right hand while holding the right grip 12a with the right hand.

[0045] 1 and 2, the main body 2 includes a battery box 15. The battery box 15 is disposed, for example, between the right handlebar 12 and the left handlebar 13. A plurality of battery packs are removably attached to the battery box 15. The battery box 15 of this embodiment can individually mount, for example, a first battery pack 41 and a second battery pack 42 (see FIG. 4).

[0046] When using the electric transporter 1, for example, the user stands on the ground on which the electric transporter 1 is stopped or traveling and holds the right grip 12a and / or the left grip 13a. The user can drive the front wheels 8, 9 by the motor 25 by operating the operation switch 14 while holding the right grip 12a and / or the left grip 13a. The electric transporter 1 travels when the front wheels 8, 9 are driven. The user can easily use the electric transporter 1 while reducing physical burden by walking or traveling following the traveling of the electric transporter 1 by the motor 25 while holding the right grip 12a and / or the left grip 13a. The user may be able to travel the electric transporter 1 by pushing or pulling the electric transporter 1 by himself / herself.

[0047] (2) Electrical configuration of the electric transport vehicle As shown in Fig. 4, the electric cart 1 includes a first controller 50. The first controller 50 controls the motor 25 and the electromagnetic brake 30. The electric cart 1 further includes a second controller 60. The second controller 60 drives the electromagnetic brake 30. The second controller 60 in this embodiment drives the electromagnetic brake 30 based on various signals from the first controller 50. The various signals include a first control signal Sa, a second control signal Sb, and a command signal Scom, which will be described later.

[0048] The first controller 50 includes a control circuit 51. The first control signal Sa, the second control signal Sb, and the command signal Scom are output from the control circuit 51. The control circuit 51 includes, for example, a CPU 51a and a memory 51b. The memory 51b may include, for example, a semiconductor memory such as a ROM, a RAM, an NVRAM, or a flash memory. That is, the first controller 50 of this embodiment includes a microcomputer.

[0049] The control circuit 51 realizes various functions by executing a program stored in a non-transient real-world recording medium. In this embodiment, the memory 51b corresponds to the non-transient real-world recording medium storing the program. The memory 51b stores a program for electromagnetic brake processing (see FIG. 7), which will be described later.

[0050] Some or all of the various functions realized by the control circuit 51 may be achieved by execution of a program (i.e., by software processing), or may be achieved by one or more pieces of hardware. For example, instead of or in addition to a microcomputer, the control circuit 51 may include a logic circuit including a plurality of electronic components, an application specific integrated circuit such as an ASIC and / or an ASSP, or a programmable logic device such as an FPGA capable of constructing any logic circuit.

[0051] The control circuit 51 receives an operation signal directly or indirectly from the operation switch 14. The operation signal indicates whether the operation switch 14 is on or not. The operation switch 14 is turned on in response to a user manually operating the operation switch 14. The control circuit 51 can recognize whether the operation switch 14 is on or not based on the operation signal. The control circuit 51 drives the motor 25 while the operation switch 14 is on.

[0052] The control circuit 51 outputs the first control signal Sa, the second control signal Sb, and the command signal Scom in response to the establishment of a release condition for releasing the braking by the electromagnetic brake 30. This turns off the electromagnetic brake 30, and the braking by the electromagnetic brake 30 is released. When a braking condition for activating the electromagnetic brake 30 is established after the establishment of the release condition, the control circuit 51 stops the first control signal Sa, the second control signal Sb, and the command signal Scom. This turns on the electromagnetic brake 30, and the motor 25 is braked.

[0053] The release condition may be set in any manner. For example, the release condition may be satisfied when the operation switch 14 is manually operated by the user. The release condition may remain satisfied while the operation switch 14 is being manually operated. The braking condition may be set in any manner. For example, the braking condition may be satisfied when the manual operation of the operation switch 14 by the user is released.

[0054] 4 illustrates a state in which both the first battery pack 41 and the second battery pack 42 described above are attached to the battery box 15. The first battery pack 41 includes a first battery 41a. The second battery pack 42 includes a second battery 42a. The first battery 41a and the second battery 42a function as power sources for the electric transporter 1. The motor 25 rotates using the power of the first battery 41a or the second battery 42a. The first battery 41a and / or the second battery 42a may be, for example, a secondary battery.

[0055] The first battery 41a has a first battery voltage Vb1. The second battery 42a has a second battery voltage Vb2. The rated value of the first battery voltage Vb1 (hereinafter referred to as the "first rated value") and the rated value of the second battery voltage Vb2 (hereinafter referred to as the "second rated value") may be any value. In this embodiment, the first rated value and the second rated value are equal to each other (or approximately equal to each other). In this embodiment, the first rated value and the second rated value are, for example, 36V.

[0056] The first battery 41a and the second battery 42a may be configured in any manner. In this embodiment, the first battery 41a has two batteries connected in series to each other. The rated voltage values ​​of the two batteries may be any value. In this embodiment, the rated voltage values ​​of the two batteries are each 1 / 2 of the first rated value (for example, 18 V). In this embodiment, the second battery 42a is configured similarly to the first battery 41a.

[0057] The first battery pack 41 and the second battery pack 42 can be attached to various electric devices other than the electric transport vehicle 1 and can function as a power source for various electric devices. The various electric devices include, for example, various on-site electric devices used at work sites such as DIY, manufacturing, gardening, and construction. The various on-site electric devices include, for example, an electric drill, an electric screwdriver, an electric grinder, an electric circular saw, an electric brush cutter, an electric cleaner, an electric blower, and an electric dust collector.

[0058] The electric transporter 1 includes a first power supply line 43, a second power supply line 44, and a ground line 45. When the first battery pack 41 is attached to the battery box 15, a first end of the first power supply line 43 is electrically connected to the positive electrode of the first battery 41a, and a negative electrode of the first battery 41a is electrically connected to the ground line 45. When the second battery pack 42 is attached to the battery box 15, a first end of the second power supply line 44 is electrically connected to the positive electrode of the second battery 42a, and a negative electrode of the second battery 42a is electrically connected to the ground line 45. A second end of the first power supply line 43 and a second end of the second power supply line 44 are connected to the second controller 6.

[0059] The electric transporter 1 includes a battery selector switch 70. In this embodiment, the battery selector switch 70 is provided in, for example, the battery box 15. A first terminal of the battery selector switch 70 is connected to the first power supply line 43. A second terminal of the battery selector switch 70 is connected to the second power supply line 44. A common terminal of the battery selector switch 70 is connected to the first controller 50.

[0060] The battery selector switch 70, in response to being operated by a user, sets the power source of the motor 25 to either the first battery pack 41 or the second battery pack 42. That is, power from either the first battery 41a or the second battery 42a selected by the battery selector switch 70 is input to the first controller 50. The power input to the first controller 50 via the battery selector switch 70 is hereinafter referred to as "motor drive power."

[0061] The first controller 50 includes a first gate circuit 53 and a motor driver 52. The control circuit 51 outputs a plurality of motor control signals to the first gate circuit 53. The motor control signals are signals for controlling the rotation of the motor 25. In this embodiment, each of the motor control signals is, for example, a pulse width modulation signal (PWM signal). The first gate circuit 53 generates a plurality of drive signals corresponding to each of the motor control signals. The first gate circuit 53 outputs the generated drive signals to the motor driver 52.

[0062] Motor driving power is input to the motor driver 52. The motor driver 52 is connected to the first to third terminals 25u to 25w of the motor 25. The motor driver 52 includes, for example, a three-phase full bridge circuit (not shown). The motor driver 52 converts the motor driving power into three-phase driving power based on a plurality of driving signals. The motor driver 52 supplies the three-phase driving power to the motor 25. The motor 25 rotates by the three-phase driving power.

[0063] The first controller 50 includes a first regulator 54. A first battery voltage Vb1 of the first battery pack 41 is input to the first regulator 54 via diodes D1 and D2. A second battery voltage Vb2 of the second battery pack 42 is further input to the first regulator 54 via diodes D3 and D4.

[0064] The first regulator 54 generates a first control voltage Vc1 from the first battery voltage Vb1 or the second battery voltage Vb2 input to the first regulator 54. The first control voltage Vc1 is supplied to the control circuit 51 and its peripheral circuits. The control circuit 51 is activated in response to receiving the first control voltage Vc1.

[0065] The second controller 60 receives the first battery voltage Vb1 through the first power supply line 43. The second controller 60 further receives the second battery voltage Vb2 through the second power supply line 44. The second controller 60 is connected to the electromagnetic brake 30. More specifically, the second controller 60 is connected to the electromagnetic coil 31a of the electromagnetic brake 30.

[0066] The second controller 60 includes a first rectifier circuit 81 and a second rectifier circuit 82. A first terminal of the first rectifier circuit 81 is connected to a second terminal of the first power supply line 43. A first terminal of the second rectifier circuit 82 is connected to a second terminal of the second power supply line 44.

[0067] The second controller 60 includes a drive circuit 61. The drive circuit 61 includes a switch element 65 and a second gate circuit 66. In this embodiment, the switch element 65 is, for example, an n-channel MOSFET. The second gate circuit 66 is connected to the gate of the switch element 65.

[0068] A second terminal of the first rectifier circuit 81 and a second terminal of the second rectifier circuit 82 are connected to the drain of the switch element 65. More specifically, the second controller 60 includes a fuse 80, and a second terminal of the first rectifier circuit 81 and a second terminal of the second rectifier circuit 82 are connected to the drain of the switch element 65 via the fuse 80.

[0069] Each of the first rectifier circuit 81 and the second rectifier circuit 82 includes one or more rectifier elements. In this embodiment, each of the first rectifier circuit 81 and the second rectifier circuit 82 includes, for example, two diodes connected in series as illustrated in FIG. 4. The first rectifier circuit 81 is provided such that the forward direction is from the positive electrode of the first battery 41a to the drive circuit 61. The second rectifier circuit 82 is provided such that the forward direction is from the positive electrode of the second battery 42a to the drive circuit 61.

[0070] The source of the switch element 65 is connected to the electromagnetic brake 30. More specifically, the source of the switch element 65 is connected to a first end of the electromagnetic coil 31a. The second end of the electromagnetic coil 31a is connected to the ground line 45. The second controller 60 further includes a diode D10. The anode of the diode D10 is connected to the ground line 45. The cathode of the diode D10 is connected to the source of the switch element 65.

[0071] When the switch element 65 is turned on, the power of the first battery 41a or the second battery 42a is supplied to the electromagnetic brake 30 via the switch element 65. This turns off the electromagnetic brake 30, and the braking of the motor 25 by the electromagnetic brake 30 is released. When the switch element 65 is turned off, the power of neither the first battery 41a nor the second battery 42a is supplied to the electromagnetic brake 30. In this case, the electromagnetic brake 30 is turned on, and the motor 25 is braked.

[0072] The first rectifier circuit 81 and the second rectifier circuit 82 function as a selection circuit that selectively outputs the first battery voltage Vb1 or the second battery voltage Vb2 to the drive circuit 61. For example, when the first battery voltage Vb1 is higher than the second battery voltage Vb2, the first battery voltage Vb1 is input to the drive circuit 61 via the first rectifier circuit 81. In this case, when the switch element 65 is turned on, the power of the first battery voltage Vb1 is supplied to the electromagnetic coil 31a. That is, a current is supplied to the electromagnetic coil 31a from the first battery 41a. Conversely, when the second battery voltage Vb2 is higher than the first battery voltage Vb1, the second battery voltage Vb2 is input to the drive circuit 61 via the second rectifier circuit 82. In this case, when the switch element 65 is turned on, the power of the second battery voltage Vb2 is supplied to the electromagnetic coil 31a. That is, a current is supplied to the electromagnetic coil 31a from the second battery 42a. The first battery voltage Vb1 or the second battery voltage Vb2 output to the drive circuit 61 will hereinafter be referred to as a "brake power supply voltage."

[0073] The second controller 60 includes a second regulator 64. A brake power supply voltage is input to the second regulator 64. The second regulator 64 generates a second control voltage Vc2 from the brake power supply voltage. The second control voltage Vc2 is supplied to the drive circuit 61, the signal processing circuit 62, and the voltage control circuit 63.

[0074] The second controller 60 includes a signal processing circuit 62. The first control signal Sa and the second control signal Sb are input to the signal processing circuit 62 from the control circuit 51. More specifically, in this embodiment, the control circuit 51 outputs the first control signal Sa and the second control signal Sb in response to the establishment of a release condition for releasing the braking by the electromagnetic brake 30. When a braking condition for activating the electromagnetic brake 30 is established after the establishment of the release condition, the control circuit 51 stops the first control signal Sa and the second control signal Sb.

[0075] The first control signal Sa includes a DC voltage. In this embodiment, the first control signal Sa has a constant voltage value. The first control signal Sa functions as a power source for a buffer 71, which will be described later. If the first control signal Sa is output properly, the buffer 71 operates properly. If the first control signal Sa is not output or is output improperly, the buffer 71 does not operate or does not operate properly. In this case, the switch element 65 is turned off, and the electromagnetic coil 31a is not excited. That is, in this case, the motor 25 is braked by the electromagnetic brake 30.

[0076] The second control signal Sb includes a plurality of pulses (e.g., a rectangular wave). The plurality of pulses may be generated periodically or non-periodically. In the present embodiment, the second control signal Sb includes a plurality of pulses that are generated periodically at a constant period.

[0077] The signal processing circuit 62 outputs a release signal when the first control signal Sa and the second control signal Sb are input. That is, more strictly speaking, the signal processing circuit 62 outputs a release signal in response to input of an appropriate first control signal Sa including a DC voltage and an appropriate second control signal Sb including a plurality of pulses. Note that, unless otherwise specified, the "first control signal Sa" in this embodiment means the first control signal Sa in an appropriate state. The same applies to the second control signal Sb.

[0078] The signal processing circuit 62 is connected to a second gate circuit 66 via a resistor R1. The release signal output from the signal processing circuit 62 is input to the drive circuit 61 via the resistor R1. When the release signal is input, the drive circuit 61 supplies a current to the electromagnetic coil 31a to turn off the electromagnetic brake 30 (i.e., release the braking).

[0079] The signal processing circuit 62 does not output a release signal when the first control signal Sa and / or the second control signal Sb is not input. When the release signal is not input, the drive circuit 61 turns on the electromagnetic brake 30 by cutting off the current supply to the electromagnetic coil 31a. That is, in this embodiment, when both the first control signal Sa and the second control signal Sb are input to the signal processing circuit 62, the electromagnetic brake 30 is turned off. When at least one of the first control signal Sa and the second control signal Sb is not input to the signal processing circuit 62, the electromagnetic brake 30 is turned on.

[0080] The release signal has, for example, a constant voltage value. That is, the release signal is a so-called high-level signal. The release signal is input to a second gate circuit 66. As shown in FIG. 5, the second gate circuit 66 includes a buffer 66a. The second gate circuit 66 turns off the switch element 65 while the release signal is not input. Therefore, no current is supplied to the electromagnetic coil 31a while the release signal is not input. When the release signal is input, the second gate circuit 66 turns on the switch element 65. Therefore, a current is supplied to the electromagnetic coil 31a while the release signal is input.

[0081] When a release signal is input to the second gate circuit 66, the second gate circuit 66 applies a voltage (gate drive voltage) capable of turning on the switch element 65 to the gate of the switch element 65. The voltage value of the gate drive voltage is, for example, a value obtained by adding a gate-source voltage capable of maintaining the switch element 65 in an on state to a voltage applied to the source of the switch element 65 in an on state. The voltage applied to the source of the switch element 65 in an on state is close to or substantially equal to the brake power supply voltage (i.e., the first battery voltage Vb1 or the second battery voltage Vb2). The second gate circuit 66 may have any configuration capable of generating such a gate drive voltage. The second gate circuit 66 may, for example, include a boost circuit (for example, a charge pump circuit) not shown that boosts the output voltage of the buffer 66a, and may apply the output voltage boosted by the boost circuit as the gate drive voltage to the gate of the switch element 65. Alternatively, for example, the buffer 66a may have a function of generating the gate drive voltage.

[0082] A specific configuration of the signal processing circuit 62 will be described with reference to Fig. 5. The signal processing circuit 62 includes the above-mentioned buffer 71, a charge pump circuit 72, a resistor R2, a comparator 73, and an inverting circuit 74.

[0083] The first control signal Sa is input to the buffer 71 and functions as a power supply for the buffer 71. The second control signal Sb is input to an input terminal of the buffer 71. When the buffer 71 operates properly in response to the first control signal Sa and receives the second control signal Sb, it outputs a pulse signal (hereinafter referred to as an "output pulse") corresponding to the second control signal Sb. In other words, when both the first control signal Sa and the second control signal Sb are properly input, the buffer 71 enables the second control signal Sb and outputs it as an output pulse. The output pulse from the buffer 71 is input to the charge pump circuit 72.

[0084] The charge pump circuit 72 includes a first capacitor C1, a second capacitor C2, a first diode D11, and a second diode D12. A first terminal of the first capacitor C1 is connected to an output terminal of the buffer 71. That is, an output pulse from the buffer 71 is input to the first terminal of the first capacitor C1. A second terminal of the first capacitor C1 is connected to the cathode of the first diode D11 and the anode of the second diode D12.

[0085] The second control voltage Vc2 is input to the anode of the first diode D11. The cathode of the second diode D12 is connected to a first end of the second capacitor C2. The second end of the second capacitor C2 is connected to the ground line 45. The voltage at the first end of the second capacitor C2, i.e., the output voltage of the charge pump circuit 72 (hereinafter referred to as the "charge voltage"), is input to the inverting input terminal of the comparator 73. That is, the first end of the second capacitor C2 is connected to the inverting input terminal of the comparator 73. The first end of the second capacitor C2 is connected to the ground line 45 via a resistor R2.

[0086] The charge pump circuit 72 generates and outputs a charge voltage having a higher voltage value than the voltage value of the second control voltage Vc2 input to the first diode D11 by receiving the output pulse from the buffer 71. The operating principle of the charge pump circuit 72 is generally well known, so a detailed description thereof will be omitted here.

[0087] It can be said that the charge pump circuit 72 detects that an output pulse is being normally output from the buffer 71, in other words, that the second control signal Sb is enabled by the buffer 71. In other words, the fact that a charge voltage is being output from the charge pump circuit 72 means that the charge pump circuit 72 has detected that the second control signal Sb has been enabled by the buffer 71. The voltage value of the charge voltage may be, for example, twice the second control voltage Vc2.

[0088] The second control voltage Vc2 is input to the non-inverting input terminal of the comparator 73. The output terminal of the comparator 73 is connected to the inverting circuit 74. The output signal of the comparator 73 is input to the inverting circuit 74. The inverting circuit 74 inverts the logic of the signal input from the comparator 73 and outputs the inverted signal. The output signal of the inverting circuit 74 is input to the drive circuit 61 via the resistor R1 as the output signal of the signal processing circuit 62.

[0089] When the first control signal Sa and / or the second control signal Sb are not input to the buffer 71, the buffer 71 does not output an output pulse. In this case, the charge pump circuit 72 does not generate a charge voltage, so the comparator 73 outputs a high-level signal. When a high-level signal is output from the comparator 73, a low-level signal is output from the inversion circuit 74. In other words, no release signal is output from the signal processing circuit 62. Therefore, in this case, the switch element 65 is turned off, and the electromagnetic brake 30 is not released.

[0090] When the first control signal Sa and the second control signal Sb are input to the buffer 71, the buffer 71 outputs an output pulse. In this case, the charge pump circuit 72 generates a charge voltage, so the comparator 73 outputs a low-level signal. When a low-level signal is output from the comparator 73, a high-level signal is output from the inversion circuit 74. In other words, a release signal is output from the signal processing circuit 62. Therefore, in this case, the switch element 65 is turned on, and the electromagnetic brake 30 is released.

[0091] For example, even if a malfunction occurs in the first controller 50 and the first control signal Sa or the second control signal Sb is output even though the release condition is not satisfied, the electromagnetic brake 30 is not released. That is, for example, if the first control signal Sa is not output and the second control signal Sb is output, the buffer 71 does not operate and no output pulse is output from the buffer 71. Therefore, the switch element 65 is maintained off, and braking by the electromagnetic brake 30 is maintained. Also, for example, if the second control signal Sb is not output and the first control signal Sa is output, the buffer 71 operates but the second control signal Sb is not input to the buffer 71, so no output pulse is output from the buffer 71. Therefore, in this case as well, the switch element 65 is maintained off, and braking by the electromagnetic brake 30 is maintained.

[0092] Next, a description will be given of the voltage control circuit 63. The voltage control circuit 63 adjusts the voltage applied to the electromagnetic coil 31a in accordance with the command signal Scom input from the control circuit 51. More specifically, the voltage control circuit 63 of this embodiment adjusts the average value of the voltage applied to the electromagnetic coil 31a (in other words, the average value of the current or power supplied to the electromagnetic coil 31a).

[0093] 4 and 5, the voltage control circuit 63 includes a comparator 67, a filter circuit 68, an attenuator 69, and a diode D13. The attenuator 69 is connected to a first end of the electromagnetic coil 31a. The attenuator 69 receives the voltage at the first end of the electromagnetic coil 31a (hereinafter referred to as the "coil voltage"). The attenuator 69 attenuates the input coil voltage at a predetermined attenuation rate and outputs the attenuated coil voltage. The output voltage of the attenuator 69 is input to the filter circuit 68.

[0094] The filter circuit 68 includes a resistor R3 and a capacitor C3. The output voltage from the attenuator 69 is input to a first terminal of the resistor R3. The second terminal of the resistor R3 is connected to a first terminal of the capacitor C3 and the inverting input terminal of the comparator 67. The second terminal of the capacitor C3 is connected to the ground line 45. The filter circuit 68 smoothes (i.e. averages) the voltage input from the attenuator 69 and outputs the smoothed voltage to the comparator 67. The output signal of the filter circuit 68 corresponds to an example of a real voltage signal in the present disclosure.

[0095] The command signal Scom from the control circuit 51 is input to a non-inverting input terminal of the comparator 67. The command signal Scom corresponds to a target value of the coil voltage. In this embodiment, the target value of the coil voltage can be set to a first target value or a second target value.

[0096] The first target value is lower than the first rated value of the first battery 41a (or the second rated value of the second battery 42a). The first target value is set to be equal to or greater than the minimum coil voltage that can excite the electromagnetic coil 31a (i.e., release the electromagnetic brake 30). The first target value may be the rated voltage value of the electromagnetic coil 31a. The first target value may be, for example, ⅔ of the first rated value. In this embodiment, the first target value is, for example, the rated voltage value of the electromagnetic coil 31a, e.g., 24V.

[0097] The second target value is lower than the first target value. The second target value is set to be equal to or greater than the minimum coil voltage at which the electromagnetic coil 31a can be kept in an excited state (i.e., the electromagnetic brake 30 can be kept in a released state). The second target value may be, for example, 1 / 3 of the first rated value (or the second rated value). The second target value may be, for example, 1 / 2 of the first target value. In this embodiment, the second target value is, for example, 12V.

[0098] When the release condition is satisfied, the control circuit 51 sets the target value of the coil voltage to the first target value for a predetermined initial release time. That is, it outputs a command signal Scom corresponding to the first target value. The initial release time is a time during which the electromagnetic coil 31a can be excited by the coil voltage of the first target value. The initial release time may be, for example, one second.

[0099] The comparator 67 outputs a high-level or low-level signal according to a comparison result between the voltage value of the command signal Scom and the voltage value of the output signal of the filter circuit 68. The output terminal of the comparator 67 is connected to the cathode of the diode D13. The anode of the diode D13 is connected to the output terminal of the signal processing circuit 62 via the resistor R1. In other words, the release signal from the signal processing circuit 62 is input to the drive circuit 61 and also to the diode D13.

[0100] When a high-level signal is output from the comparator 67, the release signal from the signal processing circuit 62 is validated. That is, the release signal is input to the drive circuit 61, which turns on the switch element 65 and releases the electromagnetic brake 30. On the other hand, when a low-level signal is output from the comparator 67, the output terminal of the signal processing circuit 62 is connected to the ground line 45 via the diode D13 and the output terminal of the comparator 67. Therefore, in this case, the release signal from the signal processing circuit 62 is invalidated, and the release signal is not input to the drive circuit 61. Therefore, in this case, the switch element 65 is turned off and the electromagnetic brake 30 is activated.

[0101] By this voltage control circuit 63, while a command signal Scom (hereinafter referred to as the "first command signal") corresponding to the first target value is being output, the average value of the coil voltage is adjusted to the first target value. That is, when the voltage value of the coil voltage exceeds the voltage value of the first command signal, the switch element 65 is turned off. When the voltage value of the coil voltage becomes equal to or lower than the voltage value of the first command signal as a result of the switch element 65 being turned off, the switch element 65 is turned on. In this way, the switch element 65 is turned on or off depending on the difference between the coil voltage and the voltage value of the first command signal, and as a result, the average value of the coil voltage is adjusted to the first target value.

[0102] After setting the target value of the coil voltage to the first target value, the control circuit 51 sets the target value of the coil voltage to the second target value when the initial release time has elapsed. In other words, after exciting the electromagnetic coil 31a by the first target value, a coil voltage of a second target value lower than the first target value is applied to the electromagnetic coil 31a, thereby suppressing power consumption for exciting the electromagnetic coil 31a and maintaining the excited state of the electromagnetic coil 31a.

[0103] (3) Example of electromagnetic brake operation An example of the operation of the electromagnetic brake 30 of this embodiment will be described with reference to Fig. 6. In Fig. 6, "release" indicates that the release condition is satisfied, and "braking" indicates that the braking condition is satisfied. Fig. 6 shows that from time t1 to t4, time t5 to t6, and time t9 onwards, the first control signal Sa is output despite the release condition not being satisfied due to some malfunction (i.e., the first control signal Sa is not output properly). From time t4 to t5, time t6 to t7, and time t8 to t9, the first control signal Sa is output properly.

[0104] Fig. 6 also shows that from time t2 to t3 and time t9 onwards, an abnormal second control signal Sb different from the regular pulses during normal times is output due to some kind of malfunction. Fig. 6 also shows that from time t7 to t8, the second control signal Sb is output even though the release condition is not met due to some kind of malfunction (i.e., the second control signal Sb is not output properly). From time t4 to t5, from time t6 to t7, and from time t8 to t9, the second control signal Sb is output properly.

[0105] In the example of FIG. 6, at times t1 to t4, t5 to t6, and after time t9 when the release condition is not satisfied, the first control signal Sa is unintentionally output due to a malfunction, but the second control signal Sb is not output (i.e., the second control signal Sb is properly controlled), so no current is supplied to the electromagnetic brake 30. Therefore, braking by the electromagnetic brake 30 is maintained. Also, at times t7 to t8 when the release condition is not satisfied, the second control signal Sb is unintentionally output due to a malfunction, but the first control signal Sa is not output (i.e., the first control signal Sa is properly controlled), so no current is supplied to the electromagnetic brake 30. Therefore, braking by the electromagnetic brake 30 is maintained. At times t4 to t5, t6 to t7, and t8 to t9 when the release condition is satisfied, the first control signal Sa and the second control signal Sb are both properly output, so a current is supplied to the electromagnetic brake 30, and the electromagnetic brake 30 is released.

[0106] (4) Electromagnetic brake treatment The above-described operation of the electromagnetic brake 30 is realized by the control circuit 51 (more specifically, the CPU 51a) executing the electromagnetic brake processing shown in Fig. 7. When started up, the CPU 51a executes the electromagnetic brake processing.

[0107] When the electromagnetic brake process is started, the CPU 51a determines whether or not the braking condition is satisfied in S110. If the braking condition is not satisfied, the CPU 51a repeats the process of S110. If the braking condition is satisfied, the process proceeds to S120.

[0108] In S120, the CPU 51a outputs a first control signal Sa and a second control signal Sb. In S130, the CPU 51a outputs a command signal Scom corresponding to a first target value. As a result, a voltage of the first target value is applied on average to the electromagnetic coil 31a, and the electromagnetic coil 31a is excited. As the electromagnetic coil 31a is excited, braking by the electromagnetic brake 30 is released.

[0109] In S140, the CPU 51a determines whether or not the initial release time has elapsed since the command signal Scom was output in S130. If the initial release time has not elapsed, the process proceeds to S180. In S180, the CPU 51a determines whether or not the braking condition has been satisfied. If the braking condition has not been satisfied, the process proceeds to S140. If the braking condition has been satisfied, the process proceeds to S170.

[0110] If the initial release time has elapsed in S140, the process proceeds to S150. In S150, the CPU 51a outputs a command signal Scom corresponding to the second target value. As a result, a voltage of the second target value is applied to the electromagnetic coil 31a on average, and the excitation of the electromagnetic coil 31a is maintained. That is, braking by the electromagnetic brake 30 is maintained.

[0111] In S160, the CPU 51a judges whether or not the braking condition is satisfied. If the braking condition is not satisfied, the CPU 51a repeats the process of S160. If the braking condition is satisfied, the process proceeds to S170.

[0112] In S170, the CPU 51a activates braking by the electromagnetic brake 30. That is, the CPU 51a stops outputting the first control signal Sa, the second control signal Sb, and the command signal Scom. This stops the power supply to the electromagnetic coil 31a, demagnetizes the electromagnetic coil 31a, and activates braking by the electromagnetic brake 30.

[0113] (5) Correspondence between the embodiments and the present disclosure In this embodiment, the control circuit 51 corresponds to an example of a brake control circuit in this disclosure. The buffer 71 corresponds to an example of a first circuit in this disclosure. The charge pump circuit 72 corresponds to an example of a second circuit in this disclosure. The comparator 73 corresponds to an example of a third circuit in this disclosure. The first rectifier circuit 81 and the second rectifier circuit 82 correspond to an example of a selection circuit in this disclosure. The command signal Scom corresponds to an example of a voltage command signal in this disclosure. The filter circuit 68 corresponds to an example of a voltage detection circuit in this disclosure.

[0114] 3. Other embodiments Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0115] (3-1) The first control signal Sa and the second control signal Sb may be any signal. Regarding the second control signal Sb, the signal processing circuit 62 may have any configuration that can appropriately output a release signal based on the first control signal Sa and the second control signal Sb.

[0116] (3-2) The second control signal Sb may be a signal other than a pulse signal. The fact that the second control signal Sb is a pulse signal has the following effect. That is, when a malfunction occurs in the control circuit 51 (specifically, a malfunction in the microcomputer), for example, a constant high level signal or a constant low level signal may be output from the output port of the second control signal Sb in the control circuit 51. Alternatively, the output port may be opened. When such a malfunction is assumed, if the second control signal Sb is a constant high level signal, even if a constant high level signal is output from the output port due to a failure of the output port, the second control signal Sb may be treated as a proper signal in the signal processing circuit 62, which may cause the electromagnetic brake 30 to malfunction. Therefore, by making the second control signal Sb a signal that is not assumed (or is difficult to assume) to be output from the output port when a malfunction occurs in the control circuit 51, as in the above embodiment, the reliability of the electromagnetic brake 30 can be further improved.

[0117] (3-3) The signal processing circuit 62 may include a microcomputer that detects the second control signal Sb, instead of the charge pump circuit 72, the comparator 73, and the inversion circuit 74. The microcomputer may output a high-level signal to the buffer 71 in response to detecting the second control signal Sb. Then, the output signal of the buffer 71 may be output from the signal processing circuit 62 as a release signal.

[0118] (3-4) The voltage control circuit 63 may be configured in any manner to adjust the voltage applied to the electromagnetic coil 31a to a target value. For example, the attenuator 69 may be omitted, and a command signal Scom having the same voltage value as the target value may be input to the comparator 67. In this case, for example, the command signal Scom output from the control circuit 51 may have the same voltage value as the target value. Also, for example, an amplifier circuit may be provided to amplify the command signal Scom output from the control circuit 51, and the command signal Scom amplified by the amplifier circuit may be input to the comparator 67.

[0119] (3-5) The electromagnetic coil 31 a may be provided upstream of the switch element 65 . (3-6) The electromagnetic brake 30 may be provided at any location capable of braking the traveling of the electric transport vehicle 1. For example, the electromagnetic brake 30 may be provided inside or near the transmission mechanism 21.

[0120] (3-7) The electric transport vehicle 1 may have a form other than a four-wheeled vehicle. For example, the electric transport vehicle 1 may have two or less wheels, or may have five or more wheels. In addition, any of the wheels may be a drive wheel.

[0121] (3-8) The first battery 41a and / or the second battery 42a may be built into the electric transport vehicle 1. The electric transport vehicle 1 may be equipped with only one battery (for example, the first battery 41a) that is detachably mounted thereon or built into the electric transport vehicle 1.

[0122] (3-9) Multiple functions possessed by one component in the above embodiments may be realized by multiple components, or one function possessed by one component may be realized by multiple components. Also, multiple functions possessed by multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, part of the configuration of the above embodiments may be omitted. Also, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments. [Explanation of symbols]

[0123] 1...electric transport vehicle, 2...main body, 3...cargo platform, 8, 9...front wheels, 12a...right grip, 13a...left grip, 14...operation switch, 25...motor, 30...electromagnetic brake, 31a...electromagnetic coil, 41a...first battery, 42a...second battery, 51...control circuit, 60...second controller, 61...drive circuit, 62...signal processing circuit, 63...voltage control circuit, 65...switch element, 67, 73...comparator, 68...filter circuit, 71...buffer, 72...charge pump circuit, 74...inversion circuit, 81...first rectifier circuit, 82...second rectifier circuit.

Claims

1. An electric transport vehicle, A motor configured to rotate by receiving power from a first battery; A wheel configured to be driven by the motor; a grip configured to be held by a user of the electric vehicle while standing on a road surface on which the electric vehicle is traveling; an electromagnetic brake having an electromagnetic coil, configured to release braking of the rotation of the wheel when a current is supplied to the electromagnetic coil, and to brake the rotation of the wheel when the current to the electromagnetic coil is cut off; a brake control circuit configured to output a first control signal and a second control signal in response to establishment of a release condition for releasing the braking by the electromagnetic brake; a signal processing circuit configured to receive the first control signal and the second control signal, and configured to output a release signal in response to receiving the first control signal and the second control signal; a drive circuit configured to receive the release signal and configured to supply a current to the electromagnetic coil in response to receiving the release signal; An electric transport vehicle equipped with:

2. 2. The electric transport vehicle according to claim 1, the first control signal has a DC voltage; the second control signal includes a plurality of pulses generated periodically or aperiodically; Electric transport vehicle.

3. The electric transport vehicle according to claim 2, the signal processing circuit is configured to output the release signal in response to the first control signal being in an appropriate state including the DC voltage and the second control signal being in the appropriate state including the plurality of pulses.

4. The electric transport vehicle according to claim 3, The signal processing circuit includes: a first circuit configured to enable the second control signal in response to the first control signal and the second control signal both being in the proper state; a second circuit configured to detect the second control signal being asserted by the first circuit; and a third circuit configured to output the release signal while the second control signal is detected as being enabled by the second circuit; and An electric transport vehicle equipped with:

5. The electric transport vehicle according to any one of claims 1 to 4, The motor is configured to rotate by receiving power from the first battery or by receiving power from a second battery. Electric transport vehicle.

6. The electric transport vehicle according to claim 5, The drive circuit is configured to receive a current from the first battery or the second battery and supply the current to the electromagnetic coil.

7. The electric transport vehicle according to claim 6, Further, a selection circuit configured to be connected to a positive electrode of the first battery and a positive electrode of the second battery, the selection circuit being configured to selectively output one of a current from the first battery or a current from the second battery; The drive circuit is configured to supply the current output from the selection circuit to the electromagnetic coil. Electric transport vehicle.

8. The electric transport vehicle according to claim 7, The selection circuit includes: a first rectifier circuit configured to be connected to the positive electrode of the first battery such that a direction from the positive electrode of the first battery toward the drive circuit is a forward direction; a second rectifier circuit configured to be connected to the positive electrode of the second battery such that a direction from the positive electrode of the second battery toward the drive circuit is a forward direction; Equipped with Electric transport vehicle.

9. The electric transport vehicle according to any one of claims 1 to 8, The electric vehicle further comprises a voltage control circuit configured to control a voltage applied to the electromagnetic coil.

10. 10. The electric transport vehicle according to claim 9, The brake control circuit is further configured to output a voltage command signal corresponding to the target value of the voltage to the voltage control circuit, The voltage control circuit is configured to receive the voltage command signal and control the voltage so that the value of the voltage coincides with the target value. Electric transport vehicle.

11. 11. The electric transporter according to claim 10, the brake control circuit is configured to execute, in response to the release condition being satisfied, (i) a first process of outputting the voltage command signal corresponding to a first target value for a certain period of time, and (ii) a second process which is executed after the execution of the first process, and which outputs the voltage command signal corresponding to a second target value which is lower than the first target value. Electric transport vehicle.

12. The electric transport vehicle according to claim 10 or 11, the voltage control circuit includes a voltage detection circuit configured to receive a voltage actually applied to the electromagnetic coil and generate a real voltage signal corresponding to an average value of the voltage; The voltage control circuit is configured to control the voltage so that the average value indicated by the actual voltage signal detected by the voltage detection circuit coincides with the target value. Electric transport vehicle.

13. 13. The electric transporter according to claim 12, the voltage control circuit is configured to supply a current from the drive circuit to the electromagnetic coil in response to the average value indicated by the actual voltage signal being lower than the target value indicated by the voltage command signal while the drive circuit is receiving the release signal, and to stop the supply of the current from the drive circuit to the electromagnetic coil in response to the average value indicated by the actual voltage signal being equal to or higher than the target value indicated by the voltage command signal. Electric transport vehicle.

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