JP2020165273A - Work machine, information processor, information processing method, and program - Google Patents

Abstract

To provide a work machine which urges a user to grasp a reuse degree of regenerative energy.SOLUTION: A work machine (shovel 100) includes a regenerative device (for example, an electric motor 21 for turning, regenerative valves 7V and 8V, and a regenerative hydraulic circuit 80) that generates regenerative energy to be reused, and a control device 30 that records information on a reuse degree of the regenerative energy. An information processor (management device 200) includes: a saving log information acquisition unit 2101 which acquires a reduction amount of fuel consumption or cost by reuse of the regenerative energy generated in the shovel 100 from the shovel 100; and a saving effect information provision unit 2103 which displays the reduction amount of the fuel consumption or cost by the reuse of the regenerative energy of the shovel 100 on a display device 340 of a user terminal 300 based on the information acquired from the shovel 100 by the saving log information acquisition unit 2101.SELECTED DRAWING: Figure 3C

Description

The present invention relates to a work machine or the like.

Conventionally, there is known a technique for displaying a physical quantity related to regenerative energy on a display device in a driver's cab of a work machine (see Patent Document 1).

JP-A-2014-201089

However, even if the physical quantity related to the regenerative energy is displayed, the user such as the operator can intuitively grasp the specific degree of energy saving, that is, the degree of reuse of the regenerative energy (hereinafter, "the degree of reuse of the regenerative energy"). You may not be able to.

Therefore, in view of the above problems, it is an object of the present invention to provide a work machine or the like capable of encouraging the user to grasp the degree of reuse of regenerative energy.

In order to achieve the above object, in one embodiment of the present invention,
Work attachment and
A regenerative device that generates regenerative energy and
The first acquisition unit that acquires information on the degree of reuse of the regenerative energy, and
A recording unit for recording information acquired by the first acquisition unit is provided.
Work machines are provided.

Further, in other embodiments of the present invention,
A second acquisition unit that acquires information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
An information providing unit for displaying the degree of reuse of the regenerative energy on the display device of the user terminal based on the information acquired from the work machine by the second acquisition unit is provided.
An information processing device is provided.

Further, in still another embodiment of the present invention,
It is an information processing method executed by an information processing device.
A second acquisition step of acquiring information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
Including the information providing step of displaying the reuse degree of the regenerative energy on the display device of the user terminal based on the information acquired from the work machine in the second acquisition step.
Information processing methods are provided.

Further, in still another embodiment of the present invention,
For information processing equipment
A second acquisition step of acquiring information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
Based on the information acquired from the work machine in the second acquisition step, the information providing step of displaying the reuse degree of the regenerative energy on the display device of the user terminal is executed.
The program is provided.

According to the above-described embodiment, it is possible to provide a work machine or the like that can encourage the user to grasp the degree of reuse of the regenerative energy.

It is a figure which shows the outline of the information provision system which concerns on one Embodiment. It is a block diagram which shows the first example of the structure of the information provision system which concerns on one Embodiment. It is a block diagram which shows the 2nd example of the structure of the information provision system which concerns on 1 Embodiment. It is a block diagram which shows the 3rd example of the structure of the information provision system which concerns on 1 Embodiment. It is a figure which shows an example of the saving effect information screen displayed on the user terminal 300 (display device 340). It is a figure which shows another example of the saving effect information screen displayed on the user terminal 300 (display device 340). It is a figure which shows still another example of the saving effect information screen displayed on the user terminal 300 (display device 340).

Hereinafter, modes for carrying out the invention will be described with reference to the drawings.

[Overview of information provision system]
First, the outline of the information providing system SYS according to the present embodiment will be described with reference to FIG.

FIG. 1 is a diagram showing an outline of the information providing system SYS according to the present embodiment.

The information providing system SYS includes a shovel 100, a management device 200, and a user terminal 300.

The information providing system SYS provides information on the cost reduction effect of the excavator 100 by the regenerative energy generated in the excavator 100 (an example of a work machine) (hereinafter, “saving effect information”) through the display device 50 of the excavator 100 and the user terminal 300. , Provide to the user. In other words, the saving effect information represents the degree of reuse of the regenerative energy of the excavator 100.

The number of excavators 100 included in the information providing system SYS may be one or a plurality. Further, the number of user terminals 300 included in the information providing system SYS may be one or a plurality.

In addition, a part or all of one or a plurality of excavators 100 included in the information providing system SYS is replaced with other work machines (for example, forklifts, crawler cranes, bulldozers, wheel loaders, asphalt finishers, forestry machines, etc.). May be good.

<Outline of excavator>
The excavator 100 according to the present embodiment is centered on a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be able to turn via a turning mechanism 2, a boom 4, an arm 5, and a bucket 6. It includes an attachment (an example of a work attachment) to be configured, and a cabin 10 on which an operator is boarded.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by traveling hydraulic motors 1A and 1B (see FIGS. 2A to 2C) to self-propell.

The upper swing body 3 is electrically driven by a swing motor 21 (see FIG. 2A) described later, or is hydraulically driven by a swing hydraulic motor 2A (see FIGS. 2B and 2C) to drive the lower traveling body. Turn with respect to 1.

The boom 4 is pivotally attached to the center of the front portion of the upper swing body 3 so as to be vertically movable, the arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable, and the tip of the arm 5 is pivotally attached as an end attachment. The bucket 6 is pivotally attached so as to be vertically rotatable.

The bucket 6 is attached to the tip of the arm 5 in a manner that can be appropriately replaced according to the work content of the excavator 100. Therefore, the bucket 6 may be replaced with a different type of bucket, for example, a large bucket, a slope bucket, a dredging bucket, or the like. Further, the bucket 6 may be replaced with a different type of end attachment such as a stirrer or a breaker.

The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 as hydraulic actuators, respectively.

The cabin 10 is mounted on the left side of the front portion of the upper swivel body 3, and inside (indoors), a driver's seat on which the operator sits, an operating device 26 described later, and the like are provided.

Further, the excavator 100 uses the kinetic energy and potential energy of the upper swing body 3 and the attachment to generate regenerative energy, which can be reused as it is or stored in a reusable manner after the fact to save energy. Aim for conversion.

For example, when the upper swivel body 3 is swiveled and decelerated, the excavator 100 uses the kinetic energy (inertia) of the upper swivel body 3 to generate electricity in the swirling electric motor 21 to generate regenerative power as regenerative energy (FIG. 2A). reference). Hereinafter, this function of the excavator 100 may be referred to as a "swirl power regeneration function". The regenerative power is charged in the capacitor 19A or used in the motor generator 12 as described later.

Further, for example, when the boom 4 is lowered (hereinafter referred to as “boom lowering operation”), the excavator 100 utilizes the potential energy (own weight) of the boom 4 to allow hydraulic oil to flow out from the oil chamber on the bottom side of the boom cylinder 7. At the same time, pressure energy in the form of flowing into the oil chamber on the rod side is generated through the regeneration valve 7V, and the hydraulic oil is reused (regenerated) (see FIG. 2B). Hereinafter, this function of the excavator 100 may be referred to as a "boom reproduction function". The same applies to the closing operation of the arm 5 (hereinafter, “arm closing operation”). Hereinafter, this function of the excavator 100 may be referred to as an "arm reproduction function".

At the time of the boom lowering operation, the regenerative power generation may be performed by driving the generator with the hydraulic oil flowing out from the oil chamber on the bottom side of the boom cylinder 7 by utilizing the own weight of the boom 4. In this case, the regenerated electric power may be charged to an auxiliary battery for supplying electric power to the electric device of the excavator 100. The same may be applied to the arm closing operation.

Further, for example, when the upper swing body 3 is swiveled and decelerated, the excavator 100 uses the kinetic energy (inertia) of the upper swivel body 3 to discharge hydraulic oil from the swirling hydraulic motor 2A to the regenerative hydraulic circuit 80, and the accumulator 87. (See FIG. 2C). The pressure energy stored in the accumulator 87 is reused for assisting the rotation of the engine 11 with the regenerative hydraulic motor 12H, for example, when the upper swing body 3 is swiveling and accelerating.

The regenerative hydraulic motor 12H may be configured to directly drive and assist the main pump 14 (and the pilot pump 15).

Further, the excavator 100 is communicably connected to the management device 200 through the communication device 70 (see FIGS. 2A to 2C).

The excavator 100 transmits (uploads) various information to the management device 200 through the communication device 70. For example, the excavator 100 transmits the saving effect information, the original information for generating the saving effect information, and the like to the management device 200 through the communication device 70.

<Overview of management device>
The management device 200 (an example of an information processing device) is communicably connected to the shovel 100, the user terminal 300, and the like through the communication device 220 (see FIGS. 2A to 2C).

The management device 200 collects various information from the excavator 100, and also provides the collected information or new information generated from the collected information to the user regarding the excavator 100 through the user terminal 300. The user includes, for example, an operator of the excavator 100, a manager of the work site, an owner of the excavator 100, and the like. Specifically, the management device 200 may acquire (receive) the original information for generating (calculating) the saving effect information and the saving effect information regarding the excavator 100 from the excavator 100. Then, the management device 200 may transmit the acquired or generated saving effect information of the excavator 100 to the user terminal 300 in response to the request signal received from the user terminal 300. Thereby, the management device 200 can provide the user with the saving effect information regarding the excavator 100 through the user terminal 300.

<Overview of user terminal>
The user terminal 300 may be, for example, a mobile terminal such as a mobile phone, a smartphone, a tablet terminal, or a laptop computer terminal. Further, the user terminal 300 may be, for example, a stationary terminal such as a desktop computer terminal installed in a temporary office or the like at a work site.

The user terminal 300 is communicably connected to the management device 200 through the communication device 320 (see FIGS. 2A to 2C).

The user terminal 300 provides the user with various information downloaded from the management device 200 through the display device 340 (see FIGS. 2A to 2C) based on bidirectional communication with the management device 200. Specifically, the user terminal 300 transmits a request signal requesting the saving effect information to the management device 200 in response to the user's operation. Then, the user terminal 300 receives the saving effect information returned from the management device 200 in response to the request signal, and displays it on the display device 340. As a result, the user terminal 300 can present the user with the saving effect information regarding the excavator 100.

[Configuration of information provision system]
Next, in addition to FIG. 1, the configuration of the information providing system SYS (excavator 100, management device 200, and user terminal 300) according to the present embodiment will be described with reference to FIGS. 2A to 2C. ..

2A to 2C are block diagrams showing first to third examples of the configuration of the information providing system SYS in this embodiment. 2A to 2C differ from each other only in the configuration of the excavator 100, and the configurations of the management device 200 and the user terminal 300 are the same. The information providing system SYS includes a part or all of the three types of excavators 100 shown in FIGS. 2A to 2C.

In the figure, the mechanical power line is indicated by a double line, the high-pressure hydraulic line is indicated by a thick solid line, the pilot line is indicated by a broken line, and the electric drive / control line is indicated by a thin solid line. Further, the excavator 100 may adopt the configuration related to the regeneration of the hydraulic oil of FIG. 2B on the premise of generating the regenerative energy of the excavator 100 of FIG. 2A or the excavator 100 of FIG. 2C, for example. That is, the excavator 100 may generate two or more types of regenerative energy.

<First example of excavator configuration>
A first example of the configuration of the excavator 100 will be described with reference to FIG. 2A.

The hydraulic drive system of the excavator 100 according to this example includes traveling hydraulic motors 1A and 1B, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder that hydraulically drive each of the lower traveling body 1, the boom 4, the arm 5, and the bucket 6. Includes 9 mag. Further, the hydraulic drive system of the excavator 100 according to this example includes an engine 11, a motor generator 12, a speed reducer 13, a main pump 14, and a control valve 17.

The motor generator 12 will be described in detail in the explanation portion of the electric drive system of the excavator 100.

The engine 11 is the main power source in the hydraulic drive system and is mounted on the rear part of the upper swing body 3. The engine 11 rotates constantly at a predetermined target rotation speed under the control of an engine controller (ECM: Engine Control Module) 30C described later. The engine 11 is, for example, a diesel engine that uses light oil as fuel, and drives the main pump 14 and the pilot pump 15 via a speed reducer 13. Further, the engine 11 drives the motor generator 12 via the speed reducer 13 to cause the motor generator 12 to generate electricity.

The speed reducer 13 is mounted on the rear portion of the upper swing body 3, for example, and the main pump 14 and the pilot pump 15 are coaxially connected in series with two input shafts to which the engine 11 and the motor generator 12 described later are connected. It has one output shaft. The speed reducer 13 can transmit the power of the engine 11 and the motor generator 12 to the main pump 14 and the pilot pump 15 at a predetermined reduction ratio. Further, the speed reducer 13 can distribute and transmit the power of the engine 11 to the motor generator 12, the main pump 14, and the pilot pump 15 at a predetermined reduction ratio.

The main pump 14 is mounted at the rear of the upper swing body 3 and supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the engine 11, or the engine 11 and the motor generator 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and the regulator 14a controls the angle (tilt angle) of the swash plate under the control of the excavator controller 30A described later. As a result, the main pump 14 can adjust the stroke length of the piston and control the discharge flow rate (discharge pressure).

The control valve 17 is a hydraulic control device mounted in the central portion of the upper swing body 3 and controls the hydraulic drive system in response to the operation of the operating device 26 by the operator. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and the hydraulic oil supplied from the main pump 14 is used as a hydraulic actuator for the traveling hydraulic motors 1A and 1B, the boom cylinder 7, and the arm. It is configured so that it can be selectively supplied to the cylinder 8 and the bucket cylinder 9. Specifically, the control valve 17 is a valve unit including a plurality of hydraulic control valves (direction switching valves) that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

Further, the excavator 100 may be remotely controlled. Hereinafter, the same applies to the excavator 100 of FIGS. 2B and 2C. In this case, the control valve 17 is a signal related to the operation of the actuators (hydraulic actuator and electric actuator) of the excavator 100 (hereinafter, “remote control signal”) received from an external device (for example, the management device 200) through the communication device 70. The hydraulic drive system is controlled according to the above. The remote control signal defines the actuator to be operated and the content of remote control (for example, operation direction and operation amount) related to the actuator to be operated. For example, the excavator controller 30A sends a control command corresponding to a remote control signal to a proportional valve (hereinafter, "for operation") arranged on a predetermined hydraulic line (pilot line) connecting the pilot pump 15 and the control valve 17. Output to the proportional valve "). As a result, the proportional valve for operation can act on the control valve 17 with a pilot pressure corresponding to the control command, that is, a pilot pressure corresponding to the content of the remote control defined in the remote control signal. Therefore, the control valve 17 can realize the operation of the hydraulic actuator according to the content of the remote control defined by the remote control signal.

Further, the excavator 100 may operate (work) autonomously, for example, regardless of the operator's operation or remote control of the cabin 10. Hereinafter, the same applies to the excavator 100 of FIGS. 2B and 2C. In this case, the control valve 17 is a drive command (hereinafter, "autonomous drive command") generated by the autonomous control device that realizes the autonomous operation of the excavator 100 to operate the actuators (hydraulic actuator and turning electric motor 21) of the excavator 100. ), The hydraulic drive system is controlled. The autonomous drive command defines the actuator to be operated and the operation content (for example, the operation direction and the operation amount) related to the actuator to be operated. In other words, the control valve 17 controls the hydraulic drive system in response to the autonomous operation of the hydraulic actuator by the autonomous control device. For example, the autonomous control device outputs a control command corresponding to an autonomously generated drive command to the operation proportional valve. As a result, the proportional valve for operation can act on the control valve 17 with a pilot pressure corresponding to the control command, that is, a pilot pressure corresponding to the operation content regarding the hydraulic actuator defined by the autonomous drive command. Therefore, the control valve 17 can realize the operation of the hydraulic actuator according to the operation content specified by the autonomous drive command corresponding to the autonomous operation generated by the autonomous control device.

The electric drive system of the excavator 100 according to this example includes a motor generator 12, a current sensor 12s1, a voltage sensor 12s2, and a speed reducer 13 as components for assisting the engine 11 to drive the main pump 14. , Inverter 18A included. Further, the electric drive system of the excavator 100 according to the present embodiment has a turning electric motor 21, a resolver 22, a mechanical brake 23, and turning deceleration as components for driving the driven element (upper turning body 3). The machine 24, the current sensor 21s, and the inverter 18B are included.

The motor generator 12 is an assist power source for the hydraulic drive system, and is mounted on the rear portion of the upper swing body 3. The motor generator 12 is, for example, an IPM (Interior Permanent Magnet) motor. The motor generator 12 is connected to the power storage system 19 including the capacitor 19A and the turning electric motor 21 via the inverter 18A. The motor generator 12 is driven by three-phase AC power supplied from the capacitor 19A and the turning electric motor 21 via the inverter 18A, and assists the engine 11, and the main pump 14 and the pilot via the speed reducer 13. Drive the pump 15. Further, the motor generator 12 is driven by the engine 11 to perform power generation operation, and the generated power can be supplied to the capacitor 19A and the turning electric motor 21. The switching control between the power running operation and the power generation operation of the motor generator 12 may be realized by the inverter 18A under the control of the hybrid controller (hereinafter, “HB controller”) 30B described later.

The current sensor 12s1 detects the current of each of the three phases (U phase, V phase, W phase) of the motor generator 12. The current sensor 12s1 is provided, for example, in the power path between the motor generator 12 and the inverter 18A. The detection signals corresponding to the currents of each of the three phases of the swivel motor 21 detected by the current sensor 12s1 are directly taken into the inverter 18A through a one-to-one communication line or an in-vehicle network such as CAN (Controller Area Network). Is done. Further, the detection signal may be taken into the HB controller 30B through a one-to-one communication line or an in-vehicle network such as CAN, and input to the inverter 18A via the HB controller 30B.

The voltage sensor 12s2 detects the applied voltage of each of the three phases of the motor generator 12. The voltage sensor 12s2 is provided, for example, in the power path between the motor generator 12 and the inverter 18A. The detection signals corresponding to the applied voltages of the three phases of the turning electric motor 21 detected by the voltage sensor 12s2 are directly taken into the inverter 18A through a one-to-one communication line or an in-vehicle network such as CAN. Further, the detection signal may be taken into the HB controller 30B through a one-to-one communication line or an in-vehicle network and input to the inverter 18A via the HB controller 30B.

The inverter 18A drives and controls the motor generator 12 under the control of the HB controller 30B. The inverter 18A is, for example, a conversion circuit that converts DC power into three-phase AC power or converts three-phase AC power into DC power, a drive circuit that switches the conversion circuit, and a control that defines the operation of the drive circuit. It includes a control circuit that outputs a signal (for example, a PWM (Pulse Width Modulation) signal).

The control circuit of the inverter 18A controls the drive of the motor generator 12 while grasping the operating state of the motor generator 12. For example, the control circuit of the inverter 18A grasps the operating state of the motor generator 12 based on the detection signal of a sensor (for example, an encoder, a resolver, etc.) that detects the rotating state of the motor generator 12. Further, the control circuit of the inverter 18A grasps the operating state of the motor generator 12 by sequentially estimating the rotation angle and the like of the rotation shaft of the motor generator 12 based on the detection signals of the current sensor 12s1 and the voltage sensor 12s2. You may. For example, the control circuit estimates the rotation angle, rotation speed, and the like of the rotation shaft of the motor generator 12 based on, for example, a known Extended Electromotive Force (EEFM) model. Then, the control circuit controls the drive of the motor generator 12 (hereinafter, "sensorless control") while grasping the operating state of the motor generator 12 based on the estimated values of the rotation angle and the rotation speed that are sequentially derived. You may go. As a result, the motor generator 12 does not need to be provided with a predetermined sensor (for example, a rotary encoder or the like) for detecting the rotation angle and the rotation position. Therefore, the number of mechanical sensors can be reduced, the cost of the excavator 100 can be suppressed, and detection defects due to dirt on the sensor can be suppressed.

When sensorless control is applied, the control circuit of the inverter 18A is input from the HB controller 30B instead of the detected value of the applied voltage of the motor generator 12 by the voltage sensor 12s2, or is a control process by itself. The rotation angle of the rotation shaft of the motor generator 12 may be estimated by using the voltage command value of the motor generator 12 generated in 1. In this case, the voltage sensor 12s2 may be omitted. Further, at least one of the drive circuit and the control circuit of the inverter 18A may be provided outside the inverter 18A (for example, the HB controller 30B).

The swivel motor 21 (an example of a regenerative device) is a power running operation that swivels and drives the upper swivel body 3 under the control of the HB controller 30B and the inverter 18B, and a regeneration that generates regenerative power to swivel and brake the upper swivel body 3. Drive. The swivel motor 21 is connected to the power storage system 19 via the inverter 18B, and is driven by the three-phase AC power supplied from the capacitor 19A and the motor generator 12 via the inverter 18B. Further, the turning motor 21 supplies regenerative power to the capacitor 19A and the motor generator 12 via the inverter 18B. As a result, the capacitor 19A can be charged and the motor generator 12 can be driven by the regenerative power. The switching control between the power running operation and the regenerative operation of the turning electric motor 21 may be realized by the inverter 18B under the control of the HB controller 30B. A resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21A of the turning electric motor 21.

The resolver 22 detects the rotation position (rotation angle), rotation speed, and the like of the turning electric motor 21. The detection signal corresponding to the rotation angle or the like detected by the resolver 22 may be directly taken into the inverter 18B through a one-to-one communication line, an in-vehicle network such as CAN, or the like. Further, the detection signal may be taken into the HB controller 30B through a one-to-one communication line or an in-vehicle network such as CAN, and input to the inverter 18B via the HB controller 30B.

The mechanical brake 23 mechanically generates a braking force with respect to the rotating shaft 21A of the turning electric motor 21 under the control of the HB controller 30B. As a result, the mechanical brake 23 can perform turning braking of the upper turning body 3 and maintain the stopped state of the upper turning body 3.

The swivel reducer 24 is connected to the rotating shaft 21A of the swivel motor 21 and reduces the output (torque) of the swivel motor 21 at a predetermined reduction ratio to increase the torque and swivel the upper swivel body 3. Drive. That is, during the power running operation, the turning electric motor 21 swivels and drives the upper swivel body 3 (swivel mechanism 2) via the swivel speed reducer 24. Further, the turning speed reducer 24 increases the inertial rotational force of the upper turning body 3 and transmits it to the turning electric motor 21 to generate regenerative power. That is, during the regenerative operation, the turning electric motor 21 regenerates power by the inertial rotational force of the upper turning body 3 transmitted via the turning speed reducer 24, and turns and brakes the upper turning body 3.

The current sensor 21s detects the currents of the three phases (U phase, V phase, and W phase) of the swivel motor 21. The current sensor 21s is provided, for example, in the power path between the turning electric motor 21 and the inverter 18B. The detection signal corresponding to the current of each of the three phases of the turning electric motor 21 detected by the current sensor 21s may be directly taken into the inverter 18B through a one-to-one communication line or an in-vehicle network such as CAN. Further, the detection signal may be taken into the HB controller 30B through a one-to-one communication line or an in-vehicle network such as CAN, and input to the inverter 18B via the HB controller 30B.

The inverter 18B drives and controls the turning electric motor 21 under the control of the HB controller 30B. The inverter 18B is, for example, a conversion circuit that converts DC power into three-phase AC power or converts three-phase AC power into DC power, a drive circuit that switches the conversion circuit, and a control that defines the operation of the drive circuit. It includes a control circuit that outputs a signal (for example, a PWM signal).

Specifically, the control circuit of the inverter 18B is based on the detection value of the pressure sensor 29 corresponding to the operation content of the upper swing body 3 of the operation device 26 and the detection signals of the current sensor 21s and the resolver 22. 21 is driven and controlled. For example, the control circuit of the inverter 18B performs speed feedback control and torque feedback control for the turning electric motor 21.

Further, the excavator 100 may be remotely controlled as described above. In this case, the control circuit of the inverter 18B controls the drive of the turning electric motor 21 in response to the remote control signal regarding the operation of the turning electric motor 21 received from the external device through the communication device 70. As a result, the control circuit of the inverter 18B can realize the operation of the swivel motor 21 (upper swivel body 3) according to the content of the remote control defined by the remote control signal.

Further, as described above, the excavator 100 may operate (work) autonomously without depending on, for example, the operation of the operator of the cabin 10 or the remote control. In this case, the control circuit of the inverter 18B controls the turning electric motor 21 in response to an autonomous drive command generated by the autonomous control device to operate the actuator of the excavator 100. In other words, the control circuit of the inverter 18B controls the turning electric motor 21 in response to the operation of the autonomous turning electric motor 21 (upper turning body 3) by the autonomous control device. As a result, the control circuit of the inverter 18B can realize the operation of the turning electric motor 21 (upper turning body 3) according to the operation content specified in the autonomous drive command generated by the autonomous control device.

At least one of the drive circuit and the control circuit of the inverter 18B may be provided outside the inverter 18B.

The power storage system 19 of the excavator 100 according to this example includes a capacitor 19A, a buck-boost converter 19B, and a DC bus 19C. The power storage system 19 is mounted on the front right side of the upper swing body 3 together with, for example, the inverters 18A and 18B of the electric drive system.

The capacitor 19A is an example of a power storage device that supplies electric power to the motor generator 12 and the turning electric motor 21 and charges the generated power of the motor generator 12 and the turning electric motor 21. In addition, a relay (hereinafter, "cutoff relay") that cuts off between the capacitor 19A and the main circuit on the load side including the buck-boost converter 19B is provided. As a result, the capacitor 19A is disconnected from the main circuit under the control of the HB controller 30B when the excavator 100 is stopped or when the excavator 100 is abnormal (for example, when an accident such as a fall occurs). Therefore, it is possible to suppress a situation in which a very large short-circuit current flows through the capacitor 19A due to an abnormality when the operator is absent or an abnormality when the operator is present. The cutoff relay is provided, for example, in the power paths on both the positive electrode side and the negative electrode side between the capacitor 19A and the buck-boost converter 19B.

The buck-boost converter 19B boosts the power of the capacitor 19A and outputs it to the DC bus 19C, or lowers the power supplied to the DC bus 19C and stores it in the capacitor 19A. The buck-boost converter 19B switches between a step-up operation and a step-down operation so that the voltage value of the DC bus 19C falls within a certain range according to the operating state of the motor generator 12 and the turning electric motor 21. The switching control between the step-up operation and the step-down operation of the step-up / down converter 19B may be realized by the HB controller 30B based on the voltage detection value of the DC bus 19C, the voltage detection value of the capacitor 19A, and the current detection value of the capacitor 19A.

The DC bus 19C is provided between the inverters 18A and 18B and the buck-boost converter 19B, and controls the transfer of electric power between the capacitor 19A, the motor generator 12, and the turning electric motor 21.

The operating system of the excavator 100 according to this example includes a pilot pump 15, an operating device 26, a pressure sensor 29, and the like.

The pilot pump 15 is mounted on the rear portion of the upper swing body 3 and supplies the pilot pressure to the operating device 26 via the pilot line 25. The pilot pump 15 is, for example, a fixed-capacity hydraulic pump, and is driven by the engine 11, or the engine 11 and the motor generator 12.

The operating device 26 includes, for example, levers 26A and 26B and pedals 26C. The operation device 26 is provided near the cockpit of the cabin 10, and the operator operates each driven element (for example, the lower traveling body 1, the upper turning body 3, the boom 4, the arm 5, the bucket 6, and the like). It is an operation input means for. In other words, the operating device 26 is a hydraulic actuator (for example, traveling hydraulic motors 1A and 1B, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) and an electric actuator (swivel electric motor 21) for driving each driven element. Etc.) is an operation input means for performing the operation. The operating device 26 (lever 26A, 26B, and pedal 26C) is connected to the control valve 17 via the hydraulic line 27 on the secondary side. As a result, a pilot signal (pilot pressure) corresponding to the operating state of the lower traveling body 1, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26 is input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state of the operating device 26. Further, the operating device 26 is connected to the pressure sensor 29 via the hydraulic line 28 on the secondary side thereof.

Further, the operating device 26 may be an electric type. Hereinafter, the same applies to the excavator 100 of FIGS. 2B and 2C. In this case, an electric signal indicating the operation content (for example, operation direction, operation amount, etc.) of the operation device 26 is input to the control device 30 (for example, the excavator controller 30A). Then, the control device 30 (excavator controller 30A) controls the operation proportional valve connected to the control valve 17 via the pilot line according to the content of the electric signal, that is, the operation content of the operation device 26. As a result, the pilot pressure according to the operation content of the operation device 26 is input from the operation proportional valve, and the control valve 17 can drive each hydraulic actuator according to the operation state in the operation device 26.

When the excavator 100 is remotely controlled, or when the excavator 100 works autonomously, the operating device 26 may be omitted.

As described above, the pressure sensor 29 is connected to the operating device 26 via the hydraulic line 28, and the pilot pressure on the secondary side of the operating device 26, that is, the actuator for driving each driven element (actuator) in the operating device 26. Detects the pilot pressure corresponding to the operating condition. The pressure sensor 29 is connected to the excavator controller 30A, and the pressure signal (pressure detection value) according to the operating state of the lower traveling body 1, the upper swinging body 3, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26 is displayed. , Is taken into the excavator controller 30A. As a result, the excavator controller 30A and the HB controller 30B can grasp the operation contents of the operation device 26 regarding the hydraulic actuator and the turning electric motor 21 based on the detection information of the pressure sensor 29.

When the operating device 26 is an electric type, the pressure sensor 29 is omitted. This is because the operating state of the operating device 26 is directly input from the operating device 26 as an electric signal to the control device 30 (excavator controller 30A).

The control system of the excavator 100 according to this example includes a control device 30, a display device 50, and a communication device 70.

The control device 30 includes a shovel controller 30A, an HB controller 30B, and an engine controller 30C.

The functions of the excavator controller 30A, the HB controller 30B, the engine controller 30C, and the like may be realized by arbitrary hardware or a combination of hardware and software. For example, the excavator controller 30A, the HB controller 30B, the engine controller 30C, and the like include a processor such as a CPU (Central Processing Unit), a memory device (main storage device) such as a RAM (Random Access Memory), and a ROM (Read Only Memory). ) And other non-volatile auxiliary storage devices, and a computer including an interface device and the like. Hereinafter, the same applies to the control device 210 of the management device 200 and the control device 310 of the user terminal 300.

The function of the control device 30 may be realized by one controller, or may be distributed and realized by an arbitrary number (that is, 2 or 4 or more) of controllers.

The excavator controller 30A controls the drive of the excavator 100 in cooperation with various controllers including the HB controller 30B and the engine controller 30C. For example, the excavator controller 30A integrates the operation of the entire excavator 100 (specifically, various devices mounted on the excavator 100) based on bidirectional communication with various controllers such as the HB controller 30B and the engine controller 30C. You may control it. The excavator controller 30A has, for example, a saving effect calculation unit 301, a saving effect information providing unit 303, and a saving log as functional units realized by executing one or more programs installed in the auxiliary storage device on the CPU. The information transmission unit 304 is included. Further, the excavator controller 30A uses the saving log information storage unit 302. The saving log information storage unit 302 can be realized by, for example, an auxiliary storage device in the excavator controller 30A, an external storage device capable of communicating with the excavator controller 30A, or the like.

The HB controller 30B performs drive control of the electric drive system based on various information input from the excavator controller 30A (for example, a control command including a detection value of the pressure sensor 29 corresponding to the operation state of the operation device 26). For example, the HB controller 30B drives the inverter 18A based on the detection value corresponding to the operating state of the operating device 26 detected by the pressure sensor 29, and determines the operating state (power running operation and power generation operation) of the motor generator 12. Perform switching control. Further, for example, the HB controller 30B drives the inverter 18B based on the detection value corresponding to the operating state of the operating device 26 detected by the pressure sensor 29, and drives the operating state (power running operation and regenerative operation) of the turning electric motor 21. ) Is switched. Further, for example, the HB controller 30B drives the buck-boost converter 19B based on the detection value corresponding to the operating state of the operating device 26 detected by the pressure sensor 29, and the step-up / down operation of the buck-boost converter 19B and the step-down operation. In other words, switching control between the discharged state and the charged state of the capacitor 19A is performed.

The engine controller 30C is based on various information input from the excavator controller 30A (for example, a control command including the set rotation speed of the engine 11 and the operation mode of the excavator 100 corresponding to the set rotation speed of the engine 11). Drive control is performed. Specifically, the engine controller 30C realizes drive control of the engine 11 by outputting a control command to an actuator such as a fuel injection device of the engine 11 to be controlled or a starter motor for starting the engine 11.

The display device 50 is installed in a place that is easily visible to the operator in the cabin 10, and displays various information images. The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

The communication device 70 connects to a predetermined communication network including, for example, a mobile communication network ending at a base station, a satellite communication network using a communication satellite, an Internet network, etc., and communicates with an external device such as a management device 200. Do.

The saving effect calculation unit 301 (an example of the first acquisition unit and the recording unit) calculates the amount of regenerative energy (hereinafter, “regenerative energy amount”) each time regenerative energy is generated, and also calculates the calculated regenerative energy amount. Based on the numerical value of, the cost related to the excavator 100 reduced by the generation of regenerative energy (hereinafter, “reduction cost”) (an example of information on the degree of regeneration of regenerative energy) is calculated. Further, the saving effect calculation unit 301 stores information on the reduction cost for each generation of regenerative energy as a log in the saving log information storage unit 302. Hereinafter, the information regarding the reduction cost for each generation of the regenerative energy stored in the saving log information storage unit 302 may be referred to as "saving log information".

The excavator controller 30A may record the amount of regenerative energy (information on the degree of reuse of the regenerative energy) as the saving log information. Further, the excavator controller 30A may record the original information (information regarding the degree of reuse of the regenerative energy) for calculating the amount of regenerative energy as the saving log information. Further, as described above, when the excavator 100 generates a plurality of types of regenerative energy, the excavator controller 30A may record the saving log information for each type of the regenerative energy.

In this example, the saving effect calculation unit 301 calculates the amount of regenerative power (hereinafter, “regenerative power amount”) based on the detected value of the current sensor 21s1 and the like at the time of turning deceleration (braking) of the excavator 100. The saving effect calculation unit 301 can grasp whether or not the excavator 100 is in the turning deceleration state based on the operation content regarding the upper turning body 3. Then, the saving effect calculation unit 301 reduces the calculated value of the regenerative electric energy by driving the motor generator 12 with the regenerative electric power or charging the capacitor 19A, thereby reducing the fuel cost of the engine 11 (hereinafter, hereinafter, Convert to "reduced fuel cost"). For example, the saving effect calculation unit 301 determines the fuel consumption in the engine 11 in which the regenerated electric energy is reduced based on the information regarding the correlation between the regenerated electric energy and the fuel consumption in the reduced engine 11. Convert to quantity. Then, the saving effect calculation unit 301 may calculate the reduced fuel cost corresponding to the regenerated electric energy amount by multiplying the converted fuel consumption amount by the fuel unit price. At this time, the fuel unit price may be a fixed value or a variable value according to the fluctuation of the actual fuel unit price. Hereinafter, the same applies to the case of the second example of FIG. 2B and the third example of FIG. 2C.

The saving log information storage unit 302 stores saving log information (information on reduction costs) for each generation of regenerative energy. Specifically, the saving log information storage unit 302 includes information on the generation date and time of the regenerative energy (for example, a time stamp when the regenerative energy is generated), the amount of the regenerative energy, and the reduction cost corresponding to the amount of the regenerative energy. By accumulating a record (that is, saving log information) for each generation of regenerative energy, a record group (that is, a database) of saving log information may be held. In this example, the saving log information storage unit 302 stores the saving log information for each generation of regenerated power, including information on the date and time when the regenerated power is generated, the amount of regenerated power, and the reduced fuel cost corresponding to the amount of regenerated power ( Accumulate).

The saving effect information providing unit 303 is based on a group of records of saving log information stored in the saving log information storage unit 302, and is information representing the cost saving effect of the excavator 100 associated with the generation of regenerative energy (hereinafter, "saving effect information"). ") Is generated. Then, the saving effect information providing unit 303 provides the generated saving effect information to a user such as an operator through the display device 50. For example, the saving effect information providing unit 303 generates the saving effect information and displays it on the display device 50 in response to the operation of the garden requesting the display of the saving effect information of the operator.

In this example, the saving effect information providing unit 303 generates saving effect information indicating the saving effect of the fuel cost associated with the generation of the regenerative electric power, and provides the generated saving effect information to the operator and the like through the display device 50. Details of the saving effect information will be described later.

The saving log information transmitting unit 304 saves in the saving log information storage unit 304 in response to a request from the management device 200 or at a predetermined automatic transmission timing (for example, when the excavator 100 is started or stopped). The log information is transmitted to the management device 200. The saving log information to be transmitted may be, for example, the saving log information added to the saving log information storage unit 304 after the previous transmission. Hereinafter, the same applies to the case of the second example of FIG. 2B and the third example of FIG. 2C.

<Second example of excavator configuration>
A second example of the configuration of the excavator 100 will be described with reference to FIG. 2B. Hereinafter, the description will be given focusing on the portion different from the first example described above, and the description of the same portion or the corresponding portion may be omitted.

The hydraulic drive system of the excavator 100 according to this example is a traveling hydraulic motor 1A, 1B, a swing hydraulic motor 2A, a boom cylinder 7, and an arm cylinder that hydraulically drive each of the lower traveling body 1, the boom 4, the arm 5, and the bucket 6. 8 and bucket cylinder 9 and the like are included. The hydraulic drive system of the excavator 100 according to this example includes an engine 11, a main pump 14, a control valve 17, and regeneration valves 7V and 8V.

The engine 11 drives the main pump 14 and the pilot pump 15.

The control valve 17 is configured to be able to supply the hydraulic oil supplied from the main pump 14 to the traveling hydraulic motors 1A and 1B as hydraulic actuators, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9. Cylinder.

The regeneration valve 7V (an example of a regenerative device) is a high-pressure hydraulic pressure that connects (bypasses) between the control valve 17 and two high-pressure hydraulic lines that connect the bottom side oil chamber and the rod side oil chamber of the boom cylinder 7. It is installed on the line (hereinafter, "boom regeneration line"). The regeneration valve 7V is normally closed to maintain the boom regeneration line non-communication, and is opened in response to a control command from the control device 30 (excavator controller 30A) to communicate the boom regeneration line. ..

The regeneration valve 8V (an example of a regeneration device) is a high-pressure hydraulic pressure that connects (bypasses) two high-pressure hydraulic lines that connect the control valve 17 and each of the bottom side oil chamber and the rod side oil chamber of the arm cylinder 8. The regeneration valve 8V installed on the line (hereinafter referred to as “arm regeneration line”) is normally closed to maintain the arm regeneration line in a non-communication manner and to receive a control command from the control device 30 (excavator controller 30A). Correspondingly, it is opened and the arm regeneration line is communicated.

The operating system of the excavator 100 according to this example includes a pilot pump 15, an operating device 26, a pressure sensor 29, and the like.

The pilot pump 15 is driven by the engine 11.

The operation device 26 is an operation input means for the operator to operate each driven element (for example, the lower traveling body 1, the upper turning body 3, the boom 4, the arm 5, the bucket 6, and the like). In other words, the operating device 26 operates hydraulic actuators (for example, traveling hydraulic motors 1A, 1B, swivel hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) for driving each driven element. It is an operation input means for performing. The operating device 26 is connected to the control valve 17 via the hydraulic line 27 on the secondary side. As a result, a pilot signal (pilot pressure) according to the operating state of the lower traveling body 1, the upper swinging body 3, the boom 4, the arm 5, the bucket 6 and the like in the operating device 26 is input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state of the operating device 26.

The control system of the excavator 100 according to this example includes a control device 30, a display device 50, and a communication device 70.

The control device 30 includes a shovel controller 30A and an engine controller 30C.

For example, the excavator controller 30A outputs a control command to the regeneration valve 7V during the boom lowering operation to open the regeneration valve 7V. As a result, the excavator controller 30A realizes the boom regeneration function by allowing the hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder 7 to flow into the rod side oil chamber of the boom cylinder 7 through the boom regeneration line due to the weight of the boom 4. Can be done. Similarly, the excavator controller 30A outputs a control command to the regeneration valve 8V to open the regeneration valve 8V, for example, when the arm is closed. As a result, the excavator controller 30A realizes the arm regeneration function by allowing the hydraulic oil flowing out from the rod side oil chamber of the arm cylinder 8 to flow into the bottom side oil chamber of the arm cylinder 8 through the arm regeneration line by the weight of the arm 5. Can be done.

Further, the excavator controller 30A includes a saving effect calculation unit 301, a saving log information storage unit 302, a saving effect information providing unit 303, and a saving log information transmitting unit 304.

In this example, the saving effect calculation unit 301 uses the hydraulic oil based on the measured values of the flow rate sensor, pressure sensor, etc. of the boom regeneration line when the boom lowering operation of the excavator 100 is performed, that is, when the boom regeneration function is working. The amount of regenerated energy (hereinafter, "regenerated energy") due to reuse (hereinafter, "regenerated energy amount") is calculated. Similarly, the saving effect calculation unit 301 re-executes the hydraulic oil based on the measured values of the flow rate sensor, the pressure sensor, etc. of the arm regeneration line when the arm closing operation of the excavator 100, that is, when the arm regeneration function is working. Calculate the amount of regenerated energy due to use. Then, the saving effect calculation unit 301 converts the calculated numerical value of the regenerated energy amount into the fuel cost (reduced fuel cost) of the engine 11 which is reduced by reducing the load of the engine 11 by the boom regenerating function. For example, the saving effect calculation unit 301 may use the fuel consumption in the engine 11 whose regenerated energy amount is reduced based on the predetermined correlation information between the regenerated energy amount and the fuel consumption amount in the engine 11 to be reduced. Convert to quantity. Then, the saving effect calculation unit 301 may calculate the reduced fuel cost corresponding to the amount of regenerated energy by multiplying the converted fuel consumption by the fuel unit price.

In this example, the saving log information storage unit 302 contains information on the date and time when the regenerated energy is generated, the amount of the regenerated energy, the reduced fuel cost corresponding to the amount of the regenerated energy, and the like, and the saving log information for each generation of the regenerated energy ( Records) are stored (accumulated).

In this example, the saving effect information providing unit 303 generates saving effect information indicating the saving effect of fuel cost due to the generation of regenerated energy, and provides the generated saving effect information to a user such as an operator through the display device 50. ..

<Third example of excavator configuration>
With reference to FIG. 2C, the configuration of the excavator 100 may be described below focusing on a portion different from the above-mentioned first example or the second example, and the description of the same portion or the corresponding portion may be omitted.

The hydraulic drive system of the excavator 100 according to this example is a traveling hydraulic motor 1A, 1B, a swing hydraulic motor 2A, a boom cylinder 7, and an arm cylinder that hydraulically drive each of the lower traveling body 1, the boom 4, the arm 5, and the bucket 6. 8 and bucket cylinder 9 and the like are included. Further, the hydraulic drive system of the excavator 100 according to this example includes an engine 11, a speed reducer 13, a main pump 14, a control valve 17, and a regenerative hydraulic circuit 80.

The engine 11 drives the main pump 14 and the pilot pump 15 via the speed reducer 13.

The main pump 14 is driven by the engine 11, or the engine 11 and the regenerative hydraulic motor 12H.

The control valve 17 is configured to be able to supply the hydraulic oil supplied from the main pump 14 to the traveling hydraulic motors 1A and 1B as hydraulic actuators, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9. Cylinder.

The regenerative hydraulic circuit 80 (an example of a regenerative device) includes an oil passage 81, a shuttle valve 81s, an oil passage 82, a check valve 82L, 82R, an oil passage 83, 84, a switching valve 85, and an accumulator 86, 87. , The switching valves 88 and 89, and the regenerative hydraulic motor 12H are included.

The oil passage 81 connects between the control valve 17 and the two high-pressure hydraulic lines between the two hydraulic oil ports of the swing hydraulic motor 2A, and the hydraulic oil discharged from the swing hydraulic motor 2A is passed through the oil passage. It is used to flow into 83.

The shuttle valve 81S is provided in the oil passage 81. The shuttle valve 81S outputs the hydraulic oil having the higher pressure out of the two hydraulic oil ports of the swing hydraulic motor 2A to the oil passage 83.

The oil passage 82 connects between the control valve 17 and the two high-pressure hydraulic lines between each of the two hydraulic oil ports of the swing hydraulic motor 2A, and operates the suction side of the swing hydraulic motor 2A from the oil passage 84. It is used to supply hydraulic oil to the oil port.

The check valve 82L opens when the pressure of one of the hydraulic oil ports of the swing hydraulic motor 2A becomes relatively low, and supplies the hydraulic oil from the oil passage 84 to the hydraulic oil port.

The check valve 82R opens when the pressure of the other hydraulic oil port of the swing hydraulic motor 2A becomes relatively low, and supplies hydraulic oil from the oil passage 84 to the hydraulic oil port.

The oil passage 83 connects the output hydraulic oil port of the shuttle valve 81s and the hydraulic oil port on the suction side of the regenerative hydraulic motor 12H.

The oil passage 84 connects between the intermediate positions of the check valves 82L and 82R of the oil passage 82 and the hydraulic oil port on the discharge side of the regenerative hydraulic motor 12H.

The switching valve 85 is provided on the upstream side of the accumulator 86 of the oil passage 83, that is, on the shuttle valve 81S side, and switches between communication and non-communication of the oil passage 83. The switching valve 85 is normally closed. As a result, the inflow of hydraulic oil from the swing hydraulic motor 2A into the regenerative hydraulic circuit 80 (oil passage 83) can be blocked. On the other hand, the switching valve 85 is opened in response to a control command from the control device 30 (excavator controller 30A). As a result, the switching valve 85 can flow the hydraulic oil of the swing hydraulic motor 2A into the regenerative hydraulic circuit 80 (oil passage 83) under the control of the control device 30.

The accumulator 86 is installed in the oil passage 83 and accumulates the hydraulic oil flowing out from the swing hydraulic motor 2A. As a result, the accumulator 86 can store hydraulic energy. In the accumulator 86, the accumulation of hydraulic oil is controlled by the switching valve 85 on the upstream side of the oil passage 83, that is, on the swing hydraulic motor 2A side. Specifically, when the switching valve 85 is changed from the closed state to the open state, the hydraulic oil from the swing hydraulic motor 2A may flow into the oil passage 83, and the hydraulic oil may be accumulated in the accumulator 86. Further, in the accumulator 86, the discharge of hydraulic oil is controlled by the switching valve 88 on the downstream side of the oil passage 83, that is, on the side of the regenerative hydraulic motor 12H. Specifically, when the switching valve 88 is changed from the closed state to the open state, the hydraulic oil accumulated in the accumulator 86 can be discharged to the hydraulic oil port on the suction side of the regenerative hydraulic motor 12H through the oil passage 83. ..

The accumulator 87 is installed in the oil passage 84 and accumulates hydraulic oil that is soaked from the regenerative hydraulic motor 12H. The accumulator 87 is controlled to release hydraulic oil by a switching valve 89 on the downstream side of the oil passage 84, that is, on the swing hydraulic motor 2A side. Specifically, when the switching valve 89 changes from the closed state to the open state, the hydraulic oil accumulated in the accumulator 87 is discharged toward the swing hydraulic motor 2A through the oil passage 84.

The switching valve 88 is provided on the downstream side of the accumulator 86 of the oil passage 83, that is, on the side of the regenerative hydraulic motor 12H, and switches between communication and non-communication of the oil passage 83. The switching valve 88 is normally closed. As a result, the hydraulic oil accumulated in the accumulator 86 can be retained. On the other hand, the switching valve 88 is opened in response to a control command from the control device 30 (excavator controller 30A). As a result, the switching valve 88, under the control of the control device 30, discharges the hydraulic oil accumulated in the accumulator 86 to the hydraulic oil port on the suction side of the regenerative hydraulic motor 12H to drive the regenerative hydraulic motor 12H. Can be done.

The switching valve 89 is provided on the downstream side of the accumulator 87 of the oil passage 84, that is, on the swing hydraulic motor 2A side, and switches between communication and non-communication of the oil passage 84. The switching valve 89 is normally in the closed state. As a result, the hydraulic oil accumulated in the accumulator 87 can be retained. On the other hand, the switching valve 89 is opened in response to a control command from the control device 30 (excavator controller 30A). As a result, the switching valve 88 can supply the hydraulic oil accumulated in the accumulator 87 to the hydraulic oil port on the suction side of the swing hydraulic motor 2A under the control of the control device 30.

The regenerative hydraulic motor 12H regenerates the hydraulic energy contained in the hydraulic oil flowing out from the swing hydraulic motor 2A to assist the engine 11. The regenerative hydraulic motor 12H is, for example, a variable displacement hydraulic motor, and the regulator controls the angle (tilt angle) of the swash plate under the control of the control device 30 (excavator controller 30A). As a result, the tilt angle of the swash plate can be adjusted and the push-out volume can be controlled. As a result, the control device 30 (excavator controller 30A) can operate the regenerative hydraulic motor 12H according to the operating state (for example, the number of rotations) of the engine 11.

In this way, the regenerative hydraulic circuit 80 passes through the oil passage 81, the oil passage 83, the regenerative hydraulic motor 12H, the oil passage 84, and the oil passage 82 from the hydraulic oil port on the discharge side of the regenerative hydraulic motor 2A, and the regenerative hydraulic pressure It forms a closed loop of unidirectional flow to the hydraulic oil port on the suction side of the motor 2A.

For example, the regenerative hydraulic circuit 80 opens the switching valve 85 under the control of the control device 30 when the upper swing body 3 is swiveled and decelerated, and the hydraulic oil of the hydraulic oil port on the discharge side of the swivel hydraulic motor 2A whose pressure has increased. Is flowed into the oil passage 83, and the hydraulic oil is accumulated in the accumulator 86. At the same time, the regenerative hydraulic circuit 80 opens the switching valve 89 under the control of the control device 30 when the upper swing body 3 is swiveled and decelerated, and the hydraulic oil accumulated in the accumulator 87 is discharged from the swivel hydraulic motor whose pressure is reduced. Replenish the hydraulic oil port on the suction side of 2A. Further, for example, the regenerative hydraulic circuit 80 opens the switching valve 88 under the control of the control device 30 when the upper swing body 3 is swiveled and accelerates, and drives the regenerative hydraulic motor 12H with the hydraulic oil accumulated in the accumulator 86. The engine 11 is assisted. Then, the hydraulic oil discharged from the regenerative hydraulic motor 12H is accumulated in the accumulator 87. As a result, the regenerative hydraulic circuit 80 temporarily stores the hydraulic energy of the hydraulic oil discharged from the upper swing body 3 when the upper swing body 3 is swiveled and decelerated, and drives the regenerative hydraulic motor 12H when the swivel acceleration is performed. Can be regenerated in the form of

The operating system of the excavator 100 according to this example includes a pilot pump 15, an operating device 26, a pressure sensor 29, and the like.

The pilot pump 15 is driven by the engine 11, or the engine 11 and the regenerative hydraulic motor 12H.

The operation device 26 is an operation input means for the operator to operate each driven element (for example, the lower traveling body 1, the upper turning body 3, the boom 4, the arm 5, the bucket 6, and the like). In other words, the operating device 26 operates hydraulic actuators (for example, traveling hydraulic motors 1A, 1B, swivel hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) for driving each driven element. It is an operation input means for performing.

The control system of the excavator 100 according to this example includes a control device 30, a display device 50, and a communication device 70.

The control device 30 includes a shovel controller 30A and an engine controller 30C.

For example, the excavator controller 30A outputs a control command to the switching valve 85 and the switching valve 88 when the upper swing body 3 is swiveled and decelerated, and opens the excavator controller 30A. As a result, the hydraulic energy of the hydraulic oil discharged from the hydraulic oil port on the discharge side of the swing hydraulic motor 2A is stored in the accumulator 86, and the hydraulic oil accumulated in the accumulator 87 is stored in the hydraulic oil on the suction side of the swing hydraulic motor 2A. You can replenish the port. Further, the excavator controller 30A outputs a control command to the switching valve 88 to open the switching valve 88, for example, when the upper swing body 3 is accelerated in turning. As a result, the excavator controller 30A can drive the regenerative hydraulic motor 12H with the hydraulic energy stored in the accumulator 86.

Further, the excavator controller 30A includes a saving effect calculation unit 301, a saving log information storage unit 302, a saving effect information providing unit 303, and a saving log information transmitting unit 304.

In this example, the saving effect calculation unit 301 determines the amount of hydraulic energy (hereinafter, “regenerative hydraulic energy”) regenerated by the regenerative hydraulic circuit 80 (hereinafter, “regenerative hydraulic energy amount”) when the upper swing body 3 is swiveled and decelerated. ) Is calculated. For example, the saving effect calculation unit 301 calculates the amount of regenerative hydraulic energy stored in the accumulator 86 based on the amount of pressure change of the accumulator 86 when the upper swing body 3 is swiveled. Then, the saving effect calculation unit 301 reduces the calculated value of the regenerative hydraulic energy amount by reducing the load of the engine 11 with the assistance of the regenerative hydraulic motor 12H (reduced fuel cost) of the engine 11. Convert to. For example, the saving effect calculation unit 301 can reduce the amount of regenerative hydraulic energy in the engine 11 based on the predetermined correlation information between the amount of regenerative hydraulic energy and the amount of fuel consumed in the reduced engine 11. Convert to fuel consumption. Then, the saving effect calculation unit 301 may calculate the reduced fuel cost corresponding to the regenerative hydraulic energy amount by multiplying the converted fuel consumption amount by the fuel unit price.

In this example, the saving log information storage unit 302 includes information on the generation date and time of the regenerative hydraulic energy, the amount of the regenerative hydraulic energy, the reduced fuel cost corresponding to the amount of the regenerative hydraulic energy, and the like for each generation of the regenerative hydraulic energy. Saving log information (record) is stored (accumulated).

In this example, the saving effect information providing unit 303 generates saving effect information indicating the saving effect of fuel cost due to the generation of regenerative hydraulic energy, and provides the generated saving effect information to a user such as an operator through the display device 50. To do.

<Configuration of management device>
The management device 200 includes a control device 210, a communication device 220, an operation input device 230, and a display device 240.

The control device 210 performs various controls related to the management device 200. The control device 210 includes, for example, a saving log information acquisition unit 2101 and a saving effect information providing unit 2103 as functional units realized by executing one or more programs installed in the auxiliary storage device on the CPU. Further, the control device 210 uses the saving log information storage unit 2102. The saving log information storage unit 2102 can be realized by an auxiliary storage device in the control device 210, an external storage device communicably connected to the control device 210, or the like.

The communication device 220 connects to a predetermined communication network including an Internet network and the like, and communicates with an external device such as the excavator 100 and the user terminal 300.

The operation input device 230 receives an operation of a worker, an administrator, etc. (hereinafter, “administrator, etc.”) of the management device 200, and outputs a signal corresponding to the operation content to the control device 210. The operation input device 230 is, for example, a keyboard, a touch panel, a touch pad, a button switch, a joystick, a toggle, or the like.

The display device 240 displays various information images for the manager and the like of the management device 200 under the control of the control device 210. The display device 240 is, for example, a liquid crystal display or an organic EL display.

The saving log information acquisition unit 2101 (an example of the second acquisition unit) acquires the saving log information received from the excavator 100 from the reception buffer or the like. The saving log information acquired by the saving log information acquisition unit 2101 is stored in the saving log information storage unit 2102.

The saving log information storage unit 2102 stores the saving log information acquired from the excavator 100 by the saving log information acquisition unit 2101. Specifically, the saving log information storage unit 2102 includes the saving log information for each generation of regenerative energy in the excavator 100, and the identification information of the excavator 100 (for example, the excavator ID (Identifier) defined for each excavator 100). The record associated with is stored. As a result, the saving log information storage unit 2102 can identifiablely store the saving log information of the specific excavator 100 from the saving log information acquired from the plurality of excavators 100. Further, the saving log information storage unit 2102 may be provided for each of the plurality of excavators 100 for which the saving log information is acquired, as many as the number of excavators 100.

The saving effect information providing unit 2103 (an example of the information providing unit) generates saving effect information regarding the excavator 100 in response to a predetermined request signal (hereinafter, “saving effect information request signal”) received from the user terminal 300. , Is transmitted to the user terminal 300. As a result, the saving effect information providing unit 2103 can display the saving effect information regarding the excavator 100 on the display device 340 of the user terminal 300.

The management device 200 may acquire the saving effect information from the excavator 100 instead of the saving log information. In this case, the saving effect information providing unit 2103 directly transmits the saving effect information acquired from the excavator 100 to the user terminal 300, or synthesizes the saving effect information acquired from the plurality of excavators 100 and transmits the saving effect information to the user terminal 300. You may do it.

<User terminal configuration>
The user terminal 300 includes a control device 310, a communication device 320, an operation input device 330, and a display device 340.

The control device 310 performs various controls related to the user terminal 300. The control device 310 is, for example, a saving effect information requesting unit 3101 as a functional unit realized by executing a predetermined application program (hereinafter, “saving effect information providing application”) installed in the auxiliary storage device on the CPU. And the saving effect information display processing unit 3102 is included.

The communication device 320 connects to a predetermined communication network such as a mobile communication network having a base station as a terminal or a satellite communication network using a communication satellite, and communicates with an external device such as a management device 200.

The operation input device 330 receives an operation from the user of the user terminal 300 and outputs a signal corresponding to the operation input to the control device 310. The operation input device 330 is, for example, a touch panel, a button switch, or the like.

The display device 340 displays various information images for the user of the user terminal 300 under the control of the control device 310. The display device 340 is, for example, a liquid crystal display or an organic EL display.

The saving effect information requesting unit 3101 sends a saving effect information request signal to the management device 200 in response to a predetermined operation of the user through the operation input device 330 on the application screen of the saving effect information providing application displayed on the display device 340. To send.

The saving effect information display processing unit 3102 causes the display device 340 to display the saving effect information received from the management device 200.

[Specific example of saving effect information]
Next, a specific example of the saving effect information provided to the user will be described with reference to FIGS. 3A to 3C.

As a matter of course, the saving effect information shown in FIGS. 3A to 3C may be displayed on the display device 50 of the excavator 100 under the control of the saving effect information providing unit 303.

<First example of saving effect information>
FIG. 3A is a diagram showing a first example of saving effect information regarding the excavator 100 displayed on the user terminal 300 (display device 340).

As shown in FIG. 3A, in this example, the display device 340 shows the date and time, the amount of regenerative energy, and the reduced fuel for each generation of regenerative energy from the start of work to the end of work on a specific day (December 25). The history (record) of consumption ("fuel conversion") is displayed in tabular format. In addition, at the bottom of the table, the total value of the regenerative energy amount from the start of work to the start of work on a specific day and the reduced fuel consumption ("fuel conversion") is displayed.

It may be difficult for the user to intuitively grasp how much the saving effect is obtained by looking at the total value of the regenerative energy amount and the regenerative energy amount. On the other hand, in this example, the user can grasp the total value of the fuel consumption reduction amount for each generation of regenerative energy on this day and the fuel consumption reduction amount in one day. Therefore, the user can intuitively and easily grasp the saving effect due to the generation of regenerative energy.

In this example, the display device 340 may display a record including the reduced cost in place of or in addition to the reduced fuel consumption. Further, the display device 340 may display a history (record) of an arbitrary period. That is, the display device 340 may display a history (record) for a period shorter than the period from the start of work to the end of work on a specific day (for example, in the morning), or may display a history (record) for a longer period (for example, two). A history (record) of (from the start of work to the end of work) for a day may be displayed.

<Second example of saving effect information>
FIG. 3B is a diagram showing a second example of saving effect information regarding the excavator 100 displayed on the user terminal 300 (display device 340).

As shown in FIG. 3B, in this example, the display device 340 shows the cumulative value of the monthly regenerative energy for a specific year (January to December 2019), the reduced fuel consumption ("fuel consumption"). The cumulative value of ") and the cumulative value of reduction costs are displayed in tabular format. In addition, the cumulative value of regenerative energy for one year, the cumulative value of reduced fuel consumption, and the cumulative value of reduction cost are displayed at the bottom of the table.

It may be difficult for the user to intuitively grasp how much the saving effect is obtained by looking at the cumulative value of the regenerative energy amount. On the other hand, in this example, the user can grasp the total value of the monthly fuel consumption reduction amount and the fuel consumption reduction amount in one year due to the generation of the regenerative energy in the excavator 100. Further, in this example, the user can grasp the amount of reduction in the monthly cost (fuel cost) related to the excavator 100 and the amount of reduction in the cost in one year due to the generation of the regenerative energy in the excavator 100. Therefore, the user can intuitively and more easily grasp the saving effect due to the generation of regenerative energy.

In this example, the display device 340 may display only one of the cumulative value of the reduced fuel consumption and the cumulative value of the reduction cost for each month. In addition, the display device 340 may display the cumulative value of the reduced fuel consumption and the reduced cost for each arbitrary period. For example, the display device 340 may display a cumulative value of reduced fuel consumption or reduced cost, such as daily or weekly.

<Third example of saving effect information>
FIG. 3C is a diagram showing a third example of saving effect information regarding the excavator 100 displayed on the user terminal 300 (display device 340). In the figure, excavator 100 corresponds to "excavator G".

As shown in FIG. 3C, in this example, the purchase cost of the excavator 100, the date of purchase, the cumulative value (“hour meter”) of the operating time (an example of the amount of work) from the time of purchase, and the time of purchase are displayed on the display device 340. The cumulative value of the amount of refueling from, the cumulative value of the fuel cost from the time of purchase, the cumulative value of the reduction cost from the time of purchase, and the total cost from the time of purchase are displayed. As a result, the user can intuitively and more easily grasp the saving effect due to the generation of regenerative energy from the time of purchase to the present.

Also, in this example, along with information about the excavator 100, another excavator about the excavator 100 (eg, another excavator owned by the same owner) that does not generate regenerative energy (the "excavator in the figure"). Similar information about A "," excavator ", ...) (hereinafter," non-regenerative excavator ") is displayed.

Usually, the excavator 100 that generates regenerative energy is added with a regenerative device (for example, a regenerative electric motor 21, regenerative valves 7V, 8V, a regenerative hydraulic circuit 80, etc.) that generates regenerative energy. Therefore, the initial cost (purchase cost) of the excavator 100 is relatively higher than that of the unregenerated excavator.

On the other hand, in this example, the display device 340 displays the total cost from the time of purchase including the initial cost of the excavator 100 and the unregenerated excavator. This makes it possible to compare the excavator 100 and the non-regenerative excavator in terms of total cost.

In this example, the display device 340 may display the cumulative value of the fuel consumption reduction amount in addition to the cumulative value of the reduction cost. In addition, in this example, the cumulative value of other costs (for example, costs required for inspection and maintenance) may be displayed. Further, in this example, at least one kind of information other than the cumulative value of the reduction cost from the time of purchase may be used in a manner comparable to the cumulative value of the reduction cost from the time of purchase. Further, in this example, the display device 340 may display similar saving effect information regarding the plurality of excavators 100. As a result, the user can grasp the saving effect associated with the generation of the regenerative energy for the plurality of excavators 100. In particular, the user can compare the saving effect, the total cost, and the like between the excavators 100 (excavators 100 of FIGS. 2A to 2C) that generate different regenerative energies. Further, in this example, the display device 340 may display the fuel cost and reduction cost for each operating time, and instead of the operating time, another unit of work amount is adopted, and the unit of the work amount is adopted. Another fuel cost and reduction cost may be displayed. In this case, the index of the work amount of the excavator 100 can be calculated from the weight of the earth and sand, the size of the truck to be loaded with the earth and sand, the volume of the earth and sand, the difference in the topographical shape before and after the work, the leveling area, and the like. Further, the information on the work amount of the excavator 100 may be automatically recognized based on the output of the image pickup device mounted on the excavator 100 or the device for acquiring the information on the three-dimensional space around the excavator 100 such as LIDAR, or the operator. It may be judged from the contents of the manual input from the above. Thereby, the user can compare the cost (cost) for each working time between a plurality of excavators 100 and between the excavator 100 and the unregenerated excavator. Further, in this example, the display device 340 may display the cumulative value of the fuel consumption reduction amount and the cumulative value of the reduction cost for each work condition of the excavator 100. The work status of the excavator 100 includes, for example, a predetermined work mode of the excavator 100 (for example, a crane work mode, a heavy work mode, a fuel consumption priority mode, etc.) and a predetermined classification of work contents (for example, excavation work). , Ground leveling work, loading work of earth and sand on a truck, rolling work, etc.) may be included. In this case, the excavator controller 30A may record the work content performed by the excavator 100 as the saving log information. Further, in this case, in order to determine what kind of work (operation) the excavator 100 is performing, an image pickup device (for example, a monocular camera, a stereo camera, a distance) mounted on the excavator 100 (for example, the upper swivel body 3) is mounted. Image data of an image camera, depth camera, etc.) may be used. For example, if a dump truck is shown in the image data, it can be presumed that the work is loading earth and sand. Further, since it is possible to estimate whether the excavator is loaded with soil or rocks or the like based on the image information of the camera, the user can grasp the saving effect of the excavator 100 according to the working condition by this. Further, in this example, the display device 340 may display the cumulative value of the fuel consumption reduction amount and the cumulative value of the reduction cost for each operator who has a track record of operating the excavator 100. As a result, the user can grasp the saving effect for each operator.

[Transform / Change]
Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various aspects are within the scope of the gist of the present invention described in the claims. Can be transformed / changed.

For example, in the above-described embodiment, the functions of the saving log information acquisition unit 2101 and the saving effect information providing unit 2103 may be transferred to the user terminal 300 (an example of the information processing device). In this case, the saving log information and the saving effect information may be transmitted from the excavator 100 to the user terminal 300 via the management device 200. Further, when the excavator 100 and the user terminal 300 (for example, a mobile terminal such as a smartphone) can directly communicate with each other through a predetermined short-range communication (for example, Bluetooth (registered trademark) communication or the like), the excavator 100 can be used as a user terminal. It may be transmitted directly to 300.

Further, in the above-described embodiment and modification, the excavator 100 uses the original information for calculating the reduction amount of fuel consumption and cost related to the excavator 100, that is, the amount of regenerative energy for each generation of regenerative energy. It may be transmitted to the management device 200 or the user terminal 300. In this case, the amount of fuel consumption and cost reduction related to the excavator 100 is calculated by the management device 200 and the user terminal 300.

7V, 8V regeneration valve (regenerative device)
21 Turning motor (regenerative device)
30 Controller 30A Excavator controller 30B Hybrid controller 30C Engine controller 50 Display device 80 Regenerative hydraulic circuit (regenerative device)
86,87 Accumulator 100 Excavator 200 Management device (information processing device)
300 user terminal (information processing device)
301 Saving effect calculation unit (first acquisition unit and recording unit)
302 Saving log information storage unit 303 Saving effect information providing unit 304 Saving log information transmitting unit 340 Display device 2101 Saving log information acquisition unit (second acquisition unit)
2102 Saving log information storage unit 2103 Saving effect information providing department (information providing department)
3101 Saving effect information request unit 3102 Saving effect information display processing unit

Claims (14)

Work attachment and
A regenerative device that generates regenerative energy and
The first acquisition unit that acquires information on the degree of reuse of the regenerative energy, and
A recording unit for recording information acquired by the first acquisition unit is provided.
Work machine. A display device for displaying the degree of reuse of the regenerative energy based on the information recorded by the recording unit is further provided.
The work machine according to claim 1. The display device displays a history of the degree of reuse of the regenerative energy for each generation of the regenerative energy.
The work machine according to claim 2. The display device displays the cumulative value of the degree of reuse of the regenerative energy in a predetermined period.
The work machine according to claim 2 or 3. The display device displays the cumulative value of the degree of reuse of the regenerative energy from the time of purchase of the work machine.
The work machine according to claim 4. The display device displays at least one of the cumulative values for each work status of the work machine and for each operator on board.
The work machine according to any one of claims 4 or 5. The display device is a cumulative value of the degree of reuse of the regenerative energy from the time of purchase of the work machine, the amount of work from the time of purchase of the work machine, and the total cost of the work machine from the time of purchase to the present. At least one is displayed in a manner comparable to other work machines associated with the work machine.
The work machine according to claim 5. The regenerative energy includes a regenerative power regenerated by using the kinetic energy or position energy of the driven element of the work machine, and a regenerative hydraulic pressure regenerated by using the kinetic energy or position energy of the driven element. Contains at least one of the energies,
The work machine according to any one of claims 1 to 7. The regenerative device drives the upper swivel body and generates a regenerative energy as the regenerative energy when the upper swivel body is decelerated. The work attachment is operated in a direction in which its own weight acts on the work attachment. A regeneration valve that regenerates the hydraulic oil released from the driven hydraulic cylinder by the action of its own weight with the hydraulic energy as the regenerative energy, or the hydraulic energy as the regenerative energy when the upper swing body is decelerated. Includes regenerative hydraulic circuits that accumulate and reuse after the fact,
The work machine according to any one of claims 1 to 8. A second acquisition unit that acquires information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
An information providing unit for displaying the degree of reuse of the regenerative energy on the display device of the user terminal based on the information acquired from the work machine by the second acquisition unit is provided.
Information processing device. The information providing unit determines the cumulative value of the degree of reuse of the regenerative energy from the time of purchase for each of the plurality of work machines, the amount of work from the time of purchase, and at least one of the total costs from the time of purchase to the present. Display on the display device,
The information processing device according to claim 10. The information providing unit has a cumulative value of the degree of reuse of the regenerative energy from the time of purchase of the work machine, the amount of work from the time of purchase of the work machine, and the total cost of the work machine from the time of purchase to the present. At least one of the above is displayed on the display device in a manner comparable to that of other work machines related to the work machine and which does not generate regenerative energy.
The information processing device according to claim 10 or 11. It is an information processing method executed by an information processing device.
A second acquisition step of acquiring information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
Including the information providing step of displaying the reuse degree of the regenerative energy on the display device of the user terminal based on the information acquired from the work machine in the second acquisition step.
Information processing method. For information processing equipment
A second acquisition step of acquiring information on the degree of reuse of regenerative energy generated in a work machine having a work attachment from the work machine, and
Based on the information acquired from the work machine in the second acquisition step, the information providing step of displaying the reuse degree of the regenerative energy on the display device of the user terminal is executed.
program.

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