JP2021035812A - Work machine - Google Patents

Abstract

To provide a work machine that has simple constitution and can accurately detect a fault of a wiring harness.SOLUTION: A work machine comprises a plurality of sensors, a controller to which detection information detected by the plurality of sensors is input, a battery which accumulates electric power to be supplied to the plurality of sensors, and a collective circuit which has one connected to the plurality of sensors respectively and the other connected to the controller and battery, and the controller has a circuit fault determination part which determines, based upon the information input from the plurality of sensors (S20), a fault range as a range in which there is a fault in the collective circuit (S80).SELECTED DRAWING: Figure 6

Description

The present invention relates to a work machine, and particularly relates to a technique for detecting a failure of a wire harness.

In construction machinery such as hydraulic excavators, in order to suppress the increase in sensors for failure detection, signals from existing control sensors are used to cause flood control equipment failures and controller failures (hereinafter referred to as equipment failures). ) Is detected (Patent Document 1).

Japanese Unexamined Patent Publication No. 10-280488

By the way, when an electrical failure occurs in a construction machine such as a hydraulic excavator, the failure detection system may generate an error code for the part where there is a problem with the sensor signal and display some warning signals on the monitor. It is common. However, it may be difficult for the operator to identify whether there is a problem with the sensor or a problem with the wire harness by referring to such an error code.

On the other hand, it is conceivable to improve the failure detection range and accuracy by adding parts that are not used for normal control but only for detecting wire harness failures, and systems, but the number of parts Increased costs and system complexity are issues, such as the need to determine if the detection system is normal.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work machine capable of accurately detecting a failure of a wire harness (aggregate circuit) with a simple configuration. There is.

In order to achieve the above object, the work machine of the present invention includes a plurality of sensors, a controller into which detection information detected by the plurality of sensors is input, and a battery for storing power supplied to the plurality of sensors. In a work machine, one of which is provided with each of the plurality of sensors and the other of which is a set circuit connected to the controller and the battery, the controller sets the set based on information input from the plurality of sensors. It is characterized by having a circuit failure determination unit for determining a failure range, which is a range of failures in the circuit.

As a result, based on the information input from a plurality of sensors, the failure range, which is the range in which the failure exists in the collective circuit, is determined, so that the failure range can be determined without providing a sensor for detecting the failure range. Is possible.

As another aspect, the collective circuit extends from the plurality of sensors, respectively, and connects the detection information to the controller in a communicable manner, and a plurality of communication lines for supplying power from the battery to the plurality of sensors. It has a power supply line, and the power supply line is branched and extended and connected to the plurality of sensors a plurality of times, and the controller inputs abnormal detection information among the plurality of sensors to the controller. The circuit failure determination unit has an abnormality determination unit that determines an abnormality sensor as a sensor, and when there are a plurality of the abnormality sensors determined by the abnormality determination unit, the communication line and the communication line to which the plurality of abnormality sensors are connected. It is preferable to determine the failure range based on the connection mode of the power supply line.

As a result, when there are a plurality of abnormality sensors determined by the abnormality determination unit, the failure range is determined based on the connection mode of the communication line and the power supply line to which the plurality of abnormality sensors are connected. It is possible to determine the failure range from the combination and the connection mode of the communication line and the power supply line.

As another aspect, the circuit failure determination unit is located at a position downstream of the failure range, which is the most downstream side of the path in the collective circuit to which all of the plurality of abnormality sensors are connected among the communication line and the power supply line. Of the communication line and the power supply line, the failure range upstream which is the most downstream side of the path in the collective circuit to which all of the normal sensors that input normal detection information among the plurality of sensors to the controller are connected. It is preferable to determine the position and determine the failure range as a range from the failure range downstream position to the failure range upstream position.

As a result, from the failure range downstream position, which is the most downstream side of the path to which all of the plurality of abnormality sensors are connected, the most downstream of the path to which all of the normal sensors that input normal detection information to the controller among the multiple sensors are connected. By setting the range up to the upstream position of the failure range on the side as the failure range, it is possible to improve the determination accuracy of the failure range.

As another aspect, the controller has a storage unit that stores a database showing the relationship between the information input from the plurality of sensors and the failure range, and the circuit failure determination unit is from the plurality of sensors. It is preferable to collate the input information with the database to determine the failure range.

As a result, it is possible to improve the determination accuracy by the circuit failure determination unit by collating the database stored in the storage unit with the information input from the plurality of sensors to determine the failure range.

As another aspect, it is preferable that the controller has a failure location estimation unit that estimates a location that is likely to be faulty in the failure range determined by the circuit failure determination unit.
As a result, out of the failure range determined by the circuit failure determination unit, the part with a high possibility of failure is estimated, and for example, the estimated failure part is displayed on the tester to accurately guide the part to be repaired. Is possible.

According to the working machine of the present invention, since the failure range, which is the range where the failure exists in the collective circuit, is determined based on the information input from the plurality of sensors, a sensor for detecting the failure range is provided. The failure range can be determined without any problem.
As a result, it is possible to accurately detect a failure of the wire harness with a simple configuration.

It is a side view of the hydraulic excavator which concerns on this embodiment. It is a top view of a hydraulic excavator. It is a part of the circuit diagram of the general wiring. It is an enlarged view of the part A in FIG. It is a block diagram which showed the connection structure of the controller which concerns on the control of the hydraulic excavator which concerns on this invention. It is a flowchart of the routine which shows the control procedure of the error determination control which concerns on this invention which a controller executes. It is a table which shows an example of a failure database.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
With reference to FIG. 1, a side view of the hydraulic excavator 1 according to the present embodiment is shown. The hydraulic excavator (working machine) 1 is a large-sized hydraulic excavator that operates at a site such as a mine, and is, for example, a machine having a maximum front-rear length of 25 m, a left-right length of 7 m, and a ground height of 15. The hydraulic excavator 1 includes a lower traveling body 2, an upper swivel body 3, and a swivel device 4.

The lower traveling body 2 is a traveling means of the hydraulic excavator 1, and here, the crawler type lower traveling body 2 is illustrated. The upper swivel body 3 is connected to the lower traveling body 2 via a swivel frame 3a and a swivel device 4 forming a skeleton below the upper swivel body 3. The swivel device 4 can swivel the upper swivel body 3 relative to the lower traveling body 2. As a result, the hydraulic excavator 1 constitutes a swivel work machine.

The upper swivel body 3 has a driver's cab 5, a front attachment 6, a building 7, and the like mounted on the swivel frame 3a. The driver's cab 5 is provided with various operating means for operating the hydraulic excavator 1. Therefore, by boarding the driver's cab 5, the operator can perform various operations of the hydraulic excavator 1, such as a turning operation for operating the turning device 4 and a work operation for operating the front attachment 6. The building 7 houses machines such as an engine 8 and a hydraulic pump 9, and is arranged behind the driver's cab 5.

The front attachment 6 is provided at the front portion of the upper swing body 3 so as to be substantially aligned with the driver's cab 5, and includes a boom 10, an arm 11, and a bucket 12. The base end of the boom 10 is pivotally supported by a connecting pin (not shown) on the swivel frame 3a. As a result, the boom 10 can swing relative to the swivel frame 3a. An arm 11 is rotatably connected to the tip of the boom 10 in the vertical direction, and a bucket 12 is rotatably connected to the tip of the arm 11 in the vertical direction.

Here, the boom 10 can be adjusted and rotated by adjusting the boom cylinder 10a and expanding and contracting. Similarly, the arm 11 can be adjusted and rotated by the arm cylinder 11a, and the bucket 12 can be adjusted and rotated by adjusting the bucket cylinder 12a and expanding and contracting. Therefore, the front attachment 6 expands and contracts by appropriately adjusting the boom cylinder 10a, the arm cylinder 11a, and the bucket cylinder 12a, thereby appropriately adjusting and rotating the boom 10, the arm 11, and the bucket 12, and performing work such as excavation work. It is possible to do.

With reference to FIG. 2, an upper view of the hydraulic excavator 1 is shown. The hydraulic excavator 1 includes a plurality of sensors including a first sensor 21, a second sensor 22, a third sensor 23, a fourth sensor 24, and a fifth sensor 25 (hereinafter, also collectively referred to as “each sensor 20”), and a controller. (CU) 27 and battery (Batt) 28 are arranged. The first sensor 21 is a sensor provided on the left side surface of the boom 10 and detects the posture of the boom 10. The second sensor 22 is a temperature sensor that detects the ambient temperature outside the hydraulic excavator 1.

The third sensor 23 is a sensor that detects the rotation speed of an output shaft (not shown) of the engine (ENG) 8. The fourth sensor 24 is a sensor that detects the temperature of the cooling water circulating in the engine 8. The fifth sensor 25 is a sensor that detects the pressure of the hydraulic oil protruding from the hydraulic pump 9. Although each sensor 20 has been described as an example, the number and types of sensors arranged on the hydraulic excavator 1 may not be limited to these.

The controller 27 is a control device for performing comprehensive control including operation control of the engine 8, and includes an input / output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), and the like. It is configured to include. The configuration of the controller 27 will be described later. The battery 28 is a battery that stores electric power generated by an alternator (not shown) when the engine 8 is driven. The battery 28 can supply electric power to each sensor 20, the controller 27, and other electric devices of the hydraulic excavator 1.

With reference to FIG. 3, a part of the circuit diagram of the integrated wiring (aggregate circuit) 29 is shown. Each sensor 20, controller 27, and battery 28 are electrically connected by a comprehensive wiring 29. Here, the general wiring 29 includes a main wiring 30, a first wiring 31, a second wiring 32, a third wiring 33, a fourth wiring 34, a fifth wiring 35, and a sixth wiring 36. One (downstream side) of the main wiring 30 is connected to the eighth connector 48 via the sixth connector 46 and the seventh connector 47, and the other (upstream side) is connected to the controller 27 and the battery 28. In the present embodiment, the wiring on the downstream side of the eighth connector 48 will be omitted, but various sensors such as a temperature sensor for detecting the temperature of the hydraulic oil and various controllers for controlling the operating amount of the hydraulic pump 9 will be omitted. Electrical equipment may be connected.

The first wiring 31, the second wiring 32, the fourth wiring 34, and the fifth wiring 35 branch from the main wiring 30 at the branch points P1, P2, P4, and P5, respectively, and extend from the main wiring 30, and the first connector 41 and the second connector 42. , The first sensor 21, the second sensor 22, the fourth sensor 24, and the fifth sensor 25 are electrically connected to the first sensor 21, the second sensor 22, and the fifth sensor 25 via the fourth connector 44 and the fifth connector 45. Further, the third wiring 33 and the sixth wiring 36 are electric wires whose upstream sides are branched from the first wiring 31 and the fourth wiring 34 at the branch points P3 and P6, respectively. The downstream side of the third wiring 33 is electrically connected to the third sensor 23 via the third connector 43. Although the description on the downstream side of the sixth wiring 36 is omitted here, it may be connected to an electric device such as a sensor that detects the posture of the arm 11.

With reference to FIG. 4, an enlarged view of part A in FIG. 1 is shown. The first sensor 21 operates by supplying electric power from the battery 28 via the main wiring 30 and the first wiring 31, and detects the posture of the boom 10. Further, the first sensor 21 converts the detected information into an electric signal and outputs the detected information to the controller 27 via the first wiring 31.

Here, the first connector 41 is attached to the first wiring 31. The first connector 41 is a connector that electrically connects the upstream side and the downstream side of the first wiring 31. As a result, the first sensor 21 can be easily attached and detached by separating the first connector 41 into the upstream side and the downstream side without processing the first wiring 31. Further, the first wiring 31 bundles the first power supply line 51, the first signal line 71, and the sixth signal line 76, which will be described later, and is covered with a protective member such as rubber.

Returning to FIG. 3, the general wiring 29 is an electric wire in which signal lines and power lines are bundled. In FIG. 3, an electric wire (power supply line) for the purpose of supplying electric power is shown by a solid line, and an electric wire (signal line) for the purpose of signal transmission is shown by a chain double-dashed line. According to FIG. 3, the power supply line includes a first power supply line (power supply line) 51 and a second power supply line (power supply line) 52, each extending from the battery 28 toward the downstream side. ..

The first power supply line 51 branches at the first branch point P1 via the first joint 61 and extends to the first wiring 31 and the fourth wiring 34. The first power supply line 51 branches at the first branch point P1 via the first joint 61 and extends to the first wiring 31 and the fourth wiring 34. Further, the first power supply line 51 branches at the third branch point P3 and the sixth branch point P6 via the third joint 63 and the sixth joint 66, and the first wiring 31, the sixth wiring 36, and the third It extends to the wiring 33 and the fourth wiring 34. The second power supply line 52 branches at the second branch point P2 and the fifth branch point P5 via the second joint 62 and the fifth joint 65, and is connected to the second sensor 22 and the fifth sensor 25. ..

The signal line includes a plurality of signal lines including a first signal line 71, a second signal line 72, a third signal line 73, a fourth signal line 74, a fifth signal line 75, and a sixth signal line 76 (hereinafter, generally referred to as " Each signal line (communication line) 70 ”) is provided, and the first sensor 21, the second sensor 22, the third sensor 23, the fourth sensor 24, and the second sensor 24 extend from the controller 27 toward the downstream side, respectively. 5 It is connected to the sensor 25.

Therefore, the power supply line supplies power to each sensor from the battery 28 by arranging a plurality of joints on the two lines and branching, while the signal line has a number corresponding to each sensor 20. A signal line is extended from each sensor 20 and detection information is output to the controller 27.

With reference to FIG. 5, the connection configuration of the controller 27 according to the control of the hydraulic excavator 1 according to the present invention is shown in a block diagram. The first sensor 21, the second sensor 22, the third sensor 23, the fourth sensor 24, and the fifth sensor 25 are electrically connected to the input side of the controller 27, and the detection information of each sensor 20 is electrically connected. It is input as a signal. Further, for example, a tester 100 is electrically connected to the output side of the controller 27, and the determination result determined by the error determination control described later of the controller 27 is displayed on the monitor of the tester 100. Although the determination result is displayed on the tester 100 here, it may be displayed on a mobile terminal owned by the administrator by wireless communication, and may be displayed on an operation panel (not shown) in the driver's cab 5. You may do so.

The controller 27 generates a plurality of error codes including a first error code generation unit 81, a second error code generation unit 82, a third error code generation unit 83, a fourth error code generation unit 84, and a fifth error code generation unit 85. It has a unit (hereinafter, also generally referred to as "each error code generation unit (abnormality determination unit) 80"), a storage unit 87, an integrated determination unit (circuit failure determination unit) 88, and a failure location estimation unit 89.

The first error code generation unit 81 determines whether or not the detection information input from the first sensor 21 is normal information, and if an abnormality is detected (when the sensor is an abnormality sensor), the corresponding error code is output. It is a generation part to generate. Here, the case where the detection information input from the first sensor 21 is normal information is a case where the value of the detection information input from the first sensor 21 falls within a certain range. In other words, when the value of the detection information input from the first sensor 21 exceeds the certain range, the first sensor 21 and the power supply line or signal line that transmits the signal have some trouble. It shows that it is occurring. Since the same applies to the second error code generation unit 82, the third error code generation unit 83, the fourth error code generation unit 84, and the fifth error code generation unit 85, the description thereof will be omitted here.

The storage unit 87 is a memory in which a failure database, which will be described later, is stored in advance. The integrated determination unit 88 has a failure in the integrated wiring 29 based on the error code generated by each error code generation unit 80 and the information stored in the storage unit 87, in other words, the information input from each sensor 20. It is a determination unit that determines a failure occurrence section (failure range) described later. The failure location estimation unit 89 is an estimation unit that estimates a location that is more likely to be a failure location from the determination result of the integrated determination unit 88.

With reference to FIG. 6, a routine showing a control procedure for error determination control according to the present invention, which is executed by the controller 27, is shown in a flowchart, and will be described below with reference to the flowchart. This routine starts when an ignition key (ING) (not shown) is turned on (step S10).

In step S20, each error code generation unit 80 determines whether or not an abnormality has been detected from each of the sensors 20. If the determination result in step S20 is false (No) and all the error code generation units 80 do not detect an abnormality, this routine ends. On the other hand, if the determination result in step S20 is true (Yes) and at least one of the error code generation units 80 detects an abnormality, the process proceeds to step S30. In step S30, among the error code generation units 80, the error code generation unit that detects an abnormality generates an error code and proceeds to step S40.

As a result, in steps S10 to S30, when the ignition key (ING) is turned on, power is supplied from the battery 28 to each sensor 20 via the first power supply line 51 and the second power supply line 52 of the general wiring 29. Is supplied (step S10), and at least one of the error code generation units 80 detects an abnormality (detects an abnormality sensor) from the detection information detected by operating each sensor 20 (Yes in step S20). , The corresponding error code generation unit can generate an error code (step S30).

In step S40, it is determined whether or not there are a plurality of error codes generated in step S30. If the determination result in step S40 is false (No) and the generated error code is one, the process proceeds to step S70 described later. On the other hand, if the determination result in step S40 is true (Yes) and there are a plurality of generated error codes, the process proceeds to step S50. In step S50, the failure database (database) 90 stored in the storage unit 87 is collated with the error code generated in step S30.

With reference to FIG. 7, an example of the fault database 90 is shown in the table. First, the configuration of the failure database 90 will be described. Pattern names are listed in the first column 91 located on the far left. In this embodiment, five patterns are shown as an example.

Next, in the second column 92 located second from the left, the actual failure points in each pattern are listed. Next, in the third column 93 located third from the left, when the error code of each sensor 20 in each pattern is generated by each error code generation unit 80 (abnormal sensor), a circle is described and an error is described. If no code has been generated, it is listed in the blank.

Next, in the fourth column 94 located at the fourth position from the left, the failure occurrence section determined by the integrated determination unit 88 is listed. The fifth column 95 from the left, that is, the fifth column 95 located on the far right, lists the locations (failure locations) estimated by the failure location estimation unit 89 that are likely to have a failure.

Therefore, in step S50, by collating the failure database 90 with the error code, it is possible to determine the failure occurrence section determined by the integrated determination unit 88 and the failure location estimated by the failure location estimation unit 89. In this way, after determining the failure occurrence section and the failure location, the process proceeds to step S60. The correspondence between the error code, the failure occurrence section, and the failure location will be described later.

Returning to FIG. 6, in step S60, it is determined in step S50 whether or not a matching pattern exists as a collation result. If the determination result in step S60 is false (No) and there is no matching pattern, the process proceeds to step S70. In step S70, it is determined that the corresponding sensor among the sensors 20 is a failure location, and the process proceeds to step S90. Here, as described above, even when the determination result in step S40 is false (No) and the generated error code is one, it is determined that the corresponding sensor is a failure location, and the process proceeds to step S90. ..

On the other hand, if the determination result in step S60 is true (Yes) and there is a matching pattern, the process proceeds to step S80. In step S80, based on the matching pattern in the failure database 90, it is determined that the failure range is the matching failure occurrence section of the fourth column 94 in the failure database 90, and the process proceeds to step S85. In step S85, based on the matching pattern in the failure database 90, the failure location is estimated to be the estimated failure location in the fifth column 95, and the process proceeds to step S90.

Then, in step S90, for example, the tester 100 is notified of the failure range and the failure location determined and estimated in step S70 or steps S80 and S85, the tester 100 is terminated, and then the routine is repeatedly executed.

As described above, in steps S40 to S90, even if the error code generated by each error code generation unit 80 is singular (No in step S40) or plural (Yes in step S40), it matches the failure database 90. If there is no pattern to be used (No in step S50 and step S60), it is determined that the corresponding sensor is out of order (step S70), and the determination is displayed on the tester 100 to indicate to the operator the part to be repaired. I can guide you.

Further, in steps S40 to S90, if there are a plurality of error codes generated by each error code generation unit 80 (Yes in step S40) and there is a pattern matching the failure database 90 (in steps S50 and S60). Yes), the failure occurrence section and the failure location can be determined and estimated (steps S80 and S85), and the determination and estimation can be displayed on the tester 100 to guide the operator to the section or location to be repaired. Therefore, by using this routine, the integrated determination unit 88 determines the failure range based on the connection mode of each signal line 70 and the first power supply line 51 without providing a sensor for detecting the failure range. be able to.

By the way, the failure database 90 used in step S50 has a predetermined correspondence relationship (relationship) with respect to the correspondence relationship between the error code and the failure occurrence section and the failure location. Hereinafter, the correspondence relationship between the error code, the failure occurrence section, and the failure location will be described with reference to FIGS. 3 and 7 separately for the case where the failure location is a connector and the case where the failure location is a joint.

<When the faulty part is a connector>
Pattern 1 and pattern 2 are cases where the failure location is a connector. First, pattern 1 will be described. According to FIG. 7, in the pattern 1, among the sensors 20, the error codes of the third sensor 23, the fourth sensor 24, and the fifth sensor 25 occur at the same time, and the error codes of the first sensor 21 and the second sensor 22 occur. Is not generated (third column 93).

As described above, when the error codes of the third sensor 23, the fourth sensor 24, and the fifth sensor 25 occur at the same time, it is unlikely that the sensors at a plurality of locations have failed at the same time. Further, according to FIG. 3, the third sensor 23, the fourth sensor 24, and the fifth sensor 25 are branched from the fourth branch point P4. Here, the fourth branch point P4 is the most downstream side of the path in the integrated wiring 29 to which all the third sensor 23, the fourth sensor 24, and the fifth sensor 25 (abnormal sensor) are connected. Therefore, it is expected that a failure will occur upstream from the fourth branch point P4 (downstream position of the failure range) in the general wiring 29.

Further, the second sensor 22 in which no error code is generated is connected to the second wiring 32 extending from the second branch point P2. Therefore, it is expected that a failure will occur downstream from the second branch point P2 (upstream position of the failure range) in the general wiring 29. As a result, it can be determined that the failure occurrence section is the section between the second branch point P2 and the fourth branch point P4 in the general wiring 29 as in the fourth column 94.

By the way, according to FIG. 4, since the first wiring 31 extends above the boom 10, it is easily affected by external dust, rainwater, ultraviolet rays, and the like. In particular, the first connector 41 and the first joint 61 of the first branch point P1 are more prone to failure than the wiring portion of the first wiring 31 and the gap between the connection portions and the portion connecting the electric wires. .. Further, similarly to the first connector 41 and the first joint 61, the connectors other than the first connector 41 and the joints other than the first joint 61 are more likely to fail as compared with the wiring portion.

Therefore, of the sections from the second branch point P2 to the fourth branch point P4 determined to be the failure occurrence section, the seventh connector 47 is the most probable place where the failure has occurred as in the first joint 61. high. Therefore, in the case of pattern 1, it is determined that the failure range is the section between the second branch point P2 and the fourth branch point P4 (step S80 in FIG. 6), and the failure location is the seventh connector 47 (step S80 in FIG. 6). It can be estimated to be step S85) in FIG.

Next, pattern 2 will be described. According to FIG. 7, the pattern 2 is a state in which the error codes of all the sensors 20 are generated at the same time (third column 93). In such a case, it is unlikely that each sensor 20 has failed at the same time. Further, according to FIG. 3, each sensor 20 is connected to the main wiring 30 up to the first branch point P1. Therefore, it is expected that a failure will occur upstream from the first branch point P1 in the general wiring 29. Therefore, as in the fourth column 94, it can be determined that the failure occurrence section is a section on the upstream side from the first branch point P1 in the general wiring 29.

Further, among the sections on the upstream side from the first branch point P1 determined to be the failure occurrence section, the sixth connector 46 is most likely as the location where the failure has occurred. Therefore, in the case of pattern 2, it is determined that the failure range is the section on the upstream side from the first branch point P1 (step S80 in FIG. 6), and the failure location is the sixth connector 46 (step S85 in FIG. 6). Can be estimated.

<When the faulty part is a joint>
Patterns 3 to 5 are cases where the failure location is a joint. First, pattern 3 will be described. According to FIG. 7, in the pattern 3, among the sensors 20, the error codes of the third sensor 23 and the fourth sensor 24 occur at the same time, and the error codes of the first sensor 21, the second sensor 22, and the fifth sensor 25 occur. Is not generated (third column 93).

Here, according to FIG. 3, the third sensor 23 and the fourth sensor 24 are connected to the third wiring 33 and the fourth wiring 34 branching from the third branch point P3. Therefore, it is expected that a failure will occur upstream from the third branch point P3 in the general wiring 29.

On the other hand, although the fifth sensor 25 in which the error code is not generated is located downstream from the fourth branch point P4, the error code is not generated. Further, the third sensor 23 and the fourth sensor 24 receive power from the battery 28 via the first power supply line 51, whereas the fifth sensor 25 receives power via the second power supply line 52. Is supplied with power from the battery 28. Furthermore, the first sensor 21, which receives power from the battery 28 via the first power supply line 51, does not generate an error code.

As a result, it is determined that the failure occurrence section is a failure on the first power supply line 51 in the section between the first branch point P1 and the third branch point P3 in the general wiring 29 as in the fourth column 94. can do. Further, the third joint 63 located on the first power supply line 51 in the section from the first branch point P1 to the third branch point P3 determined to be the failure occurrence section is the most failed location. Probability is high. Therefore, in the case of pattern 3, it is determined that the failure range is the section from the first branch point P1 to the third branch point P3 (step S80 in FIG. 6), and the failure location is the third joint 63 (FIG. 6). It can be estimated that step S85) of.

Next, pattern 4 will be described. According to FIG. 7, in the pattern 4, among the sensors 20, the error codes of the second sensor 22 and the fifth sensor 25 occur at the same time, and the error codes of the first sensor 21, the third sensor 23, and the fourth sensor 24 occur. Is not generated (third column 93).

Here, according to FIG. 3, the second sensor 22 and the fifth sensor 25 are connected to the second wiring 32, the main wiring 30, and the fifth wiring 35 branching from the second branch point P2. Therefore, it is expected that a failure will occur upstream from the second branch point P2 in the general wiring 29.

On the other hand, although the third sensor 23 and the fourth sensor 24 in which the error code is not generated are located downstream from the second branch point P2, the error code is not generated. Further, the second sensor 22 and the fifth sensor 25 receive power from the battery 28 via the second power supply line 52, whereas the third sensor 23 and the fourth sensor 24 receive the first power. Power is supplied from the battery 28 via the supply line 51.

From these, it is determined that the failure occurrence section is a failure on the second power supply line 52 in the section between the first branch point P1 and the second branch point P2 in the general wiring 29 as in the fourth column 94. can do. Further, the second joint 62 located on the second power supply line 52 in the section from the first branch point P1 to the second branch point P2 determined to be the failure occurrence section is the most failed location. Probability is high. Therefore, in the case of the pattern 4, it is determined that the failure range is the section from the first branch point P1 to the second branch point P2 (step S80 in FIG. 6), and the failure location is the second joint 62 (FIG. 6). It can be estimated that step S85) of.

Next, pattern 5 will be described. According to FIG. 7, in the pattern 5, among the sensors 20, the error codes of the first sensor 21, the third sensor 23, and the fourth sensor 24 occur at the same time, and the error codes of the second sensor 22 and the fifth sensor 25 occur. Is not generated (third column 93).

Here, according to FIG. 3, the first sensor 21, the third sensor 23, and the fourth sensor 24 are connected to the first wiring 31 and the main wiring 30, the third wiring 33, and the fourth wiring 34 branching from the first branch point P1. You are connected. Therefore, it is expected that a failure will occur upstream from the first branch point P1 in the general wiring 29.

On the other hand, although the second sensor 22 and the fifth sensor 25 in which the error code is not generated are located downstream from the first branch point P1, the error code is not generated. Further, the first sensor 21, the third sensor 23, and the fourth sensor 24 receive power from the battery 28 via the first power supply line 51, whereas the second sensor 22 and the fifth sensor 25 receive power. Is supplied with power from the battery 28 via the second power supply line 52.

From these, it can be determined that the failure occurrence section is a failure on the first power supply line 51 in the section upstream from the first branch point P1 in the integrated wiring 29, as in the fourth column 94. Further, the first joint 61, which is a section upstream from the first branch point P1 determined to be a failure occurrence section and is located on the first branch point P1, is most likely as a location where a failure has occurred. Therefore, in the case of the pattern 5, it is determined that the failure range is the section upstream from the first branch point P1 (step S80 in FIG. 6), and the failure location is the first joint 61 (step S85 in FIG. 6). Can be estimated.

In this way, the integrated determination unit 88 and the failure location estimation unit 89 determine the failure occurrence section and the estimated failure location by collating with the failure database 90 including the failure occurrence section and the estimated failure location for each pattern. By estimating, it is possible to accurately judge and estimate.

As described above, in the hydraulic excavator 1 according to the present invention, each sensor 20, a controller 27 into which detection information detected by each sensor 20 is input, and a battery 28 for storing electric power supplied to each sensor 20. One of the sensors 20 is provided with a comprehensive wiring 29 connected to the controller 27 and the battery 28, and the controller 27 has a failure in the comprehensive wiring 29 based on the information input from each sensor 20. It has an integrated determination unit 88 that determines a failure range that is a certain range.

Therefore, based on the information input from each sensor 20, the failure range of the comprehensive wiring 29, which is the range where the failure exists, is determined. Therefore, the failure range can be determined without providing a sensor for detecting the failure range. It can be determined.

In particular, the integrated wiring 29 extends from each sensor 20 and connects the detection information to the controller 27 so as to be communicable with each signal line 70, and the first power supply line 51 and the first power supply line 51 for supplying power from the battery 28 to each sensor 20. It has two power supply lines 52, and the first power supply line 51 and the second power supply line 52 are branched a plurality of times at each branch point P1 to 6 and are extended to each sensor 20 to be connected to the controller 27. Has each error code generation unit 80 for determining a sensor (abnormality sensor) for inputting abnormal detection information to the controller 27 among the sensors 20, and the integrated determination unit 88 is abnormal by each error code generation unit 80. When there are a plurality of abnormality sensors determined to be the sensors that have detected the above, the failure range is determined based on the connection mode of each signal line 70 and the first power supply line 51 to which the plurality of abnormality sensors are connected.

Therefore, when there are a plurality of abnormality sensors determined by each error code generation unit 80, based on the connection mode of each signal line 70 to which the plurality of abnormality sensors are connected and the first power supply line 51 and the second power supply line 52. Since the failure range is determined, for example, the failure range can be determined from the combination of a plurality of abnormality sensors and the connection mode of each signal line 70 and the first power supply line 51 and the second power supply line 52.

The integrated determination unit 88 is the most downstream side of the path in the integrated wiring 29 to which all of the plurality of abnormality sensors are connected among the signal lines 70, the first power supply line 51, and the second power supply line 52. Comprehensive connection of the downstream position of the failure range and all of the normal sensors that input normal detection information to the controller 27 of each sensor 20 among the signal lines 70 and the first power supply line 51 and the second power supply line 52. Since the fault range upstream position, which is the most downstream side of the path in the wiring 29, is determined and the fault range is determined to be the range from the fault range downstream position to the fault range upstream position, the failure range determination accuracy is improved. be able to.

The controller 27 has a storage unit 87 that stores a failure database 90 showing the relationship between the information input from each sensor 20 and the failure range, and the integrated determination unit 88 has information input from each sensor 20. The failure range is determined by collating with the failure database 90, so that the determination accuracy by the integrated determination unit 88 can be improved.

Then, since the controller 27 has a failure location estimation unit 89 that estimates a location that is likely to be faulty in the failure range determined by the integrated determination unit 88, for example, the estimated failure location is displayed on the tester 100. It is possible to accurately guide the part to be repaired.

The description of the working machine according to the present invention is completed above, but the present invention is not limited to the above embodiment and can be changed without departing from the gist of the invention.

For example, in the present embodiment, "failure" of each sensor 20, general wiring 29, connector, joint, etc. is detected, judged, and estimated. However, here, the meaning of "failure" is other than damage such as disconnection. In addition, it may indicate an abnormal state including a human error such as forgetting to connect the connector.

Further, in the present embodiment, the control procedure of the error determination control according to the present invention executed by the controller 27 has been described with reference to the flowchart of FIG. 6, but the order of each step is not limited to this, and the present invention is carried out. It may be replaced as appropriate as possible.

Further, in the present embodiment, the hydraulic excavator 1 has been used as the work machine, but it may be used for a work machine other than the hydraulic excavator such as a wheel loader, a compaction machine, and a crane.

1 Hydraulic excavator (working machine)
20 Each sensor (multiple sensors)
27 Controller 28 Battery 29 Comprehensive wiring (collective circuit)
51 First power supply line (power supply line)
52 Second power supply line (power supply line)
70 Each signal line (communication line)
80 Each error code generation unit (abnormality judgment unit)
87 Storage unit 88 Integrated determination unit (Circuit failure determination unit)
89 Failure location estimation unit 90 Failure database (database)

Claims (5)

With multiple sensors
A controller into which detection information detected by the plurality of sensors is input, and
A battery that stores electric power supplied to the plurality of sensors, and
In a work machine, one of which is provided with each of the plurality of sensors, and the other of which is a collective circuit connected to the controller and the battery.
The controller is a work machine having a circuit failure determination unit that determines a failure range, which is a range of failures in the collective circuit, based on information input from the plurality of sensors. The collective circuit is
A plurality of communication lines extending from the plurality of sensors and connecting the detection information to the controller so as to be communicable.
It has a plurality of power supply lines for supplying power from the battery to the plurality of sensors.
The power supply line is branched and extended a plurality of times to connect to the plurality of sensors.
The controller
It has an abnormality determination unit that determines an abnormality sensor as a sensor that inputs abnormality detection information to the controller among the plurality of sensors.
When there are a plurality of the abnormality sensors determined by the abnormality determination unit, the circuit failure determination unit determines the failure range based on the connection mode of the communication line and the power supply line to which the plurality of abnormality sensors are connected. To do
The work machine according to claim 1, wherein the work machine is characterized by the above. The circuit failure determination unit
Of the communication line and the power supply line, the position downstream of the failure range, which is the most downstream side of the path in the collective circuit to which all of the plurality of abnormality sensors are connected, and
Of the communication line and the power supply line, the fault range upstream position which is the most downstream side of the path in the collective circuit to which all of the normal sensors that input normal detection information among the plurality of sensors to the controller are connected. Is determined, and the failure range is determined to be a range from the failure range downstream position to the failure range upstream position.
The work machine according to claim 2, wherein the work machine is characterized in that. The controller has a storage unit that stores a database showing the relationship between the information input from the plurality of sensors and the failure range.
The circuit failure determination unit determines the failure range by collating the information input from the plurality of sensors with the database.
The work machine according to claim 2, wherein the work machine is characterized in that. The controller has a failure location estimation unit that estimates a location that is likely to be faulty in the failure range determined by the circuit failure determination unit.
The work machine according to claim 1, wherein the work machine is characterized by the above.

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