JP2023117976A - Electric excavator and management system - Google Patents

Abstract

To realize efficient charging.SOLUTION: An electric excavator according to an embodiment of the present disclosure includes an electric motor, a battery that supplies power to the electric motor, a detection unit that detects the temperature of the battery, and a heating mechanism that heats the battery, and when the temperature of the battery detected by the detection unit is lower than a first reference temperature while an external power source is chargeably connected to the battery, the battery is configured to be heated by a heating mechanism using electric power supplied from the external power source before starting charging of the battery by the external power source.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to electric excavators and management systems.

In recent years, an electrically driven excavator has been proposed that has an electric motor that operates a hydraulic drive system. In the electric excavator, the electric motor is driven by electric power supplied from a battery provided in the main body.

By the way, various technologies have been proposed because the efficiency of charging and discharging batteries decreases in a low temperature environment.

Japanese Patent No. 5602444

For example, the technique described in Patent Document 1 proposes a technique of causing the battery to generate heat by charging the battery so that the temperature of the battery does not drop below -2 degrees.

In the technique described in Document 1, charging is started every time the temperature drops below -2 degrees, so the number of times the battery is charged increases. As the number of times of charging increases, the life of the battery tends to become shorter. In other words, the technology described in Cited Document 1 does not take battery life into consideration.

Therefore, in view of the above problem, a technology for efficiently charging the battery by heating the battery with a heating mechanism using power supplied from an external power source before starting charging the battery with an external power source. intended to provide

To achieve the above object, an electric excavator according to an embodiment of the present disclosure includes an electric motor, a battery that supplies electric power to the electric motor, a detection unit that detects the temperature of the battery, a heating unit that heats the battery. and a mechanism, wherein when the temperature of the battery detected by the detection unit is lower than the first reference temperature while the external power source is connected to the battery in a chargeable manner, the external power source starts charging the battery. The heating mechanism is configured to heat the battery using electric power supplied from an external power source before the battery is turned on.

According to the above-described embodiment, when the temperature of the battery is lower than the first reference temperature, the heating mechanism heats the battery before charging is started. charging can be realized.

FIG. 1 is a side view showing a shovel (excavator) according to the first embodiment. FIG. 2 is a block diagram schematically showing an example of the configuration of the excavator according to the first embodiment. FIG. 3 is a schematic diagram of a power supply system and an air conditioning system mounted on the excavator according to the first embodiment. FIG. 4 is a graph showing the correspondence held by the battery charge power holding unit according to the first embodiment. FIG. 5 is a graph showing the correspondence held by the water heating heater output holding unit according to the first embodiment. FIG. 6 is a flow chart showing a charging process procedure performed by the work start time in the excavator controller according to the first embodiment. FIG. 7 is a flow chart showing a procedure of charging and warming-up processing performed by the work start time in the excavator controller according to the second embodiment. FIG. 8 is a diagram exemplifying the configuration of a management system according to a modification.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. Moreover, the embodiments described below are examples rather than limiting the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In addition, in each drawing, the same or corresponding configurations are denoted by the same or corresponding reference numerals, and description thereof may be omitted.

(First embodiment)
First, an outline of an excavator 200 according to the first embodiment will be described as an example of an electric excavator.

[Overview of Excavator]
As shown in FIG. 1, the excavator 200 according to the present embodiment includes a lower traveling body 1, an upper revolving body 3 mounted on the lower traveling body 1 so as to be able to turn via a revolving mechanism 2, and a boom as an attachment. 4, an arm 5, a bucket 6, and a cabin 10.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and the respective crawlers are hydraulically driven by traveling hydraulic motors 1R and 1L (see FIG. 2) to self-propell.

The upper revolving structure 3 is hydraulically driven by a revolving hydraulic motor 2M (see FIG. 2) through the revolving mechanism 2 to revolve with respect to the lower traveling structure 1. As shown in FIG. All the driven elements (for example, the swing hydraulic motor 2M) are hydraulically driven by hydraulic fluid supplied from the main pump 14 (see FIG. 2). This corresponds to a configuration in which the power source (engine) of a so-called hydraulic excavator is replaced with the pump electric motor 12 .

Further, the upper rotating body 3 may be electrically driven through the rotating mechanism 2 by a rotating electric motor driven by electric power supplied from the battery module 19 instead of the rotating hydraulic motor 2M. In this case, for example, the excavator 200 is connected from the battery module 19 to the electric motor for turning via the power converter 100 and the inverter. Under the control of the excavator controller 30 and the inverter, the electric motor for turning may perform a power running operation to drive the upper turning body 3 to turn, and a regenerative operation to generate regenerative electric power to brake the turning of the upper turning body 3. . Further, the turning electric motor may supply regenerated electric power to the battery module 19 and the pump electric motor 12 via an inverter.

The boom 4 is attached to the center of the front part of the upper rotating body 3 so as to be able to be raised. An arm 5 is attached to the tip of the boom 4 so as to be vertically rotatable. possible to be installed. The boom 4, arm 5, and bucket 6 are hydraulically driven by boom cylinders 7, arm cylinders 8, and bucket cylinders 9 as hydraulic actuators, respectively.

The bucket 6 is an example of an end attachment, and another end attachment may be attached to the tip of the arm 5 in place of the bucket 6 depending on the type of work and the like. Other end attachments may be different types of buckets than bucket 6, such as slope buckets, dredging buckets, and the like. Other end attachments may also be different types of end attachments than buckets, such as breakers, agitators, grapples, and the like.

The cabin 10 is mounted on the front left side of the upper swing body 3, and is provided with a cockpit in which an operator is seated, an operation device 26 (see FIG. 2) described later, and the like.

The excavator 200 operates driven elements such as a lower traveling body 1 (left and right crawlers), an upper rotating body 3 , a boom 4 , an arm 5 , and a bucket 6 in accordance with operations of an operator riding in the cabin 10 .

Further, the shovel 200 may be configured to be remotely operated (remotely operated) from the outside of the shovel 200 instead of or in addition to being operable by an operator in the cabin 10 . When the excavator 200 is remotely controlled, the interior of the cabin 10 may be unmanned. The following description is based on the premise that the operator's operation includes at least one of the operator's operation of the operating device 26 of the cabin 10 and the external operator's remote operation.

Remote operation includes, for example, a mode in which the excavator 200 is operated by an operation input relating to the actuator of the excavator 200 performed by a predetermined external device. In this case, the excavator 200 may be equipped with a communication device (not shown) capable of communicating with a predetermined external device, and may transmit, for example, image information (captured image) output by an imaging device (not shown) to the external device. . Then, the external device may display the received image information (captured image) on a display device (hereinafter referred to as "remote control display device") provided in the external device. Also, various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the excavator 200 may be similarly displayed on the remote control display device of the external device. As a result, the operator of the external device can remotely operate the excavator 200 while confirming the display contents such as the captured image and the information screen showing the surroundings of the excavator 200 displayed on the remote control display device. can. The excavator 200 operates the hydraulic actuators in response to a remote control signal representing the details of remote control received from an external device via a communication device, and controls the lower traveling structure 1 (left and right crawlers), the upper revolving structure 3, Driven elements such as boom 4, arm 5 and bucket 6 may be driven.

In addition, the remote operation may include, for example, a mode in which the excavator 200 is operated by a person (for example, a worker) around the excavator 200 externally inputting voice or gesture to the excavator 200 . Specifically, the excavator 200 uses a voice input device (for example, a microphone), a gesture input device (for example, an imaging device), or the like mounted on the excavator 200 (the self machine) to transmit sounds uttered by surrounding workers or the like. or gestures made by a worker or the like. Then, the excavator 200 operates the actuators according to the contents of the recognized voice, gesture, etc., and moves the lower traveling body 1 (left and right crawlers), the upper rotating body 3, the boom 4, the arm 5, the bucket 6, and the like. A drive element may be driven.

In addition, the excavator 200 may automatically operate the actuator regardless of the content of the operator's operation. As a result, the excavator 200 has a function (so-called " "automatic driving function" or "machine control function").

The automatic operation function includes a function to automatically operate driven elements (actuators) other than the driven elements (hydraulic actuators) to be operated (so-called "semi-automatic operation function") ”) may be included. In addition, the automatic operation function includes a function that automatically operates at least a part of a plurality of driven elements (actuators) on the premise that the operator does not operate the operation device 26 or remote control (so-called "fully automatic operation function"). may be included. In the excavator 200, when the fully automatic operation function is enabled, the interior of the cabin 10 may be in an unmanned state. In addition, the semi-automatic operation function, the fully automatic operation function, and the like may include a mode in which the operation contents of the driven elements (actuators) to be automatically operated are automatically determined according to predetermined rules. In addition, in the semi-automatic operation function and the fully automatic operation function, the excavator 200 autonomously makes various judgments, and according to the judgment result, the operation contents of the driven element (actuator) to be autonomously operated automatically. is determined (so-called “autonomous driving function”).

[Excavator configuration]
Next, the configuration of the excavator 200 according to the present embodiment will be described with reference to FIG. 2 in addition to FIG.

FIG. 2 is a block diagram schematically showing an example of the configuration of the shovel 200 according to this embodiment.

In FIG. 2, mechanical power lines are indicated by double lines, hydraulic lines are indicated by thick solid lines, pilot lines are indicated by broken lines, and electric drive/control lines are indicated by thin solid lines.

<Hydraulic drive system>
The hydraulic drive system of the excavator 200 according to the present embodiment includes traveling hydraulic motors 1R and 1L that hydraulically drive driven elements such as the lower traveling body 1, the boom 4, the arm 5, and the bucket 6, a turning hydraulic motor 2M, Hydraulic actuators such as boom cylinder 7 , arm cylinder 8 and bucket cylinder 9 are included. Further, the hydraulic drive system of the excavator 200 according to this embodiment includes the pump electric motor 12 , the main pump 14 , and the control valve 17 .

A pump electric motor 12 (an example of an electric motor) is a power source for a hydraulic drive system. The pump electric motor 12 is, for example, an IPM (Interior Permanent Magnet) motor. The pump motor 12 is connected to a high-voltage power supply including a battery module 19 and a power converter 100 via an inverter 18A. The pump motor 12 is powered by three-phase AC power supplied from the battery module 19 via the inverter 18A to drive the main pump 14 and the pilot pump 15 . Drive control of the pump motor 12 may be performed by the inverter 18A under the control of the excavator controller 30, which will be described later.

The main pump 14 sucks hydraulic fluid from the hydraulic fluid tank T and discharges it to the high pressure hydraulic line 16 to supply the hydraulic fluid to the control valve 17 through the high pressure hydraulic line 16 . The main pump 14 is driven by the pump motor 12 . The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilt angle) of the swash plate under the control of the excavator controller 30, which will be described later. Thereby, the main pump 14 can adjust the stroke length of the piston and adjust the discharge flow rate (discharge pressure).

The main pump 14 may be driven by power from another power source in addition to the pump motor 12 . For example, when the boom 4 is lowered or the arm 5 is closed, the weight of the boom 4 or arm 5 regenerates the energy of the hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 to the hydraulic oil tank, and the main pump 14 is operated. You can drive. Specifically, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 or the arm cylinder 8 to the hydraulic oil tank by the weight of the boom 4 or arm 5 is used to may be driven by a hydraulic motor arranged coaxially with the axis of rotation of the Further, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 or the arm cylinder 8 to the hydraulic oil tank is regenerated by the weight of the boom 4 or the arm 5, and the power is generated by the generator. may be performed. Specifically, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 to the hydraulic oil tank by the weight of the boom 4 or arm 5 is used as a generator. A generator may generate electricity by driving a coaxially arranged hydraulic motor. In this case, the power generated by the generator may be supplied to the pump motor 12 or charged in the battery module 19 .

The control valve 17 is a hydraulic control device that controls a hydraulic drive system according to an operator's operation or an operation command corresponding to an automatic operation function. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and supplies hydraulic fluid supplied from the main pump 14 to the hydraulic actuators (the traveling hydraulic motors 1R and 1L, the turning hydraulic motor 2M, the boom It is configured to be selectively supplied to the cylinder 7, the arm cylinder 8, and the bucket cylinder 9). For example, the control valve 17 is a valve unit that includes a plurality of control valves (directional switching valves) that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each hydraulic actuator. Hydraulic fluid supplied from the main pump 14 and passed through the control valve 17 and the hydraulic actuator is discharged from the control valve 17 into the hydraulic fluid tank T.

<Electric drive system>
The electric drive system of the excavator 200 according to this embodiment includes a pump electric motor 12, a sensor 12s, and an inverter 18A. Also, the electric drive system of the excavator 200 according to the present embodiment includes a high-voltage power supply configured by the battery module 19, the power conversion device 100, and the like.

The sensors 12s include a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

The current sensor 12s1 detects currents of three phases (U-phase, V-phase, and W-phase) of the pump motor 12, respectively. The current sensor 12s1 is provided, for example, in the power path between the pump motor 12 and the inverter 18A. Detection signals corresponding to currents of the three phases of the pump motor 12 detected by the current sensor 12s1 are directly taken into the inverter 18A through the communication line. Also, the detection signal may be taken into the excavator controller 30 through the communication line and input to the inverter 18A via the excavator controller 30 .

The voltage sensor 12s2 detects three-phase voltages applied to the pump motor 12, respectively. The voltage sensor 12s2 is provided, for example, in the power path between the pump motor 12 and the inverter 18A. Detected signals corresponding to the applied voltages of the three phases of the pump motor 12 detected by the voltage sensor 12s2 are directly taken into the inverter 18A through the communication line. Also, the detection signal may be taken into the excavator controller 30 through the communication line and input to the inverter 18A via the excavator controller 30 .

The rotation state sensor 12s3 detects the rotation state of the pump electric motor 12 (eg, rotational position (rotational angle), rotational speed, etc.). The rotation state sensor 12s3 is, for example, a rotary encoder or resolver.

The inverter 18A drives and controls the pump electric motor 12 under the control of the excavator controller 30 . The inverter 18A defines, 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 the operation of the drive circuit. and a control circuit for outputting a control signal (for example, a PWM (Pulse Width Modulation) signal).

The control circuit of the inverter 18A performs drive control of the pump electric motor 12 while grasping the operating state of the pump electric motor 12 . For example, the control circuit of the inverter 18A grasps the operation state of the pump electric motor 12 based on the detection signal of the rotation state sensor 12s3. In addition, the control circuit of the inverter 18A sequentially adjusts the rotation angle of the rotating shaft of the pump electric motor 12 based on the detection signal of the current sensor 12s1 and the detection signal of the voltage sensor 12s2 (or the voltage command value generated in the control process). By estimating, the operating state of the pump motor 12 may be grasped.

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

The battery module 19 is configured to supply charged power to electronic components in the excavator 200 . A specific configuration will be described later.

The power conversion device 100 boosts the power of the battery module 19 or steps down the power from the pump motor 12 via the inverter 18A, and causes the battery module 19 to store the power. The power conversion device 100 switches between step-up operation and step-down operation according to the operating state of the pump motor 12 so that the voltage value of the DC (Direct Current) bus 110 falls within a certain range. Switching control between the step-up operation and the step-down operation of the power converter 100 is performed by the excavator controller 30 based on, for example, the voltage detection value of the DC bus 110, the voltage detection value of the battery module 19, and the current detection value of the battery module 19. may be

If there is no need to step up the output voltage of the battery module 19 and apply it to the pump motor 12, the power conversion device 100 may be omitted.

<Operation system>
The operating system of the excavator 200 according to this embodiment includes a pilot pump 15 , an operating device 26 and a pressure control valve 31 .

The pilot pump 15 supplies pilot pressure to various hydraulic devices (for example, the pressure control valve 31 ) mounted on the excavator 200 via the pilot line 25 . Thereby, the pressure control valve 31 can supply the pilot pressure to the control valve 17 under the control of the excavator controller 30 according to the operation content (for example, the operation amount and the operation direction) of the operating device 26 . Therefore, the excavator controller 30 and the pressure control valve 31 can realize the operation of the driven element (hydraulic actuator) according to the operation content of the operating device 26 by the operator. Under the control of the shovel controller 30 , the pressure control valve 31 can also supply the control valve 17 with a pilot pressure corresponding to the details of the remote operation specified by the remote operation signal. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the pump motor 12 as described above.

The operation device 26 is provided within the reach of the operator in the cockpit of the cabin 10, and the operator can operate the respective driven elements (that is, the left and right crawlers of the lower traveling body 1, the upper rotating body 3, the boom 4, and the arm 5). , and bucket 6, etc.). In other words, the operation device 26 includes hydraulic actuators (for example, traveling hydraulic motors 1R and 1L, turning hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, etc.) for the operator to drive respective driven elements. and electric actuators. The operation device 26 is, for example, an electric type, and outputs an electric signal (hereinafter referred to as an "operation signal") according to the content of operation by an operator. An operation signal output from the operation device 26 is taken into the excavator controller 30 via the signal line 28 . As a result, the excavator controller 30 can control the pressure control valve 31 and control the operation of the driven element (actuator) of the excavator 200 in accordance with the operator's operation content, an operation command corresponding to the automatic operation function, and the like. can.

The operating device 26 includes, for example, levers 26A-26C. The lever 26A may be configured, for example, to be able to receive operations related to the arm 5 (arm cylinder 8) and the upper rotating body 3 (rotating motion) according to operations in the front-rear direction and the left-right direction. For example, the lever 26B may be configured to be able to receive operations related to the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9) in response to operations in the longitudinal direction and the lateral direction. The lever 26C may be configured, for example, to be able to receive the operation of the undercarriage 1 (crawler).

When the control valve 17 is configured by an electromagnetic pilot type control valve (directional switching valve), the operation signal of the electric operation device 26 is directly input to the control valve 17, and each hydraulic control valve is operated by the operation device. 26 may be performed in accordance with the operation content. Further, the operating device 26 may be of a hydraulic pilot type that outputs a pilot pressure corresponding to the content of the operation. In this case, the pilot pressure corresponding to the operation content is supplied to the control valve 17 .

The pressure control valve 31 outputs a predetermined pilot pressure using hydraulic oil supplied from the pilot pump 15 through the pilot line 25 under the control of the excavator controller 30 . A pilot line on the secondary side of the pressure control valve 31 is connected to the control valve 17 , and the pilot pressure output from the pressure control valve 31 is supplied to the control valve 17 .

<Power system>
The excavator 200 includes a normal charging vehicle inlet 101 and a rapid charging vehicle inlet 102 as components for charging the battery module 19 .

Normal charging vehicle inlet 101 is configured to be connectable to a charging connector provided at the tip of a predetermined cable for an external power source (hereinafter referred to as "charging cable").

Charging AC-DC converter 103 converts AC power supplied from an external power source via normal charging vehicle inlet 101 into DC power that can charge battery 192 , and supplies the DC power to battery module 19 .

Rapid charging vehicle inlet 102 is configured to be connectable to a charging connector provided at the tip of a charging cable of an external power supply (for example, a charging station). The rapid charging vehicle inlet 102 is, for example, an inlet for rapid charging based on CHAdeMO (registered trademark). In this embodiment, by using such a DC charging method, DC power can be supplied to the battery module 19 without going through an AC-DC converter.

The battery module 19 of the excavator 200 according to this embodiment supplies power to each component within the excavator 200 . Battery module 19 includes battery 192 , battery controller 191 , and temperature sensor 193 .

Battery 192 provides power to various components within excavator 200 . For example, the battery 192 supplies charged (accumulated) power to the pump motor 12 . Also, the battery 192 is charged with power generated by the pump motor 12 (regenerative power).

The battery 192 is charged (accumulated) by being connected to an external power source with a charging cable.

Battery 192 is, for example, a lithium-ion battery and has a relatively high output voltage (eg, hundreds of volts).

A temperature sensor (an example of a detection unit) 193 detects the temperature of the battery 192 . A detection result by the temperature sensor 193 is output to the battery controller 191 .

A battery controller 191 (an example of a control unit) controls the internal configuration of the battery module 19 . For example, the battery controller 191 monitors the temperature condition of the battery 192 based on the output result from the temperature sensor 193 and calculates the SOC (State Of Charge) of the battery 192 . The battery controller 191 then outputs the detection result of the temperature sensor 193 and the SOC to the excavator controller 30 . Thereby, the excavator controller 30 can display the temperature of the battery 192 and the SOC of the battery 192 on the output device 50 (display device) inside the cabin 10 .

Battery controller 191 determines whether or not power can be supplied, depending on whether or not the vehicle is connected to an external power supply via a charging cable via normal charging vehicle inlet 101 or quick charging vehicle inlet 102 . In this embodiment, it is determined whether power can be supplied depending on whether a charging cable is connected between the external power source and the excavator 200 . Note that this embodiment does not limit the method of determining whether or not power can be supplied to the determination according to whether or not the charging cable is connected. For example, when performing wireless power supply, another method may be used, such as determining whether or not power supply is possible through mutual communication with a charging facility provided with an external power supply.

Then, when the battery controller 191 determines that an external power source (for example, a charging station) is connected by a charging cable (in other words, when it is determined that power can be supplied), the external power source is provided. communication with the charging facility. When the battery controller 191 communicates with the charging facility and the charging facility permits power supply, the battery controller 191 starts supplying power from the external power source.

<Control system>
The control system of the excavator 200 according to this embodiment includes an excavator controller 30 , an output device 50 and an input device 52 .

The output device 50 is provided in the cabin 10 and outputs various information to the operator under the control of the excavator controller 30 . The output device 50 includes, for example, a display device that outputs (notifies) information to the operator in a visual manner. The display device may be installed, for example, at a location within the cabin 10 that is easily visible to the operator, and may display various information images under the control of the excavator controller 30 . The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The output device 50 also includes, for example, a sound output device that outputs information in an audible manner to the operator. The sound output device is, for example, a buzzer, a speaker, or the like.

The input device 52 is provided inside the cabin 10 and receives various inputs from the operator. The input device 52 may include, for example, an operation input device that receives operator input. Operation input devices include, for example, buttons, toggles, levers, touch panels, touch pads, and the like. The input device 52 may also include, for example, a voice input device that receives voice input from the operator and a gesture input device that receives gesture input from the operator. The voice input device includes, for example, a microphone that picks up the voice of the operator in cabin 10 . Also, the gesture input device includes, for example, an indoor camera capable of imaging the operator's gesture in the cabin 10 . A signal corresponding to an input from the operator received by the input device 52 is captured by the excavator controller 30 .

Each function of the excavator controller 30 may be realized by arbitrary hardware, or a combination of arbitrary hardware and software. For example, the excavator controller 30 includes a processor such as a CPU (Central Processing Unit), a memory device (main storage device) such as RAM (Random Access Memory), a non-volatile auxiliary storage device such as ROM (Read Only Memory), and a computer including an interface device for input/output with the outside.

The excavator controller 30 controls driving of the excavator 200 . For example, the excavator controller 30 outputs a control command to the pressure control valve 31 according to an operation signal input from the operation device 26, and causes the pressure control valve 31 to output a pilot pressure according to the operation content of the operation device 26. . Thereby, the excavator controller 30 can realize the operation of the driven element (hydraulic actuator) of the excavator 200 corresponding to the operation content of the electric operating device 26 .

Further, when the excavator 200 is remotely operated, the excavator controller 30 may perform control related to remote operation, for example. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31 to cause the pressure control valve 31 to output a pilot pressure according to the details of the remote operation. As a result, the excavator controller 30 can realize the operation of the excavator 200 (driven element) corresponding to the details of the remote operation.

Also, the excavator controller 30 may perform control related to the automatic driving function, for example. Specifically, the excavator controller 30 may output a control command to the pressure control valve 31 and cause the pressure control valve 31 to apply the pilot pressure to the control valve 17 according to the operation command corresponding to the automatic operation function. Thereby, the excavator controller 30 can realize the operation of the driven element (hydraulic actuator) of the excavator 200 corresponding to the automatic driving function.

The excavator controller 30 may integrally control the operation of the entire excavator 200 (various devices mounted on the excavator 200).

The excavator controller 30 performs drive control of the electric drive system based on various types of input information (for example, control commands including operation signals of the operation device 26).

Further, the excavator controller 30 drives the power conversion device 100 based on the operating state of the operating device 26, for example, and controls the step-up operation and step-down operation of the power conversion device 100, in other words, the discharge state and charge state of the battery module 19. You may perform switching control with. Further, for example, when the excavator 200 is remotely operated, the excavator controller 30 may drive the power conversion device 100 based on the content of the remote operation, and perform switching control between the discharging state and the charging state of the battery module 19. . Further, for example, when the automatic operation function of the excavator 200 is valid, the excavator controller 30 drives the power conversion device 100 based on an operation command corresponding to the automatic operation function, and changes the discharge state and the charge state of the battery module 19. Switching control may be performed.

The excavator controller 30 may control the air conditioning system 90 of the excavator 200 . In addition, the excavator controller 30 controls the air conditioning system 90 by controlling the operation and stop of an HVAC (Heating, Ventilation, and Air Conditioning) 91, a water pump 92, a water heater 93, and two electromagnetic valves 95. you can HVAC 91, water pump 92, and water heater 93 will be described later.

Also, the excavator controller 30 receives the detected value of the battery 192 from the battery controller 191, executes various calculations, and outputs various commands to the HVAC 91, the water pump 92, the water heater 93, the two electromagnetic valves 95, and the like. do. For example, when the excavator controller 30 determines that the temperature of the battery 192 is lower than a first reference temperature (eg, 0 degrees), it outputs various commands to the air conditioning system 90 to warm up the battery. The first reference temperature is a temperature determined as a reference for determining whether to warm up the battery 192 . In this embodiment, the first reference temperature for determining whether to heat the battery 192 is 0 degrees. However, the first reference temperature is not limited to 0 degrees. The temperature is set accordingly. Each functional block provided for the excavator controller 30 to warm up the battery 192 will be described later.

<Structure for warming up the air-conditioning system of the excavator and the battery using a part of the air-conditioning system>
FIG. 3 is a schematic diagram of a power supply system and an air conditioning system mounted on the excavator 200 according to this embodiment. A power cable is indicated by a double line, a refrigerant channel is indicated by a thick solid line, and a signal line is indicated by a dotted line.

In the example shown in FIG. 3 , the quick charging vehicle inlet 102 provided in the excavator 200 is connected by a charging cable 1311 so that electric power can be supplied from a charging station 1301 . In this embodiment, an example in which the rapid charging vehicle inlet 102 is connected to the charging station 1301 so as to be capable of rapid charging will be described. However, in this embodiment, the battery 192 may be supplied with electric power from an external power supply (for example, the charging station 1301), and the connected inlets and the like are not limited. For example, charging station 1301 may be connected to normal charging vehicle inlet 101 .

By the way, conventionally, when a battery in a battery module is charged with electric power supplied from a charging station, if the battery is cold, low-current charging is performed, and the charging time of the battery is lengthened. Therefore, in the present embodiment, when the temperature of the battery 192 is lower than the first reference value (for example, 0 degrees), the excavator controller 30 uses the water heater 93 or the like provided in the air conditioning system 90 to reduce the temperature of the battery 192. After warming up, the battery 192 is charged. Since the configuration inside the battery module 19 is as described above, the description thereof is omitted, and the configuration of the air conditioning system 90 will be described.

In this embodiment, an air conditioning system 90 includes an HVAC 91 , a water pump 92 , a water heater 93 , a reserve tank 94 and a water circulation flow path 96 .

The water circulation flow path 96 is a path for circulating water between the water pump 92 , the water heater 93 , the reserve tank 94 , the HVAC 91 and the battery 192 in the battery module 19 . In addition, although this embodiment demonstrates the example which circulates water, it does not restrict|limit to the circulation of water, and should just circulate a liquid.

The water circulation channel 96 branches into a first branch channel 96A in which the HVAC 91 is arranged and a second branch channel 96B in which the battery 192 in the battery module 19 is arranged.

A first electromagnetic valve 95A is provided in the first branch flow path 96A, and a second electromagnetic valve 95B is provided in the second branch flow path 96B.

The first electromagnetic valve 95A is a valve provided for switching whether or not water is allowed to flow through the first branch flow path 96A. The switching of whether or not to allow water to flow through the first branch flow path 96A by the first solenoid valve 95A is performed based on the control from the excavator controller 30 .

The second electromagnetic valve 95B (an example of a mechanism for guiding water to a channel provided near the battery 192) is a valve provided for switching whether or not water is allowed to flow through the second branch channel 96B. The switching of whether or not to allow water to flow through the second branch flow path 96B by the second electromagnetic valve 95B is performed based on control from the shovel controller 30 .

In this embodiment, an example in which the first electromagnetic valve 95A and the second electromagnetic valve 95B are used to switch the water flowing in the first branched flow path 96A and the second branched flow path 96B will be described. However, the present embodiment is not limited to the example using the first solenoid valve 95A and the second solenoid valve 95B as long as the water flow can be switched. For example, a three-way valve or the like may be used to switch the water flowing through the first branched channel 96A and the second branched channel 96B.

The water pump 92 circulates the water in the water circulation channel 96 by sucking and discharging water flowing from the water circulation channel 96 under the control of the excavator controller 30 .

The HVAC 91 (an example of an air conditioner) is configured to adjust the air condition inside the cabin 10 according to the control from the shovel controller 30 . The state of air is, for example, temperature or humidity. The HVAC 91 according to this embodiment is a device unit that integrally includes equipment for adjusting the state of air, such as a blower, a heat exchanger, and a humidifier. For example, the HVAC 91 adjusts the temperature of the air inside the cabin 10 by exchanging heat between the water flowing through the water circulation passage 96 and the air inside the cabin 10 .

The water heater 93 (an example of a heater) heats the water flowing through the water circulation flow path 96 under the control of the excavator controller 30 . The water heater 93 may be any heater that can heat water. For example, a PTC heater may be used.

The reserve tank 94 is a tank provided to temporarily store water flowing through the water circulation flow path 96 . For example, even if the temperature of the water changes according to the heating of the water heater 93 and the volume of the water flowing through the water circulation flow path 96 changes, the reserve tank 94 can temporarily store the water. Therefore, the internal pressure in the water circulation channel 96 can be adjusted, and the load applied to the water circulation channel 96 can be suppressed.

<Functional block of excavator controller>
Each functional block in the excavator controller 30 will be described. Each functional block in the excavator controller 30 is conceptual and does not necessarily need to be physically configured as shown. All or part of each functional block can be functionally or physically distributed and integrated in arbitrary units. Each processing function performed in each functional block is realized in whole or in part by a program executed by the CPU. Alternatively, each functional block may be implemented as hardware by wired logic.

In this embodiment, the excavator controller 30 is chargeably connected by a charging cable 1311 between a charging station (an example of an external power source) 1301 and the normal charging vehicle inlet 101 or the rapid charging vehicle inlet 102. By controlling each configuration in the air conditioning system 90 and flowing hot water heated by the water heater 93 to the battery 192 through the water circulation flow path 96 and the second branch flow path 96B, The battery 192 is warmed up.

Therefore, the excavator controller 30 includes an acquisition unit 301 , a determination unit 302 , a heating control unit 303 , and a charge control unit 304 as functional blocks for controlling charging of the battery 192 . Furthermore, the excavator controller 30 includes a battery charging power storage unit 305, a water heating heater output storage unit 306, and a set time storage unit 307 in the nonvolatile auxiliary storage device. First, each holding unit stored in the auxiliary storage device will be described.

The battery charge power holding unit 305 holds a correspondence relationship between the temperature of the battery 192 and the limit value of power for charging the battery 192 at that temperature.

FIG. 4 is a graph showing the correspondence held by the battery charge power holding unit 305 according to this embodiment. The charging control unit 304 performs charging control according to the line 1401 indicating the correspondence in FIG. As a specific example, charging is suppressed when the temperature of the battery 192 is 0 degrees or less. As shown in FIG. 4, when the temperature of the battery 192 is between 0 degrees and 10 degrees, the limit value of electric power for charging increases according to the temperature of the battery 192 . When the temperature of the battery 192 is 10 degrees or higher, the battery 192 is charged with the maximum chargeable power Pb.

The water heating heater output holding unit 306 holds the correspondence relationship between the temperature of the battery 192 and the limit value of the electric power supplied to the water heating heater 93 .

FIG. 5 is a graph showing the correspondence held by the water heating heater output holding unit 306 according to the present embodiment. In the example shown in FIG. 5, when the temperature of the battery 192 is 5 degrees or less, the water heater 93 is supplied with the maximum power Ph for heating. As shown in FIG. 5, when the temperature of the battery 192 is between 5 degrees and 10 degrees, the power supplied to the water heater 93 is controlled to decrease as the temperature of the battery 192 rises.

Returning to FIG. 3, the set time holding unit 307 holds time information indicating the work start time at which the excavator 200 starts work. The time information of the work start time held by the set time holding unit 307 may be time information input by the operator on the excavator 200 via the input device 52 or time information transmitted by the operator from an external device. Stores time information. As another example, the set time holding unit 307 indicates the work start time of each schedule, which is automatically set according to work schedule information prepared in advance by a management center (an example of a management device) that manages the work site. Time information may be retained. Furthermore, the auxiliary storage device stores work history information including past work start times and work end times of the excavator 200, and the excavator controller 30 estimates the work start time of each schedule based on the work history information. Alternatively, the set time holding unit 307 may store the time information of the estimated work start time of each schedule. Any setting method may be used to set the time information held by the set time holding unit 307 in this way, regardless of the well-known method.

The acquisition unit 301 acquires signals of various configurations inside the excavator 200 . For example, the acquisition unit 301 acquires information indicating whether or not the battery controller 191 is connected to an external power source (for example, the charging station 1301). In addition, when it is connected to an external power source (eg, charging station 1301), acquisition unit 301 receives information (eg, information that can be supplied from battery controller 191) regarding the connected external power source (eg, charging station 1301). maximum power, etc.).

The acquisition unit 301 also acquires the temperature of the battery 192 detected by the temperature sensor 193 and the like from the battery controller 191 .

The determination unit 302 makes various determinations regarding the charging of the battery 192 based on the signal and the like acquired by the acquisition unit 301 .

The heating control unit 303 controls each component of the air conditioning system 90 according to the determination result of the determination unit 302 to heat the battery 192 .

As control for heating the battery 192, the heating control unit 303 performs control for closing the first solenoid valve 95A and control for opening the second solenoid valve 95B. As a result, the water in the water circulation flow path 96 flows to the battery 192 .

Furthermore, the heating control unit 303 performs control to start driving the water pump 92 and to start heating by the water heater 93 as control for heating. As a result, the hot water heated by the water heater 93 flows to the battery 192 of the battery module 19 . Therefore, in this embodiment, the air conditioning system 90 can heat the battery 192 .

The charging control unit 304 performs control to charge the battery 192 with power supplied from an external power supply (for example, the charging station 1301) according to the determination result by the determination unit 302. FIG.

For example, the determination unit 302 determines that the temperature of the battery 192 (detected by the temperature sensor 193) acquired by the acquisition unit 301 while the charging station 1301 is rechargeably connected to the battery 192 is 0 degrees (first (Example of reference temperature). If it is determined that the temperature is lower than 0 degrees (an example of the first reference temperature), the heating control unit 303 starts charging the battery 192 with the power supplied from the charging station 1301 before the charging control unit 304 starts charging the battery 192 . The electric power supplied from the station 1301 is used to control the heating of the battery 192 by the air conditioning system (an example of the heating mechanism) 90 .

On the other hand, when determining unit 302 determines that the temperature is 0° C. (an example of the first reference temperature) or higher, battery 192 is not heated using air conditioning system 90, and charging control unit 304 controls battery 192. Start controlling charging. At this time, the charging control unit 304 instructs the battery controller 191 so that the power charged to the battery 192 does not exceed the power limit value corresponding to the temperature of the battery 192 held by the battery charging power holding unit 305. . Thereby, the battery controller 191 communicates with the charging station 1301 and adjusts so that power corresponding to the limit value is supplied to the battery 192 .

Since the temperature of the battery 192 is lower than 0 degrees (an example of the first reference temperature), while the battery 192 is being warmed by the air conditioning system 90 using the electric power from the charging station 1301, the determination unit 302 ( It is determined whether the temperature of the battery 192 (detected by the temperature sensor 193) is 5 degrees (an example of the second reference temperature) or higher. When the determination unit 302 determines that the temperature is 5°C (an example of the second reference temperature) or higher, the heating control unit 303 causes the air conditioning system 90 to heat the battery 192 using the power supplied from the charging station 1301. At the same time, the charging control unit 304 starts controlling charging the battery 192 with power supplied from the charging station 1301 . At this time, the heating control unit 303 controls so that the power supplied to the water heater 93 does not exceed the power limit value corresponding to the temperature of the battery 192 held by the water heater output holding unit 306. . Similarly, the charging control unit 304 instructs the battery controller 191 so that the power charged to the battery 192 does not exceed the power limit value corresponding to the temperature of the battery 192 held by the battery charge power holding unit 305. do. In this embodiment, the case where the second reference temperature for determining whether or not to start the charging control of the battery 192 is 5 degrees will be described, but the second reference temperature is not limited to 5 degrees. The temperature may be set according to the embodiment.

While the heating of the battery 192 by the air conditioning system 90 and the charging of the battery 192 with the power supplied from the charging station 1301 by the charging control unit 304 are being performed, the temperature of the battery 192 (detected by the temperature sensor 193) increases. As the temperature rises above 5 degrees Celsius (an example of the second reference temperature), charging control section 304 controls to increase the amount of power supplied from charging station 1301 to battery 192 according to battery charging power holding section 305. , the heating control unit 303 performs control to reduce the amount of electric power supplied from the charging station 1301 to the air conditioning system 90 (an example of a heating mechanism) in accordance with the water heating heater output holding unit 306 .

That is, when the temperature of the battery 192 becomes higher than 5 degrees (an example of the second reference temperature), the battery 192 is assumed to be chargeable and charging is started. At this time, the battery 192 can be heated by self-heating due to charging.

Note that in the present embodiment, when the determining unit 302 determines that the temperature of the battery 192 is 5 degrees Celsius (an example of the second reference temperature) or higher, the charging control unit 304 reduces the power supplied from the charging station 1301 to An example of starting control to charge the battery 192 has been described. However, in the present embodiment, the charging control unit 304 does not limit the reference temperature for starting charging control when the determination unit 302 determines that the temperature is 5 degrees or higher (an example of the second reference temperature). do not have. For example, when the determination unit 302 determines that the temperature of the battery 192 is higher than 0 degrees (an example of the first reference temperature), the charging control unit 304 may start control to start charging. As described above, in the present embodiment, the reference temperature at which the charging control unit 304 starts charging control may be a temperature at which the battery 192 can be charged.

Further, when it is determined that the temperature of the battery 192 is higher than 0 degrees (an example of the first reference temperature) and charging is started, the heating control unit 303 transfers the air conditioning system 90 (heating mechanism) from the charging station 1301. (Example)) may be controlled to reduce the amount of power supplied. At this time, as the temperature of the battery 192 becomes higher than 0 degrees (an example of the first reference temperature), the charging control unit 304 increases the amount of electric power supplied from the charging station 1301 to the battery 192, and the heating control unit 303 However, control may be performed to reduce the amount of power supplied from charging station 1301 to air conditioning system 90 (an example of a heating mechanism). Furthermore, as the temperature of battery 192 becomes higher than 0 degrees (an example of a first reference temperature), charging control unit 304 increases the amount of electric power supplied from charging station 1301 to battery 192 . If sufficient power for charging and heating can be supplied from the charging station 1301, the amount of power supplied from the charging station 1301 to the air conditioning system 90 (an example of the heating mechanism) does not need to be reduced. Thus, the condition (or temperature) for starting charging, the condition (or temperature) for increasing the amount of charge, the condition (or temperature) for decreasing the amount of power supplied for heating, the condition (or temperature) for terminating heating (or temperature), since various combinations are conceivable, any combination may be used.

Also, the sum of the amount of power required for heating by the air conditioning system 90 and the amount of power charged in the battery 192 may be higher than the power that can be supplied by the charging station 1301 . In such a case, the amount of power obtained by subtracting the amount of power required for heating by the air conditioning system 90 from the power that can be supplied by the charging station 1301 is used as the amount of power to charge the battery 192 . That is, by giving priority to warming the battery 192, the battery 192 can be warmed quickly and charging with the maximum electric power Pb can be started early.

After that, when the temperature of the battery 192 reaches 10 degrees (an example of the third reference temperature) or higher, the heating control unit 303 stops the heating of the battery 192 by the air conditioning system 90, and the charging control unit 304 192 is controlled to be charged with the maximum power Pb. Thereafter, cooling of the battery 192 due to self-heating due to charging of the battery 192 can be suppressed. In this embodiment, the case where the third reference temperature for determining whether to stop heating the battery 192 is 10 degrees will be described. The temperature may be set according to the mode.

The heating control unit 303 stops heating the battery 192 , stops driving the water pump 92 , and stops heating by the water heater 93 .

The excavator controller 30 according to the present embodiment performs control so that the charging of the battery 192 and the warming of the battery 192 are completed at the work start time of the excavator 200, which is held as time information in the set time holding unit 307. .

Specifically, the determination unit 302 determines whether or not the time obtained by subtracting the charging time from the work start time of the excavator 200, which is stored as information in the set time storage unit 307, has arrived. Then, when the determination unit 302 determines that the time obtained by subtracting the charging time from the work start time has come, control of charging the battery 192 from the external power supply is started. At that time, if it is determined that the temperature detected from the battery 192 is lower than 0 degrees (first reference temperature), the control described above is performed.

The charging time is the time required to fully charge the battery 192 from an external power source (for example, the charging station 1301). The charging time may be a time calculated based on the SOC of the battery 192, the maximum power that the charging station 1301 can output, and the temperature of the battery 192, or may be a preset time (for example, two hours). . In other words, the charging time may be any time that allows the battery 192 to be fully charged.

Charging of the battery 192 is started at the time obtained by subtracting the charging time from the work start time. During this period, it is determined whether the temperature of the battery 192 has become lower than 5 degrees (an example of the second reference temperature). Then, when the determination unit 302 determines that the temperature has become lower than 5 degrees (an example of the second reference temperature), the heating control unit 303 may control the heating of the battery 192 by the air conditioning system 90 . .

By performing the control described above, the excavator controller 30 completes the charging of the battery 192 at the work start time indicated by the information held by the set time holding unit 307, and the heating by the air conditioning system 90 , the temperature of the battery 192 detected by the temperature sensor 193 is controlled to be higher than 5 degrees (an example of the second reference temperature).

<Charging flow until work start time>
Next, a procedure for charging the battery 192 in the excavator controller 30 before the work start time will be described. FIG. 6 is a flow chart showing a charging process procedure performed by the excavator controller 30 according to the present embodiment until the work start time.

First, based on the information acquired by the acquisition unit 301 (for example, the result of communication with the charging station 1301 by the battery controller 191), the determination unit 302 allows the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging to be charged. It is determined whether or not the cable 1311 is connected to the charging station 1301 (an example of an external power supply) (S1601). If not connected (S1601: No), this determination is repeated until connected.

When determining unit 302 determines that normal charging vehicle inlet 101 or quick charging vehicle inlet 102 is connected to charging station 1301 via charging cable 1311 (S1601: Yes), battery 192 is fully charged from charging station 1301. The charging time up to the time is derived (S1602). The description of the charging time is omitted as described above.

Then, the determination unit 302 determines whether or not the current time is after the time obtained by subtracting the charging time from the work start time (S1603). If it is determined that the current time is before the time obtained by subtracting the charging time from the work start time (S1603: No), the determination unit 302 determines that the current time is the time obtained by subtracting the charging time from the work start time. This determination is repeated until

If the determination unit 302 determines that the current time is after the time obtained by subtracting the charging time from the work start time (S1603: Yes), the acquisition unit 301 acquires the temperature of the battery 192 from the battery controller 191 ( S1604).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is lower than 0 degrees (S1605). If it is determined that the temperature is 0 degrees or higher (S1605: No), the charging control unit 304 starts charging the battery 192 with power supplied from the charging station 1301 (S1606), and proceeds to the processing of S1614.

On the other hand, when the determination unit 302 determines that the acquired temperature of the battery 192 is lower than 0 degrees (S1605: Yes), the heating control unit 303 closes the first solenoid valve 95A and closes the second solenoid valve 95B. is opened, heating by the water heater 93 and driving of the water pump 92 are started (S1607). Thereby, heating of the battery 192 is started.

The acquisition unit 301 acquires the temperature of the battery 192 from the battery controller 191 (S1608).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is 5 degrees or higher (S1609). If it is determined that the temperature is lower than 5 degrees (S1609: No), the heating of the battery 192 by the air conditioning system 90 started in S1607 is continued.

On the other hand, if the determination unit 302 determines that the acquired temperature of the battery 192 is 5 degrees or more (S1609: Yes), the heating control unit 303 causes the water heater 93 to Along with heating, the charge control unit 304 charges the battery 192 with an amount of power corresponding to the temperature (S1610). At this time, the charge control unit 304 limits the power charged to the battery 192 so that the sum of the power charged to the battery 192 and the power consumed by the water heating heater 93 does not exceed the maximum output of the charging station 1301 .

The acquisition unit 301 acquires the temperature of the battery 192 from the battery controller 191 (S1611).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is 10 degrees or higher (S1612). If it is determined to be lower than 10 degrees (S1612: No), the process is repeated from S1610.

On the other hand, if the determining unit 302 determines that the acquired temperature of the battery 192 is 10 degrees or higher (S1612: Yes), the heating control unit 303 stops heating the water heater 93 and driving the water pump 92. At the same time, charging control unit 304 starts charging battery 192 with maximum power Pb from charging station 1301 (S1613). At this time, if maximum power Pb exceeds the maximum output of charging station 1301 , charging control unit 304 limits the power charged to battery 192 so as not to exceed the maximum output of charging station 1301 .

Then, charging control unit 304 determines whether or not battery 192 is fully charged based on the SOC transmitted from battery controller 191 (S1614). If it is determined that the battery 192 is not fully charged (S1614: No), the process of S1615 is performed again while continuing charging.

On the other hand, when it is determined that the battery 192 is fully charged (S1614: Yes), the charging control unit 304 instructs the battery controller 191 to stop charging, and terminates charging (S1615).

By the processing procedure described above, the battery 192 is charged by the work start time. Further, when the temperature of the battery 192 becomes lower than 5° C. after the charging of the battery 192 is completed and before the work start time, the heating control unit 303 causes the water heating heater 93 to heat up. and control to start driving the water pump 92 may be performed.

In the present embodiment, the charging of the battery 192 is completed when the SOC of the battery 192 reaches 100%. Note that in the present embodiment, the completion of charging of the battery 192 is not limited to when the SOC reaches 100%, and may be in other states. For example, considering the life of the battery 192, the SOC may reach a predetermined reference value between 80% and 100%, or the charging condition set by the user may be satisfied.

With the above-described processing, even when the temperature of the outside air is low, the battery 192 is charged and the temperature of the battery 192 is maintained at 5 degrees or higher at the work start time, so the efficiency of the battery 192 is reduced. Operation using power supplied from the battery 192 can be performed without the need to Therefore, the operator can start work with the shovel 200 immediately after the work start time.

(Second embodiment)
1st Embodiment demonstrated the example which charges the battery 192 at the time which subtracted charging time from the work start time. However, it is not limited to such a charging method. Therefore, in the second embodiment, an example will be described in which charging is performed when connected to the charging station 1301, and control is performed so that the temperature of the battery 192 is maintained at 5 degrees or higher at the work start time. The configuration of the excavator 200 in this embodiment is the same as that in the first embodiment, and the description thereof is omitted.

Next, a procedure for charging the battery 192 and warming up the battery 192 before the work start time in the excavator controller 30 will be described. FIG. 7 is a flow chart showing the charging and warming-up processing procedures performed by the excavator controller 30 according to the present embodiment until the work start time.

First, based on the information acquired by the acquisition unit 301 (for example, the result of communication with the charging station 1301 by the battery controller 191), the determination unit 302 allows the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging to be charged. It is determined whether or not the cable 1311 is connected to the charging station 1301 (S1701). If not connected (S1701: No), this determination is repeated until connected.

When determining unit 302 determines that normal charging vehicle inlet 101 or quick charging vehicle inlet 102 is connected to charging station 1301 via charging cable 1311 (S1701: Yes), acquiring unit 301 receives a signal from battery controller 191. , the temperature of the battery 192 is obtained (S1702).

The determination unit 302 determines whether the acquired temperature of the battery 192 is lower than 0 degrees (S1703). If it is determined that the temperature is 0 degrees or higher (S1703: No), the charging control unit 304 starts charging the battery 192 with power supplied from the charging station 1301 (S1704), and proceeds to the process of S1713.

On the other hand, when the determination unit 302 determines that the acquired temperature of the battery 192 is lower than 0 degrees (S1703: Yes), the heating control unit 303 closes the first solenoid valve 95A and closes the second solenoid valve 95B. is opened, heating by the water heater 93 and driving of the water pump 92 are started (S1705). Thereby, heating of the battery 192 is started.

After that, the obtaining unit 301 obtains the temperature of the battery 192 from the battery controller 191 (S1706).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is 5 degrees or higher (S1707). If it is determined that the temperature is lower than 5 degrees (S1707: No), while continuing the heating of the battery 192 by the air conditioning system 90 started in S1705, the process of S1707 is performed again after a predetermined period of time.

On the other hand, if the determining unit 302 determines that the acquired temperature of the battery 192 is 5 degrees or higher (S1707: Yes), the heating control unit 303 causes the water heater 93 to Along with heating, the charging control unit 304 charges the battery 192 with an amount of power corresponding to the temperature (S1708). At this time, the charge control unit 304 limits the power charged to the battery 192 so that the sum of the power charged to the battery 192 and the power consumed by the water heating heater 93 does not exceed the maximum output of the charging station 1301 .

After that, the obtaining unit 301 obtains the temperature of the battery 192 from the battery controller 191 (S1709).

Then, the determining unit 302 determines whether the obtained temperature of the battery 192 is 10 degrees or higher (S1710). If it is determined to be lower than 10 degrees (S1710: No), the process is repeated from 1708.

On the other hand, if the determination unit 302 determines that the acquired temperature of the battery 192 is 10 degrees or more (S1710: Yes), the heating control unit 303 stops heating the water heater 93 and driving the water pump 92. At the same time, charging control unit 304 starts charging battery 192 with maximum power Pb from charging station 1301 (S1711). At this time, if maximum power Pb exceeds the maximum output of charging station 1301 , charging control unit 304 limits the power charged to battery 192 so as not to exceed the maximum output of charging station 1301 .

Then, charging control unit 304 determines whether or not battery 192 is fully charged based on the SOC transmitted from battery controller 191 (S1712). When it is determined that the battery 192 is not fully charged (S1712: No), the process of S1712 is performed again while continuing charging.

On the other hand, when it is determined that the battery 192 is fully charged (S1712: Yes), the charging control unit 304 instructs the battery controller 191 to stop charging and terminates charging (S1713).

Thereafter, the determination unit 302 determines whether or not the current time is after the time obtained by subtracting the warm-up time from the work start time (S1714). If it is determined that the current time is before the time obtained by subtracting the warm-up time from the work start time (S1714: No), the determination unit 302 determines that the current time is the time obtained by subtracting the warm-up time from the work start time. This determination is repeated until The warm-up time is the time required for the battery 192 to warm up. A case in which the warm-up time according to the present embodiment is a predetermined time (for example, one hour) will be described. Note that the warm-up time is not limited to a predetermined time, and may be a time calculated based on the current temperature of the battery 192, for example.

If the determination unit 302 determines that the current time is after the time obtained by subtracting the charging time from the work start time (S1714: Yes), the acquisition unit 301 acquires the temperature of the battery 192 from the battery controller 191 ( S1715).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is lower than 5 degrees (S1716). If it is determined that the temperature is 5 degrees or higher (S1716: No), the process ends, considering that warming up of the battery 192 is unnecessary.

On the other hand, when the determination unit 302 determines that the obtained temperature of the battery 192 is lower than 5 degrees (S1716: Yes), the heating control unit 303 closes the first solenoid valve 95A and closes the second solenoid valve 95B. is opened, heating by the water heater 93 and driving of the water pump 92 are started (S1717). Thereby, heating of the battery 192 is started.

After that, the obtaining unit 301 obtains the temperature of the battery 192 from the battery controller 191 (S1718).

Then, the determining unit 302 determines whether the acquired temperature of the battery 192 is 10 degrees or higher (S1719). If it is determined that the temperature is lower than 10 degrees (S1719: No), while continuing to heat the battery 192, the process from S1718 is performed again.

On the other hand, if the determining unit 302 determines that the acquired temperature of the battery 192 is 10 degrees or higher (S1719: Yes), the heating control unit 303 stops heating the water heater 93 and driving the water pump 92. (S1720).

By the procedure described above, the battery 192 is charged and warmed up by the work start time. Further, when the temperature of the battery 192 becomes lower than 5 degrees again after the warm-up of the battery 192 is finished, the processing of S1717 to S1720 may be performed.

As in the above-described embodiment, the timing of charging the battery 192 is not limited as long as the battery 192 is charged and the temperature of the battery 192 is maintained at 5 degrees or higher at the work start time.

With the above-described processing, even when the temperature of the outside air is low, the battery 192 is charged and the temperature of the battery 192 is maintained at 5°C or higher at the work start time. Operations can be performed using the supplied power. In other words, the operator can start work with the excavator 200 immediately after the work start time, so that work efficiency can be improved.

In the embodiment described above, an example has been described in which, as the heating mechanism, the water heated by the water heater 93 provided as the air conditioning system 90 is caused to flow through the second branch flow path 96B to warm up the battery 192 . However, the above-described embodiment does not limit the heating mechanism to the method of diverting the air conditioning system 90 that adjusts the air inside the cabin 10 . The heating mechanism may be any mechanism capable of heating the battery 192 . For example, a heater may be provided near the battery 192 as a heating mechanism.

In the above-described embodiment, the first reference temperature serving as a reference for whether or not to warm up is 0°C, the second reference temperature serving as a reference for whether to start charging is 5°C, and whether or not to finish warming up. The case where the third reference temperature, which serves as a reference for determining whether or not, is 10 degrees has been described. However, the above-described embodiment shows an example of the first reference temperature, the second reference temperature, and the third reference temperature, and specific temperature settings differ depending on the embodiment. For example, the second reference temperature may be the same temperature as the first reference temperature.

(Modification)
Embodiment mentioned above demonstrated the aspect which charges with the excavator 200. FIG. However, the above-described embodiment is not limited to a mode in which charging-related settings are performed only with the shovel 200 . Therefore, in this modified example, an example of setting the charging of the electric excavator in the management system will be described.

FIG. 8 is a diagram illustrating the configuration of a management system according to this modification. In the example shown in FIG. 8, a management system 800 includes a shovel 200, a first communication terminal 801, and a second communication terminal 802. Excavator 200 , first communication terminal 801 , and second communication terminal 802 are connected via communication network 850 .

The communication network 850 only needs to allow mutual communication between the excavator 200, the first communication terminal 801, and the second communication terminal 802, and mutual communication is possible according to a predetermined mobile communication standard (for example, LTE, 4G, or 5G). may communicate. Furthermore, the communication network 850 may be a wireless communication network using a wireless communication standard (eg, Bluetooth (registered trademark), Wi-Fi (registered trademark)).

The first communication terminal 801 and the second communication terminal 802 are, for example, communication terminals (for example, smart phones, tablet terminals, or PCs) used by workers, including operators, at the work site where the excavator 200 works. Further, the first communication terminal 801 and the second communication terminal 802 are not limited to communication terminals used by workers, and may be a management server or the like for managing the work of the excavator 200 .

The excavator 200 according to this modification has the same configuration as the excavator 200 of the above-described embodiment, and further includes a charging condition holding unit 308 in the excavator controller 30 .

Charging condition holding unit 308 stores charging condition information. The charging condition information indicates conditions for starting charging of the battery 192 from a power supply station (an example of an external power source). The charging condition information may be, for example, a condition based on the work start time as in the embodiment described above. As another example of the charging condition information, a start time for starting charging may be set. The charging condition information is not limited to conditions related to time, and may be any conditions. For example, whether or not an operator is on board, whether or not the SOC of the battery 192 is equal to or less than a predetermined reference value, and the like may be included.

The charge control unit 304 controls charging of the battery 192 from the power supply station according to the charging condition information when the power supply station (an example of an external power supply) is connected to the battery 192 in a chargeable manner. At that time, the battery 192 is warmed up in the same manner as in the above-described embodiment.

Specifically, determination unit 302 determines whether or not the condition for starting charging indicated by the charging condition information is satisfied. When it is determined that the condition for starting charging is satisfied, the obtaining unit 301 obtains the temperature of the battery 192 from the battery controller 191 . Then, the determination unit 302 determines whether the acquired temperature of the battery 192 is lower than 0 degrees (an example of the first reference temperature). When the determination unit 302 determines that the acquired temperature of the battery 192 is lower than 0 degrees, the heating control unit 303 closes the first electromagnetic valve 95A and opens the second electromagnetic valve 95B, Heating by the heater 93 and driving of the water pump 92 are started.

After that, the charging control unit 304 instructs the battery controller 191 to charge the battery 192 in the same procedure as in the embodiment described above.

The charging condition information stored in the charging condition holding unit 308 is not limited to information input as an operation via the input device 52 by the operator on the excavator 200, but the first communication terminal 801, and Information set by the second communication terminal 802 may be used. Therefore, the case where the first communication terminal 801 makes the settings will be described.

First communication terminal 801 displays screen information for accepting input of charging condition information on display device 811 . The screen information displays a column for inputting charging condition information. The charging condition information may be the time to start charging, or the work start time in the embodiment described above.

Then, the first communication terminal 801 transmits the charging condition information input to the screen information to the excavator 200 .

The excavator controller 30 of the excavator 200 receives the charging condition information from the first communication terminal 801 . The excavator controller 30 then stores the received charging condition information in the charging condition holding unit 308 . Then, the excavator controller 30 performs the above-described control based on the stored charging condition information.

Furthermore, the excavator controller 30 of the excavator 200 may transmit the received charging condition information to another communication terminal (for example, the second communication terminal 802). That is, the excavator controller 30 may store the charging condition information received from the first communication terminal 801 in the charging condition holding unit 308 and transmit the information to the second communication terminal 802 .

The second communication terminal 802 receives charging condition information from the excavator 200 . Second communication terminal 802 then displays screen information representing the received charging condition information on display device 821 .

Thereby, for example, when the manager of the work site sets the charging condition information, the operator can be notified of the setting.

The excavator controller 30 may notify one or more of the first communication terminal 801 and the second communication terminal 802 about the charging condition information. Any method may be used for the notification, but for example, it is conceivable to use e-mail.

For example, when the charging condition indicated by the charging condition information is satisfied, the shovel controller 30 sends the notification information to the effect that charging based on the charging condition information is started to either the first communication terminal 801 or the second communication terminal 802. or one or more. This transmission allows the operator to recognize in advance that charging is to be started.

After transmitting the notification information, the excavator controller 30 may start the control described above or wait.

As for the case of waiting, for example, the excavator controller 30 may wait until receiving a permission notification corresponding to the notification information from the first communication terminal 801 or the second communication terminal 802 . The excavator controller 30 starts the control described above when the received notification of permission indicates that the start of charging is permitted.

As another example, the excavator controller 30 may transmit notification information indicating that charging has started based on the charging condition information to one or more of the first communication terminal 801 and the second communication terminal 802. . This transmission allows the operator to recognize that charging is currently being performed.

Furthermore, the excavator controller 30 may transmit notification information to the effect that the condition for completing charging of the battery 192 has been reached to one or more of the first communication terminal 801 and the second communication terminal 802 . This transmission allows the operator to recognize that charging has been completed.

Furthermore, the excavator 200 may transmit the notification regarding the charging condition information to a communication terminal such as an SNS server, instead of sending the notification to the communication terminal by e-mail or the like. That is, when the charging condition information is uploaded on the SNS, the operator or the like can confirm the information.

This allows the operator to recognize the situation and to give desired instructions. Therefore, it is possible to improve the convenience of the excavator 200 .

In this modified example, an example has been described in which charging condition information is held and the battery 192 is charged according to the charging condition. However, this modification does not limit the information to be held to the charging condition information. For example, the excavator controller 30 may hold warm-up condition information indicating conditions for warming up the battery 192 . The warm-up condition information may be any condition like the charging condition information described above. For example, efficient work can be achieved by warming up the battery 192 before starting work.

<Action>
In the embodiment described above, when the temperature of the battery 192 is lower than the first reference value (for example, 0 degrees), the excavator controller 30 performs control to heat the battery 192 before charging the battery 192. . By heating the battery 192 before charging, low-current charging can be suppressed and the charging efficiency of the battery 192 can be improved. Also, by charging the battery 192 after warming it up, the time required to charge the battery 192 with the maximum electric power Pb can be shortened. Therefore, in the embodiment described above, the charging time of the battery 192 can be shortened.

In the above-described embodiment, the excavator controller 30 warms up (warms) the battery 192 before the work start time, so that the excavator 200 can immediately start work at the work start time. Efficiency can be improved.

In the above-described embodiment, when the temperature of the battery 192 is between the second reference temperature (eg, 5 degrees) and the third reference temperature (eg, 10 degrees), the excavator controller 30 controls the battery temperature using the air conditioning system 90. By heating the battery 192 and charging the battery 192, both the temperature rise of the battery 192 and the charging of the battery 192 can be achieved. In addition, by charging the battery 192, the self-heating of the battery 192 can efficiently raise the temperature of the battery 192. FIG.

In the above-described embodiment, when the temperature of the battery 192 is between the second reference temperature (eg, 5 degrees) and the third reference temperature (eg, 10 degrees), the shovel controller 30 controls the temperature of the battery 192 to rise. The charging power amount of the battery 192 is increased by suppressing the heating of the battery 192 . As the temperature of the battery 192 rises in this way, the charge power amount increases, so that efficient charging according to the characteristics of the battery 192 can be realized.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the claims.

200 Excavator 1 Undercarriage 2 Revolving Mechanism 3 Upper Revolving Body 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cabin 12 Electric Motor for Pump 14 Main Pump 19 Battery Module 191 Battery Controller 192 Battery 193 Temperature Sensor 30 Excavator Controller 90 Air Conditioning System 91 HVAC
92 water pump 93 water heater 94 reserve tank 95A first solenoid valve 95B second solenoid valve 96 water circulation channel 301 acquisition unit 302 determination unit 303 heating control unit 304 charge control unit 305 battery charge power holding unit 306 water heating heater output Holding unit 307 Setting time holding unit

Claims (9)

an electric motor;
a battery that supplies power to the electric motor;
a detection unit that detects the temperature of the battery;
a heating mechanism for heating the battery,
When the temperature of the battery detected by the detection unit is lower than a first reference temperature while the external power supply is connected to the battery in a chargeable manner, before starting charging of the battery by the external power supply In addition, the heating mechanism is configured to heat the battery using the power supplied from the external power supply,
electric excavator. When the temperature of the battery detected by the detection unit is higher than the first reference temperature while the battery is heated by the heating mechanism using power supplied from the external power supply, The battery is heated by the heating mechanism using power supplied from an external power supply, and the battery is charged with power supplied from the external power supply.
The electric excavator according to claim 1. As the temperature of the battery detected by the detection unit becomes higher than the first reference temperature, the amount of electric power supplied from the external power supply to the battery is increased, and the amount of electric power supplied from the external power supply to the heating mechanism is increased. configured to reduce the amount of power
The electric excavator according to claim 2. store time information,
The charging of the battery is completed at the time indicated by the time information, and the temperature of the battery detected by the detection unit becomes higher than a predetermined temperature due to the heating by the heating mechanism. ing,
The electric excavator according to any one of claims 1 to 3. The time information includes information indicating the time input via the input device included in the electric excavator, information indicating the time transmitted from an external device, and information prepared in advance by a management device that manages a work site where the electric excavator works. one or more of information indicating the time automatically set according to the schedule information of the work performed, and information indicating the time generated based on the work history information of the work performed in the past by the electric excavator.
The electric excavator according to claim 4. The heating mechanism is a mechanism that guides liquid heated by an air conditioner that adjusts the air in the cabin of the electric excavator to a flow path provided near the battery, or a heater that heats the battery.
The electric excavator according to any one of claims 1 to 4. A management system comprising an electric excavator and a first communication terminal capable of communicating with the electric excavator,
The electric excavator is
an electric motor;
a battery that supplies power to the electric motor;
a detection unit that detects the temperature of the battery;
a heating mechanism for heating the battery,
The first communication terminal is
displaying screen information for accepting input of charging condition information indicating conditions for starting charging of the battery;
configured to transmit the charging condition information input from the screen information,
The electric excavator is
receiving the charging condition information;
A first reference is the temperature of the battery detected by the detection unit when the battery is charged according to the condition indicated by the charging condition information while an external power supply is connected to the battery so as to be charged. When the temperature is lower than the temperature, the heating mechanism is configured to heat the battery using power supplied from the external power supply.
management system. The management system further includes a second communication terminal capable of communicating with the electric excavator,
The electric excavator transmits the charging condition information,
The second communication terminal is configured to receive the charging condition information and display screen information showing the received charging condition information.
8. Management system according to claim 7. The electric excavator is
Any one of notification information to the effect that charging is started based on the charging condition information, notification information to the effect that charging has been started based on the charging condition information, and notification information to the effect that a condition for completing charging has been reached. configured to send one or more
Management system according to claim 7 or 8.

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