JP2023121651A - Shovel - Google Patents

Abstract

To improve convenience.SOLUTION: A shovel has an air-blowing function of flowing air in a first direction so as to cool a predetermined structure, and a dust-proof net provided on a passage of air flowing in the first direction to a predetermined structure from outside the shovel, is configured to clean the dust-proof net when satisfying a predetermined condition, and is configured to be switchable according to operation information received from the predetermined device whether or not to clean the dust-proof net when satisfying the predetermined condition.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to excavators.

2. Description of the Related Art Conventionally, a hydraulic excavator is provided with a cooling fan for cooling the internal configuration. When the cooling fan rotates, dust and dirt are sucked in together with the atmosphere. Therefore, the cooling fan is reversely rotated to clean the dust and dirt (see, for example, Patent Document 1).

Japanese Patent No. 5058185

By the way, as in Japanese Patent Laid-Open No. 2002-200012, a technique has been proposed in which cleaning processing is automatically performed when a predetermined condition is satisfied. However, with the technology of automatically performing the cleaning process when conditions are met, there are cases where the cleaning process is performed even when the operator on the hydraulic excavator does not intend.

One aspect of the present invention provides a technique for improving the safety of work by the cleaning process and improving the convenience by enabling the setting so that the cleaning process is performed in a situation desired by the operator.

In order to achieve the above object, an excavator according to an embodiment of the present disclosure has an air blowing function to flow air in a first direction to cool a predetermined structure, and a dust-proof net provided in a flow path of air flowing in one direction, configured to clean the dust-proof net when a predetermined condition is satisfied, and cleaning the dust-proof net when the predetermined condition is satisfied. Whether or not to perform the operation can be switched according to operation information received from a predetermined device.

According to the above-described embodiment, the automatic cleaning of the dustproof net can be switched according to the operation, so convenience can be improved.

FIG. 1 is a side view showing a shovel (excavator) according to an embodiment. FIG. 2 is a block diagram schematically showing an example of the configuration of the shovel according to the embodiment; FIG. 3 is a diagram showing an example of a cooling circuit for an electric drive system mounted on the excavator according to the embodiment. FIG. 4 is a plan view schematically showing part of a cooling fan and a cooling circuit provided in the upper revolving body of the excavator according to the embodiment. FIG. 5 is a timing chart showing the timing at which the shovel controller according to this embodiment performs automatic cleaning. FIG. 6 is a flow chart showing a processing procedure for performing cleaning control in the shovel controller according to the embodiment.

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.

[Overview of Excavator]
First, an outline of a shovel 200 as an example of a working machine will be described with reference to FIG.

An excavator 200 according to the present embodiment includes a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be able to turn via a turning mechanism 2, and a boom 4, an arm 5, and a bucket 6 as attachments. , a cabin 10 and a space recognition device 80 .

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 1A and 1B (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 .

A space recognition device (an example of a detection device) 80 is a device capable of detecting an object (for example, a person) existing in a three-dimensional space around the excavator 200 . The space recognition device 80 can include, for example, an ultrasonic sensor, millimeter wave radar, monocular camera, stereo camera, LIDAR (Light Detecting and Ranging), distance image sensor, infrared sensor, and the like.

The space recognition device 80 is configured to detect a predetermined object within a predetermined area set around the excavator 200 . Four space recognition devices 80 are provided so that the entire circumference of the excavator 200 can be recognized. The space recognition device 80 includes a front recognition sensor 80F attached to the front end of the upper surface of the cabin 10, a rear recognition sensor 80B attached to the rear end of the upper surface of the upper revolving body 3, and a left sensor 80B attached to the left end of the upper surface of the upper revolving body 3. It includes a recognition sensor 80L and a right side recognition sensor 80R (not shown) attached to the right end of the upper surface of the upper swing body 3 . Further, an upper recognition sensor that recognizes an object existing in the space above the upper swing body 3 may be attached to the excavator 200 .

The space recognition device 80 may be configured to be able to identify at least one of the type, position, shape, etc. of the object as the predetermined object to be detected. For example, the space recognition device 80 may be configured to be able to distinguish between humans and objects other than humans.

Moreover, the space recognition device 80 may be configured to detect a person by recognizing at least one of a helmet, a safety vest, work clothes, and the like. In addition, the space recognition device 80 detects a person by recognizing predetermined identification information (e.g., mark, QR code (registered trademark)) on at least one of a helmet, a safety vest, work clothes, and the like. It may be configured as

Inside the house on the left side of the upper revolving body 3 of the excavator 200, there are four cooling fans 81A, 81B, 81C, and 81D (hereinafter also referred to as cooling fan 81 when referring to any cooling fan) for cooling the engine. ) is provided.

As shown in FIG. 2, cooling fans 81A, 81B, 81C, and 81D are provided with fan motors 82A, 82B, 82C, and 82D for rotating the fans (hereinafter referred to as arbitrary fan motors). (also called a fan motor 82) is connected. The fan motor 82 operates by being supplied with power from the battery module 19 .

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 is equipped with a communication device (not shown) capable of communicating with a predetermined external device. You can 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. Then, the excavator 200 operates the hydraulic actuators according to a remote control signal representing the content of remote control received from an external device by a communication device (not shown) to operate the lower traveling body 1 (left and right crawlers), Driven elements such as rotating bed 3, 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 1A and 1B 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 actuator) 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 applies hydraulic fluid supplied from the main pump 14 to the hydraulic actuators (traveling hydraulic motors 1A and 1B, turning hydraulic motor 2M, 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 1A and 1B, 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 . 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 source. 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 .

<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 receives and processes signals indicating the number of revolutions from the four cooling fans 81 . The excavator controller 30 outputs rotation control signals to the four fan motors 82 . At this time, the excavator controller 30 can control the rotational speed of the four cooling fans 81 by referring to the signals input from the four cooling fans 81 . Each functional block (acquisition unit 301, determination unit 302, and control unit 303) for the shovel controller 30 to perform cleaning using the four cooling fans 81 will be described later.

<Cooling system>
FIG. 3 is a diagram showing an example of the cooling circuit 60 for the electric drive system mounted on the excavator 200 according to the present embodiment.

The cooling system of the excavator 200 of this embodiment includes at least the cooling circuit 60 .

The cooling circuit 60 is provided, for example, in the upper revolving body 3, and cools the equipment of the electric drive system (hereinafter, “electric drive equipment”). For example, as shown in FIG. 3, the electrically driven equipment (an example of heat source equipment) to be cooled by the cooling circuit 60 includes the pump motor 12, the inverter 18A, the battery module 19, the power converter 100, and the like. Also, the electrically driven device to be cooled by the cooling circuit 60 may include the charging AC-DC converter 103 . This is because the charging AC-DC converter 103 generates heat when charging the battery module 19 .

As shown in FIG. 3, the cooling circuit 60 includes a radiator 62, a water pump 64, a cooling fan 81, and coolant flow paths 68A, 68B, 68B1, 68B2, 68C, 68C1, 68C2, 68D, 68E.

A radiator 62 (an example of a predetermined structure) cools the coolant (for example, cooling water) in the cooling circuit 60 . Specifically, the radiator 62 causes heat exchange between the surrounding air and the refrigerant to cool the refrigerant.

The water pump 64 (an example of a refrigerant pump) circulates the refrigerant in the cooling circuit 60 by sucking the refrigerant from the refrigerant flow path 68E and discharging it into the refrigerant flow path 68A.

The cooling fan 81 blows air to the radiator 62 . Thereby, heat exchange in the radiator 62 is promoted, and the cooling efficiency of the radiator 62, that is, the degree of cooling of the radiator 62 can be improved.

Refrigerant channel 68A connects between water pump 64 and battery module 19 and causes the coolant flowing out from water pump 64 to flow into the coolant channel inside battery module 19 . Thereby, the battery module 19 can be cooled with the coolant. The coolant that flows through the inside of the battery module 19 flows out to the coolant channel 68B.

The refrigerant flow paths 68B, 68B1, and 68B2 connect the battery module 19, the inverter 18A, and the power conversion device 100, and flow the refrigerant flowing out of the battery module 19 through the refrigerant flow paths inside the inverter 18A and the power conversion device 100. flow into Specifically, the refrigerant flow path 68B, one end of which is connected to the battery module 19, branches off into refrigerant flow paths 68B1 and 68B2 at the other end. 100. Thereby, the inverter 18A and the power conversion device 100 can be cooled. The coolant that has flowed through the inverter 18A flows out to the coolant flow path 68C1. Further, the coolant that has flowed through the inside of the power conversion device 100 flows out to the coolant flow path 68C2.

The refrigerant flow paths 68C, 68C1, and 68C2 connect the inverter 18A and the power conversion device 100 to the pump motor 12, and allow the refrigerant flowing out from the inverter 18A and the power conversion device 100 to flow through the pump motor 12. flow into the road. Specifically, the refrigerant flow paths 68C1 and 68C2, each of which has one end connected to the inverter 18A and the power conversion device 100, joins one end of the refrigerant flow path 68C, and the other end of the refrigerant flow path 68C connects to the pump electric motor 12. connected to Thereby, the pump motor 12 can be cooled by the refrigerant. The refrigerant that has flowed through the pump motor 12 flows out to the refrigerant flow path 68D.

The coolant flow path 68</b>D connects between the pump motor 12 and the radiator 62 , and supplies coolant flowing out of the pump motor 12 to the radiator 62 . As a result, by cooling the various devices of the electric drive system, the coolant whose temperature has risen can be cooled by the radiator 62, and the various devices of the electric drive system can be returned to a state in which they can be cooled again.

The coolant flow path 68</b>E connects between the radiator 62 and the water pump 64 and supplies coolant cooled by the radiator 62 to the water pump 64 . The water pump 64 can circulate the coolant cooled by the radiator 62 to the cooling circuit 60 .

Some or all of the plurality of electric drive system devices may be air-cooled. In this case, a cooling fan may be provided for blowing air to the electric drive system equipment to be air-cooled. Further, a dedicated cooling fan may be provided for one electric drive system device, or a shared cooling fan may be provided for a plurality of electric drive system devices.

FIG. 4 is a plan view schematically showing a part of the cooling fan 81 and the cooling circuit 60 provided in the upper revolving body 3. As shown in FIG.

As shown in FIG. 4 , a heating element including the opening/closing cover 3 d 1 , the dust net N 1 , and the radiator 62 is arranged in the negative Y-axis direction inside the upper rotating body 3 from the left side surface (the surface in the positive Y-axis direction) of the upper rotating body 3 . The replacement part, four cooling fans 81A to 81D, and four fan motors 82A to 82D are installed in this order.

The four cooling fans 81A to 81D (an example of the air blowing function) are used to cool the radiator 62 (predetermined structure) included in the heat exchanger, from the outside of the opening/closing cover 3d1 of the shovel 200. Air is caused to flow in an existing direction (an example of the first direction). In this manner, the present embodiment describes an example in which the cooling fans 81A to 81D (an example of the air blowing function) cool the radiator 62 (predetermined structure). However, in this embodiment, the structure to be cooled is not limited to the radiator 62. good. As another example, if the excavator is engine driven, the engine may be cooled.

Further, in this embodiment, an example using cooling fans 81A to 81D as a mechanism having a blowing function will be described. However, this embodiment does not limit the mechanism for flowing air to cool a structure such as the radiator 62 to a fan, and other configurations may be used.

The dust-proof net N1 is provided in a flow path of air flowing in a predetermined direction (an example of a first direction) by the cooling fans 81A to 81D from the outside of the opening/closing cover 3d1 of the excavator 200 to the radiator 62. there is In other words, the dustproof net N1 is provided upstream of the radiator 62 in the flow path generated by the four cooling fans 81A-81D. Therefore, the dust-proof net N1 can prevent dust (an example of dust) from entering the space where the radiator 62 and the like are arranged on the downstream side (Y-axis negative side) of the dust-proof net N1.

Fan motors 82A to 82D connected to the four cooling fans 81A to 81D are driven to rotate according to signals from the shovel controller 30. As shown in FIG. In other words, the excavator controller 30 rotates the fan motors 82A to 82D to rotate the four cooling fans 81A to 81D to blow air in the Y-axis negative direction. In this embodiment, the number of cooling fans and fan motors is four, but the number is not limited to four and may be three or less or five or more.

The cooling fans 81A to 81D send air to cool the radiator 62 included in the heat exchanger. As a result, the coolant passing through the radiator 62 is cooled, so that the electric drive train equipment necessary for operating the excavator 200, such as the pump motor 12, is cooled. On the other hand, the dust contained in the taken air adheres to the dustproof net N1. Even if the dustproof net N1 is provided as in this embodiment, complete dustproofing is difficult. This is because the dust-proof net N1 must have air permeability equal to or higher than a predetermined standard when sending air to cool the radiator 62 . Enlarging air permeability makes it easier for dust and dirt to enter. For this reason, the present embodiment uses the dustproof net N1 that achieves both air permeability for cooling the refrigerant of the radiator 62 and dustproofness. It should be noted that this embodiment shows an example of the dustproof net. Any member may be used as the dustproof net as long as it can send air to the radiator 62 and the like and remove at least part of the dust contained in the atmosphere.

As the excavator 200 continues to work, a large amount of dust continues to adhere to the dustproof net N1. If dust continues to adhere to the dustproof net N1, the dust tends to adhere to the dustproof net N1. If such a situation occurs, the burden of cleaning the dustproof net N1 will increase. Furthermore, the flow rate of the atmosphere (outside air) is reduced after passing through the dustproof net N1.

If such a situation continues, the air permeation area of the dust-proof net N1 will be greatly reduced due to adhesion of dust. If the air permeation area is significantly reduced, the radiator 62 may not be sufficiently cooled, and the electric drive system equipment such as the pump motor 12 may not be sufficiently cooled.

Therefore, in the present embodiment, the excavator controller 30 reversely rotates the cooling fans 81A to 81D to periodically clean the dust-proof net N1 to remove dust adhering to it.

<Functional block of excavator controller>
Returning to FIG. 2, 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. As shown in FIG. 2, the excavator controller 30 includes an acquisition unit 301, a determination unit 302, and a control unit 303 as functional blocks.

The acquisition unit 301 acquires signals of various configurations inside the excavator 200 . For example, the acquisition unit 301 acquires an operation signal (an example of operation information) indicating whether or not automatic cleaning is set via the input device 52 . The operation signal may be, for example, a signal indicating whether or not a button arranged on the input device 52 for performing automatic cleaning is pressed. Note that the buttons are not limited to mechanical buttons, and may be buttons displayed on a touch panel. Furthermore, the acquisition unit 301 may acquire (receive) an operation signal (an example of operation information) indicating whether or not automatic cleaning is set from an external device via a communication device.

Furthermore, the acquisition unit 301 acquires information for determining whether or not conditions for automatic cleaning are satisfied.

For example, the acquisition unit 301 acquires a signal indicating whether or not there is a person around the excavator 200 as the detection result of the space recognition device 80 . As another example, the acquisition unit 301 may acquire captured image data from the space recognition device 80 . In this case, the acquisition unit 301 detects people around the excavator 200 (upper swing body 3) based on the acquired captured image.

For example, the acquisition unit 301 recognizes the person in the captured image by arbitrarily applying a machine learning-based classifier including various known image processing methods and AI (Artificial Intelligence). may Then, the acquisition unit 301 may generate a signal indicating whether or not there is a person around the excavator 200 based on the recognition result.

As another example, the acquisition unit 301 acquires a signal indicating whether or not the battery module 19 of the shovel 200 is being charged from the controller in the battery module 19 .

The acquisition unit 301 also acquires a signal indicating whether the excavator 200 is in operation. Operation of the excavator 200 according to the present embodiment indicates whether or not the pump electric motor 12 and the like are in operation. That is, the signal indicating whether the excavator 200 is operating can be obtained from the control signal for the pump electric motor 12 and the like from the excavator controller 30 .

The acquisition unit 301 also acquires a signal indicating whether the excavator 200 is in the idle stop state. In the present embodiment, the excavator controller 30 can acquire a signal indicating whether or not the idling stop state is in effect from a control signal for the pump electric motor 12 and the like.

The idling stop state is a state in which unnecessary idling is not performed when the excavator 200 is stopped. For example, when the excavator 200 is parked or stopped, the operation of the pump motor 12 is stopped. By stopping the operation of the pump motor 12, the power consumption of the battery module 19 can be suppressed, the workable time can be extended, and consideration for the environment can be realized.

Based on an operation signal received from the input device 52 and indicating whether or not to perform automatic cleaning, the determination unit 302 determines whether or not automatic cleaning is set by rotating the cooling fans 81A to 81D in the reverse direction. do. Thus, in this embodiment, it is possible to switch whether to perform automatic cleaning according to the operation signal.

Further, when determining that the automatic cleaning is set, the determining unit 302 determines whether or not the conditions for performing the automatic cleaning are satisfied based on the information acquired by the acquiring unit 301 . A specific example of conditions for automatic cleaning will be described later.

The control unit 303 outputs control signals to the fan motors 82A to 82D to control the rotation of the cooling fans 81A to 81D.

For example, when the determination unit 302 determines that the conditions for automatic cleaning are satisfied, the control unit 303 switches the fan motors 82A to 82D to rotate and rotate the four cooling fans 81A to 81D. Control to rotate. That is, the control unit 303 reversely rotates the four cooling fans 81A to 81D so that the dust-proof net N1 is rotated in the direction from the radiator 62 to the outside of the excavator 200 (example of the direction opposite to the first direction). Control the flow of air. As a result, it is possible to remove dust and dirt adhering to the outer surface of the excavator 200 of the dustproof net N1. In the present embodiment, the dust-proof net N1 can be cleaned by switching the control signal output by the control unit 303 to the cooling fans 81A to 81D that can rotate in the reverse direction, which facilitates control for cleaning. Become. Moreover, since it is not necessary to provide a new configuration for cleaning the dustproof net N1, it is possible to reduce the installation burden and the cost.

FIG. 5 is a timing chart showing the timing at which the shovel controller 30 according to this embodiment performs automatic cleaning. The horizontal axis of the timing chart shown in FIG. 5 indicates time. Let work start time t _s and work end time t _e be on the horizontal axis. Further, the break start time _tb1 and the break end time _tb2 are set.

In the example shown in FIG. 5, an operation signal 1501 indicating whether or not automatic cleaning is set (hereinafter referred to as an automatic cleaning signal) and a signal indicating whether the excavator 200 is operating (hereinafter referred to as an excavator a signal 1502 indicating whether or not the battery module 19 of the excavator 200 is being charged (hereinafter referred to as a charge state signal) 1503; and whether or not the excavator 200 is in an idle stop state. (hereinafter referred to as an idle stop signal) 1504, a signal 1505 indicating whether or not there are people in the vicinity (hereinafter referred to as a signal of the result of detection of people in the vicinity), and cleaning by the cooling fans 81A to 81D. A signal 1506 indicating whether or not the fan is on (hereinafter referred to as a fan cleaning mode signal) is shown.

In the example shown in FIG. 5, the automatic cleaning operation signal 1501 is always on. As described above, the automatic cleaning operation signal 1501 is switched in response to pressing of the button for automatic cleaning arranged on the input device 52 .

When the automatic cleaning signal 1501 is ON, the shovel controller 30 performs cleaning based on the shovel operation signal 1502, the charging state signal 1503, the idle stop signal 1504, and the surrounding person detection result signal 1505. When it is determined that the conditions are satisfied, the ON/OFF state of the signal 1506 of the fan cleaning mode is switched. When the automatic cleaning signal 1501 is in the OFF state, the excavator controller 30 always keeps the fan cleaning mode signal 1506 in the OFF state to suppress cleaning by the cooling fans 81A to 81D.

In the example shown in FIG. 5, the gate lock lever of the excavator 200 is released at the work start time _ts , the ignition is turned on, and the pump electric motor 12 and the like are operated. As a result, the acquisition unit 301 acquires the excavator operation signal 1502 in the “present” state. It should be noted that the gate lock lever of the excavator 200 is locked at the work end time t _e and the ignition is turned off. After that, the acquiring unit 301 acquires the excavator operation signal 1502 in the “absent” state.

During the working time, when the idle stop signal 1504 switches to the "ON" state, the excavator operation signal 1502 switches to the "OFF" state.

Then, the determination unit 302 determines (when the shovel operation signal 1502 is in the "absent" state and when the idle stop signal is in the "on" state), Then, it is determined that cleaning by the cooling fans 81A to 81D is to be performed, and the signal 1506 of the fan cleaning mode is switched to the "ON" state (see, for example, time period _t31 to _t32 ).

On the other hand, the determination unit 302 determines (when the excavator operation signal 1502 is in the "absence" state and when the idle stop signal is in the "on" state, and when the surrounding person detection result signal 1505 is in the "present" state. Then, it is determined that cleaning by the cooling fans 81A-81D is not to be performed, and the fan cleaning mode signal 1506 is turned off (see, for example, time periods t ₂₁ -t ₂₂ ).

As described above, in this embodiment, when the excavator 200 is in the idle stop state and there is no person around the excavator 200, the cooling fans 81A to 81D are rotated in reverse to perform cleaning.

In this embodiment, cleaning is performed when the excavator 200 is in the idle stop state. In other words, the cleaning is performed while the operation of the pump motor 12 and the like is stopped. As a result, even when the cooling of the radiator 62 is suppressed by the reverse rotation of the cooling fans 81A to 81D, the temperature of the pump motor 12 cooled by the cooling circuit 60 having the radiator 62 is suppressed from becoming high. can.

Then, the determination unit 302 determines that (the excavator operation signal 1502 is in the "absent" state and the charging state signal 1503 is in the "on" state and the surrounding human detection result signal 1505 is "absent"). state, it may be determined that cleaning by the cooling fans 81A to 81D is to be performed, and the signal 1506 of the fan cleaning mode may be switched to the "on" state (for example, see time period t _k to tb ₂ ).

In this embodiment, when the signal 1503 indicating the state of charge is switched to the "on" state (charging is started), the signal 1505 indicating the detection result of surrounding people is in the "absence" state. If the control unit 303 determines that the ) may be cleaned. In the example shown in FIG. 5, a predetermined time (waiting time: for example, After the time t _k -rest start time tb ₁ ) has elapsed, cleaning is performed. That is, as shown in FIG. 5, when a period of time for charging such as a rest period is set, the standby time until cleaning is started is set so that cleaning is completed when the rest period is completed. may Furthermore, the determination unit 302 may determine that cleaning is to be performed on the condition that the state-of-charge signal 1503 is in the "on" state and that a predetermined time has come.

As described above, in the present embodiment, cleaning can be performed at an arbitrary timing while the charging state signal 1503 is switched to the "on" state by the determination unit 302, in other words, while charging is being determined. may be performed. In addition, the period during which work is being stopped is often a rest period, or a period of time from the end of work to the start of work (for example, at night). In other words, cleaning during charging means cleaning while the operation of the pump motor 12 and the like is stopped. As a result, even when the cooling of the radiator 62 is suppressed by the reverse rotation of the cooling fans 81A to 81D, the temperature of the pump motor 12 cooled by the cooling circuit 60 having the radiator 62 is suppressed from becoming high. can.

Furthermore, the determination unit 302 calculates the scheduled end time of charging based on the SOC of the battery in the battery module 19 acquired by the acquisition unit 301 and the amount of power supplied from the external power supply, and the control unit 303 Cleaning control may be performed from a predetermined time (for example, 10 minutes) before the scheduled end time of charging (an example of the timing determined based on the scheduled end time of charging). As a result, cleaning can be completed at the end of charging.

Furthermore, a time slot for cleaning may be reserved so that cleaning is performed during a time slot when work is not being done. In the example shown in FIG. 5, it is assumed that the time period from t ₁₁ to t ₁₂ is reserved as the cleaning time period (reserved cleaning time). In other words, the operator can set the scheduled cleaning time so that the cleaning will be completed at the work start time _ts .

Therefore, when the current time reaches time t ₁₁ , the determination unit 302 determines whether or not there are people around based on the signal 1505 of the people detection result in the surroundings. Then, the determination unit 302
If it is determined that the cooling fans 81A to 81D are not in the state, it is determined that cleaning by the cooling fans 81A to 81D is to be performed, and the signal 1506 of the fan cleaning mode is turned to the "on" state (see, for example, time period _t11 to _t12) . ).

While the fan cleaning mode signal 1506 is in the "on" state, the control unit 303 reversely rotates the cooling fans 81A to 81D to clean the dust net N1 and the radiator 62. FIG.

<Flow of cleaning process>
Next, a processing procedure for performing cleaning control in the determination unit 302 of the excavator controller 30 will be described. FIG. 6 is a flowchart showing a processing procedure for performing cleaning control in the shovel controller 30 according to this embodiment. In this embodiment, the shovel controller 30 performs the processing procedure shown in FIG. 6 at predetermined time intervals (for example, 1 second).

First, the determination unit 302 determines whether or not the automatic cleaning operation signal 1501 is on (S1601). If it is determined that the operation signal for automatic cleaning is not on (S1601: No), the process ends.

On the other hand, if the determination unit 302 determines that the automatic cleaning operation signal is ON (S1601: Yes), it determines whether the battery module 19 is being charged based on the charge state signal (S1602). . If it is determined that the battery module 19 is being charged (S1602: Yes), it is determined whether or not a predetermined time (standby time) has elapsed since charging was started (S1603). If it is determined that the predetermined time has not elapsed (S1603: No), the process ends.

On the other hand, if the determining unit 302 determines that the predetermined time has elapsed (S1603: Yes), the process proceeds to S1605.

If the determination unit 302 determines in S1602 that the battery module 19 is not being charged (S1602: No), it determines whether or not it is in the idle stop state from the shovel operation signal and the idle stop signal. (S1604). If it is determined that the vehicle is not in the idle stop state (S1604: No), the process is terminated.

On the other hand, if the determination unit 302 determines that the vehicle is in the idling stop state (S1604: Yes), the process proceeds to S1605.

Then, in S1605, the determination unit 302 determines whether or not there is a person around the excavator 200 based on the signal of the surrounding person detection result (S1605). If it is determined that there are people around (S1605: Yes), the process ends.

On the other hand, if the determination unit 302 determines that there is no person around the excavator 200 based on the signal indicating the detection result of the surrounding people (S1605: No), the determination unit 302 sends a signal of the fan cleaning mode in the ON state to the control unit 303. is output (S1606).

In the present embodiment, by periodically repeating the control described above, the cleaning of the dustproof net N1 and the like can be performed periodically only when there are no people around the excavator 200 .

In the present embodiment, when cleaning the dustproof net N1 and the like while the battery module 19 is being charged, the dustproof net N1 and the like may be cleaned using power supplied from an external power source. As a result, the power consumption of the battery module 19 for cleaning is suppressed, and the number of times the battery module 19 is charged and discharged is suppressed, so that the life of the battery module 19 can be extended.

In the present embodiment, the determination unit 302 determines that the condition (an example of the predetermined condition) for cleaning the excavator 200 is satisfied when the excavator 200 is in the idling stop state and there is no person around the excavator 200 . However, the present embodiment is not limited to such a combination of conditions, and for example, it may be determined that the conditions for cleaning the excavator 200 are satisfied when the excavator 200 is in the idle stop state. As another example, it may be determined that the conditions for cleaning the excavator 200 are satisfied when there is no person around the excavator 200 .

Similarly, the determination unit 302 determines that the conditions for cleaning the excavator 200 are satisfied when the excavator 200 is being charged and there is no person around the excavator 200 (an example of a predetermined condition). However, the present embodiment is not limited to such a combination of conditions, and for example, it may be determined that the conditions for cleaning the excavator 200 are satisfied when the excavator 200 is being charged.

In this embodiment, an example of determining whether or not to perform automatic cleaning by the cooling fans 81A to 81D based on the above conditions has been described. However, the condition for determining whether or not to perform automatic cleaning is shown as an example, and whether or not to perform automatic cleaning may be determined based on other conditions. For example, the determination condition may include whether or not the opening/closing cover 3d1 is closed. Furthermore, instead of the determination condition of whether or not a person exists around the excavator 200, the determination condition may include whether or not a person is present near the opening/closing cover 3d1.

Furthermore, in the above-described embodiment, the cleaning of the dust-proof net N1 may be finished at any timing. For example, the control unit 303 may end cleaning control after a predetermined time has elapsed since the start of cleaning, or may detect the degree of contamination of the dustproof net N1 and determine the timing of ending cleaning based on the detection result. may be determined.

<Description of configuration used for cleaning>
In the above-described embodiment, a technique has been described in which the control unit 303 reversely rotates the cooling fans 81A to 81D during cleaning to eliminate the clogging of the dustproof net N1. However, the present embodiment is not limited to the method of removing the clogging of the dust-proof net N1 by sending air from the cooling fans 81A-81D to the dust-proof net N1 by rotating the cooling fans 81A-81D in the reverse direction. .

As a modification of cleaning, there is an example in which a mechanism for changing the angle of the blades is provided between the rotating shaft and the blades in the cooling fans 81A to 81D. In the modification, when the determination unit 302 determines that the conditions for automatic cleaning are satisfied, the control unit 303 uses the mechanism to move the outside of the excavator 200 from the radiator 62 to the dust-proof net N1. Control is performed to change the angle of the blades so that the air flows in the direction (example of the direction opposite to the first direction). In this modified example, cleaning is performed to remove dust adhering to the dustproof net N1 by switching the direction of air flow. In this modified example, the control unit 303 may perform control for changing the angle of the blades, and does not need to consider the number of revolutions of the cooling fans 81A to 81D, etc., thus facilitating control for cleaning. Moreover, since it is not necessary to provide a new configuration for cleaning the dustproof net N1, it is possible to reduce the work load and the cost.

In the above-described embodiment and modification, the example of using the cooling fans 81A to 81D for cleaning the dustproof net N1 has been described, but the method is not limited to the method of using the cooling fans 81A to 81D for cleaning the dustproof net N1. For example, a vibrating member may be installed in the dustproof net N1, and the vibrating member may be vibrated to remove dust and dirt from the dustproof net N1. Any method may be used as long as it can clean the dustproof net N1.

<Modification>
In the above-described embodiment, the dust-proof net N1 is cleaned when the excavator 200 is in the idling stop state and there is no person around the excavator 200, or the excavator 200 is charging and no person is around the excavator 200. An example of cleaning the dust-proof net N1 in some cases has been described. However, the embodiment described above shows an example of conditions for cleaning the dustproof net N1. For example, the conditions for cleaning the dustproof net N1 may be changed according to the operation of the operator or the like.

A device (an example of a reception unit) that receives a change in the conditions for cleaning the dustproof net N1 may be any device.

For example, the operating device 26 accepts an operation to change the conditions for automatic cleaning of the dustproof net N1. Furthermore, a communication device may be used as a device for receiving changes in conditions for automatic cleaning. For example, the communication device mounted on the excavator 200 receives information from a predetermined external device to change the conditions for automatic cleaning of the dustproof net N1.

The predetermined external device may be a communication terminal (for example, a smart phone, a tablet terminal, or a PC) used by a worker such as an operator, or may be a management device that manages a work site where the excavator 200 works.

The conditions to be changed include at least one of whether or not the excavator 200 is in the idle stop state, whether or not there are people around the excavator 200, and whether or not the excavator 200 is being charged. Conditions may be combined or may be combined with other conditions. Also, a change in the time to start cleaning may be accepted during charging.

After that, the determination unit 302 determines whether or not the changed automatic cleaning conditions are satisfied. Subsequent processing is the same as in the above-described embodiment, and description thereof is omitted.

In this modified example, by changing the conditions for starting automatic cleaning, it is possible to set conditions for automatic cleaning suitable for the excavator 200 and the work site, thereby improving convenience.

<Action>
The excavator 200 according to the above-described embodiment is an electric excavator that operates with electric power supplied from the battery module 19 . Therefore, when cleaning using the cooling fans 81A to 81D during charging of the battery module 19 or at a preset cleaning time, there is no need to operate the engine or the like, so cleaning can be performed even when the operator is absent. becomes easier.

In addition, in the above-described embodiment, the case where the excavator 200 is an electric excavator has been described. However, the above-described embodiments are not limited to electric excavators, and automatic cleaning control according to the above-described embodiments may be performed on hydraulic excavators.

In the above-described embodiment, cleaning using the cooling fans 81A to 81D is performed after confirming that there are no people around. Therefore, only when there are no people around, the cooling fans 81A to 81D are rotated in reverse or the angle of the blades is changed to send air from the cooling fans 81A to 81D to the dustproof net N1. As a result, when there are people around the shovel 200, it is possible to suppress the scattering of dust and dirt, so that it is possible to suppress discomfort to people around.

Further, in the above-described embodiment, the excavator controller 30 switches whether or not to perform automatic cleaning according to the operator's operation. As a result, it is possible to prevent cleaning from being performed in situations not intended by the operator. Therefore, it is possible to improve the safety of the work by the cleaning process and improve the convenience.

Furthermore, by suppressing cleaning from being performed in situations unintended by the operator, power consumption for cleaning can be reduced.

In addition, in the above-described embodiment, if the setting for automatic cleaning is performed by the operator's operation, the excavator controller 30 can automatically perform cleaning without the operator's awareness. Therefore, since the dust-proof net N1 is cleaned periodically, clogging of the dust-proof net N1 can be suppressed and a clean state can be maintained.

In the above-described embodiment, the shovel controller 30 performs automatic cleaning while the battery module 19 is being charged or in the idle stop state, that is, when the shovel 200 is not working or operating. In other words, since automatic cleaning is suppressed during work and operation of the shovel 200, it is possible to suppress a decrease in work efficiency.

Further, in the above-described embodiment, it is possible to suppress a reduction in the amount of air that reaches the radiator 62 and the like after passing through the dustproof net N1. Thereby, efficient cooling using the radiator 62 or the like 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 3d1 Open/Close Cover 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cabin 19 Battery Module 30 Shovel Controller 62 Radiator 80A, 80B, 80C, 80D Spatial recognition Device 81A, 81B, 81C, 81D Cooling fan 82A, 82B, 82C, 82D Fan motor N1 Dustproof net 301 Acquisition unit 302 Determination unit 303 Control unit

Claims (8)

a blowing function for blowing air in a first direction to cool a given structure;
a dustproof net provided in a flow path of air flowing in the first direction from the outside of the excavator to the predetermined structure,
configured to clean the dustproof net when a predetermined condition is satisfied,
Whether or not to clean the dustproof net when the predetermined condition is satisfied can be switched according to operation information received from a predetermined device.
Excavator. having a fan for realizing the air blowing function,
controlling the fan so as to cause air to flow through the dust-proof net from a direction opposite to the first direction when the predetermined condition is satisfied;
Shovel according to claim 1 . When the predetermined condition is satisfied, the fan is configured to reversely rotate so as to flow air from a direction opposite to the first direction with respect to the dustproof net.
Shovel according to claim 2. When the predetermined condition is satisfied, the angle of the blades of the fan is changed so as to flow the air from the direction opposite to the first direction with respect to the dustproof net.
Shovel according to claim 2. the predetermined condition is that the excavator is in an idle stop state;
Shovel according to any one of claims 1 to 4. further comprising a detection device capable of detecting a person existing around the excavator,
The predetermined condition is that no person is detected around the excavator by the detection device.
Shovel according to any one of claims 1 to 5. further comprising a battery for supplying power to an electric actuator for operating the excavator;
The predetermined condition is configured to clean the dustproof net while the battery is being charged.
Shovel according to any one of claims 1 to 4. further comprising a reception unit that receives a change in the predetermined condition;
configured to clean the dustproof net when the predetermined condition received by the receiving unit is satisfied;
Shovel according to any one of claims 1 to 7.

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