JP2023136111A - Electric shovel and program - Google Patents

Abstract

To shorten a time to complete battery charging.SOLUTION: An electric shovel has: an electric motor; a battery that supplies power to the electric motor; and a charging port for supplying power to the battery. The electric shovel is configured to perform temperature rising control of the battery in a case where a temperature of the battery detected by a detector is lower than a predetermined temperature at which the battery can be charged while the electric shovel is being driven and before a charging member is connected with the charging port.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to an electric excavator and a program.

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

Batteries installed in electrically driven excavators have a specified temperature range in which they can be charged and discharged. Therefore, Patent Document 1 proposes a technique for cooling a battery that is generating heat due to discharge before rapidly charging the battery. By cooling the battery in advance, even if the temperature of the battery increases due to rapid charging, the temperature of the battery can be kept within a charging temperature range.

Patent No. 6914902

However, the technology described in Patent Document 1 is a technology that prevents the battery temperature from exceeding the upper limit temperature of a chargeable temperature range, and is not a technology that takes into account the operation of an excavator in a low-temperature environment.

As a characteristic of batteries, the temperature range in which they can be charged and the temperature range in which they can be discharged are often different. Therefore, in a low-temperature environment, there is a situation where the temperature of the battery is higher than the lower limit temperature at which it can be discharged, but lower than the lower limit temperature at which it can be charged. In such a situation, a problem arises in that it is difficult to charge the battery immediately even if the battery is connected to an external power source.

Therefore, in view of the above issues, we have shortened the time it takes to start charging the battery when it is connected to an external power source via the charging member (charging connector), and the time it takes to complete charging the battery. The purpose is to shorten the

To achieve the above object, an electric excavator according to an embodiment of the present disclosure includes an electric motor, a battery for supplying power to the electric motor, and a charging port for supplying power to the battery. While the electric excavator is driving and before the charging member is connected to the charging port, if the temperature of the battery detected by the detection unit is lower than the predetermined temperature at which the battery can be charged, the battery It is configured to perform temperature increase control.

According to the above-described embodiment, by controlling the temperature of the battery before the charging member is connected to the charging port, the battery temperature increases from the time the charging member is connected to the charging port until the charging of the battery starts. Since the time required for charging the battery can be shortened, the time required for charging the battery to be completed can be shortened.

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 functional block diagram showing an example of the functional configuration of a cooling system provided in the excavator according to the embodiment. FIG. 4 is a diagram showing battery temperature increase control performed before charging in the shovel controller according to the embodiment. FIG. 5 is a diagram illustrating a display screen displayed by the display control unit according to the embodiment. FIG. 6 is a flowchart illustrating processing until the shovel controller starts charging the battery according to the embodiment.

Embodiments of the present invention will be described below with reference to the drawings. Further, the embodiments described below are illustrative rather than limiting the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. Note that in each drawing, the same or corresponding configurations are denoted by the same or corresponding symbols, and explanations may be omitted.

(First embodiment)
First, an overview of an excavator 200 according to a first embodiment will be described as an example of an electric excavator. The excavator 200 is capable of communicating with the management device 300 via the communication line NW. For example, the excavator 200 may receive various data related to the work of the excavator 200 from the management device 300.

[Excavator overview]
As shown in FIG. 1, an excavator 200 according to the present embodiment includes a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1 via a rotating 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 each of the crawlers is hydraulically driven by traveling hydraulic motors 1R and 1L (see FIG. 2), so that the lower traveling body 1 moves by itself.

The upper rotating body 3 is hydraulically driven by a rotating hydraulic motor 2M (see FIG. 2) through the rotating mechanism 2, so that the upper rotating body 3 rotates with respect to the lower traveling body 1. All driven elements (for example, the swing hydraulic motor 2M) are hydraulically driven by hydraulic oil 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 a pump electric motor 12.

Further, the upper revolving body 3 may be electrically driven by a swing electric motor driven by electric power supplied from the battery module 19 through the swing mechanism 2 instead of the swing hydraulic motor 2M. In this case, for example, the shovel 200 is connected from the battery module 19 to the swing electric motor via the power converter 100 and the inverter. The electric motor for swinging may perform a power running operation in which the upper rotating structure 3 is driven to swing under the control of the shovel controller 30 and an inverter, and a regenerative operation in which regenerative power is generated to swing and brake the upper rotating structure 3. . Further, the swing electric motor may supply regenerated 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 revolving body 3 so that it can be lifted up and down, an arm 5 is attached to the tip of the boom 4 so that it can move up and down, and a bucket 6 is attached to the tip of the arm 5 so that it can be moved up and down. Can be installed. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators, respectively.

The bucket 6 is an example of an end attachment, and other end attachments may be attached to the tip of the arm 5 instead of the bucket 6 depending on the content of the work. The other end attachment may be a different type of bucket from the bucket 6, such as a slope bucket or a dredging bucket. Further, the other end attachment may be a different type of end attachment from the bucket, such as a breaker, an agitator, or a grapple.

The cabin 10 is mounted on the front left side of the upper revolving structure 3, and is provided with a cockpit seat for an operator, an operating device 26 (see FIG. 2), etc. to be described later.

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

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

The remote control includes, for example, a mode in which the shovel 200 is operated by an operation input regarding an actuator of the shovel 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, for example, transmit 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 a "remote control display device") provided in the external device. Further, 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 a remote control display device of an external device. As a result, the operator of the external device can, for example, remotely operate the shovel 200 while checking the display contents such as a captured image showing the surroundings of the shovel 200 or an information screen displayed on the remote control display device. can. Then, the excavator 200 operates the hydraulic actuator in response to a remote control signal indicating the content of the remote control received from an external device through the communication device, and operates the lower traveling structure 1 (left and right crawlers), the upper rotating structure 3, Driven elements such as boom 4, arm 5, and bucket 6 may be driven.

Further, the remote control may include, for example, a mode in which the shovel 200 is operated by external voice input or gesture input to the shovel 200 by a person (for example, a worker) around the shovel 200. Specifically, the excavator 200 receives sounds uttered by surrounding workers etc. through an audio input device (for example, a microphone) or a gesture input device (for example, an imaging device) mounted on the excavator 200 (its own machine). Recognize gestures, etc. performed by employees, workers, etc. Then, the excavator 200 operates the actuator according to the content of the recognized voice, gesture, etc., and moves the undercarriage 1 (left and right crawlers), the upper revolving structure 3, the boom 4, the arm 5, the bucket 6, etc. The drive element may also be driven.

Furthermore, the excavator 200 may automatically operate the actuator regardless of the details of the operator's operation. As a result, the excavator 200 has a function (so-called " ``Autonomous driving function'' or ``machine control function'').

The automatic operation function includes a function that automatically operates driven elements (actuators) other than the driven element (hydraulic actuator) to be operated in response to the operator's operation on the operating device 26 or remote control (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 multiple driven elements (actuators) on the premise that there is no operator operation on the operating 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 unmanned. Further, the semi-automatic driving function, fully automatic driving function, etc. may include a mode in which the operation details of a driven element (actuator) that is a target of automatic driving are automatically determined according to predefined rules. In addition, for semi-automatic driving functions, fully automatic driving functions, etc., the excavator 200 autonomously makes various judgments, and based on the judgment results, autonomously determines the operation of the driven element (actuator) that is the target of automatic driving. (so-called "autonomous driving function") may be included.

As described later, the excavator 200 is equipped with a communication device 70 and communicates with the management device 300 via the communication line NW. Thereby, the excavator 200 can transmit data regarding the shovel 200 (its own machine) to the management device 300 and receive data regarding control of the excavator 200 (its own machine).

The communication line NW includes, for example, a wide area network (WAN). The wide area network may include, for example, a mobile communication network terminating in a base station. Furthermore, the wide area network may include, for example, a satellite communication network that uses communication satellites. Further, the wide area network may include, for example, the Internet network. Furthermore, the communication line NW includes, for example, a local network (LAN: Local Area Network) inside a facility or the like where the management device 300 is installed. The local network may be wired, wireless, or both. Further, the communication line NW may include, for example, a wireless short-distance communication line such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

<Overview of management device>
The management device 300 (an example of a communication control device) is provided outside the shovel 200, and manages, for example, the operating state and operation state of the shovel 200. Specifically, the management device 300 may manage work schedules for each of the shovels 200 working at the work site. In other words, the management device 300 may manage the time slot when the shovel 200 starts work, the time when the shovel 200 starts charging, and the like.

The management device 300 is, for example, a cloud server installed in a management center or the like outside the work site of the excavator 200. Further, the management device 300 may be, for example, an edge server installed in a temporary office within the work site of the excavator 200, a station building or a base station near the work site, or the like. Further, the management device 300 may be, for example, a stationary terminal device (fixed terminal) or a portable terminal device (portable terminal) placed in a temporary office or the like in the work site of the excavator 200. Stationary terminals may include, for example, desktop computer terminals. Furthermore, the mobile terminal may include, for example, a mobile phone, a smartphone, a tablet terminal, a laptop computer terminal, and the like.

The management device 300 communicates with the excavator 200 via the communication line NW. Thereby, the management device 300 can transmit information regarding the work schedule of the shovel 200 to the shovel 200, for example. Furthermore, the management device 300 may control the shovel 200 from the outside by, for example, transmitting data regarding the control of the shovel 200 to the shovel 200.

[Shovel configuration]
Next, the configuration of the shovel 200 according to the present embodiment will be described with reference to FIG. 2 in addition to FIG. 1.

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

In the figure, mechanical power lines are shown as double lines, high-pressure hydraulic lines are shown as thick solid lines, pilot lines are shown as broken lines, and electric drive/control lines are shown as 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, a swing hydraulic motor 2M, which hydraulically drives driven elements such as the lower traveling body 1, the boom 4, the arm 5, and the bucket 6, respectively. It includes hydraulic actuators such as a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. Further, the hydraulic drive system of the excavator 200 according to the present embodiment includes a pump electric motor 12, a main pump 14, and a control valve 17.

The 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 electric motor 12 is connected to a high voltage power source including a battery module 19 and a power conversion device 100 via an inverter 18 . The pump electric motor 12 is powered by three-phase AC power supplied from the battery module 19 via the inverter 18 to drive the main pump 14 and the pilot pump 15 . Drive control of the pump electric motor 12 may be performed by an inverter 18 under the control of a shovel controller 30, which will be described later.

The main pump 14 supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16 by sucking hydraulic oil from the hydraulic oil tank T and discharging it to the high-pressure hydraulic line 16 . The main pump 14 is driven by the pump electric motor 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilting angle) of the swash plate under the control of a shovel 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).

Note that the main pump 14 may be driven by power from another power source in addition to the pump electric motor 12. For example, 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 into the hydraulic oil tank is regenerated by the weight of the boom 4 or arm 5, and the main pump 14 is activated. It may be driven. 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 and arm cylinder 8 into the hydraulic oil tank due to the weight of the boom 4 and arm 5 is used to increase the main pump 14. A hydraulic motor disposed coaxially with the rotation axis of the motor may be driven. Also, when the boom 4 is lowered or the arm 5 is closed, the energy of the hydraulic oil discharged from the boom cylinder 7 and arm cylinder 8 into the hydraulic oil tank is regenerated by the weight of the boom 4 and arm 5, and the energy is used to generate electricity in 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 and arm cylinder 8 into the hydraulic oil tank due to the weight of the boom 4 and arm 5 is used to generate electricity and power from the generator. The 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 to the battery module 19.

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

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

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

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

The voltage sensor 12s2 detects the voltage applied to each of the three phases of the pump motor 12. The voltage sensor 12s2 is provided, for example, in a power path between the pump motor 12 and the inverter 18. Detection signals corresponding to the voltages applied to each of the three phases of the pump motor 12 detected by the voltage sensor 12s2 are directly taken into the inverter 18 through the communication line. Further, the detection signal may be taken into the shovel controller 30 through the communication line and input to the inverter 18 via the shovel controller 30.

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

The inverter 18 drives and controls the pump electric motor 12 under the control of the shovel controller 30. The inverter 18 includes, 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 drives a switch of the conversion circuit, and the operation of the drive circuit. and a control circuit that outputs a control signal (for example, a PWM (Pulse Width Modulation) signal).

The control circuit of the inverter 18 controls the drive of the pump motor 12 while grasping the operating state of the pump motor 12. For example, the control circuit of the inverter 18 grasps the operating state of the pump motor 12 based on the detection signal of the rotation state sensor 12s3. Further, the control circuit of the inverter 18 sequentially controls the rotation angle of the rotation shaft of the pump 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.

Note that at least one of the drive circuit and control circuit of the inverter 18 may be provided outside the inverter 18.

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

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

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

The operating device 26 is provided within the reach of the operator in the cockpit of the cabin 10, and allows the operator to control the respective driven elements (i.e., the left and right crawlers of the undercarriage 1, the upper revolving structure 3, the boom 4, and the arm 5). , bucket 6, etc.). In other words, the operating device 26 is a hydraulic actuator (for example, travel hydraulic motors 1R, 1L, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) by which an operator drives each driven element. It is used to operate electric actuators. The operating device 26 is, for example, an electric type, and outputs an electrical signal (hereinafter referred to as an "operating signal") according to the content of an operation by an operator. The operation signal output from the operation device 26 is taken into the shovel controller 30 via the signal line 28. As a result, the shovel controller 30 can control the pressure control valve 31 and control the operation of the driven elements (actuators) of the shovel 200 in accordance with the operator's operation details and operation commands corresponding to the automatic operation function. can.

The operating device 26 includes, for example, levers 26A to 26C. The lever 26A may be configured to be able to accept operations regarding each of the arm 5 (arm cylinder 8) and the upper rotating body 3 (swinging operation), for example, in response to operations in the front-rear direction and left-right direction. The lever 26B may be configured to be able to accept operations regarding each of the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9), for example, in response to operations in the front-rear direction and left-right direction. The lever 26C may be configured to be able to accept an operation of the lower traveling body 1 (crawler), for example.

Note that when the control valve 17 is composed of an electromagnetic pilot type control valve (directional switching valve), the operation signal of the electric operating device 26 is directly input to the control valve 17, and each hydraulic control valve is configured as an operating device. 26 may be adopted. Further, the operating device 26 may be of a hydraulic pilot type that outputs a pilot pressure depending on the content of the operation. In this case, pilot pressure depending on the operation content is supplied to the control valve 17.

The pressure control valve 31 uses hydraulic oil supplied from the pilot pump 15 through the pilot line 25 under the control of the shovel controller 30 to output a predetermined pilot pressure. 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 power supply system of excavator 200 is a group of components for supplying power to various electrical devices. Further, the excavator 200 includes a vehicle inlet 101 for normal charging and a vehicle inlet 102 for quick charging as a configuration for charging the battery module 19.

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

The charging AC-DC converter 103 converts AC power supplied from an external power source through the vehicle inlet 101 for normal charging into DC power capable of charging the battery 192, and supplies the DC power to the battery module 19.

The rapid charging vehicle inlet 102 is configured to be connectable to a charging connector (an example of a charging member) provided at the tip of a charging cable of an external power source (for example, a power feeding station). The vehicle inlet 102 for quick charging is, for example, an inlet for performing quick 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.

In addition, in this embodiment, a charging member provided at the tip of a charging cable is used as a charging member connected to a vehicle inlet 101 for normal charging (an example of a charging port) and a vehicle inlet 102 for quick charging (an example of a charging port). An example of direct connection using a connector will be explained. However, this embodiment is not limited to the method of directly connecting the charging connector to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. For example, a charging member using a wireless power feeding method may be connected to a charging port and charged from an external power source.

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 a battery controller 191, a battery 192, a temperature sensor 193, and a PTC heater 194.

Battery 192 supplies power to various components within excavator 200. For example, the battery 192 supplies charged (stored) power to the pump electric motor 12. Further, the battery 192 is charged with the power generated by the pump motor 12 (regenerated power).

The battery 192 is charged (accumulated) by being connected to an external power source (for example, a power supply station) via a charging cable.

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

Temperature sensor 193 detects the surface temperature of battery 192 and outputs a signal indicating the detection result to battery controller 191.

A PTC (Positive Temperature Coefficient) heater 194 (an example of a heating unit) is a type of electric wire heater, is provided near the battery 192 , and raises the temperature of the battery 192 under control from the battery controller 191 . Note that in this embodiment, an example will be described in which a PTC heater 194 is used as a heating unit that heats the battery 192, but the heating unit is not limited to the PTC heater 194, and any configuration that can heat the battery 192 may be used. good.

The 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 status of the battery 192 based on the output result from the temperature sensor 193 (an example of a detection unit), and calculates the SOC (State of Charge) of the battery 192. Then, the battery controller 191 outputs the detection result of the temperature sensor and the SOC to the shovel controller 30. Thereby, the shovel 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. Furthermore, the shovel controller 30 can perform various controls based on the temperature status of the battery 192.

The battery controller 191 according to the present embodiment determines whether or not the charging connector is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, depending on whether the charging connector is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. . Note that the present 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 connector is connected. For example, when performing wireless power supply, other methods 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 source.

Then, when it is determined that the battery controller 191 is connected to an external power source (for example, a power supply station) using a charging cable and a charging connector (in other words, when it is determined that power can be supplied), the battery controller 191 connects the external power source (for example, a power supply station) Communicate with charging equipment equipped with When the battery controller 191 communicates with the charging equipment and is permitted to supply power from the charging equipment, power supply from an external power source is started. Further, the battery controller 191 may obtain the maximum capacity such as the maximum current value that an external power source (for example, a power supply station) can output.

The battery controller 191 (an example of a control unit) controls the internal configuration of the battery module 19.

For example, the battery controller 191 may control the heating of the battery 192 by the PTC heater 194 in response to instructions from the shovel controller 30.

Note that a power conversion device for boosting the output voltage of the battery module 19 and applying it to the pump motor 12 may be provided between the battery module 19 and the pump motor 12 . Further, as described above, when part or all of the driven part is electrically driven, the electric power of the battery module 19 is applied to the electric actuator that electrically drives the driven part instead of or in addition to the pump motor 12. Supplied.

<Control system>
The control system of excavator 200 according to this embodiment includes a shovel controller 30, an output device 50, an input device 52, and a communication device 70.

The communication device 70 (an example of an input device) communicates with the outside of the excavator 200, such as the management device 300, through the communication line NW. The communication device 70 is, for example, a mobile communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network. Including etc.

The output device 50 is provided in the cabin 10 and outputs various information to the operator under the control of the shovel 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 shovel controller 30. The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. Further, the output device 50 includes, for example, a sound output device that outputs information to the operator in an auditory manner. The sound output device is, for example, a buzzer, a speaker, or the like.

Furthermore, the output device 50 may be removably installed within the cabin 10. The output device 50 may be, for example, a tablet terminal or a mobile communication terminal, which includes a display device capable of outputting information to an operator.

The input device 52 is provided within the cabin 10 and receives various inputs from the operator. The input device 52 may include, for example, an operation input device that accepts an operation input from an operator. The operation input device includes, for example, a button, a toggle, a lever, a touch panel, a touch pad, and the like. Further, the input device 52 may include, for example, a voice input device that accepts voice input from an operator and a gesture input device that accepts gesture input from the operator. The voice input device includes, for example, a microphone that captures the voice of the operator inside the cabin 10. Further, the gesture input device includes, for example, an indoor camera that can capture an image of the operator's gesture inside the cabin 10. A signal corresponding to an input from the operator accepted by the input device 52 is taken into the shovel controller 30.

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

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

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

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

Further, the shovel controller 30 may perform control related to automatic driving functions, for example. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31 and cause the pressure control valve 31 to act on the control valve 17 with a pilot pressure according to the operation command corresponding to the automatic operation function. Thereby, the shovel controller 30 can realize the operation of the driven element (hydraulic actuator) of the shovel 200 that corresponds to the automatic operation function.

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

Further, the shovel controller 30 drives the power converter 100 based on the operating state of the operating device 26, for example, and controls the voltage step-up operation and step-down operation of the power converter 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 shovel 200 is remotely controlled, the shovel controller 30 may drive the power conversion device 100 and control switching between the discharging state and the charging state of the battery module 19 based on the details of the remote control. . Further, for example, when the automatic operation function of the excavator 200 is enabled, the shovel 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 charge state of the battery module 19. Switching control may be performed.

Further, in the shovel controller 30, each functional block provided for raising the temperature of the battery 192 before charging the battery 192 will be described later.

<Cooling system>
The cooling system of the shovel 200 is a group of components for cooling components that generate heat as the shovel 200 operates.

As shown in FIG. 3, the cooling system of excavator 200 includes a cooling device 60 and a fan 90.

The cooling device 60 cools electric drive system equipment, relatively high voltage power supply system equipment, and the like in the excavator 200 . For example, as shown in FIG. 3, the devices to be cooled by the cooling device 60 include the pump motor 12, the inverter 18, the battery module 19, the DC-DC converter 44, the charging AC-DC converter 103, etc. .

Note that as long as the conditions regarding the necessary cooling performance for each of the plurality of objects to be cooled are satisfied, the connection mode of the objects to be cooled through which the refrigerant circuit 66 passes the refrigerant may be arbitrary. For example, the refrigerant circuit 66 may connect some or all of the plurality of cooling objects in series, as long as the conditions regarding the necessary cooling performance for each of the plurality of cooling objects are satisfied. may be connected in parallel. Further, in the refrigerant circuit 66, the plurality of objects to be cooled may be arranged in any order, starting from the radiator 62, as long as the conditions regarding the necessary cooling performance for each of the plurality of objects to be cooled are satisfied.

Cooling device 60 includes a radiator 62, a water pump 64, and a refrigerant circuit 66.

The radiator 62 cools the refrigerant (eg, cooling water) in the refrigerant circuit 66. Specifically, the radiator 62 cools the refrigerant by exchanging heat between the surrounding air and the refrigerant.

Water pump 64 circulates refrigerant within refrigerant circuit 66 . The water pump 64 operates using electric power supplied from the DC-DC converter 44 or the battery 46, for example.

Refrigerant circuit 66 includes refrigerant channels 66A, 66B, 66C, 66D, 66E, and 66F.

The coolant flow path 66A connects the water pump 64 and the battery module 19, and allows the coolant discharged from the water pump 64 to flow into the coolant flow path inside or around the battery module 19. Thereby, the cooling device 60 can cool the battery module 19 with the refrigerant. The refrigerant that has passed through the refrigerant flow path inside or around the battery module 19 flows out into the refrigerant flow path 66B.

The refrigerant flow paths 66B, 66B1, and 66B2 connect the battery module 19 and the inverter 18 and the DC-DC converter 44, and direct the refrigerant flowing out from the battery module 19 into or around the inverter 18 and the DC-DC converter 44. The refrigerant flows into the refrigerant flow path. Specifically, the refrigerant flow path 68B whose one end is connected to the battery module 19 branches into refrigerant flow paths 68B1 and 68B2 at the other end, and the refrigerant flow paths 68B1 and 68B2 are connected to the inverter 18 and the DC-DC, respectively. It is connected to converter 44. Thereby, the inverter 18 and the DC-DC converter 44 can be cooled. The refrigerant that has passed through the refrigerant flow path inside or around the inverter 18 flows out into the refrigerant flow path 68C1. Further, the refrigerant that has passed through the refrigerant flow path inside or around the DC-DC converter 44 flows out into the refrigerant flow path 68C2.

The refrigerant flow paths 68C, 68C1, and 68C2 connect the inverter 18 and the DC-DC converter 44 to the pump motor 12, and direct the refrigerant flowing out from the inverter 18 and the DC-DC converter 44 to the inside of the pump motor 12 or Allow it to flow into the surrounding refrigerant flow path. Specifically, refrigerant flow paths 68C1 and 68C2, each of which has one end connected to the inverter 18 and the DC-DC converter 44, merge with 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. Thereby, the pump electric motor 12 can be cooled with the refrigerant. The refrigerant that has passed through the refrigerant circuit inside or around the pump motor 12 flows out into the refrigerant flow path 68D.

Note that when a power conversion device is provided between the battery module 19 and the pump electric motor 12, the power conversion device may be cooled by the cooling device 60. In this case, the power conversion device may be arranged in parallel with the inverter 18 and the DC-DC converter 44 in the refrigerant circuit 66, and cooled by the refrigerant flowing out from the battery module 19, for example. Further, the DC-DC converter 44 may be air-cooled. In this case, the coolant channels 66B2 and 66C2 are omitted. Further, at least a portion of the inverter 18, the DC-DC converter 44, etc. may be arranged in series in the refrigerant circuit 66.

The refrigerant flow path 66D connects the pump motor 12 and the charging AC-DC converter 103, and transfers the refrigerant flowing out from the refrigerant flow path inside or around the pump motor 12 to the charging AC-DC converter 103. Allow it to flow into the internal or surrounding refrigerant flow path. Thereby, the cooling device 60 can cool the charging AC-DC converter 103 with the refrigerant. The refrigerant that has passed through the refrigerant flow path inside or around the charging AC-DC converter 103 flows out into the refrigerant flow path 66E.

The refrigerant flow path 66E connects the charging AC-DC converter 103 and the radiator 62, and supplies the refrigerant flowing out from the refrigerant flow path inside or around the charging AC-DC converter 103 to the radiator 62. As a result, the refrigerant circuit 66 cools various devices in the electric drive system and power supply system, and the radiator 62 cools the refrigerant whose temperature has increased, making it possible to cool the various devices in the electric drive system and power supply system again. can be returned to a normal state.

The refrigerant flow path 66F connects the radiator 62 and the water pump 64, and supplies the refrigerant cooled by the radiator 62 to the water pump 64. Thereby, the water pump 64 can discharge the refrigerant cooled by the radiator 62 into the refrigerant flow path 66A and circulate it in the refrigerant circuit 66.

The fan 90 operates under the control of the shovel controller 30 and blows air toward a predetermined device that exchanges heat with the air (hereinafter referred to as "heat exchange device"). The fan 90 operates with power supplied from the DC-DC converter 44 and the battery 46, for example.

The fan 90 may cool the radiator 62 by blowing air toward the radiator 62, for example, as shown in FIG. As a result, air that can exchange heat with the refrigerant flowing inside is successively supplied around the radiator 62, and the degree of cooling of the refrigerant by the radiator 62 can be increased. .

The fan 90 may be one or more. That is, the fan 90 may be configured in any number as long as the degree of heat exchange (degree of cooling or degree of heating) necessary for the heat exchange device can be ensured.

Note that the cooling system of excavator 200 may include an oil cooler that cools hydraulic oil used in the hydraulic drive system (high-pressure hydraulic line) and the operating system (pilot line). The oil cooler is provided, for example, in the return oil path between the control valve 17 and the hydraulic oil tank T, and cools the hydraulic oil by exchanging heat between the surrounding air and the hydraulic oil flowing inside. It's fine. In this case, the fan 90 may blow air toward the oil cooler to cool the oil cooler. As a result, air that can exchange heat with the hydraulic oil flowing inside the oil cooler is successively supplied around the oil cooler, increasing the degree of cooling of the hydraulic oil by the oil cooler. I can do it. In this case, the fan 90 that blows air to the radiator 62 and the fan 90 that blows air to the oil cooler may be the same fan 90, or may be different fans 90.

[Explanation regarding temperature increase control before battery charging]
By the way, as a characteristic of a normal battery, the lower limit temperature at which it can be charged (for example, 0 degrees) is set higher than the lower limit temperature at which it can be discharged (for example, -20 degrees to -15 degrees).

Therefore, even though the electric excavator is being driven by discharge from the battery, there is a situation where the temperature of the battery is lower than the lower limit temperature at which it can be charged.

In such a situation, when charging the battery of a conventional electric excavator, it is necessary to raise the temperature of the battery after the charging connector is connected to the charging vehicle inlet of the electric excavator. Due to the temperature increase, the temperature of the battery is raised above the lower limit temperature at which the battery can be charged, and then the battery is charged.

However, when raising the temperature of the battery after the charging connector is connected to the charging vehicle inlet, it takes time to raise the temperature, so there is a delay before charging of the battery is started. Therefore, there is also a delay in the completion of battery charging.

However, the time period during which the excavator can be charged may be limited. For example, the time period during which charging is possible includes, for example, a break time during work (eg, lunch break). When charging during the break time, it is desirable to start charging as soon as the charging connector is connected to the charging vehicle inlet, and to finish charging as early as possible.

Therefore, the shovel controller 30 according to the present embodiment is configured to operate while the shovel 200 is driving and before the charging connector (charging member) is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. Second, if the temperature of the battery 192 detected by the temperature sensor 193 is lower than a predetermined temperature (for example, 0 degrees) at which the battery 192 can be charged, the temperature of the battery 192 is controlled to increase.

FIG. 4 is a diagram showing temperature increase control of the battery 192 performed before charging in the shovel controller 30 according to the present embodiment. In the example shown in FIG. 4, the horizontal axis represents time, and the vertical axis represents the temperature of the battery 192.

In the example shown in FIG. 4, the break time 4011 is from the start time t2 to the end time t3. In the example shown in FIG. 4, the charging connector is connected to the rapid charging vehicle inlet 102 at the start time t2 of the rest period 4011.

In the example shown in FIG. 4, a lower limit temperature T1 that allows discharging and a lower limit temperature T2 that allows charging are shown. Note that the chargeable lower limit temperature T2 is higher than the dischargeable lower limit temperature T1.

A line 4001 indicates a change in the temperature of the battery 192. As shown by a line 4001, until time t1, the temperature of the battery 192 is higher than the lower limit temperature T1 for discharging, but lower than the lower limit temperature T2 for charging.

Therefore, the battery controller 191 starts controlling the temperature of the battery 192 from time t1, which is before the start time t2 of the rest period 4011. In the example shown in FIG. 4, the temperature rising time 4013 is from time t1 to time t2. The temperature increase time 4013 is a sufficient time to increase the temperature of the battery 192 to the lower limit temperature T2.

Note that the temperature increase time until the battery 192 reaches the lower limit temperature T2 varies depending on the current temperature of the battery 192 and the configuration for increasing the temperature of the battery 192. In this embodiment, the shovel controller 30 specifies the time t1 by calculating the temperature increase time 4013 from the current temperature of the battery 192 to the lower limit temperature T2.

Specifically, the shovel controller 30 stores the lower limit temperature T2 of the battery 192 and the temperature increase performance for the battery 192 (in other words, from time t1 to time t2 shown in FIG. 4) in a nonvolatile auxiliary storage device. (slope) and . Therefore, when the temperature sensor 193 detects the current temperature of the battery 192, the shovel controller 30 controls the temperature until the lower limit temperature T2 is reached based on the current temperature of the battery 192, the lower limit temperature T2, and the temperature increase performance. Calculate the heating time. Then, the shovel controller 30 calculates the time t1 for starting the temperature increase by subtracting the temperature increase time from the start time t2.

Note that in this embodiment, an example will be described in which the heating time from the current temperature of the battery 192 to reach the lower limit temperature T2 is calculated, but this embodiment is limited to the method of calculating the heating time. Instead, a heating time (for example, 10 minutes) may be set in advance. If the temperature increase time (for example, 10 minutes) is set in advance, the temperature of the battery 192 may be too high or too low compared to the lower limit temperature T2 when the charging connector is connected. In such a case, feedback control may be performed. Thereby, the shovel controller 30 can bring the temperature of the battery 192 closer to the lower limit temperature T2 through control, thereby improving accuracy.

In the example shown in FIG. 4, the temperature of the battery 192 has reached the lower limit temperature T2 at which battery 192 can be charged at time t2. Thereby, charging of the battery 192 can be started from time t2 when the charging connector is connected to the vehicle inlet 102 for quick charging. When charging is started, the temperature of the battery 192 rises slightly due to self-heating of the battery 192 and the like.

In the example shown in FIG. 4, charging of battery 192 occurs at time 4014 indicated as charging. Then, at time t3, charging of the battery 192 ends. In this embodiment, the above-described control allows charging of the battery 192 to be completed before the break time 4011 ends.

The shovel controller 30 according to the present embodiment can start charging at the charging start time (time t2) when the charging connector is connected to the quick charging vehicle inlet 102 by controlling the temperature of the battery 192 described above. Next, a specific configuration of the shovel controller 30 will be explained.

<Functional block of excavator controller>
Returning to FIG. 2, each functional block within the shovel controller 30 will be explained. Each functional block within the shovel controller 30 is conceptual and does not necessarily need to be physically configured as illustrated. It is possible to configure all or part of each functional block by functionally or physically distributing and integrating it in arbitrary units. All or any part of each processing function performed by each functional block is realized by a program executed by the CPU. Alternatively, each functional block may be realized as hardware using wired logic. The program executed by the shovel controller 30 according to the present embodiment is not limited to the method of storing it in a non-volatile auxiliary storage device, but may be stored in a distributable storage medium, or it can be stored in a storage medium that can be distributed. It may be sent and received via.

The shovel controller 30 according to the present embodiment includes an acquisition section 3001, a display control section 3002, an operation reception section 3003, a determination section 3004, a temperature increase control section 3005, and a charging control section 3006 as functional blocks. Be prepared. Further, the shovel controller 30 includes a time information storage section 3011 and a performance information storage section 3012 in a nonvolatile auxiliary storage device.

The track record information storage unit 3012 stores track record information regarding past operations of the shovel 200 or times when charging was performed. For example, the work start time, work end time, charging start time, and charging end time for each schedule in which the excavator 200 worked in the past may be stored as performance information. Furthermore, the performance information storage unit 3012 may store the SOC at the time when charging was started as the performance information. Recording of performance information is performed by the shovel controller 30, for example.

Time information storage unit 3011 stores time information indicating the charging start time. The time information is information input from the input device 52 by an operator riding the excavator 200. Furthermore, the time information may be information received via the communication device 70 from an operator's mobile communication terminal or the like. Thereby, the shovel controller 30 can start raising the temperature of the battery 192 at an appropriate timing based on the charging start time input by the operator or the like. Therefore, in this embodiment, the timing at which charging of the battery 192 becomes possible due to the temperature increase can be matched with the start time t2 at which charging is to be started as expected by the operator. Therefore, in this embodiment, it is possible to both shorten the charging time of the battery 192 and suppress the power consumption of the battery 192.

Furthermore, the timing at which the time information is input may be input in advance by the operator before the shovel 200 starts working, or may be input by the operator while the shovel 200 is working. Next, a method for storing time information in the time information storage unit 3011 while the excavator 200 is working will be described.

For example, the display control unit 3002, which will be described later, displays a screen (for example, FIG. 5A, which will be described later) that inquires about the time to start charging on the output device 50 while the shovel 200 is working. Then, the operation reception unit 3003 receives an operation for specifying the charging start time on the screen. That is, in this embodiment, by displaying this screen while the shovel 200 is working, it is possible to accept the setting of the charging start time in consideration of the current work status of the shovel 200 and the like. Thereby, the shovel controller 30 according to the present embodiment automatically displays the screen, thereby reducing the operational burden on the operator when making settings and improving convenience. Furthermore, since the shovel controller 30 according to the present embodiment can start charging at an appropriate timing, it is possible to suppress a delay in starting work due to charging of the battery 192, and therefore it is possible to suppress a reduction in work efficiency.

As a result, the time information storage unit 3011 stores time information based on the operation performed on the screen inquiring about the time.

Furthermore, the time information is not limited to information input by the operator, and may be information automatically generated by the shovel controller 30.

For example, the time information may be information estimated by the shovel controller 30 as the charging start time for each schedule based on performance information stored in the performance information storage unit 3012. Any known method may be used to estimate the charging start time based on the performance information. Then, the shovel controller 30 registers the time information estimated based on the performance information in the time information storage section 3011. Thereby, the shovel controller 30 performs temperature increase control of the battery 192 based on the estimated time information. In this case, the temperature of the battery 192 is automatically raised in consideration of past charging timing based on performance information. This reduces the input burden on the operator and the like, and shortens the charging time of the battery 192.

Furthermore, the temperature increase may be automatically controlled based on schedule information managed by the management device 300. For example, the management device 300 generates schedule information including a work start time, a work end time, and a break time for each work day for each excavator 200 that it manages. Then, the shovel controller 30 uses the communication device 70 to obtain schedule information for the shovel 200 from the management device 300. Then, the shovel controller 30 may register the break start time for each working day, which is indicated in the acquired schedule information, in the time information storage unit 3011 as the charging start time. Next, the functional configuration of the shovel controller 30 will be explained.

The acquisition unit 3001 acquires signals from various configurations within the excavator 200. For example, the acquisition unit 3001 acquires, from the battery controller 191, the SOC of the battery 192, the temperature of the battery 192, and a signal indicating whether the charging connector is connected.

The display control unit 3002 displays a screen on the output device 50 of the excavator 200. For example, the display control unit 3002 displays a setting screen for setting the charging start time. As another example, the display control unit 3002 displays a confirmation screen as to whether or not the temperature increase control may be performed when the determination unit 3004, which will be described later, determines that the conditions for performing the temperature increase control are satisfied. Note that specific screens will be described later.

The operation reception unit 3003 accepts operations on the screen displayed by the display control unit 3002. For example, the operation accepting unit 3003 accepts an operation for setting a charging start time on a setting screen. Alternatively, the operation accepting unit 3003 accepts an operation on the confirmation screen to determine whether to start temperature increase control.

The determination unit 3004 performs various determinations based on the signal etc. acquired by the acquisition unit 3001 in order to perform temperature increase control. For example, the determination unit 3004 determines whether the temperature of the battery 192 is lower than the lower limit temperature T2. If the determination unit 3004 determines that the temperature of the battery 192 is higher than the lower limit temperature T2, it determines that the temperature increase control of the battery 192 is not performed.

Furthermore, when the determination unit 3004 determines that the temperature of the battery 192 is lower than the lower limit temperature T2, if time information indicating the charging start time is stored in the time information storage unit 3011, the determination unit 3004 determines that the temperature of the battery 192 is lower than the lower limit temperature T2. The temperature increase start time is calculated based on the temperature of the battery 192, the lower limit temperature T2, and the temperature increase performance. Further, the determination unit 3004 determines whether the current time has reached the calculated temperature increase start time. When the current time reaches the temperature increase start time, it is determined that the conditions for starting temperature increase are satisfied.

Furthermore, when the determination unit 3004 determines that the temperature of the battery 192 is lower than the lower limit temperature T2, the determination unit 3004 may determine whether a condition for starting temperature increase is satisfied based on the SOC of the battery 192. For example, if the performance information stored in the performance information storage unit 3012 stores the SOC at which charging of the battery 192 is started, the determination unit 3004 determines the current SOC of the battery 192 and the start of charging of the battery 192. When the difference between the SOC and the SOC is within a predetermined range, it is determined that the conditions for starting the temperature increase are satisfied. Note that the predetermined range is determined depending on the mode of implementation.

The temperature increase control unit 3005 performs temperature increase control of the battery 192 according to the determination result of the determination unit 3004 and the like. The temperature increase control unit 3005 according to the present embodiment stores the information in the time information storage unit 3011 when the excavator 200 is operating and the battery 192 is lower than the lower limit temperature at which it can be charged (an example of a predetermined temperature). The temperature increase control of the battery 192 is performed before the charging start time indicated by the time information. In this embodiment, since the temperature increase control of the battery 192 is started before the charging start time indicated by the time information, the temperature of the battery 192 has already been raised at the charging start time indicated by the time information. , the time required to complete charging of the battery 192 can be shortened.

The temperature increase control unit 3005 according to this embodiment performs temperature increase control from the temperature increase start time calculated by the determination unit 3004. The temperature increase control unit 3005 performs the temperature increase control from the temperature increase start time to raise the temperature of the battery 192 to be equal to or higher than the chargeable lower limit temperature T2 (an example of a predetermined temperature) at the charge start time. I can do it. Therefore, when the charging connector is connected to the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging at the charging start time, charging can be started immediately. Therefore, it is possible to suppress the temperature rise of the battery 192 after the charging connector is connected to the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging, so that the time required to complete charging of the battery 192 can be shortened.

If the temperature of the battery 192 detected by the temperature sensor 193 reaches or exceeds the lower limit temperature (an example of a predetermined temperature) at which battery 192 can be charged due to the temperature increase control, the temperature increase control unit 3005 according to the present embodiment performs rapid charging. Until the charging connector is connected to the vehicle inlet 102 for normal charging or the vehicle inlet 101 for normal charging, the temperature of the battery 192 is controlled to be maintained at or above the lower limit temperature at which charging is possible (an example of a predetermined temperature). The temperature increase control unit 3005 controls the temperature of the battery 192 to be maintained at a lower limit temperature (an example of a predetermined temperature) at which battery 192 can be charged or higher, thereby increasing the temperature of the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging. It can be charged immediately by connecting the charging connector to the . This can shorten the time it takes to complete charging.

The temperature increase control performed by the temperature increase control unit 3005 is realized by combining multiple types. The temperature increase control unit 3005 according to this embodiment performs control to stop the cooling mechanism that cools the battery 192 when the cooling mechanism is being driven. An example of the cooling mechanism to be stopped is the fan 90 provided in the cooling device 60 shown in FIG. 3. The cooling device 60 cools not only the battery module 19 including the battery 192 but also the pump electric motor 12. Therefore, even if the temperature of the battery 192 is low, the water pump 64 and fan 90 of the cooling device 60 may be driven to cool the pump motor 12 and the DC-DC converter 44 (an example of an operating part). There is.

Therefore, the temperature increase control unit 3005 according to the present embodiment performs control to stop the fan 90 when the fan 90 is being driven. This suppresses cooling of the refrigerant circulating through the cooling device 60, so cooling of the battery 192 can be suppressed. Further, the temperature increase control unit 3005 may control the water pump 64 to continue driving. Thereby, the temperature increase control unit 3005 guides the refrigerant heated by circulating through the pump motor 12, the DC-DC converter 44, etc. to the battery module 19. Thereby, the temperature of the battery 192 can be increased by exhaust heat from the pump electric motor 12, the DC-DC converter 44, and the like. Note that in this embodiment, an example will be described in which exhaust heat from the pump electric motor 12 and the DC-DC converter 44 is used, but the source of the exhaust heat is limited to the pump electric motor 12 and the DC-DC converter 44. It may be any electrical component that generates heat as it operates while the excavator 200 is working.

Further, the temperature increase control unit 3005 instructs the battery controller 191 (heating unit) to heat the battery 192 with the PTC heater 194.

The temperature increase control unit 3005 according to the present embodiment controls stopping the cooling control by the fan 90 provided in the cooling device 60 and driving the water pump 64 to guide waste heat from the pump motor 12 and the like to the battery 192. An example has been described in which the temperature of the battery 192 is increased by combining the temperature increase control by the PTC heater 194 and the temperature increase control by the PTC heater 194. However, this embodiment is not limited to an example in which all of the above-mentioned controls are performed, and any one or more of the above-mentioned controls may be performed. Furthermore, as long as the method is to raise the temperature of the battery 192, the control is not limited to the above-mentioned control, and other methods such as guiding the air in the cabin 10 to the battery 192 may be used. In this way, any one of the following can be performed: stopping the cooling control by the fan 90, driving the water pump 64 to guide exhaust heat from the pump motor 12, etc. to the battery 192, and controlling the temperature to increase by the PTC heater 194. By increasing the temperature of the battery 192 by more than one battery, the temperature of the battery 192 can be appropriately increased, so that the time required to complete charging of the battery 192 can be shortened.

When the charging connector (charging member) is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging, and the temperature of the battery 192 is higher than the lower limit temperature T2 for charging, Performs charging control.

[Explanation of processing corresponding to display screen]
Next, a description will be given of a display screen displayed by the display control unit 3002 on the output device 50 and a process when an operation is performed on the display screen. FIG. 5 is a diagram illustrating a display screen displayed by the display control unit 3002 according to this embodiment.

FIG. 5A shows an example of a setting screen displayed by the display control unit 3002 for setting the charging start time of the battery 192. In the setting screen example shown in FIG. 5A, for example, when the determination unit 3004 determines that the SOC has become 35% or less, the display control unit 3002 displays a pop-up screen 5011 on the normal display screen. it's shown. A pop-up screen 5011 shown in FIG. 5(A) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, the pop-up screen 5011 displays a "20 minutes later" button 5012, a "15 minutes later" button 5013, and a "within 10 minutes" button 5014. Note that in this embodiment, the timing to display the setting screen for setting the charging start time is not limited to the timing when the SOC becomes 35% or less, but the timing to display the setting screen for setting the charging start time is not limited to the timing when the SOC becomes a predetermined value. Bye. For example, the display control unit 3002 may perform display in multiple stages, such as displaying at the timing when the SOC becomes 50% or less and displaying at the timing when the SOC becomes 20% or less.

The operation accepting unit 3003 then accepts the presses of buttons 5012 to 5014 displayed on the pop-up screen 5011. For example, when the operation reception unit 3003 receives a press of the “20 minutes later” button 5012, the operation reception unit 3003 causes the time information storage unit 3011 to store the time obtained by adding 20 minutes to the current time as the charging start time. As another example, when the operation reception unit 3003 receives a press of the “15 minutes later” button 5013, the operation reception unit 3003 causes the time information storage unit 3011 to store the time obtained by adding 15 minutes to the current time as the charging start time. . Further, when the operation reception unit 3003 receives a press of the “10 minutes later” button 5014, the operation reception unit 3003 causes the time information storage unit 3011 to store the time obtained by adding 10 minutes to the current time as the charging start time.

Note that in this embodiment, the timing of displaying the setting screen for setting the charging start time is not limited to the timing triggered by the SOC of the battery 192. For example, the excavator controller 30 may be equipped with an AI (Artificial Intelligence) dialogue engine. The AI dialogue engine then accepts the input of the work schedule and charging start time by asking the operator, ``Do you want to start working in the afternoon?'' or ``When do you plan to start charging?'' It's okay. The AI dialogue engine may register the input charging start time in the time information storage unit 3011.

Furthermore, the timing to display the setting screen for setting the charging start time as shown in FIG. This may also be the case when a change in the work schedule is received.

FIG. 5B shows an example of a confirmation screen displayed by the display control unit 3002 for preparing to charge the battery 192 based on the SOC. The charging preparation shown in FIG. 5(B) indicates temperature increase control (warming up) of the battery 192.

The example confirmation screen shown in FIG. 5B shows that, for example, the determination unit 3004 has determined that the difference between the current SOC of the battery 192 and the SOC at which charging of the battery 192 is started is within a predetermined range. In this case, the display control unit 3002 displays a pop-up screen 5021 on top of the normal display screen. In other words, if the current SOC of the battery 192 is 22% and 20% is set as the SOC at which charging of the battery 192 will start, the temperature will start rising because it is within the predetermined range (2%). Since the determination unit 3004 has determined that the condition is satisfied, the confirmation screen shown in FIG. 5(B) is displayed. In other words, at the timing to perform the temperature increase control determined based on the SOC of the battery 192, a confirmation screen showing whether or not to perform the temperature increase control of the battery 192 is displayed.

A pop-up screen 5021 shown in FIG. 5(B) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, a "Yes" button 5022 and a "No" button 5023 are displayed on the pop-up screen 5021.

The operation accepting unit 3003 then accepts a press of the "Yes" button 5022 or the "No" button 5023 displayed on the pop-up screen 5021. For example, when the operation reception unit 3003 receives a press of the “Yes” button 5022, the temperature increase control unit 3005 starts temperature increase control of the battery 192. On the other hand, when the operation reception unit 3003 accepts the pressing of the “No” button 5022, the display control unit 3002 ends the display of the pop-up screen 5021 without performing any particular control. In this way, temperature increase control of the battery 192 is started in accordance with the operation performed on the confirmation screen shown in FIG. 5(B).

That is, when the SOC of the battery 192 is lower than a predetermined charging rate (for example, 22%) while the excavator 200 is driving, and when the temperature of the battery 192 detected by the temperature sensor 193 is If the temperature is lower than the lower limit temperature T2 (predetermined temperature), a confirmation screen shown in FIG. 5(B) is displayed. Then, when a confirmation operation is received from the operator on the confirmation screen, the temperature increase control unit 3005 performs temperature increase control of the battery 192. In this embodiment, when it is considered that charging will be performed soon based on the current SOC of the battery 192, the delay until the start of charging of the battery 192 can be suppressed by controlling the temperature of the battery 192. Thereby, the time required to complete charging of the battery 192 can be shortened.

FIG. 5C shows an example of a confirmation screen displayed by the display control unit 3002 for preparing to charge the battery 192 based on the temperature increase start time. The charging preparation shown in FIG. 5(C) indicates temperature increase control of the battery 192.

In the confirmation screen example shown in FIG. 5C, for example, when the determination unit 3004 determines that the current time has reached the temperature increase start time, the display control unit 3002 displays a pop-up screen 5031 on top of the normal display screen. This is the screen that displays. In other words, since the determination unit 3004 determines that the temperature increase of the battery 192 will be completed at the charging start time when temperature increase control of the battery 192 is started from now, the confirmation screen shown in FIG. 5(C) is displayed. be done.

A pop-up screen 5031 shown in FIG. 5(C) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, a "Yes" button 5032 and a "No" button 5033 are displayed on the pop-up screen 5031.

The operation accepting unit 3003 then accepts a press of the "Yes" button 5032 or the "No" button 5033 displayed on the pop-up screen 5031. For example, when the operation reception unit 3003 receives a press of the “Yes” button 5032, the temperature increase control unit 3005 starts temperature increase control of the battery 192. On the other hand, when the operation reception unit 3003 receives the press of the “No” button 5032, the display control unit 3002 ends the display of the pop-up screen 5031 without performing any particular control.

By the way, when it is time for a break, charging of the battery 192 does not necessarily start immediately. Therefore, the temperature increase control unit 3005 according to the present embodiment maintains the temperature of the battery 192 only for a predetermined time when the temperature of the battery 192 reaches the lower limit chargeable temperature T2 at the charging start time. However, the charging start time may be changed. Therefore, the display control unit 3002 according to this embodiment displays a confirmation screen shown in FIG. 5(D).

FIG. 5D shows an example of a confirmation screen regarding maintenance of temperature increase control, which is displayed by the display control unit 3002. In the confirmation screen example shown in FIG. 5D, for example, when the determination unit 3004 determines that a predetermined period of time (for example, 10 minutes) has elapsed since the charging start time, the display control unit 3002 displays the normal display screen. A pop-up screen 5041 is displayed on top of the screen. In other words, since the temperature increase control has been maintained for a longer time, the confirmation screen shown in FIG. 5(D) is displayed to confirm with the operator whether it is OK to maintain the current state. .

A pop-up screen 5041 shown in FIG. 5(D) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, a "Yes" button 5042 and a "No" button 5043 are displayed on the pop-up screen 5041.

The operation accepting unit 3003 then accepts a press of the "Yes" button 5042 or the "No" button 5043 displayed on the pop-up screen 5041. For example, when the operation reception unit 3003 receives a press of the “Yes” button 5042, the temperature increase control unit 3005 controls the battery 192 to maintain the current temperature. On the other hand, when the operation reception unit 3003 receives the press of the “No” button 5042, the operation reception unit 3003 ends the temperature increase control by the temperature increase control unit 3005.

In this embodiment, the display is not limited to the pop-up screen described above, and other pop-up screens may be displayed. As the pop-up screen, for example, the display control unit 3002 may display a screen indicating that preparation for charging the battery 192 (temperature increase control) has started. Furthermore, as another example, the display control unit 3002 may display a screen indicating that charging preparation (temperature increase control) is completed when the temperature of the battery 192 reaches the lower limit temperature T2 at which charging is possible. . Furthermore, as another example, after finishing the maintenance control of the temperature of the battery 192, the display control unit 3002 displays a screen indicating that preparation for charging the battery 192 (maintenance control of the temperature of the battery 192) is finished. Good too.

In the present embodiment, by displaying the screen group shown in FIG. You can decide whether or not to do so.

<Example of processing until starting battery charging according to embodiment>
Next, a process up to the start of charging of the battery 192 by the shovel controller 30 according to the present embodiment will be described.

FIG. 6 is a flowchart showing a process up to the start of charging of the battery 192 by the shovel controller 30 according to the present embodiment. The process shown in FIG. 6 is a diagram showing a case where the temperature increase control of the battery 192 is performed based on the charging start time. The example shown in FIG. 6 is an example in which the temperature increase control of the battery 192 is performed based on the time information stored in the time information storage unit 3011, and the temperature increase control of the battery 192 is performed based on the SOC of the battery 192. is omitted.

First, the determination unit 3004 determines whether the temperature of the battery 192 is lower than the lower limit temperature T2 at which battery 192 can be charged (S6001). If the determination unit 3004 determines that the temperature of the battery 192 is higher than the lower limit chargeable temperature T2 (S6001: No), the determination unit 3004 concludes that the temperature increase control of the battery 192 is unnecessary and ends the process.

On the other hand, if the determination unit 3004 determines that the temperature of the battery 192 is lower than the chargeable lower limit temperature T2 (S6001: Yes), the determination unit 3004 includes time information indicating the charging start time, the current temperature of the battery 192, and the lower limit temperature T2. , a temperature increase start time is calculated based on the temperature increase performance (S6002).

The determination unit 3004 determines whether the current time has reached the temperature increase start time (S6003). If it is determined that the current time has not reached the temperature increase start time (S6003: No), the process of S6003 is performed again.

If the determination unit 3004 determines that the current time has reached the temperature increase start time (S6003: Yes), the display control unit 3002 displays a confirmation screen ( For example, FIG. 5(C)) is displayed (S6004).

The operation reception unit 3003 determines whether or not an operation to approve charging preparation (pressing the "Yes" button 503 in FIG. 5C) is received (S6005). If an operation indicating that charging preparation is not permitted (pressing the "No" button 5033 in FIG. 5C) is received (S6005: No), the process ends without performing temperature increase control of the battery 192. In this case, charging control of the battery 192 is performed as usual.

On the other hand, when the operation reception unit 3003 receives an operation to approve charging preparation (pressing the "Yes" button 5032 in FIG. 5C) (S6005: Yes), the temperature increase control unit 3005 controls the battery 19 temperature increase control is started (S6006).

After that, the determination unit 3004 determines whether the temperature of the battery 192 is equal to or higher than the lower limit temperature T2 at which battery 192 can be charged (S6007). If it is determined that the temperature of the battery 192 is lower than the chargeable lower limit temperature T2 (S6007: No), the temperature increase control is continued and the process of S6007 is performed again.

On the other hand, when the determination unit 3004 determines that the temperature of the battery 192 is equal to or higher than the chargeable lower limit temperature T2 (S6007: Yes), the determination unit 3004 charges the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging. It is determined whether the connector has been connected and charging of the battery 192 has started (S6008). If it is determined that charging of the battery 192 has started (S6008: Yes), the process ends with the battery being charged thereafter.

On the other hand, when the determination unit 3004 determines that the charging connector is not connected to the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging (S6008: No), the temperature increase control unit 3005 controls the temperature of the battery 192. Maintenance control is performed (S6009).

The determination unit 3004 determines whether a predetermined time has elapsed since receiving the charging start time or the operation to continue the maintenance control in S6012 (S6010). If the determination unit 3004 determines that the predetermined time has not elapsed since the charging start time (S6010: No), the determination unit 3004 performs the process again from S6008.

If the determination unit 3004 determines that the predetermined time has elapsed from the charging start time (S6010: Yes), the display control unit 3002 displays a confirmation screen to maintain the preparation for charging the battery 192 (maintain the temperature of the battery 192). (For example, FIG. 5(D)) is displayed (S6011).

Then, the operation reception unit 3003 determines whether or not an operation to continue maintenance control (pressing the "Yes" button 5042 in FIG. 5(D)) is received (S6012). If an operation to continue maintenance control (pressing the "Yes" button 5042 in FIG. 5(D)) is received (S6012: Yes), the process is performed again from S6008.

On the other hand, when the operation reception unit 3003 receives an operation to end the maintenance control (pressing the "No" button 5043 in FIG. 5(D)) (S6012: No), the temperature increase control unit 3005 The control for maintaining the temperature is ended (S6013), and all processing is ended.

By increasing the temperature of the battery 192 when the temperature of the battery 192 is lower than the lower limit temperature at which battery 192 can be charged, according to the processing procedure shown in FIG. 6, the time until charging of the battery 192 is started can be shortened.

<Effect>
In the embodiment described above, before starting charging of the battery 192, if the temperature of the battery 192 is lower than the lower limit temperature at which the battery 192 can be charged, temperature increase control of the battery 192 is performed. Thereby, the time from when the charging connector is connected to the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging until charging is started can be shortened. In other words, in this embodiment, the time it takes for the battery 192 to complete charging can be shortened. Therefore, the shovel controller 30 according to this embodiment can improve convenience. Furthermore, the shovel controller 30 according to the present embodiment can shorten the time required to start work, so that work efficiency can be improved.

This is particularly effective when the battery 192 is rapidly charged in a situation where the chargeable time of the battery 192 is limited and it is desired to further shorten the charging time of the battery 192.

In the embodiment described above, an example has been described in which a confirmation screen is displayed before starting to raise the temperature of the battery 192. That is, when raising the temperature of the battery 192 before connecting the charging connector to the vehicle inlet 102 for quick charging or the vehicle inlet 101 for normal charging, the temperature is raised using the electric power of the battery 192 itself. This will consume power from the battery 192. Therefore, if there is time until the battery 192 is charged, it is desirable to suppress the temperature increase control. Therefore, the shovel controller 30 according to the present embodiment displays a confirmation screen and accepts an operation as to whether or not to start temperature increase control. Thereby, when the temperature increase control of the battery 192 is performed, charging of the battery 192 can be suppressed from not being started, so that unnecessary power consumption of the battery 192 can be suppressed.

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

200 Excavator 1 Lower traveling body 2 Swivel mechanism 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 19 Battery module 191 Battery controller 192 Battery 193 Temperature sensor 194 PTC heater 30 Shovel controller 50 Output device 52 Input device 70 Communication device 101 Vehicle inlet for normal charging 102 Vehicle inlet for quick charging 3001 Acquisition unit 3002 Display control unit 3003 Operation reception unit 3004 Judgment unit 3005 Temperature increase control unit 3006 Charging control unit 3011 Time information storage unit 3012 Performance information storage Department

Claims (11)

electric motor and
a battery that supplies power to the electric motor;
a charging port for supplying power to the battery;
While the electric excavator is driving and before a charging member is connected to the charging port, the temperature of the battery detected by the detection unit is lower than a predetermined temperature at which the battery can be charged. In this case, the battery is configured to perform temperature increase control.
Electric excavator. It further includes a storage unit that stores time information,
2. While the electric excavator is being driven, if the temperature is lower than a predetermined temperature at which the battery can be charged, the temperature increase control of the battery is performed before the time indicated by the time information. electric excavator. The time information stored in the storage unit is information input from an input device or information received via a communication device.
The electric excavator according to claim 2. The electric excavator further includes a performance information storage unit that stores performance information regarding a time when the electric excavator was operated or charged in the past,
The time information stored in the storage unit is information generated based on the track record information,
The electric excavator according to claim 2. Displaying a setting screen for setting a time to start charging the battery while the electric excavator is driving;
The time information stored in the storage unit is information determined based on an operation performed on the setting screen.
The electric excavator according to claim 2. The temperature increase control of the battery is configured such that the temperature of the battery detected by the detection unit becomes equal to or higher than the predetermined temperature at the time indicated by the time information.
The electric excavator according to any one of claims 2 to 5. When the charging rate of the battery is lower than a predetermined charging rate while the electric excavator is being driven, and the temperature of the battery detected by the detection unit is a predetermined temperature at which the battery can be charged. is configured to perform temperature increase control of the battery when the temperature is lower than that of the battery;
The electric excavator according to claim 1. The temperature increase control of the battery is caused by stopping cooling control of the battery by a cooling mechanism, heating control by a heating unit provided near the battery, and an operating unit operating in the electric motor or the electric excavator. performing one or more of the following controls for guiding waste heat to the battery;
An electric excavator according to any one of claims 1 to 7. Displaying a confirmation screen indicating whether or not to perform temperature increase control of the battery at a timing when temperature increase control of the battery is performed;
The temperature increase control of the battery is configured to be started according to an operation performed on the confirmation screen,
An electric excavator according to any one of claims 1 to 8. When the temperature of the battery detected by the detection unit reaches or exceeds the predetermined temperature due to temperature increase control of the battery, the temperature of the battery is configured to be maintained at or above the predetermined temperature. There is,
The electric excavator according to any one of claims 1 to 9. For a computer mounted on an electric excavator that has an electric motor, a battery for supplying power to the electric motor, and a charging port for supplying power to the battery,
While the electric excavator is driving and before a charging member is connected to the charging port, the temperature of the battery detected by the detection unit is lower than a predetermined temperature at which the battery can be charged. In this case, controlling the temperature of the battery;
A program to run.

Images