JP2023150958A - Electric shovel, shovel management system, and program - Google Patents

Abstract

To prevent stop of an electric shovel due to decrease in charging rate of a battery.SOLUTION: An electric shovel according to an embodiment includes an electric motor and a battery that supplies power to the electric motor, and is configured to output information to prompt charging of the battery in a case where the battery has a charging rate lower than a predetermined threshold value.SELECTED DRAWING: Figure 3

Description

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

In recent years, electric excavators having electric motors have been proposed. In the electric excavator, an electric motor is driven by electric power supplied from a battery provided in the main body.

When such an electric excavator runs out of battery power, it cannot be moved from that location. Therefore, an operator riding an electric excavator needs to pay attention to the remaining battery power.

Therefore, in the technique described in Patent Document 1, a technique is proposed in which an estimated value of the operating time of the electric excavator is displayed based on the remaining battery level and the average power consumption during operation. This allows the operator riding the electric excavator to refer to the estimated operating time and return to the power supply station for charging at an appropriate time.

Patent No. 6817494

In the technique described in Patent Document 1, the timing of actually returning to the power feeding station is left to the operator riding the electric excavator. Therefore, if there is a slight delay in the timing of the operator returning to the power supply station, there is a possibility that the remaining battery power will run out before the operator returns to the power supply station.

When the battery of an electric excavator runs out of battery power, it becomes difficult to move the electric excavator. For example, batteries in electric excavators are large and difficult to replace. Furthermore, if a movable charging facility is provided to charge the electric excavator, costs will increase. For this reason, it is important to return to the power supply station before the battery of the electric excavator runs out of power.

However, for the operator riding the electric excavator, it is often more important to proceed with the work. For example, an operator may be aware of the estimated operating time, but as a result of working to the limit, the battery may be depleted at a greater rate than the operator expected, and before the excavator returns to the power supply station. The battery may run out. Furthermore, if the operator is so focused on his work that he forgets to check the available operating time, the battery may run out before returning to the power supply station.

Therefore, in view of the above-mentioned problems, we propose a technique that alerts the operator to return to the power supply station before the battery of the electric excavator runs out.

To achieve the above object, an electric excavator according to an embodiment of the present disclosure includes an electric motor and a battery that supplies power to the electric motor, and when the charging rate of the battery is lower than a predetermined threshold value. , and is configured to output information to prompt battery charging.

According to the above-described embodiment, by outputting information to prompt the operator to charge the battery when the battery is lower than a predetermined threshold, the operator who is operating the excavator is informed that the battery of the excavator can be recharged from an external power source. By encouraging the user to charge the battery, the excavator is prevented from stopping due to a drop in the battery charging rate before charging starts.

FIG. 1 is a schematic diagram showing an example of a shovel management system according to the first embodiment. FIG. 2 is a block diagram schematically showing an example of the configuration of the shovel according to the first embodiment. FIG. 3 is a functional block diagram showing an example of the functional configuration of the shovel management system according to the first embodiment. FIG. 4 is a diagram illustrating a warning-related setting screen displayed by the output control unit according to the first embodiment. FIG. 5 is a diagram illustrating a pop-up screen displaying a warning, which is displayed by the output control unit according to the first embodiment. FIG. 6 is a flowchart showing control regarding a warning based on the SOC of the battery by the excavator controller according to the first embodiment. FIG. 7 is a sequence diagram showing data transmission and reception performed between the shovel management systems according to the first 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 the shovel management system SYS will be explained with reference to FIG. FIG. 1 is a schematic diagram showing an example of the shovel management system SYS according to the first embodiment.

As shown in FIG. 1, the excavator management system SYS according to the first embodiment includes an excavator 200, a management device 300 (an example of an external communication device), a support device 400 (an example of an external communication device), A mobile communication device 500 (an example of another communication device) is included. The management device 300, the support device 400, and the mobile communication device 500 will be outlined later.

Users of the shovel management system SYS include, for example, users of the shovel 200 (hereinafter referred to as "shovel users"). The shovel user includes an operator of the shovel 200 and the like. Furthermore, users of the shovel management system SYS include, for example, users of the management device 300 (hereinafter referred to as “management device users”). The management device users include, for example, a data center administrator of the management device 300, a data center worker, and the like. Furthermore, users of the shovel management system SYS include users of the support device 400 (hereinafter referred to as “support device users”). The support device users include a supervisor at a work site, a manager of the management device 300, a service person in charge of maintenance of the shovel 200, an owner of the shovel 200, and the like. Furthermore, users of the shovel management system SYS include users of the mobile communication device 500 (hereinafter referred to as "communication device users"). Communication device users include the operator of excavator 200 and the like.

Further, the excavator management system SYS may, for example, perform various settings related to the control of the excavator 200 in the support device 400 or the mobile communication device 500 in response to input from the user or automatically, and transmit the settings to the excavator 200. . Thereby, various operations of the excavator 200 can be controlled and monitored from the support device 400 or the mobile communication device 500.

The shovel management system SYS may include one or more shovels 200. Thereby, the shovel management system SYS can perform data collection, provision of information to users based on the collected data, settings related to control of the shovels 200, etc. for a plurality of shovels 200.

Furthermore, the number of management devices 300 included in the shovel management system SYS may be one or more. Thereby, the excavator management system SYS can realize various functions in a distributed manner using the plurality of management devices 300.

Furthermore, the number of support devices 400 included in the shovel management system SYS may be one or multiple. Thereby, the shovel management system SYS can provide information regarding the shovel 200 to a plurality of users using each support device 400 through the plurality of support devices 400.

Furthermore, the number of mobile communication devices 500 included in the excavator management system SYS may be one or multiple. For example, the portable communication device 500 may be owned by each operator of the excavator 200 present at the work site. Thereby, the shovel management system SYS can contact each operator of the shovel 200 through the mobile communication device 500.

<Excavator overview>
As an example of an electric shovel, an overview of a shovel 200 according to the present embodiment will be described.

The excavator 200 according to the present embodiment includes an undercarriage body 1, an upper revolving body 3 that is rotatably mounted on the undercarriage body 1 via a rotation mechanism 2, a boom 4, an arm 5, and a bucket 6 as attachments. and a cabin 10 for an operator to board.

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 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.

Furthermore, instead of or in addition to being configured to be operable by an operator riding in the cabin 10, the shovel 200 may be configured to be remotely controlled 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 imaging device 40 images the area around the excavator 200 and acquires an image. The imaging device 40 outputs captured image data, which is the imaging result, to the shovel controller 30.

The imaging device 40 is, for example, a monocular camera, a stereo camera, a depth camera, or the like. The imaging device 40 also acquires three-dimensional data (for example, point cloud data or surface data) representing the position and external shape of objects around the shovel 200 within a predetermined imaging range (angle of view) based on the captured image data. You may.

Four imaging devices 40 are provided in the revolving upper structure 3 , and each of the imaging devices 40 is located at the front of the revolving upper structure 3 , the rear of the revolving upper structure 3 , the left side of the revolving upper structure 3 , and the revolving upper structure 3 . Image the right side. Thereby, the operator can check the left side, right side, and rear side of the revolving upper structure 3 through the display device 50B or the remote control display device.

The remote control includes, for example, a mode in which the shovel 200 is operated by an operation input regarding the actuator of the shovel 200 performed by a predetermined external device (for example, the management device 300, the support device 400, or the mobile communication device 500). The predetermined external device may be, for example, the management device 300, the support device 400, or the mobile communication device 500. In this case, the excavator 200 transmits, for example, image information (captured image) output by the imaging device 40 included in the surrounding information acquisition device (not shown) to an external device via a communication interface (I/F) 60, which will be described later. You may do so. 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 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 actuator in response to a remote control signal indicating the content of the remote control received from an external device through the communication I/F 60, and operates the lower traveling structure 1 (left and right crawlers) and the upper rotating structure 3. , boom 4, arm 5, and bucket 6.

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 utterances from surrounding workers etc. through a voice input device (for example, a microphone), a gesture input device (for example, the imaging device 40), etc. mounted on the excavator 200 (own machine). Recognizes voice and gestures performed by 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 the function of automatically operating at least some of the driven elements such as the lower traveling body 1 (for example, crawlers 1CL and 1CR), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6. It realizes the so-called "autonomous driving function" or "MC (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 I/F 60 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).

Furthermore, the excavator 200 may communicate with the support device 400 via the communication line NW. In this case, the excavator 200 may communicate with the support device 400 indirectly via the management device 300, or directly with the support device 400.

<Overview of management device>
The management device 300 (an example of an external communication device) is a device provided in a data center that accumulates data regarding the excavator 200. For example, the management device 300 may be provided outside the excavator 200 and collect various data regarding the excavator 200 that is transmitted (uploaded) from the excavator 200. The various data include, for example, performance information that is information indicating the current status of the excavator 200 and includes the SOC and driving status of the excavator 200. By receiving the performance information, the management device 300 can manage data indicating the operating state, operation state, etc. of the shovel 200.

The management device 300 is, for example, a cloud server installed in a data center or the like outside the work site of the excavator 200. Furthermore, the management device 300 may be, for example, a stationary terminal device (stationary terminal) placed in an external data center or the like. Stationary terminals may include, for example, desktop computer terminals.

The management device 300 communicates with each of the excavator 200, the support device 400, and the mobile communication device 500 through the communication line NW. Thereby, the management device 300 can collect various data regarding the excavator 200 by receiving various data transmitted (uploaded) from the excavator 200, for example. Further, the management device 300 can control the shovel 200 from the outside by, for example, transmitting data regarding the control of the shovel 200 to the shovel 200.

Further, the management device 300 can provide various data to the support device 400 or the mobile communication device 500, for example, in response to a request from the support device 400 or the mobile communication device 500.

<Overview of support equipment>
The support device 400 is, for example, a terminal device (user terminal) used in the shovel management system SYS by a manager who manages work at a work site using the shovel 200, an owner of the shovel 200, etc. to receive information. be. For example, the support device 400 can receive various notifications from the excavator 200 or the management device 300, and can also communicate with other communication devices (for example, the mobile communication device 500).

The support device 400 is, for example, a general-purpose mobile terminal such as a tablet terminal or a smartphone owned by the user. Further, the support device 400 may be a general-purpose stationary terminal such as a laptop computer terminal or a desktop computer. Further, the support device 400 may be a dedicated terminal device (portable terminal or stationary terminal) for receiving data (information) regarding the excavator 200.

The support device 400 communicates with each of the management device 300 and the mobile communication device 500 via the communication line NW. For example, the support device 400 can request the management device 300 to provide data regarding the shovel 200. Further, the support device 400 can receive data regarding the shovel 200 transmitted from the management device 300, and provide information regarding the shovel 200 to the user through an output device 430 (described later) installed therein. Further, the support device 400 may transmit and receive audio to and from the management device 300, in other words, may make a phone call.

Further, the support device 400 may communicate with the excavator 200 via the communication line NW. The support device 400 may communicate with the shovel 200 indirectly via the management device 300, or may communicate with the shovel 200 directly.

<Overview of communication equipment>
The mobile communication device 500 is, for example, a terminal device (user terminal) used by an operator riding the shovel 200 to receive information in the shovel management system SYS. For example, the mobile communication device 500 can receive various notifications from the support device 400, and can also make a phone call or the like with the support device 400.

The mobile communication device 500 is, for example, a general-purpose mobile terminal such as a tablet terminal or a smartphone owned by a user. Furthermore, the mobile communication device 500 may be a general-purpose stationary terminal such as a laptop computer terminal or a desktop computer. Furthermore, the mobile communication device 500 may be a dedicated terminal device (a mobile terminal or a stationary terminal) for receiving data (information) regarding the excavator 200.

[Shovel management system configuration]
Next, the configuration of the shovel management system SYS according to the present embodiment will be described with reference to FIGS. 2 and 3 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. FIG. 3 is a functional block diagram showing an example of the functional configuration of the shovel management system SYS 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.

<Shovel configuration>
The excavator 200 includes a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communicating with the outside, a control system for various controls, etc. Contains each component of.

<<Excavator hydraulic drive system>>
As shown in FIG. 2, the hydraulic drive system of the excavator 200 according to the present embodiment includes a traveling hydraulic motor 1R, which hydraulically drives each of the driven elements such as the lower traveling body 1, the boom 4, the arm 5, and the bucket 6. 1L, a swing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and other hydraulic actuators. 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 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.

<<Excavator 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.

<<Excavator 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 .

<<Excavator 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 charging 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 192 and a battery controller 191.

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 via a charging cable.

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

Battery controller 191 controls the internal configuration of battery module 19 . For example, the battery controller 191 monitors the temperature status of the battery 192 based on the output result from a temperature sensor (not shown), 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.

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 charging 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 charging 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 charging station) can output.

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.

<<Excavator control system>>
The control system of the excavator 200 according to the present embodiment includes a shovel controller 30, an output device 50, an input device 52, a communication I/F 60, an air conditioner 80, an on-vehicle device 81, and an imaging device 40. .

The air conditioner 80 adjusts the temperature, humidity, etc. of the indoor air in the cabin 10. The air conditioner 80 may be, for example, a heat pump type including a heat pump cycle for both cooling and heating. Furthermore, the air conditioner 80 may include, for example, a refrigeration cycle for cooling and a heater for heating. The heater for space heating is, for example, a PTC (Positive Temperature Coefficient), a combustion type heater, or the like. The air conditioner 80 may include a compressor that compresses refrigerant flowing through a heat pump cycle or a refrigeration cycle. The compressor may be driven by the power of the pump motor 12.

The air conditioner 80 according to this embodiment operates according to instructions from the shovel controller 30, but may also operate according to instructions from an air conditioning controller (not shown). In this case, the shovel controller 30 can control the air conditioner 80 by transmitting a signal to the air conditioning controller.

The in-vehicle device 81 is a device provided in the cabin 10, and is, for example, a radio receiving device. The in-vehicle device 81 can provide various information by voice or the like in accordance with the operator's operations.

The communication I/F 60 (an example of an input device) communicates with the outside of the excavator 200, such as the management device 300 or the support device 400, through the communication line NW. The communication I/F 60 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 modules 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 50B that outputs (notifies) information to the operator in a visual manner. The display device 50B may be installed, for example, in 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 50B is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. Further, the output device 50 includes, for example, an audio output device 50A that outputs information to the operator in an auditory manner. The audio output device 50A is, for example, a buzzer, a speaker, or the like.

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.). Furthermore, the shovel controller 30 may perform display control of the screen on the output device 50 based on the captured image from the imaging device 40.

Furthermore, the shovel controller 30 may perform switching control between the discharging state and the charging state of the battery module 19 based on the operating state of the operating device 26, for example. Further, for example, when the shovel 200 is remotely controlled, the shovel controller 30 may perform switching control between the discharging state and the charging state of the battery module 19 based on the content of the remote control. Further, for example, when the automatic operation function of the excavator 200 is enabled, the shovel controller 30 may perform switching control between the discharge state and the charge state of the battery module 19 based on an operation command corresponding to the automatic operation function.

<Configuration of management device>
As shown in FIG. 3, the management device 300 includes a control device 310, a communication interface (I/F) 320, an output device 330, and an input device 340.

The control device 310 performs control regarding the management device 300. The functions of the control device 310 may be realized by, for example, arbitrary hardware or a combination of arbitrary hardware and software. The control device 310 may be configured mainly of a computer including, for example, a processor device such as a CPU, a memory device (main memory device) such as a RAM, an auxiliary storage device such as a ROM, an interface device with the outside, and the like. For example, the control device 310 implements various functions by loading programs installed in an auxiliary storage device into a memory device and executing them on a CPU. Program data is obtained by the control device 310 from a predetermined recording medium through a predetermined external interface, for example, and installed in the auxiliary storage device. The predetermined recording medium includes, for example, a general-purpose recording medium such as a CD, DVD, BD, SD memory card, or USB memory. Further, the predetermined recording medium includes a dedicated recording medium such as a diagnostic tool of the management device 300. Further, the program data may be downloaded from a computer external to the management device 300 through the communication I/F 320 and installed in the auxiliary storage device of the control device 310.

The communication I/F 320 is an interface for communicating with the outside, such as the excavator 200, the support device 400, and the mobile communication device 500, through the communication line NW.

The output device 330 outputs various information to the management device user under the control of the control device 310. The output device 330 includes, for example, a display device that outputs (notifies) information in a visual manner to the management device user. The display device includes, for example, a liquid crystal display or an organic EL display. The display device may display various information images for the management device user, for example.

Further, the output device 330 includes, for example, a sound output device that outputs (notifies) information in an auditory manner to the management device user. The sound output device includes, for example, a speaker, a buzzer, and the like.

The input device 340 receives various inputs from the management device user. Input device 340 includes, for example, an operation input device that accepts operation input from a management device user. The operation input device includes, for example, a mouse, a keyboard, a button, a toggle, a lever, a touch panel, a touch pad, and the like. Furthermore, the input device 340 includes, for example, a voice input device that accepts voice input from a management device user and a gesture input device that accepts gesture input. The voice input device includes, for example, a microphone that acquires the voice of the management device user. The gesture input device includes, for example, an imaging device capable of capturing an image of the gesture of the management device user. A signal corresponding to an input from a management device user accepted by input device 340 is taken into control device 310 .

<Support device configuration>
As shown in FIG. 3, support device 400 includes a control device 410, a communication interface (I/F) 420, an output device 430, and an input device 440.

Control device 410 performs control regarding support device 400. The functions of the control device 410 may be realized by, for example, arbitrary hardware or a combination of arbitrary hardware and software. The control device 410 may be configured mainly of a computer including, for example, a processor device such as a CPU, a memory device (main memory device) such as a RAM, an auxiliary storage device such as a ROM, an interface device with the outside, and the like. For example, the control device 410 implements various functions by loading programs installed in the auxiliary storage device into the memory device and executing them on the CPU. Program data is obtained by the control device 410 from a predetermined recording medium through a predetermined external interface, for example, and installed in the auxiliary storage device. The predetermined recording medium includes, for example, a general-purpose recording medium such as a CD, DVD, BD, SD memory card, or USB memory. Further, the predetermined recording medium includes a dedicated recording medium such as a diagnostic tool of the support device 400. Further, the program data may be downloaded from outside the support device 400 (for example, the management device 300) through the communication I/F 420, and installed in the auxiliary storage device of the control device 410.

The communication I/F 420 is any device that communicates with the outside of the support device 400, such as the management device 300, through the communication line NW. The communication I/F 420 may be, for example, a mobile communication module compatible with mobile communication standards such as LTE, 4G, and 5G.

The output device 430 outputs various information to the support device user under the control of the control device 410.

The output device 430 includes, for example, a display device that outputs (notifies) information in a visual manner to the support device user. The display device includes, for example, a liquid crystal display or an organic EL display. The display device may display various information images for the support device user, for example.

Further, the output device 430 includes, for example, a sound output device that outputs (notifies) information in an auditory manner to the support device user. The sound output device includes, for example, a speaker, a buzzer, and the like.

The input device 440 receives various inputs from the support device user. Input device 440 includes, for example, an operation input device that accepts operation input from a support device user. The operation input device includes, for example, a mouse, a keyboard, a button, a toggle, a lever, a touch panel, a touch pad, and the like. Furthermore, the input device 440 includes a voice input device that accepts voice input from a support device user and a gesture input device that accepts gesture input. The voice input device includes, for example, a microphone that captures the voice of the support device user. The gesture input device includes, for example, an imaging device capable of capturing an image of the gesture of the support device user. A signal corresponding to the input from the support device user accepted by the input device 440 is taken into the control device 410.

<Communication device configuration>
Mobile communication device 500 includes a control device 510, a communication interface (I/F) 520, an output device 530, and an input device 540. The control device 510, communication I/F 520, output device 530, and input device 540 are the same as the control device 410, communication I/F 420, output device 430, and input device 440 that the support device 400 has, and a description thereof will be omitted.

[Explanation when SOC decreases]
In shovel 200 , battery controller 191 detects the SOC of battery 192 and outputs the detection result to shovel controller 30 . The shovel controller 30 then performs various controls based on the SOC of the battery 192.

Specifically, shovel controller 30 determines whether the SOC of battery 192 is lower than a predetermined threshold. When the shovel controller 30 determines that the SOC of the battery 192 is lower than a predetermined threshold (hereinafter also referred to as a warning threshold), the shovel controller 30 provides information for prompting the operator of the shovel 200 to supply power to the battery 192 of the shovel 200. As an example, a pop-up screen is displayed warning that the SOC of the battery 192 has decreased.

That is, in the present embodiment, the screen display is switched at the timing when the SOC of the battery 192 decreases. Thereby, the operator can recognize that the battery 192 needs to be charged at the timing when the operator refers to the screen. Therefore, the excavator 200 can move to a power supply station (an example of an external power source) according to the operator's operation and start supplying power to the battery 192.

Incidentally, even if the operator recognizes that the SOC of the battery 192 is lower than the warning threshold, the operator may continue to work with the shovel 200 depending on the work situation. Furthermore, the operator may not notice the display of the pop-up screen.

Therefore, in this embodiment, when the SOC of the battery 192 becomes lower than the warning threshold, the shovel controller 30 not only displays a pop-up screen but also displays various functions to prompt the operator to charge the battery 192. Take control.

Various settings are performed on the shovel controller 30 in order to perform various controls to encourage charging of the battery 192. Then, the shovel controller 30 performs control according to the various settings. For example, at the timing when the SOC of the battery 192 becomes lower than the warning threshold, the shovel controller 30 displays a pop-up screen showing a warning on the display device 50B, and also displays a message indicating when the shovel 200 operates in the current situation. It may also be controlled to start displaying the available time. As another example, the shovel controller 30 may start outputting an alarm sound into the cabin 10 using the audio output device 50A at this timing. Further, the shovel controller 30 may send a notification to the support user of the support device 400 at the timing, indicating that the SOC of the battery 192 has decreased. As another example, the shovel controller 30 may change the operation mode of the shovel 200 to a mode that prioritizes power saving at this timing in order to limit the output of the shovel 200.

The operation mode is a mode for adjusting the output and power consumption of the pump motor 12. For example, the operation modes include "SP (Special)" mode, "A (Auto) 4" mode to "A (Auto) 1" mode. The "SP (Special)" mode is a mode that prioritizes work speed and consumes a large amount of power. "A (Auto) 4" mode to "A (Auto) 1" mode are automatic modes that balance work speed and power consumption. As the number decreases from "A4" to "A1", power consumption decreases and work speed slows down because power saving is prioritized. In this embodiment, for example, the shovel controller 30 may change the operation mode to an "A1" mode that prioritizes power saving.

<Functional block of excavator controller>
Returning to FIG. 3, 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 shovel controller 30 according to this embodiment includes a setting information storage section 3011 in a nonvolatile auxiliary storage device.

The setting information storage unit 3011 stores setting information for issuing a warning to the operator. Specific setting information will be described later.

Further, the shovel controller 30 according to the present embodiment includes an acquisition unit 3001 and an output control unit 3002 as functional units realized by executing one or more programs installed in an auxiliary storage device on the CPU, for example. , an operation reception section 3003, a communication control section 3004, a setting section 3005, a determination section 3006, a control section 3007, and a charging control section 3008.

Note that some of the functions of the shovel controller 30 may be realized by another controller. That is, the functions of the shovel controller 30 may be realized in a distributed manner by a plurality of controllers.

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 output control unit 3002 outputs various information to the output device 50. For example, the output control unit 3002 displays various screens on the display device 50B by outputting screen information to the display device 50B. For example, the output control unit 3002 displays a pop-up screen displaying a warning based on the SOC of the battery 192 on the display device 50B. As another example, the output control unit 3002 displays a setting screen for issuing a warning. Note that the setting screen and pop-up screen will be described later.

As another example, the output control unit 3002 outputs sound from the audio output device 50A by outputting audio information to the audio output device 50A.

The operation reception unit 3003 accepts operations on the screen displayed by the output control unit 3002. For example, the operation accepting unit 3003 accepts a setting operation on a setting screen.

The communication control unit 3004 controls communication with an external communication device (for example, the management device 300 or the support device 400).

Furthermore, the communication control unit 3004 transmits performance information indicating the operating state of the shovel 200 and the state of the battery 192 to the management device 300 at predetermined intervals. Thereby, the management device 300 can manage the operating state of the excavator 200.

For example, the setting screen is not limited to being displayed by the display device 50B, and may be displayed by the management device 300, the support device 400, or the mobile communication device 500. In this case, the communication control unit 3004 may receive information about the setting operation performed on the setting screen from the management device 300, the support device 400, or the mobile communication device 500.

The setting unit 3005 performs settings for issuing a warning based on the SOC of the battery 192 of the excavator 200. For example, the setting unit 3005 performs settings according to the setting information input from the operation receiving unit 3003. Further, the setting unit 3005 performs settings according to the setting information received from the communication control unit 3004.

The setting by the setting unit 3005 according to the present embodiment may be performed by, for example, registering input or received setting information in the setting information storage unit 3011. For example, the setting unit 3005 may register the SOC of the battery 192, which is a threshold value for issuing advance warnings and warnings.

The warning is given in order to return the excavator 200 to the power supply station because the SOC of the battery 192 has decreased. The advance warning is performed to make the operator aware that the SOC of the battery 192 is decreasing before issuing a warning.

In this embodiment, it is possible to set the SOC of the battery 192, which serves as a threshold value for issuing advance warnings and warnings. In other words, the setting unit 3005 can set the timing for issuing advance warnings and warnings according to the working environment of the excavator 200. Thereby, the shovel controller 30 can prompt the operator to return to the power feeding station at a more appropriate timing by warning the operator according to the settings. Therefore, it is possible to prevent the shovel 200 from stopping due to a decrease in the SOC of the battery 192.

As another example, the setting unit 3005 may register a specific means for issuing a warning. In this embodiment, specific means include any one or more of audible warning, display warning, notification to the administrator, changing the operating mode, stopping the air conditioner 80, and stopping the vehicle-mounted device 81. However, other means may be used. Each means will be described later.

The determination unit 3006 determines whether the SOC of the battery 192 acquired by the acquisition unit 3001 is lower than a threshold value for issuing advance warning and warning. The threshold value is information read from the setting information storage unit 3011.

The threshold value for giving advance warning (hereinafter also referred to as a caution threshold value) is a threshold value for notifying the operator in advance that the remaining capacity of the battery 192 of the excavator 200 is getting low before issuing a warning. In this embodiment, the caution threshold is set to, for example, 30%, but is not limited to 30%. The caution threshold value may be set to a value depending on the characteristics of the battery 192 and the work environment in order to alert the operator that the SOC of the battery 192 is getting low.

That is, at the timing when the SOC of the battery 192 becomes lower than the caution threshold, the shovel controller 30 warns the operator in advance that the SOC of the battery 192 has become low. This allows the operator to prepare for finishing the work with the shovel 200.

The threshold value for issuing a warning is a threshold value for issuing a warning to the operator to return the shovel 200 to the power supply station (hereinafter also referred to as a warning threshold value). In this embodiment, the warning threshold is set to, for example, 20%, but is not limited to 20%. The warning threshold may be set to a value that is lower than the caution threshold and prompts the operator to return the shovel 200 to the power supply station.

Incidentally, it is assumed that the battery 192 according to the present embodiment has a characteristic that it deteriorates when the SOC becomes lower than 20%. Therefore, the shovel controller 30 according to the present embodiment performs control to prompt the shovel to return to the power supply station at the timing when the SOC reaches 20%.

In other words, when the SOC of the battery 192 drops to 20%, the shovel controller 30 prompts the operator to return the shovel 200 to the power supply station, thereby causing the shovel 200 to operate due to the drop in the SOC of the battery 192. In addition to suppressing the stoppage of the battery 192, deterioration of the battery 192 can be suppressed.

When the determination unit 3006 determines that the SOC of the battery 192 is lower than the caution threshold, the output control unit 3002 displays screen information for performing advance caution according to the setting information stored in the setting information storage unit 3011. It may also be output to the device 50B.

Further, when the determination unit 3006 determines that the SOC of the battery 192 is lower than the warning threshold, the output control unit 3002 displays screen information for issuing a warning according to the setting information stored in the setting information storage unit 3011. It may also be output to the display device 50B. The screen for issuing a warning will be described later.

Further, the output control unit 3002 may output a warning sound from the sound output device 50A when the determination unit 3006 determines that the SOC of the battery 192 is lower than the warning threshold. The warning sound may be any sound, for example, a beep sound, a synthetic sound warning, or the like.

When the determination unit 3006 determines that the SOC of the battery 192 is lower than the warning threshold, the communication control unit 3004 determines that the remaining capacity of the battery 192 has decreased according to the setting information stored in the setting information storage unit 3011. The notification may be sent to the support device 400. Note that although an example will be described in which the communication control unit 3004 according to the present embodiment sends a notification that the remaining amount of the battery 192 has decreased to the support device 400, the communication control unit 3004 according to the present embodiment does not limit the destination. The information may be sent to the device 300 or may be sent to another communication device (for example, another excavator 200) present at the work site.

The communication control unit 3004 according to the present embodiment periodically transmits performance information regarding the shovel 200 (an example of information indicating the state of the shovel 200) to the management device 300. The performance information is information indicating the current status of the excavator 200, including detection results from various sensors acquired by the acquisition unit 3001, and includes, for example, the SOC and driving status of the excavator 200. The communication control unit 3004 may include a notification that the SOC of the battery 192 has decreased in the performance information that is periodically transmitted. In this case, the management device 300 can recognize that a warning has been issued due to a decrease in the SOC of the battery 192 of the excavator 200. The recording unit 3104 of the management device 300 can store in the log storage unit 3111 that the warning has been issued. In other words, the management device 300 can manage the state of the SOC of the battery 192 as well as the presence or absence of a warning as the state of the excavator. This makes it easier for the excavator management system SYS to understand the operational status of the excavator 200 as well as the warnings given to the operator, making it easier to understand what the situation was when an abnormality occurred. become. Therefore, improved safety can be achieved. Furthermore, when the management device 300 receives performance information including a notification that the SOC of the battery 192 has decreased from the excavator 200, the management device 300 may transmit the notification to the support device 400.

If the address, etc. of the destination of the support device 400 is not registered in the setting information storage unit 3011, the communication control unit 3004 sends a notification to the management device 300 that the remaining battery level has decreased. It's okay. In this case, the management device 300 may send a notification to the support device 400 that the remaining capacity of the battery 192 of the excavator 200 has decreased.

When the determination unit 3006 determines that the SOC of the battery 192 is lower than the warning threshold, the control unit 3007 controls which of the air conditioner 80 and the vehicle-mounted device 81 according to the setting information stored in the setting information storage unit 3011. Control may be performed to stop one or more of the following.

By stopping one or more of the air conditioner 80 and the vehicle-mounted device 81, the control unit 3007 can suppress a decrease in the SOC of the battery 192 and extend the operating time of the excavator 200.

Furthermore, in this embodiment, an example will be described in which one or more of the air conditioner 80 and the vehicle-mounted device 81 is stopped, but the method is limited to a method of stopping one or more of the air-conditioner 80 and the vehicle-mounted device 81. isn't it. For example, when it is determined that the SOC of the battery 192 is lower than the warning threshold, the control unit 3007 controls the output of the air conditioner 80 to be reduced (for example, the temperature of the outside air is lower than before the SOC becomes lower than the warning threshold). If the outside air temperature is higher than the inside of the cabin 10, the target temperature is reset to a higher temperature than the current temperature, and if the outside air temperature is lower than the inside of the cabin 10, the target temperature is reset to a lower temperature than the current temperature, or the air volume is reduced. control) may also be performed. Furthermore, when it is determined that the SOC of the battery 192 is lower than the warning threshold, the control unit 3007 may perform reduction control on the output (for example, volume) of the on-vehicle device 81. Even when such control is performed, the operating time of the excavator 200 can be extended.

Further, when the air conditioner 80 is stopped, the indoor comfort inside the cabin 10 gradually decreases. Thereby, the present embodiment can prompt the operator to return the shovel 200 to the power supply station in order to work in a comfortable state.

When the determination unit 3006 determines that the SOC of the battery 192 is lower than the warning threshold, the control unit 3007 changes the operating mode of the excavator 200 to power saving mode according to the setting information stored in the setting information storage unit 3011. The mode may be changed to a prioritized mode (for example, the above-mentioned "A1" mode). In other words, the control unit 3007 performs control to reduce the amount of power supplied from the battery 192 to the pump electric motor 12 compared to before the SOC of the battery 192 becomes lower than the warning threshold by changing the mode to a mode that prioritizes power saving. I do. By performing the control, the control unit 3007 can suppress a decrease in the SOC of the battery 192 and extend the operating time of the excavator 200. This can prevent the battery 192 from becoming stuck before returning to the power supply station. Furthermore, since the driving force transmitted from the pump electric motor 12 is reduced, the working efficiency of the shovel 200 is reduced. Thereby, the present embodiment can prompt the operator to return the shovel 200 to the power supply station in order to perform work with appropriate driving force.

The charging control unit 3008 controls the battery 192 to be charged from the charging connector when the charging connector is connected to the vehicle inlet 101 for normal charging or the vehicle inlet 102 for quick charging. Specifically, charging control unit 3008 transmits an instruction regarding charging control to battery controller 191.

The charging control unit 3008 performs charging control based on the SOC of the battery 192 and the maximum capacity of the power supply station received from the battery controller 191.

<Explanation regarding the display screen>
Next, the screen output by the output control unit 3002 will be explained. FIG. 4 is a diagram illustrating a warning-related setting screen displayed by the output control unit 3002 according to the present embodiment. The setting screen may be displayed on the management device 300 or the support device 400 in addition to being displayed on the display device 50B. This allows the management device user or the support device user to make settings regarding warnings.

As shown in FIG. 4, the setting screen regarding warnings includes a display field 5010 regarding precautions, a display field 5020 regarding warnings, and a display field 5030 regarding various settings.

The display column 5010 regarding precautions includes a check box 5011 and an SOC setting column 5012.

A check box 5011 is a field for setting whether or not to display a pop-up display with a warning in advance. In the example shown in FIG. 4, a check box 5011 is checked, and a pop-up screen displaying advance warnings is set to be displayed.

The SOC setting field 5012 is a field for setting the SOC caution threshold, which is the timing for performing a pop-up display expressing advance warning. In the example shown in FIG. 4, it is set to display a pop-up screen with a warning in advance when the SOC of the battery 192 reaches "30%".

The warning display field 5020 includes a check box 5021, an SOC setting field 5022, a volume setting field 5023, warning check boxes 5024, 5026 to 5028, and an operation mode setting field 5025.

The check box 5021 is a field for setting whether or not to display a pop-up display with a warning. In the example shown in FIG. 4, the check box 5021 is checked, and a pop-up screen displaying a warning is set to be displayed.

The SOC setting field 5022 is a field for setting a warning threshold, which is the SOC threshold at which a pop-up display with a warning is displayed. In the example shown in FIG. 4, it is set to display a pop-up screen with a warning in advance when the SOC of the battery 192 reaches "18%".

As described above, if the excavator 200 is driven with the SOC of the battery 192 being lower than 20%, the battery 192 tends to deteriorate significantly, in other words, the life of the battery 192 tends to be shortened. Therefore, in this embodiment, when a value smaller than 20% is set in the SOC setting field 5012, the output control unit 3002 displays a pop-up screen 5041 indicating that the battery 192 is deteriorating. When the user refers to the pop-up screen 5041 and resets the value to 20% or more, deterioration of the battery 192 can be suppressed.

Note that the threshold value set in the SOC setting field 5022 can be set to any value depending on the operating status of the shovel 200. For example, it may be set to 25%, or (if it is recognized that the battery 192 will deteriorate) it may be set to 10% or 15%. In the processing procedure shown below, a case will be described in which "20%" is set in the SOC setting column 5022.

The volume setting field 5023 is a field for setting the volume output by the output control unit 3002 when issuing a warning. In the example shown in FIG. 4, the volume is set to "high".

The warning check box 5024 is a field for setting whether or not to change the operation mode when issuing a warning. In the example shown in FIG. 4, it is in a checked state.

The operation mode setting field 5025 is a setting field for changing the operation mode of the shovel 200 when the warning check box 5024 is checked. In the example shown in FIG. 4, the "A1" mode is set.

The warning check box 5026 is used to set whether or not to stop the air conditioner 80 when issuing a warning. In the example shown in FIG. 4, the air conditioner 80 is set to be stopped when it is checked, in other words, when issuing a warning.

The warning check box 5027 is used to set whether or not to stop the in-vehicle device 81 (for example, a radio receiving device) when issuing a warning. In the example shown in FIG. 4, the in-vehicle device 81 is set to be stopped when it is checked, in other words, when issuing a warning.

The warning check box 5028 is a field for setting whether or not to notify the administrator when issuing a warning. In the example shown in FIG. 4, it is set that the administrator's support device 400 is notified when a check is made, in other words, when issuing a warning.

When the OK button 5001 is pressed, the operation reception unit 3003 accepts the information set on the setting screen. When the return button 5002 is pressed, the information entered on the settings screen is discarded and the screen that was displayed before the settings screen is returned to.

The setting unit 3005 then registers the information set on the setting screen shown in FIG. 4 in the setting information storage unit 3011. The communication control unit 3004 then transmits the information set on the setting screen to the management device 300. The recording unit 3104 of the management device 300 registers the information set on the setting screen in the log storage unit 3111. This allows the management device user to understand the settings of the shovel 200.

Then, the shovel controller 30 issues advance warnings and warnings based on the information set on the setting screen. For example, when the SOC of the battery 192 becomes lower than the caution threshold, the output control unit 3002 displays a pop-up screen displaying a warning in advance. Thereafter, the output control unit 3002 displays a pop-up screen displaying a warning when the SOC of the battery 192 becomes lower than the warning threshold. Further, the output control unit 3002 also partially changes the information displayed on the display screen when the SOC of the battery 192 becomes lower than the warning threshold. Next, the display screen including specific changes will be explained.

FIG. 5 is a diagram illustrating a pop-up screen displaying a warning, which is displayed by the output control unit 3002 according to the present embodiment. The display screen shown in FIG. 5 is an example in which a pop-up screen 4051 is displayed on the display screen displayed on the display device 50B.

The operation mode column 4001 is a column for selecting and displaying an operation mode for adjusting the power consumption of the pump electric motor 12 of the shovel 200. In the example shown in FIG. 5, "A1" mode is selected. "A1" mode is the operating mode changed upon warning. By setting the "A1" mode, the amount of electric power supplied to the pump electric motor 12 is reduced compared to before setting the "A1" mode.

The running mode field 4002 is a field for selecting the running mode of the excavator 200. When the operation reception unit 304 receives a press on the driving mode field 4002, it can accept an operation to select a driving mode. The operation reception unit 304 can receive a selection from a low-speed driving mode or a high-speed driving mode from a driving mode column 4002. In the example shown in FIG. 5, the low speed driving mode is selected.

The auto idling stop setting field 4003 is a field for displaying whether or not the pump electric motor 12 is to be stopped when the shovel 200 is not operating for a certain period of time. In the example shown in FIG. 5, settings are made to perform automatic idling stop according to settings made on other setting screens.

Further, on the display screen shown in FIG. 5, a display area 4020 and a shovel icon 4021 are displayed. In the display area 4020, a captured image captured by any one of the four imaging devices 40 is displayed. The icon 4021 indicates the imaging direction of the imaging device 40 that captures the captured image displayed in the display area 4020. The display area 4020 and the icon 4021 allow the operator to recognize the situation around the excavator 200.

Further, on the display screen shown in FIG. 5, an indicator 4013 indicating the water temperature of the cooling system that cools the pump electric motor 12 and the like of the excavator 200, and an indicator 4014 indicating the temperature of the hydraulic oil are displayed.

Further, on the display screen shown in FIG. 5, a display column 4011 for the available operating time (available operating time information) when the current situation is continued, and an indicator 4012 indicating the available operating time are displayed.

In the display screen shown in FIG. 5, an indicator 4012 indicates that the operating time is decreasing.

When the SOC of the battery 192 becomes lower than the warning threshold, the output control unit 3002 according to the present embodiment starts displaying the available operating time in the display column 4011 if the current situation continues. In the example shown in FIG. 5, "20 min" is displayed together with the icon. The available operating time displayed in the display column 4011 is displayed to decrease as the SOC of the battery 192 decreases.

By starting to display the display field 4011 in this manner, the operator can be made aware that the SOC of the battery 192 has decreased. Note that the available operating time displayed in the display field 4011 is a value calculated based on the SOC of the battery 192. The calculation method uses a well-known method, and its explanation will be omitted.

The output control unit 3002 then displays information on the pop-up screen 4051 that prompts the user to return the excavator 200 to the power supply station because the SOC of the battery 192 has decreased (for example, "The remaining battery capacity has decreased"). . Note that the pop-up screen 4051 is displayed so as not to overlap the display area 4020. This allows the operator to check the surrounding situation even when the pop-up screen 4051 indicating a warning is displayed.

Further, when the display screen shown in FIG. 5 is displayed, the operation mode is set to "A1" mode. Therefore, the amount of power supplied to the pump motor 12 decreases. As a result, the driving force of the shovel 200 decreases. On the display screen shown in FIG. 5, the operation mode is displayed as "A1" mode, and a pop-up screen 4051 is displayed. Thereby, the operator can recognize that the decrease in the driving force of the shovel 200 is due to the decrease in the SOC of the battery 192 by referring to the display screen. Then, the operator can determine that it is difficult to perform any further work and begin work to return the power supply station to the power supply station.

<Control flow regarding warnings>
Next, a control flow regarding a warning based on the SOC of the battery 192 in the excavator 200 according to the present embodiment will be described.

FIG. 6 is a flowchart showing control regarding a warning based on the SOC of the battery 192 by the shovel controller 30 according to the present embodiment. In the example shown in FIG. 6, in the setting screen shown in FIG. , the case where precautions and warnings are displayed will be explained.

The acquisition unit 3001 acquires the SOC of the battery 192 from the battery controller 191 (S6001).

The determining unit 3006 determines whether the SOC of the battery 192 has become 30% (an example of a caution threshold) or less (S6002). If it is determined that the SOC of the battery 192 is greater than 30% (S6002: No), the process is performed again from S6001.

On the other hand, if the determination unit 3006 determines that the SOC of the battery 192 has become 30% (an example of a caution threshold) or less (S6002: Yes), the output control unit 3002 displays a pop-up screen that urges advance caution regarding the battery 192. It is displayed on the device 60B (S6003).

After that, the acquisition unit 3001 acquires the SOC of the battery 192 from the battery controller 191 (S6004).

The determining unit 3006 determines whether the SOC of the battery 192 has become 20% (an example of a warning threshold) or less (S6005). If it is determined that the SOC of the battery 192 is greater than 20% (S6005: No), the process is performed again from S6004.

On the other hand, if the determination unit 3006 determines that the SOC of the battery 192 has become 20% (an example of a warning threshold) or less (S6005: Yes), the communication control unit 3004 transmits the settings stored in the configuration information storage unit 3011. According to the information, a notification to the effect that the remaining capacity of the battery 192 has decreased is transmitted to the support device 400 (S6006). Note that if the setting information includes a setting not to send the notification to the administrator (support device 400), the communication control unit 3004 suppresses the notification.

The control unit 3007 changes the operation mode of the pump electric motor 12 according to the setting information stored in the setting information storage unit 3011 (S6007). For example, the control unit 3007 changes the operation mode from "SP" mode to "A1" mode. Note that if the setting information includes a setting not to change the operation mode, the control unit 3007 suppresses the change of the operation mode.

The control unit 3007 performs control to stop any one or more of the air conditioner 80 and the vehicle-mounted device 81 according to the setting information stored in the setting information storage unit 3011 (S6008). Note that if the setting information includes a setting not to stop the air conditioner 80 and the vehicle-mounted device 81, the control unit 3007 does not perform stop control of the air-conditioner 80 and the vehicle-mounted device 81.

The output control unit 3002 outputs a warning sound (warning sound) from the sound output device 50A according to the setting information stored in the setting information storage unit 3011 (S6009). Note that if the volume is not set in the setting information, the output control unit 3002 does not output a sound for warning.

The output control unit 3002 displays a pop-up screen for warning on the display device 50B according to the setting information stored in the setting information storage unit 3011 (S6010). Further, on the display screen, when the operation mode is changed in S6007 and when one or more of the air conditioner 80 and the vehicle-mounted device 81 is stopped in S6008, a message to that effect may be displayed.

In this embodiment, by performing the above-described processing, it is possible to make the operator recognize that the SOC of the battery 192 has decreased by outputting sound and displaying the screen.

Furthermore, when the SOC of the battery 192 falls below 20% (an example of a warning threshold), the control unit 3007 switches the operation mode to a mode that prioritizes power saving, so the operator can proceed with the work more efficiently. becomes difficult. Therefore, it is possible to encourage the user to return to the power supply station.

Next, data transmission and reception performed between the shovel management systems SYS will be explained. FIG. 7 is a sequence diagram showing data transmission and reception performed between the shovel management systems SYS according to the present embodiment. In the example shown in FIG. 7, an example will be described in which performance information is transmitted to the management device 300 and a notification that the SOC of the battery 192 has decreased is transmitted to the support device 400, but the transmission is not limited to such transmission. For example, performance information and notifications may be sent to the management device 300.

The communication control unit 3004 of the excavator 200 periodically transmits performance information of the excavator 200 to the management device 300 (S7001).

When the communication control unit 3103 of the management device 300 receives the track record information, the recording unit 3104 stores the track record information in the log storage unit 3111 (S7002). As a result, the operation history of the shovel 200 is saved.

The determining unit 3006 of the excavator 200 determines that the SOC of the battery 192 has become 20% (an example of a warning threshold) or less (S7003). S7003 is the same process as when S6005 in FIG. 6 is "Yes".

If the determination unit 3006 determines that the SOC of the battery 192 has fallen below 20% (an example of a warning threshold), the communication control unit 3004 notifies the support device 400 that the SOC of the battery 192 has decreased. (S7004). S7004 is the same process as S6006 in FIG.

Then, when the communication control unit 4103 of the support device 400 receives a notification from the excavator 200, the display processing unit 4101 displays a screen corresponding to the notification (S7005). This allows the support device user (such as a supervisor at the work site or the owner of the excavator 200) to recognize that the battery 192 of the excavator 200 is low.

Then, the communication control unit 4103 of the support device 400 starts a call with the mobile communication device 500 (S7006). As an operation for starting a call, for example, link information for making a call with the mobile communication device 500 may be displayed on the screen displayed in S7005. When the operation reception unit 4102 receives the selection of the link information, the communication control unit 4103 of the support device 400 starts a call with the mobile communication device 500. Furthermore, the method of communicating with the communication device is not limited to telephone calls, in other words, sending and receiving information by voice, but may also include sending messages by e-mail or SNS. The support device user then instructs the operator of the shovel 200 to return the shovel 200 to the power supply station.

Thereby, in the shovel management system SYS, by performing the above-described processing, the support device user who owns the support device 400 can recognize that the SOC of the battery 192 of the shovel 200 has decreased. Through communication with the operator operating the shovel 200, the support device user can urge the operator to return the shovel 200 to the power supply station.

Thereby, the operator can prevent the operation of the shovel 200 from stopping before returning the shovel 200 to the power supply station before the operation stops.

In the present embodiment, an example has been described in which the shovel 200 directly sends a notification to the support device 400. However, the embodiment described above is not limited to an example in which the shovel 200 directly sends a notification to the support device 400. For example, after the shovel 200 notifies the management device 300, the management device 300 may notify the support device 400. Thereby, even if the destination of the support device 400 is not registered in the shovel 200, the shovel 200 can notify the support device 400.

(Modified example)
In the embodiment described above, when the determination unit 3006 determines that the SOC of the battery 192 has become 20% or less (an example of a warning threshold), the communication control unit 3004 supports notification that the SOC of the battery 192 has decreased. An example of transmitting to the device 400 has been described. However, the embodiment described above does not limit the notification destination to the support device 400.

For example, if a plurality of excavators 200 exist at a work site, notification may be sent between the excavators 200.

For example, in the first excavator 200, if the determination unit 3006 determines that the SOC of the battery 192 has become 20% or less (an example of a warning threshold), the determination unit 3006 sends a notification that the remaining capacity of the battery 192 has decreased to It is transmitted to other excavators 200 present at the site. Thereby, the state of the battery 192 of the excavator 200 can be shared among operators working at the work site. Therefore, when one excavator 200 returns to the power supply station due to a decrease in the remaining capacity of the battery 192, the other excavator 200 can follow up, such as taking over the work that was being performed by the shovel 200 returning to the power supply station. .

<Effect>
The excavator 200 according to the above-described embodiments and modifications has the above-described configuration, so that when the SOC of the battery 192 is lower than a warning threshold (an example of a predetermined threshold), a pop-up message prompting the user to charge the battery 192 is displayed. Output one or more of the screen and audio. Therefore, by prompting the operator to charge the shovel 200, it is possible to prevent the shovel 200 from stopping due to a decrease in the SOC of the battery 192 before charging is started. In other words, since the shovel 200 is prevented from stopping midway, it is possible to prevent the shovel from becoming an obstacle that prevents other shovels or vehicles from working or moving. Therefore, improved safety can be achieved.

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 191 Battery controller 192 Battery 30 Shovel controller 40 Imaging device 50 Output device 52 Input device 60 Communication interface 80 Air conditioner 81 On-vehicle device 3001 Acquisition unit 3002 Output control unit 3003 Operation reception unit 3004 Communication control unit 3005 Setting unit 3006 Judgment unit 3007 Control unit 3008 Charging control unit 3011 Setting information storage unit 300 Management device 310 Control device 320 Communication interface 330 output Device 340 Input device 3101 Display processing section 3102 Operation reception section 3103 Communication control section 3104 Recording section 3111 Log storage section 400 Support device 410 Control device 420 Communication interface 430 Output device 440 Input device 4101 Display processing section 4102 Operation reception section 4103 Communication control section 500 Mobile communication device 510 Control device 520 Communication interface 530 Output device 540 Input device

Claims (10)

electric motor and
a battery that supplies power to the electric motor;
configured to output information for prompting charging of the battery when the charging rate of the battery is lower than a predetermined threshold;
Electric excavator. When the charging rate of the battery is lower than the predetermined threshold, the amount of power supplied from the battery to the electric motor is reduced compared to before the charging rate became lower than the predetermined threshold.
The electric excavator according to claim 1. When the charging rate of the battery is lower than the predetermined threshold value, an air conditioner that adjusts the air in the cabin of the electric excavator, and an in-vehicle installed in the cabin, compared to before the charging rate of the battery becomes lower than the predetermined threshold value. configured to reduce the output of at least one or more of the devices;
The electric excavator according to claim 1 or 2. If the charging rate of the battery is lower than the predetermined threshold value, the battery is configured to transmit information to an external communication device to the effect that the charging rate of the battery has decreased.
The electric excavator according to any one of claims 1 to 3. The information prompting charging of the battery is included in information indicating the state of the electric excavator that is transmitted to the external communication device.
The electric excavator according to claim 4. The external communication device that transmits information that the charging rate of the battery has decreased is another excavator working at the same work site as the electric excavator,
The electric excavator according to claim 4. configured to set the predetermined threshold according to setting information input from an input device or setting information received from a communication interface;
An electric excavator according to any one of claims 1 to 6. An excavator management system comprising an electric excavator and a communication device,
The electric excavator is
electric motor and
a battery that supplies power to the electric motor;
configured to transmit information to the communication device that the charging rate of the battery has decreased when the charging rate of the battery is lower than a predetermined threshold;
The communication device includes:
configured to output information regarding the notification received from the electric excavator;
Excavator management system. The communication device includes:
configured to perform communication control with other communication devices based on notifications received from the electric excavator;
The shovel management system according to claim 8. For a computer mounted on an electric excavator that has an electric motor and a battery that supplies power to the electric motor,
A procedure for outputting information to prompt charging of the battery when the charging rate of the battery is lower than a predetermined threshold,
A program to run.

Images