JP2023176797A - Management system of construction machinery, construction machinery - Google Patents

Abstract

To shorten time required for replenishing energy to construction machinery.SOLUTION: The management system of construction machinery is provided, including: construction machinery having an undercarriage, an uppercarriage mounted on the undercarriage and an energy storage unit mounted on the uppercarriage in a removable manner; and a transport mobile object that transports another energy storage unit to the vicinity of the construction machinery and replaces the energy storage unit mounted on the construction machinery with the other energy storage unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a construction machine management system and a construction machine.

2. Description of the Related Art Conventionally, construction machines are known that are equipped with a fuel tank that is removable from a vehicle body and a tank lifting device that lifts and lowers the fuel tank to perform loading and unloading operations to shorten the time required for refueling operations.

Japanese Patent Application Publication No. 2000-240100

However, with the above-mentioned conventional technology, for example, in order to shorten the time required to refuel all the construction machines working at the work site, it is necessary to install a tank lifting device on all the construction machines, which is easy to do. isn't it.

The disclosed technology aims to shorten the time required to supply energy to construction machinery.

A management system for construction machinery according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an energy storage system removably mounted on the upper rotating body. A construction machine having a storage section, and another energy storage section are transported to the vicinity of the construction machine, and transport movement for exchanging the energy storage section mounted on the construction machine with the other energy storage section. This is a construction machinery management system that has a

A construction machine according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an energy storage unit detachably mounted on the upper rotating body. This is a construction machine with .

The time required to supply energy to construction machinery can be reduced.

It is a side view of the shovel of an embodiment. It is a top view of the shovel of an embodiment. 1 is a diagram illustrating an example of a system configuration of a construction machine management system according to an embodiment. It is a figure explaining the function of the controller of the shovel of an embodiment. FIG. 2 is a sequence diagram illustrating the operation of the management system according to the embodiment. FIG. 3 is a top view of another embodiment of an excavator. It is a top view of the excavator of yet another embodiment. It is a figure explaining the function of the controller of the excavator of yet another embodiment. It is a sequence diagram explaining operation of a management system of yet another embodiment.

(Embodiment)
The construction machine of this embodiment will be described with reference to FIGS. 1 and 2. In the following description of the embodiment, the shovel 100 will be described as an example of a construction machine.

FIG. 1 is a side view of the shovel. The excavator 100 has a lower traveling body 1, a turning mechanism 2, and an upper rotating body 3. In the excavator 100, an upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. Further, the lower traveling body 1 has a crawler belt 1a which is an endless track (crawler track) rotationally driven by a hydraulic motor for traveling. The crawler belt 1a has a plurality of shoe plates.

A boom 4 is attached to the upper revolving body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.

The boom 4, arm 5, and bucket 6 constitute a digging attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 with respect to the upper rotating structure 3 (hereinafter referred to as "boom angle"). For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.

The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"). For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are each a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotation angle around the connecting pin. It may be a rotary encoder, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. Boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are also collectively referred to as "cylinder pressure sensors."

The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). , "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"). , "arm bottom pressure") is detected.

The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). , "bucket bottom pressure").

The upper revolving body 3 is provided with a cabin 10 which is a driver's cab. The upper revolving body 3 also includes a controller 30 (control unit), a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, a body tilt sensor S4, a turning angular velocity sensor S5, and an imaging device S6. and a communication device T1 are attached.

The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, ROM, and the like. Various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions include, for example, at least one of a machine guidance function that guides manual operation of the shovel 100 by an operator, and a machine control function that automatically supports manual operation of the shovel 100 by an operator. May contain.

The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, etc. installed in the cabin 10.

The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or may be an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as audio in response to audio output commands from the controller 30.

The storage device 47 is configured to store various information. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via the various devices before the shovel 100 starts operating.

The storage device 47 may store, for example, data regarding the target construction surface acquired via the communication device T1 or the like. The target construction surface may be set by the operator of the excavator 100, or may be set by a construction manager or the like.

The positioning device P1 is configured to measure the position of the upper revolving structure 3. That is, the positioning device P1 acquires the position information of the excavator 100. Furthermore, the positioning device P1 may be configured to be able to measure the orientation of the upper rotating body 3.

In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as a direction detection device that detects the direction of the upper rotating body 3. The positioning device P1 may be a direction sensor attached to the upper revolving body 3.

The body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle around the longitudinal axis and the lateral inclination angle around the left-right axis of the upper revolving superstructure 3 with respect to the virtual horizontal plane. The longitudinal axis and the lateral axis of the upper revolving body 3 are perpendicular to each other at, for example, the center point of the shovel, which is one point on the swing axis of the shovel 100.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating structure 3. The turning angular velocity sensor S5 may be configured to detect or calculate the turning angle of the upper rotating body 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

The imaging device S6 is an example of a space recognition device, and is configured to acquire images around the excavator 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, and a right camera S6R that images the space to the right of the shovel 100. , and a rear camera S6B that images the space behind the shovel 100.

The imaging device S6 is, for example, a monocular camera having an imaging device such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance image camera, or the like. Furthermore, the imaging device S6 may be replaced with another spatial recognition device such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR or an infrared sensor, or a combination of another spatial recognition device and a camera. May be replaced.

The front camera S6F is attached to the ceiling of the cabin 10, that is, inside the cabin 10, for example. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side surface of the boom 4. The left camera S6L is attached to the left end of the upper surface of the revolving upper structure 3, the right camera S6R is attached to the right end of the upper surface of the upper revolving structure 3, and the rear camera S6B is attached to the rear end of the upper surface of the revolving upper structure 3. .

The spatial recognition device may be configured to detect objects existing around the excavator 100. Examples of objects include topographic shapes (slopes, holes, etc.), electric wires, telephone poles, people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or predetermined marks on helmets. . The spatial recognition device 70 may be configured to be able to identify at least one of the type, position, shape, etc. of an object. The spatial recognition device may be configured to be able to distinguish between humans and non-human objects. The space recognition device may be configured to calculate a distance from the space recognition device or shovel 100 to an object recognized by the space recognition device.

The controller 30 of this embodiment acquires travel data including values output from the various sensors described above, information output from a spatial recognition device including the positioning device P1 and the imaging device S6,
The data is stored in the storage device 47. That is, the traveling data of this embodiment includes values of various sensors, position information indicating the position of the shovel 100, and image data captured by the imaging device S6.

The communication device T1 is configured to control communication with external equipment outside the excavator 100. Specifically, the communication device T1 may transmit travel data acquired by the controller 30 to a management device 300 (see FIG. 3), which will be described later. In this embodiment, the communication device T1 controls communication with an external device via a satellite communication network, a mobile phone communication network, an Internet network, or the like. The external device may be, for example, the management device 300 such as a server installed in an external facility, or may be a support device such as a smartphone carried by a worker around the excavator 100.

The external device is configured to be able to manage construction information regarding one or more shovels 100, for example. The construction information includes, for example, information regarding at least one of the operating time of the excavator 100, fuel consumption, amount of work, and the like. The amount of work is, for example, the amount of excavated earth and sand, the amount of earth and sand loaded onto the bed of a dump truck, and the like.

The excavator 100 may be configured to transmit construction information regarding the excavator 100 to an external device at predetermined time intervals via the communication device T1. With this configuration, a worker, a manager, or the like outside the excavator 100 can visually check various information including construction information through a display device such as a monitor connected to the management device 300 or the support device.

The external device may be a communication device mounted on a dump truck equipped with a loaded weight measuring device, or a communication device connected to a stand that measures the weight of the dump truck. In this case, the excavator 100 can obtain the weight of the earth and sand loaded on the bed of the dump truck based on information from the dump truck or the platform.

FIG. 2 is a top view of the shovel. As shown in FIG. 2, a cabin 10 serving as a driver's cab is mounted on the upper revolving body 3 of the excavator 100. Further, the upper revolving body 3 includes a power storage unit 51, an inverter 52, and a motor 53.

The power storage unit 51 is attachable to and detachable from the upper revolving body 3 and supplies electric power to the motor 53 via the inverter 52 . That is, the power storage unit 51 is an example of an energy storage unit that stores energy necessary for driving the shovel 100, and is mounted on the upper revolving structure 3 in a detachable manner from the shovel 100. Further, the power storage unit 51 is, for example, a capacitor that can be charged and discharged, a lithium ion battery, or the like.

Further, the power storage unit 51 of this embodiment is disposed at the rear (−X direction) of the upper revolving structure 3, and may also serve as a counterweight. Note that if the weight of power storage unit 51 is insufficient, a separate weight may be mounted near power storage unit 51.

Inverter 52 of this embodiment controls the voltage supplied from power storage unit 51 in accordance with the rotation speed of motor 53. The motor 53 is driven by voltage supplied from the inverter 52, and drives the main pump 14 as a hydraulic pump.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator. The control valve 17 is connected to hydraulic actuators such as a right side travel hydraulic motor, a left side travel hydraulic motor, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a swing hydraulic motor. The swing hydraulic motor may be a swing motor generator.

The main pump 14 sucks hydraulic oil from a hydraulic oil tank 19 through a hydraulic oil line 14a, and supplies hydraulic oil to the control valve 17 through a hydraulic oil line 14b. The hydraulic oil supplied to the control valve 17 is returned to the hydraulic oil tank 19 through the hydraulic oil line 14c, either after passing through the hydraulic actuator or without passing through the hydraulic actuator.

The pilot pump 15 sucks hydraulic oil from the hydraulic oil tank 19 through a pilot line 15a, and supplies the hydraulic oil to a pilot port of a spool valve in the control valve 17 through a pilot line 15b. The hydraulic oil supplied to the pilot port is returned to the hydraulic oil tank 19 through the pilot line 15c as needed.

The hydraulic oil in the hydraulic oil tank 19 is supplied to an oil cooler (not shown) through a hydraulic oil line 16a by an electric oil pump or the like. The hydraulic oil cooled by the oil cooler is returned to the hydraulic oil tank 19 through the hydraulic oil line 16c.

Next, with reference to FIG. 3, a construction machine management system including the excavator 100 described in FIGS. 1 and 2 will be described. FIG. 3 is a diagram showing an example of the system configuration of the construction machine management system according to the embodiment.

The construction machine management system SYS of this embodiment includes an excavator 100, a transport vehicle 200, and a management device 300. In the following description, the construction machine management system SYS may be simply expressed as the management system SYS.

In the management system SYS of this embodiment, the excavator 100 and the transport vehicle 200 can communicate with each other wirelessly, for example, without going through a wide area communication network. Further, the excavator 100 and the transport vehicle 200 can each communicate with the management device 300 via a wide area communication network.

In the management system SYS of this embodiment, for example, when the controller 30 detects that the remaining capacity of the power storage unit 51 has become below a certain value, the excavator 100 communicates with the management device 300 through the communication device T1. Alternatively, a request for replacing power storage unit 51 may be transmitted.

Upon receiving the replacement request, the management device 300 notifies the transportation vehicle 200 of an instruction to replace the power storage unit 51 of the shovel 100, and causes the transportation vehicle 200 to replace the power storage unit 51 of the shovel 100.

The transporting moving body 200 of the present embodiment transports the other charged power storage unit 51 to the vicinity of the excavator 100 and replaces the power storage unit 51 mounted on the upper revolving structure 3 with the other power storage unit 51. . The transport moving body 200 of the present embodiment can be any type of vehicle as long as it is capable of removing the power storage unit 51 mounted on the revolving upper structure 3 and mounting another transported power storage unit 51 on the revolving upper structure 3. It may be something like this. Specifically, for example, the transport vehicle 200 may be a forklift or a flying vehicle such as a drone.

Further, in the example of FIG. 3, the management device 300 is realized by one information processing device, but the present invention is not limited to this. Management device 300 may be realized by a plurality of information processing devices. In other words, the functions realized by the management device 300 may be realized by a plurality of information processing devices.

FIG. 4 is a diagram illustrating the functions of the controller of the excavator according to the embodiment. The controller 30 of the excavator 100 of this embodiment includes a remaining capacity monitoring section 31, a replacement detection section 32, a communication control section 33, an operation state control section 34, and a connection state determination section 35.

Remaining capacity monitoring unit 31 monitors the remaining capacity of power storage unit 51. Replacement detection unit 32 detects that power storage unit 51 needs to be replaced, depending on the remaining capacity of power storage unit 51 . In other words, replacement detection unit 32 detects the timing of replacing power storage unit 51.

The communication control unit 33 controls communication with an external device using the communication device T1. Specifically, the communication control unit 33 controls communication between the shovel 100 and the transport vehicle 200 and communication between the shovel 100 and the management device 300.

The operating state control unit 34 controls the operating state of the shovel 100. Specifically, the operating state control unit 34 stops or enables the operation of the shovel 100. Connection state determination unit 35 determines the connection state of power storage unit 51 after replacement.

Next, with reference to FIG. 5, the operation of the management system SYS of this embodiment will be explained. FIG. 5 is a sequence diagram illustrating the operation of the management system of the embodiment.

In the management system SYS of this embodiment, the excavator 100 detects that the power storage unit 51 needs to be replaced by the replacement detection unit 32 of the controller 30 (step S501). Specifically, the replacement detection unit 32 assumes that the power storage unit 51 needs to be replaced when the remaining capacity of the power storage unit 51 monitored by the remaining capacity monitoring unit 31 becomes equal to or less than a predetermined threshold. .

Subsequently, the excavator 100 transmits a request to replace the power storage unit 51 to the management device 300 using the communication control unit 33 (step S502).

Subsequently, the operating state control unit 34 of the excavator 100 makes the excavator 100 inoperable (step S503).

Specifically, the operating state control unit 34 may turn off the inverter 52, cut off the supply of power to the motor 53, and stop the operation. Further, the operating state control unit 34 may close the gate lock valve and stop the operation of the excavator 100.

When the management device 300 receives the exchange request from the shovel 100, it notifies the transportation vehicle 200 of a movement instruction (step S504).

Specifically, in the present embodiment, the exchange request sent from the excavator 100 to the management device 300 may include the location information of the excavator 100, and the management device 300 sends the transport movable body 200 A movement instruction may be transmitted together with 100 location information.

In response to the movement instruction, the transporting movable body 200 moves to the vicinity of the shovel 100 while transporting another power storage unit 51 (step S505). Subsequently, transport vehicle 200 transmits a notification to shovel 100 indicating that it has arrived at a position where power storage unit 51 can be replaced (step S506).

Upon receiving this notification, excavator 100 recognizes conveying mobile body 200 and transmits a notification to conveying mobile body 200 indicating that power storage unit 51 can be replaced (step S507).

In response to this notification, the transport vehicle 200 replaces the power storage unit 51 mounted on the excavator 100 with another power storage unit 51 that has been transported (step S508). Specifically, the conveying moving body 200 removes the power storage unit 51 mounted on the revolving upper structure 3 and attaches the other transported power storage unit 51 to the revolving upper structure 3 .

Subsequently, when the exchange is completed, the transport vehicle 200 transmits a notification indicating that the exchange has been completed to the shovel 100 (step S509).

When excavator 100 receives the notification indicating that the replacement has been completed, connection state determination unit 35 determines whether or not another power storage unit 51 and inverter 52 are connected (step S510).

Specifically, connection state determination unit 35 may determine whether the remaining capacity of another newly attached power storage unit 51 can be detected. If the remaining capacity cannot be detected, it can be seen that the other power storage unit 51 is not correctly attached. Therefore, in this case, the controller 30 may transmit an error notification to the transport vehicle 200 and the management device 300 using the communication control unit 33. Further, in the present embodiment, if an error occurs even after repeating the replacement work of the power storage unit 51 multiple times, a message or the like requesting dispatch of a service person may be sent to the management device 300.

Furthermore, when the remaining capacity is detected, the connection state determining unit 35 may determine whether the detected remaining capacity is equal to or greater than a predetermined value. For example, if the remaining capacity detected here is less than or equal to a predetermined threshold value, it can be determined that power storage unit 51 has not been replaced. Therefore, in this case, the controller 30 may transmit an error notification to the transport vehicle 200 and the management device 300 using the communication control unit 33.

Furthermore, even if the remaining capacity is larger than a predetermined threshold value, if the remaining capacity is below a certain value, the connection state determination unit 35 determines that the other power storage unit 51 is not fully charged, and controls communication. The unit 33 may transmit a notification or the like indicating that the battery is not fully charged to the management device 300.

Note that FIG. 5 shows a case where the power storage unit 51 is replaced normally.

When the controller 30 confirms the connection of the other newly attached power storage unit 51, the communication control unit 33 transmits a return instruction to the transport vehicle 200 (step S511). In other words, the controller 30 instructs the transport moving body 200 to move away from the shovel 100.

In response to this return instruction, the transport vehicle 200 moves away from the shovel 100 (step S512). Specifically, the conveyance movable body 200 may move toward a waiting area or the like for the conveyance movable body 200, for example.

When the transportation vehicle 200 completes returning to the waiting area or the like, it transmits a notification indicating that the transportation vehicle 200 has returned to the management device 300 (step S513).

In the shovel 100, after the conveyance movable body 200 moves, the operating state control unit 34 switches the state of the shovel 100 to a state in which it can be operated (step S514). Specifically, the operating state control unit 34 may switch the inverter 52 to the on state and restart the supply of power to the motor 53. Further, the operating state control unit 34 may, for example, switch the gate lock valve from a closed state to an open state.

Further, at this time, when it is detected that the distance between the conveyance movable body 200 and the shovel 100 is equal to or greater than a predetermined distance, the controller 30 may switch to a state in which the operation is enabled.

As described above, in the present embodiment, when the conveyance moving body 200 approaches the shovel 100, the operation of the shovel 100 is stopped. Therefore, in this embodiment, safety in replacing the power storage unit 51 can be improved.

Further, in this embodiment, there is no need to add any large device other than making the power storage unit 51 detachable. Furthermore, in the present embodiment, there is no need for shovel 100 to move to replace power storage unit 51, so there is no reduction in work efficiency. Furthermore, the time required to replenish energy to the shovel 100 can be shortened.

In this embodiment, the management system SYS includes the excavator 100, the transport vehicle 200, and the management device 300, and the request for replacing the power storage unit 51 is sent to the management device 300, but the present invention is not limited to this. .

The management system SYS does not need to include the management device 300. In that case, the operation shown in FIG. 5 is realized by communication between the excavator 100 and the transport vehicle 200. Specifically, for example, a request to replace power storage unit 51 output from excavator 100 may be directly transmitted to conveying mobile body 200. When the transport vehicle 200 receives this exchange request, it may start moving to approach the shovel 100. In this way, the management device 300 becomes unnecessary, and the load on communication processing can be reduced.

(Another embodiment)
Another embodiment will be described below with reference to FIG. In another embodiment, a plurality of power storage units 51 are attached to the revolving upper structure 3 of the excavator 100.

FIG. 6 is a top view of another embodiment of the shovel. In the excavator 100 shown in FIG. 6, the upper rotating structure 3 is equipped with a plurality of power storage units 51a and a power storage unit 51b. Moreover, in the example of FIG. 6, power storage unit 51a and power storage unit 51b are arranged in line in front of hydraulic oil tank 19 (+X direction). In other words, the plurality of power storage units 51 are arranged at different positions from the counterweight arranged at the rear (−X direction) of the revolving upper structure 3.

The excavator 100 shown in FIG. 6 can perform work using the power supplied from the other power storage unit 51 even when the supply of power from either power storage unit 51a or power storage unit 51b is cut off. Can be continued.

Therefore, in this embodiment, for example, even if the remaining capacity of either power storage unit 51a or power storage unit 51b becomes less than a predetermined threshold, a replacement request is not sent to management device 300. , can continue working for a certain period of time. Therefore, according to this embodiment, work efficiency can be improved.

Note that in this embodiment, for example, when power is supplied from only one of the power storage unit 51a and the power storage unit 51b, the controller 30 prohibits operations that are subject to a load exceeding a certain level. The excavator 100 may also be controlled.

Note that in the example of FIG. 6, there are two power storage units 51, but the number of power storage units 51 is not limited to two, and may be any number.

(Yet other embodiments)
Another embodiment will be described below with reference to FIGS. 7 to 9. FIG. 7 is a top view of a shovel according to yet another embodiment.

The excavator 100A of this embodiment has an engine 11 and an engine room ER. In the engine room ER, a cooling fan 11c is installed on the left side (+Y side) of the engine 11. A heat exchanger unit 11d is installed on the left side of the cooling fan 11c. The cooling fan 11c is driven by the engine 11. The heat exchanger unit 11d includes a radiator, an oil cooler, an intercooler, a fuel cooler, and the like.

In the engine room ER, the engine 11 takes in outside air through the intake pipe 11a. Then, the exhaust gas is discharged toward the exhaust gas treatment device 11e through the exhaust pipe 11b.

The exhaust gas treatment device 11e is, for example, a selective reduction catalyst system that purifies NOx in exhaust gas. The exhaust gas treatment device 11e, for example, injects urea water upstream of a selective reduction catalyst installed in the exhaust pipe 11b to reduce NOx in the exhaust gas, and promotes this reduction reaction with the reduction catalyst to reduce NOx. make it harmless.

A fuel tank 20 for storing fuel and a urea water tank 21 for storing urea water are mounted on the front side (+X side) of the hydraulic oil tank 19. The fuel tank 20 and the urea water tank 21 are installed on the opposite side (-Y side) of the cabin 10 with the boom 4 in between. A tool box 22 is installed on the front side of the urea water tank 21.

The fuel tank 20 and the urea water tank 21 of this embodiment are removable from the upper revolving structure 3. In other words, each of the fuel tank 20 and the urea water tank 21 of this embodiment can be removed and attached by the transport vehicle 200. Further, the fuel tank 20 of this embodiment is an example of an energy storage unit that stores energy necessary for driving the shovel 100A, and is mounted on the upper revolving body 3 in a detachable state from the shovel 100A.

Further, in this embodiment, a hydrogen tank filled with hydrogen may be used instead of the fuel tank 20 as an example of the energy storage unit. When hydrogen is used as fuel, the urea tank 21 can be omitted.

FIG. 8 is a diagram illustrating the functions of a controller of an excavator according to yet another embodiment. The controller 30A of this embodiment includes a remaining amount monitoring section 31A, a replacement detection section 32A, a communication control section 33, an operation state control section 34, and a mounting state determination section 35A.

The remaining amount monitoring unit 31A monitors the remaining amount of fuel stored in the fuel tank 20. The replacement detection unit 32A determines that the fuel tank 20 needs to be replaced when the remaining amount of fuel monitored by the remaining amount monitoring unit 31A becomes less than or equal to a predetermined threshold. Further, the remaining amount monitoring section 31A and the replacement detecting section 32A may monitor the remaining amount of urea water stored in the urea water tank 21 and determine whether to replace the urea water. The attachment state determination unit 35A determines whether or not a new fuel tank 20 to be replaced with the fuel tank 20 is correctly attached. The attachment state determining unit 35A also determines whether a new urea water tank 21 to be replaced with the urea water tank 21 has been correctly installed.

FIG. 9 is a sequence diagram illustrating the operation of a management system according to yet another embodiment. In the excavator 100A of this embodiment, the replacement detection unit 32A detects that the remaining amount of fuel in the fuel tank 20 monitored by the remaining amount monitoring unit 31A has become equal to or less than a predetermined threshold (step S901). .

Subsequently, the excavator 100A transmits a request to replace the fuel tank 20 to the management device 300 (step S902). The processing from step S903 to step S906 in FIG. 9 is the same as the processing from step S503 to step S506 in FIG. 5, so a description thereof will be omitted.

When the shovel 100A receives the notification indicating that the transportation vehicle 200 has arrived, the communication control unit 33 transmits to the transportation vehicle 200 a notification indicating that the fuel tank 20 can be replaced (step S907). .

Upon receiving this notification, the transport vehicle 200 replaces the fuel tank 20 with another fuel tank 20 that has been transported (step S908). Subsequently, the transport vehicle 200 transmits a notification to the excavator 100A indicating that the replacement of the fuel tank 20 has been completed.

In response to this notification, the excavator 100A uses the attachment state determination unit 35A to check the remaining amount of fuel stored in the other newly attached fuel tank 20 (step S910). Specifically, the wearing state determining section 35A may determine whether the remaining amount monitored by the remaining amount monitoring section 31A is larger than a predetermined threshold value. At this time, the case where the remaining amount is below the predetermined threshold value indicates that the fuel tank 20 has not been replaced. Therefore, in this case, the excavator 100A may transmit an error to the transport vehicle 200 and the management device 300.

Furthermore, the wearing state determining section 35A may determine whether the remaining amount monitored by the remaining amount monitoring section 31A is below a certain value. If the remaining amount is below a certain value, the excavator 100A may transmit a notification to the management device 300 indicating that the fuel stored in the other fuel tanks 20 is not full. FIG. 9 shows a case where the fuel tank 20 has been replaced normally.

The processing from step S911 to step S914 in FIG. 9 is the same as the processing from step S511 to step S514 in FIG. 5, so a description thereof will be omitted.

Although FIG. 9 describes the case where the fuel tank 20 is replaced, the same process may be performed on the urea water tank 21.

The present embodiment has been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Design changes made to these specific examples by those skilled in the art as appropriate are also included within the scope of the present invention as long as they have the characteristics of the present invention. The elements included in each of the specific examples described above, their arrangement, conditions, shapes, etc. are not limited to those illustrated and may be changed as appropriate. Each element included in each of the specific examples described above may be combined as appropriate unless technical contradiction occurs.

20 Fuel tank 30 Controller 31 Remaining capacity monitoring unit 31A Remaining capacity monitoring unit 32, 32A Replacement detection unit 33 Communication control unit 34 Operating state control unit 35 Connection state determining unit 35A Mounting state determining unit 51 Power storage unit 52 Inverter 53 Motor 100 Excavator 200 Transport vehicle 300 Management device

Claims (6)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a construction machine comprising: an energy storage section removably mounted on the upper revolving structure;
A management system for construction machinery, comprising: a transporting vehicle that transports another energy storage unit to the vicinity of the construction machine and exchanges the energy storage unit mounted on the construction machine with the other energy storage unit. . The construction machine is
a detection unit that outputs a replacement request for the energy storage unit when the timing of replacing the energy storage unit is detected;
2. The construction machine management system according to claim 1, further comprising: an operation state control unit that makes the construction machine inoperable after outputting the replacement request. The construction machine is
comprising a communication control unit that receives a notification from the conveyance movable body indicating completion of replacement of the energy storage unit and instructs the conveyance movable body to leave;
The operating state control section includes:
3. The construction machine management system according to claim 2, wherein the state of the construction machine is switched to an operable state after the conveyance moving body leaves the vicinity of the construction machine. 2. The construction machine management system according to claim 1, wherein the energy storage unit is any one of a chargeable and dischargeable power storage unit, a fuel tank that stores fuel, or a hydrogen tank filled with hydrogen. The construction machine has a removably mounted urea water tank for storing urea water,
2. The construction machine management system according to claim 1, wherein the transporting vehicle replaces the urea water tank. a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
A construction machine comprising: an energy storage section removably mounted on the upper revolving structure.

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