JP7165636B2 - working machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a working machine, and more particularly to a technique for detecting failures in wire harnesses.

In construction machinery such as hydraulic excavators, in order to suppress the increase in failure detection sensors, signals from existing control sensors are used to detect hydraulic equipment failures and controller failures (hereinafter referred to as equipment failures). ) is detected (Patent Document 1).

JP-A-10-280488

By the way, when an electrical problem occurs in a construction machine such as a hydraulic excavator, an error code is generated by the failure detection system at the location where the sensor signal has a problem, and some warning signals are displayed on the monitor. Common. However, even if the operator refers to such error codes, it is sometimes difficult to identify whether there is a problem with the sensor or the wire harness.

On the other hand, it is conceivable to improve the range and accuracy of failure detection by adding parts and systems that are not used for normal control and are only for the purpose of detecting wire harness failures. Increased cost and complexity of the system, such as the need to judge whether the detection system is normal or not, are problems.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and its object is to provide a working machine which has a simple configuration and is capable of accurately detecting failures in wire harnesses (aggregate circuits). That's what it is.

In order to achieve the above object, the working machine of the present invention includes a plurality of sensors, a controller to which detection information detected by the plurality of sensors is input, and a battery that stores electric power to be supplied to the plurality of sensors. and a collective circuit connected on the one hand to each of said plurality of sensors and on the other hand to said controller and said battery, said collective circuits each extending from said plurality of sensors to provide said controller with said detection sensor. a plurality of communication lines for communicatively connecting information; and a plurality of power supply lines for supplying power from the battery to the plurality of sensors, wherein the signal line and the power supply line are connected to the plurality of sensors at branch points. a circuit failure determination unit that is branched and extended a plurality of times and connected to the sensors of the controller, and a circuit failure determination unit that determines a failure range, which is a failure range of the collective circuit, based on information input from the plurality of sensors; and an abnormality determination unit that determines an abnormal sensor as a sensor that inputs abnormality detection information from the plurality of sensors to the controller, and the circuit failure determination unit determines the abnormality determined by the abnormality determination unit. When there are a plurality of abnormal sensors, a fault occurrence section in the collective circuit is determined as the fault range based on the connection mode of the communication line and the power supply line to which the plurality of abnormal sensors are connected .

As a result, when there are a plurality of abnormal sensors determined by the abnormality determination unit based on information input from the plurality of sensors , the failure range is determined based on the connection mode of the communication line and the power supply line to which the plurality of abnormal sensors are connected. Without providing a sensor for detecting, for example, from the combination of a plurality of abnormal sensors and the connection mode of the communication line and the power supply line, it is possible to determine the failure range where the failure is in the aggregate circuit .

In another aspect, the circuit failure determination unit determines a failure range downstream position, which is the most downstream side of a path in the collective circuit to which all of the plurality of abnormal sensors are connected, of the communication line and the power supply line. , a failure range upstream, which is the most downstream side of a path in the collective circuit to which all of the normal sensors among the plurality of sensors, among the communication line and the power supply line, that input normal detection information to the controller are connected; It is preferable to determine the failure range as the range from the failure range downstream position to the failure range upstream position.

As a result, from the failure range downstream position, which is the most downstream side of the path where all of the multiple abnormal sensors are connected, to the most downstream of the path where all of the normal sensors among the multiple sensors that input normal detection information to the controller are connected. By setting the range up to the upstream position of the failure range, which is the side, as the failure range, it is possible to improve the determination accuracy of the failure range.

As another aspect, the controller has a storage unit that stores a database indicating the relationship between the information input from the plurality of sensors and the failure range, and the circuit failure determination unit stores information from the plurality of sensors Preferably, the entered information is checked against the database to determine the fault extent.

As a result, it is possible to improve the determination accuracy of the circuit failure determination unit by comparing the database stored in the storage unit with the information input from the plurality of sensors to determine the failure range.

As another aspect, it is preferable that the controller has a failure location estimation unit that estimates a location with a high possibility of failure within the failure range determined by the circuit failure determination unit.
As a result, by estimating a location with a high possibility of failure within the range of failures determined by the circuit failure determination unit, for example, the estimated failure location can be displayed on the tester to accurately guide the location to be repaired. is allowed.

According to the working machine of the present invention, the failure range, which is the range of failures in the aggregate circuit, is determined based on information input from a plurality of sensors, so a sensor for detecting the failure range is provided. The fault range can be determined without
As a result, it is possible to accurately detect the failure of the wire harness with a simple configuration.

1 is a side view of a hydraulic excavator according to this embodiment; FIG. 1 is a top view of a hydraulic excavator; FIG. It is a part of the circuit diagram of general wiring. It is an enlarged view of the A section in FIG. FIG. 3 is a block diagram showing a connection configuration of a controller related to control of the hydraulic excavator according to the present invention; 4 is a flow chart of a routine executed by a controller showing a control procedure of error determination control according to the present invention; It is a table showing an example of a failure database.

An embodiment of the present invention will be described below with reference to the drawings.
Referring to FIG. 1, a side view of a hydraulic excavator 1 according to this embodiment is shown. A hydraulic excavator (working machine) 1 is a large-sized hydraulic excavator that operates at a site such as a mine. This hydraulic excavator 1 includes a lower travel body 2 , an upper revolving body 3 and a revolving device 4 .

The lower traveling body 2 is a traveling means of the hydraulic excavator 1, and a crawler-type lower traveling body 2 is exemplified here. The upper revolving body 3 is connected to the lower traveling body 2 via a revolving frame 3 a and a revolving device 4 that form a lower skeleton of the upper revolving body 3 . The turning device 4 can turn the upper turning body 3 relative to the lower traveling body 2 . Thus, the hydraulic excavator 1 constitutes a revolving work machine.

The upper revolving body 3 has a cab 5, a front attachment 6, a building 7 and the like mounted on a revolving frame 3a. Various operating means for operating the hydraulic excavator 1 are provided in the operator's cab 5 . Therefore, the operator can perform various operations of the hydraulic excavator 1 , such as a turning operation for operating the turning device 4 and a work operation for operating the front attachment 6 , by getting into the operator's cab 5 . The building 7 accommodates machines such as the engine 8 and the hydraulic pump 9 and is arranged behind the driver's cab 5 .

The front attachment 6 is provided on the front part of the upper rotating body 3 so as to be substantially aligned with the operator's cab 5, and includes a boom 10, an arm 11 and a bucket 12. As shown in FIG. The base end of the boom 10 is supported by a connecting pin (not shown) on the revolving frame 3a. Thereby, the boom 10 can relatively swing with respect to the revolving frame 3a. An arm 11 is connected to the tip of the boom 10 so as to be vertically rotatable, and a bucket 12 is connected to the tip of the arm 11 so as to be vertically rotatable.

Here, the boom 10 can be adjusted and rotated by adjusting and expanding and contracting the boom cylinder 10a. Similarly, the arm 11 can be adjusted and rotated by the arm cylinder 11a, and the bucket 12 can be adjusted and rotated by adjusting the bucket cylinder 12a. Therefore, the front attachment 6 adjusts the boom cylinder 10a, the arm cylinder 11a, and the bucket cylinder 12a appropriately and extends and retracts them, thereby rotating the boom 10, the arm 11, and the bucket 12 with appropriate adjustment, thereby performing work such as excavation work. It is possible to

Referring to FIG. 2, a top view of the hydraulic excavator 1 is shown. The hydraulic excavator 1 includes a plurality of sensors including a first sensor 21, a second sensor 22, a third sensor 23, a fourth sensor 24 and a fifth sensor 25 (hereinafter also collectively referred to as "sensors 20"), a controller (CU) 27 and a battery (Batt) 28 are provided. The first sensor 21 is provided on the left side surface of the boom 10 and detects the orientation of the boom 10 . The second sensor 22 is a temperature sensor that detects the ambient temperature outside the excavator 1 .

A third sensor 23 is a sensor that detects the rotation speed of an output shaft (not shown) of the engine (ENG) 8 . The fourth sensor 24 is a sensor that detects the temperature of cooling water circulating inside the engine 8 . The fifth sensor 25 is a sensor that detects the pressure of the hydraulic fluid protruding from the hydraulic pump 9 . Although each sensor 20 has been described as an example, the number and types of sensors provided in the hydraulic excavator 1 are not limited to these.

The controller 27 is a control device for performing comprehensive control including operation control of the engine 8, and includes an input/output device, a storage device (ROM, RAM, non-volatile RAM, etc.), a central processing unit (CPU), and the like. is composed of The configuration of the controller 27 will be explained later. The battery 28 is a battery that stores electric power generated by an alternator (not shown) when the engine 8 is driven. This battery 28 can supply power to each sensor 20 , controller 27 , and other electric devices of the hydraulic excavator 1 .

Referring to FIG. 3, a part of the circuit diagram of the integrated wiring (collective circuit) 29 is shown. Each sensor 20 , controller 27 and battery 28 are electrically connected by general wiring 29 . Here, the general wiring 29 includes a main wiring 30 , a first wiring 31 , a second wiring 32 , a third wiring 33 , a fourth wiring 34 , a fifth wiring 35 and a sixth wiring 36 . One side (downstream side) of the main wiring 30 is connected to the eighth connector 48 via the sixth connector 46 and the seventh connector 47 , and the other side (upstream side) is connected to the controller 27 and the battery 28 . In the present embodiment, description of the wiring on the downstream side of the eighth connector 48 is omitted, but various sensors such as a temperature sensor for detecting the temperature of the hydraulic oil and various sensors such as a controller for controlling the operation amount of the hydraulic pump 9 are used. You may make it connect an electric equipment.

The first wiring 31, the second wiring 32, the fourth wiring 34, and the fifth wiring 35 are branched from the main wiring 30 at branch points P1, P2, P4, and P5, respectively, and connected to the first connector 41 and the second connector 42. , the fourth connector 44 and the fifth connector 45 are electrically connected to the first sensor 21 , the second sensor 22 , the fourth sensor 24 and the fifth sensor 25 . Further, the third wiring 33 and the sixth wiring 36 are electric lines branching from the first wiring 31 and the fourth wiring 34 respectively at the branch points P3 and P6 on the upstream side. The third wiring 33 is electrically connected to the third sensor 23 via a third connector 43 on the downstream side. Note that the downstream side of the sixth wiring 36 may be connected to an electric device such as a sensor for detecting the attitude of the arm 11, although the description is omitted here.

Referring to FIG. 4, an enlarged view of part A in FIG. 1 is shown. The first sensor 21 operates when power is supplied from the battery 28 via the main wiring 30 and the first wiring 31 to detect the attitude of the boom 10 . The first sensor 21 also converts the detected information into an electrical signal and outputs the electrical signal to the controller 27 via the first wiring 31 .

Here, a first connector 41 is attached to the first wiring 31 . The first connector 41 is a connector that electrically connects the upstream side and the downstream side of the first wiring 31 . Accordingly, the first sensor 21 can be easily attached and detached by separating the first connector 41 into the upstream side and the downstream side without processing the first wiring 31 . The first wiring 31 bundles a first power supply line 51, a first signal line 71 and a sixth signal line 76, which will be described later, and is covered with a protective member such as rubber.

Returning to FIG. 3, the general wiring 29 is an electric wire that bundles signal lines and power lines. In FIG. 3, electric wires (power supply lines) intended to supply electric power are indicated by solid lines, and electric wires (signal lines) intended to transmit signals are indicated by dashed lines. According to FIG. 3, the power supply line comprises a first power supply line (power supply line) 51 and a second power supply line (power supply line) 52, each extending downstream from the battery 28. .

The first power supply line 51 branches via the first joint 61 at the first branch point P<b>1 and extends to the first wiring 31 and the fourth wiring 34 . The first power supply line 51 branches at a first branch point P<b>1 via a first joint 61 and extends to the first wiring 31 and the fourth wiring 34 . Furthermore, the first power supply line 51 is branched at the third branch point P3 and the sixth branch point P6 via the third joint 63 and the sixth joint 66 to form the first wiring 31 and the sixth wiring 36 and the third It extends to the wiring 33 and the fourth wiring 34 . The second power supply line 52 branches at the second branch point P2 and the fifth branch point P5 via the second joint 62 and the fifth joint 65, and is connected to the second sensor 22 and the fifth sensor 25. .

The signal lines include a first signal line 71, a second signal line 72, a third signal line 73, a fourth signal line 74, a fifth signal line 75 and a sixth signal line 76 (hereinafter collectively referred to as " Each signal line (communication line) 70 ″ is provided. 5 sensor 25 .

Therefore, the power supply line supplies power from the battery 28 to each sensor by providing a plurality of joints on two lines and branching them, while the signal lines are arranged in a number corresponding to each sensor 20. A signal line is extended from each sensor 20 to output detection information to the controller 27 .

Referring to FIG. 5, a block diagram shows the connection configuration of the controller 27 for controlling the hydraulic excavator 1 according to the present invention. A first sensor 21, a second sensor 22, a third sensor 23, a fourth sensor 24, and a fifth sensor 25 are electrically connected to the input side of the controller 27, and the detection information of each sensor 20 is electrically input as a signal. A tester 100 , for example, is electrically connected to the output side of the controller 27 , and the result of judgment made by the controller 27 through error judgment control, which will be described later, is displayed on the monitor of the tester 100 . Although the determination result is displayed on the tester 100 here, it may be displayed on a portable terminal possessed by the administrator via wireless communication, or may be displayed on an operation panel (not shown) in the driver's cab 5 . You may do so.

The controller 27 generates a plurality of error codes including a first error code generator 81, a second error code generator 82, a third error code generator 83, a fourth error code generator 84, and a fifth error code generator 85. section (hereinafter also generally referred to as “each error code generation section (abnormality determination section) 80 ”), a storage section 87 , an integrated determination section (circuit failure determination section) 88 and a fault location estimation section 89 .

The first error code generator 81 determines whether or not the detection information input from the first sensor 21 is normal information, and when an abnormality is detected (when the sensor is an abnormal sensor), the corresponding error code is generated. This is the generator that generates. Here, the case where the detection information input from the first sensor 21 is normal information means that the value of the detection information input from the first sensor 21 falls within a certain range. In other words, when the value of the detection information input from the first sensor 21 is detected to exceed the certain range, some failure may occur in the first sensor 21 or the power supply line or signal line that transmits the signal. It shows what is happening. The same applies to the second error code generator 82, the third error code generator 83, the fourth error code generator 84, and the fifth error code generator 85, so the description is omitted here.

The storage unit 87 is a memory in which a failure database, which will be described later, is stored in advance. The integrated determination unit 88 determines whether there is a failure in the general wiring 29 based on the error codes generated by the error code generation units 80 and the information stored in the storage unit 87, in other words, based on the information input from the sensors 20. and a judgment unit for judging a failure occurrence section (failure range), which will be described later. The failure location estimation unit 89 is an estimation unit that estimates locations that are more likely to be failure locations based on the determination result of the integrated determination unit 88 .

Referring to FIG. 6, a routine showing the control procedure of the error determination control according to the present invention, which is executed by the controller 27, is shown in a flow chart. This routine starts when an ignition key (ING) (not shown) is turned on (step S10).

In step S20, each error code generator 80 determines whether or not each sensor 20 has detected an abnormality. If the determination result in step S20 is false (No) and none of the error code generators 80 detect an abnormality, this routine ends. On the other hand, if the determination result of step S20 is true (Yes) and at least one of the error code generators 80 detects an abnormality, the process proceeds to step S30. In step S30, the error code generator that detects the abnormality among the error code generators 80 generates an error code, and the process proceeds to step S40.

Accordingly, in steps S10 to S30, when the ignition key (ING) is turned on, power is supplied from the battery 28 to each sensor 20 via the first power supply line 51 and the second power supply line 52 of the general wiring 29. is supplied (step S10), and at least one of the error code generators 80 detects an abnormality (detects an abnormal sensor) from the detection information detected by the operation of each sensor 20 (Yes in step S20) , the corresponding error code generator can generate an error code (step S30).

In step S40, it is determined whether or not there are a plurality of error codes generated in step S30. If the determination result in step S40 is false (No) and there is only one error code generated, the process proceeds to step S70, which will be described later. On the other hand, if the determination result of step S40 is true (Yes) and there are a plurality of generated error codes, the process proceeds to step S50. In step S50, the failure database (database) 90 stored in the storage unit 87 is compared with the error code generated in step S30.

Referring to FIG. 7, an example failure database 90 is shown in a table. First, describing the configuration of the failure database 90, pattern names are listed in the leftmost first column 91. FIG. In this embodiment, five patterns are shown as an example.

Next, the second column 92 located second from the left lists the actual failure locations in each pattern. Next, in a third column 93 positioned third from the left, a circle is written when an error code of each sensor 20 in each pattern is generated by each error code generator 80 (abnormal sensor), and an error code is generated. If the code is not generated, it is listed as blank.

Next, in a fourth column 94 positioned fourth from the left, fault occurrence sections determined by the integrated determination unit 88 are listed. In the fifth column 95, which is the fifth column from the left, that is, the rightmost column 95, the locations (failure locations) estimated by the failure location estimating section 89 with a high possibility of occurrence of a failure are listed.

Therefore, in step S50, by comparing the failure database 90 and the error code, the failure occurrence section determined by the integrated determination unit 88 and the failure location estimated by the failure location estimation unit 89 can be determined. After the failure occurrence section and the failure location are determined in this manner, the process proceeds to step S60. Note that the correspondence between the error code, the section where the failure occurred, and the location of the failure will be described later.

Returning to FIG. 6, in step S60, it is determined whether or not a matching pattern exists as a collation result in step S50. If the determination result in step S60 is false (No) and no matching pattern exists, the process proceeds to step S70. In step S70, it is determined that the corresponding sensor among the sensors 20 is the failure location, and the process proceeds to step S90. Here, as described above, if the determination result in step S40 is false (No) and only one error code is generated, it is also determined that the corresponding sensor is the failure location, and the process proceeds to step S90. .

On the other hand, if the determination result of step S60 is true (Yes) and there is a matching pattern, the process proceeds to step S80. In step S80, based on the matching pattern in the failure database 90, it is determined that the failure range is the matching failure occurrence section in the fourth column 94 of the failure database 90, and the process proceeds to step S85. In step S85, based on the matching pattern in the failure database 90, the failure location is estimated to be the estimated failure location in the fifth column 95, and the process proceeds to step S90.

Then, in step S90, for example, the tester 100 is notified of the failure range and failure location determined and estimated in step S70 or steps S80 and S85, and this routine is terminated, after which this routine is repeatedly executed.

In this way, in steps S40 to S90, if the error code generated by each error code generator 80 is singular (No in step S40) or multiple (Yes in step S40), the failure database 90 is checked. If there is no such pattern (No in steps S50 and S60), it is determined that the corresponding sensor is out of order (step S70), the determination is displayed on the tester 100, and the part to be repaired is instructed to the operator. can guide you.

In steps S40 to S90, if there are a plurality of error codes generated by each error code generator 80 (Yes in step S40) and there is a matching pattern in the failure database 90 (steps S50 and S60 Yes), the section where the failure occurred and the location of the failure are determined and estimated (steps S80 and S85), and the determination and estimation are displayed on the tester 100 so that the section and location to be repaired can be guided to the operator. Therefore, by using this routine, the integrated determination unit 88 determines the failure range based on the connection mode of each signal line 70 and the first power supply line 51 without providing a sensor for detecting the failure range. be able to.

By the way, regarding the failure database 90 used in step S50, there is a predetermined correspondence relationship (relationship) between the error code, the failure occurrence section, and the failure location. 3 and 7, the corresponding relationship between the error code, the failure occurrence section, and the failure location will be described separately for the case where the failure location is the connector and the case where the failure location is the joint.

<If the fault is the connector>
Patterns 1 and 2 are cases where the failure location is the connector. First, pattern 1 will be described. According to FIG. 7, in Pattern 1, the error codes of the third sensor 23, the fourth sensor 24 and the fifth sensor 25 among the sensors 20 occur simultaneously, and the error codes of the first sensor 21 and the second sensor 22 occur simultaneously. has not occurred (third column 93).

In this way, when the error codes of the third sensor 23, the fourth sensor 24 and the fifth sensor 25 are generated at the same time, it is unlikely that a plurality of sensors are malfunctioning at the same time. Further, according to FIG. 3, the third sensor 23, the fourth sensor 24 and the fifth sensor 25 branch from the fourth branch point P4. Here, the fourth branch point P4 is the most downstream side of the route in the general wiring 29 to which all of the third sensor 23, the fourth sensor 24 and the fifth sensor 25 (abnormal sensor) are connected. Therefore, it is expected that a failure will occur upstream from the fourth branch point P4 (located downstream of the failure range) in the general wiring 29 .

Furthermore, the second sensor 22 for which no error code has occurred is connected to the second wiring 32 extending from the second branch point P2. Therefore, it is expected that a failure will occur downstream from the second branch point P2 (upstream location of the failure range) in the general wiring 29 . Thus, as in the fourth column 94, it can be determined that the fault occurrence section is the section from the second branch point P2 to the fourth branch point P4 in the general wiring 29. FIG.

By the way, according to FIG. 4, since the first wiring 31 extends above the boom 10, it is easily affected by outside dust, rainwater, ultraviolet rays, and the like. In particular, the first connector 41 and the first joint 61 at the first branch point P1 are more susceptible to failure than the wiring portion of the first wiring 31, as compared to the gap between the connecting portions and the portion connecting the electric wires. . Further, as with the first connector 41 and the first joint 61, connectors other than the first connector 41 and joints other than the first joint 61 are more likely to fail than the wiring portion.

Therefore, in the section from the second branch point P2 to the fourth branch point P4, which is determined to be the section where the failure occurs, the seventh connector 47 is the most likely location where the failure occurs as in the case of the first joint 61. high. Therefore, in pattern 1, the fault range is determined to be the section from the second branch point P2 to the fourth branch point P4 (step S80 in FIG. 6), and the fault location is the seventh connector 47 ( It can be estimated as step S85) in FIG.

Next, pattern 2 will be described. According to FIG. 7, pattern 2 is a state in which all error codes of each sensor 20 occur simultaneously (third column 93). In such a case, it is unlikely that each sensor 20 will fail at the same time. Further, according to FIG. 3, all the sensors 20 are connected to the main wiring 30 up to the first branch point P1. Therefore, it is expected that a failure will occur upstream from the first branch point P1 in the general wiring 29 . Therefore, as in the fourth column 94 , it can be determined that the fault occurrence section is the section on the upstream side from the first branch point P<b>1 in the general wiring 29 .

Further, among the sections on the upstream side from the first branch point P1 that are determined to be failure occurrence sections, the sixth connector 46 is the most likely location where the failure occurs. Therefore, in case of pattern 2, it is determined that the failure range is the section upstream from the first branch point P1 (step S80 in FIG. 6), and the failure location is the sixth connector 46 (step S85 in FIG. 6). can be estimated as

<If the fault is a joint>
Patterns 3 to 5 are cases where the failure location is a joint. First, pattern 3 will be described. According to FIG. 7, in pattern 3, among the sensors 20, the error codes of the third sensor 23 and the fourth sensor 24 occur simultaneously, and the error codes of the first sensor 21, the second sensor 22 and the fifth sensor 25 occur simultaneously. has not occurred (third column 93).

Here, according to FIG. 3, the third sensor 23 and the fourth sensor 24 are connected to the third wiring 33 and the fourth wiring 34 branching from the third branch point P3. Therefore, it is expected that a failure will occur upstream from the third branch point P3 in the overall wiring 29 .

On the other hand, the fifth sensor 25 for which no error code has occurred does not generate an error code even though it is located downstream of the fourth branch point P4. Further, the third sensor 23 and the fourth sensor 24 are supplied with power from the battery 28 through the first power supply line 51, while the fifth sensor 25 is supplied with power through the second power supply line 52. power is supplied from the battery 28. Furthermore, the first sensor 21 receiving power from the battery 28 via the first power supply line 51 does not generate an error code.

Thus, as in the fourth column 94, it is determined that the fault occurrence section is the fault on the first power supply line 51 in the section from the first branch point P1 to the third branch point P3 in the general wiring 29. can do. Further, the third joint 63 located on the first power supply line 51 in the section from the first branch point P1 to the third branch point P3, which is determined to be the section where the failure occurs, is the most likely location where the failure occurs. Probability is high. Therefore, in the case of pattern 3, it is determined that the fault range is the section from the first branch point P1 to the third branch point P3 (step S80 in FIG. 6), and the fault location is the third joint 63 (FIG. 6 step S85).

Next, pattern 4 will be described. According to FIG. 7, in Pattern 4, the error codes of the second sensor 22 and the fifth sensor 25 among the sensors 20 occur simultaneously, and the error codes of the first sensor 21, the third sensor 23 and the fourth sensor 24 occur simultaneously. has not occurred (third column 93).

Here, according to FIG. 3, the second sensor 22 and the fifth sensor 25 are connected to the second wiring 32 and the main wiring 30 and the fifth wiring 35 branching from the second branch point P2. Therefore, it is expected that a failure will occur upstream from the second branch point P2 in the general wiring 29 .

On the other hand, the third sensor 23 and the fourth sensor 24, which do not generate error codes, do not generate error codes even though they are located downstream of the second branch point P2. Further, the second sensor 22 and the fifth sensor 25 are supplied with power from the battery 28 via the second power supply line 52, while the third sensor 23 and the fourth sensor 24 are supplied with the first power. Power is supplied from the battery 28 via the supply line 51 .

From these, it is determined that the fault occurrence section is the fault on the second power supply line 52 in the section from the first branch point P1 to the second branch point P2 in the general wiring 29, as in the fourth column 94. can do. Further, the second joint 62 located on the second power supply line 52 in the section from the first branch point P1 to the second branch point P2, which is determined to be the section where the fault occurs, is the most likely location where the fault occurs. Probability is high. Therefore, in the case of pattern 4, it is determined that the fault range is the section from the first branch point P1 to the second branch point P2 (step S80 in FIG. 6), and the fault location is the second joint 62 (FIG. 6 step S85).

Next, pattern 5 will be described. According to FIG. 7, in Pattern 5, the error codes of the first sensor 21, the third sensor 23 and the fourth sensor 24 among the sensors 20 occur simultaneously, and the error codes of the second sensor 22 and the fifth sensor 25 occur simultaneously. has not occurred (third column 93).

Here, according to FIG. 3, the first sensor 21, the third sensor 23 and the fourth sensor 24 are connected to the first wiring 31 branched from the first branch point P1, the main wiring 30, the third wiring 33 and the fourth wiring 34. Connected. Therefore, it is expected that a failure will occur upstream from the first branch point P1 in the general wiring 29 .

On the other hand, the second sensor 22 and the fifth sensor 25, which do not generate error codes, do not generate error codes even though they are positioned downstream of the first branch point P1. Further, the first sensor 21, the third sensor 23 and the fourth sensor 24 are supplied with power from the battery 28 via the first power supply line 51, while the second sensor 22 and the fifth sensor 25 are supplied with power. receives power from the battery 28 via the second power supply line 52 .

From these, it can be determined that the fault occurrence section is the fault on the first power supply line 51 in the section upstream from the first branch point P<b>1 in the general wiring 29 , as in the fourth column 94 . Further, the first joint 61 located on the first branch point P1 in the section upstream from the first branch point P1 determined as the section where the failure occurred is the most likely location where the failure occurs. Therefore, in case of pattern 5, it is determined that the failure range is the section upstream from the first branch point P1 (step S80 in FIG. 6), and the failure location is the first joint 61 (step S85 in FIG. 6). can be estimated.

In this manner, the integrated determination unit 88 and the failure location estimation unit 89 compare each pattern with the failure database 90 including the failure occurrence section and the estimated failure location to determine and determine the failure occurrence interval and the estimated failure location. By estimating, it is possible to accurately determine and estimate.

As described above, the hydraulic excavator 1 according to the present invention includes the sensors 20, the controller 27 to which detection information detected by the sensors 20 is input, and the battery 28 that stores the electric power supplied to the sensors 20. , one of which is connected to each sensor 20 and the other of which is connected to a controller 27 and a battery 28 . It has an integrated determination unit 88 that determines a failure range, which is a certain range.

Therefore, based on the information input from each sensor 20, the fault range, which is the fault range of the general wiring 29, is determined. can judge.

In particular, the general wiring 29 extends from each sensor 20 and includes each signal line 70 that communicably connects detection information to the controller 27, a first power supply line 51 that supplies power from the battery 28 to each sensor 20, and a first power supply line 51 that supplies power to each sensor 20. 2 power supply lines 52, the first power supply line 51 and the second power supply line 52 are branched multiple times at each of the branch points P1 to P6 to extend and connect to each sensor 20, and the controller 27 has each error code generation unit 80 for determining which sensor (abnormal sensor) among the sensors 20 inputs abnormal detection information to the controller 27, and the integrated determination unit 88 determines whether each error code generation unit When there are a plurality of abnormal sensors determined to be sensors that have detected the above, the failure range is determined based on the connection mode of each signal line 70 and the first power supply line 51 to which the plurality of abnormal sensors are connected.

Therefore, when there are a plurality of abnormal sensors determined by each error code generator 80, based on the connection mode of each signal line 70 and the first power supply line 51 and the second power supply line 52 to which the plurality of abnormal sensors are connected, Since the failure range is determined, the failure range can be determined from, for example, a combination of a plurality of abnormal sensors and the connection mode of each signal line 70 and the first power supply line 51 and the second power supply line 52 .

The integrated determination unit 88 is the most downstream side of the route in the general wiring 29 to which all of the plurality of abnormality sensors are connected among the signal lines 70 and the first power supply line 51 and the second power supply line 52. The downstream position of the failure range, the signal line 70, the first power supply line 51 and the second power supply line 52, all of the normal sensors 20 that input normal detection information to the controller 27 are connected. The failure range upstream position, which is the most downstream side of the route in the wiring 29, is determined, and the failure range is determined as the range from the failure range downstream position to the failure range upstream position, so the determination accuracy of the failure range is improved. be able to.

The controller 27 has a storage unit 87 that stores a failure database 90 indicating the relationship between the information input from each sensor 20 and the failure range. is collated with the failure database 90 to determine the failure range, the determination accuracy of the integrated determination unit 88 can be improved.

Since the controller 27 has a failure location estimating unit 89 that estimates a location with a high possibility of failure within the failure range determined by the integrated determination unit 88, the estimated failure location is displayed on the tester 100, for example. It is possible to accurately guide the part to be repaired.

Although the description of the working machine according to the present invention is finished above, the present invention is not limited to the above-described embodiment, and can be modified without departing from the gist of the invention.

For example, in the present embodiment, "failure" of each sensor 20, general wiring 29, connector, joint, etc. is detected, determined, and estimated. It may also indicate an abnormal state including human error such as forgetting to connect a connector.

Further, in this embodiment, the control procedure of the error determination control according to the present invention executed by the controller 27 has been described using the flowchart of FIG. You may make it replace suitably as much as possible.

Further, in the present embodiment, the hydraulic excavator 1 is used as a working machine, but it may be used for a working machine other than the hydraulic excavator, such as a wheel loader, a compaction machine, or a crane.

1 Hydraulic excavator (work machine)
20 each sensor (sensors)
27 controller 28 battery 29 general wiring (collective circuit)
51 first power supply line (power supply line)
52 second power supply line (power supply line)
70 Each signal line (communication line)
80 Each error code generation unit (abnormality determination unit)
87 storage unit 88 integrated determination unit (circuit failure determination unit)
89 failure location estimation unit 90 failure database (database)

Claims (4)

a plurality of sensors;
a controller to which detection information detected by the plurality of sensors is input;
a battery that stores power to be supplied to the plurality of sensors;
A working machine comprising: a collective circuit one of which is connected to each of the plurality of sensors and the other of which is connected to the controller and the battery,
The aggregate circuit includes a plurality of communication lines extending from the plurality of sensors and communicably connecting the detection information to the controller, and a plurality of power supply lines for supplying power from the battery to the plurality of sensors. have
the signal line and the power supply line are connected to the plurality of sensors by branching multiple times at a branch point;
The controller includes a circuit failure determination unit that determines a failure range, which is a failure range in the collective circuit, based on information input from the plurality of sensors, and detects abnormal detection information from the plurality of sensors. an abnormality determination unit that determines an abnormality sensor as a sensor to be input to the controller ;
When there are a plurality of the abnormal sensors determined by the abnormality determination unit, the circuit failure determination unit determines, as the failure range, A working machine characterized by determining a fault occurrence section in the collective circuit . The circuit failure determination unit,
a failure range downstream position of the communication line and the power supply line, which is the most downstream side of a path in the collective circuit to which all of the plurality of abnormal sensors are connected;
A failure range upstream position, which is the most downstream side of a path in the aggregate circuit connected to all of the normal sensors among the plurality of sensors among the communication line and the power supply line that input normal detection information to the controller. and determining the failure range as the range from the failure range downstream position to the failure range upstream position,
A work machine according to claim 1 , characterized in that: The controller has a storage unit that stores a database showing the relationship between the information input from the plurality of sensors and the failure range,
The circuit failure determination unit compares information input from the plurality of sensors with the database to determine the failure range.
A work machine according to claim 1 , characterized in that: The controller has a failure location estimation unit that estimates a location with a high possibility of failure within the failure range determined by the circuit failure determination unit.
A work machine according to claim 1, characterized in that:

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