Work machine and control method of work machine

Abstract

In a work machine (1) having a work device, a power source (2) that outputs a driving force for causing the work device to act, a controller (10), and a solenoid valve (6) controlled by the controller (10) are provided. The controller (10) outputs an instruction that controls the power source (2) in such a manner as to limit the act of the work device in a case where it is determined that an abnormality has occurred in a power supply circuit that connects the controller (10) and the solenoid valve (6).

Description

Technical Field

[0001] This disclosure relates to operating machinery and methods for controlling operating machinery. Background Technology

[0002] As a functional safety measure for hydraulic excavators and other operating machinery, it has the function of detecting abnormalities and cutting off the circuit when an abnormality occurs inside the controller.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-097022 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In operating machinery, in addition to abnormalities occurring inside the controller, abnormalities also occur in the power circuit outside the controller, which may lead to the desire to further improve the safety of the operating machinery.

[0008] Methods for solving problems

[0009] According to this disclosure, in a machine tool having a working device, there is a power source that outputs driving force to actuate the working device, a controller, and a solenoid valve controlled by the controller. When the controller determines that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve, it outputs a command to control the power source in a manner that restricts the operation of the working device.

[0010] According to this disclosure, in a control method for a machine having a working device, if it is determined that an abnormality has occurred in the power supply circuit that connects the controller used to control the solenoid valve to the solenoid valve, an instruction is output to control the power source in a manner that restricts the operation of the working device.

[0011] Invention Effects

[0012] According to this disclosure, a working machine and a control method for the working machine can be provided, which can control the working machine in a way that further improves safety, not only in the case of an abnormality occurring inside the controller, but also in the case of an abnormality occurring in the power supply circuit outside the controller. Attached Figure Description

[0013] Figure 1 This is a schematic block diagram of the operating machinery according to the first embodiment.

[0014] Figure 2 This is a block diagram illustrating a computer system according to a first embodiment.

[0015] Figure 3 This is a flowchart illustrating the control method of the operating machinery according to the first embodiment.

[0016] Figure 4 This is a schematic block diagram of the operating machinery according to the second embodiment. Detailed Implementation

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings, but the present disclosure is not limited thereto. The constituent elements of the embodiments described below can be appropriately combined. In addition, some constituent elements may not be applicable at times.

[0018] (First Implementation)

[0019] [Operating Machinery]

[0020] Figure 1 This is a schematic block diagram of the work machine 1 according to the first embodiment. In this disclosure, the work machine 1 is a hydraulic excavator. The work machine 1 includes a lower traveling body (not shown), an upper rotating body (not shown), a working device (not shown), and a hydraulic cylinder (not shown) for driving the working device. The work machine 1 includes a power source 2, a solenoid valve 6, a battery 4 as a power source, and a controller 10. In this disclosure, the work machine 1 includes a hydraulic actuator 3, an operating device 5, and a power source controller 30. In this disclosure, as the solenoid valve 6, in addition to the solenoid valve 6c connected to the power source 2, as an example, there are also two solenoid valves, solenoid valve 6a and solenoid valve 6b, but it is not limited to this.

[0021] In this disclosure, the operating machine 1 may also include a notification unit (not shown) that notifies the operator of an abnormality in the power circuit external to the controller 10, or in other words, in the power circuit connecting the controller 10 to the solenoid valve 6. The notification unit is a device that notifies the operator in the cab of an abnormality in the power circuit external to the controller 10. The notification unit may be, for example, a monitor or a buzzer installed in the cab of the operating machine 1.

[0022] Power source 2 outputs driving force to operate the working device. Power source 2 is controlled by a control signal from power source controller 30. Power source 2 includes, for example, an engine, generator, fuel cell, battery, electric motor, and variable capacity pump. In this disclosure, as an example, a power source 2 having an engine 2E and a variable capacity pump 2P will be described.

[0023] A variable-capacity pump 2P is connected to a solenoid valve 6c. The variable-capacity pump 2P is, for example, a swashplate-type hydraulic pump that changes its capacity by varying the tilt angle of the swashplate, but is not limited to this. The variable-capacity pump 2P is mechanically connected to the drive shaft 2X of the engine 2E. The engine 2E drives the variable-capacity pump 2P. The variable-capacity pump 2P serves as the supply source of working oil to the hydraulic actuator 3. In this disclosure, the engine 2E's speed is controlled by a control signal from the power source controller 30. In this disclosure, the variable-capacity pump 2P's swashplate tilt angle is controlled by a control signal from the controller 10.

[0024] The hydraulic actuator 3 is, for example, a hydraulic drive system consisting of a boom hydraulic cylinder, a stick hydraulic cylinder, a bucket hydraulic cylinder, a right-travel hydraulic motor, and a left-travel hydraulic motor. The hydraulic actuator 3 is driven by working oil supplied from a variable-capacity pump 2P. Driven by the hydraulic actuator 3, the working device connected to it, including the boom, bucket, and stick, the lower traveling body, and the upper slewing body, operates. A control valve (not shown) for controlling the hydraulic actuator 3 is disposed between the hydraulic actuator 3 and the variable-capacity pump 2P.

[0025] Battery 4 supplies power to the working machinery 1. Battery 4 also supplies power to drive solenoid valve 6. In this disclosure, battery 4 supplies power to drive solenoid valves 6a, 6b, and 6c. Battery 4 supplies power to controller 10. A signal line 101 is connected to battery 4. Battery 4 is connected to controller 10 via signal line 101. Battery 4 is connected to solenoid valve 6 via signal line 101 and controller 10. In this disclosure, battery 4 is connected to solenoid valves 6a, 6b, and 6c via signal line 101 and controller 10. In the circuit that supplies power from battery 4 to controller 10, in other words, the signal line 101, the battery 4 side is referred to as the upstream side.

[0026] Operating device 5 is located in the driver's seat of the operating machinery 1. Operating device 5 is operated by the operator. Operating device 5 may be, for example, a lever for operating the boom, bucket, stick, and upper slewing mechanism for rotation. Operating device 5 may be, for example, a lever for operating the travel hydraulic motor. Operating device 5 may be, for example, a fuel dial. Operating device 5 may be, for example, a switch for operating the swing parking brake.

[0027] The operating device 5 outputs signals indicating operator operations to the control unit 20. For example, the operating device 5 outputs a boom operation signal indicating the operating direction and amount of the boom. The operating device 5 outputs a bucket operation signal indicating the operating direction and amount of the bucket. The operating device 5 outputs a stick operation signal indicating the operating direction and amount of the stick. The operating device 5 outputs a slewing operation signal indicating the slewing direction and amount of the upper slewing body relative to the lower traveling body. The operating device 5 inputs a travel operation signal to the control unit 20 for operating the travel motor. The operating device 5 outputs a fuel dial signal indicating the engine throttle opening to the control unit 20. The operating device 5 outputs a slewing parking brake operation signal to the control unit 20 for engaging or disengaging the slewing parking brake.

[0028] Solenoid valve 6a operates by opening and closing, and switching directions, powered by the battery 4. The upstream side of solenoid valve 6a is connected to the downstream side of switching element 14F. The downstream side of solenoid valve 6a is connected to ground 17G.

[0029] Solenoid valve 6b operates by opening and closing, and switching directions, powered by the battery 4. The upstream side of solenoid valve 6b is connected to the downstream side of switching element 15F. The downstream side of solenoid valve 6b is connected to ground 18G.

[0030] Solenoid valves 6a and 6b are, for example, solenoid valves used to switch the travel speed of the working machine 1, solenoid valves used to switch the safety pressure of accessories, solenoid valves used to switch the engagement or release of the swing parking brake of the working machine 1, and various solenoid valves installed on the working machine 1.

[0031] Solenoid valve 6c operates by opening and closing, and switching directions, powered by electricity supplied from battery 4. The upstream side of solenoid valve 6c is connected to the downstream side of switching element 13F. The downstream side of solenoid valve 6c is connected to ground 16G. Solenoid valve 6c is connected to power source 2. Solenoid valve 6c controls power source 2. More specifically, solenoid valve 6c controls the tilt angle of the swashplate of variable capacity pump 2P based on control signals from control unit 20.

[0032] [Controller]

[0033] Controller 10 is the controller for the working machine 1. Controller 10 outputs signals to control the working device, lower traveling body, and upper rotating body of the working machine 1. Controller 10 outputs drive control signals to power source 2 to control power source 2. In the event of an internal malfunction of controller 10, controller 10 outputs a cut-off control signal to cut off the power supply from battery 4. If controller 10 determines that an malfunction has occurred in the power circuit connecting controller 10 to solenoid valve 6, it outputs a command to control power source 2 in a manner that restricts the operation of the working device. Controller 10 has a control unit 20. Controller 10 is electrically connected to electrical signal lines 101, 103, 104, and 105. It should be noted that the main controller 10 can also output a command to control power source 2 in a manner that restricts the operation of the working device, lower traveling body, and upper rotating body if it determines that an malfunction has occurred in the power circuit connecting controller 10 to solenoid valve 6.

[0034] In this disclosure, when the controller 1 determines that an abnormality has occurred in the power supply circuit connecting the controller 10 to the solenoid valve 6, it outputs a control command to reduce the speed of the engine 2E. In this disclosure, when the controller 10 determines that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, it outputs, for example, a control command to the power source controller 30 to reduce the speed of the engine 2E to a level equivalent to low idle speed.

[0035] In this disclosure, when the controller 10 determines that an abnormality has occurred in the power supply circuit connecting the controller 10 to the solenoid valve 6, it outputs a control command to reduce the discharge volume of the variable capacity pump 2P. In this disclosure, when the controller 10 determines that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, it outputs, for example, a control command to minimize the discharge volume from the variable capacity pump 2P.

[0036] In this disclosure, when a key on the machine tool 1 is activated, the controller 10 determines an anomaly in at least any one of the power supply circuits that connects the controller 10 to solenoid valves 6a, 6b, and 6, respectively. Activation of the key on the machine tool 1 refers to, for example, when the key is ON or OFF. OFF signifies the start of operation of the machine tool 1. OFF signifies the end of operation of the machine tool 1.

[0037] The controller 10 has switching elements 11F, 13F, 14F and 15F, diodes 11D, 13D, 14D, 15D, 16D, 17D and 18D, and grounds 16G, 17G and 18G.

[0038] Switching elements 11F, 13F, 14F, and 15F switch the circuit's on / off state based on commands from control unit 20. Switching elements 11F, 13F, 14F, and 15F are, for example, FETs (Field Effect Transistors) or transistors.

[0039] Switching element 11F is provided to supply or disconnect power from battery 4. Switching element 11F is positioned between the downstream side of battery 4 and the upstream side of solenoid valve 6. The gate of switching element 11F is connected to control unit 20. When switching element 11F is in the ON state, power is supplied to the downstream side of electrical signal line 101. When switching element 11F is in the OFF state, the power supply to the downstream side of electrical signal line 101 is disconnected.

[0040] More specifically, when an on / off electrical signal is input to the switching element 11F as a switching signal, power can be supplied to the solenoid valve 6. When an off / off electrical signal is input to the switching element 11F as a switching signal, the power supply to the solenoid valve 6 is cut off.

[0041] Switching element 13F is provided to drive solenoid valve 6c. Switching element 13F is provided to switch the power supply to solenoid valve 6c according to instructions from control unit 20. Switching element 13F is disposed between terminal 101a and ground 16G. The gate of switching element 13F is connected to control unit 20. In the event of an abnormality such as a short circuit, switching element 13F becomes non-conducting, cutting off the power supply to solenoid valve 6c.

[0042] Switching element 14F is provided to drive solenoid valve 6a. Switching element 14F is provided to switch the power supply to solenoid valve 6a according to instructions from control unit 20. Switching element 14F is disposed between terminal 101b and ground 17G. The gate of switching element 14F is connected to control unit 20. In the event of an abnormality such as a short circuit, switching element 14F becomes non-conducting, cutting off the power supply to solenoid valve 6a.

[0043] Switching element 15F is provided to drive solenoid valve 6b. Switching element 15F is provided to switch the power supply to solenoid valve 6b according to instructions from control unit 20. Switching element 15F is positioned between terminal 101c and ground 18G. The gate of switching element 15F is connected to control unit 20. In the event of an abnormality such as a short circuit, switching element 15F becomes non-conducting, cutting off the power supply to solenoid valve 6b.

[0044] Electrical signal line 101 electrically connects the battery 4 to the controller 10. Electrical signal line 101 also electrically connects the battery 4 to the control unit 20. Switching element 11F is connected to electrical signal line 101 from the battery 4 side.

[0045] Terminal 101a electrically connects the downstream side of switching element 11F to the upstream side of switching element 13F. Terminal 101b electrically connects the downstream side of switching element 11F to the upstream side of switching element 14F. Terminal 101c electrically connects the downstream side of switching element 11F to the upstream side of switching element 15F.

[0046] The electrical signal line 101i connects the downstream side of the battery 4 and the upstream side of the switching element 11F to the control unit 20.

[0047] The electrical signal line 101j connects the downstream side of the switching element 11F and the upstream side of the terminal 101a to the control unit 20.

[0048] The electrical signal line 102 electrically connects the power source 2 to the power source controller 30.

[0049] Electrical signal line 103 connects the downstream side of switching element 13F to the upstream side of solenoid valve 6c. Electrical signal line 103 electrically connects controller 10 to solenoid valve 6c. Electrical signal line 103 is a power supply circuit connecting controller 10 and solenoid valve 6c.

[0050] Electrical signal line 104 connects the downstream side of switching element 14F to the upstream side of solenoid valve 6a. Electrical signal line 104 electrically connects controller 10 to solenoid valve 6a. Electrical signal line 104 is a power supply circuit connecting controller 10 and solenoid valve 6a.

[0051] Electrical signal line 105 connects the downstream side of switching element 15F to the upstream side of solenoid valve 6b. Electrical signal line 105 electrically connects controller 10 to solenoid valve 6b. Electrical signal line 105 is a power supply circuit connecting controller 10 and solenoid valve 6b.

[0052] Electrical signal line 106 electrically connects the downstream side of switching element 13F to control unit 20. Electrical signal line 106 is electrically connected to electrical signal line 103.

[0053] Electrical signal line 107 electrically connects the downstream side of switching element 14F to control unit 20. Electrical signal line 107 is electrically connected to electrical signal line 104.

[0054] Electrical signal line 108 electrically connects the downstream side of switching element 15F to control unit 20. Electrical signal line 108 is electrically connected to electrical signal line 105.

[0055] [Control Department]

[0056] The control unit 20 is powered by the storage battery 4. The control unit 20 receives signals from the operating device 5. The control unit 20 outputs signals to the power source controller 30. The control unit 20 includes an abnormality monitoring unit 21, a cut-off control unit 22, a drive control unit 23, and an output unit 24.

[0057] The anomaly monitoring unit 21 monitors for anomalies such as short circuits inside the controller 10. For example, the anomaly monitoring unit 21 monitors for faults in switching elements 11F, 13F, 14F, and 15F installed inside the controller 10. Any known method can be used to determine the faults of the switching elements.

[0058] The anomaly monitoring unit 21 monitors for anomalies such as short circuits in the external power supply circuit of the controller 10. The anomaly monitoring unit 21 monitors for the occurrence of anomalies such as short circuits in the power supply circuit connecting the controller 10 to the solenoid valve 6. An example of a short circuit is... Figure 1 As shown by dashed line A, the electrical signal line 101 between the controller 10 and the battery 4, and the electrical signal line 103 with the solenoid valve 6c are electrically connected. The anomaly monitoring unit 21 monitors the voltage between the controller 10 and the solenoid valves 6a, 6b, and 6c. If, under the control of the control unit 20, the power supply from the electrical signal lines 103, 104, and 105 (which are power circuits) to the solenoid valves 6a, 6b, or 6c is cut off, and a voltage exceeding a threshold is applied to the solenoid valves 6a, 6b, or 6c, the anomaly monitoring unit 21 determines that an anomaly has occurred. If, under the control of the control unit 20, the power supply from the electrical signal lines 103, 104, and 105 (which are power circuits) to the solenoid valves 6a, 6b, or 6c is cut off, and a "feedback voltage exceeding a threshold" is detected, the anomaly monitoring unit 21 determines that an anomaly such as a short circuit has occurred. It should be noted that the feedback voltage can be detected as follows: the controller 10 converts the current flowing in the electrical signal line 103 into a voltage, and the CPU inputs and judges the converted voltage value.

[0059] The monitoring of abnormalities in the external power supply circuit of the controller 10 by the abnormality monitoring unit 21 can be performed as a daily procedure. In this disclosure, the abnormality monitoring unit 21 monitors for abnormalities such as short circuits in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, i.e., electrical signal lines 103, 104, and 105, when the key of the machine 1 is activated. The activation of the key of the machine 1 occurs, for example, when the key is turned on or off. When the key is turned on, the operation of the machine 1 begins. Thus, abnormalities in the machine 1 can be detected at the start of operation. When the key is turned off, the operation of the machine 1 ends. Abnormalities in the machine 1 can be detected at the end of operation. In this case, before the start of the next operation, maintenance personnel can be commissioned to inspect and repair the machine 1.

[0060] The cut-off control unit 22 controls the power supply from the storage battery 4. More specifically, the cut-off control unit 22 switches the switching element 11F on and off. When the abnormality monitoring unit 21 detects an abnormality such as a short circuit inside the controller 10, the cut-off control unit 22 outputs a disconnection electrical signal as a switching signal to the switching element 11F in order to cut off the power supply from the storage battery 4. It should be noted that when the abnormality monitoring unit 21 does not detect an abnormality such as a short circuit inside the controller 10, the cut-off control unit 22 outputs an on electrical signal as a switching signal to the switching element 11F.

[0061] The drive control unit 23 controls the solenoid valve 6a. More specifically, the drive control unit 23 switches the switching element 14F on and off. When the abnormality monitoring unit 21 detects an abnormality such as a short circuit inside the controller 10, the drive control unit 23 outputs an electrical signal as a switching signal to the switching element 14F to shut off the solenoid valve 6a.

[0062] The drive control unit 23 controls the solenoid valve 6b. More specifically, the drive control unit 23 switches the switching element 15F on and off. When the abnormality monitoring unit 21 detects an abnormality such as a short circuit inside the controller 10, the drive control unit 23 outputs an electrical signal of disconnection as a switching signal to the switching element 15F in order to cut off the solenoid valve 6b.

[0063] The drive control unit 23 controls the solenoid valve 6c. More specifically, the drive control unit 23 switches the switching element 13F on and off. When the abnormality monitoring unit 21 detects an abnormality such as a short circuit inside the controller 10, the drive control unit 23 outputs an electrical signal of disconnection as a switching signal to the switching element 13F in order to cut off the solenoid valve 6c.

[0064] The drive control unit 23 controls at least one of the solenoid valves 6a, 6b, and 6c based on the control signal output from the operating device 5.

[0065] The output unit 24 outputs a control command to the power source controller 30 to suppress the power source 2. More specifically, when the anomaly monitoring unit 21 determines that an anomaly has occurred in the power circuit connecting the controller 10 and the solenoid valve 6, the output unit 24 outputs a control command to the power source controller 30 to restrict the operation of the working device. In this disclosure, when the anomaly monitoring unit 21 determines that an anomaly has occurred in at least any one of the power circuits connecting the controller 10 and the solenoid valves 6a, 6b, and 6c, i.e., the electrical signal lines 103, 104, and 105 respectively, the output unit 24 outputs a control command to the power source controller 30 to restrict the operation of the working device, the lower traveling body, and the upper rotating body.

[0066] In this disclosure, when the output unit 24 determines that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c (i.e., electrical signal lines 103, 104, and 105), the output unit 24 outputs a control command to reduce the speed of the engine 2E. In this disclosure, when the abnormality monitoring unit 21 determines that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, the output unit 24 outputs, for example, a control command to reduce the speed of the engine 2E to a level equivalent to low idle speed.

[0067] In this disclosure, when the output unit 24 determines that an abnormality has occurred in at least any one of the power circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c (i.e., electrical signal lines 103, 104, and 105), the output unit 24 outputs a control command to reduce the discharge volume of the variable capacity pump 2P. In this disclosure, when the abnormality monitoring unit 21 determines that an abnormality has occurred in at least any one of the power circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c (i.e., electrical signal lines 103, 104, and 105), the output unit 24 outputs, for example, a control command to minimize the discharge volume from the variable capacity pump 2P.

[0068] [Power Source Controller]

[0069] The power source controller 30 is a controller for controlling the power source 2. The power source controller 30 is electrically connected to the control unit 20 and the power source 2. The power source controller 30 is electrically connected to the electrical signal line 102. The power source controller 30 outputs control signals to control the power source 2. The power source controller 30 is configured for each power source 2. For example, if the power source 2 is an engine 2E, the power source controller 30 is an engine controller. For example, if the power source 2 is a generator, the power source controller 30 is a generator controller. For example, if the power source 2 is a fuel cell, the power source controller 30 is a fuel cell controller.

[0070] Upon receiving an instruction from the output unit 24 of the control unit 20, the power source controller 30 outputs a control signal to the power source 2 to control it in a manner that suppresses the power source 2. If the anomaly monitoring unit 21 determines that an anomaly has occurred in the power circuit connecting the controller 10 and the solenoid valve 6, it inputs an instruction from the output unit 24 to the power source controller 30.

[0071] Based on the instructions from the output unit 24, the power source controller 30 outputs a control signal to the power source 2 to control the power source 2 in a manner that limits the operation of the working device.

[0072] In this disclosure, if the power source controller 30 determines, through the anomaly monitoring unit 21 of the control unit 20, that an anomaly has occurred in at least any one of the power circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, i.e., electrical signal lines 103, 104, and 105 respectively, then it outputs a control signal to the power source 2 to reduce the speed of the engine 2E. In this disclosure, the power source controller 30 outputs a control signal to the power source 2, for example, to reduce the speed of the engine 2E to a level equivalent to low idle speed, based on instructions from the output unit 24.

[0073] In this disclosure, if the power source controller 30 determines, through the anomaly monitoring unit 21 of the control unit 20, that an anomaly has occurred in at least any one of the power circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, i.e., electrical signal lines 103, 104, and 105 respectively, then it outputs a control signal to the power source 2 to reduce the discharge volume of the variable capacity pump 2P. In this disclosure, the power source controller 30, based on instructions from the output unit 24, outputs a control signal to the power source 2 to minimize the discharge volume from the variable capacity pump 2P.

[0074] Based on instructions from the output unit 24, the power source controller 30 outputs control signals to the power source 2 to control the power source 2 in a manner that limits the movement of the working device, the lower traveling body, and the upper rotating body.

[0075] [Computer Systems]

[0076] Figure 2 This is a block diagram illustrating the computer system 1000 according to the first embodiment. The controller 60 described above includes the computer system 1000. The computer system 1000 has a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage device 1003, and an interface 1004 including input / output circuitry. The functions of the controller 10 described above are stored as a program in the storage device 1003. The processor 1001 reads the program from the storage device 1003 and expands it to the main memory 1002, and executes the above-described processing according to the program. It should be noted that the program can also be distributed to the computer system 1000 via a network.

[0077] [Control and processing of operating machinery]

[0078] Next, refer to Figure 3 The flowchart shown illustrates the processing steps of the implementation method. Figure 3 This is a flowchart illustrating a control method performed by the controller 10 of the work machine 1 according to the first embodiment. In this disclosure, the control method is executed when the key of the work machine 1 is turned on or off. Figure 3 The processing shown.

[0079] The anomaly monitoring unit 21 determines whether there is an anomaly in the power supply, specifically in the power circuit connecting the controller 10 and the solenoid valve 6 (step S101). More specifically, if the power supply from the power circuit (i.e., electrical signal lines 103, 104, and 105) to the solenoid valves 6a, 6b, or 6c is cut off by the control unit 20, and a voltage exceeding a threshold is applied to the solenoid valves 6a, 6b, or 6c, the anomaly monitoring unit 21 determines that an anomaly has occurred. If the power supply from the power circuit (i.e., electrical signal lines 103, 104, and 105) to the solenoid valves 6a, 6b, or 6c is cut off by the control unit 20, and a feedback voltage exceeding a threshold is detected, the rotary control unit 11 determines that an anomaly has occurred. If the anomaly is determined to exist (as in step S101), the anomaly monitoring unit 21 proceeds to step S102. If the anomaly monitoring unit 21 determines that there is no anomaly (no in step S101), the process ends.

[0080] If an anomaly is detected (as in step S101), the output unit 24 outputs a control command to the power source controller 30 to control the power source 2. More specifically, the output unit 24 outputs a command, for example, to control the engine 2E to a speed equivalent to low idle. The output unit 24 outputs a command, for example, to control the flow rate from the variable capacity pump 2P to a minimum.

[0081] When the output unit 24 outputs a command to control the power source 2 to the power source controller 30, it notifies the operator that an abnormality has occurred in the power circuit outside the controller 10. For example, it outputs a message image notifying the operator of the abnormality in the power circuit outside the controller 10 to a monitor installed in the cab of the work machine 1. For example, it notifies the operator of the abnormality in the power circuit outside the controller 10 by sounding a buzzer installed in the cab of the work machine 1. The operator can confirm that the movement of the work device, the lower traveling body, and the upper rotating body of the work machine 1 is restricted.

[0082] Thus, in this disclosure, if the controller 10 determines that an abnormality has occurred in the power supply circuit outside the controller 10, in other words, in the power supply circuit connecting the controller 10 to the solenoid valve 6, it outputs a command to control the power source 2 in a manner that restricts the movement of the working device, the lower traveling body, and the upper rotating body. The movement of the working machine 1 is restricted to the same level as at low idle speed, limiting operations such as digging. The operator can then move the working machine 1 to a safe location.

[0083] [Effect]

[0084] As described above, in this disclosure, if an anomaly is detected in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, i.e., electrical signal lines 103, 104, and 105 respectively, an instruction is output to control the power source 2 in a manner that restricts the movement of the working device, the lower traveling body, and the upper rotating body. This disclosure enables control of the power source 2 to restrict the movement of the working device, the lower traveling body, and the upper rotating body even in the event of an anomaly in the power supply circuit outside the controller 10. Thus, according to this disclosure, in addition to the event of an anomaly occurring inside the controller 10, it is possible to control the working machine 1 in a manner that further enhances safety even in the event of an anomaly occurring in the power supply circuit outside the controller 10.

[0085] In this disclosure, if it is determined that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, namely electrical signal lines 103, 104, and 105, a command is output to control the engine 2E to a low idle speed. According to this disclosure, suppressing the engine 2E speed restricts the movement of the working device, the lower traveling body, and the upper rotating body.

[0086] In this disclosure, if it is determined that an abnormality has occurred in at least any one of the power supply circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, i.e., electrical signal lines 103, 104, and 105 respectively, an instruction is output to control the system in a manner that minimizes the discharge rate from the variable-capacity pump 2P. According to this disclosure, limiting the discharge rate from the variable-capacity pump 2P thereby restricts the movement of the working device, the lower traveling body, and the upper rotating body.

[0087] In this disclosure, when the key of the working machine 1 is activated, an abnormality is determined in at least any one of the power circuits connecting the controller 10 to solenoid valves 6a, 6b, and 6c, namely, electrical signal lines 103, 104, and 105. According to this disclosure, an abnormality in the external power circuit of the controller 10 can be determined at the start or end of operation of the working machine 1. If an abnormality is determined at the start of operation, the working machine 1 can be prevented from performing digging or other operations. In this case, malfunctions of the working machine 1 can be prevented during operation. If an abnormality is determined at the end of operation, maintenance personnel can be commissioned to inspect and repair the working machine 1 before the start of the next operation.

[0088] In this disclosure, a notification is received from the notification unit indicating that an abnormality has occurred in at least any one of the power supply circuits, namely electrical signal lines 103, 104, and 105, which respectively connect the controller 10 to solenoid valves 6a, 6b, and 6c. According to this disclosure, the operator can confirm that the movement of the working device, the lower traveling body, and the upper rotating body of the machine tool 1 is restricted.

[0089] (Second Implementation)

[0090] Figure 4 This is a schematic block diagram of the working machine 1A according to the second embodiment. In the following description, the same reference numerals are used to denote the same or equivalent components as those in the above embodiment, and their descriptions are simplified or omitted.

[0091] The operating machinery 1A has a controller 10, a power source controller 30A, and an auxiliary controller (Secondary controller) 40A.

[0092] The control unit 20 of the controller 10 includes an anomaly monitoring unit 21, a cut-off control unit 22, and a drive control unit 23. The anomaly monitoring unit 21 has the function of monitoring anomalies such as short circuits inside the controller 10, as in the anomaly monitoring unit 21 of the first embodiment. The cut-off control unit 22 and the drive control unit 23 have the same functions as in the first embodiment.

[0093] The power source controller 30A is electrically connected to the auxiliary controller 40A and the power source 2. The power source controller 30A outputs a control signal to control the power source 2 based on the control signal from the auxiliary controller 40A.

[0094] [Auxiliary Controller]

[0095] The auxiliary controller 40A includes an anomaly monitoring unit 41A and an output unit 42A. The auxiliary controller 40A is electrically connected to solenoid valve 6aA via signal line 107A, which is electrically connected to signal line 104. The auxiliary controller 40A is electrically connected to solenoid valve 6bA via signal line 108A, which is electrically connected to signal line 105. The auxiliary controller 40A is electrically connected to solenoid valve 6cA via signal line 106A, which is connected to signal line 103. The auxiliary controller 40A receives signals from solenoid valves 6aA, 6bA, and 6cA.

[0096] The anomaly monitoring unit 41A has the function of monitoring anomalies in the power supply circuit outside the controller 10, as in the anomaly monitoring unit 21 of the first embodiment. In this disclosure, the anomaly monitoring unit 41A determines anomalies in at least any one of the power supply circuits that connect the controller 10 to solenoid valves 6aA, 6bA, and 6cA, namely, electrical signal lines 103, 104, and 105.

[0097] The output unit 42A has the same function as the output unit 24 in the first embodiment.

[0098] As described above, in this disclosure, an anomaly occurring in the power supply circuit outside the controller 10 can be detected by the auxiliary controller 40A. According to this disclosure, in addition to the case where an anomaly occurs inside the controller 10, an anomaly also occurs in the power supply circuit outside the controller 10, allowing for control of the operating machinery 1A in a manner that further enhances safety.

[0099] Explanation of reference numerals in the attached figures:

[0100] 1…Working machinery; 2…Power source; 2E…Engine; 2P…Variable capacity pump; 2X…Drive shaft; 3…Hydraulic actuator; 4…Battery; 5…Operating device; 6, 6a, 6b, 6c…Solenoid valves; 10…Controller (first controller); 11D, 13D, 14D, 15D, 16D, 17D, 18D…Diodes; 11F, 13F, 14F, 15F…Switching elements; 16G, 17G, 18G…Grounding; 20…Control unit; 21…Abnormal monitoring unit; 22…Switching control unit; 23…Drive control unit; 24…Output unit; 30…Power source controller; 101, 101i, 101j, 102, 103, 104, 105, 106, 107, 108…Electrical signal lines; 101a, 101b, 101c…Terminals.

Claims

1. A type of operating machinery, comprising a working device, wherein, The operating machinery includes: A power source that outputs driving force to enable the working device to operate; Controller; and The solenoid valve, which is controlled by the controller, If the controller determines that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve, it outputs a command to control the power source by reducing the total amount of working oil supplied to the hydraulic actuator of the working device, thereby limiting the operation of the working device.

2. A type of operating machinery, comprising a working device, wherein, The operating machinery includes: A power source that outputs driving force to enable the working device to operate; Controller; and The solenoid valve, which is controlled by the controller, The power source is an engine. If the controller determines that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve, it outputs a control command to reduce the speed of the engine.

3. A type of operating machinery, comprising a working device, wherein, The operating machinery includes: A power source that outputs driving force to enable the working device to operate; Controller; and The solenoid valve, which is controlled by the controller, The power source is a variable capacity pump. If the controller determines that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve, it outputs a control command to reduce the discharge volume of the variable capacity pump.

4. The operating machinery according to claim 3, wherein, The controller suppresses the discharge rate by changing the tilt angle of the swashplate of the variable capacity pump.

5. The operating machinery according to any one of claims 1 to 4, wherein, When the key of the working machine is activated, the controller determines whether there is an abnormality in the power circuit between the controller and the solenoid valve.

6. The operating machinery according to claim 5, wherein, The operation of the key of the working machine is when the key is turned on.

7. The operating machinery according to claim 5, wherein, The key of the operating machine is activated when the key is disconnected.

8. The operating machinery according to any one of claims 1 to 4, wherein, The operating machine is equipped with a notification unit that notifies that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve.

9. The operating machinery according to any one of claims 1 to 4, wherein, The power source outputs driving force to enable the working device, the lower traveling body, and the upper rotating body to move. If the controller determines that an abnormality has occurred in the power circuit connecting the controller and the solenoid valve, it outputs a command to control the power source in a manner that restricts the movement of the working device, the lower traveling body, and the upper rotating body.

10. A control method for a working machine, the working machine having a working device, wherein, If an anomaly is detected in the power circuit connecting the controller used to control the solenoid valve to the solenoid valve, an instruction is output to control the power source by reducing the total amount of working oil supplied to the hydraulic actuator of the working device, thereby limiting the operation of the working device.

11. A control method for a working machine, the working machine having a working device, wherein, If an abnormality is detected in the power supply circuit that connects the controller used to control the solenoid valve to the solenoid valve, a control command is output to reduce the engine speed.

12. A control method for a working machine, the working machine having a working device, wherein, If an anomaly is detected in the power supply circuit that connects the controller used to control the solenoid valve to the solenoid valve, a control command is output to reduce the discharge of the variable capacity pump.

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