Work machine control system, work machine, and work machine control method

Abstract

This control system for a work machine is provided with: a first controller that starts shutdown processing on the basis of a key power-off signal from a key switch; a second controller that starts shutdown processing on the basis of the key power-off signal; and a presentation device that changes from the first state to the second state in response to the completion of the shutdown processing by the first controller. And after it is judged that the second controller finishes the shutdown processing, the first controller finishes the shutdown processing.

Description

Technical Field

[0001] The present disclosure relates to a control system of a working machine, a working machine, and a control method of the working machine. Background Art

[0002] The working machine is equipped with a controller that operates based on the power supply of the battery. Even if the working machine is in the key-off state, if the idle period of the working machine is prolonged, the battery may be over-discharged due to the dark current flowing from the battery to the controller. Therefore, the working machine is provided with a power-off switch for cutting off the power supply from the battery to the controller. When the working machine is idle for a long time, the operator operates the power-off switch to prevent the dark current from flowing from the battery to the controller. Since the dark current does not flow from the battery to the controller, the over-discharge of the battery is suppressed.

[0003] There is a possibility of mistakenly operating the power-off switch during the operation of the controller. If the power-off switch is operated during the operation of the controller, the power supplied from the battery to the controller is forcibly cut off. If the power supplied from the battery to the controller is forcibly cut off, the controller may stop operating abnormally. If the controller stops operating abnormally, the controller may fail. Patent document 1 discloses a construction machine, which has a power-off switch and an LED linked to the controller. The LED lights up during the operation of the controller and goes out when the controller is shut down. The operator can confirm whether the controller is shut down by confirming the LED. The operator can operate the power-off switch after the controller is shut down without operating the power-off switch during the operation of the controller. Since the operation of the power-off switch during the operation of the controller is suppressed, the failure of the controller is suppressed.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2011-063234 Summary of the invention

[0005] Sometimes a work machine is equipped with multiple controllers. For example, sometimes a controller that is linked to an LED as described above and a controller that is not linked to an LED are installed. When a controller that is linked to an LED and a controller that is not linked to an LED are installed on a work machine, a technology that can prevent the power supply from the battery to the controller from being forcibly cut off during the operation of the controller is also required.

[0006] An object of the present disclosure is to prevent the power supply from a battery to a controller from being forcibly cut off during the operation of the controller.

[0007] According to the present disclosure, a control system for a working machine is provided, which includes: a first controller that starts a shutdown process based on a key power-off signal from a key switch; a second controller that starts a shutdown process based on the key power-off signal; and a prompt device that changes from a first state to a second state according to the termination of the shutdown process by the first controller. After determining that the second controller has terminated the shutdown process, the first controller terminates the shutdown process.

[0008] According to the present disclosure, it is possible to prevent the power supply from the battery to the controller from being forcibly cut off during the operation of the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a figure which shows typically the working machine of embodiment.

[0010] Figure 2 It is a block diagram showing a working machine according to the embodiment.

[0011] Figure 3 This is a block diagram showing a control system of a working machine according to an embodiment.

[0012] Figure 4 is a functional block diagram showing a processing circuit of a first controller according to an embodiment.

[0013] Figure 5 This is a flowchart showing a method for controlling a working machine according to an embodiment.

[0014] Figure 6 It is a diagram showing a control method of a working machine according to another embodiment. DETAILED DESCRIPTION

[0015] The following describes the embodiments of the present disclosure, but the present disclosure is not limited to the embodiments. The structural elements of each embodiment described below can be combined appropriately. In addition, there is also a case where some structural elements are not used.

[0016] Operating machinery

[0017] Figure 1 1 is a diagram schematically showing a working machine 1 according to an embodiment. In the embodiment, the working machine 1 is an electric working machine using a battery 2 as a driving source. The battery 2 is mounted on the working machine 1. In the embodiment, the working machine 1 is an electric excavator. The working machine 1 has: a lower traveling body 3 having a crawler, an upper rotating body 4 supported by the lower traveling body 3, and a working machine 5 supported by the upper rotating body 4. The working machine 5 includes: a boom connected to the upper rotating body 4, a dipper connected to the boom, and a bucket connected to the dipper.

[0018] The battery 2 includes a secondary battery. At the work site of the working machine 1, the battery 2 is charged by the charging device 6. In the embodiment, the battery 2 includes a rechargeable lithium-ion battery. The charging device 6 is connected to the working machine 1 via a cable 7. The working machine 1 is provided with a charging port 8. The cable 7 is detachable from the charging port 8. The electricity output from the charging device 6 is input to the battery 2 via the cable 7 and the charging port 8. The battery 2 is charged based on the electricity output from the charging device 6.

[0019] Figure 2 1 is a block diagram showing a working machine 1 according to the embodiment. The working machine 1 includes a battery 2 , a charging port 8 , a power distribution unit 9 , an inverter 10 , a main motor 11 , a hydraulic pump 12 , a DC / DC converter 13 , and electrical equipment 14 .

[0020] The power distribution unit 9 (PDU: Power Distribution Unit) is used to distribute electricity from the battery 2. The inverter 10 supplies electricity from the power distribution unit 9 to the main motor 11. The inverter 10 converts the DC voltage output from the power distribution unit 9 into an AC voltage and outputs it to the main motor 11. The main motor 11 is an electric motor. The main motor 11 is driven based on the electricity from the inverter 10. The hydraulic pump 12 is driven by the main motor 11. The hydraulic pump 12 is used to discharge hydraulic oil. The hydraulic oil discharged from the hydraulic pump 12 is supplied to the hydraulic actuator of the working machine 1. The hydraulic actuator of the working machine 1 includes: a traveling hydraulic motor that rotates the crawler of the lower walking body 3, a slewing hydraulic motor that rotates the upper slewing body 4, and a hydraulic cylinder that moves the working machine 5.

[0021] The DC / DC converter 13 is used to convert the voltage of the battery 2 output by the power distribution unit 9 into a preset voltage. In the embodiment, the DC / DC converter 13 steps down the voltage of the battery 2 at a preset step-down ratio. The electrical device 14 is driven based on the electricity output from the DC / DC converter 13. The electrical device 14 includes an auxiliary machine. As an example of the electrical device 14, an electric fan is shown, which generates an airflow for cooling the main motor 11. In addition, the electrical device 14 may also include a display arranged in the cab of the working machine 1. The display is used to display detection data of multiple sensors provided in the working machine 1, or to display monitoring results of the status of the working machine 1.

[0022] Control System

[0023] Figure 3 1 is a block diagram showing a control system 20 of the working machine 1 according to the embodiment. The control system 20 includes a battery 21 , a power off switch 22 , a key switch 23 , a prompting device 24 , a first controller 30 including a prompting switch 25 , and a second controller 40 . Figure 2The electrical device 14 shown includes a prompting device 24 , a first controller 30 , and a second controller 40 .

[0024] The battery 21 supplies power to the prompt device 24, the first controller 30, and the second controller 40 respectively. The battery 21 may be Figure 2 The battery 2 shown. The battery 21 may also be a lead battery having a rated voltage lower than the rated voltage of the battery 2.

[0025] The power-off switch 22 is used to cut off the power supply from the battery 21 to the prompt device 24, the first controller 30, and the second controller 40. The power-off switch 22 is arranged between the negative electrode of the battery 2 and the ground. One end of the power-off switch 22 is connected to the negative electrode of the battery 2. The other end of the power-off switch 22 is connected to the ground. The power-off switch 22 is operated by the operator of the working machine 1.

[0026] The key switch 23 is operated by the operator to be in any of the key off state, key on state, and key start state. When the operator rotates the key with the key inserted in the lock cylinder, the key switch 23 is rotated to any of the positions of "key off", "key on", and "key start". When the key is rotated to the "key off" position, the key switch 23 is in the key off state. When the key is rotated to the "key on" position, the key switch 23 is in the key on state. When the key is rotated to the "key start" position, the key switch 23 is in the key start state.

[0027] The key switch 23 outputs key signals to the first controller 30 and the second controller 40. The key signals output from the key switch 23 include a key off signal output in a key off state, a key on signal output in a key on state, and a key start signal output in a key start state.

[0028] When the key switch 23 is in the key-off state, the prompt device 24, the first controller 30, and the second controller 40 are not powered. When the key switch 23 is in the key-off state, the main motor 11 is not driven. When the key switch 23 is in the key-on state, the prompt device 24, the first controller 30, and the second controller 40 are powered respectively. When the key switch 23 is in the key-on state, the main motor 11 cannot start driving. When the key switch 23 is in the key-on state, the prompt device 24, the first controller 30, and the second controller 40 are powered respectively. When the key switch 23 is in the key-on state, the main motor 11 starts driving.

[0029] Even if the working machine 1 is in the key-off state, if the idle period of the working machine 1 is prolonged, the dark current flowing from the battery 21 to the first controller 30 and the second controller 40 may cause overdischarge of the battery 21. When the working machine 1 is idle for a long time, the operator operates the power-off switch 22, and the dark current does not flow from the battery 21 to the first controller 30 and the second controller 40. Since the dark current does not flow from the battery 21 to the first controller 30 and the second controller 40, overdischarge of the battery 21 is suppressed.

[0030] The prompt device 24 is linked to the first controller 30. The prompt device 24 is connected to the first controller 30. The prompt device 24 is not connected to the second controller 40. The prompt device 24 is connected to the prompt switch 25 of the first controller 30. The prompt device 24 is used to prompt that the first controller 30 is in action. When the first controller 30 is in action, the prompt device 24 works in the first state. According to the end of the shutdown process of the first controller 30, the prompt device 24 changes from the first state to the second state. According to the end of the shutdown process of the first controller 30, the first controller 30 is shut down. After the first controller 30 is shut down, the prompt device 24 changes from the first state to the second state. In the embodiment, the prompt device 24 is a light-emitting device including a light-emitting diode (LED: Light Emitting Diode). In the following description, the prompt device 24 may be referred to as the light-emitting device 24.

[0031] The light emitting device 24 is lit based on the power supply of the battery 21. In the embodiment, the light emitting device 24 is in the first state including the light emitting device 24 is in the lit state. In the embodiment, the light emitting device 24 is in the second state including the light emitting device 24 is in the extinguished state. When the first controller 30 is in operation, the light emitting device 24 is in the lit state. After the first controller 30 is turned off, the prompt device 24 changes from the lit state to the extinguished state.

[0032] The prompt switch 25 is connected to the light emitting device 24. The prompt switch 25 is arranged between the light emitting device 24 and the ground. One end of the prompt switch 25 is connected to the light emitting device 24. The other end of the prompt switch 25 is connected to the ground. By the action of the prompt switch 25, the prompt device 24 changes between the lighting state and the extinguishing state.

[0033] The first controller 30 is used to control the first element of the working machine 1. The first controller 30 operates based on the power supply of the battery 21. As an example, the first element is the power distribution unit 9. The first controller 30 is an electrical controller for controlling the power distribution unit 9. The first controller 30 is connected to the light emitting device 24. The first controller 30 is linked to the light emitting device 24. The first controller 30 has a prompting function to make the light emitting device 24 linked.

[0034] The second controller 40 is used to control the second element of the working machine 1. The second controller 40 operates based on the power supply of the battery 21. As an example, the second element is the inverter 10. The second controller 40 is an inverter controller for controlling the inverter 10. In addition, the second controller 40 can also be used to control the DC / DC converter 13, and can also be used to control a display configured in the cab of the working machine 1. The second controller 40 is not connected to the light emitting device 24. The second controller 40 is not linked to the light emitting device 24. The second controller 40 does not have a prompt function.

[0035] The first controller 30, the second controller 40 and the light emitting device 24 are connected in parallel to the battery 21. The power from the battery 21 is supplied to the first controller 30, the second controller 40 and the light emitting device 24.

[0036] The first controller 30 and the second controller 40 are connected in parallel to the key switch 23. The key signal from the key switch 23 is simultaneously input to the first controller 30 and the second controller 40. The first controller 30 and the second controller 40 are activated based on the key power-on signal from one key switch 23. The first controller 30 and the second controller 40 simultaneously start the shutdown process based on the key power-off signal from one key switch 23.

[0037] The first controller 30 includes a self-holding circuit 31 , a power supply circuit 32 , a processing circuit 33 , and a storage circuit 34 .

[0038] The self-holding circuit 31 is connected to the battery 21 and the key switch 23. The self-holding circuit 31 receives a key signal from the key switch 23. The self-holding circuit 31 has an internal switch.

[0039] The power supply circuit 32 supplies electricity supplied from the battery 21 via the self-holding circuit 31 to the components of the first controller 30. The components of the first controller 30 include a processing circuit 33 and a storage circuit 34. When the internal switch of the self-holding circuit 31 is turned on, the electricity from the battery 21 is supplied to the power supply circuit 32 via the self-holding circuit 31. The power supply circuit 32 converts the voltage of the battery 21 into a preset voltage and supplies power to the components of the first controller 30. When the internal switch of the self-holding circuit 31 is turned off, the electricity from the battery 21 is not supplied to the power supply circuit 32, and the first controller 30 is shut down.

[0040] The processing circuit 33 includes a processor such as a CPU (Central Processing Unit). The processing circuit 33 is connected to the key switch 23. The processing circuit 33 receives a key signal from the key switch 23.

[0041] The storage circuit 34 includes a nonvolatile memory such as ROM (Read Only Memory) and EEPROM (Electrically Erasable and Programmable Read Only Memory), and a volatile memory such as RAM (Random Access Memory).

[0042] When the key-on signal from the key switch 23 is received by the self-holding circuit 31, the internal switch of the self-holding circuit 31 becomes conductive. When the internal switch of the self-holding circuit 31 is turned on, the electricity from the battery 21 is supplied to the processing circuit 33 and the storage circuit 34 via the self-holding circuit 31 and the power supply circuit 32. By supplying electricity to the processing circuit 33 and the storage circuit 34, the processing circuit 33 and the storage circuit 34 are respectively started. When the processing circuit 33 and the storage circuit 34 are respectively started, the computer program stored in the non-volatile memory of the storage circuit 34 is loaded into the processing circuit 33, and the first controller 30 starts to control.

[0043] When the processing circuit 33 receives the key power-off signal from the key switch 23, the first controller 30 starts the shutdown process. As an example of the shutdown process of the first controller 30, a forwarding process of forwarding the data stored in the volatile memory (RAM) of the storage circuit 34 to the non-volatile memory (EEPROM) is shown. As an example of the data stored in the non-volatile memory, the working time of the working machine 1, the load frequency of the hydraulic pump 12, and the fault record of the working machine 1 are shown. The processing circuit 33 sends an action signal D1 indicating that the processing circuit 33 is in action when the shutdown process is executed to the self-holding circuit 31.

[0044] When the self-holding circuit 31 receives the action signal D1 from the processing circuit 33, the internal switch of the self-holding circuit 31 remains in the on state even if the self-holding circuit 31 receives the key power-off signal from the key switch 23. That is, even if the self-holding circuit 31 receives the key power-off signal, the internal switch of the self-holding circuit 31 will not be disconnected before the first controller 30 completes the shutdown process. After the shutdown process of the first controller 30 is completed, the output of the action signal D1 from the processing circuit 33 to the self-holding circuit 31 stops, and the internal switch of the self-holding circuit 31 is disconnected. Since the internal switch of the self-holding circuit 31 is disconnected, the first controller 30 is shut down. In the embodiment, the completion of the shutdown process of the first controller 30 means that the first controller 30 is shut down.

[0045] The first controller 30 has a prompt switch 25. The prompt switch 25 is controlled by the processing circuit 33. When executing the shutdown process, the processing circuit 33 sends an action signal D1 indicating that the processing circuit 33 is in action to the prompt switch 25. When the prompt switch 25 receives the action signal D1 from the processing circuit 33, the prompt switch 25 maintains the on state. Even if the key switch 23 outputs a key power-off signal, the prompt switch 25 will not be disconnected before the shutdown process of the first controller 30 is completed. When the prompt switch 25 is turned on, power is supplied from the battery 21 to the light-emitting device 24, and the light-emitting device 24 is in a lit state. After the shutdown process of the first controller 30 is completed, the output of the action signal D1 from the processing circuit 33 to the prompt switch 25 stops, and the prompt switch 25 is disconnected. Since the prompt switch 25 is disconnected, the light-emitting device 24 changes from the lit state to the off state. In the embodiment, when the first controller 30 is shut down, the light-emitting device 24 changes from the lit state to the off state.

[0046] The second controller 40 includes a self-holding circuit 41 , a power supply circuit 42 , a processing circuit 43 , and a storage circuit 44 .

[0047] The self-holding circuit 41 has the same function as the self-holding circuit 31. The self-holding circuit 41 is connected to the battery 21 and the key switch 23, respectively. The self-holding circuit 41 has an internal switch. The power supply circuit 42 has the same function as the power supply circuit 32. When the internal switch of the self-holding circuit 41 is turned on, the electricity from the battery 21 is supplied to the processing circuit 43 and the storage circuit 44 via the self-holding circuit 41 and the power supply circuit 42, respectively. When the internal switch of the self-holding circuit 41 is turned off, the electricity from the battery 21 is not supplied to the power supply circuit 42, and the second controller 40 is shut down. The processing circuit 43 has the same function as the processing circuit 33. The processing circuit 43 is connected to the key switch 23. The storage circuit 44 has the same function as the storage circuit 34.

[0048] When the self-holding circuit 41 receives the key-on signal from the key switch 23, the second controller 40 starts to perform control. When the processing circuit 43 receives the key-off signal from the key switch 23, the second controller 40 starts the shutdown process. The processing circuit 43 sends an action signal D2 indicating that the processing circuit 43 is in action when the shutdown process is executed to the self-holding circuit 41.

[0049] As with the first controller 30, even if the self-holding circuit 41 receives the key power-off signal, the internal switch of the self-holding circuit 41 will not be turned off before the shutdown process of the second controller 40 is completed. After the shutdown process of the second controller 40 is completed, the output of the action signal D2 from the processing circuit 43 to the self-holding circuit 41 stops, and the internal switch of the self-holding circuit 41 is turned off. Since the internal switch of the self-holding circuit 41 is turned off, the second controller 40 is shut down. In the embodiment, the completion of the shutdown process of the second controller 40 means that the second controller 40 is shut down.

[0050] The second controller 40 does not have the reminder switch 25. When executing the shutdown process, the processing circuit 43 sends an action signal D2 indicating that the processing circuit 43 is in action to the first controller 30. When the processing circuit 33 of the first controller 30 receives the action signal D2 from the processing circuit 43, the processing circuit 33 does not shut down the first controller 30 until the shutdown process of the second controller 40 is completed. When the shutdown process of the second controller 40 is completed, the output of the action signal D2 from the processing circuit 43 to the first controller 30 stops. When the output of the action signal D2 from the processing circuit 43 stops, the processing circuit 33 determines that the shutdown process of the second controller 40 has ended. After determining that the shutdown process of the second controller 40 has ended, the processing circuit 33 of the first controller 30 ends the shutdown process of the first controller 30.

[0051] Figure 4 3 is a functional block diagram of the processing circuit 33 of the first controller 30 of the embodiment. Figure 4 As shown, the processing circuit 33 includes a key signal receiving unit 331 , an action signal receiving unit 332 , a determination unit 333 , a shutdown unit 334 , and a prompt control unit 335 .

[0052] The key signal receiving unit 331 receives a key signal from the key switch 23. The key signal includes a key-off signal, a key-on signal, and a key-start signal.

[0053] The motion signal receiving unit 332 receives the motion signal D2 from the second controller 40. The second controller 40 outputs the motion signal D2 indicating that the second controller 40 is in motion to the first controller 30 when executing the shutdown process of the second controller 40. The motion signal receiving unit 332 receives the motion signal D2 from the second controller 40 when the second controller 40 executes the shutdown process.

[0054] The judgment unit 333 judges whether the shutdown process of the second controller 40 is completed based on the reception state of the action signal D2 by the action signal receiving unit 332. As described above, when the second controller 40 performs the shutdown process, the action signal D2 is output from the second controller 40 to the first controller 30. When the shutdown process of the second controller 40 is completed, the output of the action signal D2 from the second controller 40 to the first controller 30 stops. In the case where the action signal receiving unit 332 is receiving the action signal D2, the judgment unit 333 can determine that the second controller 40 is performing the shutdown process. In the case where the action signal receiving unit 332 no longer receives the action signal D2, the judgment unit 333 can determine that the shutdown process of the second controller 40 has been completed.

[0055] When the determination unit 333 determines that the shutdown process of the second controller 40 has been completed, the shutdown unit 334 completes the shutdown process of the first controller 30 .

[0056] When the shutdown process of the first controller 30 is completed, the prompt control unit 335 controls the prompt switch 25 to change the light emitting device 24 from the lit state to the extinguished state. In the embodiment, when the shutdown process of the first controller 30 is completed, the prompt control unit 335 stops outputting the action signal D1 to the prompt switch 25 and turns off the prompt switch 25. Since the prompt switch 25 is turned off, the light emitting device 24 changes from the lit state to the extinguished state.

[0057] Control Methods

[0058] Figure 5 It is a flowchart showing a control method of the working machine 1 according to the embodiment. Figure 5 1 is a flowchart showing the operation of the first controller 30 when the key switch 23 is changed to the key-off state.

[0059] When the key switch 23 is changed to the key-off state, a key-off signal is simultaneously input to the first controller 30 and the second controller 40. The key signal receiving unit 331 of the first controller 30 receives the key-off signal from the key switch 23 (step S1).

[0060] The first controller 30 starts the shutdown process based on the key-off signal from the key switch 23. The second controller 40 also starts the shutdown process based on the key-off signal from the key switch 23.

[0061] When the first controller 30 executes the shutdown process, the processing circuit 33 sends the action signal D1 to the prompt switch 25. The prompt switch 25 is turned on based on the action signal D1. Since the prompt switch 25 is turned on, the light emitting device 24 is turned on.

[0062] When the second controller 40 performs the shutdown process, the motion signal D2 is sent from the second controller 40 to the first controller 30. The motion signal receiving unit 332 of the first controller 30 receives the motion signal D2 from the second controller 40. On the other hand, when the shutdown process of the second controller 40 is completed, the sending of the motion signal D2 from the second controller 40 to the first controller 30 is stopped. The motion signal receiving unit 332 of the first controller 30 does not receive the motion signal D2 from the second controller 40.

[0063] The determination unit 333 of the first controller 30 determines whether the motion signal receiving unit 332 is receiving the motion signal D2 of the second controller 40 (step S2 ).

[0064] In step S2, when it is determined that the action signal receiving unit 332 no longer receives the action signal D2 of the second controller 40 (step S2: No), the judging unit 333 determines that the shutdown process of the second controller 40 has been completed. When the shutdown process of the first controller 30 is completed, the prompt control unit 335 controls the prompt switch 25 to change the light emitting device 24 from the lit state to the extinguished state (step S3). After determining that the second controller 40 has completed the shutdown process, the shutdown unit 334 of the first controller 30 completes the shutdown process of the first controller 30.

[0065] In step S2, when it is determined that the action signal receiving unit 332 is receiving the action signal D2 of the second controller 40 (step S2: yes), the shutdown unit 334 determines whether the time calculated from the time when the key signal receiving unit 331 receives the key power-off signal in step S1 exceeds a pre-set preset time (step S4).

[0066] In step S4 , when it is determined that the time from when the key signal receiving unit 331 receives the key power-off signal does not exceed the preset time (step S4 : No), the process returns to step S2 .

[0067] In step S4, when it is determined that the time calculated from the time when the key power-off signal is received by the key signal receiving unit 331 exceeds the preset time (step S4: yes), the prompt control unit 335 controls the prompt switch 25 to change the light-emitting device 24 from the lit state to the off state (step S3), and the shutdown unit 334 ends the shutdown process of the first controller 30.

[0068] Effect

[0069] As described above, the working machine 1 includes: the first controller 30, which starts the shutdown process based on the key power-off signal from the key switch 23; the second controller 40, which starts the shutdown process based on the key power-off signal from the key switch 23; and the light emitting device 24, which changes from the lighting state to the extinguishing state according to the completion of the shutdown process by the first controller 30. After determining that the second controller 40 has completed the shutdown process, the first controller 30 completes the shutdown process.

[0070] According to the embodiment, the first controller 30 has a prompting function that causes the light emitting device 24 to be linked. Since the light emitting device 24 is linked with the first controller 30, the first controller 30 can cause the light emitting device 24 to prompt that the first controller 30 is in operation and that the first controller 30 is shut down. The second controller 40 does not have a prompting function. Since the light emitting device 24 is not linked with the second controller 40, the second controller 40 cannot cause the light emitting device 24 to prompt that the second controller 40 is in operation and that the second controller 40 is shut down. In the case where the working machine 1 is equipped with the first controller 30 that is linked with the light emitting device 24 and the second controller 40 that is not linked with the light emitting device 24, after the shutdown process of the second controller 40 is completed, the shutdown process of the first controller 30 is completed, and at the same time as the shutdown process of the first controller 30 is completed, the light emitting device 24 becomes extinguished. Therefore, even if the light emitting device 24 is linked with the first controller 30 and not linked with the second controller 40, the operator can confirm whether both the first controller 30 and the second controller 40 have completed the shutdown process by confirming the light emitting device 24. The operator can operate the power-off switch 22 after both the first controller 30 and the second controller 40 are turned off. Thus, it is possible to suppress the situation where the power-off switch 22 is operated when at least one of the first controller 30 and the second controller 40 is in operation. That is, even if the second controller 40 does not have a reminder function, based on the reminder function of the first controller 30, the operator can suppress the forced cutting off of the power supply from the battery 21 to the second controller 40 when the second controller 40 is in operation. Therefore, the failure of the first controller 30 and the second controller 40 is suppressed.

[0071] The second controller 40 outputs an action signal D2 indicating that the second controller 40 is in action when executing the shutdown process to the first controller 30. The second controller 40 stops outputting the action signal D2 according to the completion of the shutdown process of the second controller 40. Thus, the first controller 30 can determine whether the shutdown process of the second controller 40 is completed based on the action signal D2 from the second controller 40.

[0072] In the first controller 30, when the processing circuit 33 completes the shutdown process of the first controller 30, it controls the prompt switch 25 to change the light emitting device 24 from the lighting state to the extinguishing state. The operator can confirm whether the first controller 30 and the second controller 40 are in operation by confirming the light emitting device 24. The operator can not operate the power-off switch 22 when the first controller 30 and the second controller 40 are in operation, and operate the power-off switch 22 after the first controller 30 and the second controller 40 are shut down. Since the operation of the power-off switch 22 when the first controller 30 and the second controller 40 are in operation is suppressed, the failure of the first controller 30 and the second controller 40 is suppressed.

[0073] Even when the action signal receiving unit 332 is receiving the action signal D2 of the second controller 40, when the time counted from the time when the key power-off signal is received exceeds the preset time, the shutdown unit 334 will also end the shutdown process of the first controller 30, prompting the control unit 335 to change the light-emitting device 24 from the lit state to the extinguished state. After the key switch 23 is operated to change to the key power-off state, the second controller 40 may fail to shut down, for example, due to the crash of the second controller 40. For example, due to the crash of the second controller 40, when the action signal D2 is output from the second controller 40 to the first controller 30 for more than the preset time, the first controller 30 is shut down and the light-emitting device 24 is extinguished. Even if the second controller 40 crashes, the operator can confirm that the first controller 30 has been shut down and the light-emitting device 24 has been extinguished, thereby operating the power-off switch 22.

[0074] Other Implementations

[0075] Figure 6 2 is a diagram showing a control method of the working machine 1 according to another embodiment. In the above embodiment, the controller that is not linked to the light emitting device 24 is the second controller 40. However, a plurality of controllers that are not linked to the light emitting device 24 may be mounted on the working machine 1. Figure 6 As shown, the second controller, the third controller, the fourth controller, and the fifth controller that are not linked to the light emitting device 24 may also be mounted on the working machine 1. After the first controller 30 receives the key power-off signal and the shutdown processing of all controllers from the second controller to the fifth controller is completed, the shutdown processing of the first controller 30 is terminated. Figure 6 In the example shown, even when the action signal receiving unit 332 is receiving the action signal D2 from at least one controller from the second controller to the fifth controller, the shutdown unit 334 of the first controller 30 can also end the shutdown processing of the first controller 30 when the time counted from the time when the key power-off signal is received exceeds a pre-set preset time.

[0076] In the above embodiment, the processing circuit 43 of the second controller 40 sends the action signal D2 indicating that the processing circuit 43 is in action when executing the shutdown process to the first controller 30, and the first controller 30 determines whether the shutdown process of the second controller 40 has been completed based on the reception state of the action signal D2. In the case where the first controller 30 and the second controller 40 communicate through one of the communication protocols, namely CAN (Controller Area Network), the first controller 30 can also monitor the CAN communication of the second controller 40, and determine whether the shutdown process of the second controller 40 has been completed based on the monitoring result.

[0077] In the above embodiment, the first controller 30 includes the reminder switch 25 . However, the reminder switch 25 may be disposed outside the first controller 30 .

[0078] In the above-mentioned embodiment, the prompt device 24 is a light emitting device. However, the prompt device 24 may also be a sound output device or a display device. In the case where the prompt device 24 is a sound output device, the sound output device may change from a state of outputting sound to a state of not outputting sound according to the completion of the shutdown process of the first controller 30. In the case where the prompt device 24 is a display device, the display device may change from a state of displaying display data to a state of not displaying display data according to the completion of the shutdown process of the first controller 30.

[0079] In the above embodiment, the working machine 1 is an electric excavator. The working machine 1 may be, for example, an electric forklift.

[0080] In the above embodiment, the driving source of the working machine 1 is the main motor 11. That is, the working machine 1 is an electric working machine. However, the driving source of the working machine 1 may also be an engine. The first controller 30 may be, for example, an engine controller for controlling the amount of fuel injected into the combustion chamber of the engine.

[0081] In the above-described embodiment, at least one of the power-off switch 22 and the key switch 23 may be operated by a maintenance person of the working machine 1 .

[0082] Explanation of symbols

[0083] 1…operating machine; 2…battery; 3…lower traveling body; 4…upper rotating body; 5…operating machine; 6…charging device; 7…cable; 8…charging port; 9…power distribution unit; 10…inverter; 11…main motor; 12…hydraulic pump; 13…DC / DC converter; 14…electrical equipment; 20…control system; 21…battery; 22…power off switch; 23…key switch; 24…light emitting device (prompt device); 25…prompt switch; 30…first controller; 31…self-holding circuit; 32…power supply circuit; 33…processing circuit; 34…storage circuit; 40…second controller; 41…self-holding circuit; 42…power supply circuit; 43…processing circuit; 44…storage circuit; 331…key signal receiving unit; 332…action signal receiving unit; 333…judgment unit; 334…shutdown unit; 335…prompt control unit.

Claims

1. A control system for an operating machine, characterized in that: have: a first controller that starts a shutdown process based on a key-off signal from a key switch; a second controller, which starts a shutdown process based on the key power-off signal; as well as a prompting device, which changes from a first state to a second state according to the completion of the shutdown process of the first controller, After determining that the second controller has completed the shutdown process, the first controller completes the shutdown process.

2. The control system for a working machine according to claim 1, characterized in that: The second controller outputs an action signal indicating that the second controller is in action when executing the shutdown process, The first controller has: a key signal receiving unit, which receives a key power-off signal from the key switch; an action signal receiving unit, which receives an action signal from the second controller; a determination unit for determining whether the shutdown process of the second controller has been completed based on a reception state of the action signal; as well as The shutdown unit ends the shutdown process of the first controller when determining that the shutdown process of the second controller has ended.

3. The control system for a working machine according to claim 2, characterized in that: The first controller has: a prompt switch connected to the prompt device; and The prompt control unit controls the prompt switch to change the prompt device from the first state to the second state when the shutdown process of the first controller is completed.

4. The control system for a working machine according to claim 2, characterized in that: The determination unit determines that the shutdown process of the second controller has been completed when the action signal receiving unit no longer receives the action signal, The key power-off signal is input into the first controller and the second controller simultaneously, Even if the motion signal receiving unit is receiving the motion signal, when the time counted from the reception of the key power-off signal exceeds a preset time, the shutdown unit ends the shutdown process of the first controller.

5. A working machine, characterized in that: A control system for a working machine comprising any one of claims 1 to 4.

6. A method for controlling an operating machine, characterized in that: include: The first controller starts a shutdown process based on a key-off signal from the key switch; The second controller starts a shutdown process based on the key power-off signal; as well as The prompting device changes from the first state to the second state according to the completion of the shutdown process of the first controller, After the second controller completes the shutdown process, the first controller completes the shutdown process.

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