System for controlling electric work machine, method for controlling electric work machine, and electric work machine

Abstract

A system for controlling an electric work machine provided with a battery and an electric motor driven by electric power from the battery, the system being provided with: a controller; and a start operation switch for outputting a command signal for starting the electric motor. The controller detects the remaining amount of power stored in the storage battery, and when the detected remaining amount of power stored is equal to or less than a preset set value, notifies the operator of urging the charging of the storage battery. The controller outputs a control signal for starting the electric motor on the basis of a command signal from the starting operation switch when receiving a confirmation operation signal for the notification from the operator.

Description

Technical Field

[0001] The present disclosure relates to a system for controlling an electric working machine, a method for controlling an electric working machine, and an electric working machine. Background Art

[0002] In the technical field of electric working machines, a battery-driven hydraulic working machine as disclosed in Patent Document 1 is known.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 11-107320 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned background technology, an alarm is issued when the battery remaining charge is reduced, but there is a possibility that the hydraulic working machine can continue to operate until the battery remaining charge is excessively reduced. Therefore, the operator may ignore the reduction in the battery remaining charge.

[0008] An object of the present disclosure is to make an operator aware of the high necessity of charging a battery.

[0009] Means for solving problems

[0010] This specification discloses a system for controlling an electric work machine equipped with a battery and an electric motor driven by power from the battery. The system includes a controller and a starter switch configured to output a command signal for starting the electric motor. The controller detects the remaining battery charge and, if the detected remaining charge is below a predetermined value, notifies the operator to urge charging of the battery. Upon detecting a confirmation operation in response to the notification, the controller outputs a control signal for starting the electric motor based on the command signal from the starter switch.

[0011] Effects of the Invention

[0012] According to the present disclosure, it is possible to make the operator aware that the necessity of charging the battery is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the electric working machine according to the first embodiment.

[0014] Figure 2 This is a diagram schematically showing the configuration of an electric working machine according to the first embodiment.

[0015] Figure 3 This is a diagram schematically showing the configuration of the controller according to the first embodiment.

[0016] Figure 4 This is a flowchart showing a control method for the electric working machine according to the first embodiment.

[0017] Figure 5 This is a diagram showing an example of a screen displayed on the display device according to the first embodiment.

[0018] Figure 6 This is a diagram showing an example of a screen displayed on the display device according to the first embodiment.

[0019] Figure 7 This is a diagram schematically showing a state in which the operator performs a confirmation operation on the display device according to the first embodiment.

[0020] Figure 8 This is a diagram showing an example of a screen displayed on the display device according to the first embodiment.

[0021] Figure 9 This is a flowchart showing a control method for an electric working machine according to a second embodiment.

[0022] Figure 10 This is a flowchart showing a control method for an electric working machine according to a third embodiment.

[0023] Figure 11 This is a diagram showing an example of a screen displayed on the display device according to the third embodiment. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present disclosure, but the present disclosure is not limited to the embodiments. The components of each embodiment described below can be combined as appropriate. In addition, some components may not be used.

[0025] [First embodiment]

[0026] A first embodiment will be described.

[0027] <Electric working machinery>

[0028] Figure 1 This is a perspective view of an electric working machine 1 according to a first embodiment. An electric working machine is a working machine equipped with an electric motor as a power source. The electric motor is driven by electricity from a battery. In this embodiment, the electric working machine 1 is an electric excavator. In the following description, the electric working machine 1 will be referred to as the electric excavator 1, as appropriate.

[0029] The electric excavator 1 includes a traveling body 2, a revolving body 3, a bulldozer 4, a working device 5, and a working device cylinder 6. The traveling body 2 has a pair of crawlers. The revolving body 3 rotates while being supported by the traveling body 2. The bulldozer 4 moves in the up and down directions in front of the traveling body 2. The working device 5 is connected to the front of the revolving body 3. The working device 5 includes a boom 5A, an arm 5B, and a bucket 5C. The working device 5 is operated by the power generated by the working device cylinder 6. The working device cylinder 6 is a hydraulic cylinder. The working device cylinder 6 includes a boom cylinder 6A for moving the boom 5A, an arm cylinder 6B for moving the arm 5B, and a bucket cylinder 6C for moving the bucket 5C.

[0030] The revolving body 3 is provided with a seat 7, a work device operating lever 8, a travel operating lever 9, and a display device 10. The work device operating lever 8 and the travel operating lever 9 are respectively operated by the operator of the electric excavator 1. The work device operating lever 8 is respectively arranged on the left and right sides of the seat 7. The travel operating lever 9 is arranged in front of the seat 7. The display device 10 is arranged in at least a portion of the periphery of the seat 7. In this embodiment, the display device 10 is arranged in front of the seat 7. The display device 10 is supported by a support member 13. The support member 13 is fixed to the front part of the chassis of the revolving body 3. The operator can operate the work device operating lever 8 and the travel operating lever 9 while sitting on the seat 7. The operator can confirm the display device 10 while sitting on the seat 7.

[0031] The revolving body 3 is provided with support columns 11 and a canopy 12. The support columns 11 are fixed to the rear portion of the revolving body 3. The canopy 12 is supported by the support columns 11. The canopy 12 is arranged above the seat 7. In this embodiment, the electric excavator 1 is of a canopy type with the space around the seat 7 open.

[0032] Figure 2 This diagram schematically illustrates the configuration of an electric excavator 1 according to the first embodiment. The electric excavator 1 includes a work implement operating lever 8, a travel operating lever 9, a display device 10, a key switch 14, a buzzer 15, a battery 16, a battery control circuit 17, an inverter 18, an electric motor 19, a hydraulic pump 20, a main valve 21, a work implement cylinder 6, a travel motor 22, a swing motor 23, and a controller 30.

[0033] The operator operates the work implement operating lever 8 to control the work implement 5 and the swing structure 3. The operator operates the travel operating lever 9 to control the travel of the electric excavator 1. The operator operates the work implement operating lever 8 and the travel operating lever 9 to output operating signals. The operating signal output from the work implement operating lever 8 is transmitted to the controller 30. The operating signal output from the travel operating lever 9 is transmitted to the controller 30.

[0034] The display device 10 includes an input unit 10A for an operator to input various instructions or information, and a display unit 10B for displaying various information. In this embodiment, the display device 10 is a touch screen. The input unit 10A outputs an operation signal when operated by the operator. The operation signal output from the input unit 10A is sent to the controller 30. The display unit 10B displays various information sent from the controller 30. The display unit 10B provides various information to the operator. It should be noted that the display device 10 is not limited to a touch screen. The input unit 10A may also be a button or a keyboard.

[0035] The buzzer 15 outputs a warning sound. The buzzer 15 is disposed at least partially around the seat 7. The buzzer 15 may be integrated with the display device 10. The buzzer 15 provides a warning sound to the operator.

[0036] The key switch 14 is operated by an operator. The key switch 14 is operated to start the electric motor 19. The key switch 14 is a starting operation switch for outputting a command signal to start the electric motor 19. Furthermore, the key switch 14 is operated to supply power to electrical equipment mounted on the electric excavator 1, other than the electric motor 19. In this embodiment, the electrical equipment other than the electric motor 19 includes at least the display device 10, the buzzer 15, and the controller 30. The key switch 14 has a lock cylinder into which a key is inserted. The key switch 14 can be rotated to a key-off position 14A, a key-on position 14B, and a motor-start position 14C.

[0037] When the key switch 14 is in the key-off position 14A, power is not supplied from the battery 16 to the electrical equipment and the electric motor 19. The operator can insert the key into the key cylinder with the key switch 14 in the key-off position 14A.

[0038] To start the electric motor 19, the operator inserts the key into the lock cylinder and operates the key switch 14 from the key-off position 14A to the key-on position 14B and then to the motor-start position 14C. When the key switch 14 reaches the motor-start position 14C, the electric motor 19 starts. If the operator removes the key after the key switch 14 reaches the motor-start position 14C, the key switch 14 rotates back to the key-on position 14B and remains in the key-on position 14B. While the key switch 14 is in the key-on position 14B, the electric motor 19 continues to operate.

[0039] The operator inserts a key into the lock cylinder without starting the electric motor 19 and supplying power to the electrical device, thereby rotating the key switch 14 from the key-off position 14A to the key-on position 14B. When the key switch 14 is rotated to the key-on position 14B, power is supplied to the electrical device. In this embodiment, when the key switch 14 is rotated to the key-on position 14B, at least the display device 10, the buzzer 15, and the controller 30 are activated. It should be noted that if the operator removes the key after the key switch 14 is rotated to the key-on position 14B, the key switch 14 remains in the key-on position 14B. When the key switch 14 is configured in the key-on position 14B, the electrical device continues to operate.

[0040] In the following description, the key switch 14 being in the key-off position 14A is referred to as the key-off state, the key switch 14 being in the key-on position 14B is referred to as the key-on state, and the key switch 14 being in the motor-start position 14C is referred to as the motor-start state. The key switch 14 is operated to any of the key-off state, the key-on state, and the motor-start state.

[0041] The key switch 14 outputs a command signal when operated by an operator. The command signal output from the key switch 14 is sent to the controller 30. The command signal includes a key-on signal indicating a command signal for supplying power to the electrical device and a motor-start signal indicating a command signal for starting the electric motor 19. The key switch 14 outputs the key-on signal in the key-on state or the motor-start state. The key switch 14 outputs the motor-start signal in the motor-start state. The command signal for supplying power to the electrical device includes the key-on signal output in the key-on state or the motor-start state. The command signal for starting the electric motor 19 includes the motor-start signal output in the motor-start state.

[0042] The battery 16 is a rechargeable battery serving as a rechargeable power storage device. The battery 16 is disposed, for example, at the rear portion of the revolving structure 3. The battery 16 is charged by a charger.

[0043] The battery control circuit 17 supplies power output from the battery 16 to the electric motor 19 based on a control signal from the controller 30. The battery control circuit 17 is disposed between the battery 16 and the inverter 18. The power output from the battery 16 is supplied to the electric motor 19 via the battery control circuit 17 and the inverter 18. Furthermore, the battery control circuit 17 charges the battery 16 based on a control signal from the controller 30. During charging of the battery 16, the battery control circuit 17 supplies power from the charger to the battery 16. The battery control circuit 17 includes a voltage sensor 17A to detect the voltage of the battery 16.

[0044] The inverter 18 supplies the power output from the battery control circuit 17 to the electric motor 19. The inverter 18 supplies a driving current to the electric motor 19 for driving the electric motor 19. The inverter 18 converts the DC voltage output from the battery control circuit 17 into an AC voltage and outputs the AC voltage to the electric motor 19. The electric motor 19 is driven by the power output from the inverter 18.

[0045] The electric motor 19 is driven by the electric power from the battery 16. The electric motor 19 generates power for driving the hydraulic pump 20. The hydraulic pump 20 is connected to the output shaft of the electric motor 19 and is driven by the power generated by the electric motor 19.

[0046] The hydraulic pump 20 discharges hydraulic fluid and is a power source for each of the working machine cylinder 6 , the travel motor 22 , and the swing motor 23 .

[0047] The main valve 21 is connected to the hydraulic pump 20 via a flow path. The hydraulic fluid discharged from the hydraulic pump 20 is supplied to the work implement cylinder 6, the travel motor 22, and the swing motor 23 through the main valve 21. The main valve 21 controls the flow rate and direction of the hydraulic fluid supplied to the work implement cylinder 6, the travel motor 22, and the swing motor 23. The controller 30 outputs a control signal for the main valve 21 based on an operation signal from the work implement operating lever 8 and an operation signal from the travel operating lever 9.

[0048] The work implement cylinder 6 is a hydraulic cylinder for operating the work implement 5. The work implement cylinder 6 expands and contracts based on the hydraulic oil supplied from the hydraulic pump 20 via the main valve 21. As the work implement cylinder 6 expands and contracts, the work implement 5 operates.

[0049] The travel motor 22 is a hydraulic motor for traveling the electric excavator 1. The travel motor 22 rotates based on the hydraulic oil supplied from the hydraulic pump 20 via the main valve 21. The electric excavator 1 travels as the travel motor 22 rotates.

[0050] The swing motor 23 is a hydraulic motor for swinging the swing body 3 relative to the traveling body 2. The swing motor 23 rotates based on the hydraulic oil supplied from the hydraulic pump 20 via the main valve 21. When the swing motor 23 rotates, the swing body 3 swings relative to the traveling body 2.

[0051] Controller

[0052] Figure 3This diagram schematically illustrates the configuration of the controller 30 according to the first embodiment. The controller 30 includes a computer system. The controller 30 includes at least one processor 30A, a main memory 30B, a storage 30C, and an interface 30D. The processor 30A is a CPU (Central Processing Unit). The main memory 30B includes non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory). Examples of storage 30C include hard disk drives (HDDs), solid-state drives (SSDs), magnetic disks, magneto-optical disks, CD-ROMs, and DVD-ROMs. The interface 30D includes input and output circuits. The functions of the processor 30A are stored as a program in the storage 30C. The processor 30A reads the program from the storage 30C, expands it in the main memory 30B, and executes processing according to the program. It should be noted that the program can also be distributed to the controller 30 via a network.

[0053] Processor 30A includes at least one functional unit. In this embodiment, processor 30A includes a motor state determination unit 31, a key signal receiving unit 32, a battery level detection unit 33, a battery level determination unit 34, a display control unit 35, a buzzer control unit 36, an operation signal receiving unit 37, and a motor control unit 38. Memory 30C includes a set value storage unit 39.

[0054] The motor state determination unit 31 determines the driving state of the electric motor 19. The motor state determination unit 31 determines whether the electric motor 19 is driving. The motor state determination unit 31 monitors the operating state of the inverter 18. Based on the operating state of the inverter 18, the motor state determination unit 31 determines whether the electric motor 19 is driving. If a driving current is being supplied from the inverter 18 to the electric motor 19, the motor state determination unit 31 can determine that the electric motor 19 is driving. If a driving current is not being supplied from the inverter 18 to the electric motor 19, the motor state determination unit 31 can determine that the electric motor 19 is stopped.

[0055] It should be noted that, if a rotation sensor is provided to detect the rotation of the output shaft of the electric motor 19, the motor state determination unit 31 may also determine whether the electric motor 19 is driving based on the detection signal of the rotation sensor. If the output shaft of the electric motor 19 is rotating, the motor state determination unit 31 can determine that the electric motor 19 is driving. If the output shaft of the electric motor 19 is not rotating, the motor state determination unit 31 can determine that the electric motor 19 is stopped.

[0056] The key signal receiving unit 32 receives a command signal from the key switch 14. Based on the command signal from the key switch 14, the key signal receiving unit 32 can determine the operating state of the key switch 14. Upon receiving a key-on signal, the key signal receiving unit 32 can determine that the key switch 14 is in the key-on state or the motor start state. Upon receiving a motor start signal, the key signal receiving unit 32 can determine that the key switch 14 is in the motor start state.

[0057] The battery remaining amount detection unit 33 detects the state of charge (SOC) indicating the battery remaining amount of the battery 16 . The battery remaining amount of the battery 16 includes the ratio of the remaining capacity of the battery 16 to the full charge capacity. In other words, the battery remaining amount of the battery 16 includes the charge rate of the battery 16 .

[0058] The remaining battery level detection unit 33 can calculate the remaining battery level of the battery 16 based on the detection signal of the voltage sensor 17A.

[0059] The battery remaining amount determination unit 34 determines whether the battery remaining amount detected by the battery remaining amount detection unit 33 is equal to or less than a preset value. The preset value is stored in the preset value storage unit 39. The battery remaining amount determination unit 34 determines whether the battery remaining amount of the storage battery 16 detected by the battery remaining amount detection unit 33 is equal to or less than the preset value stored in the preset value storage unit 39.

[0060] When the battery 16 is fully charged, the remaining charge of the battery 16 is 100%. When the battery 16 is fully discharged, the remaining charge of the battery 16 is 0%. As an example, the set value is 20%.

[0061] The display control unit 35 causes the display unit 10B to display a predetermined message. The buzzer control unit 36 ​​causes the buzzer 15 to output a warning sound. If at least one of the display control unit 35 and the buzzer control unit 36 ​​determines that the remaining charge level of the battery 16 is below a preset value, the display control unit 35 notifies the operator to urge battery charging. In this embodiment, if the display control unit 35 determines that the remaining charge level of the battery 16 is below the set value, the display control unit 35 causes the display unit 10B to display a message urging battery charging as a notification. If the buzzer control unit 36 ​​determines that the remaining charge level of the battery 16 is below the set value, the buzzer control unit 36 ​​causes the buzzer 15 to output a warning sound urging battery charging as a notification.

[0062] The operation signal receiving unit 37 receives the operation signal output from the input unit 10A. As described above, the input unit 10A outputs the operation signal when operated by the operator.

[0063] Upon confirming the notification urging the charging of battery 16, the operator operates input unit 10A. In the following description, the operation of input unit 10A performed when the operator confirms the notification urging the charging of battery 16 is appropriately referred to as a confirmation operation. Furthermore, the operation signal output from input unit 10A by the confirmation operation is appropriately referred to as a confirmation operation signal.

[0064] The input unit 10A outputs a confirmation operation signal when the operator performs a confirmation operation. The operation signal receiving unit 37 detects the confirmation operation in response to the notification urging the charging of the battery 16 by receiving the confirmation operation signal output from the input unit 10A.

[0065] The motor control unit 38 outputs a control signal for controlling the electric motor 19 based on the key signal from the key switch 14 and the operation signal from the input unit 10A. When the operation signal receiving unit 37 detects a confirmation operation in response to the notification, the motor control unit 38 outputs a control signal for starting the electric motor 19 based on the motor start signal from the key switch 14. The motor control unit 38 outputs the control signal to at least the inverter 18. Based on the control signal from the motor control unit 38, the inverter 18 supplies a drive current from the battery 16 to the electric motor 19, thereby starting the electric motor 19.

[0066] The motor control unit 38 permits the start of the electric motor 19 when the operation signal receiving unit 37 detects a confirmation operation in response to the notification. If the operation signal receiving unit 37 does not detect a confirmation operation in response to the notification, the motor control unit 38 prohibits the start of the electric motor 19. The motor control unit 38 starts the electric motor 19 when the operation signal receiving unit 37 detects a confirmation operation in response to the notification and the key signal receiving unit 32 receives a motor start signal. Even if the key signal receiving unit 32 receives a motor start signal, the motor control unit 38 does not start the electric motor 19 if the operation signal receiving unit 37 does not detect a confirmation operation in response to the notification.

[0067] <Control Method>

[0068] Next, the control method of the electric excavator 1 will be described. In this embodiment, when the electric motor 19 is in the key-on state and the remaining charge level of the battery 16 is below a set value, the controller 30 notifies the operator to urge charging of the battery 16. If the operator confirms the notification, the controller 30 permits starting of the electric motor 19. If the operator does not confirm the notification, the controller 30 prohibits starting of the electric motor 19. If the operator does not confirm the notification, the electric motor 19 does not start, and the notification urging charging continues. This allows the controller 30 to remind the operator of the urgent need to charge the battery 16.

[0069] Figure 4 1 is a flowchart showing a control method of the electric excavator 1 according to the first embodiment. Next, a method of starting the stopped electric motor 19 will be described. As described above, the motor state determination unit 31 can determine whether the electric motor 19 is being driven. Figure 4 This is a flowchart showing a control method when the motor state determination unit 31 determines that the electric motor 19 is stopped.

[0070] When the electric excavator 1 is stopped, the operator inserts a key into the lock cylinder of the key switch 14 to start the electric excavator 1. After inserting the key into the lock cylinder, the operator rotates the key switch 14 from the key-off position 14A to the key-on position 14B. When the key switch 14 is in the key-on position, at least the display device 10, the buzzer 15, and the controller 30 are activated. When the key switch 14 is in the key-on position, the electric motor 19 is not started.

[0071] The key switch 14 outputs a key-on signal when the key is switched from the key-off state to the key-on state. After receiving the key-on signal, the controller 30 detects the remaining charge of the battery 16. The remaining charge detection unit 33 detects the remaining charge of the battery 16 (step SA1).

[0072] The controller 30 determines whether the remaining charge of the battery 16 detected in step SA1 is less than or equal to a predetermined value. For example, the set value is 20%. The remaining charge determination unit 34 determines whether the remaining charge of the battery 16 detected in step SA1 exceeds the set value (step SA2).

[0073] If, in step SA2, it is determined that the remaining charge of the battery 16 exceeds the set value (step SA2: Yes), the controller 30 causes the display unit 10B to display a status screen indicating the status of the electric excavator 1. The display control unit 35 causes the display unit 10B to display a status screen indicating the status of the electric excavator 1 (step SA3).

[0074] Figure 5 1 is a diagram showing an example of a screen displayed on the display device 10 of the first embodiment. In this embodiment, the status screen includes at least information indicating the remaining amount of power of the battery 16. Figure 5 In the illustrated example, the status screen includes an indicator 40 indicating the remaining power level of the battery 16 .

[0075] In this embodiment, the status screen includes a first indicator mark 41, a second indicator mark 42, and a third indicator mark 43 indicating the remaining charge level of battery 16. For example, first indicator mark 41 indicates that the remaining charge level of battery 16 is 30%. Second indicator mark 42 indicates that the remaining charge level of battery 16 is 20%. Third indicator mark 43 indicates that the remaining charge level of battery 16 is 1%. When the remaining charge level of battery 16 exceeds 30%, one end of indicator 40 is displayed so that it exceeds first indicator mark 41, and indicator 40 is displayed in green. When the remaining charge level of battery 16 is below 30% but exceeds 20%, one end of indicator 40 is displayed so that it is positioned between first indicator mark 41 and second indicator mark 42, and indicator 40 is displayed in yellow. When the remaining charge level of battery 16 is below 20%, one end of indicator 40 is displayed so that it is positioned between second indicator mark 42 and third indicator mark 43, and indicator 40 is displayed in red.

[0076] The status screen also includes an indicator 44 indicating power consumption, numerical data 45 indicating the accumulated operating time of the electric excavator 1, numerical data 46 indicating the available operating time of the electric excavator 1, and an indicator 47 indicating the operating mode of the electric excavator 1. The available operating time of the electric excavator 1 is the estimated time during which the electric excavator 1 can operate, and is calculated based on the actual power consumption, the remaining charge level of the battery 16, and the operating mode. In this embodiment, the operating modes include a P mode that prioritizes driving the electric motor 19 at high output, an E mode that prioritizes suppressing the power consumption of the electric motor 19, and an M mode that increases the output of the electric motor 19 to a certain extent while suppressing power consumption.

[0077] return Figure 4 , the controller 30 permits the start of the electric motor 19. The motor control unit 38 permits the start of the electric motor 19 (step SA4).

[0078] After the start of the electric motor 19 is permitted, the controller 30 determines whether a motor start signal is received. The key signal receiving unit 32 determines whether a motor start signal is received (step SA5).

[0079] If, in step SA5, the controller 30 determines that the motor start signal has not been received (step SA5: No), the process returns to step SA4. If, in step SA5, the controller 30 determines that the motor start signal has been received (step SA5: Yes), the controller 30 outputs a control signal to start the electric motor 19 based on the motor start signal from the key switch 14. The motor control unit 38 outputs a control signal to start the electric motor 19 based on the motor start signal from the key switch 14 (step SA6).

[0080] If, in step SA2, it is determined that the remaining charge level of battery 16 is below the set value (step SA2: No), controller 30 causes display unit 10B to display a warning and buzzer 15 to output a warning sound. Display control unit 35 causes display unit 10B to display a warning and buzzer control unit 36 ​​causes buzzer 15 to output a warning sound (step SA7).

[0081] That is, when the battery level is equal to or less than the set value and the key-on signal is received, the controller 30 causes the display unit 10B to display a warning.

[0082] Figure 6 1 is a diagram showing an example of a screen displayed on the display device 10 of the first embodiment. In this embodiment, the controller 30 causes the display unit 10B of the display device 10 to display a warning to urge the operator to charge the battery 16. Figure 6 In the example shown, the controller 30 causes the display unit 10B to display a message 48 as a notification urging charging of the storage battery 16. Furthermore, the controller 30 causes the display unit 10B to display a confirmation button 49 for the notification as the input unit 10A.

[0083] It should be noted that the notification displayed on the display unit 10B is not limited to Figure 6 The controller 30 may also cause the display unit 10B to display a graphic such as an icon or symbol as a notification urging the charging of the battery 16. When a first background color is displayed on the status screen, the controller 30 may also display a second background color different from the first color as a notification urging the charging of the battery 16.

[0084] Figure 7 This diagram schematically illustrates a state in which an operator performs a confirmation operation on display device 10 according to the first embodiment. Upon receiving a notification urging charging of battery 16, the operator touches confirmation button 49 as a confirmation operation. Touching confirmation button 49 causes input unit 10A to output a confirmation operation signal indicating the confirmation operation in response to the notification.

[0085] return Figure 4The controller 30 determines whether a confirmation operation for the notification is detected. The operation signal receiving unit 37 determines whether a confirmation operation for the notification is detected (step SA8 ).

[0086] If, in step SA8, the controller 30 determines that a confirmation operation for the notification has not been detected (step SA8: No), the process returns to step SA7. If, in step SA8, the controller 30 determines that a confirmation operation for the notification has been detected (step SA8: Yes), the controller 30 proceeds to step SA3. Based on the confirmation operation signal from the input unit 10A, the display control unit 35 causes the display unit 10B to display the status screen (step SA3).

[0087] That is, in this embodiment, when the controller 30 detects a confirmation operation for a notification, the controller 30 causes the display unit 10B to display the status screen. When the controller 30 detects a confirmation operation for a notification while the display unit 10B is displaying a warning, the controller 30 changes the state from displaying the warning on the display unit 10B to displaying the status screen.

[0088] Furthermore, the buzzer control unit 36 ​​changes the output state of the warning sound from the buzzer 15 based on the confirmation operation signal from the input unit 10A. That is, the controller 30 changes the output state of the warning sound from the buzzer 15 when a confirmation operation for the notification is detected. Changing the output state of the warning sound includes changing one or both of the output mode of the warning sound and stopping the warning sound. If the buzzer 15 outputs the warning sound in the first output mode in step SA7, the controller 30 may also output the warning sound in the second output mode when a confirmation operation for the notification is detected. For example, if the buzzer 15 continuously outputs the warning sound in step SA7, the buzzer control unit 36 ​​may also output the warning sound intermittently when a confirmation operation for the notification is detected. In this embodiment, the buzzer control unit 36 ​​stops the warning sound from the buzzer 15 when a confirmation operation for the notification is detected.

[0089] Figure 8 1 is a diagram showing an example of a screen displayed on the display device 10 according to the first embodiment. Figure 8 In the illustrated state, the remaining charge level of the battery 16 is 20% or less, so the indicator 40 is displayed in red.

[0090] After proceeding from step SA8 to step SA3, the controller 30 sequentially executes steps SA4 through SA6. While the display unit 10B displays the warning, the controller 30 detects a confirmation operation in response to the notification (step SA8: Yes), and upon receiving a motor start signal (step SA5: Yes), the controller 30 starts the electric motor 19 (step SA6).

[0091] Even if the controller 30 receives a motor start signal while the display unit 10B displays a warning, it does not start the electric motor 19 unless a confirmation operation for the notification is detected. Figure 7 As shown, when the warning is displayed on the display unit 10B and the operator does not operate the confirmation button 49 , the electric motor 19 does not start even if the key switch 14 is operated to the motor start position 14C.

[0092] Effects

[0093] As described above, in this embodiment, the electric excavator 1 includes a battery 16, an electric motor 19 driven by power from the battery 16, a controller 30, and a key switch 14 that outputs a motor start signal, a command signal, to start the electric motor 19. The controller 30 detects the remaining charge level of the battery 16 and, if the detected remaining charge level is below a preset value, notifies the operator to urge charging of the battery 16. Upon detecting a confirmation operation in response to the notification, the controller 30 outputs a control signal to start the electric motor 19 based on the motor start signal from the key switch 14.

[0094] When the remaining charge level of battery 16 is below a set value, the operator is notified to charge battery 16. If the operator does not confirm the notification, controller 30 does not start electric motor 19, thereby making the operator aware of the high necessity of charging battery 16.

[0095] The controller 30 causes the display unit 10B of the display device 10 to display a warning, thereby issuing a notification urging the charging of the battery 16. Thus, the controller 30 can make the operator aware that the charging of the battery 16 is highly necessary.

[0096] If the remaining battery level exceeds a set value, the controller 30 causes the display unit 10B to display a status screen. If the remaining battery level falls below the set value, the controller 30 causes the display unit 10B to display a warning urging charging. If a confirmation operation is detected in response to the notification, the controller 30 causes the display unit 10B to display the status screen. By displaying the warning on the display unit 10B, the operator can recognize the urgent need to charge the battery 16. If the operator confirms the notification, the status screen is displayed on the display unit 10B, allowing the operator to perform work using the electric excavator 1 while checking the status screen.

[0097] When the remaining battery charge falls below a set value, the controller 30 outputs a warning sound from the buzzer 15. Upon detecting a confirmation operation in response to the notification, the controller 30 changes the output state of the warning sound from the buzzer 15. By having the controller 30 output the warning sound from the buzzer 15, the operator can recognize the urgent need to charge the battery 16. In the embodiment, the controller 30 silences the warning sound from the buzzer 15 upon the operator's confirmation operation in response to the notification. This allows the operator to perform work using the electric excavator 1 without being annoyed by the warning sound.

[0098] The key switch 14 is operated to any of the key-off, key-on, and motor-start states. When the remaining battery charge level is below a set value and the key-on signal is received, the controller 30 causes the display unit 10B to display a warning. This allows the operator to recognize the urgent need to charge the battery 16 when starting the electric excavator 1.

[0099] When the controller 30 detects a confirmation operation in response to a notification while the display unit 10B is displaying a warning, the display unit 10B transitions from displaying the warning to displaying the status screen. By the operator's confirmation operation on the confirmation button 49, the display unit 10B transitions from displaying the warning to displaying the status screen. Therefore, the operator can perform work using the electric excavator 1 while confirming the status screen.

[0100] When the controller 30 detects a confirmation operation for the notification and receives a motor start signal while the display unit 10B displays a warning, it starts the electric motor 19. This allows the controller 30 to start the electric motor 19 while the operator is aware that charging of the battery 16 is highly necessary.

[0101] Even if the controller 30 receives a motor start signal while the display unit 10B displays a warning, it does not start the electric motor 19 unless a confirmation operation in response to the notification is detected. If the operator does not confirm the confirmation button 49, the electric motor 19 does not start even if the key switch 14 is operated to enter the motor start state, and the notification urging charging continues, allowing the operator to recognize the high necessity of charging the battery 16.

[0102] [Second embodiment]

[0103] In the following description, the same reference numerals are given to the same or equivalent components as those in the first embodiment, and the description of the components is simplified or omitted.

[0104] In the first embodiment, the notification urging charging of the battery 16 when starting the stopped electric motor 19 is described. In the second embodiment, the notification urging charging of the battery 16 when the electric motor 19 is already being driven is described.

[0105] Figure 9 1 is a flowchart showing a control method of the electric excavator 1 according to the second embodiment. As described above, the motor state determination unit 31 can determine whether the electric motor 19 is being driven. Figure 9 This is a flowchart showing a control method when the motor state determination unit 31 determines that the electric motor 19 is driving.

[0106] While the electric motor 19 is being driven, the controller 30 detects the remaining charge level of the battery 16 (step SB1 ).

[0107] The controller 30 determines whether the remaining power of the battery 16 detected in step SB1 is equal to or less than a predetermined set value (step SB2 ).

[0108] In step SB2, when it is determined that the remaining amount of the battery 16 exceeds the set value (step SB2: Yes), the Figure 5 As described above, the controller 30 causes the display unit 10B to display the status screen (step SB3 ). The driving of the electric motor 19 is continued.

[0109] In step SB2, when it is determined that the remaining amount of the battery 16 is less than the set value (step SB2: No), as shown in FIG. Figure 6 As described above, the controller 30 displays a warning on the display unit 10B and outputs a warning sound from the buzzer 15 (step SB4 ). The driving of the electric motor 19 is continued.

[0110] The controller 30 determines whether a confirmation operation for the notification is detected (step SB5 ).

[0111] In step SB5, if it is determined that the confirmation operation for the notification is not detected (step SB5: No), the controller 30 returns to the process of step SB4. In step SB5, if it is determined that the confirmation operation for the notification is detected (step SB5: Yes), the controller 30 proceeds to the process of step SB3. Figure 8 As described above, the controller 30 causes the display unit 10B to display the status screen based on the confirmation operation signal from the input unit 10A (step SA4 ).

[0112] Furthermore, the controller 30 changes the output state of the warning sound from the buzzer 15 based on the confirmation operation signal from the input unit 10A.

[0113] [Third embodiment]

[0114] In the following description, the same reference numerals are given to the same or equivalent components as those in the above-mentioned embodiment, and the description of the components is simplified or omitted.

[0115] In the above embodiment, when the remaining charge level of battery 16 is below a set value (20%), a notification urging the operator to charge battery 16 is provided. In the third embodiment, an example is described in which the set value includes a first set value (20%) and a second set value (1%). The first set value is higher than the second set value. The controller 30 provides a first notification urging charging when the remaining charge level is below the first set value (20%), and a second notification different from the first notification when the remaining charge level is below the second set value (1%).

[0116] Figure 10 This is a flowchart showing a control method of the electric excavator 1 according to the third embodiment. In the third embodiment, the notification of charging of the battery 16 when urging the electric motor 19 in a stopped state to start will be described.

[0117] With the electric motor 19 stopped, the operator inserts a key into the key cylinder and operates the key switch 14 to rotate it from the key-off position 14A to the key-on position 14B.

[0118] The key switch 14 outputs a key-on signal when the key switch 14 is switched from the key-off state to the key-on state. After receiving the key-on signal, the controller 30 detects the remaining charge of the battery 16 (step SC1).

[0119] The controller 30 determines whether the remaining power level of the battery 16 detected in step SC1 exceeds a predetermined first set value (step SC2 ).

[0120] In step SC2, when it is determined that the remaining power of the battery 16 exceeds the first set value (step SC2: Yes), as shown in FIG. Figure 5 As described above, the controller 30 causes the display unit 10B to display the status screen (step SC3 ).

[0121] The controller 30 permits activation of the electric motor 19 (step SC4 ).

[0122] The controller 30 determines whether a motor start signal has been received (step SC5 ).

[0123] If the controller 30 determines in step SC5 that the motor start signal has not been received (step SC5: No), the process returns to step SC4. If the controller 30 determines in step SC5 that the motor start signal has been received (step SC5: Yes), the controller 30 outputs a control signal to start the electric motor 19 based on the motor start signal from the key switch 14 (step SC6).

[0124] If it is determined in step SC2 that the remaining charge of battery 16 is equal to or less than the first set value (step SC2 : NO), controller 30 determines whether the remaining charge of battery 16 detected in step SC1 exceeds a predetermined second set value (step SC7 ).

[0125] In step SC7, if it is determined that the remaining power of the battery 16 exceeds the second set value (step SC7: Yes), as shown in FIG. Figure 6 As described above, the controller 30 causes the display unit 10B to display the first warning as the first notification, and outputs a warning sound from the buzzer 15 (step SC8 ).

[0126] The controller 30 determines whether a confirmation operation for the notification is detected (step SC9 ).

[0127] In step SC9, if it is determined that the confirmation operation for the notification is not detected (step SC9: No), the controller 30 returns to the process of step SC8. In step SC9, if it is determined that the confirmation operation for the notification is detected (step SC9: Yes), the controller 30 proceeds to the process of step SC3. Figure 8 As described above, the controller 30 causes the display unit 10B to display the status screen based on the confirmation operation signal from the input unit 10A (step SC3 ).

[0128] Furthermore, when the controller 30 detects a confirmation operation for the notification, it changes the output state of the warning sound from the buzzer 15 .

[0129] After proceeding from step SC9 to step SC3, the controller 30 sequentially executes steps SC4 through SC5. While the display unit 10B displays the first warning, the controller 30 detects a confirmation operation in response to the notification (step SC9: Yes), and upon receiving a motor start signal (step SC5: Yes), the controller 30 starts the electric motor 19 (step SC6).

[0130] If it is determined in step SC7 that the remaining power of battery 16 is equal to or less than the second set value (step SC7 : NO), controller 30 causes display unit 10B to display a second warning as a second notification and outputs a warning sound from buzzer 15 (step SC10 ).

[0131] Figure 11 : is a diagram showing an example of a screen displayed on the display device 10 of the third embodiment. In the third embodiment, the second warning includes a notice urging the operator to perform maintenance. Figure 11 In the example shown, controller 30 causes display unit 10B to display message 51 as a maintenance urging notification. Furthermore, controller 30 causes display unit 10B to display a confirmation button 52 for the notification as input unit 10A. After confirming the maintenance urging notification, the operator presses confirmation button 52. Pressing confirmation button 52 causes controller 30 to change the output state of the warning sound from buzzer 15.

[0132] It should be noted that the notification displayed on the display unit 10B is not limited to Figure 11 Message 48 is shown. As a notification urging maintenance, the controller 30 may also cause the display unit 10B to display a graphic such as an icon or symbol. When a first background color is displayed on the status screen, the controller 30 may display a third background color different from the first color as a notification urging maintenance.

[0133] [Other embodiments]

[0134] In the above embodiment, the starting operation switch is a key switch 14, but this is not limited to this. The starting operation switch may also be a switch that outputs a motor start signal when pressed by an operator. Furthermore, the starting operation switch may be, for example, a portable operating device carried by the operator. Alternatively, the operator may operate the portable operating device to establish wireless communication between the portable operating device and the controller 30, with the motor start signal being transmitted conditional on the establishment of communication. The portable operating device may be, for example, a remote control key with a built-in electronic chip, or a portable computer such as a smartphone or a portable information terminal.

[0135] In the above-mentioned embodiment, the electric excavator 1 does not need to be of a canopy type. The electric excavator 1 may be of a cab type in which the space around the seat 7 is enclosed.

[0136] In the above embodiment, the work implement cylinder 6 is a hydraulic cylinder, and the travel motor 22 and the swing motor 23 are each a hydraulic motor. The work implement cylinder 6 may also be an electric cylinder driven by electricity from the battery 16. The travel motor 22 and the swing motor 23 may also be electric motors driven by electricity from the battery 16.

[0137] In the above-described embodiment, the electric working machine 1 is not limited to an electric excavator, but may be, for example, an electric forklift, an electric wheel loader, or an electric bulldozer.

[0138] In the above-described embodiment, the plurality of functional units included in the processor 30A may be provided in different hardware (processors). For example, the display control unit 35 may be provided in the display device 10 .

[0139] In the above-described embodiment, the electric working machine 1 may be remotely operated. That is, the electric working machine 1 may be operated based on an operation command from a remote operating device installed at a remote location from the work site.

[0140] In the above-described embodiment, after the operator operates the start operation switch and the electric motor 19 is started, the electric working machine 1 may be autonomously operated.

[0141] Description of reference numerals:

[0142] 1…Electric excavator (electric working machine); 2…Traveling unit; 3…Swinging unit; 4…Bulldozer blade; 5…Working device; 5A…Boom; 5B…Arm; 5C…Bucket; 6…Working device cylinder; 6A…Boom cylinder; 6B…Arm cylinder; 6C…Bucket cylinder; 7…Seat; 8…Working device operating lever; 9…Travel operating lever; 10…Display device; 10A…Input unit; 10B…Display unit; 11…Strut; 12…Roof; 13…Supporting member; 14…Key switch (starting operation switch); 14A…Key-off position; 14B…Key-on position; 14C…Motor starting position; 15…Buzzer; 16…Battery; 17…Battery control circuit; 17A…Voltage sensor; 18…Inverter; 19…Electric motor; 20…hydraulic pump; 21…main valve; 22…travel motor; 23…swing motor; 30…controller; 30A…processor; 30B…main memory; 30C…storage; 30D…interface; 31…motor state determination unit; 32…key signal receiving unit; 33…battery charge remaining detection unit; 34…battery charge remaining determination unit; 35…display control unit; 36…buzzer control unit; 37…operation signal receiving unit; 38…motor control unit; 39…set value storage unit; 40…indicator; 41…first indicator mark; 42…second indicator mark; 43…third indicator mark; 44…indicator; 45…numerical data; 46…numerical data; 47…identification; 48…message; 49…confirmation button; 51…message; 52…confirmation button.

Claims

1. A system for controlling an electric working machine, the electric working machine comprising a battery and an electric motor driven by power from the battery, wherein: The system has: Controller; and a starting operation switch for outputting a command signal for starting the electric motor; The controller detects the remaining amount of power in the battery. The controller issues a notification urging charging of the battery when the detected remaining battery level is equal to or less than a preset value. The controller outputs a control signal for starting the electric motor based on a command signal from the start operation switch when a confirmation operation in response to the notification is detected.

2. The system according to claim 1, wherein: The system includes a display device, The controller causes the display device to display a warning as the notification.

3. The system according to claim 2, wherein: When the battery remaining amount is equal to or less than the set value and the confirmation operation is detected, the controller causes the display device to display a status screen.

4. The system according to claim 1, wherein: The set value includes a first set value and a second set value, The first set value is higher than the second set value, The controller issues a first notification urging charging when the remaining battery power is equal to or less than the first set value. The controller performs a second notification different from the first notification when the electric cell remaining amount is equal to or less than the second set value.

5. The system according to claim 1, wherein The system is provided with a buzzer, The controller outputs a warning sound from the buzzer when the remaining power level is equal to or less than the set value, and changes an output state from the buzzer when the confirmation operation is detected.

6. The system according to claim 3, wherein: The starting operation switch includes a key switch, The starting operation switch is operated to any one of a key-off state, a key-on state, and a motor-start state. The command signal for starting the electric motor includes a motor starting signal output when the motor is in a starting state. The controller causes the display device to display the warning when the power storage remaining amount is equal to or less than the set value and when a key-on signal output in the key-on state or the motor-start state is received.

7. The system according to claim 6, wherein: When the controller detects the confirmation operation while the display device is displaying the warning, the controller shifts the state from the state in which the display device is displaying the warning to the state in which the status screen is displayed.

8. The system according to claim 6, wherein: The controller starts the electric motor when the confirmation operation is detected and the motor start signal is received while the warning is displayed on the display device.

9. The system according to claim 8, wherein: Even if the controller receives the motor start signal while the warning is displayed on the display device, the controller does not start the electric motor unless the confirmation operation is detected.

10. A system for controlling an electric working machine, the electric working machine comprising a battery and an electric motor driven by electric power from the battery, wherein: The system has: display device; as well as controller, The controller detects the remaining amount of power in the battery. When the detected remaining battery level is below a preset value, the controller causes the display device to display a warning to urge charging of the battery. The controller causes the display unit of the display device to display a status screen indicating the status of the work machine when detecting a confirmation operation in response to the notification.

11. The system according to claim 10, wherein: The system is provided with a buzzer, The controller outputs a warning sound from the buzzer when the battery remaining amount is equal to or less than the set value.

12. A method for controlling an electric working machine comprising a battery and an electric motor driven by electric power from the battery, wherein: The method for controlling an electric working machine includes the following steps: detecting the remaining power of the battery; When the detected remaining battery level is below a preset value, issuing a notification urging charging of the battery; as well as When a confirmation operation in response to the notification is detected, a control signal for starting the electric motor is output based on a command signal from a start operation switch for starting the electric motor.

13. An electric working machine comprising a battery and an electric motor driven by electric power from the battery, wherein: The electric working machine includes: Controller; and a starting operation switch for outputting a command signal for starting the electric motor; The controller detects the remaining amount of power in the battery. The controller issues a notification urging charging of the battery when the detected remaining battery level is equal to or less than a preset value. The controller outputs a control signal for starting the electric motor based on a command signal from the start operation switch when a confirmation operation in response to the notification is detected.

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