Control method, control system, and work machine

Abstract

The present application aims to prevent an accident from occurring during access to an accessed portion. A control method for a work machine (100) having an electric motor (2) powered by a battery cell (1) as a drive source includes: an ability to access a prescribed accessed portion (101) by release of a lock mechanism (5); and a state in which the electric motor (2) is in an un-drivable state when the lock mechanism (5) is in a released state.

Description

Technical Field

[0001] This invention relates to a control method for operating machinery, a control system for operating machinery, and the operating machinery itself. Background Technology

[0002] Previously, it was known that there were electric work machines capable of charging batteries from an external power source. For example, the work machine in Patent Document 1 uses electricity from a storage battery (battery) for driving the lower traveling body and rotating the upper rotating body. Furthermore, when the storage battery's charge level decreases to the point where it needs charging, it is charged via a power cable connected to an external power source. In the work machine of Patent Document 1, driving and rotating can be performed even while the storage device is charging.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2009-215855

[0004] However, in Patent Document 1, accidents may occur during access to the battery connector (accessed part). For example, in the working machine of Patent Document 1, the machine can be driven to move and rotate while the power cable is connected to the connector. Therefore, the power cable may be damaged if the lower moving body steps on it. In addition, tension is applied to the power cable due to the movement of the moving working machine and the rotation of the upper rotating body, which may cause damage to the battery connector, power cable, and connector plug. Furthermore, when the power cable is electrically connected to either the battery connector or an external power source, the end of the power cable or connector plug may detach from the other. In this case, the end of the power cable or connector plug becomes a free end and moves freely according to the drive of the working machine. Therefore, accidents such as electric shock may occur. Summary of the Invention

[0005] The present invention was made in view of the above situation, and its purpose is to prevent accidents from occurring during access to the accessed part.

[0006] To achieve the above objectives, one aspect of the control method according to the present invention is a control method for a working machine driven by an electric motor powered by a battery cell. The control method includes: enabling access to a designated accessed part by releasing a locking mechanism; and when the locking mechanism is released, the electric motor is in an inoperable state.

[0007] Furthermore, to achieve the above objectives, a control system according to one aspect of the present invention implements the control method described above. The control system includes a detection unit and a control unit. The detection unit detects whether the locking mechanism is locked or unlocked. When the detection unit detects that the locking mechanism is unlocked, the control unit renders the electric motor in an inoperable state.

[0008] In addition, in order to achieve the above objectives, the working machine according to one aspect of the present invention is equipped with the above-described control system.

[0009] Further features and advantages of the present invention will become clearer through the embodiments shown below.

[0010] According to the present invention, accidents can be prevented during access to the accessed part. Attached Figure Description

[0011] Figure 1 This is a schematic side view showing a configuration example of the hydraulic excavator according to this embodiment.

[0012] Figure 2 It is a block diagram that schematically represents the structure of the electrical and hydraulic systems of a hydraulic excavator.

[0013] Figure 3 This is a perspective view of the upper rotating body with the cover component closed.

[0014] Figure 4 This is a perspective view of the upper rotating body with the cover component open.

[0015] Figure 5A This is a schematic diagram of the locking mechanism in the locked state.

[0016] Figure 5B This is a schematic diagram of the locking mechanism in the unlocked state.

[0017] Figure 6 This is a flowchart illustrating an example of the drive control of a hydraulic excavator.

[0018] Explanation of reference numerals in the attached figures

[0019] 100...Hydraulic excavator (operating machinery); 101...Accessed part; 102...Control system; 200...Lower traveling body; 201...Crawler; 202...Travel motor; 300...Working machine; 301...Boom; 302...Stick; 303...Bucket; 304...Boom cylinder; 305...Stick cylinder; 306...Bucket cylinder; 400...Upper slewing body; 401...Control unit; 4011...Driver's seat; 4012...Stick; 402...Hand frame; 403...Slewing motor; 404...Engine compartment; 405...Engine hood; 611...Storage unit; 612...System controller (control unit); 613...PDU; 623...Inverter; 7 01...Hydraulic pump; 702...Reservoir; 703...Control valve; 704...Hydraulic actuator; 707...Hydraulic motor; 800...External power supply; 801...Power cable; 802...Power plug; 1...Battery cell; 11...Battery; 12...BMU; 2...Electric motor; 3...Charger; 31...Charging connector; 4...Cover part; 41...Opening; 5...Locking mechanism; 51...Lock cylinder; 52...Hook; 521...Base; 522...Extension; 523...Front end; 53...Activating part; 531...Support; 532...Bending part; 6...Detection part; 61, 61a, 61b, 61c...Limit switches; J...Axis. Detailed Implementation

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a schematic side view showing a configuration example of the hydraulic excavator 100 according to this embodiment. Figure 2 This is a block diagram schematically illustrating the structure of the electrical and hydraulic systems of a hydraulic excavator 100. The hydraulic excavator 100 is an example of the "operating machinery" of this invention.

[0021] <1. Hydraulic Excavator 100>

[0022] The hydraulic excavator 100 includes a lower traveling body 200, a working body 300, and an upper slewing body 400. In addition, in this embodiment, the upper slewing body 400 is sometimes referred to as the "body".

[0023] Furthermore, the directions in this disclosure are defined as follows. First, in the upper rotating body 400, the direction from the front side and the back side of the driver's seat 4011 (described later) where the operator (manipulator, driver) sits to the other is defined as the "front-rear direction". The direction from the back side of the driver's seat 4011 to the front side in the "front-rear direction" is defined as "forward", and the direction from the front side of the driver's seat 4011 to the back side is defined as "rearward". Therefore, when the upper rotating body 400 is not rotating relative to the lower traveling body 200 (rotation angle is 0°), the front-rear direction of the upper rotating body 400 is consistent with the forward and backward direction of the lower traveling body 200.

[0024] Additionally, when viewing the front from the rear, the direction from the left or right side of the driver's seat 4011 towards the other is designated as "left-right direction". The direction towards the left side of the driver's seat 4011 is designated as "left", and the direction towards the right side of the driver's seat 4011 is designated as "right".

[0025] Furthermore, the direction from one of the lower traveling body 200 and the upper rotating body 400 toward the other is defined as the "vertical direction". Within the vertical direction, the direction from the lower traveling body 200 to the upper rotating body 400 is defined as "upward", and the direction from the upper rotating body 400 to the lower traveling body 200 is defined as "downward". Therefore, when the hydraulic excavator 100 is positioned on a horizontal plane with the vertical direction as its normal, its vertical direction is consistent with the vertical direction. Additionally, "upward" aligns with "vertically upward", and "downward" aligns with "vertically downward".

[0026] The front-back, left-right, and up-down directions are perpendicular to each other.

[0027] However, the above definition of direction is for illustrative purposes only and is not intended to limit actual positional relationships and directions.

[0028] <1-1. Lower traveling body 200>

[0029] The lower traveling body 200 has a pair of left and right tracks 201 and a pair of left and right travel motors 202. Each travel motor 202 is a hydraulic motor. By driving the left and right tracks 201 respectively through the left and right travel motors 202, the hydraulic excavator 100 can move forward and backward in the front-to-back direction.

[0030] <1-2. Worker 300>

[0031] The work machine 300 includes a boom 301, a stick 302, and a bucket 303. It can perform excavation operations such as digging sand and soil by independently driving the boom 301, stick 302, and bucket 303. The boom 301 rotates via a boom cylinder 304. The boom cylinder 304 is configured such that its base end is supported on the front of the upper rotating body 400 and it is freely movable. The stick 302 rotates via a stick cylinder 305. The stick cylinder 305 is configured such that its base end is supported on the boom 301 and it is freely movable. The bucket 303 rotates via a bucket cylinder 306. The bucket cylinder 306 is configured such that its base end is supported on the stick 302 and it is freely movable. The boom cylinder 304, stick cylinder 305, and bucket cylinder 306 are all hydraulic cylinders.

[0032] <1-3. Upper Rotating Body 400>

[0033] The upper rotating body 400 is located above the lower traveling body 200 and is rotatably mounted on the lower traveling body 200 via a slewing bearing (not shown). The upper rotating body 400 includes an operating unit 401, a body frame 402, a slewing motor 403, an engine compartment 404, and an engine hood 405. A driver's seat 4011 is arranged in the operating unit 401. Various levers 4012 are arranged around the driver's seat 4011. By having an operator sit in the driver's seat 4011 and operate the levers 4012, a hydraulic actuator 704 (see reference 704) is driven. Figure 2 Thus, the hydraulic excavator 100 can perform tasks such as traveling the lower traveling body 200, digging operations using the work machine 300, and rotating the upper rotating body 400. The body frame 402 is a plate-shaped structure that extends vertically in the vertical direction. The control unit 401, the rotary motor 403, and various devices mounted in the engine compartment 404 are mounted on the body frame 402. The engine compartment 404 is the interior of the machine body. The engine cover 405 is a shell containing the engine compartment 404 and is located below the control unit 401. The engine cover 405, together with the footrest of the control unit 401, the body frame 402, and the rear cover component 4, covers the engine compartment 404. The upper rotating body 400 rotates via a rotary bearing driven by the rotary motor 403. Furthermore, the rotary motor 403 is a hydraulic motor in this embodiment, but it is not limited to this example and may also be an electric motor.

[0034] In addition, the upper rotating body 400 also includes a battery unit 1, an electric motor 2, a charger 3, a storage unit 611, a system controller 612, a PDU (power drive unit) 613, and an inverter 614. Furthermore, the upper rotating body 400 also includes a hydraulic pump 701, a reservoir 702, a control valve 703, a hydraulic actuator 704, and a hydraulic motor 705. All of these are housed within the engine compartment 404.

[0035] Furthermore, the hydraulic excavator 100 can also be a structure that combines hydraulic equipment such as a hydraulic actuator 704 with an electrically driven actuator. Examples of electrically driven actuators include electric travel motors, electric cylinders, and electric swing motors.

[0036] <1-3-1. Structure of Electrical Systems>

[0037] Battery unit 1 supplies power to the electrical components of the hydraulic excavator 100. Battery unit 1 includes a battery 11 and a BMU (battery management unit) 12. Battery 11 is, for example, a rechargeable secondary battery such as a lithium-ion battery. BMU 12 is a battery control unit that monitors and controls battery 11. For example, BMU 12 measures the voltage, temperature, etc. of battery 11 and outputs the results to system controller 612. In addition, BMU 12 controls battery 11 based on control signals output from system controller 612.

[0038] The electric motor 2 consists of a permanent magnet motor, an induction motor, etc., and drives the hydraulic pump 701. The electric motor 2 receives power from the battery unit 1 via the PDU 613 and the inverter 614. The electric motor 2 is supported on the body frame 402 by vibration-damping support components.

[0039] The charger 3 converts the AC voltage supplied from the external power source 800 via the power supply cable 801 into DC voltage and supplies power to the battery cell 1. Specifically, one end of the power supply cable 801 is electrically connected to the external power source 800. A power plug 802 is disposed at the other end of the power supply cable 801. On the other hand, the charger 3 has a charging connector 31. The charging connector 31 can be detachably connected to the power plug 802. Furthermore, in this disclosure, detachable means that it can be removed and installed. The charging connector 31 is electrically connected to the power supply cable 801 by connecting to the power plug 802. Thus, the battery cell 1 can be charged.

[0040] Inverter 614 converts the DC voltage supplied from battery cell 1 via PDU 613 into AC voltage and supplies it to electric motor 2. As a result, electric motor 2 rotates. The supply of AC voltage (current) from inverter 614 to electric motor 2 is based on rotation commands output from system controller 612.

[0041] PDU613 is a power output unit that controls the battery cell 1, and controls the input and output of power in the battery cell 1 by controlling the internal battery relay. Preferably, as in this embodiment, PDU613 is positioned in front of the battery cell 1. This allows for the optimal configuration of the power supply unit including the battery cell 1 and PDU613. Furthermore, a high-voltage PDU613 can be positioned in a location where the possibility of collision with obstacles and damage is minimal during the operation of the upper rotating body 400.

[0042] Storage unit 611 is a non-temporary storage medium that retains storage even when the power supply is interrupted. Storage unit 611 stores various programs and information used in the various components of the hydraulic excavator 100 (such as system controller 612).

[0043] The system controller 612 is composed of an electronic control unit, also known as an ECU (electronic control unit). Based on programs and information stored in the storage unit 611, the system controller 612 controls the components of the hydraulic excavator 100 that require control. For example, such as... Figure 2 As shown, the system controller 612 controls the electric motor 2, BMU12, inverter 614, etc.

[0044] <1-3-2. Structure of Hydraulic Systems>

[0045] Hydraulic pump 701 is driven by electric motor 2 and supplies working oil from reservoir 702, which contains (stores) working oil, to control valve 703. Reservoir 702 is a working oil tank that contains (stores) working oil. Control valve 703 has multiple directional switching valves to control the flow (flow direction and flow rate, etc.) of the working oil pumped from hydraulic pump 701. For example, control valve 703 supplies the working oil to hydraulic actuator 704 and hydraulic motor 705, etc. Hydraulic actuator 704 includes, for example, boom cylinder 304, stick cylinder 305, bucket cylinder 306, etc. Hydraulic motor 705 includes, for example, left and right travel motors 202, swing motor 403, etc.

[0046] <1-3-3. Locking mechanism 5 of cover component 4>

[0047] In addition, the upper rotating body 400 of the hydraulic excavator 100 also has a cover component 4, a locking mechanism 5, and a detection unit 6 (see reference). Figure 1 and Figure 2 (etc.). In addition, the locking mechanism 5 and the detection unit 6 together with the storage unit 611 and the system controller 612 constitute the control system 102.

[0048] The cover component 4 is part of the housing of the engine block that covers the engine compartment 404 and is closably connected relative to the engine cover 405. Figure 3This is a perspective view of the upper rotating body 400 with the cover component 4 closed. Figure 4 This is a perspective view of the upper rotating body 400 with the cover component 4 open. Furthermore, in Figure 3 and Figure 4 In order to facilitate understanding of the structure, the illustration of a portion of the upper rotating body 400 (such as the outer shell of the control room surrounding the driver's seat 4011) has been omitted. Figure 3 and Figure 4 As shown, the cover component 4 covers the charging connector 31 in the closed state. Furthermore, in this embodiment, the charging connector 31 is an example of the "accessible part (101)" of the present invention. However, this example does not preclude the possibility that the accessible part 101 is not a structure of the charging connector 31. For example, the accessible part 101 can be any component disposed inside the engine compartment (e.g., engine compartment 404). In this way, compared to the case where the accessible part 101 is disposed outside the engine compartment, easy access to the accessible part 101 can be prevented. Therefore, accidents during access to the accessible part 101 can be prevented more effectively.

[0049] Cover component 4 has an opening 41 through which the power supply cable 801 can be inserted (see reference). Figure 2 The opening 41 connects the interior of the machine body (e.g., engine compartment 404) to the outside. In this embodiment, the opening 41 is a recess located at the lower end of the cover member 4. This recess is recessed towards the outside of the machine body. That is, the lower end of the bottom surface of the recess is located outside the machine body closer to the engine cover 405. Thus, the lower end of the recess opens to the outside of the machine body. Furthermore, the shape of the opening 41 is not limited to this example. The opening 41 may not be a recess as described above, or it may not be located at the lower end of the cover member 4. For example, the opening 41 may be a through hole that extends from one side of the surface and back of the cover member 4 to the other side. In addition, the opening 41 is only large enough for the power cable 801 to be inserted.

[0050] The locking mechanism 5 is disposed on the cover part 4 and can be locked when the cover part 4 is closed relative to the engine cover 405. Figure 5A and Figure 5B This is a schematic diagram of the locking mechanism 5 as viewed from the inside of the cover component 4. Figure 5A This is a schematic diagram of the locking mechanism 5 in the locked state. Figure 5B This is a schematic diagram of the locking mechanism 5 in the unlocked state.

[0051] like Figure 5A and Figure 5BAs shown, the locking mechanism 5 comprises a lock cylinder 51, a hook 52, and an engaging component 53. The lock cylinder 51 is the locking device for the cover component 4, and the locking (locking) and unlocking (unlocking) of the cover component 4 are switched by rotating the key inserted through the keyhole (not shown). The hook 52 can rotate about axis J in conjunction with the rotation of the key. Furthermore, axis J can be the rotation axis of the key rotation operation, or an axis parallel to the rotation axis. The engaging component 53 is fixed to any one of the three components: the body frame 402, the engine hood 405, and the component disposed in the engine compartment 404, and can engage with the hook 52.

[0052] When the locking mechanism 5 is locked, the hook 52 rotates in the circumferential direction with respect to axis J, as shown. Figure 5A As shown, it engages with the engaging component 53. Therefore, when it is desired to open the cover component 4, the hook 52 is hooked onto the engaging component 53, thus preventing the cover component 4 from rotating and opening.

[0053] On the other hand, when the locking mechanism 5 is unlocked, the hook 52 rotates in the opposite circumferential direction with respect to axis J, such as Figure 5B As shown, it no longer engages with the engaging component 53. Therefore, when the cover component 4 is to be opened, since the hook 52 is not hooked on the engaging component 53, the cover component 4 can rotate and open.

[0054] For example, in this embodiment, such as Figure 5A and Figure 5B As shown, the hook 52 has a base 521, an extension 522, and a front end 523. The base 521 is a plate-shaped member extending in a direction intersecting the axis J, and is disposed on the back side of the cover member 4. The extension 522 extends from the outer extension of the base 521 in at least a direction parallel to the axis J. The front end 523 extends from the front end of the extension 522 in a direction perpendicular to the axis J and the radial direction based on the axis J (or in a circumferential direction based on the axis J).

[0055] Additionally, the engaging member 53 has an L-shaped portion. For example, the engaging member 53 has a support portion 531 and a bending portion 532. The support portion 531 extends at least in a direction parallel to axis J and supports the bending portion 532. The bending portion 532 extends from the front end of the support portion 531 in the bending direction (e.g., upward). When the hook 52 engages with the engaging member 53, the front end portion 523 hooks onto the bending portion 532 (see reference). Figure 5A ).

[0056] Preferably, the outer edge of the front end portion 523 on the cover member 4 side extends in a manner that approaches the cover member 4 side as it moves away from the extension portion 522, that is, it tilts towards the cover member 4 side as it moves away from the extension portion 522. In this way, when the hook 52 engages with the engaging member 53, the front end portion 523 can be hooked onto the bend portion 532 more reliably and stably.

[0057] Next, the detection unit 6 detects whether the locking mechanism 5 is locked or unlocked. In this embodiment, the detection unit 6 has a limit switch 61. The limit switch 61 detects contact with the hook 52 and outputs the detection result to the system controller 612. The limit switch 61 is fixed to any one of the following: the body frame 402, the engine hood 405, or a component disposed in the engine compartment 404.

[0058] In this embodiment, the limit switch 61 is positioned to contact the hook 52 when the locking mechanism 5 is locked. For example, in Figure 5A and Figure 5B In the middle, the limit switch 61 is disposed on the left side of the bent portion 532 of the engaging component 53.

[0059] When locking mechanism 5 is locked, such as Figure 5A As shown, the hook 52, rotating in one direction, contacts the limit switch 61 and presses the limit switch 61 with its front end 523. Correspondingly, the limit switch 61 outputs a detection signal of the hook 52 being pressed to the system controller 612. On the other hand, when the locking mechanism 5 is unlocked, the hook 52, rotating in the other direction, moves away from the limit switch 61 and does not press the limit switch 61. Therefore, the limit switch 61 stops outputting the aforementioned detection signal to the system controller 612. Alternatively, the limit switch 61 may also output a signal to the system controller 612 indicating that no pressing of the hook 52 has been detected.

[0060] In addition, Figure 5A In this example, when the locking mechanism 5 is about to be unlocked, the limit switch 61 contacts the front end of the front end 523. However, the configuration of the limit switch 61 is not limited to this example.

[0061] For example, limit switch 61 can also be like Figure 5A As shown by the dashed line, the limit switch 61a is positioned to contact the outer edge of the front end portion 523 opposite to the cover member 4 when the locking mechanism 5 is about to be unlocked. Alternatively, the limit switch 61 may also be positioned to contact the radial outer end face of the front end portion 523 (based on axis J) when the locking mechanism 5 is about to be unlocked. Figure 5A The lower surface is the contact point. Alternatively, the limit switch 61 can also be positioned on the right side of the bend 532.

[0062] Alternatively, not limited to the above example, the limit switch 61 may also be configured to contact and be pressed with the hook 52 that rotates in the opposite circumferential direction when the locking mechanism 5 is about to be unlocked.

[0063] For example, limit switch 61 can also be like Figure 5BAs shown by the dashed line, the limit switch 61b is positioned on the radial outer end face of the front end 523 (based on axis J) when the locking mechanism 5 is about to be unlocked. Figure 5B The position where the right surface contacts the device. Alternatively, limit switch 61 can also be used as follows: Figure 5B As shown by the dashed line, the limit switch 61c is positioned to contact the upper end of the extension 522 when the locking mechanism 5 is about to be unlocked. Alternatively, the limit switch 61 may also be positioned to contact the right surface of the extension 522 when the locking mechanism 5 is about to be unlocked.

[0064] In these situations, when the locking mechanism 5 is about to be unlocked, the limit switch 61 outputs a detection signal of the hook 52 being pressed, based on its contact with the hook 52. Conversely, when the locking mechanism 5 is about to be locked, the hook 52, rotating in one direction, moves away from the limit switch 61 and does not press the limit switch 61. Therefore, the limit switch 61 stops outputting the aforementioned detection signal to the system controller 612. Alternatively, the limit switch 61 may also output a signal to the system controller 612 indicating that no pressing of the hook 52 has been detected.

[0065] <1-4. Drive Control of Hydraulic Excavator 100>

[0066] Next, the hydraulic excavator 100 uses the electric motor 2, which is powered by the battery unit 1, as its drive source. Within the hydraulic excavator 100, the designated accessed part 101 can be accessed by releasing the locking mechanism 5. Furthermore, when the locking mechanism 5 is released, the electric motor 2 becomes inoperable.

[0067] In this way, when the locking mechanism 5 is in the released state, the driving and rotation of the hydraulic excavator 100 are prevented. Therefore, accidents can be prevented during access to the accessed part 101. For example, the components accessing the accessed part 101 will not be affected by the driving of the hydraulic excavator 100, thus preventing damage to the accessed part 101 and its components. In addition, the driving of the hydraulic excavator 100, such as its driving and rotation, can prevent the operation of personnel accessing the accessed part 101 from being affected. For example, contact accidents and electric shock accidents (described later) caused by the driving of the hydraulic excavator 100 can be prevented.

[0068] Furthermore, in this embodiment, accessing the accessed portion 101 includes connecting the power supply cable 801 to the charging connector 31 for charging the battery cell 1. That is, the accessed portion 101 may also be the charging connector 31. In addition, the component accessing the accessed portion 101 may also be the power supply cable 801 (or the power plug 802). However, this example does not exclude the possibility that the accessed portion 101 is not a structure of the charging connector 31, and that the component accessing the accessed portion 101 is not a structure of the power supply cable 801 (or the power plug 802).

[0069] In this embodiment, when the locking mechanism 5 is in the released state, the driving and rotation of the hydraulic excavator 100 are prevented. Therefore, accidents can be prevented during access to the charging connector 31, the end of the power cable 801 (or the power plug 802). For example, the aforementioned driving of the hydraulic excavator 100 is prevented when connecting the charging connector 31 to the end of the power cable 801 (or the power plug 802). This prevents the power cable 801 from being stepped on during driving, or from tension acting on the power cable 801 in response to driving or rotation. Furthermore, accidents involving personnel can be prevented due to the driving and rotation of the hydraulic excavator 100. For example, accidents involving contact between the hydraulic excavator 100 and personnel, and electric shock accidents to personnel caused by contact with the charging connector 31, the end of the power cable 801 (or the power plug 802). Therefore, accidents can be prevented during the charging operation of the battery unit 1.

[0070] The following is an example of the drive control of the hydraulic excavator 100 described above. Figure 6 This is a flowchart illustrating an example of the drive control of a hydraulic excavator 100. Furthermore, Figure 6 The processing begins simultaneously with the start of the hydraulic excavator 100's drive.

[0071] First, based on the detection results of the detection unit 6, the system controller 612 determines whether the locking mechanism 5 is in a locked (locked) state or an unlocked (unlocked) state (step S101).

[0072] When the device is in a locked state (No in step S101), the system controller 612 determines whether the end of the power supply cable 801 (power plug 802) is connected to the charging connector 31 (step S102). If it is not connected (No in step S102), the system controller 612 makes the electric motor 2 drivable (step S103). Then, Figure 6 The processing proceeds to step S106.

[0073] On the other hand, when the motor is in the unlocked state ("Yes" in step S101), and even when it is in the locked state, if the end of the power supply cable 801 (power plug 802) is connected to the charging connector 31 ("Yes" in step S102), the system controller 612 makes the electric motor 2 in an inoperable state (step S104). Furthermore, the means of making the electric motor 2 inoperable are not particularly limited. For example, the system controller 612 can control the rotational speed of the electric motor 2 to 0, or it can stop the power supply to the electric motor 2. Alternatively, a stop component (not shown) can be used to stop the rotation of the output shaft of the electric motor 2.

[0074] Additionally, the system controller 612 can also report warnings (step S105). For example, the system controller 612 can control the display unit 4013 (see reference 4013) located in the control unit 401. Figure 5A and Figure 5B The warning display can be implemented, or a warning sound can be output from the sound output unit not shown in the diagram. Then, Figure 6 The processing proceeds to step S106.

[0075] Next, if the drive of the hydraulic excavator 100 does not stop ("No" in step S106), then Figure 6 The process returns to step S101. On the other hand, if the drive of the hydraulic excavator 100 has stopped ("Yes" in step S106), then... Figure 6 The processing is now complete.

[0076] <2. Remarks>

[0077] The embodiments of the present invention have been described above. Furthermore, those skilled in the art will understand that the above embodiments are illustrative and various modifications can be made to the combination of their constituent elements and processes, and these modifications are included within the scope of the present invention.

[0078] <3. Summary>

[0079] The following is a summary description of the previously described implementation methods.

[0080] For example, the control method disclosed in this specification has the following structure (first structure).

[0081] The above-described control method is a control method for a work machine 100 driven by an electric motor 2 powered by a battery unit 1, and includes:

[0082] By releasing the locking mechanism 5, access can be made to the designated accessed part 101; and

[0083] When the locking mechanism 5 is in the released state, the electric motor 2 is in an inoperable state.

[0084] The control method for the first structure described above can also be the following structure (second structure).

[0085] The access to the accessed part 101 includes connecting the power supply cable 801 to the charging connector 31 for charging the battery unit 1.

[0086] Alternatively, the control method for the second structure described above can also be the following structure (third structure).

[0087] It also features that when the power supply cable 801 is connected to the charging connector 31, the electric motor 2 is in an inoperable state.

[0088] In addition, the control method for any of the first to third structures mentioned above can also be the following structure (fourth structure).

[0089] The accessed part 101 is located inside the machine body.

[0090] In addition, the control method for any of the first to fourth structures mentioned above can also be the following structure (fifth structure).

[0091] The accessed part 101 is covered by a cover 4 equipped with the locking mechanism 5, which can be opened and closed.

[0092] Components that access the accessed part 101 (e.g., power cable 801) pass through the opening 41 of the cover component 4.

[0093] In addition, the control system 102 disclosed in this specification has the following structure (sixth structure).

[0094] The control system 102 described above implements the control method of any one of the first to fifth structures described above, and has the following features:

[0095] Is the detection locking mechanism 5 in detection section 6 locked or unlocked?

[0096] When the detection unit 6 detects the release of the locking mechanism 5, the control unit 612 makes the electric motor 2 in an inoperable state.

[0097] Alternatively, the control system 102 of the sixth structure described above can also be the following structure (seventh structure).

[0098] The accessed part 101 has a charging connector 31 for charging the battery unit 1.

[0099] The charging connector 31 described above can be connected to the power supply cable 801.

[0100] In addition, the operating machine 100 disclosed in this specification has the following structure (eighth structure).

[0101] A control system 102 having the aforementioned sixth or seventh structure.

[0102] Alternatively, the working machine 100 of the eighth structure mentioned above can also be of the following structure (ninth structure).

[0103] The aforementioned working machine 100 is equipped with the aforementioned locking mechanism 5 and a cover component 4 that can be opened and closed to cover the accessed part 101.

[0104] The cover component 4 has an opening 41 through which a component (e.g., power cable 801) that accesses the accessed part 101 passes.

[0105] Industrial applicability

[0106] This invention can be used, for example, in construction machinery, agricultural machinery, and other operating machinery.

Claims

1. A control method for a working machine driven by an electric motor powered by a battery cell, wherein, have: By unlocking the mechanism, access can be granted to the designated accessed departments; and When the locking mechanism is in the unlocked state, the electric motor is in an inoperable state.

2. The control method according to claim 1, wherein, The access to the accessed part includes connecting a power supply cable to a charging connector for charging the battery cell.

3. The control method according to claim 2, wherein, It also features that when the power supply cable is connected to the charging connector, the electric motor becomes in an inoperable state.

4. The control method according to claim 1, wherein, The accessed part is located inside the machine body.

5. The control method according to claim 1, wherein, The accessed part is covered by a cover component equipped with the locking mechanism, which can be opened and closed. The component that accesses the accessed part passes through the opening of the cover component.

6. A control system that implements the control method according to any one of claims 1 to 5, wherein, have: The testing department is checking whether the testing locking mechanism is locked or unlocked; and The control unit, when the detection unit detects the release of the locking mechanism, makes the electric motor in an inoperable state.

7. The control system according to claim 6, wherein, The accessed part has a charging connector for charging the battery cell. The charging connector can be connected to the power supply cable.

8. A type of operating machinery, wherein, It has the control system described in claim 6.

9. The operating machinery according to claim 8, wherein, The operating machinery includes the locking mechanism and a cover component that can be opened and closed to cover the accessed part. The cover component has an opening through which a component accessing the accessed portion passes.

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