Control method for work machine, control program for work machine, control system for work machine, and work machine

Abstract

The present application provides a work machine control method, a work machine control program, a work machine control system, and a work machine that easily prevent component damage. The control method of a work machine (3) is a control method of a work machine (3) provided with a secondary battery (50) and a motor (41) driven by the electric power of the secondary battery (50). The control method has the following steps: starting the motor (41) by a start operation; and limiting the start of the motor (41) regardless of whether the start operation is performed or not in a case where a start condition is not satisfied. The start condition includes a first condition related to the state of charge of the secondary battery (50).

Description

Technical Field

[0001] This invention relates to a control method for a work machine equipped with a secondary battery and an electric motor, a control program for the work machine, a control system for the work machine, and the work machine itself. Background Technology

[0002] As a related technology, it is known to have working machinery (electric construction machinery) that includes an electric motor (electric motor) as a power source for driving a hydraulic pump and a secondary battery (rechargeable battery) that supplies power to the electric motor (see, for example, Patent Document 1). The working machinery involved in the related technology has a charging mode in which the secondary battery is charged using power from an external power source via a power cable connected to a power supply port when the working machinery is parked.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2022-67276 Summary of the Invention

[0006] In the aforementioned related technologies, for example, after the secondary battery is charged in charging mode, if the operator forgets to disconnect the power cable from the power supply port and causes the machine to perform an operation, it may result in damage to the power cable and other components.

[0007] The purpose of this invention is to provide a control method, a control program, a control system, and a machine for operating machinery that easily prevents damage to components.

[0008] One aspect of the present invention relates to a control method for a work machine equipped with a secondary battery and an electric motor powered by the secondary battery. The control method includes the steps of: starting the electric motor by a start-up operation; and restricting the starting of the electric motor regardless of whether the start-up operation is performed if a start-up condition is not met. The start-up condition includes a first condition related to the charging state of the secondary battery.

[0009] One aspect of the present invention relates to a control program for a work machine that is used to cause one or more processors to execute a control method for the work machine.

[0010] One aspect of the present invention relates to a control system for a work machine equipped with a secondary battery and an electric motor powered by the secondary battery, and includes a start-up processing unit and a restriction processing unit. The start-up processing unit starts the electric motor via a start-up operation. If a start-up condition is not met, the restriction processing unit restricts the start-up of the electric motor regardless of whether the start-up operation is performed. The start-up condition includes a first condition related to the charging state of the secondary battery.

[0011] One aspect of the present invention relates to a working machine comprising: a control system for the working machine; and a body, wherein the secondary battery and the electric motor are mounted on the body.

[0012] Invention Effects

[0013] According to the present invention, a control method for operating machinery, a control program for operating machinery, a control system for operating machinery, and operating machinery can be provided that easily prevents damage to components. Attached Figure Description

[0014] Figure 1 This is a schematic perspective view showing the overall structure of the working machinery involved in Embodiment 1.

[0015] Figure 2 This is a schematic diagram showing the hydraulic circuit and the like of the working machine according to Embodiment 1.

[0016] Figure 3 This is a flowchart illustrating an example of the operation of the control system for the work machinery according to Embodiment 1.

[0017] Figure 4 This is a schematic diagram illustrating the states of the control system for the work machinery as described in Embodiment 1 and the states of the control system for the work machinery as described in Embodiment 1.

[0018] Figure 5 This is a flowchart illustrating an example of the operation of the control system for the work machinery according to Embodiment 1.

[0019] Explanation of reference numerals in the attached figures

[0020] 1: Control system (control device) for operating machinery; 3: Operating machinery; 12: Start-up processing unit; 13: Limiting processing unit; 22: Relay; 30: Machine body; 41: Electric motor; 50: Secondary battery; AC1: External power supply; Si3: Start-up signal. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. These embodiments are merely examples embodying the present invention and are not intended to limit the scope of the invention.

[0022] (Implementation Method 1)

[0023] [1] Overall structure

[0024] like Figure 1 As shown, the working machine 3 according to this embodiment includes a traveling section 31, a rotating section 32, and a working section 33 in its body 30. Furthermore, as... Figure 2 As shown, the operating machinery 3 also includes a control system 1 for the operating machinery (hereinafter also referred to as "control system 1"). In addition, as... Figure 2 As shown, the machine body 30 also includes an operating device 35, a start switch 36, a charging stop switch 37, a motor 41, and a secondary battery 50.

[0025] The term "operating machinery" as used in this disclosure refers to various types of machinery used for operations. For example, it includes backhoe excavators (including hydraulic excavators, mini excavators, etc.), wheel loaders, and conveyors. The operating machinery 3 has an operating section 33 configured to perform one or more operations. The operating machinery 3 is not limited to "vehicles," and may also include, for example, operating vessels, drones, or multi-rotor aircraft. Furthermore, the operating machinery 3 is not limited to construction machinery; it may also include, for example, agricultural machinery such as rice transplanters, tractors, or combine harvesters. In this embodiment, unless otherwise specified, the operating machinery 3 is a backhoe excavator with a suspension function (with a crane function). Examples of applications where it can perform excavation, ground leveling, trenching, or loading operations, in addition to suspension operations, will be provided.

[0026] In this embodiment, for ease of explanation, the vertical direction when the work machine 3 can be used is defined as the up-down direction D1. Furthermore, in the non-rotating state of the rotating unit 32, the forward-backward direction D2 and the left-right direction D3 are defined based on the direction observed from the user (operator) riding in the work machine 3 (driving unit 321). In other words, all directions used in this embodiment are defined based on the body 30 of the work machine 3; the direction in which the body 30 moves when the work machine 3 moves forward is "forward," and the direction in which the body 30 moves when the work machine 3 moves backward is "rearward." Similarly, the direction in which the front end of the body 30 moves when the work machine 3 turns right is "right-side," and the direction in which the front end of the body 30 moves when the work machine 3 turns left is "left-side." However, the above directions do not limit the direction of use of the work machine 3 (the direction during use).

[0027] At least a portion of the drive mechanism that generates power in the work machinery 3 according to this embodiment is electrified. In this embodiment, as an example, the work machinery 3 has a drive mechanism that includes an electric motor 41 (see reference...) Figure 2 An electric work machine whose power source is composed of an electric motor 41. The electric motor 41 generates power by receiving a supply of electricity (electric energy). More specifically, the electric motor 41 is an AC motor (AC electric motor) driven by alternating current.

[0028] The electric motor 41 is powered by the secondary battery 50 mounted on the fuselage 30 (see reference). Figure 2 The motor 41 receives an electrical supply to perform its actions. The power generated in the motor 41 is used at least to drive the hydraulic pump 42 of the device (see reference). Figure 2 Driven by ).

[0029] In the machine tool 3, as described above, the hydraulic pump 42 is driven by the electric motor 41, and the hydraulic pump 42 supplies working oil to the hydraulic actuators (including the hydraulic motor 43 and the hydraulic cylinder 44, etc.) of various parts of the machine body 30, thereby driving the machine body 30. In addition, for example, the user (operator) riding in the driving unit 321 of the machine body 30 operates the operating levers and the like of the operating device 35 to control the machine tool 3.

[0030] In this embodiment, as described above, it is envisioned that the working machine 3 is a passenger-type backhoe excavator. Therefore, the working unit 33 is driven by the operation of the user (operator) riding in the driver's unit 321 to perform tasks such as digging. The driver's unit 321, in which the user rides, is located in the slewing unit 32. Figure 1 In the example shown, a driver's unit 321 of the awning type is illustrated, but the driver's unit 321 is preferably of the cab type. The cab-type driver's unit 321 has a cab, and the user sits in the cab space inside the cab. The awning-type driver's unit 321 has an awning (roof), and the user sits in the space below the awning. Furthermore, the driver's unit 321 is not limited to the cab type or the awning type; for example, it may also be a floor type where the user sits in an open space above, without a cab or awning.

[0031] The traveling unit 31 has a traveling function and is configured to travel on the ground (including turning). The traveling unit 31 has, for example, a pair of left and right tracks 311 and scrapers 312. The traveling unit 31 also has a hydraulic motor 43 (hydraulic actuator) for driving the tracks 311.

[0032] The slewing unit 32 is located above the traveling unit 31 and is configured to rotate relative to the traveling unit 31 about a rotation axis in the vertical direction. The slewing unit 32 includes a hydraulic motor (hydraulic actuator) for rotation. In addition to the driving unit 321, the slewing unit 32 is also equipped with an electric motor 41 and a hydraulic pump 42. Furthermore, a boom bracket 322 for mounting the working unit 33 is provided at the front end of the slewing unit 32.

[0033] The working unit 33 is configured to perform operations including suspension operations. The working unit 33 performs operations supported by the boom bracket 322 of the slewing unit 32. The working unit 33 includes a bucket 331, a boom 332, and a stick 333. The working unit 33 also includes hydraulic actuators (including hydraulic cylinders 44 and hydraulic motors) for driving each part.

[0034] Bucket 331 is an accessory (working component) installed on the body 30 of the working machinery 3, and is composed of any implement selected from various accessories according to the work content. For example, bucket 331 is detachably installed on the body 30 and can be replaced according to the work content. As accessories for the working machinery 3, for example, besides bucket 331, there are various implements such as breaker, auger, crusher, forklift, forklift, rebar cutter, asphalt cutter, lawnmower, ripper, mulcher, tilting rotary, and tamper. The working unit 33 uses power from the drive unit to drive bucket 331 to perform the work.

[0035] The boom 332 is supported by the boom bracket 322 of the slewing section 32 and is rotatable. Specifically, the boom 332 is supported by the boom bracket 322 and is rotatable about a horizontal axis of rotation. The boom 332 has a shape that extends upward from the base end supported by the boom bracket 322. The stick 333 is connected to the end of the boom 332. The stick 333 is supported relative to the boom 332 and is rotatable about a horizontal axis of rotation. A bucket 331 is mounted at the end of the stick 333.

[0036] The work unit 33 receives power from the electric motor 41, which serves as a power source, to perform actions. Specifically, the electric motor 41 drives the hydraulic pump 42, which in turn supplies working oil to the hydraulic actuators (hydraulic cylinders 44, etc.) of the work unit 33, thereby causing the various parts of the work unit 33 (bucket 331, boom 332, and stick 333) to perform actions.

[0037] In this embodiment, the working unit 33 has a multi-joint structure in which the boom 332 and the stick 333 are each configured to rotate. That is, the boom 332 and the stick 333 rotate about a rotation axis in the horizontal direction, so that the multi-joint working unit 33 as a whole, including the boom 332 and the stick 333, can be stretched or folded.

[0038] Similar to the operating unit 33, the traveling unit 31 and the rotating unit 32 receive power from the electric motor 41, which serves as the power source, to perform their operations. That is, the hydraulic pump 42 supplies working oil to the hydraulic motor 43 of the traveling unit 31 and the hydraulic motor of the rotating unit 32, thereby causing the rotating unit 32 and the traveling unit 31 to perform their operations.

[0039] The electric motor 41 is mounted on the rotating part 32 along with the hydraulic pump 42. The electric motor 41 is driven by power supplied from the secondary battery 50, which is also mounted on the rotating part 32.

[0040] exist Figure 2 The diagram schematically illustrates the electrical connections and hydraulic circuit of the machine tool 3 involved in this embodiment. Figure 2 In the diagram, thick solid lines indicate the electrical path (the path of the high-voltage system), solid lines indicate the path of the electrical signal (the path of the low-voltage system), solid lines indicate the high-pressure (working oil) oil circuit, and dashed lines indicate the low-pressure (pilot oil) oil circuit. Additionally, the thick arrow between the electric motor 41 and the hydraulic pump 42 indicates the power transmission path.

[0041] like Figure 2 As shown, the hydraulic system equipment includes hydraulic pump 42 and hydraulic motor 43. Figure 2 Based on the hydraulic cylinder 44 (illustrations omitted), the working machine 3 also includes a remote control valve 45, a direction switching valve (control valve) 46, a pilot pump 47, and a control valve 48. Furthermore, the working machine 3 includes a cut-off switch 461, a cut-off rod 462, a signal processing circuit 2, a motor 41, a secondary battery 50, a charger 51, and an inverter 52.

[0042] Working oil from the hydraulic pump 42 driven by the electric motor 41 is supplied to the hydraulic motor 43 of the traveling part 31, the hydraulic motor of the rotating part 32, and the hydraulic cylinder 44 of the working part 33. This drives the hydraulic actuators such as the hydraulic motor 43 and the hydraulic cylinder 44.

[0043] The hydraulic actuator, such as the hydraulic cylinder 44, is equipped with a pilot-operated directional switching valve 46 that can switch the direction and flow rate of the working oil from the hydraulic pump 42. Pilot oil, which serves as the input command, is supplied from the pilot pump 47 to drive the directional switching valve 46.

[0044] Here, for example, a remote control valve 45 is provided in the supply line that supplies pilot oil to the direction switching valve 46 corresponding to the hydraulic cylinder 44 of the working unit 33. The remote control valve 45 outputs the operation command of the working unit 33 according to the operation of the operating device 35 (operating lever). The operation command instructs the working unit 33 to perform actions such as unfolding and retracting.

[0045] Similarly, a remote control valve is also provided in the supply line that supplies pilot oil to the direction switching valve corresponding to the hydraulic motor 43 of the traveling unit 31. This remote control valve outputs a traveling operation command for the traveling unit 31 based on the operation of the operating device 35. The traveling operation command instructs the traveling unit 31 to perform a traveling action (forward or backward, etc.). Furthermore, a remote control valve is also provided in the supply line that supplies pilot oil to the direction switching valve corresponding to the hydraulic motor of the slewing unit 32. This remote control valve outputs a slewing operation command for the slewing unit 32 based on the operation of the operating device 35. The slewing operation command instructs the slewing unit 32 to perform a slewing action (left turn or right turn, etc.).

[0046] Control valve 48 is an electromagnetic control valve (solenoid valve) inserted between remote control valve 45 and pilot pump 47. Control valve 48 is connected to a power source via a shut-off switch 461 and operates according to the current supplied from the power source. Control valve 48 is configured here as a (solenoid) proportional control valve, but is not limited to this; for example, it could also be an on / off valve capable of switching the opening / closing of the flow path.

[0047] When the control valve 48 is energized, i.e., supplied with current as a control signal, it opens the pilot oil flow path; when it is de-energized, i.e., the current as the control signal is cut off, it cuts off the pilot oil flow path. Therefore, by cutting off the current (control signal) supplied to the control valve 48, the hydraulic actuator (hydraulic cylinder 44, etc.) corresponding to the remote control valve 45 cannot be driven, and the hydraulic actuator is forcibly stopped regardless of whether the operating device 35 is operated.

[0048] The cut-off switch 461 is linked to the cut-off lever 462. The cut-off lever 462 is located in the control section 321 of the machine body 30 and receives operation input from the user (operator). In this embodiment, as an example, the cut-off lever 462 can be operated in the vertical direction D1. If the cut-off lever 462 is in the "raised position," which is the upper end of its movable range, the cut-off switch 461 is "disconnected," and if the cut-off lever 462 is in the "lowered position," which is the lower end of its movable range, the cut-off switch 461 is "connected." Furthermore, the cut-off switch 461 is connected to the control system 1, and the control system 1 monitors the connection / disconnection of the cut-off switch 461, i.e., the operating state of the cut-off lever 462. Specifically, the cut-off switch 461 generates a cut-off signal Si2 (electrical signal) according to its connection or disconnection and outputs it to the control system 1.

[0049] Therefore, if the cutting lever 462 is in the "lowered position," the control valve 48 becomes energized, and the hydraulic actuator (hydraulic cylinder 44, etc.) is driven by the operation of the operating device 35. Conversely, if the cutting lever 462 is in the "raised position," the control valve 48 becomes de-energized, and the hydraulic actuator is forcibly stopped regardless of whether the operating device 35 is operated. Therefore, in order to drive the hydraulic actuator (hydraulic cylinder 44, etc.), the user (operator) needs to operate the cutting lever 462 to the "lowered position."

[0050] Furthermore, the traveling unit 31 and the rotating unit 32 also operate by supplying working oil to the hydraulic actuators (hydraulic motor 43, etc.) from the hydraulic pump 42. Therefore, if the cutting lever 462 is in the "raised position," the traveling unit 31 and the rotating unit 32 cannot be driven. That is, if the cutting lever 462 is in the "raised position," the working unit 33, the traveling unit 31, and the rotating unit 32 are all forced into an inoperable state.

[0051] In this embodiment, the state of the cutting rod 462 when it is in the "raised position," i.e., when it cannot operate the working machine 3, is defined as the "locked state." On the other hand, the state of the cutting rod 462 when it is in the "lowered position," i.e., when it can operate the working machine 3, is defined as the "locked-out state."

[0052] In summary, when the cut-off switch 461 is open, it is in a "locked state" that restricts (including prohibits) the operation of the machine tool 3, and when it is closed, it is in a "lock-out state" that does not restrict the operation of the machine tool 3. Furthermore, if the cut-off lever 462 is in the "raised position" and the cut-off switch 461 is in the locked state (open), the operation of the machine tool 3 is forcibly restricted regardless of whether the operating device 35 is operated. The cut-off lever 462 is the lever operated when the operation of the machine tool 3 is restricted (e.g., locked), and has the same meaning as a latch locking lever.

[0053] The operating device 35 is a user interface located in the driving section 321 of the machine body 30 and used to receive operation input from the user (operator). The operating device 35 includes, for example, a joystick, and the remote control valve 45 is controlled according to the amount of operation of the joystick. Thus, the operator can operate the operating device 35 to make the remote control valve 45 work, and indicate the direction and flow rate of the working oil from the hydraulic pump 42 to make the machine 3 perform actions.

[0054] The start switch 36 is located on the driving section 321 of the machine body 30 and is operated by the user (operator) when the machine 3 is started. During the period when the start switch 36 is off, the machine body 30 (including the traveling section 31, the rotating section 32, and the working section 33) is not in a state where it operates according to the operation of the operating device 35; instead, it is in a state where the start switch 36 is turned on and the machine body 30 operates according to the operation of the operating device 35. In this embodiment, as an example, the start switch 36 is linked to the lock cylinder and is turned on by starting the motor 41 using a key. The start switch 36 generates a start signal Si3 (electrical signal) according to its operation (start operation) and outputs it to the control system 1.

[0055] The charging stop switch 37 is a switch operated by the user (operator) to stop charging of the secondary battery 50. If the charging stop switch 37 is operated while the charger 51 is charging the secondary battery 50, charging of the secondary battery 50 will be forcibly stopped regardless of whether charging of the secondary battery 50 is complete. The charging stop switch 37 is, for example, located in the pilot section 321 of the machine body 30. The charging stop switch 37 generates a charging stop signal Si4 (electrical signal) according to its operation (charging stop operation) and outputs it to the control system 1.

[0056] The motor 41 is an AC motor driven by AC power supplied from the inverter 52. The inverter 52 is electrically connected to the secondary battery 50 and converts the DC voltage, which is the output voltage of the secondary battery 50, into AC voltage. The output terminals of the inverter 52 are electrically connected to the motor 41. Therefore, the inverter 52 converts the DC voltage applied from the secondary battery 50 into AC voltage and outputs it to the motor 41, thereby supplying three-phase AC power to the motor 41 and driving the motor 41 as an AC motor. The inverter 52 is controlled by a control signal from the control system 1, and performs the DC-to-AC power conversion operation according to the control signal.

[0057] The secondary battery 50 is an example of a "power source" that supplies DC power to the inverter 52 and the like. The secondary battery 50 is an energy storage device (battery) capable of being charged and discharged; in this embodiment, it is, for example, a lithium-ion battery. In this embodiment, the secondary battery 50 is mounted on the work machine 3 in a replaceable manner, but it is not necessary for the secondary battery 50 to be replaceable.

[0058] The input terminal of the charger 51 can be electrically connected to an external power source AC1 via the connection device 53. The output terminal of the charger 51 is electrically connected to a secondary battery 50. In this embodiment, as an example, the external power source AC1 is an AC power source such as a commercial power source, and the external power source AC1 is not included in the structural elements of the machine tool 3. The connection device 53 is a device having a connector 531 for a power supply cable C1 electrically connected to the external power source AC1, and a power supply port 532 electrically connected to the charger 51, wherein the power supply cable C1 (the connector 531) is detachably connected to the power supply port 532. Specifically, the power supply port 532 is a connector for connecting to the charger 51 via a cable, and the charger 51 is electrically connected to the external power source AC1 by connecting to the connector 531 of the power supply cable C1.

[0059] Therefore, with the power supply cable C1 (connector 531) connected to the power supply port 532, the charger 51 converts the AC voltage supplied from the external power source AC1 into DC voltage and applies it to the secondary battery 50 to charge it. The charger 51 is controlled by a control signal from the control system 1, and performs the AC-to-DC power conversion operation according to the control signal. In addition, the charger 51 has a remaining capacity monitor function to monitor the remaining capacity of the secondary battery 50, and outputs a remaining capacity signal related to the remaining capacity of the secondary battery 50 to the control system 1.

[0060] Here, the operating machine 3 has the function of monitoring the connection status of the external power source AC1 relative to the charger 51 (i.e., the presence or absence of power supply from the external power source AC1). In this embodiment, as an example, the monitoring function is installed at the power supply port 532, and the connection status of the external power source AC1 relative to the charger 51 is monitored based on the connection status of the power supply cable C1 (connector 531) relative to the power supply port 532. According to the monitoring function, in this embodiment, the connection device 53 generates a connection monitoring signal Si1 (electrical signal) indicating the monitoring result and outputs it to the control system 1.

[0061] Furthermore, the operating temperature range of the secondary battery 50 is determined by the temperature range suitable for charging and / or discharging. Therefore, the machine tool 3, as a device for temperature management of the secondary battery 50, includes a cooling device, a heater, and a temperature sensor. The cooling device is used to cool the secondary battery 50, and the heater is used to heat the secondary battery 50.

[0062] However, a signal processing circuit 2 is inserted between the start switch 36 and the control system 1, i.e., in the input path from the start signal Si3 to the control system 1. The monitoring signal Si1 and the cutoff signal Si2 are connected and input to the signal processing circuit 2. The signal processing circuit 2 includes a logic AND circuit 21 and a relay 22.

[0063] The logic AND circuit 21 is a circuit that outputs the logical sum of two input signals. Here, the monitoring signal Si1 and the cutoff signal Si2 are input to the logic AND circuit 21, and the logic AND circuit 21 outputs the logical sum of the monitoring signal Si1 and the cutoff signal Si2. That is, if both the monitoring signal Si1 and the cutoff signal Si2 are at a low level (L), then the output of the logic AND circuit 21 is at a low level (L); if at least one of the monitoring signal Si1 and the cutoff signal Si2 is at a high level (H), then the output of the logic AND circuit 21 is at a high level (H).

[0064] Relay 22 is, for example, an electromagnetic relay. Here, the coil of relay 22 is electrically connected between the output terminal of logic and circuit 21 and the ground circuit. Therefore, if the output of logic and circuit 21 is at level H, the coil of relay 22 is driven. The contacts of relay 22 are inserted between start switch 36 and control system 1. Therefore, if the contacts of relay 22 are closed (conducting state), the input path of the start signal Si3 between start switch 36 and control system 1 is open. On the other hand, if the contacts of relay 22 are open (disconnecting state), the input path of the start signal Si3 between start switch 36 and control system 1 is disconnected. In this embodiment, as an example, relay 22 is a "b-contact relay" whose contacts are open when the coil is energized.

[0065] The control system 1, for example, is based on a computer system with one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory) to perform various processes (information processing). In this embodiment, the control system 1 is a comprehensive controller that controls the entire machine 3, and is, for example, composed of an electronic control unit (ECU). However, the control system 1 can be set up separately from the comprehensive controller, or it can be based on one or more processors.

[0066] Here, signal processing circuit 2 is part of control system 1. Control system 1 is described in detail in the section “[2] Structure of control system”.

[0067] In addition to the aforementioned structure, the machine body 30 also includes a drive unit and a communication terminal. The drive unit is a device for supplying power to the accessories of the work unit 33, and is composed of a power take-off (PTO) device (mechanism) for extracting power from the electric motor 41 as power for driving the accessories made of hydraulic equipment. Furthermore, the machine body 30 includes cameras for taking pictures around the machine body 30, and various sensors (including cameras) for monitoring objects in the monitoring area around the work machine 3.

[0068] [2] Structure of the control system

[0069] Next, refer to Figure 2 The structure of the control system 1 according to this embodiment will be described. The control system 1 controls various parts of the machine body 30 of the work machine 3 (including the charger 51, inverter 52, and connection device 53, etc.). The control system 1 is a structural element of the work machine 3 and together with the machine body 30, it constitutes the work machine 3. In other words, the work machine 3 according to this embodiment at least includes the control system 1 and the machine body 30 (including the traveling part 31, the rotating part 32, and the working part 33) for mounting the secondary battery 50 and the electric motor 41.

[0070] Control system 1 is used for the control of the operating machinery 3, such as Figure 2 As shown, the system includes an acquisition processing unit 11, a start processing unit 12, and a restriction processing unit 13. In this embodiment, as an example, the control system 1 is mainly structured as a computer system with one or more processors. Therefore, one or more processors execute the control program for the working machine to realize the above-mentioned multiple functional units (acquisition processing unit 11, etc.). The above-mentioned multiple functional units included in the control system 1 can be distributed in multiple housings or can be provided in one housing.

[0071] The control system 1 is configured to communicate with devices installed in various parts of the housing 30. Specifically, at least the start switch 36, charging stop switch 37, disconnect switch 461, control valve 48, charger 51, inverter 52, and connection device 53 are connected to the control system 1. Thus, the control system 1 can control the charger 51 and inverter 52, or acquire start signals Si3 from the start switch 36, charging stop signals Si4 from the charging stop switch 37, connection monitoring signals Si1 from the connection device 53, or remaining capacity signals from the charger 51. Here, the control system 1 can directly transmit and receive various information (data) with each device, or indirectly transmit and receive various information (data) with the aid of repeaters or the like.

[0072] The acquisition processing unit 11 performs the following acquisition process: periodically or irregularly acquiring various data from the machine body 30, including a start signal Si3 from the start switch 36, a charging stop signal Si4 from the charging stop switch 37, a connection monitoring signal Si1 from the connection device 53, and a remaining capacity signal from the charger 51. That is, the acquisition processing unit 11 acquires detection results (detection values) from various sensors (including switch and monitoring functions), including data such as the start-up operation of the motor 41 and the connection status of the external power supply AC1 relative to the charger 51. In this embodiment, the acquisition processing unit 11 also acquires data from the machine body 30 indicating the temperature of the working oil (working oil temperature), etc. The data acquired by the acquisition processing unit 11 is stored, for example, in a memory.

[0073] The start-up processing unit 12 performs a start-up process that starts the motor 41 through a start-up operation. The start-up processing unit 12 basically uses a key to start the motor 41. If the acquisition processing unit 11 receives a start signal Si3 from the start switch 36, it starts the motor 41. Here, the start-up processing unit 12 controls the inverter 52 to start the motor 41 when the motor 41 is stopped.

[0074] The restriction processing unit 13 performs the following restriction processing: if the starting conditions are not met, the starting of the motor 41 is restricted regardless of whether a starting operation is performed. That is, if a starting operation of the motor 41 is performed, the starting processing unit 12 basically starts the motor 41; however, if the starting conditions are not met, the restriction processing unit 13 restricts the starting of the motor 41. The term "restriction" as used in this disclosure means limiting something, including not only complete prohibition but also all situations where some kind of restriction is implemented. The restriction processing unit 13 may simply "restrict" the starting of the motor 41, or it may restrict the starting of the motor 41 by starting the motor 41 after setting an upper limit on the speed of the motor 41. In this embodiment, as an example, the restriction processing unit 13 restricts the starting of the motor 41 by prohibiting the starting of the motor 41.

[0075] Thus, in this embodiment, even if the motor 41 is started, the motor 41 is not always running; sometimes the starting of the motor 41 is restricted (including "prohibited"). If the starting conditions are met, the motor 41 will start if the starting operation is performed; if the starting conditions are not met, the starting of the motor 41 will be restricted (prohibited in this embodiment) even if the starting operation is performed, and the motor 41 will not start.

[0076] In addition to the above-described structure, the control system 1 also includes a charging processing unit that controls the charger 51 to charge the secondary battery 50, a control processing unit that controls the body 30 according to the operation of the control lever, etc., and a storage unit.

[0077] [3] Control methods for operating machinery

[0078] The following is for reference Figures 3-5 An example of a control method (hereinafter referred to as "control method") for the operating machinery 3, which is mainly executed by the control system 1, will be described.

[0079] The control method described in this embodiment is executed by a control system 1, which is primarily based on a computer system. Therefore, in other words, it is implemented using a control program for the working machinery (hereinafter referred to as the "control program"). Specifically, the control program described in this embodiment is a computer program used to cause one or more processors to execute the various processes involved in the control method. This control program can, for example, be executed collaboratively by the control system 1 and a display device.

[0080] Here, when the control system 1 performs a specific start operation pre-set for executing the control program, it executes the various processes involved in the control method. The start operation is, for example, starting the machine 3, or turning on the main switch. On the other hand, when the control system 1 performs a specific end operation pre-set, it terminates the various processes involved in the control method. The end operation is, for example, stopping the machine 3, or turning off the main switch.

[0081] [3.1] Charging action

[0082] First, the operation (charging operation) related to the charging of the secondary battery 50 in the control method involved in this embodiment will be described in detail.

[0083] In this embodiment, as described above, when the power supply cable C1 (connector 531) is connected to the power supply port 532, the working machine 3 is configured to supply power to the charger 51 from the external power source AC1. In this state, if the secondary battery 50 is not fully charged and the charging conditions such as the temperature of the secondary battery 50 being within the operating temperature range are met, the control system 1 controls the charger 51 to charge the secondary battery 50 (changing to "charging mode"). Furthermore, if the secondary battery 50 is fully charged, the charging conditions are not met, therefore, the control system 1 controls the charger 51 to end the charging of the secondary battery 50. In this embodiment, when the power supply cable C1 (connector 531) is connected to the power supply port 532, the operation of the machine body 30 (including the traveling part 31, the rotating part 32, and the working part 33) is prohibited in the working machine 3.

[0084] The "charging conditions" mentioned in this disclosure refer to conditions related to the charging state of the secondary battery 50, such as the connection state of the external power supply AC1 relative to the charger 51, the charging rate of the secondary battery 50, and the temperature of the secondary battery 50. The control system 1 can control the charger 51 to charge the secondary battery 50 only when the charging conditions are met. That is, if the charging conditions are not met, the secondary battery 50 cannot be charged.

[0085] In this embodiment, as an example, the charging conditions include the charger 51 being electrically connected to the external power source AC1, the secondary battery 50 not being fully charged, and the temperature of the secondary battery 50 being within its operating temperature range. The control system 1 can only charge the secondary battery 50 if all of the above-mentioned (here, three) charging conditions are met. The charging conditions are not limited to these; for example, they may also include the power supply port 532 being open, and power actually being supplied to the charger 51 from the external power source AC1.

[0086] Furthermore, if a pre-set specific charging stop operation is performed during the charging of the secondary battery 50, charging will stop even if the secondary battery 50 is not fully charged. During the charging of the secondary battery 50, if the connection between the power supply port 532 and the power cable C1 (connector 531) is locked, this charging stop operation can release the lock and disconnect the connection between the power supply port 532 and the power cable C1 (connector 531). Here, as an example, the charging stop operation is set as a pressing operation of the charging stop switch 37 (which can be a physical switch or a virtual switch displayed on the display device).

[0087] Figure 3 This is a flowchart illustrating an example of the processes involved in a charging operation.

[0088] like Figure 3 As shown, the control system 1 first determines whether the charger 51 is electrically connected to the external power supply AC1 (S1). If the connection monitoring signal Si1 obtained by the acquisition and processing unit 11 from the connection device 53 indicates that the power cable C1 (connector 531) and the power port 532 are "connected", the control system 1 determines that the charger 51 is connected to the external power supply AC1 (S1: Yes) and transfers the processing to step S2. On the other hand, if the connection monitoring signal Si1 indicates that the power cable C1 (connector 531) and the power port 532 are "not connected", the control system 1 determines that the charger 51 is not connected to the external power supply AC1 (S1: No) and transfers the processing to step S6 to end charging.

[0089] In step S2, the control system 1 determines whether the secondary battery 50 is fully charged. If the control system 1 determines that the secondary battery 50 is fully charged based on the remaining capacity signal obtained by the acquisition processing unit 11 from the charger 51 (S2: Yes), the process proceeds to step S6, which ends the charging process. On the other hand, if the control system 1 determines that the secondary battery 50 is not fully charged based on the remaining capacity signal (S2: No), the control system 1 proceeds to step S3.

[0090] In step S3, the control system 1 determines whether a charging stop operation has been performed. If the charging stop switch 37 has been pressed, the control system 1 determines that a charging stop operation has been performed (S3: Yes), and the process proceeds to step S6 to end charging. On the other hand, if the charging stop switch 37 has not been pressed, the control system 1 determines that a charging stop operation has not been performed (S3: No), and the process proceeds to step S4.

[0091] In step S4, the control system 1 determines whether other charging conditions are met. In this embodiment, in addition to the charger 51 being electrically connected to the external power supply AC1 (S1: Yes) and the secondary battery 50 not being fully charged (S2: No), the charging conditions also include the secondary battery 50 being within its operating temperature range. Therefore, in step S4, as an other charging condition, the control system 1 at least determines whether the temperature of the secondary battery 50 is within its operating temperature range.

[0092] If the control system 1 determines, based on the temperature signal acquired by the acquisition and processing unit 11 from the temperature sensor, that the temperature of the secondary battery 50 is within the operating temperature range, i.e., other charging conditions are met (S4: Yes), then the process proceeds to step S5, which involves performing charging. On the other hand, if the control system 1 determines, based on the temperature signal, that the temperature of the secondary battery 50 is not within the operating temperature range, i.e., other charging conditions are not met (S4: No), then the control system 1 proceeds to step S6, which involves ending charging.

[0093] In step S5, the control system 1 activates the charger 51 to charge the secondary battery 50. In step S6, the control system 1 controls the charger 51 to stop charging the secondary battery 50 and terminates the series of processes.

[0094] In summary, when all charging conditions are met—namely, the charger 51 is electrically connected to the external power source AC1 (S1: Yes), the secondary battery 50 is not fully charged (S2: No), and the temperature of the secondary battery 50 is within its operating temperature range (S4: Yes)—the control system 1 performs charging of the secondary battery 50 (S5). On the other hand, if any of the above charging conditions are not met, the control system 1 does not perform charging of the secondary battery 50 (S6).

[0095] Control system 1 repeatedly executes steps S1 to S6 above. However, Figure 3 The flowchart shown is just one example; you may add or omit processes as appropriate, or change the order of processes as appropriate.

[0096] [3.2] Start-up Action

[0097] First, the operation (starting operation) related to the starting of the motor 41 in the control method involved in this embodiment will be described in detail.

[0098] In this embodiment, as described above, when the starting conditions are met, the starting processing unit 12 of the control system 1 starts the motor 41 through a starting operation. The starting operation is the closing operation of the starting switch 36, which is linked to the lock cylinder.

[0099] If the electric motor 41 starts, it drives the hydraulic pump 42. Therefore, the hydraulic pump 42 supplies working oil to the hydraulic actuators (including the hydraulic motor 43 and hydraulic cylinder 44, etc.) of various parts of the machine body 30, enabling the machine body 30 to perform actions. On the other hand, if the starting conditions are not met, the restriction processing unit 13 of the control system 1 restricts (in this embodiment, prohibits) the starting of the electric motor 41, regardless of whether the starting operation of the electric motor 41 is performed.

[0100] The "starting conditions" referred to in this disclosure are the conditions required for the motor 41 to start. The control system 1 can control the inverter 52 to start the motor 41 only if the starting conditions are met. That is, if the starting conditions are not met, the motor 41 cannot be started.

[0101] In this embodiment, as an example, the activation conditions include a first condition related to the charging state of the secondary battery 50 and a second condition related to the locking operation for restricting the movement of the working machinery 3. The "first condition" referred to herein is the condition related to the charging state of the secondary battery 50; in this embodiment, as an example, it includes the power supply cable C1 (connector 531) and power supply port 532 being "not connected." The "second condition" referred to herein is the condition related to the locking operation; in this embodiment, as an example, it includes the cutting lever 462 being in the "raised position."

[0102] That is, in this embodiment, the starting conditions include the working machine 3 (power supply port 532) not being connected to the external power supply AC1 (first condition) and the cutting lever 462 being in the "raised position" (second condition). The control system 1 can start the motor 41 only if both the first and second conditions are met. The starting conditions are not limited to these, and may include, for example, an operator riding in the driving unit 321 and the absence of any monitored objects (such as a "person") around the machine body 30.

[0103] In summary, the control method according to this embodiment includes the following steps: starting the motor 41 by a start operation; and restricting the starting of the motor 41 regardless of whether a start operation is performed if the start conditions are not met. Here, the start conditions include a first condition related to the charging state of the secondary battery 50. That is, the start conditions are not met if the first condition is not met, therefore, even if the start switch 36 is turned on (start operation), the starting of the motor 41 is restricted (prohibited).

[0104] That is, if a start-up operation is performed, the motor 41 will not start unconditionally. If the start-up conditions are not met, the start-up of the motor 41 can be restricted even if a start-up operation is performed. Therefore, for example, after the secondary battery 50 has been charged in charging mode, if the operator performs an operation on the machine tool 3 without disconnecting the power cable C1 (connector 531) from the power supply port 532, the start-up of the motor 41 can be restricted. Thus, for example, it is possible to avoid the machine tool 3 performing an operation while the power cable C1 is connected to the power supply port 532, and damage to components such as the power cable C1 is less likely.

[0105] As a result, a control method, a control program for the machine, a control system 1, and the machine 3 are provided that can easily prevent damage to components.

[0106] More specifically, such as Figure 4 As shown, the control system 1 in this embodiment switches the relay 22 of the signal processing circuit 2 when the start-up conditions are met and when the start-up conditions are not met.

[0107] In this embodiment, when the first condition is met, i.e., the power supply cable C1 (connector 531) is not connected to the power supply port 532, the connection monitoring signal Si1 from the connection device 53 is at level L. When the first condition is not met, i.e., the power supply cable C1 (connector 531) is connected to the power supply port 532, the connection monitoring signal Si1 from the connection device 53 is at level H. Similarly, in this embodiment, when the second condition is met, i.e., the cut-off lever 462 is in the "raised position", the cut-off signal Si2 from the cut-off switch 461 is at level L. When the second condition is not met, i.e., the cut-off lever 462 is in the "lowered position", the cut-off signal Si2 from the cut-off switch 461 is at level H.

[0108] That is, when both the first and second conditions included in the start-up conditions are met, the connection monitoring signal Si1 and the cutoff signal Si2 input to the logic and circuit 21 of the signal processing circuit 2 are both at low level. Therefore, the output of the logic and circuit 21 is at low level, the contacts of the relay 22 are closed (conducting state), and the input path of the start signal Si3 between the start switch 36 and the control system 1 is open.

[0109] Therefore, if the start switch 36 is turned on (start operation) when the start conditions are met, a start signal Si3 is input to the control system 1 through the signal processing circuit 2. As a result, the control system 1 starts the motor 41 according to the start operation.

[0110] On the other hand, if at least one of the first and second conditions included in the start-up conditions is not met, then at least one of the connection monitoring signal Si1 and the cutoff signal Si2 input to the logic and circuit 21 of the signal processing circuit 2 will be at level H. Therefore, the output of the logic and circuit 21 will be at level H, the contacts of the relay 22 will be open (off state), and the input path of the start signal Si3 between the start switch 36 and the control system 1 will be cut off.

[0111] Therefore, if the starting conditions are not met, and the start switch 36 is turned on (start operation), the start signal Si3 is cut off in the signal processing circuit 2. As a result, the starting of the motor 41 is restricted (prohibited) regardless of whether a start operation is performed.

[0112] Thus, in the control method of this embodiment, the secondary battery 50 is charged while the working machine 3 is electrically connected to the external power supply AC1. The first condition includes when the working machine 3 is not connected to the external power supply AC1.

[0113] Therefore, for example, after the secondary battery 50 is fully charged in charging mode, even if the operator wants to operate the machine 3 without disconnecting the power cable C1 from the power supply port 532, the starting of the motor 41 is restricted because the first condition is not met. Thus, for example, it is possible to avoid the machine 3 operating while the power cable C1 is connected to the power supply port 532, making it less likely to cause damage to components such as the power cable C1.

[0114] Furthermore, in the control method of this embodiment, the motor 41 is started by inputting a start signal Si3 to a control device (control system 1) that controls the motor 41 according to a start operation. If at least the first condition is not met, the start signal Si3 is not input to the control device (control system 1) even if a start operation is performed, thereby restricting the start of the motor 41. Therefore, if the first condition is not met, the input of the start signal Si3 to the control device (control system 1) that controls the motor 41 will not occur, thus restricting the start of the motor 41 even if a start operation is performed.

[0115] Furthermore, in this embodiment, the relay 22, which is connected to the input path of the start signal Si3 input to the control device (control system 1), is configured to not input the start signal Si3 to the control device (control system 1) even when a start operation is performed. Therefore, the start signal Si3 can be cut off by controlling the relay 22, thus eliminating the input of the start signal Si3 to the control device (control system 1) itself, even though the start signal Si3 is generated according to the start operation.

[0116] Furthermore, in this embodiment, the motor 41 is started by inputting a start signal Si3 to the control device (control system 1) that controls the motor 41 according to the start operation. At least regarding the first condition, the determination is made during the period from the start operation until the start signal Si3 is input to the control device (control system 1).

[0117] Specifically, in the signal processing circuit 2 located on the input path of the start signal Si3 to the control device (control system 1), the logic circuit 21 determines whether the first condition is met based on the connection monitoring signal Si1 from the connection device 53. Therefore, it determines whether to input the start signal Si3 to the control device (control system 1) based on the connection monitoring signal Si1 at the time when the start operation is performed and the start signal Si3 is input. Thus, it is possible to determine whether to restrict (prohibit) the start of the motor 41 based on the situation at the time when the start operation is performed.

[0118] Furthermore, in the control method of this embodiment, the starting condition includes a second condition related to the locking operation used to restrict the movement of the machine tool 3. That is, the starting condition includes a first condition and a second condition. Moreover, if at least one of the first condition and the second condition included in the starting condition is not met, the starting of the motor 41 is restricted (prohibited) even if the start switch 36 is turned on (start operation).

[0119] Thus, for example, when the operation of the machine tool 3 is not restricted by locking operation, the starting of the motor 41 can be restricted. For example, the operation of the machine tool 3 can be prevented from performing operations when the power supply cable C1 is connected to the power supply port 532, making it difficult to cause damage to components such as the power supply cable C1.

[0120] Here, the determination of the first condition and the second condition in the startup conditions are performed using the same method. In this embodiment, the logic and circuit 21 of the two-way signal processing circuit 2 are input to the connection monitoring signal Si1 related to the first condition and the cutoff signal Si2 related to the second condition. Therefore, both the first condition and the second condition can be determined using the same method based on the H / L level of the signals in the signal processing circuit 2. This simplifies the structure used for determining the first and second conditions.

[0121] Figure 5 This is a flowchart illustrating an example of the processes involved in the startup action.

[0122] like Figure 5 As shown, the system first determines whether a start operation has been performed (S11). If a start operation has been performed (S11: Yes), a start signal is output from the start switch 36.

[0123] In steps S12 and S13, the signal processing circuit 2 of the control system 1 determines whether the first condition and the second condition are met. If the connection monitoring signal Si1 of the logic AND circuit 21 input to the signal processing circuit 2 is at level L, it is determined that the first condition is not met (S12: No), and the control system 1 transfers the processing to step S15. If the connection monitoring signal Si1 of the logic AND circuit 21 input to the signal processing circuit 2 is at level H, it is determined that the first condition is met (S12: Yes), and the control system 1 transfers the processing to step S13.

[0124] If the cutoff signal Si2 of the logic AND circuit 21 input to the signal processing circuit 2 is at level L, it is determined that the second condition is not met (S13: No), and the control system 1 transfers the processing to step S15. If the cutoff signal Si2 of the logic AND circuit 21 input to the signal processing circuit 2 is at level H, it is determined that the second condition is met (S13: Yes), and the control system 1 transfers the processing to step S14.

[0125] In step S14, the start-up processing unit 12 of the control system 1 controls the inverter 52 to start the motor 41. In step S15, the restriction processing unit 13 of the control system 1 restricts (prohibits) the start-up of the motor 41.

[0126] In summary, when both conditions are met—the power supply cable C1 (connector 531) is not connected to the power supply port 532 (S12: Yes) and the cut-off lever 462 is in the "raised position" (S13: Yes)—the control system 1 starts the motor 41 according to the start operation (S11: Yes) (S14). On the other hand, if either of the above start conditions is not met, the motor 41 will not be started even if the control system 1 performs the start operation (S11: Yes) (S15).

[0127] Control system 1 repeatedly executes the above steps S11 to S15. However, Figure 5 The flowchart shown is just one example; you may add or omit processes as appropriate, or change the order of processes as appropriate.

[0128] [4] Variations

[0129] Hereinafter, variations of Embodiment 1 are listed. The variations described below can be appropriately combined and applied.

[0130] The control system 1 of this disclosure includes a computer system. The computer system has one or more processors and one or more memories as its main structure. The functions of the control system 1 of this disclosure are realized by the processor executing programs recorded in the computer system's memory. The programs can be pre-recorded in the computer system's memory, provided via electrical communication lines, or provided via non-temporary recording media such as memory cards, optical discs, and hard disk drives that can be read by the computer system. Furthermore, some or all of the functional units included in the control system 1 can be constructed using electronic circuits.

[0131] Furthermore, integrating at least a portion of the functions of control system 1 into a single housing is not essential for control system 1; the structural elements of control system 1 can be distributed across multiple housings. Conversely, in embodiment 1, functions distributed across multiple devices can also be integrated into a single housing. Moreover, at least a portion of the functions of control system 1 can be implemented via the cloud (cloud computing) or similar technologies.

[0132] Furthermore, the power source of the work machine 3 is not limited to the electric motor 41. The work machine 3 can be, for example, a hybrid-type work machine with multiple power sources, including an engine (internal combustion engine) that generates power through fuel combustion and the electric motor 41, in its drive mechanism. In this case, the electric motor 41 and the engine are driven separately and generate power independently. Here, the power generated in the electric motor 41 and the power generated in the engine can be combined in the power transmission section; for example, the electric motor 41 can assist the engine to generate greater power than the engine alone. Moreover, the power source of the work machine 3 may not include the electric motor 41. In this case, the electricity from the secondary battery 50 is used in electrical loads (such as air conditioning equipment or lighting devices) other than the electric motor 41 mounted on the work machine 3.

[0133] Furthermore, the determination of the first and second conditions in the start-up conditions can be performed using different methods. For example, the first condition can be determined using the signal processing circuit 2, while the second condition can be determined using software via the restriction processing unit 13 of the control system 1. Conversely, the second condition can be determined using the signal processing circuit 2, while the first condition can be determined using software via the restriction processing unit 13 of the control system 1. In this way, by performing the determination of the first and second conditions using different methods, a method suitable for each condition can be used for determination.

[0134] Furthermore, restricting the starting of motor 41 regardless of whether a starting operation is performed when the starting conditions are not met is not limited to cutting off the starting signal Si3 input to the control system 1 (not accepting the starting signal Si3). For example, it can also be configured such that although the acquisition processing unit 11 of the control system 1 acquires the starting signal Si3, the restriction processing unit 13 does not start motor 41, thereby restricting the starting of motor 41 regardless of whether a starting operation is performed.

[0135] Furthermore, the control method of the aforementioned working machine 3 is not limited to the working machine 3; it can also be applied to various vehicles, ships, or aircraft.

[0136] [Postscript to the Invention]

[0137] The following is a summary of the invention derived from the above embodiments. Furthermore, the structures and processing functions described in the following notes can be selected and combined arbitrarily.

[0138] <Postscript 1>

[0139] A control method for a work machine, comprising a secondary battery and an electric motor powered by the electricity from the secondary battery, wherein...

[0140] The control method for the operating machinery includes the following steps:

[0141] The motor is started by a starting operation; and

[0142] Regardless of whether the starting operation is performed, the starting of the motor is restricted if the starting conditions are not met.

[0143] The activation conditions include a first condition related to the charging state of the secondary battery.

[0144] <Appendix 2>

[0145] According to the control method of the operating machinery described in Appendix 1, among which,

[0146] The secondary battery is charged while the operating machinery is electrically connected to an external power source.

[0147] The first condition includes the fact that the operating machinery is not connected to the external power source.

[0148] <Appendix 3>

[0149] According to the control method of the operating machinery described in Appendix 1 or 2, among which,

[0150] The motor is started by inputting a start signal to the control device that controls the motor according to the start operation.

[0151] If at least the first condition is not met, the start signal is not input to the control device even if the start operation is performed, thereby restricting the start of the motor.

[0152] <Appendix 4>

[0153] According to the control method of the operating machinery described in Appendix 3, among which,

[0154] A relay connected to the input path that inputs the start signal to the control device is configured to not input the start signal to the control device even when the start operation is performed.

[0155] <Appendix 5>

[0156] According to the control method of the operating machinery described in any of the appendices 1 to 4, among which,

[0157] The motor is started by inputting a start signal to the control device that controls the motor according to the start operation.

[0158] At least regarding the first condition, the determination is made during the period from the start operation until the start signal is input to the control device.

[0159] <Appendix 6>

[0160] According to the control method of the operating machinery described in any of the appendices 1 to 5, among which,

[0161] The activation conditions include a second condition related to a locking operation used to restrict the movement of the machine.

[0162] <Appendix 7>

[0163] According to the control method of the operating machinery described in Appendix 6, among which,

[0164] The determination of the first condition and the second condition in the startup conditions shall be performed in the same manner.

[0165] <Appendix 8>

[0166] According to the control method of the operating machinery described in Appendix 6, among which,

[0167] The determination of the first condition and the second condition in the startup conditions can be performed using different methods.

[0168] <Appendix 9>

[0169] A control program for a work machinery, wherein,

[0170] The control program for the operating machinery is used to enable one or more processors to execute the control method for the operating machinery described in any of the appendices 1 to 8.

Claims

1. A control method for a work machine, comprising a secondary battery and an electric motor driven by the power of the secondary battery, wherein, The control method for the operating machinery includes the following steps: The motor is started by a starting operation; and Regardless of whether the starting operation is performed, the starting of the motor is restricted if the starting conditions are not met. The activation conditions include a first condition related to the charging state of the secondary battery.

2. The control method for the operating machinery according to claim 1, wherein, The secondary battery is charged while the operating machinery is electrically connected to an external power source. The first condition includes the fact that the operating machinery is not connected to the external power source.

3. The control method for the operating machinery according to claim 1 or 2, wherein, The motor is started by inputting a start signal to the control device that controls the motor according to the start operation. If at least the first condition is not met, the start signal is not input to the control device even if the start operation is performed, thereby restricting the start of the motor.

4. The control method for the operating machinery according to claim 3, wherein, A relay connected to the input path that inputs the start signal to the control device is configured to not input the start signal to the control device even when the start operation is performed.

5. The control method for the operating machinery according to claim 1 or 2, wherein, The motor is started by inputting a start signal to the control device that controls the motor according to the start operation. At least regarding the first condition, the determination is made during the period from the start operation until the start signal is input to the control device.

6. The control method for the operating machinery according to claim 1 or 2, wherein, The activation conditions include a second condition related to a locking operation used to restrict the movement of the machine.

7. The control method for the operating machinery according to claim 6, wherein, The determination of the first condition and the second condition in the startup conditions shall be performed in the same manner.

8. The control method for the operating machinery according to claim 6, wherein, The determination of the first condition and the second condition in the startup conditions can be performed using different methods.

9. A control program for a work machinery, wherein, The control program for the operating machinery is used to enable one or more processors to execute the control method for the operating machinery as described in claim 1 or 2.

10. A control system for a work machinery, wherein, The control system for the operating machinery is used in operating machinery equipped with a secondary battery and an electric motor driven by the power of the secondary battery. The control system for the operating machinery includes: A start-up processing unit that starts the motor through a start-up operation; and The limiting processing unit restricts the starting of the motor regardless of whether the starting operation is performed if the starting conditions are not met. The activation conditions include a first condition related to the charging state of the secondary battery.

11. A type of operating machinery, wherein, The operating machinery includes: The control system for the operating machinery as described in claim 10; and The body houses the secondary battery and the electric motor.

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