Control method for work machine and work machine

Abstract

To provide a control method for an electric work machine, and a work machine capable of issuing an alarm sound caused by an error in a manner suited to a charging environment.SOLUTION: A work machine 1 includes a battery unit 5, a buzzer device 36 that issues a buzzer alert based on a state of mounted equipment, and a control device 9 that controls the buzzer device 36. When the control device 9 controls the buzzer device 36 to issue an alert, if the battery unit 5 is being charged in a specific charging environment, it issues a specific alert with the buzzer in a manner different from a normal alert. The control device 9 determines that the charging environment is specific when the battery unit 5 is being charged in a normal charging mode, which includes at least a normal charging mode and a rapid charging mode.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control method for controlling a working machine that notifies an alarm sound based on the state of mounted devices, and to the working machine thereof.

Background Art

[0002] Conventionally, some working machines are provided with a notification unit that notifies an alarm sound such as a buzzer based on the state of the mounted devices, such as the occurrence of an error. In addition, some working machines are provided with a battery unit that supplies power to each device, and use the power of an electric motor driven by the power from the battery unit to drive an actuator to drive the body or a working implement.

[0003] For example, the electric construction machine disclosed in Patent Document 1 includes a first determination unit that determines whether the single-cell voltage detected by a single-cell voltage detection device for detecting the single-cell voltage of a battery exceeds a preset single-cell voltage threshold value. The electric construction machine also includes a count unit in the first determination unit that counts the number of single cells whose single-cell voltage has exceeded the threshold value, a number storage unit that stores the previous and current numbers counted by the count unit, a subtraction unit that calculates the difference between the current and previous numbers, and a number difference comparison unit that compares the number difference calculated by the subtraction unit with a preset number difference threshold value. When the number difference is greater than the number difference threshold value, the electric construction machine includes a second determination unit that determines the deterioration of each battery by the number difference comparison unit. Further, when it is determined that each battery is deteriorated, the electric construction machine includes an output unit that outputs a deterioration signal.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to ensure electric power that enables an electric working machine to be continuously used for a long time without charging during operation, it takes a long time to charge the battery unit. Therefore, it is assumed that the electric working machine performs normal charging of the battery unit outside of working hours, for example, at night, in a situation where there are no workers around. However, when an error occurs in the mounted equipment while the working machine is charging the battery unit in a situation where there are no workers around, there is a risk that an alarm sound such as a buzzer will continue to sound. In particular, when the charging environment of the working machine at night is an environment such as an urban area where there are people other than workers around, the continuous sounding of the buzzer throughout the night may cause noise damage to the people around. Therefore, there is a possibility that the use of the working machine in an urban area or the like may be shunned by the workers.

[0006] An object of the present invention is to provide a control method for an electric working machine and a working machine capable of notifying an alarm sound caused by an error in a manner according to the charging environment.

Means for Solving the Problems

[0007] In order to solve the above problems, a control method for a working machine according to the present invention is a control method for a working machine including a battery unit, a notification unit that notifies an alarm sound based on the state of the mounted equipment, and a control device that controls the notification unit, wherein when the control device controls the notification unit to notify the alarm sound, when the battery unit is being charged in a specific charging environment, specific notification of the alarm sound is performed in a mode different from normal notification.

[0008] Further, a working machine according to the present invention is a working machine including a battery unit, a notification unit that notifies an alarm sound based on the state of the mounted equipment, and a control device that controls the notification unit, wherein when the control device controls the notification unit to notify the alarm sound, when the battery unit is being charged in a specific charging environment, specific notification of the alarm sound is performed in a mode different from normal notification.

Effects of the Invention

[0009] According to the present invention, it is possible to provide a control method for an electric working machine and a working machine that can notify an alarm sound caused by an error in a manner according to the charging environment.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0011] As an embodiment of the present invention, an electric working machine 1 will be described. First, the overall configuration of the working machine 1 will be described with reference to the drawings. FIG. 1 is a perspective view showing the working machine 1 of the present embodiment.

[0012] The working machine 1 is used, for example, at a construction site, a demolition site, a mine, etc., and performs work such as civil engineering work and construction work according to the operation of an operator. In the present embodiment, the working machine 1 is configured as a hydraulic excavator that performs work such as earth and sand excavation work. The working machine 1 includes a lower traveling body 2, an upper revolving body 3, and a working device 4, and is configured as a working vehicle in which the upper revolving body 3 and the working device 4 are rotatably provided above the lower traveling body 2.

[0013] In particular, in the present embodiment, as shown in FIG. 2, the working machine 1 drives an electric motor 6 with electric power supplied from a battery unit 5, and operates a hydraulic pump 7 as a hydraulic source by the power of the electric motor 6. The working machine 1 supplies the hydraulic oil supplied from the hydraulic pump 7 to each hydraulic actuator via a control valve 8, thereby driving each hydraulic actuator to drive each part of the lower traveling body 2, the upper revolving body 3, and the working device 4. The working machine 1 includes a control device 9 that comprehensively controls each part.

[0014] The lower traveling body 2 includes a pair of left and right crawlers 10, a track frame 11 that supports each crawler 10, and a blade 12 that functions as an earth discharging plate for performing leveling work or the like. The pair of left and right crawlers 10 are supported on both the left and right sides of the track frame 11, and the work machine 1 is traveled and turned by rotating respectively by a pair of left and right traveling motors 10a provided on both the left and right sides of the track frame 11.

[0015] The pair of left and right traveling motors 10a are hydraulic actuators such as hydraulic motors, and are rotationally driven by hydraulic oil supplied from a hydraulic pump 7 and a control valve 8 according to the operation of a pair of traveling levers 18a described later, and rotate the pair of left and right crawlers 10 respectively.

[0016] The track frame 11 supports the pair of left and right crawlers 10 and supports the upper swing body 3 so as to be swingable. The blade 12 is attached to the track frame 11 via a blade arm 12a, and is configured to rotate vertically by a blade cylinder (not shown).

[0017] The upper swing body 3 includes a swing frame 13, an operation unit 14, and a counterweight 15. The upper swing body 3 is mounted with the above-described electric motor 6, hydraulic pump 7, and control valve 8.

[0018] The swing frame 13 is supported by the track frame 11 via a swivel joint (not shown), and the upper swing body 3 is swung with respect to the track frame 11 by rotating by a swing motor 13a provided on the swing frame 13. The swing motor 13a is a hydraulic actuator such as a hydraulic motor, and is rotationally driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8, and rotates the swing frame 13 with respect to the track frame 11.

[0019] The operation unit 14 is provided at the upper part of the slewing frame 13 at the center in the left-right direction of the slewing frame 13. In FIG. 1, an example is shown in which the operation unit 14 is configured in a box-shaped cab type, but in other examples, it may be configured with other enclosures such as a canopy type. The counterweight 15 is attached to the rear side of the operation unit 14 to suppress the bias of the center of gravity of the working machine 1.

[0020] Inside the operation unit 14, in addition to the driver's seat (not shown) on which the operator sits, as shown in FIG. 2, a display device 17 for displaying various information, an operation device 18 for receiving operations regarding the traveling of the lower traveling body 2, the slewing of the upper slewing body 3, the operation of the working machine 4, etc. are provided.

[0021] The display device 17 includes, for example, a monitor (not shown) such as a liquid crystal display, and a display control unit (not shown) for controlling the display of the monitor. The display device 17 displays various screens on the monitor according to the control of the display control unit.

[0022] The display device 17 may display various operation items operably on various screens, and may receive an operation corresponding to the operation item according to the operation of a predetermined operation item. The display device 17 enables the operation of the operation item according to the operation of an input device (not shown) such as a function key or a jog dial. Alternatively, the display device 17 may be configured to be incorporated in a touch panel, and enable the operation of the operation item according to the operation of the position input device of the touch panel. When the operation item is operated, the display device 17 transmits an operation signal indicating the operation of the operation item to the control device 9.

[0023] For example, when an error occurs in the operation or state of each part of the working machine 1, the display device 17 displays a notification of the error on the screen. At this time, the display device 17 may display the error notification in a region specified in advance on the screen, or may display the error notification on a popped-up screen. Note that the display device 17 displays the error notification on the currently displayed screen during the operation of the working machine 1 (for example, during traveling or working), but may turn off the screen during the non-operation of the working machine 1 (for example, during engine stop or charging).

[0024] Further, when the buzzer is being notified by the buzzer device 36 due to an error, the display device 17 operably displays a buzzer stop button for stopping the notification of the buzzer. Note that the display device 17 may display the buzzer stop button for error confirmation on the operation screen of the operation item for error confirmation, or may display the buzzer stop button on the popped-up screen.

[0025] The operating device 18 includes a pair of traveling levers 18a, a boom operation lever 18b, and an arm operation lever 18c as various operation members for operating the operation unit of the working machine 1. The pair of traveling levers 18a, the boom operation lever 18b, and the arm operation lever 18c have, for example, a remote control valve (not shown) that outputs an operation command according to the operation direction and operation amount. By supplying pilot oil to the control valve 8 based on the operation command, the control valve 8 is driven and each hydraulic actuator operates.

[0026] The working machine 4 performs various operations such as earth and sand excavation work, crushing work, and earth discharge work according to the operation of the operator. The working machine 4 is attached to the slewing frame 13 in front of the operation unit 14. In the following description of the working machine 4, the side closer to the upper slewing body 3 is the base end side, and the side farther from the upper slewing body 3 (the side closer to the attachment 22) is the tip end side.

[0027] The working machine 4 includes a boom 20, an arm 21, and an attachment 22. In the present embodiment, an example in which a bucket for excavation work is provided as the attachment 22 of the working machine 4 will be described. However, instead of the bucket, a breaker, an auger, a crusher, a fork, a fork clamp, a steel frame cutter, an asphalt cutter, a lawn mower, a ripper, a mulcher, a tilt rotator, a tamper, etc. may be provided.

[0028] The work machine 4 is driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8, and includes boom cylinders 20a, arm cylinders 21a, and attachment cylinders 22a as hydraulic actuators for driving the boom 20, the arm 21, and the attachment 22, respectively.

[0029] The boom 20 has its base end disposed at the front portion of the swing frame 13 of the upper swing body 3, and the base end is supported by the swing frame 13 so as to be rotatable in the vertical and longitudinal directions (for example, in the front-lower direction or the rear-upper direction). The boom 20 is rotated by a boom cylinder 20a that is hydraulically driven with respect to the swing frame 13. The boom cylinder 20a is driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8 in response to the operation of the boom operation lever 18b.

[0030] The arm 21 has its base end disposed at the tip of the boom 20, and the base end is supported by the boom 20 so as to be rotatable in the vertical and longitudinal directions (for example, in the front-lower direction or the rear-upper direction). The arm 21 is rotated by an arm cylinder 21a that is hydraulically driven with respect to the boom 20. The arm cylinder 21a is driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8 in response to the operation of the arm operation lever 18c.

[0031] The attachment 22 has its base end disposed at the tip of the arm 21, and the base end is supported by the arm 21 so as to be rotatable in the vertical and longitudinal directions (for example, in the front-lower direction or the rear-upper direction). The attachment 22 is rotated by an attachment cylinder 22a that is hydraulically driven with respect to the arm 21. The attachment cylinder 22a is driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8 in response to the operation of the boom operation lever 18b.

[0032] Further, the working machine 4 may include a swing mechanism 24 that enables the working machine 4 to swing in the left - right direction. The swing mechanism 24 pivotally supports the proximal end of the boom 20 in a left - right rotatable manner with respect to the front portion of the swing frame 13 of the upper swing body 3 by a swing rotation shaft (not shown) having the vertical direction as the axial direction. Thereby, the working machine 4 including the boom 20 can swing horizontally with respect to the upper swing body 3 including the swing frame 13.

[0033] The swing mechanism 24 includes a swing cylinder 24a. The swing cylinder 24a is a hydraulic actuator such as a hydraulic motor, and is rotationally driven by hydraulic oil supplied from the hydraulic pump 7 and the control valve 8, and rotates the boom 20 in the left - right direction with respect to the swing frame 13, thereby causing the working machine 4 to perform a swing operation (swing movement) with respect to the upper swing body 3.

[0034] Next, the electrical system configuration of the working machine 1 will be described with reference to FIG. 2. In the electrical system, the power supply wiring is shown by solid lines, and the control signal wiring is shown by dotted lines. Also, the hydraulic oil passage of the hydraulic system is shown by a dashed - dotted line.

[0035] As the electrical system, the working machine 1 includes, in addition to the battery unit 5, the electric motor 6, and the control device 9 described above, a junction box 30, an inverter 31, an in - vehicle charging unit 32, a rapid charging unit 33, a DC / DC converter 34, a low - voltage battery 35, a display device 17, a buzzer device 36, an illuminance sensor 37, a human detection device 38, a camera 39, and other electrical components.

[0036] The battery unit 5 includes a plurality of battery lines (not shown) and a battery control unit 5a. The plurality of battery lines are connected in parallel to form a power supply circuit and are further connected to the junction box 30. Each battery line includes one or more batteries made of a lithium-ion battery or the like. The battery control unit 5a is composed of a BMU (Battery Management Unit) that includes a computer such as a CPU (Central Processing Unit) to control the battery unit 5, and controls the power input and output to each battery line by switching the connection or disconnection of each battery line to the power supply circuit.

[0037] The junction box 30 connects the battery unit 5 and each part of the work machine 1. The power output from the battery unit 5 is supplied to each part via the junction box 30. Also, the power charged from the in-vehicle charging unit 32 or the rapid charging unit 33 to the battery unit 5 is input to the battery unit 5 via the junction box 30. The inverter 31, the DC / DC converter 34, the in-vehicle charging unit 32, and the rapid charging unit 33 are connected to the junction box 30.

[0038] The inverter 31 is connected to the electric motor 6, converts the DC power supplied from the battery unit 5 via the junction box 30 into AC power, and supplies it to the electric motor 6. The supply of AC power from the inverter 31 to the electric motor 6 is performed according to a control signal from the control device 9.

[0039] The electric motor 6 is composed of a permanent magnet motor, an induction motor, or the like, rotates according to the power supplied from the battery unit 5 via the junction box 30 and the inverter 31, and outputs rotational power. The electric motor 6 is connected to the hydraulic pump 7 and outputs rotational power to the hydraulic pump 7 to operate the hydraulic pump 7.

[0040] The in-vehicle charging unit 32 charges the battery unit 5 with AC power supplied from an external power source 60 such as a commercial power source. For example, it includes an in-vehicle charger (not shown) connected to the junction box 30 and an in-vehicle charging connector (not shown) connected to the in-vehicle charger. When the in-vehicle charging connector is connected to the external power source 60, the in-vehicle charging unit 32 converts the AC power (e.g., an AC voltage of 100V to 240V) supplied from the external power source 60 via the in-vehicle charging connector into DC power by the in-vehicle charger, and supplies it to the battery unit 5 via the junction box 30 to charge the battery unit 5.

[0041] The rapid charging unit 33 charges the battery unit 5 with power supplied from an external rapid charger 61 at an output larger than that of the in-vehicle charging unit 32. For example, it includes a rapid charging connector (not shown) connected to the junction box 30. When the rapid charging connector is connected to the rapid charger 61, the rapid charging unit 33 supplies the DC power (e.g., a DC voltage of 75V to 100V) supplied from the rapid charger 61 via the rapid charging connector to the battery unit 5 via the junction box 30 to charge the battery unit 5.

[0042] The DC / DC converter 34 steps down the high-voltage (e.g., 300V) DC power supplied from the battery unit 5 via the junction box 30 to a low voltage (e.g., 12V) and supplies it to each part of the work machine 1. For example, it supplies low-voltage power to the display device 17, the low-voltage battery 35, the buzzer device 36, the illuminance sensor 37, the human detection device 38, the camera 39, and other electrical components.

[0043] The low-voltage battery 35 stores the power supplied from the DC / DC converter 34. The low-voltage battery 35 is connected to the control device 9 and supplies power to the control device 9 in order to operate the control device 9 regardless of the power supply from the battery unit 5.

[0044] The buzzer device 36 is a notification unit for warning sounds that operates under the control of a control signal from the control device 9 to sound the buzzer as a warning sound. The buzzer device 36 starts the buzzer notification based on a control signal indicating the start of the buzzer notification, and also ends the buzzer notification based on a control signal indicating the end of the buzzer notification. That is, the buzzer device 36 has its buzzer sound time (notification time) controlled by a control signal from the control device 9, and continues to sound the buzzer unless instructed to end the notification. The buzzer device 36 is configured to be able to adjust the volume of the buzzer to be notified, and notifies the buzzer at a volume corresponding to a control signal from the control device 9.

[0045] The illuminance sensor 37 detects the illuminance around the working machine 1 and transmits the detection result to the control device 9.

[0046] The human detection device 38 is composed of an infrared sensor or the like and detects the presence of people around the working machine 1, and transmits the detection result to the control device 9.

[0047] The camera 39 captures an image around the working machine 1 and transmits the captured surrounding image to the control device 9. The control device 9 can determine the presence of people around the working machine 1 based on the surrounding image received from the camera 39.

[0048] Next, the control device 9 will be described. The control device 9 is an ECU (Electronic Control Unit) including a computer such as a CPU (Central Processing Unit), and integrally controls the working machine 1.

[0049] The control device 9 includes a storage medium (not shown) such as a ROM or a RAM that stores programs and data used for controlling each part and various functions of the working machine 1, and executes arithmetic processing based on the programs and data stored in the storage medium by the computer, thereby controlling each part and various functions.

[0050] For example, when the control device 9 monitors the operations and states of each part and an error occurs, it controls the buzzer device 36 to notify a buzzer corresponding to the error. Note that the control device 9 may adjust the buzzer so as to have a volume corresponding to the type of error. Further, the control device 9 may adjust the buzzer so as to produce a continuous sound or an intermittent sound corresponding to the type of error. In the case of an intermittent sound, it may also be adjusted so as to have a sounding interval and a silent interval of a length corresponding to the type of error.

[0051] Also, the control device 9 may determine the severity of an error according to the operations and states of each part, and notify a buzzer corresponding to the severity of the error. For example, when the severity of the error is low, the control device 9 may be able to stop the buzzer notification in response to a buzzer stop operation such as a buzzer stop button. On the other hand, when the severity of the error is low, the control device 9 gives priority to the buzzer notification regardless of the buzzer stop operation and waits for the error to be resolved.

[0052] When the control device 9 monitors the operations and states of each part and the error is resolved, it controls the buzzer device 36 to stop the buzzer notification. The control device 9 can display an operation screen on which the buzzer notification stop can be selected on the display device 17. For example, in response to a selection operation of the buzzer stop button on the operation screen, it controls the buzzer device 36 to stop the buzzer notification.

[0053] In particular, in this embodiment, the control device 9 controls the buzzer device 36 to notify the buzzer in a manner (for example, the sounding time, volume, interval between the sounding interval and the silent interval in the case of an intermittent sound, etc.) corresponding to the charging state of the battery unit 5. When the battery unit 5 is not being charged, the control device 9 controls the buzzer device 36 to notify the buzzer in a normal mode preset as a normal alarm sound, that is, to perform normal notification of the buzzer.

[0054] When the battery unit 5 is being charged, the control device 9 controls the buzzer device 36 to notify the buzzer according to the charging environment. Here, the control device 9 determines whether the charging of the battery unit 5 is being performed in a specific charging environment.

[0055] When the charging of the battery unit 5 is not performed in a specific charging environment, the control device 9 controls the buzzer device 36 to perform normal notification of the buzzer in the same manner as when the battery unit 5 is not being charged. On the other hand, when the charging of the battery unit 5 is being performed in a specific charging environment, the control device 9 controls the buzzer device 36 to perform specific notification of the buzzer in a mode different from the normal notification.

[0056] A specific charging environment of the battery unit 5 will be described. In this embodiment, the specific charging environment indicates an environment in which the battery unit 5 is being charged and no operator who can handle the work machine 1 is present around the work machine 1.

[0057] The work machine 1 is configured to be able to charge the battery unit 5 by an in-vehicle charging unit 32 or a rapid charging unit 33. For example, the control device 9 determines that it is a specific charging environment on the condition that the battery unit 5 is charged in the normal charging mode among at least the charging modes including a normal charging mode in which charging is performed by the in-vehicle charging unit 32 and a rapid charging mode in which charging is performed by the rapid charging unit 33.

[0058] Note that the control device 9 may set the charging mode to the normal charging mode when detecting the connection of the in-vehicle charging connector of the in-vehicle charging unit 32 to the external power supply 60, or when detecting the power (voltage or current) supplied from the external power supply 60. Further, the control device 9 may set the charging mode to the rapid charging mode when detecting the connection of the rapid charging connector of the rapid charging unit 33 to the rapid charger 61, or when detecting the power (voltage or current) supplied from the rapid charger 61.

[0059] In addition, the control device 9 determines that it is a specific charging environment on the condition that no human presence is detected around the work machine 1, assuming that no operator handling the work machine 1 is nearby. For example, the control device 9 determines whether or not a human presence is detected around the work machine 1 based on the detection result of the human detection device 38.

[0060] Alternatively, the control device 9 performs image analysis using artificial intelligence or the like based on the surrounding image captured by the camera 39, thereby determining whether a person exists around the working machine 1 captured in the surrounding image, and determining whether the presence of a person around the working machine 1 is detected.

[0061] Note that the control device 9 may set the range for detecting a person based on the distance from the working machine 1 (for example, the radius from the center of the working machine 1). The range for detecting a person may be set in advance, or may be appropriately set according to the operator's operation.

[0062] When there is a person continuously detected by the person detection device 38 or the camera 39 for a predetermined minimum stay time or more, the control device 9 may determine that the presence of a person around the working machine 1 has been detected. On the other hand, when only a person detected for less than the predetermined minimum stay time exists, the control device 9 may determine that the presence of a person around the working machine 1 has not been detected and determine that it is a specific charging environment. The minimum stay time may be set in advance, or may be appropriately set according to the operator's operation.

[0063] In addition, the control device 9 assumes that it is a time zone (outside the working time range) when the operator handling the working machine 1 is not nearby, on the condition that the illuminance around the working machine 1 is equal to or lower than a predetermined illuminance threshold value, and determines that it is a specific charging environment. For example, the control device 9 determines whether the illuminance around the working machine 1 is equal to or lower than a predetermined illuminance threshold value based on the detection result of the illuminance sensor 37.

[0064] Note that if the working time of the working machine 1 is during the day, it will exceed a predetermined threshold due to sunlight, and if the working time of the working machine 1 is at night, it will exceed a predetermined threshold due to lighting. Therefore, the control device 9 may change the illuminance threshold according to the time zone when work is possible with sunlight or the time zone when lighting is required for work. The illuminance threshold may be set in advance, or may be appropriately set according to the operator's operation.

[0065] Alternatively, based on the time acquired by the built-in clock of the working machine 1 or the clock using the network, and the work schedule indicating the working hours of the working machine 1, the control device 9 determines whether it is a time zone such as night when the operator handling the working machine 1 is not nearby (outside the range of the working hours), and may determine that it is a specific charging environment on the condition that it is outside the range of the working hours.

[0066] The control device 9 may determine that it is a specific charging environment when satisfying one of the above conditions, or may also determine that it is a specific charging environment when satisfying a combination of two or more conditions. One or more combinations of conditions for determining a specific charging environment may be preset, or may be appropriately set according to the operator's operation.

[0067] The specific notification of the buzzer of the buzzer device 36 will be described. In this embodiment, the specific notification of the buzzer indicates the buzzer notification that avoids noise damage to the surroundings of the working machine 1 according to the charging environment of the battery unit 5.

[0068] For example, as the specific notification of the buzzer, the control device 9 controls the buzzer device 36 so as to stop the buzzer notification after a predetermined specific notification time (for example, 1 minute) has elapsed since the start of the buzzer notification. The specific notification time may be preset, or may be appropriately set according to the operator's operation.

[0069] In addition, as the specific notification of the buzzer, the control device 9 controls the buzzer device 36 to notify at a volume smaller than the normal notification, for example, at a volume that can reach the operator near the working machine 1. The volume of the normal notification and the volume of the specific notification may be preset, or may be appropriately set according to the operator's operation. The volume of the buzzer for the specific notification may be changed according to the type of error, the location of occurrence, and the occurrence situation.

[0070] Further, as specific notification of the buzzer, the control device 9 controls the buzzer device 36 so as to notify with the buzzer during a predetermined notification permission time zone and stop the notification outside the range of the notification permission time zone. The notification permission time zone is set to a work time zone such as during the day when the work machine 1 performs work. The notification permission time zone may be set in advance or may be appropriately set according to the operator's operation.

[0071] The control device 9 may set the above-described specific notification of the buzzer in correspondence with any condition for determining a specific charging environment.

[0072] For example, when the control device 9 determines that it is a specific charging environment on the condition that the battery unit 5 is charged in the normal charging mode, the control device 9 controls the buzzer device 36 to stop the buzzer notification after a predetermined specific notification time has elapsed since the start of the buzzer notification as the specific notification of the buzzer.

[0073] However, even if the control device 9 satisfies the condition that the battery unit 5 is charged in the normal charging mode, if the condition that no person's stay is detected around the work machine 1 is not satisfied, the control device 9 determines that it is not a specific charging environment and may continue the buzzer notification regardless of the elapse of the predetermined specific notification time.

[0074] Further, when the control device 9 determines that it is a specific charging environment on the condition that the illuminance around the work machine 1 is equal to or lower than a predetermined illuminance threshold value, the control device 9 controls the buzzer device 36 to notify with the buzzer at a volume smaller than the normal notification as the specific notification of the buzzer.

[0075] Next, an operation example of controlling the buzzer device 36 according to the charging environment of the battery unit 5 when an error occurs in the work machine 1 will be described with reference to the flowchart of FIG. 3.

[0076] First, turn on the main power switch of the working machine 1 or turn on the charging switch (step S1). In the working machine 1, for example, connect the in-vehicle charging connector of the in-vehicle charging unit 32 to the external power source 60, or connect the rapid charging connector of the rapid charging unit 33 to the rapid charger 61, and detect the charging power supplied to the battery unit 5, so that the charging switch is turned on.

[0077] The control device 9 monitors the operations and states of each part to determine whether an error has occurred (step S2). If no error has occurred (step S2: No), and if the buzzer is not being notified by the buzzer device 36 (step S3: No), the control device 9 determines whether the charging of the battery unit 5 is completed (step S4). If the charging is completed (step S4: Yes), the operation ends. If the charging is not completed (step S4: No), it returns to step S2 to shift to the error determination.

[0078] On the other hand, if no error has occurred (step S2: No) and the buzzer is being notified by the buzzer device 36 (step S3: Yes), the control device 9 controls the buzzer device 36 to stop the buzzer notification (step S5) and shifts to the determination of the completion of charging of the battery unit 5 (step S4).

[0079] Also, if an error has occurred (step S2: Yes), the control device 9 determines whether the time zone is at night based on the detection result of the illuminance sensor 37 or the time obtained from the clock (step S6). If the time zone is not at night (step S6: No), the control device 9 determines that it is not a specific charging environment, and controls the buzzer device 36 to set the volume to normal and make the buzzer give a normal notification (step S7).

[0080] On the other hand, if the time zone is at night (step S6: Yes), the control device 9 determines that it is a specific charging environment, and controls the buzzer device 36 to set the volume smaller than the normal notification as a specific buzzer notification and make the buzzer give a notification (step S8).

[0081] Also, when the control device 9 gives a buzzer notification, regardless of whether it is a normal notification or a specific notification, it determines whether a selection operation of the buzzer stop button has been performed on the operation screen displayed on the display device 17 (step S9). When a selection operation of the buzzer stop button has been performed (step S9: Yes), the control device 9 proceeds to stop the buzzer notification (step S5).

[0082] On the other hand, when a selection operation of the buzzer stop button has not been performed (step S9: No), the control device 9 determines whether the charging mode is the normal charging mode (step S10).

[0083] When the charging mode is not the normal charging mode (step S10: No), the control device 9 determines that it is not a specific charging environment and proceeds to the determination of the completion of charging of the battery unit 5 (step S4) without giving a specific buzzer notification.

[0084] On the other hand, when the charging mode is the normal charging mode (step S10: Yes), the control device 9 further determines whether the presence of a person is detected around the working machine 1 based on the detection result of the human detection device 38 and the surrounding image captured by the camera 39 (step S11).

[0085] When the presence of a person is detected around the working machine 1 (step S11: Yes), the control device 9 determines that it is not a specific charging environment and proceeds to the determination of the completion of charging of the battery unit 5 (step S4) without giving a specific buzzer notification.

[0086] On the other hand, when the presence of a person is not detected around the working machine 1 (step S11: No), the control device 9 determines that it is a specific charging environment and the control device 9 proceeds to stop the buzzer notification (step S5).

[0087] As described above, according to the present embodiment, the working machine 1 includes a battery unit 5, a buzzer device 36 (notification unit) that notifies a buzzer (warning sound) based on the state of the mounted devices, and a control device 9 that controls the buzzer device 36. When the control device 9 controls the buzzer device 36 to notify the buzzer, if the battery unit 5 is being charged in a specific charging environment, the control device 9 performs specific notification of the buzzer in a mode different from normal notification.

[0088] In other words, a control method for the working machine 1 including a battery unit 5, a buzzer device 36 (notification unit) that notifies a buzzer (warning sound) based on the state of the mounted devices, and a control device 9 that controls the buzzer device 36 is such that when the control device 9 controls the buzzer device 36 to notify the buzzer, if the battery unit 5 is being charged in a specific charging environment, the control device 9 performs specific notification of the buzzer in a mode different from normal notification.

[0089] Thereby, the working machine 1 can notify the buzzer (warning sound) caused by an error in a mode according to the charging environment.

[0090] Further, according to the present embodiment, the control device 9 stops the buzzer notification after a predetermined time has elapsed since the start of the buzzer notification as specific notification.

[0091] Alternatively, the control device 9 notifies the buzzer as specific notification with a smaller sound than normal notification.

[0092] Or, the control device 9 notifies the buzzer as specific notification during a predetermined time period (notification permission time period).

[0093] By any of the above means, when the working machine 1 performs normal charging of the battery unit 5 in a situation where there is no operator around, even when notifying the buzzer caused by an error, the working machine 1 can notify the buzzer in a mode that suppresses noise damage to the surroundings. Therefore, the possibility that the use of the working machine 1 in an urban area or the like is avoided can be reduced.

[0094] Further, according to the present embodiment, when the battery unit 5 is charged in the normal charging mode among the charging modes including at least the normal charging mode and the rapid charging mode, the control device 9 determines that it is a specific charging environment.

[0095] Alternatively, when no person is detected around the working machine 1, the control device 9 determines that it is a specific charging environment.

[0096] Or, when the illuminance around the working machine 1 is equal to or lower than a predetermined threshold value, the control device 9 determines that it is a specific charging environment.

[0097] By any of the above means, the working machine 1 can more appropriately determine a specific charging environment where no operator is present around and noise damage to the surroundings may occur. Therefore, the normal notification and the specific notification of the buzzer due to an error can be appropriately used according to the situation.

[0098] In the above-described embodiment, an example in which the working machine 1 includes the buzzer device 36 that sounds a buzzer as a notification unit for notifying an alarm sound has been described, but the present invention is not limited to this example. For example, the working machine 1 may include a notification unit that notifies other alarm sounds.

[0099] In the above-described embodiment, an example in which when the working machine 1 notifies an alarm sound due to an error, if the battery unit 5 is being charged in a specific charging environment, the specific notification of the alarm sound is performed in a mode different from the normal notification has been described, but the present invention is not limited to this example. For example, when the working machine 1 notifies the occurrence of an error not only by sounding an alarm sound due to an error but also by using a display device 17, a lamp (not shown), etc., if the battery unit 5 is being charged in a specific charging environment, the occurrence of the error may be specifically notified by using the display device 17, the lamp (not shown), etc. in a mode different from the normal notification.

[0100] In the above-described embodiment, an example in which the above-described functions specific to the present invention are applied to a working machine 1 including a hydraulic pump 7 driven by power from an electric motor 6 and a hydraulic actuator using the hydraulic pump 7 as a hydraulic source has been described. However, the present invention is not limited to this example. In another example, instead of the hydraulic pump 7 and the hydraulic actuator, a drive gear driven by power from the electric motor 6 and an actuator such as a drive wheel driven by the power transmitted from the drive gear are provided. The above-described functions specific to the present invention may be applied to the working machine 1. In this case, each part of the lower traveling body 2, the upper swing body 3, and the working device 4 of the working machine 1 is driven by an actuator such as a drive wheel driven by a drive gear.

[0101] Note that the present invention can be appropriately modified within a range not contrary to the gist or idea of the invention that can be read from the claims and the entire specification. A control method for a working machine and a working machine involving such modifications are also included in the technical idea of the present invention.

[0102] 〔Supplementary Note of the Invention〕 Hereinafter, a summary of the invention extracted from the above-described embodiment will be appended. Note that each configuration and each processing function described in the following supplementary note can be arbitrarily combined by selection.

[0103] <Supplementary Note 1> A battery unit, A notification unit that notifies an alarm sound based on the state of the mounted device, A control method for a working machine including a control device that controls the notification unit, When the control device controls the notification unit to notify the alarm sound, when charging the battery unit in a specific charging environment, the specific notification of the alarm sound is performed in a mode different from normal notification. A control method for a working machine, characterized in that.

[0104] <Supplementary Note 2> The control method according to Supplementary Note 1, characterized in that the notification of the alarm sound is stopped after a predetermined time has elapsed since the start of the notification of the alarm sound as the specific notification.

[0105] <Supplementary Note 3> The control method according to Supplementary Note 1, characterized in that the warning sound is notified as the specific notification at a volume lower than that of the normal notification.

[0106] <Supplementary Note 4> The control method according to any one of Supplementary Notes 1 to 3, characterized in that the warning sound is notified as the specific notification in a predetermined time zone.

[0107] <Supplementary Note 5> Among the charging modes including at least a normal charging mode and a rapid charging mode, when the battery unit is charged in the normal charging mode, it is determined that the charging environment is the specific charging environment. The control method according to any one of Supplementary Notes 1 to 4.

[0108] <Supplementary Note 6> The control method according to any one of Supplementary Notes 1 to 5, characterized in that when no person is detected around the work machine, it is determined that the charging environment is the specific charging environment.

[0109] <Supplementary Note 7> The control method according to any one of Supplementary Notes 1 to 6, characterized in that when the illuminance around the work machine is equal to or lower than a predetermined threshold value, it is determined that the charging environment is the specific charging environment.

[0110] <Supplementary Note 8> A battery unit, A notification unit that notifies a warning sound based on the state of the mounted device, A work machine comprising a control device that controls the notification unit, When the control device controls the notification unit to notify the warning sound, when the battery unit is being charged in a specific charging environment, the work machine is characterized in that the specific notification of the warning sound is performed in a manner different from the normal notification.

[0111] <Supplementary Note 9> The work machine according to Supplementary Note 8, characterized in that the notification of the warning sound is stopped after a predetermined time has elapsed since the start of the notification of the warning sound as the specific notification.

[0112] <Appendix 10> The working machine according to Appendix 8, wherein the warning sound is notified as the specific notification at a volume lower than that of the normal notification.

[0113] <Appendix 11> The working machine according to any one of Appendices 8 to 10, wherein the warning sound is notified as the specific notification during a predetermined time period.

[0114] <Appendix 12> Among charging modes including at least a normal charging mode and a rapid charging mode, when the battery unit is charged in the normal charging mode, it is determined that the charging environment is the specific charging environment. The working machine according to any one of Appendices 8 to 11.

[0115] <Appendix 13> The working machine according to any one of Appendices 8 to 12, wherein when no person is detected around the working machine, it is determined that the charging environment is the specific charging environment.

[0116] <Appendix 14> The working machine according to any one of Appendices 8 to 13, wherein when the illuminance around the working machine is equal to or lower than a predetermined threshold value, it is determined that the charging environment is the specific charging environment.

Explanation of Reference Numerals

[0117] 1 Working machine 2 Lower traveling body 3 Upper slewing body 4 Working device 5 Battery unit 6 Electric motor 7 Hydraulic pump 8 Control valve 9 Control device 10 Crawler 13 Slewing frame 17 Display device 20 Boom 21 Arm 22 Attachment 24 Swing mechanism 31 Inverter 32 On-vehicle charging unit 33 Rapid charging unit 34 DC / DC converter 36 Buzzer device (notification unit) 37 Illuminance sensor 38 Human detection device 39 Camera 60 External power source 61 Rapid charger

Claims

1. A battery unit, a notification unit that notifies an alarm sound based on the state of the mounted device, and a control device that controls the notification unit, and a control method for a working machine, wherein when the control device controls the notification unit to notify the alarm sound, if the battery unit is being charged in a specific charging environment, the specific notification of the alarm sound is performed in a mode different from normal notification. A control method for a working machine characterized by this.

2. The control method according to claim 1, characterized in that after a predetermined time has elapsed since the start of the notification of the alarm sound as the specific notification, the notification of the alarm sound is stopped.

3. The control method according to claim 1, characterized in that the alarm sound is notified at a smaller sound than the normal notification as the specific notification.

4. The control method according to claim 1, characterized in that the alarm sound is notified in a predetermined time zone as the specific notification.

5. Among charging modes including at least a normal charging mode and a rapid charging mode, when the battery unit is charged in the normal charging mode, it is determined that it is the specific charging environment. The control method according to any one of claims 1 to 3.

6. The control method according to any one of claims 1 to 3, characterized in that when no person is detected around the working machine, it is determined that it is the specific charging environment.

7. The control method according to any one of claims 1 to 3, characterized in that when the illuminance around the working machine is equal to or lower than a predetermined threshold value, it is determined that it is the specific charging environment.

8. A working machine comprising a battery unit, a notification unit that notifies an alarm sound based on the state of the mounted device, and a control device that controls the notification unit, wherein when the control device controls the notification unit to notify the alarm sound, if the battery unit is being charged in a specific charging environment, the specific notification of the alarm sound is performed in a mode different from normal notification. A working machine characterized by this.

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