Shovel

Abstract

To allow an operator to understand operating conditions of an air conditioner for completing charging within a predetermined time.SOLUTION: A shovel has: an electric motor for driving a hydraulic pump; a power storage device supplying power to the electric motor; an air conditioner to which power is supplied from the power storage device; and a control device displaying on a display device a list in which information regarding the time for a charge rate of the power storage device to reach a target value is correlated to operating conditions of the air conditioner.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a shovel.

Background Art

[0002] Conventionally, an electric shovel that operates using a power storage device such as a battery that can be charged from an external power source as an energy source is known. Further, in this electric shovel, it is known to limit the operation of the air conditioner when the charge amount of the power storage device is decreasing while the power of the air conditioner is on.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology described above, when the air conditioner is used during charging by the charging device, the operator cannot grasp the operating conditions of the air conditioner for completing the charging within a determined predetermined time.

[0005] An object of the present disclosure is to enable an operator to grasp the operating conditions of an air conditioner for completing charging within a predetermined time.

Means for Solving the Problems

[0006] A shovel according to an embodiment of the present invention includes an electric motor for driving a hydraulic pump, a power storage device that supplies power to the electric motor, an air conditioner that is supplied with power from the power storage device, information regarding the time when the charge rate of the power storage device reaches a target value, and a control device that causes a display device to display a list in which the operating conditions of the air conditioner are associated with the information.

[0007] The excavator according to an embodiment of the present invention includes an electric motor for driving a hydraulic pump, a power storage device for supplying power to the electric motor, an air conditioner supplied with power from the power storage device, a control device that causes a display device to display a screen including an input field for inputting a charging completion time at which a charging rate of the power storage device reaches a target value when an operation for starting the air conditioner is received after detection of the start of charging of the power storage device. The excavator has such a control device.

[0008] The excavator according to an embodiment of the present invention includes an electric motor for driving a hydraulic pump, a power storage device for supplying power to the electric motor, an air conditioner supplied with power from the power storage device, and a control device that causes a display device to display operating conditions of the air conditioner associated with information regarding a time when a charging rate of the power storage device reaches a target value. The excavator has such a control device.

Advantages of the Invention

[0009] An operator can grasp the operating conditions of the air conditioner for completing charging within a predetermined time.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0011] (First Embodiment) Hereinafter, the first embodiment will be described with reference to the drawings.

[0012] First, with reference to FIGS. 1 to 3, an outline of an excavator 100 as an example of a working machine will be described. FIG. 1 is a side view of the excavator.

[0013] The excavator 100 includes a lower traveling body 1, an upper swing body 3 mounted on the lower traveling body 1 so as to be swingable (swing freely) via a swing mechanism 2, an attachment AT, and a cabin 10 on which an operator rides.

[0014] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C (an example of a driven part). The lower traveling body 1 travels by itself when each crawler 1C is hydraulically driven by traveling hydraulic motors 1A and 1B (see FIG. 3).

[0015] The upper swing body 3 (an example of a driven part) is hydraulically driven by a swing hydraulic motor 2A (see FIG. 3) through the swing mechanism 2.

[0016] The attachment AT includes a boom 4, an arm 5, and a bucket 6.

[0017] The boom 4 (an example of a driven part) is pivotally attached to the center of the front part of the upper swing body 3 so as to be able to pitch. An arm 5 (an example of a driven part) is pivotally attached to the tip of the boom 4 so as to be able to rotate vertically, and a bucket 6 (an example of a driven part) is pivotally attached to the tip of the arm 5 so as to be able to rotate vertically. The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators.

[0018] The bucket 6 is an example of an end attachment and is used for excavation work, compaction work, etc.

[0019] Note that, depending on the work content, etc., another end attachment may be attached to the tip of the arm 5 instead of the bucket 6. The other end attachment may be, for example, a bucket of a different type from the bucket 6 such as a slope bucket or a dredging bucket. Also, the other end attachment may be, for example, an end attachment of a different type from the bucket such as a breaker, a mixer, or a grapple. Further, an auxiliary attachment such as a quick coupling or a tilt rotator may be provided at the connecting portion between the end attachment including the bucket 6 and the arm 5.

[0020] In the excavator 100 of the present embodiment, all driven parts are hydraulically driven by hydraulic oil supplied from a main pump 14 (see FIG. 3) having an electric motor for pump 12 described later as a power source. That is, in the present embodiment, the excavator 100 corresponds to a configuration in which the prime mover (engine) of a so-called hydraulic excavator is replaced with the electric motor for pump 12.

[0021] Note that a part or all of the driven parts of the excavator 100 may be electrically driven. For example, the upper swing body 3 may swing with respect to the lower traveling body 1 by being electrically driven by a swing electric motor through the swing mechanism 2.

[0022] In addition, the excavator 100 of the present embodiment includes a power storage device 19 that supplies power to the motor 12 for the pump, and a charging port 72 for connecting the power storage device 19 and an external commercial power supply. Details of the power storage device 19 and the charging port 72 will be described later.

[0023] Note that the position where the charging port 72 is provided is not limited to the example shown in FIG. 1. In the following description, there may be cases where it is expressed that the power storage device 19 and an external commercial power supply are connected and the power storage device 19 stores the power supplied from the external commercial power supply, that is, the power storage device 19 is charged. Also, the external commercial power supply may be supplied from, for example, a charging stand or the like. In the following description, the external commercial power supply may be expressed as an external power supply.

[0024] The cab 10 is mounted, for example, on the front left side of the upper swing body 3. Inside the cab 10, there are provided a driver's seat on which an operator sits, an operation device 26 described later, an air conditioner 80, a switch group including switches for operating the air conditioner 80, a display device 40, and the like. Details of the cab 10 will be described later. Note that the display device 40 is an example of an output device.

[0025] In addition, the excavator 100 of the present embodiment has a controller 30. The controller 30 serves as a main control unit that controls the operation of the excavator 100.

[0026] Furthermore, in the controller 30 of the present embodiment, operating conditions for the air conditioner 80 when using the air conditioner 80 during charging of the power storage device 19 are set. In other words, in the present embodiment, information indicating the operating conditions is stored in a storage device (not shown) included in the controller 30. Details of the operating conditions will be described later.

[0027] Further, when an operation to start the air conditioner 80 is performed while the power storage device 19 is being charged, the controller 30 causes the display device 40 to display the operation conditions of the air conditioner 80 corresponding to the information indicating the time required for charging. Thereby, the operator can be made aware of the operation conditions of the air conditioner 80 for completing the charging within a determined time. Note that the information indicating the time required for charging is, in other words, information regarding the time when the charge rate of the power storage device 19 reaches the target value.

[0028] More specifically, in the present embodiment, the information indicating the time required for charging is taken as the charge completion time and the charging time, and a list in which the charge completion time and the charging time are associated with each of the operation conditions of the air conditioner 80 is displayed on the display device 40.

[0029] Then, when an operation condition of the air conditioner 80 is selected in the list displayed on the display device 40, the controller 30 controls the operation of the air conditioner 80 according to the selected operation condition.

[0030] In the present embodiment, in this way, by displaying the information indicating the time required for charging for each operation condition of the air conditioner 80, the operator in the cabin 10 can be made to select the operation condition of the air conditioner 80 for completing the charging within the time desired by the operator himself.

[0031] Further, in the present embodiment, the air conditioner 80 can be used under operation conditions that prevent excessive consumption of the power supplied from the external power source and insufficient charging of the power storage device 19. Also, in the present embodiment, the charging of the power storage device 19 can be completed within a predetermined time.

[0032] Note that the charging completion time in this embodiment indicates the time when the charging rate of the power storage device 19 reaches a preset target value. In the following description, the charging rate of the power storage device 19 may be expressed as the SOC (States Of Charge) of the power storage device 19. Also, the charging time in this embodiment indicates the time required for the SOC of the power storage device 19 to reach the target value after charging of the power storage device 19 is started. The charging completion time and the charging time in this embodiment can be said to be information regarding the time when the charging rate of the power storage device reaches the target value.

[0033] Note that in this embodiment, when using either the charging completion time or the charging time as information regarding the time when the charging rate of the power storage device reaches the target value, it is preferable to use the charging completion time. By using the charging completion time, the operator does not need to calculate by himself / herself the time when the charging time has elapsed from the current time, and can directly grasp the time when the charging is completed.

[0034] In addition, the excavator 100 operates driven parts such as the lower traveling body 1 (left and right crawlers 1C), the upper swing body 3, the boom 4, the arm 5, and the bucket 6 in response to the operation of the operator boarding the cabin 10.

[0035] In addition, instead of or in addition to being configured to be operable by an operator boarding the cabin 10, the excavator 100 may be configured to be remotely operable (remote operation) from outside the excavator 100. When the excavator 100 is remotely operated, the inside of the cabin 10 may be unmanned. Hereinafter, the description will proceed on the premise that the operator's operation includes at least one of the operation on the operation device 26 of the operator in the cabin 10 and the remote operation of an external operator.

[0036] Remote operation includes, for example, a mode in which the excavator 100 is operated by an operation input regarding an actuator of the excavator 100 performed by a predetermined external device. The external device includes, for example, a management device that manages the excavator 100 and a terminal device (user terminal) used by a user of the excavator 100.

[0037] The following may also be the same in the case of remote monitoring described later. In this case, the excavator 100 is equipped with a communication device capable of communicating with an external device, and for example, may transmit an image (hereinafter, "peripheral image") representing the state of the surroundings of the excavator 100 based on the image information (captured image) output by the camera included in the peripheral information acquisition device 50 described later to the external device.

[0038] The peripheral information acquisition device 50 as a camera in the present embodiment includes a front camera 50F that captures the space in front of the excavator 100, a left camera 50L that captures the space to the left of the excavator 100, a right camera 50R that captures the space to the right of the excavator 100, and a rear camera 50B that captures the space behind the excavator 100.

[0039] The peripheral information acquisition device 50 as a camera is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device 40. Further, the peripheral information acquisition device 50 as a camera may be a stereo camera, a distance image camera, etc. Further, the peripheral information acquisition device 50 as a camera may be replaced with other space recognition devices (object detection devices) such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of other space recognition devices and a camera.

[0040] The front camera 50F is, for example, attached to the ceiling of the cab 10, that is, inside the cab 10. However, the front camera 50F may be attached outside the cab 10, such as the roof of the cab 10 or the side surface of the boom 4. The left camera 50L is attached to the left end of the upper surface of the upper swing body 3, the right camera 50R is attached to the right end of the upper surface of the upper swing body 3, and the rear camera 50B is attached to the rear end of the upper surface of the upper swing body 3.

[0041] Note that the peripheral information acquisition device 50 outputs information regarding the situation of the three-dimensional space around the excavator 100. The peripheral information acquisition device 50 may include, for example, an ultrasonic sensor, a millimeter-wave radar, a monocular camera, a stereo camera, a depth camera, LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, etc. The output information of the peripheral information acquisition device 50 is taken into the controller 30.

[0042] Then, the external device may display the received peripheral image of the excavator 100 on a display device provided in the external device (hereinafter, "remote operation display device"). Also, various information images (information screens) displayed on the display device 40 inside the cab 10 of the excavator 100 may similarly be displayed on the remote operation display device of the external device. Thereby, an operator of the external device can remotely operate the excavator 100 while checking the display contents such as the peripheral image and the information screen of the excavator 100 displayed on the remote operation display device.

[0043] And the excavator 100 may operate an actuator in response to a remote operation signal received from an external device by a communication device, the remote operation signal representing the content of the remote operation, and drive driven parts such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6.

[0044] Also, the remote operation may include, for example, a mode in which the excavator 100 is operated by an external voice input or gesture input to the excavator 100 by a person (for example, an operator) around the excavator 100. Specifically, the excavator 100 recognizes voices spoken by surrounding workers or the like and gestures made by workers or the like through a voice input device (for example, a microphone) or a gesture input device (for example, a camera) mounted on the excavator 100 (itself). Then, the excavator 100 may operate an actuator in response to the recognized voice, gesture, or the like content and drive driven parts such as the lower traveling body, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6.

[0045] Further, the excavator 100 may automatically operate the actuator regardless of the content of the operator's operation. Thereby, the excavator 100 realizes a function of automatically operating at least a part of the driven parts such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 (so-called "automatic operation function" or "MC (Machine Control) function").

[0046] The automatic operation function may include a function of automatically operating a driven part (actuator) other than the driven part (actuator) to be operated in response to an operation on the operator's operation device 26 or a remote operation (so-called "semi-automatic operation function" or "operation support type MC function"). Further, the automatic operation function may include a function of automatically operating at least a part of a plurality of driven parts (actuators) on the premise that there is no operation on the operator's operation device 26 or a remote operation (so-called "fully automatic operation function" or "fully automatic type MC function").

[0047] In the excavator 100, when the fully automatic operation function is valid, the inside of the cab 10 may be unmanned. Further, the semi-automatic operation function, the fully automatic operation function, etc. may include a mode in which the operation content of the driven part (actuator) to be automatically operated is automatically determined according to a rule defined in advance. Further, the semi-automatic operation function, the fully automatic operation function, etc. may include a mode (so-called "autonomous operation function") in which the excavator 100 autonomously makes various judgments and the operation content of the driven part (actuator) to be automatically operated is determined autonomously according to the judgment result.

[0048] Further, when the excavator 100 operates with an automatic operation function (particularly, a fully automatic operation function), the working condition of the excavator 100 may be remotely monitored from outside the excavator 100. When remote monitoring is performed, the external device may also display various information images (information screens) displayed on the display device 40 inside the cab 10 of the excavator 100 on the remote monitoring display device of the external device.

[0049] As a result, a monitor of an external device can remotely monitor the working condition of the excavator 100 while checking the display content such as the peripheral image of the excavator 100 and the information screen displayed on a remote monitoring display device, for example. Further, when there is some problem in the working condition of the excavator 100, for example, the monitor of the external device may be able to perform a predetermined input to the external device to cause the excavator 100 to make an emergency stop or perform an intervention operation on the excavator 100.

[0050] In this case, the excavator 100 may stop the actuators in response to a signal indicating an emergency stop received from the external device through the communication device, thereby making an emergency stop of the driven parts such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6. Further, the excavator 100 may realize an intervention operation of the driven parts such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 by operating the actuators in response to a signal representing the content of the intervention operation received from the external device through the communication device.

[0051] Next, with reference to FIG. 2, the inside of the cab 10 of the present embodiment will be described. FIG. 2 is a diagram for explaining the inside of the cab.

[0052] FIG. 2 is a perspective view of the inside of the cab 10, showing a state when looking forward from the driver's seat in the cab 10.

[0053] As shown in FIG. 2, a driver's seat 91 is installed in the cab 10. A pedal 26C is installed in front of the driver's seat 91, a left console 90L is installed on the left side of the driver's seat 91, and a right console 90R is installed on the right side of the driver's seat 91. A left operation lever 26L is attached to the upper front end of the left console 90L, and a right operation lever 26R is attached at a position corresponding to the left operation lever 26L on the right console 90R. A main monitor 40, which is one of the display devices 40, is attached to the upper front end of the right console 90R.

[0054] In addition, a driver's seat 91 is provided at the center inside the cabin 10, and a left operation lever 26L and a right operation lever 26R are provided on both sides thereof. Therefore, the operator can sit on the driver's seat 91, operate the left operation lever 26L with the left hand, and operate the right operation lever 26R with the right hand to move the bucket 6 to a desired position and perform excavation work.

[0055] In the right front of the driver's seat 91, an image display unit 41M and a switch panel 42M (switch group) of the main monitor 40M are installed.

[0056] In the example of FIG. 2, an overhead image is displayed on the image display unit 41M. The overhead image is an example of a composite image generated based on the images captured by the rear camera 50B, the left camera 50L, and the right camera 50R as the peripheral information acquisition device 50. Specifically, the overhead image is a viewpoint conversion image representing the state when the surroundings of the excavator are viewed from a virtual viewpoint directly above.

[0057] For example, a temperature adjustment function of the air conditioner 80, an air volume adjustment function of the air conditioner 80, etc. may be assigned to the switch panel 42M. In addition, a switch 49 or the like having a function of switching the on / off of the air conditioner 80 may be provided on the right operation lever 26R.

[0058] Next, referring to FIG. 3, other configurations of the excavator 100 will be described. FIG. 3 is a block diagram schematically showing the configuration of the excavator. In FIG. 3, the mechanical power transmission system is represented by a double line, the relatively high hydraulic pressure transmission system, that is, the hydraulic oil line of the hydraulic drive system is represented by a thick solid line, the pilot pressure transmission system, that is, the hydraulic oil line of the operation system is represented by a broken line, and the power and electrical signal transmission system is represented by a thin solid line.

[0059] The excavator 100 includes respective components such as a hydraulic drive system, an electric drive system, a power supply system, an operation system, a cooling system, a user interface system, a comfort equipment system, and a control system.

[0060] The hydraulic drive system of the excavator 100 is a group of components related to the hydraulic drive of the driven part.

[0061] The hydraulic drive system of the excavator 100 includes hydraulic actuators such as travel hydraulic motors 1A and 1B, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive each of the driven parts such as the lower traveling body 1, boom 4, arm 5, and bucket 6. Further, the hydraulic drive system of the excavator 100 includes a pump motor 12, a main pump 14, and a control valve 17.

[0062] The pump motor 12 (an example of a motor) is a power source of the hydraulic drive system. The pump motor 12 is, for example, an IPM (Interior Permanent Magnet) motor. The pump motor 12 is connected to the power storage device 19 via the inverter 18. The pump motor 12 operates under power with three-phase AC power supplied from the power storage device 19 via the inverter 18, and drives the main pump 14 and the pilot pump 15. The drive control of the pump motor 12 may be executed by the inverter 18 under the control of a controller 30 described later.

[0063] The main pump 14 (an example of a hydraulic pump, a first hydraulic pump) sucks hydraulic oil from the hydraulic oil tank T and discharges it into the high-pressure hydraulic line 16, thereby supplying hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by the pump motor 12 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and under the control of a controller 30 described later, a regulator (not shown) controls the angle (tilt angle) of the swash plate. Thereby, the main pump 14 can adjust the stroke length of the piston and the discharge flow rate (discharge pressure).

[0064] The control valve 17 controls the hydraulic drive system in response to an operator's operation or an operation command corresponding to an automatic driving function. As described above, the control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line 16, and is configured to selectively supply the hydraulic oil supplied from the main pump 14 to a plurality of hydraulic actuators. For example, the control valve 17 is a valve unit including a plurality of control valves (direction switching valves) that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. The hydraulic oil supplied from the main pump 14 and flowing through the control valve 17 and the hydraulic actuators is discharged from the control valve 17 to the hydraulic oil tank T.

[0065] The electric drive system of the excavator 100 is a group of components related to the electric drive of the prime mover (power source) and the driven part of the excavator 100.

[0066] As shown in the figure, the electric drive system of the excavator 100 includes a pump motor 12, a sensor 12s, and an inverter 18.

[0067] Note that, as described above, when a part or all of the driven part of the excavator 100 is electrically driven, the electric drive system of the excavator 100 may include an electric actuator that drives the driven part, an inverter that drives the electric actuator, and the like.

[0068] The sensor 12s includes a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

[0069] The current sensor 12s1 detects the current of each of the three phases (U phase, V phase, and W phase) of the pump motor 12. The current sensor 12s1 is provided, for example, in the power path between the pump motor 12 and the inverter 18. The detection signals corresponding to the currents of the three phases of the pump motor 12 detected by the current sensor 12s1 are directly taken into the inverter 18 through the communication line. Further, the detection signal may be taken into the controller 30 through the communication line and input to the inverter 18 via the controller 30.

[0070] The voltage sensor 12s2 detects the applied voltage of each of the three phases of the pump motor 12. The voltage sensor 12s2 is provided, for example, in the power path between the pump motor 12 and the inverter 18. The detection signals corresponding to the applied voltages of the three phases of the pump motor 12 detected by the voltage sensor 12s2 are directly taken into the inverter 18 through the communication line. Further, the detection signals may be taken into the controller 30 through the communication line and input to the inverter 18 via the controller 30.

[0071] The rotation state sensor 12s3 detects the rotation state of the pump motor 12. The rotation state of the pump motor 12 includes, for example, the rotation position (rotation angle), the rotation speed, and the like. The rotation state sensor 12s3 is, for example, a rotary encoder or a resolver. The detection signals corresponding to the rotation state of the pump motor 12 detected by the rotation state sensor 12s3 are directly taken into the inverter 18 through the communication line. Further, the detection signals may be taken into the controller 30 through the communication line and input to the inverter 18 via the controller 30.

[0072] The inverter 18 drives and controls the pump motor 12 under the control of the controller 30. The inverter 18 includes, for example, a conversion circuit that converts DC power into three-phase AC power or converts three-phase AC power into DC power, a drive circuit that switch-drives the conversion circuit, and a control circuit that outputs a control signal that defines the operation of the drive circuit. The control signal is, for example, a PWM (Pulse Width Modulation) signal.

[0073] The control circuit of the inverter 18 controls the drive of the pump motor 12 while grasping the operating state of the pump motor 12. For example, the control circuit of the inverter 18 grasps the operating state of the pump motor 12 based on the detection signal of the rotation state sensor 12s3. Further, the control circuit of the inverter 18 may grasp the operating state of the pump motor 12 by sequentially estimating the rotation angle of the rotation shaft of the pump motor 12 based on the detection signal of the current sensor 12s1 and the detection signal of the voltage sensor 12s2 (or the voltage command value generated in the control process).

[0074] Note that at least one of the drive circuit and the control circuit of the inverter 18 may be provided outside the inverter 18.

[0075] The power supply system of the excavator 100 is a group of components for supplying power to various electrical devices.

[0076] As shown in FIG. 3, the power supply system of the excavator 100 includes a power storage device 19, a DC-DC converter 44, a battery 46, an in-vehicle charger 70, and a charging port 72.

[0077] The power storage device 19 is an energy source for driving the actuator of the excavator 100. The power storage device 19 is charged (electrically stored) by being connected to an external commercial power supply with a predetermined cable (hereinafter, "charging cable"), and supplies the charged power to the pump motor 12. The power storage device 19 is, for example, a lithium-ion battery and has a relatively high output voltage (for example, several hundred volts).

[0078] Note that a power conversion device for boosting the output voltage of the power storage device 19 and applying it to the pump motor 12 may be provided between the power storage device 19 and the pump motor 12. Further, as described above, when a part or all of the driven part is electrically driven, instead of or in addition to the pump motor 12, the power of the power storage device 19 is supplied to the electric actuator that electrically drives the driven part.

[0079] The DC-DC converter 44 (an example of a power conversion device) is provided, for example, on the upper swing body 3, and steps down the very high voltage DC power output from the power storage device 19 to a predetermined voltage (for example, about 24 volts) and outputs it. The output power of the DC-DC converter 44 is supplied to the battery 46 for charging (power storage), or supplied to electrical equipment (hereinafter, "low-voltage equipment") driven by the power of the battery 46. The low-voltage equipment includes, for example, the controller 30. Further, the low-voltage equipment includes, for example, a water pump 64, an air conditioner 80 (the controller included in the air conditioner 80), a fan 90, etc., which will be described later.

[0080] For example, as shown in FIG. 3, the excavator 100 is equipped with one DC-DC converter 44. Note that the excavator 100 may be equipped with a plurality of DC-DC converters 44.

[0081] Further, the DC-DC converter 44 may be replaced by an alternator. In this case, the alternator may be provided on the upper swing body 3 and generate electricity by the power of the pump motor 12. The generated power of the alternator is supplied to the battery 46, charged (stored) in the battery 46, or supplied to low-voltage equipment such as the controller 30, similar to the case of the DC-DC converter 44.

[0082] The battery 46 is provided on the upper swing body 3 and has a relatively low output voltage (for example, 24 volts). The battery 46 supplies power to low-voltage equipment other than the electric drive system that requires relatively high power. The battery 46 is, for example, a lead-acid battery, a lithium-ion battery, etc., and is charged by the output power of the DC-DC converter 44.

[0083] The in-vehicle charger 70 charges the power storage device 19 by converting the single-phase AC power with a relatively low voltage (for example, 100 volts or 200 volts) supplied from an external power source into DC power through the charging port 72A and outputting it to the power storage device 19.

[0084] The charging port 72 is provided, for example, on the side surface of the upper revolving body 3 or the like, and is connected to an external power source when the tip of a charging cable extending from the external power source is inserted. The charging port 72 includes charging ports 72A and 72B.

[0085] The charging port 72A is configured to be connectable to a charging cable extending from an external power source (for example, a commercial power source) that can supply single-phase AC power with a relatively low voltage. The charging port 72A is connected to the in-vehicle charger 70 by a power line (wire harness), and supplies the power supplied from the external power source to the power storage device 19 through the in-vehicle charger 70. Thereby, so-called normal charging of the power storage device 19 is realized.

[0086] The charging port 72B is connected to a charging cable extending from an external power source that can supply DC power with a relatively high voltage (for example, 400 volts). The charging port 72B is directly connected to the power storage device 19 by a power line (wire harness), and directly supplies the DC power supplied from the external power source to the power storage device 19. Thereby, so-called rapid charging of the power storage device 19 is realized.

[0087] The operating system of the excavator 100 is a group of components related to the operation of the driven part.

[0088] As shown in FIG. 3, the operating system of the excavator 100 includes a pilot pump 15, an operating device 26, and a hydraulic control valve 31.

[0089] The pilot pump 15 supplies pilot pressure to various hydraulic devices (for example, the hydraulic control valve 31) mounted on the excavator 100 via the pilot line 25. Thereby, the hydraulic control valve 31 can supply a pilot pressure corresponding to the operation content (for example, the operation amount and the operation direction) of the operating device 26 to the control valve 17 under the control of the controller 30.

[0090] Therefore, the controller 30 and the hydraulic control valve 31 can realize the operation of the driven part (hydraulic actuator) according to the operation content of the operator on the operation device 26. Further, the hydraulic control valve 31 can supply a pilot pressure corresponding to the content of the remote operation specified by the remote operation signal to the control valve 17 under the control of the controller 30. Further, the hydraulic control valve 31 can supply a pilot pressure corresponding to the operation command corresponding to the automatic operation function to the control valve 17 under the control of the controller 30. The pilot pump 15 is, for example, a fixed displacement hydraulic pump and is driven by the pump motor 12 as described above.

[0091] Note that the pilot pump 15 may be omitted. In this case, the hydraulic oil discharged from the main pump 14 and reduced to a predetermined pilot pressure through a pressure reducing valve or the like may be supplied to various hydraulic devices such as the hydraulic control valve 31.

[0092] The operation device 26 is provided within reach of the operator at the driver's seat in the cabin 10 and is used for the operator to operate each driven part (that is, the left and right crawlers 1C of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, etc.). In other words, the operation device 26 is used for the operator to operate the actuators (for example, the traveling hydraulic motors 1A, 1B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, etc.) that drive each driven part. For example, as shown in FIG. 3, the operation device 26 is electric and outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content by the operator. The operation signal output from the operation device 26 is taken into the controller 30. Thereby, the controller 30 can control the hydraulic control valve 31 and the like, and control the operation of the driven part (actuator) of the excavator 100 according to the operation content of the operator and the operation command corresponding to the automatic operation function.

[0093] In addition, when the control valve 17 is composed of an electromagnetic pilot-operated hydraulic control valve (direction switching valve), the operation signal of the electric operation device 26 may be directly input to the control valve 17, and each hydraulic control valve may operate according to the operation content of the operation device 26. Further, the operation device 26 may be a hydraulic pilot type that outputs a pilot pressure according to the operation content. In this case, the pilot pressure according to the operation content is supplied to the control valve 17.

[0094] The hydraulic control valve 31 outputs a predetermined pilot pressure using the hydraulic oil supplied from the pilot pump 15 through the pilot line 25 under the control of the controller 30. The pilot line on the secondary side of the hydraulic control valve 31 is connected to the control valve 17, and the pilot pressure output from the hydraulic control valve 31 is supplied to the control valve 17.

[0095] The user interface system of the excavator 100 is a group of components related to the information exchange between the user and the excavator.

[0096] As shown in FIG. 3, the user interface system includes a display device 40 and an input device 52.

[0097] The display device 40 may display various information images under the control of the controller 30. The display device 40 is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like.

[0098] Note that the display device 40 is an example of an output device that outputs various notifications. The output device includes, for example, an illumination device that outputs (notifies) information to the user by a visual method. The illumination device is, for example, a warning light or the like.

[0099] The output device may include an output device provided outside the cabin 10 under the control of the controller 30 and outputting various information to the users around the excavator 100 (for example, workers or supervisors around the excavator 100).

[0100] In addition, the output device includes, for example, a sound output device that outputs information to the user in an auditory manner. The sound output device is, for example, a buzzer, a speaker, or the like.

[0101] The input device 52 receives various inputs from the user. For example, the input device 52 includes an input device provided inside the cabin 10 that receives various inputs from a user (e.g., an operator) inside the cabin 10. Also, for example, the input device 52 may include an input device provided outside the cabin 10 that receives various inputs from a user outside the cabin 10 (e.g., a worker or a supervisor around the excavator 100).

[0102] The input device 52 may include, for example, an operation input device that receives an operation input from the user. The operation input device includes, for example, buttons, toggles, levers, touch panels, touch pads, and the like. Also, the input device 52 may include, for example, a voice input device that receives a voice input from the operator or a gesture input device that receives a gesture input from the operator. The voice input device includes, for example, a microphone that acquires the user's voice. Also, the gesture input device includes, for example, a camera that can image the state of the user's gesture. A signal corresponding to the input from the operator received by the input device 52 is taken into the controller 30.

[0103] The comfort equipment system of the excavator 100 is a group of components related to the comfort equipment of a user (operator) inside the cabin 10.

[0104] The comfort equipment system of the excavator 100 includes an air conditioner 80. Also, the comfort equipment system of the excavator 100 includes a fan 90.

[0105] The air conditioner 80 (an example of an electrical load) adjusts the state of the air inside the cabin 10, specifically, the temperature, humidity, etc. of the air. The air conditioner 80 operates, for example, with electric power supplied from the DC-DC converter 44 and the battery 46. The air conditioner 80 is, for example, a heat pump type for both heating and cooling, and includes a heat pump cycle 82 described later.

[0106] In addition, the air conditioner 80 has a compressor 82A described later, and power is supplied to the compressor 82A from the power storage device 19.

[0107] Note that the air conditioner 80 may include, for example, a refrigeration cycle and a heater for heating instead of the heat pump cycle 82. The heater for heating is, for example, a PTC (Positive Temperature Coefficient) heater, a combustion type heater, or the like.

[0108] The fan 90 may blow air toward, for example, a condenser 82B described later to cool or heat the condenser 82B. As a result, air capable of performing heat exchange with the refrigerant flowing through the inside is sequentially supplied around the condenser 82B, and the degree of cooling or heating of the refrigerant by the condenser 82B can be increased.

[0109] The control system of the excavator 100 is a group of components related to various controls of the excavator 100.

[0110] As shown in FIG. 3, the control system of the excavator 100 includes a controller 30. In addition, the control system of the excavator 100 includes a peripheral information acquisition device 50, a sensor 48, and temperature sensors 54 and 56. Note that the functions of the controller 30 may be realized in a distributed manner by two or more controllers.

[0111] The controller 30 is mainly configured by a computer including a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), an auxiliary storage device such as a ROM (Read Only Memory), and an interface device with the outside. The controller 30 realizes various functions, for example, by loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0112] The controller 30 outputs a control command to the hydraulic control valve 31 in response to, for example, an operation signal input from the operation device 26, and causes the hydraulic control valve 31 to output a pilot pressure corresponding to the operation content of the operation device 26. Thereby, the controller 30 can realize the operation of the driven part (hydraulic actuator) of the excavator 100 corresponding to the operation content of the electric operation device 26.

[0113] When the excavator 100 is remotely operated, the controller 30 may, for example, perform control related to the remote operation. Specifically, the controller 30 may output a control command to the hydraulic control valve 31 and cause the hydraulic control valve 31 to output a pilot pressure corresponding to the content of the remote operation. Thereby, the controller 30 can realize the operation of the driven part (hydraulic actuator) of the excavator 100 corresponding to the content of the remote operation.

[0114] The controller 30 may, for example, perform control related to the automatic operation function. Specifically, the controller 30 may output a control command to the hydraulic control valve 31 and cause the pilot pressure corresponding to the operation command corresponding to the automatic operation function to act on the control valve 17 from the hydraulic control valve 31. Thereby, the controller 30 can realize the operation of the driven part (hydraulic actuator) of the excavator 100 corresponding to the automatic operation function.

[0115] Furthermore, the controller 30 performs control related to the electric drive system based on various input information (for example, control commands including the operation signal of the operation device 26).

[0116] The controller 30 outputs a control command to the inverter 18, for example, and performs drive control of the pump motor 12.

[0117] When a power conversion device is provided between the power storage device 19 and the pump motor 12 as described above, the controller 30 may output a control command to the power conversion device, for example, and perform control related to the operation of the power conversion device.

[0118] Furthermore, the controller 30 controls the peripheral monitoring function of the excavator 100.

[0119] Based on the data regarding the situation of the three-dimensional space around the excavator 100, which is captured from the peripheral information acquisition device 50, for example, the controller 30 detects a predetermined object (hereinafter, "monitoring object") around the excavator 100 and estimates the position of the monitoring object. The monitoring object includes, for example, a person. The monitoring object also includes, for example, other work vehicles, other work machines, etc. The monitoring object may also include, for example, utility poles, pylons, fences, on-site materials, etc. The data regarding the situation of the three-dimensional space around the excavator 100 includes, for example, detection data regarding the objects around the excavator 100 and their positions.

[0120] Also, when the controller 30 detects a monitoring object within a predetermined monitoring range, for example, it outputs an alarm to the user in the cab 10 and to the surroundings of the excavator 100 through an output device (for example, the display device 40, the sound output device, etc.). The monitoring range is appropriately set as, for example, a range where the distance from the excavator 100 to the surroundings of the excavator 100 is relatively close.

[0121] Also, when the controller 30 detects a monitoring object within a predetermined monitoring range, for example, it may limit the operation of the driven part (actuator) of the excavator 100.

[0122] The limitation of the operation of the driven part includes, for example, stopping the operation of the driven part. The controller 30 may forcibly stop the operation of the driven part (hydraulic actuator) by invalidating the operation or operation command of the operator, for example.

[0123] Also, the limitation of the operation of the driven part includes, for example, decelerating the operation of the driven part. The controller 30 may relatively decrease the pilot pressure output from the hydraulic control valve 31 to the control valve 17 and decelerate the operation of the driven part (hydraulic actuator) with respect to the operation or operation command of the operator.

[0124] Furthermore, the controller 30 controls the power storage device 19. For example, the controller 30 controls the charging of the power storage device 19.

[0125] For example, the controller 30 monitors various states of the power storage device 19 (such as current state, voltage state, temperature state, charge state, degradation state, presence or absence of abnormality, etc.) based on the outputs of various sensors built into the power storage device 19.

[0126] Furthermore, the controller 30 controls the DC-DC converter 44. The controller 30 controls the operation of the DC-DC converter 44.

[0127] For example, the controller 30 monitors various states of the DC-DC converter 44 (such as current state, voltage state, temperature state, etc.).

[0128] The sensor 48 measures the state of the power supplied from the DC-DC converter 44 or the battery 46 to the low-voltage load. For example, the sensor 48 may include a current sensor that measures the current supplied from the DC-DC converter 44 or the battery 46 to the low-voltage load and a voltage sensor that measures the voltage.

[0129] The temperature sensor 54 measures (detects) the temperature of the equipment of the electric drive system to be cooled. The temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the pump motor 12. Also, the temperature sensor 54 includes a temperature sensor that detects the temperature of the inverter 18. Also, the temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the power storage device 19. Also, the temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the DC-DC converter 44. Also, the temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the in-vehicle charger 70. The detection signal of the temperature sensor 54 is taken into, for example, the controller 30. Thereby, the controller 30 can grasp the temperature state of the equipment of the electric drive system.

[0130] In addition, when a power conversion device is provided between the power storage device 19 and the pump motor 12, the temperature sensor may include a temperature sensor for grasping the temperature state of the power conversion device.

[0131] The temperature sensor 56 measures (detects) the indoor temperature of the cabin 10. The detection signal of the temperature sensor 56 is taken into, for example, the controller 30. Thereby, the controller 30 can grasp the temperature state inside the cabin 10.

[0132] Next, the functions of the controller 30 of the present embodiment will be described. The controller 30 of the present embodiment includes a charging detection unit 30A, a charging time calculation unit 30B, an air conditioning control unit 30C, and a display control unit 30D.

[0133] The charging detection unit 30A detects that a charging cable is inserted into the charging port 72. In other words, the charging detection unit 30A detects that the charging port 72 is connected to an external power source and charging has started. In the present embodiment, it is assumed that the air conditioner 80 is powered off before charging starts.

[0134] The charging time calculation unit 30B calculates a charging completion time and a charging time according to the operation conditions of the air conditioner 80 set in advance. In addition, when the charging time calculation unit 30B of the present embodiment receives an input of the charging completion time, it specifies the operation conditions for completing charging at the input charging completion time.

[0135] Here, the operation conditions of the air conditioner 80 will be described. In the present embodiment, in the controller 30, a plurality of types of operation conditions of the air conditioner 80 during charging are set in advance.

[0136] The plurality of types of operation conditions include, for example, giving top priority to the operation of the air conditioner 80 by the operator, restricting the power consumption of the air conditioner 80 according to the charging time or the charging completion time, and giving top priority to the supply of power to the power storage device 19.

[0137] "Giving top priority to the operation of the air conditioner 80 by the operator" means, in other words, operating the air conditioner 80 without restricting its operation even during charging of the power storage device 19. In the following description, "giving top priority to the operation of the air conditioner 80 by the operator" is referred to as the first operating condition.

[0138] Also, the state in which the first operating condition is set for the air conditioner 80 is expressed as the air-conditioning priority mode, and operating the air conditioner 80 in the state where the first operating condition is set is expressed as operating the air conditioner 80 in the air-conditioning priority mode.

[0139] "Restricting the power consumption of the air conditioner 80 according to the charging time or the charging completion time" means, in other words, restricting the operation of the air conditioner 80 according to the charging completion time or the charging time. In the following description, "restricting the power consumption of the air conditioner 80 according to the charging time or the charging completion time" is referred to as the second operating condition. That is, the second operating condition is a condition regarding the power consumption of the air conditioner 80 according to the charging time or the charging completion time.

[0140] Also, the state in which the second operating condition is set for the air conditioner 80 is expressed as the air-conditioning restriction mode, and operating the air conditioner 80 in the state where the second operating condition is set is expressed as operating the air conditioner 80 in the air-conditioning restriction mode.

[0141] "Giving top priority to the supply of power to the power storage device 19" means, in other words, not supplying power to the air conditioner 80 during charging of the power storage device 19 and prohibiting the use of the air conditioner 80. In the following description, "giving top priority to the supply of power to the power storage device 19" is referred to as the third operating condition.

[0142] Also, the state in which the third operating condition is set for the air conditioner 80 is expressed as the no-air-conditioning mode.

[0143] The charging time calculation unit 30B of the present embodiment calculates, for example, the charging completion time or the charging time corresponding to each of the first operating condition, the second operating condition, and the third operating condition when an operation to start the air conditioner 80 is performed during the charging of the power storage device 19. Details of the calculation by the charging time calculation unit 30B will be described later.

[0144] Note that the air conditioner priority mode, the air conditioner restriction mode, and the no-air conditioner mode are included in the operation modes indicating the operating states set in the air conditioner 80.

[0145] Also, in the second operating condition, the degree of restricting the power consumption of the air conditioner 80 may be determined step by step. Details of the control of the air conditioner 80 based on the second operating condition will be described later.

[0146] The air conditioner control unit 30C controls the air conditioner 80. More specifically, when an operating condition is selected on the setting screen displayed on the display device 40 by the display control unit 30D, the air conditioner control unit 30C operates the air conditioner 80 under the operating condition selected by the operator.

[0147] The display control unit 30D controls the display of the display device 40. More specifically, after the start of charging of the power storage device 19 is detected, when an operation to start the air conditioner 80 is performed, the display control unit 30D causes the display device 40 to display a setting screen in which the calculation result by the charging time calculation unit 30B is associated with the operating condition of the air conditioner 80. Details of the setting screen will be described later.

[0148] Next, with reference to FIGS. 4A and 4B, the air conditioner 80 will be described. FIG. 4A is a diagram showing an example of the air conditioner. The air conditioner 80 (an example of an electrical load) adjusts the state of the air in the cabin 10, specifically, the temperature and humidity of the air, etc. The air conditioner 80 operates, for example, on the power supplied from the DC-DC converter 44 and the battery 46. The air conditioner 80 is, for example, a heat pump type for both heating and cooling, and includes a heat pump cycle 82.

[0149] Note that the air conditioner 80 may include, for example, a refrigeration cycle and a heater for heating, instead of the heat pump cycle 82. The heater for heating may be, for example, a PTC (Positive Temperature Coefficient) heater, a combustion heater, or the like.

[0150] As shown in FIG. 4A, the heat pump cycle 82 includes a compressor 82A, a condenser 82B, an expansion valve 82C, and an evaporator 82D.

[0151] Note that the arrows in FIG. 4A represent the flow of the refrigerant during the cooling operation of the air conditioner 80, and the flow of the refrigerant during the heating operation of the air conditioner 80 is in the opposite direction.

[0152] The compressor 82A compresses the refrigerant in the heat pump cycle 82. The compressor 82A includes, for example, a built-in electric motor and an inverter circuit for driving the electric motor, and is electrically driven by the power supplied from the battery 46 or the DC-DC converter 44. The refrigerant compressed by the compressor 82A is sent to the condenser 82B during the cooling operation of the air conditioner 80 and sent to the evaporator 82D during the heating operation of the air conditioner 80.

[0153] Note that the compressor 82A may be configured to be driven by the power directly supplied from the power storage device 19. Also, the compressor 82A may be configured to be mechanically driven by the pump motor 12.

[0154] The condenser 82B cools the refrigerant in a gaseous state that has been compressed by the compressor 82A and has relatively high temperature rise during the cooling operation of the air conditioner 80. Specifically, the condenser 82B dissipates the heat of the refrigerant to the outside air by heat exchange between the refrigerant flowing through the inside and the outside air, and cools the refrigerant. The refrigerant cooled by the condenser 82B changes to a liquid state.

[0155] Further, during the heating operation of the air conditioner 80, the capacitor 82B extracts heat from the outside air through heat exchange between the refrigerant flowing through the inside and the outside air, and raises the temperature of the refrigerant that has been depressurized through the expansion valve 82C and has dropped to a relatively low temperature.

[0156] The expansion valve 82C rapidly reduces the pressure of the flowing refrigerant and lowers the temperature of the refrigerant. During the cooling operation of the air conditioner 80, the expansion valve 82C rapidly reduces the pressure of the liquid-state and high-pressure refrigerant sent from the capacitor 82B and lowers the temperature. Further, during the heating operation of the air conditioner 80, the expansion valve 82C rapidly reduces the pressure of the liquid-state and high-pressure refrigerant sent from the evaporator 82D and lowers the temperature.

[0157] The evaporator 82D performs heat exchange between the refrigerant flowing through the inside and the air sent from the air conditioner 80 into the cabin 10. During the cooling operation of the air conditioner 80, the evaporator 82D cools the air sent into the cabin 10 in such a way that the relatively low-temperature refrigerant (gas-liquid mixed state) sent from the expansion valve 82C extracts heat from the air. Further, during the heating operation of the air conditioner 80, the evaporator 82D warms the air sent into the cabin 10 in such a way that the air extracts heat from the relatively high-temperature refrigerant (gas state) sent from the compressor 82A.

[0158] For example, as shown in FIG. 4A, the fan 90 may blow air toward the capacitor 82B to cool or heat the capacitor 82B. As a result, air capable of performing heat exchange with the refrigerant flowing through the inside is sequentially supplied around the capacitor 82B, and the degree of cooling or heating of the refrigerant by the capacitor 82B can be increased.

[0159] FIG. 4B is a diagram for explaining another example of the air conditioner. The air conditioner 80A shown in FIG. 4B is a heating air conditioner 80. The air conditioner 80A includes a water heater 83A, a water pump 83B, a heater core 83C, and a reserve tank 83D. The arrows in FIG. 4B indicate the flow of the refrigerant during the heating operation of the air conditioner 80A.

[0160] In the air conditioner 80A, the reserve tank 83D stores the refrigerant. The water heater 83A has an electric heater, and heats the refrigerant passing through here by supplying power to this electric heater. The refrigerant heated by the water heater 83A is supplied to the heater core 83C via the water pump 83B.

[0161] The heater core 83C generates warm air by heat exchange between the refrigerant and the air flow, and heats the interior of the vehicle cabin with the generated warm air. Then, the refrigerant that has exited the heater core 83C returns to the reserve tank 83D. In this way, in the air conditioner 80A, heating is performed by the refrigerant absorbing heat in the water heater 83A and releasing the absorbed heat in the heater core 83C.

[0162] Next, with reference to FIG. 5, the operation of the excavator 100 of the present embodiment will be described. FIG. 5 is a flowchart for explaining the operation of the excavator of the first embodiment.

[0163] In the excavator 100 of the present embodiment, the controller 30 detects the connection between the charging port 72 and the charging cable by the charge detection unit 30A (step S501). At this time, the state of the air conditioner 80 is set to the state where it is not started (power off).

[0164] Subsequently, the controller 30 determines whether or not an operation to start the air conditioner 80 has been received by the air conditioning control unit 30C (step S502).

[0165] In step S502, if an operation to start the air conditioner 80 has not been received, the controller 30 waits until an operation to start the air conditioner 80 is performed.

[0166] In step S502, if an operation to start the air conditioner 80 has been received, the controller 30 calculates the charging time for each operating condition of the air conditioner 80 by the charging time calculation unit 30B (step S503). Details of the processing by the charging time calculation unit 30B will be described later.

[0167] Subsequently, the controller 30 causes the display control unit 30D to display a setting screen including a list of charging times for each operating condition on the display device 40 (step S504).

[0168] Subsequently, when the controller 30 accepts a selection of the operating condition of the air conditioner 80 on the setting screen (step S505), the air conditioning control unit 30C sets the selected operating condition in the air conditioner 80 and causes the air conditioner 80 to start operating based on the operating condition (step S506).

[0169] Specifically, the air conditioning control unit 30C may automatically change the set temperature so that the difference between the set temperature for the air conditioner 80 and the outside air temperature becomes small, or may change the rotation speed of the compressor 82A of the air conditioner 80 or the output of the water heater 83A of the air conditioner 80.

[0170] Note that the air conditioner 80 has a controller and a storage device (not shown), and the controller of the air conditioner 80 may control the operation of its own device according to the selected operating condition. Further, the information indicating the operating condition of the air conditioner 80 may be stored, for example, in a storage device or the like that the air conditioner 80 has.

[0171] Subsequently, the controller 30 determines, by the display control unit 30D, whether an operation to return the setting screen to the main screen has been received (step S507). In step S507, if an operation to return to the main screen has not been received, the controller 30 waits.

[0172] In step S507, if an operation to return to the main screen has been received, the controller 30 causes the display control unit 30D to transition the setting screen to the main screen and display the main screen on the display device 40 (step S508). The main screen displayed here may include information indicating the operating requirements during the operation selected in step S505.

[0173] Note that when charging is completed and the connection between the power storage device 19 and the external power supply is interrupted, the controller 30 of the present embodiment may cancel the operating conditions set for the air conditioner 80 by the air conditioner control unit 30C. In other words, after the charging of the power storage device 19 is completed, the controller 30 does not restrict the operation of the air conditioner 80.

[0174] Hereinafter, with reference to FIG. 6, the calculation of the charging time and the charging completion time by the charging time calculation unit 30B of the present embodiment will be described. FIG. 6 is a diagram for explaining the calculation of the charging time and the charging completion time.

[0175] The charging time calculation unit 30B of the present embodiment includes a required charge amount calculation unit 32a, a charging power calculation unit 32b, and a calculation unit 32c.

[0176] The required charge amount calculation unit 32a subtracts the current charge amount in the power storage device 19 from the target value of the state of charge (SOC) to obtain the required charge amount. The target value of the SOC may be a full charge or an arbitrarily set value.

[0177] The charging power calculation unit 32b obtains the charging power by subtracting the power consumption of the air conditioner 80 from the power supplied from the external power supply. Note that when obtaining the charging power, the efficiency of each component of the excavator 100 is also taken into consideration.

[0178] The calculation unit 32c obtains the charging time by dividing the required charge amount by the charging power. Further, the calculation unit 32c may obtain the charging completion time together with the charging time. The charging completion time is obtained from the current time and the charging time.

[0179] In the charging time calculation unit 30B of the present embodiment, when calculating the charging time for each operating condition, the power consumption of the air conditioner 80 used in the charging power calculation unit 32b is set according to each operating condition.

[0180] For example, when calculating the charging time corresponding to the first operating condition, the charging time calculation unit 32B may calculate the charging time by using the power consumption of the air conditioner 80 used in the charging power calculation unit 32b as the maximum value of the power consumption of the air conditioner 80. By doing so, it is possible to suppress the occurrence of a situation where charging is not completed within the calculated charging time due to the power consumption of the air conditioner 80 being too large.

[0181] Further, when calculating the charging time corresponding to the second operating condition, the charging time calculation unit 30B may calculate the charging time for each degree of limiting the power consumption of the air conditioner 80.

[0182] Specifically, for example, when reducing the degree of limiting the power consumption of the air conditioner 80, the charging time may be calculated by using the power consumption of the air conditioner 80 used in the charging power calculation unit 32b as about 80% of the maximum value of the power consumption of the air conditioner 80.

[0183] Further, when the degree of limiting the power consumption of the air conditioner 80 is moderate, the charging time calculation unit 30B may calculate the charging time by using the power consumption of the air conditioner 80 used in the charging power calculation unit 32b as about 50% of the maximum value of the power consumption of the air conditioner 80.

[0184] Further, when increasing the degree of limiting the power consumption of the air conditioner 80, the charging time calculation unit 30B may calculate the charging time by using the power consumption of the air conditioner 80 used in the charging power calculation unit 32b as about 20% of the maximum value of the power consumption of the air conditioner 80.

[0185] Note that in this embodiment, the value of the power consumption of the air conditioner 80 used for calculating the charging time may be preset according to the degree of limiting the power consumption of the air conditioner 80.

[0186] In this embodiment, in this way, by setting the degree of limiting the power consumption of the air conditioner 80 step by step, even when the second operating condition is selected, the air conditioner 80 can be operated in accordance with the operator's wishes, contributing to keeping the environment in the cabin 10 comfortable.

[0187] Further, when the charging completion time is input, the charging time calculation unit 30B of this embodiment obtains the charging time from the current time and the input charging completion time, and the charging power calculation unit 32c calculates the charging power from the required charging amount calculated by the required charging amount calculation unit 32a and the charging time. Then, the charging time calculation unit 30B calculates the power consumption of the air conditioner 80 from the charging power and the external power supply, and specifies the operating condition of the air conditioner 80 according to the calculated power consumption of the air conditioner 80.

[0188] Next, with reference to FIGS. 7 to 9, the display example of this embodiment will be described. FIG. 7 is a diagram showing an example of the main screen of the first embodiment. The main screen shown in FIG. 7 may be displayed on the display device 40, for example, when the process of FIG. 5 is started. More specifically, it may be displayed on the display device 40 in step S501 of FIG. 5.

[0189] FIG. 7 shows an example (screen SC1) of the main screen displayed on the image display unit 41M of the main monitor 40M, which is one of the display devices 40. The screen SC1 includes a time display unit 411, a rotation speed mode display unit 412, a travel mode display unit 413, an attachment display unit 414, an engine control state display unit 415, a hydraulic oil temperature display unit 416, a remaining battery level display unit 417, a coolant water temperature display unit 418, an engine operation time display unit 419, a camera image display unit 420, and a composite image display unit 422. The rotation speed mode display unit 412, the travel mode display unit 413, the attachment display unit 414, and the engine control state display unit 415 are display units that display information regarding the setting state of the excavator 100. The hydraulic oil temperature display unit 416, the remaining battery level display unit 417, the coolant water temperature display unit 418, and the engine operation time display unit 419 are display units that display information regarding the operation state of the excavator 100. The images displayed on each unit are generated by the display device 40 using various data acquired by the controller 30 and image data acquired by the peripheral information acquisition device 50 (camera).

[0190] The time display unit 411 displays the current time. The rotation speed mode display unit 412 displays the rotation speed mode set by an engine rotation speed adjustment dial (not shown) as the operation information of the excavator 100. The travel mode display unit 413 displays the travel mode as the operation information of the excavator 100. The travel mode represents the setting state of the travel hydraulic motor using a variable displacement motor. For example, the travel mode has a low speed mode and a high speed mode, and a mark resembling a "turtle" is displayed in the low speed mode, and a mark resembling a "rabbit" is displayed in the high speed mode.

[0191] The attachment display unit 414 is an area for displaying an icon representing the type of the currently attached attachment. The engine control state display unit 415 displays the control state of the engine 11 as the operation information of the excavator 100.

[0192] In the example shown in FIG. 7, the “automatic deceleration / automatic stop mode” is selected as the control state of the engine 11. The “automatic deceleration / automatic stop mode” means a control state in which the engine speed is automatically reduced according to the duration of the non-operation state, and further the engine 11 is automatically stopped. In addition, the control states of the engine 11 include the “automatic deceleration mode”, the “automatic stop mode”, and the “manual deceleration mode”.

[0193] The hydraulic oil temperature display unit 416 displays the temperature of the hydraulic oil of the excavator 100. The temperature of the hydraulic oil may be acquired by a temperature sensor (not shown). The remaining power storage device display unit 417 indicates the charge amount of the power storage device 19. In other words, the remaining power storage device display unit 417 indicates the SOC of the power storage device 19. In the example shown in FIG. 7, a bar gauge representing the current SOC of the power storage device 19 is displayed on the remaining power storage device display unit 417. The SOC is displayed based on the data output by the power storage device 19.

[0194] The coolant water temperature display unit 418 displays the temperature state of the engine coolant water as operation information of the excavator 100. In the example shown in FIG. 7, a bar gauge representing the temperature state of the engine coolant water is displayed on the coolant water temperature display unit 418. The temperature of the engine coolant water is displayed based on the data output by the water temperature sensor provided in the engine 11.

[0195] The engine operation time display unit 419 displays the cumulative operation time of the engine 11 as operation information of the excavator 100. In the example shown in FIG. 7, on the engine operation time display unit 419, the cumulative operation time since the count was restarted by the operator is displayed together with the unit “hr (hour)”. The engine operation time display unit 419 may display the lifetime operation time for the entire period after the excavator is manufactured or the interval operation time since the count was restarted by the operator.

[0196] The camera image display unit 420 displays an image captured by a camera as the peripheral information acquisition device 50. In the example shown in FIG. 7, an image captured by the rear camera 50B attached to the rear end of the upper revolving body 3 on the upper surface is displayed on the camera image display unit 420. A camera image captured by the left camera 50L attached to the left end of the upper surface of the upper revolving body 3 or the right camera 50R attached to the right end of the upper surface may be displayed on the camera image display unit 420. Further, on the camera image display unit 420, camera images captured by a plurality of cameras among the left camera 50L, the right camera 50R, and the rear camera 50B may be displayed side by side.

[0197] Each camera may be installed so that a part of the image of the upper revolving body 3 is included in the camera image. By including a part of the image of the upper revolving body 3 in the displayed image, it becomes easier for the operator to grasp the sense of distance between the object displayed on the camera image display unit 420 and the excavator 100. In the example shown in FIG. 7, the camera image display unit 420 displays an image of the counterweight 3w of the upper revolving body 3.

[0198] On the camera image display unit 420, a graphic 421 representing the orientation of the camera (rear camera 50B) that captured the currently displayed camera image is displayed. The graphic 421 is composed of an excavator graphic 421a representing the shape of the excavator 100 and a strip-shaped direction display graphic 421b representing the shooting direction of the camera that captured the currently displayed camera image. The graphic 421 is a display unit that displays information regarding the set state of the excavator 100.

[0199] In the example shown in FIG. 7, a direction display graphic 421b is displayed below the excavator graphic 421a (the side opposite to the graphic representing the attachment AT). This indicates that an image of the rear of the excavator 100 taken by the rear camera 50B is being displayed on the camera image display unit 420. For example, when an image taken by the right camera 50R is being displayed on the camera image display unit 420, the direction display graphic 421b is displayed on the right side of the excavator graphic 421a. Also, for example, when an image taken by the left camera 50L is being displayed on the camera image display unit 420, the direction display graphic 421b is displayed on the left side of the excavator graphic 421a.

[0200] The operator can switch the image displayed on the camera image display unit 420 to an image taken by another camera or the like, for example, by pressing an image switching switch (not shown) provided in the cabin 10.

[0201] The composite image display unit 422 displays a composite image of a plurality of camera images captured by at least two of a plurality of cameras (left camera 50L, right camera 50R, and rear camera 50B). In the example shown in FIG. 7, an overhead image, which is a composite image of three camera images respectively captured by the left camera 50L, right camera 50R, and rear camera 50B, is displayed so as to surround the left, rear, and right sides of the excavator graphic. Note that an overhead image, which is a composite image of four camera images respectively captured by the front camera 50F, left camera 50L, right camera 50R, and rear camera 50B, may be displayed so as to surround the front, left, rear, and right sides of the excavator graphic on the composite image display unit 422.

[0202] FIG. 8 is a diagram showing an example of a setting screen of the first embodiment. The screen SC2 shown in FIG. 8 includes a setting screen 500 for selecting operating conditions to be set for the air conditioner 80. For example, it is displayed on the display device 40 in step S504 of FIG. 5. Note that In the example of FIG. 8, the setting screen 500 is superimposed on the main screen as a pop-up window, but is not limited thereto. The setting screen 500 may be displayed on the entire image display unit 41M (full-screen display).

[0203] The setting screen 500 includes display areas 501, 502, 503, and operation buttons 504. In the display area 501, each operation condition of the air conditioner 80 and operation buttons 501a, 501b, 501c for selecting the operation conditions are displayed.

[0204] The operation button 501a is an operation button for selecting the first operation condition. In other words, the operation button 501a is an operation button for operating the air conditioner 80 in the air-conditioning priority mode.

[0205] The operation button 501b is an operation button for selecting the second operation condition. In other words, the operation button 501b is an operation button for operating the air conditioner 80 in the air-conditioning limit mode. The operation button 501b includes operation buttons 501d, 501e, 501f for selecting the degree of limiting the power consumption of the air conditioner 80 in the air-conditioning limit mode.

[0206] More specifically, the operation button 501d is an operation button for selecting an operation condition in which the air conditioner 80 is set to the air-conditioning limit mode and the degree of limiting the power consumption of the air conditioner 80 is about 20% of the maximum value of the power consumption of the air conditioner 80. In other words, the operation button 501d is an operation button for selecting an operation requirement that allows the air conditioner 80 to consume about 80% of the maximum power consumption of the air conditioner 80 during use.

[0207] In addition, the operation button 501e is an operation button for selecting an operation condition in which the air conditioner 80 is set to the air-conditioning limit mode and the degree of limiting the power consumption of the air conditioner 80 is set to about 50% of the maximum value of the power consumption of the air conditioner 80. In other words, the operation button 501e is an operation button for selecting an operating condition that allows the air conditioner 80 to consume about 50% of the maximum power consumption of the air conditioner 80 during use.

[0208] In addition, the operation button 501f is an operation button for selecting an operation condition in which the air conditioner 80 is set to the air-conditioning limit mode and the degree of limiting the power consumption of the air conditioner 80 is set to about 80% of the maximum value of the power consumption of the air conditioner 80. In other words, the operation button 501f is an operation button for selecting an operating condition that allows the air conditioner 80 to consume about 20% of the maximum power consumption of the air conditioner 80 during use.

[0209] Note that in the example of FIG. 8, it is assumed that the degree of power consumption limitation in the air conditioner 80 is specified by selecting and operating any one of the operation buttons 501d, 501e, and 501f. However, the method for specifying the degree of power consumption limitation is not limited to this.

[0210] On the setting screen 500, for example, instead of the operation button 501b, an operation component such as a slide bar is displayed, and the degree of power consumption limitation may be specified by operating this operation component. Also, on the setting screen 500, instead of the operation button 501b, an input field for inputting the degree of power consumption limitation may be displayed, and it may be specified by the operator inputting a ratio, percentage, etc.

[0211] That is, the operation button 501b of the present embodiment may be displayed on the setting screen 500 as information indicating the power consumption allowed for the air conditioner 80 in a stepwise manner.

[0212] The operation button 501c is an operation button for selecting the third operation condition. In other words, the operation button 501c is an operation button for setting the air-conditioning-off mode that prohibits the use of the air conditioner 80.

[0213] In the display area 502, when the operation button 501a is selected and the air conditioner 80 is operated in the air-conditioning priority mode, the charging time, for each of the operation buttons 501d, 501e, 501f included in the operation button 501b, when each operation button is selected and the air conditioner 80 is operated in the air-conditioning limit mode, and when the operation button 501c is selected and the air conditioner 80 is set to the air-conditioning-off mode, the charging time is displayed.

[0214] In the display area 503, when the operation button 501a is selected and the air conditioner 80 is operated in the air-conditioning priority mode, the charging completion time, for each of the operation buttons 501d, 501e, 501f included in the operation button 501b, when each operation button is selected and the air conditioner 80 is operated in the air-conditioning limit mode, and when the operation button 501c is selected and the air conditioner 80 is set to the air-conditioning-off mode, the charging completion time is displayed.

[0215] In this embodiment, in this way, by displaying a list associating the operation mode of the air conditioner 80 with the charging time and the charging completion time on the setting screen 500, the operator can grasp the relationship between the charging time and the operation mode of the air conditioner 80. Further, according to this embodiment, the operator can grasp the operation conditions of the air conditioner 80 for completing charging within a predetermined time.

[0216] Also, in this embodiment, by displaying information indicating the power consumption allowed for the air conditioner 80 step by step, and the charging time and the charging completion time corresponding to each step, the operator can be made to recognize how much use of the air conditioner 80 is allowed.

[0217] Also, in this embodiment, when an operation to start the air conditioner 80 is performed during charging, in order to display the setting screen 500, before the operator sets the temperature inside the cabin 10 or the like for the air conditioner 80, the operator can be made aware of the difference in the charging time and the charging completion time due to the power consumption of the air conditioner 80.

[0218] Note that on the setting screen 500, either the charging time or the charging completion time may be displayed. That is, the setting screen 500 may include either one of the display areas 502 and 503.

[0219] The operation button 504 is an operation button for changing the display on the image display unit 41M from the setting screen 500 to the main screen.

[0220] In this embodiment, when any one of the operation buttons displayed in the display area 501 is selected and the operation button 504 is operated, the display on the image display unit 41M is changed to the main screen shown in FIG. 9.

[0221] FIG. 9 is a diagram showing another example of the main screen of the first embodiment. The screen SC1A shown in FIG. 9 is an example of the screen displayed on the image display unit 41M when the operation button 504 is operated after the operation button 501e is selected in the setting screen 500 shown in FIG. 8.

[0222] The screen SC1A shown in FIG. 9 includes a display area 510. Information indicating the operation mode corresponding to the operation conditions currently set for the air conditioner 80 is displayed in the display area 510. Specifically, in the display area 510 of FIG. 9, a message "Operating in air conditioning limit mode (medium)" is displayed.

[0223] In this embodiment, by thus displaying the operation mode set for the air conditioner 80, the operator can be made aware of the operation conditions currently set for the air conditioner 80.

[0224] In addition, in the display area 510, for example, in addition to the above-described information, the charging completion time may be displayed. By doing so, in the present embodiment, the operator can always grasp the charging completion time. Note that information indicating that charging is in progress may be displayed on the screen SC1A. Thereby, the operator can recognize that charging is in progress and the operation mode of the air conditioner 80 during charging.

[0225] Furthermore, in the display area 510, operation buttons or the like for displaying the setting screen 500 again may be displayed. By doing so, in the present embodiment, when the operator wants to change the charging completion time or change the operation mode of the air conditioner 80, the operation conditions set in the air conditioner 80 can be changed.

[0226] (Second Embodiment) The second embodiment will be described below with reference to the drawings. The second embodiment is different from the first embodiment in that the charging completion time is input instead of selecting the operation conditions on the setting screen. In the following description of the second embodiment, the differences from the first embodiment will be described, and components having the same functional configuration as those in the first embodiment will be given the same reference numerals as those used in the description of the first embodiment, and the description thereof will be omitted.

[0227] FIG. 10 is a flowchart for explaining the operation of the excavator according to the second embodiment. Since the processes in steps S1001 and S1002 in FIG. 10 are the same as the processes in steps S501 and S502 in FIG. 5, the description thereof will be omitted.

[0228] In step S1002, when an operation for starting the air conditioner 80 is received, the controller 30 causes the display control unit 30D to display the setting screen on the display device 40. The details of the setting screen of the present embodiment will be described later.

[0229] Subsequently, the controller 30 receives an input of the charging completion time on the setting screen (step S1004). Subsequently, based on the input charging completion time, the controller 30 calculates the power consumption of the air conditioner 80 by the charging time calculation unit 30B, and specifies the operating conditions of the air conditioner 80 according to the calculated power consumption (step S1005).

[0230] Subsequently, the controller 30 sets the specified operating conditions in the air conditioner 80 by the air conditioning control unit 30C, and causes the air conditioner 80 to start operating based on the operating conditions (step S1006).

[0231] Since the processes of step S1007 and step S1008 in FIG. 10 are the same as the processes of S507 and step S508 in FIG. 5, the description thereof is omitted.

[0232] Next, with reference to FIG. 11, the setting screen of the present embodiment will be described. FIG. 11 is a diagram showing an example of the setting screen of the second embodiment. The screen SC2A shown in FIG. 11 includes a setting screen 530 for inputting the charging completion time.

[0233] The setting screen 530 includes a display area 531, an input field 532, and an operation button 533. A message prompting the input of the charging completion time for the input field 532 is displayed in the display area 531. The input field 532 is an input field for inputting the charging completion time. The operation button 533 is an operation button for setting the charging completion time.

[0234] In the present embodiment, on the setting screen 530, when the charging completion time is input in the input field 532 and the operation button 533 is operated, the charging time calculation unit 30B specifies the operating conditions for completing charging at the input charging completion time, and the air conditioning control unit 30C sets the specified operating conditions in the air conditioner 80.

[0235] Thus, in this embodiment, in order to specify the operating conditions of the air conditioner 80 according to any desired charging completion time of the operator, the operator does not need to select the operating conditions of the air conditioner 80, and the setting becomes simple.

[0236] Note that in this embodiment, after the operation button 533 is operated, the screen SC2A may be transitioned to the screen SC1A shown in FIG. 9, and information indicating the operation mode corresponding to the operating conditions (the operating conditions currently set in the air conditioner 80) specified by the charging time calculation unit 30B may be displayed in the display area 510. The operating conditions displayed here are the operating conditions of the air conditioner 80 corresponding to the information indicating the time required for charging. In other words, the information indicating the time required for charging is information regarding the time when the charging rate of the power storage device 19 reaches the target value, and includes the charging completion time.

[0237] By doing so, the operator can be made aware of what operating conditions are set in the air conditioner 80.

[0238] Note that the functions of the controller 30 in each of the above-described embodiments may be provided, for example, in a control device provided in a remote operation room for remotely operating the excavator 100. In this way, by providing the functions of the controller 30 in the remote operation room, for example, when the operator boards the cabin 10 after charging, the air conditioner 80 can be operated in advance by remote operation to make the inside of the cabin 10 comfortable when the operator boards the cabin 10.

[0239] Also, in this embodiment, the excavator 100 is taken as an example of a work machine, but the work machine to which this embodiment is applied is not limited to the excavator 100. This embodiment can be applied to any work machine as long as it is an electric work machine having an air conditioner 80.

[0240] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. can be applied without departing from the scope of the present invention. Also, the features described separately can be combined as long as no technical contradiction occurs.

Explanation of Reference Numerals

[0241] 1 Lower traveling body 2 Swing mechanism 3 Upper swing body 4 Boom 5 Arm 6 Bucket 19 Power storage device 30 Controller 30A Charge detection unit 30B Charge time calculation unit 30C Air conditioning control unit 30D Display control unit 40 Display device 72 Charge port 100 Excavator

Claims

1. An electric motor for driving a hydraulic pump, A power storage device for supplying power to the electric motor, An air conditioner supplied with power from the power storage device, And a control device that causes a display device to display a list associating information regarding the time when the charge rate of the power storage device reaches a target value with the operating conditions of the air conditioner. A hydraulic excavator having the same.

2. The operating conditions include conditions regarding the limitation of the power consumption of the air conditioner, In the list, The conditions regarding the limitation of the power consumption of the air conditioner are displayed in association with information indicating the allowable power consumption in stages in the operation of the air conditioner and the information regarding the time. The hydraulic excavator according to claim 1.

3. The control device, Has a charge detection unit that detects that charging of the power storage device has started, And a display control unit that causes the display device to display the list when an operation to start the air conditioner is received after the start of the charging is detected. The hydraulic excavator according to claim 1.

4. The information regarding the time when the charge rate of the power storage device reaches the target value includes at least the charge completion time when the charge rate of the power storage device reaches the target value. The hydraulic excavator according to any one of claims 1 to 3.

5. An electric motor for driving a hydraulic pump, A power storage device for supplying power to the electric motor, An air conditioner supplied with power from the power storage device, And a control device that causes a display device to display a screen including an input field for inputting the charge completion time when the charge rate of the power storage device reaches a target value when an operation to start the air conditioner is received after the start of charging of the power storage device is detected. A hydraulic excavator having the same.

6. The control device, Based on the charging completion time input in the input field, specifying the operating conditions allowed for the air conditioner, operating the air conditioner based on the specified operating conditions, and causing the specified operating conditions to be displayed on the display device, the excavator according to claim 5.

7. An electric motor for driving a hydraulic pump, A power storage device that supplies power to the electric motor, An air conditioner to which power is supplied from the power storage device, An excavator having a control device that causes an operating condition of the air conditioner associated with information regarding a time when a charging rate of the power storage device reaches a target value to be displayed on a display device.

Images