Excavator

Abstract

Provided is a technology capable of further suppressing energy consumption in a shovel. A shovel according to an embodiment of the present disclosure is provided with: a hydraulic actuator; a main pump 14 for supplying a working oil to the hydraulic actuator; a pump motor 12 for driving the main pump 14; an electric operation device 26 for operating the hydraulic actuator; and an inverter 18A for controlling the pump motor 12, so as to automatically stop the main pump 14 when the operation device 26 is not operated, and then to automatically start the main pump 14 when the operation device 26 stats to be operated.

Description

[Technical field]

[0001] The present disclosure relates to a shovel. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known a technique for stopping a hydraulic pump that supplies hydraulic oil to a hydraulic actuator of a shovel when the hydraulic actuator is not being operated (see Patent Document 1).

[0003] This technology makes it possible to reduce the energy consumption of the shovel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-208568 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, it is desirable to further reduce the energy consumption of a shovel.

[0006] In view of the above problems, an object of the present invention is to provide a technique capable of further reducing energy consumption in a shovel. [Means for solving the problem]

[0007] In order to achieve the above object, in one embodiment of the present disclosure, A lower running body; An upper rotating body rotatably mounted on the lower traveling body; A working device attached to the upper rotating body; A hydraulic actuator; a hydraulic pump for supplying hydraulic oil to the hydraulic actuator; An electric motor that drives the hydraulic pump; An electric operating device for operating the hydraulic actuator; A control device that controls the electric motor, automatically stops the hydraulic pump when the operating device is not operated, and then automatically starts the hydraulic pump when there is a sign that the operating device will be started. 、 After automatically stopping the hydraulic pump, if there is a sign that the operation of the operating device will be started, the control device automatically starts the hydraulic pump and returns the hydraulic pump to a second rotation speed that is lower than a first rotation speed at which work can be started and is a positive value, and thereafter, if the operation of the operating device is started, returns the hydraulic pump from the second rotation speed to the first rotation speed. R, Shovel provided. Effect of the Invention

[0008] According to the above-described embodiment, a technique can be provided that can further reduce energy consumption in a shovel. [Brief description of the drawings]

[0009] [Figure 1] FIG. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a configuration of a shovel. [Diagram 3] 4 is a flowchart illustrating an outline of a first example of a control process related to a pump stop function by a controller. [Figure 4] 10 is a flowchart illustrating a second example of a control process related to a pump stop function by a controller. [Diagram 5] 10 is a flowchart illustrating a third example of a control process related to a pump stop function by a controller. [Figure 6] 10 is a flowchart illustrating an outline of a fourth example of a control process related to a pump stop function by a controller. [Figure 7] FIG. 11 is a block diagram illustrating a schematic configuration of another example of a shovel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment will be described with reference to the drawings.

[0011] [Outline of the excavator] First, with reference to FIG. 1, an overview of a shovel as an example of a work machine will be described.

[0012] FIG. 1 is a side view showing an example of a shovel according to this embodiment.

[0013] The excavator in this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 as working implements, and a cabin 10 in which the operator sits.

[0014] The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each of the crawlers is hydraulically driven by traveling hydraulic motors 1A, 1B (see FIG. 2) to be self-propelled.

[0015] The upper rotating body 3 is electrically driven by a swing electric motor 21 (see FIG. 2) described later through the swing mechanism 2, thereby swinging relative to the lower traveling body 1. The upper rotating body 3 may be hydraulically driven by a swing hydraulic motor instead of the swing electric motor 21 through the swing mechanism 2. In this case, the excavator of this embodiment has all driven elements hydraulically driven by hydraulic oil supplied from a main pump 14 (see FIG. 2) powered by an engine, and corresponds to a configuration in which the power source (engine) of a so-called hydraulic excavator is replaced with the pump electric motor 12.

[0016] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively.

[0017] The bucket 6 is an example of an end attachment, and other end attachments may be attached to the tip of the arm 5 instead of the bucket 6 depending on the work content, etc. The other end attachments may be buckets of a different type from the bucket 6, such as a slope bucket or a dredging bucket. The other end attachments may also be end attachments of a different type from the bucket, such as a breaker, an agitator, a grapple, etc.

[0018] The cabin 10 is mounted on the front left side of the upper rotating body 3, and inside (inside) thereof, a cockpit where an operator sits, an operating device 26 described later, and the like are provided.

[0019] The excavator operates driven elements such as a lower traveling structure 1 (left and right crawlers), an upper rotating structure 3, a boom 4, an arm 5, and a bucket 6 in response to operations by an operator who sits in a cabin 10.

[0020] Further, instead of or in addition to being configured to be operable by an operator in the cabin 10, the shovel may be configured to be remotely operated from outside the shovel. When the shovel is remotely operated, the inside of the cabin 10 may be unmanned. In the following description, it is assumed that the operation of the operator includes at least one of the operation of the operating device 26 by the operator in the cabin 10 and the remote operation by an external operator.

[0021] The remote operation includes, for example, a mode in which the shovel is operated by an operation input related to the actuator of the shovel performed by a predetermined external device. In this case, the shovel may transmit image information (captured image) output by an imaging device that captures an image of the surroundings of the upper revolving body 3 to the external device, and the image information may be displayed on a display device (hereinafter, "display device for remote operation") provided in the external device. Also, various information images (information screens) displayed on a display device 50 (described later) inside the cabin 10 of the shovel may be similarly displayed on the remote operation display device of the external device. This allows the operator of the external device to remotely operate the shovel while checking the display contents of, for example, the captured image and the information screen showing the surroundings of the shovel displayed on the display device for remote operation. Then, the shovel may operate the actuator in response to a remote operation signal that represents the contents of the remote operation received from the external device, and drive the driven elements such as the lower traveling body 1 (left and right crawlers), the upper revolving body 3, the boom 4, the arm 5, and the bucket 6.

[0022] Further, remote control may include, for example, a mode in which the shovel is operated by an external voice input or gesture input to the shovel by a person (e.g., a worker) around the shovel. Specifically, the shovel recognizes voices uttered by surrounding workers or gestures made by the workers through a voice input device (e.g., a microphone) or a gesture input device (e.g., an imaging device) mounted on the shovel. Then, the shovel may operate actuators according to the contents of the recognized voices or gestures to drive driven elements such as the lower traveling body 1 (left and right crawlers), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0023] The excavator may automatically operate the actuators regardless of the operation by the operator, thereby realizing a function (so-called "automatic driving function" or "machine control function") of automatically operating at least some of the driven elements such as the lower traveling body 1 (left and right crawlers), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0024] The automatic driving function may include a function (so-called "semi-automatic driving function") of automatically operating a driven element (hydraulic actuator) other than the driven element (hydraulic actuator) to be operated in response to an operation or remote operation of the operating device 26 by an operator. The automatic driving function may also include a function (so-called "fully automatic driving function") of automatically operating at least a part of the multiple driven elements (hydraulic actuators) on the premise that there is no operation or remote operation of the operating device 26 by an operator. When the fully automatic driving function is enabled in an excavator, the inside of the cabin 10 may be unmanned. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the operation content of the driven element (hydraulic actuator) to be the object of automatic driving is automatically determined according to a rule that is specified in advance. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the excavator autonomously makes various judgments and autonomously determines the operation content of the driven element (hydraulic actuator) to be the object of automatic driving in accordance with the judgment results (so-called "autonomous driving function").

[0025] [Excavator configuration] Next, the configuration of the shovel according to this embodiment will be described with reference to FIG. 2 in addition to FIG.

[0026] FIG. 2 is a block diagram showing an example of a configuration focusing on a drive system of the shovel according to this embodiment.

[0027] In the diagram, mechanical power lines are indicated by double lines, high-pressure hydraulic lines are indicated by thick solid lines, pilot lines are indicated by dashed lines, and electric drive and control lines are indicated by thin solid lines.

[0028] <Hydraulic drive system> The hydraulic drive system of the excavator according to this embodiment includes hydraulic actuators such as traveling hydraulic motors 1A, 1B, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 that hydraulically drive each of driven elements such as a lower traveling structure 1, a boom 4, an arm 5, and a bucket 6. The hydraulic drive system of the excavator according to this embodiment also includes a pump electric motor 12, a main pump 14, and a control valve 17.

[0029] The pump motor 12 (an example of an electric motor) is a power source of a hydraulic drive system. The pump motor 12 is, for example, an interior permanent magnet (IPM) motor. The pump motor 12 is connected to a power storage system including a power storage device 19 and a power conversion device 100, and a swing motor 21 via an inverter 18A. The pump motor 12 runs on three-phase AC power supplied from the power storage device 19 and the swing motor 21 via the inverter 18A, and drives the main pump 14 and the pilot pump 15. Drive control of the pump motor 12 may be achieved by the inverter 18A under the control of a controller 30B described later.

[0030] A main pump 14 (an example of a hydraulic pump) supplies hydraulic oil to a control valve 17 through a high-pressure hydraulic line 16. The main pump 14 is driven by a pump electric motor 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilt angle) of a swash plate under the control of a controller 30A (described later). This enables the main pump 14 to adjust the stroke length of the piston and control the discharge flow rate (discharge pressure).

[0031] The control valve 17 is a hydraulic control device that controls the hydraulic drive system in response to an operation of a driven element (corresponding hydraulic actuator) by an operator or an operation command of a driven element (corresponding hydraulic actuator) 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 hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1A, 1B, boom cylinder 7, arm cylinder 8, and bucket cylinder 9). For example, the control valve 17 is a valve unit including a plurality of hydraulic control valves (directional control 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.

[0032] <Electric drive system> The electric drive system of the shovel according to this embodiment includes a pump electric motor 12, a sensor 12s, and an inverter 18A. The electric drive system of the shovel according to this embodiment also includes a swing electric motor 21, a sensor 21s, a resolver 22, a mechanical brake 23, a swing reducer 24, and an inverter 18B.

[0033] The sensors 12s include a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

[0034] 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 a power path between the pump motor 12 and the inverter 18A. Detection signals corresponding to the currents of each of the three phases of the pump motor 12 detected by the current sensor 12s1 are directly input to the inverter 18A through a communication line. The detection signals may also be input to the controller 30B through the communication line and input to the inverter 18A via the controller 30B.

[0035] The voltage sensor 12s2 detects the applied voltages of the three phases of the pump motor 12. The voltage sensor 12s2 is provided, for example, in a power path between the pump motor 12 and the inverter 18A. A detection signal corresponding to the applied voltages of the three phases of the pump motor 12 detected by the voltage sensor 12s2 is directly input to the inverter 18A through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18A via the controller 30B.

[0036] The rotation state sensor 12s3 detects the rotation state (for example, the rotation position (rotation angle), the rotation speed, etc.) of the pump motor 12. The rotation state sensor 12s3 is, for example, a rotary encoder or a resolver.

[0037] The inverter 18A drives and controls the pump motor 12 under the control of the controller 30B. The inverter 18A includes, for example, a conversion circuit that converts DC power to three-phase AC power and converts three-phase AC power to DC power, a drive circuit that switches and drives the conversion circuit, and a control circuit that outputs a control signal (for example, a PWM (Pulse Width Modulation) signal) that defines the operation of the drive circuit.

[0038] The control circuit of the inverter 18A performs drive control of the pump motor 12 while grasping the operating state of the pump motor 12. For example, the control circuit of the inverter 18A grasps the operating state of the pump motor 12 based on a detection signal of the rotation state sensor 12s3. The control circuit of the inverter 18A may also grasp the operating state of the pump motor 12 by successively estimating the rotation angle of the rotating shaft of the pump motor 12, etc., based on the detection signal of the current sensor 12s1 and the detection signal of the voltage sensor 12s2 (or a voltage command value generated in the control process).

[0039] At least one of the drive circuit and the control circuit of the inverter 18A may be provided outside the inverter 18A.

[0040] The swing motor 21 performs a power running operation for driving the upper swing body 3 to swing and a regenerative operation for generating regenerative power to brake the upper swing body 3 to swing under the control of the controller 30B and the inverter 18B. The swing motor 21 is connected to a power storage system (i.e., the power storage device 19 and the power conversion device 100) via the inverter 18B, and is driven by three-phase AC power supplied from the power storage device 19 via the inverter 18B. The swing motor 21 also supplies regenerative power to the power storage device 19 and the pump motor 12 via the inverter 18B. This allows the regenerative power to charge the power storage device 19 and drive the pump motor 12. The switching control between the power running operation and the regenerative operation of the swing motor 21 may be realized by the inverter 18B under the control of the controller 30B. A resolver 22, a mechanical brake 23, and a rotation reducer 24 are connected to a rotating shaft 21A of the rotation electric motor 21.

[0041] The sensor 21s includes a current sensor 21s1 and a voltage sensor 21s2.

[0042] The current sensor 21s1 detects the current of each of the three phases (U phase, V phase, and W phase) of the turning electric motor 21. The current sensor 21s1 is provided, for example, on a power path between the turning electric motor 21 and the inverter 18B. A detection signal corresponding to each of the three phases of the turning electric motor 21 detected by the current sensor 21s1 may be directly input to the inverter 18B through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18B via the controller 30B.

[0043] The voltage sensor 21s2 detects the applied voltages of the three phases of the turning motor 21. The voltage sensor 21s2 is provided, for example, in a power path between the turning motor 21 and the inverter 18B. A detection signal corresponding to the applied voltages of the three phases of the turning motor 21 detected by the voltage sensor 21s2 is directly input to the inverter 18B through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18B via the controller 30B.

[0044] The resolver 22 detects the rotation state (e.g., rotation position (rotation angle) and rotation speed) of the turning electric motor 21. A detection signal corresponding to the rotation angle etc. detected by the resolver 22 may be directly input to the inverter 18B through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18B via the controller 30B.

[0045] The mechanical brake 23, under the control of the controller 30B, mechanically generates a braking force on the rotating shaft 21A of the turning electric motor 21. This allows the mechanical brake 23 to brake the turning of the upper turning body 3 or to maintain the upper turning body 3 in a stopped state.

[0046] The slewing reduction gear 24 is connected to the rotating shaft 21A of the slewing electric motor 21, and reduces the output (torque) of the slewing electric motor 21 at a predetermined reduction ratio to increase the torque and drive the upper slewing body 3 to slewing. That is, during power running, the slewing electric motor 21 drives the upper slewing body 3 to slewing via the slewing reduction gear 24. The slewing reduction gear 24 also increases the inertial rotational force of the upper slewing body 3 and transmits it to the slewing electric motor 21 to generate regenerative power. That is, during regenerative operation, the slewing electric motor 21 generates regenerative power using the inertial rotational force of the upper slewing body 3 transmitted via the slewing reduction gear 24, and brakes the slewing of the upper slewing body 3.

[0047] The inverter 18B drives and controls the turning electric motor 21 under the control of the controller 30B. The inverter 18B includes, for example, a conversion circuit that converts DC power into three-phase AC power and converts three-phase AC power into DC power, a drive circuit that switches and drives the conversion circuit, and a control circuit that outputs a control signal (for example, a PWM signal) that defines the operation of the drive circuit.

[0048] For example, the control circuit of the inverter 18B performs speed feedback control and torque feedback control for the turning electric motor 21 based on detection signals from the current sensor 21s1, the voltage sensor 21s2, and the resolver 22.

[0049] At least one of the drive circuit and the control circuit of the inverter 18B may be provided outside the inverter 18B.

[0050] <Energy storage system> The power storage system of the shovel according to this embodiment includes a power storage device 19 and a power conversion device 100.

[0051] The power storage device 19 (an example of a high-voltage power storage device) is charged (stores electricity) by being connected to an external commercial power source via a specified cable, and supplies the charged (stored) electricity to the pump motor 12 and the turning motor 21. The power storage device 19 also stores the generated electricity (regenerated electricity) of the turning motor 21. The power storage device 19 is, for example, a lithium-ion battery, and has a relatively high output voltage (for example, several hundred volts).

[0052] The power conversion device 100 boosts the power of the power storage device 19, and reduces the generated power (regenerative power) from the pump motor 12 and the swing motor 21 via the inverters 18A, 18B to store the power in the power storage device 19. The power conversion device 100 switches between a boost operation and a step-down operation depending on the operating states of the pump motor 12 and the swing motor 21 so that the voltage value of the DC bus 110 falls within a certain range. The switching control between the boost operation and the step-down operation of the power conversion device 100 may be realized by the controller 30B based on the voltage detection value of the DC bus 110, the voltage detection value of the power storage device 19, and the current detection value of the power storage device 19.

[0053] If there is no need to boost the output voltage of the power storage device 19 and apply it to the pump motor 12 or the turning motor 21, the power conversion device 100 may be omitted.

[0054] <Operation system> The operating system of the shovel according to this embodiment includes a pilot pump 15, an operating device 26, and a pressure control valve 31.

[0055] The pilot pump 15 supplies pilot pressure to a pressure control valve 31 (e.g., a proportional valve) via a pilot line 25. This allows the pressure control valve 31 to supply pilot pressure according to the operation content (e.g., the operation amount and operation direction) of the operating device 26 to the control valve 17 under the control of the controller 30A. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the pump motor 12 as described above.

[0056] The operation device 26 includes, for example, levers 26A to 26C. The operation device 26 is provided within reach of the operator at the cockpit of the cabin 10, and is used by the operator to operate each driven element (i.e., the left and right crawlers of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc.). In other words, the operation device 26 is used to operate hydraulic actuators (e.g., the traveling hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) and electric actuators (the swing electric motor 21, etc.) that drive each driven element. The operation device 26 is of an electric type, and outputs an electric signal (hereinafter, "operation signal") according to the operation content by the operator. The operation signal output from the operation device 26 is taken into the controller 30A.

[0057] Furthermore, when the control valve 17 is configured as an electromagnetic pilot type hydraulic control valve (directional control valve), the operation signal of the operating device 26 may be input directly to the control valve 17, and each hydraulic control valve may perform an operation according to the operation content of the operating device 26.

[0058] Under the control of the controller 30A, the pressure control valve 31 outputs a pilot pressure according to the operation of the operating device 26, using hydraulic oil supplied from the pilot pump 15 through the pilot line 25. The pilot line on the secondary side of the pressure control valve 31 is connected to the control valve 17, and the pilot pressure according to the operation of the operating device 26 is supplied to the control valve 17.

[0059] <Control system> The control system of the shovel according to this embodiment includes a control device 30, a surrounding information acquisition device 40, and a display device 50.

[0060] The control device 30 includes controllers 30A to 30C.

[0061] The functions of the controllers 30A to 30C may be realized by any hardware or any combination of hardware and software, etc. For example, the controllers 30A to 30C may each be configured with a microcomputer including a processor such as a CPU (Central Processing Unit), a memory device (main storage device) such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device with the outside.

[0062] The controller 30A cooperates with various controllers constituting the control device 30, including the controllers 30B and 30C, to control the driving of the shovel.

[0063] For example, the controller 30A outputs a control command to the pressure control valve 31 in response to an operation signal input from the operating device 26, and causes the pressure control valve 31 to output a pilot pressure corresponding to the operation content of the operating device 26. In this way, the controller 30A can realize the operation of the shovel (driven element) corresponding to the operation content of the electric operating device 26.

[0064] Also, for example, the controller 30A realizes remote operation of the shovel using the pressure control valve 31. Specifically, the controller 30A may output to the pressure control valve 31 a control command corresponding to the content of the remote operation designated by a remote operation signal received from an external device or a voice input, a gesture input, or the like received from a person around the shovel. Then, the pressure control valve 31 may output a pilot pressure corresponding to the control command from the controller 30A using hydraulic oil supplied from the pilot pump 15, and apply the pilot pressure to a pilot port of the corresponding control valve in the control valve 17. As a result, the content of the remote operation is reflected in the operation of the control valve 17, and the hydraulic actuator realizes the operation of various operating elements (driven elements) according to the content of the remote operation.

[0065] Also, for example, the controller 30A realizes an automatic operation function of the excavator by using the pressure control valve 31. Specifically, the controller 30A may output a control command corresponding to an operation command related to the automatic operation function to the pressure control valve 31. The operation command may be generated by the controller 30A or may be generated by another control device that performs control related to the automatic operation function. The pressure control valve 31 may output a pilot pressure corresponding to the control command from the controller 30A by using hydraulic oil supplied from the pilot pump 15, and may act on the pilot port of the corresponding control valve in the control valve 17. As a result, the contents of the operation command related to the automatic operation function are reflected in the operation of the control valve 17, and the operation of various operating elements (driven elements) by the automatic operation function is realized by the hydraulic actuator.

[0066] Furthermore, for example, the controller 30A may comprehensively control the operation of the entire shovel (various devices mounted on the shovel) based on two-way communication with various controllers such as the controllers 30B and 30C.

[0067] Also, for example, when the operating device 26 is not being operated while the shovel is in operation (i.e., while the key switch is ON), the controller 30A automatically stops the main pump 14 (see Figs. 3 and 4). This stops the main pump 14, that is, the pump motor 12, which is not required when the shovel is not being operated, making it possible to reduce the power of the power storage device 19 consumed by the pump motor 12. Hereinafter, the function of automatically stopping the main pump 14 when the operating device 26 is not being operated will be referred to as the "pump stop function."

[0068] The control device 30 (controllers 30A, 30B) starts the main pump 14, i.e., the pump motor 12, when the shovel is started, that is, when the key switch is turned on, regardless of whether the operating device 26 is operated or not. As a result, the control device 30 starts the pump motor 12 once when the shovel is started, and can transition the pump motor 12 to a controllable state. Furthermore, the control device 30 can start the pump motor 12 once when the shovel is started, and perform a diagnosis process for the presence or absence of an abnormality in the pump motor 12, etc. For example, the controller 30B diagnoses the presence or absence of an abnormality by passing electricity through the inverter 18A to the pump motor 12. If an abnormality is detected, the controller 30B may notify the operator that an abnormality is detected in the pump motor 12 through the display device 50 or the like. On the other hand, if there is no abnormality in the pump motor 12, and if operation of the operating device 26 is not started thereafter, the controller 30B may stop the pump motor 12 by the pump stop function.

[0069] The controller 30B performs drive control of the electric drive system and the electricity storage system based on various information (for example, control commands including the operation signal of the operation device 26) input from the controller 30A.

[0070] For example, the controller 30B drives the inverter 18B based on the operation of the operating device 26, and performs switching control of the operation state of the turning electric motor 21 (power running operation and regenerative operation).

[0071] Further, for example, the controller 30B drives the power conversion device 100 based on the operation state of the operation device 26, and controls the power conversion device 100 to perform step-up operation and step-down operation, in other words, the switching between the discharge state and the charge state of the power storage device 19.

[0072] Also, for example, the controller 30B performs control relating to stopping and starting of the pump motor 12 in response to a control command relating to a pump stopping function from the controller 30A (see Figs. 3 and 4).

[0073] The controller 30C controls the periphery monitoring function of the excavator.

[0074] For example, the controller 30C detects specific objects and their positions around the shovel (hereinafter, "monitored objects") based on information about the three-dimensional spatial situation around the shovel (e.g., detection information about objects around the shovel and their positions) acquired from the surrounding information acquisition device 40.

[0075] Furthermore, for example, when the controller 30C detects a monitoring target in an area relatively close to the shovel (hereinafter, "monitoring area"), it outputs an alarm via the display device 50, audio output device, etc. inside the cabin 10.

[0076] The functions of the controllers 30B and 30C may be integrated into the controller 30A. In other words, the various functions realized by the control device 30 may be realized by one controller, or may be distributed and realized by two or more controllers that are appropriately set.

[0077] The surrounding information acquisition device 40 outputs information related to the situation of the three-dimensional space around the shovel. The surrounding information acquisition device 40 may include, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a depth camera, a LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, etc. The output information of the surrounding information acquisition device 40 is taken into the controller 30C.

[0078] The display device 50 is installed in a location that is easily visible to the operator in the cabin 10, and displays various information images under the control of the controller 30 A. The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display.

[0079] The display device 50 may be configured to operate under the control of a controller other than the controller 30A (for example, the controller 30C).

[0080] <Other components> The shovel according to this embodiment includes an air conditioner 42, an alternator 44, and a battery 46.

[0081] The air conditioner 42 adjusts the temperature, humidity, and the like inside the cabin 10. The air conditioner 42 is, for example, a heat pump type for both heating and cooling, and includes a compressor 42a. The air conditioner 42 may also include a heater for heating (for example, a PTC (Positive Temperature Coefficient) or a combustion heater).

[0082] The compressor 42a compresses the refrigerant in the heat pump cycle of the air conditioner 42. The compressor 42a is driven by the pump motor 12.

[0083] The compressor 42a may be driven by a motor different from the pump motor 12 (for example, a built-in motor that operates using power from the power storage device 19 or the battery 46).

[0084] The alternator 44 (an example of a power generating means) generates electricity using the power of the pump motor 12. The power generated by the alternator 44 is supplied to a battery 46, and is charged (stored) in the battery 46, or is supplied to devices driven by the power of the battery 46, such as the controllers 30A to 30C.

[0085] The battery 46 (an example of a low-voltage power storage device) has a relatively low output voltage (e.g., 24 volts) and supplies power to electrical devices (e.g., controllers 30A to 30C) other than the electric drive system that require relatively high power. The battery 46 is, for example, a lead-acid battery, and is charged with the power generated by the alternator 44 as described above.

[0086] The battery 46 may be charged with power from the power storage device 19, which is supplied through a predetermined power conversion device (for example, a DC (Direct Current)-DC converter). In this case, the alternator 44 may be omitted.

[0087] [Pump stop function details] Next, the control process related to the pump stopping function by the control device 30 (controllers 30A, 30B) will be described with reference to Figs. 3 to 6.

[0088] <First example of control process for pump stop function> Fig. 3 is a flowchart showing a first example of a control process for a pump stop function by the control device 30. The process of this flowchart is repeatedly executed at a predetermined processing interval, for example, during operation of the shovel from start to stop. The same may be applied to the flowcharts of Figs. 4 to 6 below.

[0089] In step S102, the controller 30A determines whether or not a non-operation condition of the operating device 26 is satisfied based on an operation signal input from the operating device 26. The non-operation condition of the operating device 26 is, for example, "the operating device 26 is not operated." Alternatively, the non-operation condition of the operating device 26 may be, for example, "a state in which the operating device 26 is not operated continues for a predetermined time (for example, 10 seconds) or more." In the following description, it is assumed that the non-operation condition is one of the conditions for automatically stopping the main pump 14 (hereinafter, "stop condition"). If the non-operation condition is satisfied, the controller 30A proceeds to step S104, and if the non-operation condition is not satisfied, the controller 30A ends this processing.

[0090] In step S104, the controller 30A determines whether or not all of the stop conditions other than the no-operation condition are met.

[0091] The stop condition may include, for example, a condition related to the remaining capacity of the power storage device 19 ("the remaining capacity of the power storage device 19 is equal to or greater than a predetermined threshold value"). This is because, if the remaining capacity of the power storage device 19 relatively decreases, there is a possibility that the power storage device 19 will not be able to supply to the pump motor 12 electric power sufficient to restart the stopped main pump 14. At this time, the remaining capacity of the power storage device 19 may be appropriately estimated using a known method based on, for example, detection values ​​of sensors that measure the current, voltage, etc. of the power storage device 19.

[0092] The stop condition may also include, for example, a condition regarding the deterioration state of the power storage device 19 ("deterioration of the power storage device 19 has not progressed beyond a predetermined standard"). This is because if the deterioration of the power storage device 19 progresses relatively, there is a possibility that the power storage device 19 will not be able to supply to the pump motor 12 electric power sufficient to restart the stopped main pump 14. At this time, the deterioration state of the power storage device 19 may be appropriately estimated using a known method based on, for example, detection values ​​of sensors that measure the current, voltage, etc. of the power storage device 19.

[0093] The stop condition may also include, for example, a condition related to the remaining capacity of the battery 46 ("the remaining capacity of the battery 46 is equal to or greater than a predetermined threshold value"). This is because if the remaining capacity of the battery 46 decreases relatively, the alternator 44 will run out of power generation while the pump motor 12 is stopped to stop the main pump 14, and there is a possibility that the battery 46 will not be able to supply sufficient power to the controllers 30A to 30C, etc. In this case, the remaining capacity of the battery 46 may be appropriately estimated, for example, by a method similar to that of the power storage device 19. Also, the remaining capacity of the battery 46 may be calculated from the measurement value of a specific gravity meter of the battery fluid. This is because when the voltage of the battery 46 decreases, the specific gravity of the battery fluid changes significantly.

[0094] The stop condition may also include, for example, a condition regarding the deterioration state of the battery 46 ("deterioration of the battery 46 has not progressed beyond a predetermined standard"). This is because if the deterioration of the battery 46 progresses relatively, the alternator 44 may run out of generated power while the pump motor 12 is stopped to stop the main pump 14, and the battery 46 may not be able to supply sufficient power to the controllers 30A-30C, etc. In this case, the deterioration state of the battery 46 may be appropriately estimated, for example, by a method similar to that of the power storage device 19.

[0095] In addition, when the battery 46 is configured to be chargeable with power from the power storage device 19, the condition regarding the remaining capacity of the battery 46 and the condition regarding the deteriorated state of the battery 46 may be omitted from the stop conditions. In addition, when the battery 46 is configured to be chargeable with power from the power storage device 19 and the remaining capacity of the power storage device 19 is relatively high (i.e., the remaining capacity is sufficient to charge the battery 46), the condition regarding the remaining capacity of the battery 46 and the condition regarding the deteriorated state of the battery 46 may be omitted from the stop conditions.

[0096] Furthermore, the stop conditions may include, for example, a condition regarding warming up the shovel ("warming up the shovel is not necessary"). Warming up the shovel includes warming up the hydraulic oil and warming up the power storage device 19. This is because, when warming up the shovel is necessary, it is necessary to continuously operate the main pump 14 to circulate the hydraulic oil and to pass electricity between the power storage device 19 and the load. At this time, whether or not warming up the shovel is necessary may be determined based on, for example, a detection value of a sensor that measures the outside air temperature of the shovel, a sensor that measures the temperature of the hydraulic oil discharged from the main pump 14, or the like.

[0097] The stop conditions may include, for example, conditions related to air temperature (such as "the air temperature outside the cabin 10 is within a predetermined range" or "the air temperature inside the cabin 10 is within a predetermined range"). This is because if the main pump 14 is stopped when the air temperature is extremely low or extremely high outside the predetermined range, the compressor 42a will stop as the pump motor 12 stops, and there is a high possibility that the comfort of the operator inside the cabin 10 will be impaired. At this time, the air temperature outside the cabin 10 or the air temperature inside the cabin 10 may be measured, for example, by a temperature sensor mounted outside the cabin 10 on the upper rotating body 3 or a temperature sensor mounted inside the cabin 10.

[0098] When the air conditioner 42 (compressor 42a) is driven by a power other than that of the pump motor 12, the condition related to the air temperature may be omitted from the stop conditions.

[0099] Furthermore, when the air conditioner 42 (compressor 42a) is driven by a dedicated motor (hereinafter, "air conditioner motor") other than the pump motor 12, the stop condition may include a condition related to the amount of power that can be supplied (e.g., remaining capacity) of the power supply source that supplies power to the air conditioner motor. In this case, the stop condition may include, for example, "the amount of power that can be supplied from the power supply source to the air conditioner motor is relatively high (i.e., sufficient to enable the air conditioner motor to be operated continuously for a certain period of time)."

[0100] The stop condition may include, for example, a condition regarding the presence of people around the shovel (such as "no people are present in the area (monitoring area) surrounding the shovel"). If the main pump 14 (pump motor 12) of the shovel stops, workers or other people around the shovel may mistakenly believe that the shovel is stopped (the key switch is OFF) and approach the shovel.

[0101] The stop conditions may also include conditions related to stability resulting from the attitude of the shovel or the terrain of the location where the shovel is located (such as "the shovel is not in a statically unstable state" or "the shovel is not in a topographically unstable state"). A statically unstable state is an unstable state resulting from the attitude state of the shovel, and a topographically unstable state is an unstable state resulting from the terrain of the location where the shovel is located. For example, when the shovel is in an unstable state due to the attitude of the shovel or the terrain of that location, it may become necessary to operate the driven element in response to the operator's operation of the operating device 26 to prevent the shovel from tipping over, etc.

[0102] The statically unstable state of the excavator includes, for example, a posture state in which the tip of the attachment, i.e., the bucket 6, is located at a position relatively far from the body of the excavator (the lower traveling body 1, the rotating mechanism 2, and the upper rotating body 3, etc.). fromThis is because, if the distance is relatively large, the moment acting from the attachment on the vehicle body in a direction that causes the shovel to tip forward (hereinafter, "toppling moment") becomes relatively large, making the shovel relatively prone to tipping. The statically unstable state of the shovel also includes, for example, a posture state in which the tip of the attachment, i.e., the position of the bucket 6, is in a relatively high position. For example, if the shovel starts to tip forward for some reason, such as the operation of the shovel or the action of an external force, if the position of the bucket 6 is in a relatively high position, it becomes difficult to bring the bucket 6 into contact with the ground and prevent the shovel from tipping. The statically unstable state of the shovel also includes, for example, a posture state in which the relative angle (rotation angle) between the traveling direction of the lower traveling body 1 and the orientation of the upper rotating body 3, i.e., the orientation of the attachment, is relatively large. For example, the length of contact with the ground in the width direction of the lower running body 1 is relatively smaller than that in the direction of travel, and if the orientation of the attachment is relatively close to the width direction of the lower running body 1, the weight of the attachment, the movement of the attachment, etc., makes the shovel more likely to tip over.

[0103] The topographically unstable state of the shovel may include, for example, a state in which the lower running body 1 slides forward or backward due to the influence of the terrain while traveling or during work by the upper rotating body 3 and the attachment, or a state in which there is a high possibility of this occurring. The topographically unstable state of the shovel may include, for example, a state in which a part of the lower running body 1 is lifted up due to the influence of the terrain while traveling or during work by the upper rotating body 3 and the attachment. The topographically unstable state of the shovel may include, for example, a state in which the vehicle body tilts or wobbles due to the influence of the terrain while the lower running body 1 is traveling or during work by the upper rotating body 3 and the attachment. The topographically unstable state of the shovel may include, for example, a state in which the vehicle body vibrates due to the influence of the terrain while the lower running body 1 is traveling or during work by the upper rotating body 3 and the attachment. The topographical influence may include the geology of the ground, the moisture of the ground, the slope of the ground, the unevenness of the ground, the collapse of the ground, etc. In addition, simply, the topographical instability of the shovel may be that the shovel is located on a slope.

[0104] If all of the other stop conditions are met, the controller 30A proceeds to step S106, and if any of the other stop conditions are not met, the controller 30A ends this processing.

[0105] In addition, it may be possible for the operator to set so as not to execute the pump stop function at his / her own will. For example, when a predetermined input is made through an input device provided in the cabin 10, the pump stop function may be disabled (that is, the pump stop function may be stopped). In this case, even if the stop conditions of steps S102 and S104 are satisfied, the main pump 14 is not automatically stopped. The input device may include, for example, an operation input device that accepts an operation input from an operator or the like. The operation input device may include, for example, a touch panel mounted on the display device 50, a touch pad provided separately from the display device 50, a button, a toggle, a lever, or the like. For example, the pump stop function may be disabled in response to an ON operation of the operation input device (for example, an ON operation of a dedicated button switch or a virtual button icon displayed on the display device 50). In addition, the input device may include, for example, a voice input device or a gesture input device that accepts a voice input or a gesture input from the operator. For example, when a predetermined voice input or a predetermined gesture input from the operator is accepted, the pump stop function may be disabled.

[0106] In step S106, the controller 30B stops the pump motor 12 in response to the control command from the controller 30A. This stops the main pump 14. As a result, the pump motor 12 is stopped when the operation device 26 is not being operated, so that the power of the power storage device 19 consumed by the pump motor 12 can be reduced. Therefore, the excavator can continue to operate for a longer period of time using the power of the power storage device 19.

[0107] In the stopped state of the main pump 14 (pump motor 12) resulting from the processing of step S106, functions other than those for driving the hydraulic actuator are maintained in an active state. For example, in the stopped state of the main pump 14 (pump motor 12), the periphery monitoring function continues to operate. This allows the controller 30C to detect a monitoring target that enters the nearby area around the shovel even when the work of the shovel is temporarily suspended, and to notify the operator, etc. by issuing an alarm, etc.

[0108] In addition, in the stopped state of the main pump 14 (pump motor 12) resulting from the processing of step S106, the controller 30A may visually notify, through the display device 50 (one example of a notification means), that the shovel is in operation, i.e., that the shovel is not stopped (the key switch is not turned off). In addition, the controller 30A may visually notify, through the display device 50, that the main pump 14 has been automatically stopped while the shovel continues to operate. This allows the operator to understand that the main pump 14 has been automatically stopped while the shovel is in operation, depending on the non-operation state of the operation device 26. In addition, instead of or in addition to this, the controller 30A may visually notify, through the display device 50, that the main pump 14 will be started by operating the operation device 26. This allows the operator to recognize that the main pump 14 will be started and work can be resumed if the operation of the operation device 26 is started.

[0109] The controller 30A may provide these notifications by other methods instead of or in addition to the display device 50. For example, the controller 30A may provide notifications by an auditory method through a sound output device (e.g., a speaker) (one example of a notification means) installed inside the cabin 10.

[0110] In step S108, the controller 30A determines whether or not a condition related to the safety of the shovel for starting the main pump 14 (hereinafter, "safety condition") is satisfied.

[0111] The safety conditions may include, for example, a condition regarding the fastening state of a seat belt ("the seat belt of the cockpit seat in the cabin 10 is fastened"). In this case, whether or not the seat belt is fastened may be determined based on, for example, output information of a switch that is built into the seat belt buckle and detects whether or not the seat belt is fastened.

[0112] The safety conditions may also include, for example, a condition related to the gate lever in the cabin 10 ("the gate lever is raised"). In this case, whether the gate lever is raised or not may be determined based on output information of a gate lever switch that detects the state of the gate lever.

[0113] The safety conditions may also include, for example, a condition regarding the open / closed state of the windows and doors of the cabin 10 ("the windows and doors of the cabin 10 are closed"). In this case, the open / closed state of the windows and doors of the cabin 10 may be determined based on output information of a switch that is installed on the windows and doors and detects the open / closed state of the windows and doors.

[0114] The safety conditions may also include, for example, a condition regarding the open / closed state of the maintenance openings of the upper rotating body 3 (for example, an engine hood on the top surface of the house or a maintenance door on the side surface of the house) ("all maintenance openings are closed"). This is because a serviceman or the like may be performing maintenance on the shovel when work with the shovel is temporarily suspended. In this case, the open / closed state of the maintenance openings may be determined, for example, based on output information from a switch that detects whether a lid, door, or the like is installed at the maintenance opening and closes the opening.

[0115] If all the safety conditions are met, the controller 30A proceeds to step S110, and if all the safety conditions are not met, the controller 30A waits until the safety conditions are met (repeats the process of step S108).

[0116] When the safety condition in step S108 is not satisfied, the controller 30A may notify the operator that the main pump 14 cannot be started through the above-mentioned display device 50 (one example of a notification means) or audio output device (one example of a notification means), etc. Furthermore, the controller 30A may specifically notify the operator of the cause of the main pump 14 not being able to be started. This allows the operator to recognize that the main pump 14 cannot be started due to a problem with the safety of the excavator.

[0117] In step S110, the controller 30A determines whether or not an operation start condition for the operation device 26 has been satisfied, that is, whether or not operation of the operation device 26 has been resumed, based on an operation signal input from the operation device 26. The following description will be given on the assumption that the operation start condition is one of the conditions for automatically starting the main pump 14 (hereinafter, "start condition"). If the operation start condition is not satisfied, the controller 30A proceeds to step S112, and if the operation start condition is satisfied, the controller 30A proceeds to step S114.

[0118] In step S110, controller 30A determines whether any of the other starting conditions is satisfied.

[0119] The start condition may be, for example, a condition related to the remaining capacity of the power storage device 19, similar to the stop condition ("the remaining capacity of the power storage device 19 is below a predetermined threshold value"). less than For example, in the case of a configuration in which the battery 46 can be charged by the power of the power storage device 19, if the stop period of the main pump 14 becomes relatively long, there is a possibility that the remaining capacity of the power storage device 19 will become relatively small. In this case, the “threshold value” of the stop condition and the “threshold value” of the start condition may be the same or different.

[0120] In addition, in the case of a configuration in which the battery 46 is not charged with the power of the power storage device 19, the condition regarding the remaining capacity of the power storage device 19 may be omitted from the starting conditions.

[0121] In addition, the start condition may include, for example, a condition related to the remaining capacity of the battery 46, as in the case of the stop condition ("the remaining capacity of the battery 46 is below a predetermined threshold value"). less than "The battery 46 must be charged with the power generated by the alternator 44 driven by the pump motor 12." This is because, in a configuration in which the battery 46 is charged with the power generated by the alternator 44 driven by the pump motor 12, if the stop period of the main pump 14 becomes relatively long, there is a possibility that the remaining capacity of the battery 46 will become relatively small. In this case, the "threshold value" of the stop condition and the "threshold value" of the start condition may be the same or different.

[0122] In addition, in the case where the battery 46 can be charged with the power of the power storage device 19, the condition regarding the remaining capacity of the battery 46 may be omitted from the starting conditions.

[0123] The start conditions may include, for example, a condition related to the indoor temperature of the cabin 10 (for example, "the indoor temperature of the cabin 10 is within a predetermined range"). outside The "predetermined range" of the stop condition and the "predetermined range" of the start condition may be the same or different. If the stop period of the main pump 14 is relatively long, the indoor air temperature of the cabin 10 may rise or fall, which may impair the comfort of the operator. In this case, the "predetermined range" of the stop condition and the "predetermined range" of the start condition may be the same or different.

[0124] The start condition may also include, for example, a condition regarding the presence of people around the shovel (such as "people are present (entering) the area (monitoring area) close to the shovel"). This is because, when the main pump 14 (pump motor 12) of the shovel is stopped, workers or other people around the shovel may mistakenly believe that the shovel is stopped (the key switch is OFF) and approach the shovel.

[0125] The starting conditions may include, for example, conditions related to stability resulting from the posture of the shovel or the topography of the place where the shovel is located (such as "the shovel is in a statically unstable state" or "the shovel is in a topographically unstable state"). This is because, if the topography of the place where the shovel is located changes for some reason (such as an earthquake) after the stop conditions are met, and as a result the shovel is in an unstable state, it may become necessary to operate the driven element in response to the operator's operation of the operating device 26 to prevent the shovel from tipping over, etc.

[0126] The start conditions may also include, for example, a condition regarding the forcible release of the main pump stop function at the operator's discretion (such as "a predetermined input for forcibly releasing the stop of the main pump 14 from the operator via an input device provided in the cabin 10 is received"). This allows the operator to forcibly release the stopped state of the main pump 14 caused by the pump stop function.

[0127] If any of the other starting conditions is satisfied, the controller 30A proceeds to step S114, and if not satisfied, the controller 30A returns to step S108 and repeats the processes of steps S108 to S112.

[0128] In step S114, the controller 30B starts the pump motor 12 in response to a control command from the controller 30A. Then, the controller 30B restores the rotation speed of the main pump 14 to a predetermined rotation speed (hereinafter, "work rotation speed") at which the excavator can operate the hydraulic actuator and start work, and ends this processing. This allows the operator to start the main pump 14 by operating the operation device 26, and resume work by the excavator.

[0129] When starting the pump motor 12, the controller 30B may increase the rotation speed (rotational speed) of the pump motor 12 (i.e., the main pump 14) at the same increasing speed every time. Furthermore, when starting the pump motor 12, the controller 30B may vary the increasing speed of the rotation speed of the pump motor 12 according to a predetermined condition. In this case, the controller 30B may continuously vary the increasing speed of the rotation speed of the pump motor 12 according to the predetermined condition, or may have a plurality of control modes (control modes) in which the increasing speed of the rotation speed of the pump motor 12 is different from one another.

[0130] For example, the controller 30B may change the rate of increase in the rotation speed of the pump motor 12 depending on the operation content of the operating device 26 when the operation start condition is satisfied. Specifically, the controller 30B may increase the rate of increase in the rotation speed of the pump motor 12 relatively as the operation amount and operation speed of the operating device 26 when the operation start condition is satisfied are relatively large. This is because it is presumed that the operator's intention to start work by the shovel as soon as possible is reflected in the operation content. On the other hand, the controller 30B may decrease the rate of increase in the rotation speed of the pump motor 12 relatively as the operation amount and operation speed of the operating device 26 when the operation start condition is satisfied are relatively small. This is because it is presumed that the operator's intention to start work by the shovel as soon as possible is not reflected in the operation content, and it is better to suppress energy consumption (consumption of power supplied from the power storage device 19) by slowing down the rate of increase in the rotation speed.

[0131] Further, for example, a plurality of operation modes related to energy consumption, work efficiency, etc. may be set in the excavator. The plurality of operation modes may include an energy saving mode that prioritizes suppression of energy consumption, a work priority mode that prioritizes work efficiency, and a balance mode that emphasizes the balance between energy consumption and work efficiency. The operation mode of the excavator may be set to a balance mode, for example, as an initial state. Then, the control device 30 may set any one of the plurality of operation modes in response to a predetermined input from the operator received through an input device provided in the cabin 10. In this case, the controller 30B may control the pump motor 12 so that the rate of increase in the rotation speed when the pump motor 12 is started becomes relatively larger as the operation mode having a higher priority of work efficiency among the plurality of operation modes becomes higher. As a result, the controller 30B can restore the rotation speed of the main pump 14 to the work rotation speed more quickly, thereby assisting the excavator to start work more quickly. On the other hand, the controller 30B may control the pump motor 12 so that the rate of increase in the rotation speed when starting the pump motor 12 becomes relatively slower in an operation mode having a relatively higher priority of suppressing energy consumption among the multiple operation modes. In this way, the controller 30B can relatively suppress energy consumption (consumption of power supplied from the power storage device 19) by increasing the rotation speed of the pump motor 12 relatively slowly.

[0132] <Second example of control process for pump stop function> FIG. 4 is a flowchart illustrating a second example of a control process related to the pump stopping function by the control device 30 (controllers 30A and 30B).

[0133] 3, the controller 30A determines whether or not a non-operation condition of the operating device 26 is satisfied based on an operation signal input from the operating device 26. If the non-operation condition is satisfied, the controller 30A proceeds to step S204, and if the non-operation condition is not satisfied, the controller 30A ends this processing.

[0134] In step S204, the controller 30A determines whether there is a sign that the operation of the operating device 26 will be started. For example, when the operator is touching the operating device 26, the controller 30A may determine that there is a sign that the operation of the operating device 26 will be started. At this time, the controller 30A may determine whether the operator is touching the operating device 26 based on output information from, for example, a camera that captures an image of the interior of the cabin 10 or a sensor that is installed in the grip of the operating device 26 and detects contact with the operating device 26. In addition, the controller 30A may determine that the operator is touching the operating device 26 when, for example, a time-series waveform of an operation signal output from the operating device 26 represents a minute vibration near an operation amount of zero. If there is no sign that the operation of the operating device 26 will be started, the controller 30A proceeds to step S206, and if there is a sign that the operation of the operating device 26 will be started, the controller 30A ends this processing.

[0135] For example, if the operation of the operating device 26 is started immediately after the main pump 14 is stopped and the main pump 14 is started immediately, a time lag (waiting time) may occur before the operator can start work. In contrast, in this example, even if the operating device 26 is not operated, the main pump 14 is not stopped in a situation where operation will be started immediately. This makes it possible to suppress situations in which the operator feels annoyed due to the stopping and immediate start of the main pump 14, or the work efficiency of the excavator decreases due to the waiting time until the main pump 14 returns to the work rotation speed.

[0136] Steps S206 to S210 are the same processes as steps S104 to S108 in FIG. 3, and therefore a description thereof will be omitted.

[0137] In step S212, the controller 30A determines whether or not a condition regarding an indication that operation of the operation device 26 will be started (hereinafter, "operation start indication condition") is satisfied, that is, whether or not there is an indication that operation of the operation device 26 will be started. If the operation start indication condition is not satisfied, the controller 30A proceeds to step S214, and if the operation start indication condition is satisfied, the controller 30A proceeds to step S218.

[0138] Steps S214 and S216 are the same processes as steps S112 and S114 in FIG. 3, and therefore the description thereof will be omitted.

[0139] On the other hand, in step S218, the controller 30B starts the pump motor 12 in response to the control command from the controller 30A. Then, the controller 30B returns the rotation speed of the main pump 14 to a standby rotation speed (an example of a second rotation speed) that is lower than the working rotation speed (an example of a first rotation speed), and the controller 30A proceeds to step S220.

[0140] In step S220, the controller 30A determines whether or not the operation start condition is satisfied. If the operation start condition is not satisfied, the controller 30A proceeds to step S222, and if the operation start condition is satisfied, the controller 30A proceeds to step S224.

[0141] In step S222, the controller 30A determines whether any of the other start conditions is satisfied. If any of the other start conditions is satisfied, the controller 30A proceeds to step S222, and if not satisfied, the controller 30A returns to step S220 and repeats the processes of steps S220 and S222.

[0142] In step S224, the controller 30B returns (increases) the rotation speed of the main pump 14 from the standby rotation speed to the work rotation speed in response to the control command from the controller 30A, and ends this processing. As a result, when the operation of the operating device 26 is actually started, the main pump 14 can be immediately increased to the work rotation speed. This further reduces the waiting time from the start of the operation of the operating device 26 until the actual start of work, and further suppresses the decrease in the work efficiency of the shovel. In addition, while waiting for the start of the operation of the operating device 26, the main pump 14 rotates at the standby rotation speed lower than the work rotation speed, so that the decrease in the work efficiency of the shovel can be suppressed while suppressing the power of the power storage device 19 consumed by the pump motor 12.

[0143] <Third example of control process for pump stop function> FIG. 5 is a flowchart illustrating a third example of a control process related to the pump stopping function by the control device 30 (controllers 30A and 30B).

[0144] In step S302, the controller 30A determines whether or not a non-operation condition of the operating device 26 is satisfied based on an operation signal input from the operating device 26. If the non-operation condition is satisfied, the controller 30A proceeds to step S303, and if the non-operation condition is not satisfied, the controller 30A ends this processing.

[0145] In step S303, the controller 30A determines whether or not the safety conditions are met. If all the safety conditions are met, the controller 30A proceeds to step S304, and if none of the safety conditions are met, the controller 30A ends this processing. This allows the controller 30A to prevent the main pump 14 from automatically stopping when the safety conditions are not met.

[0146] Furthermore, when the safety conditions of step S303 are not satisfied, the controller 30A may notify, via the above-mentioned display device 50, audio output device, or the like, that the main pump 14 cannot be automatically stopped. Furthermore, the controller 30A may specifically notify the operator of the cause of the inability to automatically stop the main pump 14. This allows the operator to recognize that the main pump 14 will not be automatically stopped due to a problem with the safety of the excavator.

[0147] The order of steps S302 and S303 may be reversed. Furthermore, the process of step S303 may be set between the process of step S304 and the process of step S306.

[0148] The processing in steps S304 to S314 is the same as steps S104 to S114 in FIG. 3, and therefore a description thereof will be omitted.

[0149] Incidentally, the same process as step S303 may be applied to the flowchart of FIG.

[0150] <Fourth example of control process for pump stop function> FIG. 6 is a flowchart illustrating a fourth example of a control process related to the pump stopping function by the control device 30 (controllers 30A and 30B).

[0151] The processing in steps S402 to S406 is the same as steps S102 to S106 in FIG. 3, and therefore a description thereof will be omitted.

[0152] In step S408, the controller 30A determines whether or not the safety conditions are met. If all the safety conditions are met, the controller 30A proceeds to step S410, and if the safety conditions are not met, the controller 30A proceeds to step S414. This allows the controller 30A to restart the main pump when the safety conditions are not met.

[0153] For example, if the main pump 14 (pump motor 12) automatically stops due to a non-operating state of the hydraulic actuator and this state continues, the operator may mistakenly think that the key switch has been turned off and go home. Then, due to the current consumption of the battery 46 that supplies power to the control device 30, the remaining capacity of the battery 46 may decrease significantly, or the remaining capacity of the power storage device 19 that can charge the battery 46 may decrease significantly.

[0154] In contrast, in this example, when the safety conditions are no longer satisfied by the operator undoing the seat belt, lowering the gate lever, or opening the door, the pump motor 12 is restarted, so that the operator can notice that the key switch of the excavator has not been turned off.

[0155] If any one of the multiple conditions included in the safety conditions is not satisfied, the processing of step S408 may be repeated as in step S108 in FIG. 3, and if multiple conditions included in the safety conditions (e.g., a condition related to the gate lock and a condition related to the seat belt) are not satisfied, the processing of step S408 (i.e., the processing proceeding to step S414) may be performed.

[0156] The processing in steps S410 to S414 is the same as the processing in steps S110 to S114 in FIG. 3, and therefore a description thereof will be omitted.

[0157] Incidentally, the same process as step S408 may be applied to the flowchart of FIG.

[0158] <Another example of control process related to pump stop function> The control device 30 (controllers 30A, 30B) may perform control processing similar to that in the first to fourth examples described above when the shovel is being remotely operated. In this case, the non-operation condition of the operating device 26 in the first to fourth examples described above is replaced with a non-operation condition of the remotely operated driven element (i.e., the actuator that drives the driven element). The non-operation condition of the remotely operated driven element may be, for example, "no operation of the remotely operated driven element is being performed" or "a state in which no operation of the remotely operated driven element is being performed continues for a predetermined time or more" as in the first to fourth examples described above.

[0159] For example, when a shovel is remotely operated in response to a remote operation signal received from an external device, the non-operation condition of the driven element by remote operation corresponds to the non-operation condition of an operating device for remote operation (hereinafter, "remote operation operating device") provided in the external device. In the case of a specification in which a remote operation signal is transmitted to the shovel regardless of whether or not the remote operation operating device is operated, the controller 30A may determine whether or not the non-operation condition of the remote operation operating device is met based on the operation content (data related to the amount of operation) included in the remote operation signal. Also, in the case of a specification in which a remote operation signal is transmitted to the shovel only when the remote operation operating device is operated, the controller 30A can determine whether or not the non-operation condition of the remote operation operating device is met based on whether or not a remote operation signal is received.

[0160] Furthermore, the control device 30 (controllers 30A, 30B) may perform control processing similar to that in the above-mentioned first to fourth examples when the shovel is operating with the fully automatic operation function. In this case, the non-operation condition of the operating device 26 in the above-mentioned first to fourth examples is replaced with a non-operation condition of the driven element (i.e., the actuator that drives the driven element) by the fully automatic operation function. The non-operation condition of the driven element by the fully automatic operation function may be, for example, "an operation command to operate the driven element is not output" or "a state in which an operation command to operate the driven element is not output continues for a predetermined time or more" as in the above-mentioned first to fourth examples.

[0161] In this way, in this example, when the shovel is being remotely operated or is operating with the fully automatic operation function, if no operation is performed on the driven elements, the control device 30 can stop the pump motor 12 that drives the main pump 14. Therefore, even when the shovel is being remotely operated or is operating with the fully automatic operation function, the power consumption of the pump motor 12 can be suppressed.

[0162] [Effect] Next, the operation of the shovel according to this embodiment will be described.

[0163] In this embodiment, the excavator includes a main pump 14 that supplies hydraulic oil to the hydraulic actuator, a pump electric motor 12 that drives the main pump 14, an electric operating device 26 that operates the hydraulic actuator, and a control device 30. The control device 30 controls the pump electric motor 12 to automatically stop the main pump 14 when the operating device 26 is not being operated, and thereafter, automatically start the main pump 14 when operation of the operating device 26 is started.

[0164] As a result, when the operating device 26 is not being operated, the pump motor 12 that drives the main pump 14 can be stopped. Therefore, the shovel according to this embodiment can reduce energy consumption (electricity consumption).

[0165] Furthermore, when the operating device 26 is of a hydraulic pilot type, it is necessary to continue operating the pilot pump 15 in order to detect the start of operation of the operating device 26 while the main pump 14 is stopped. For this reason, another electric motor different from the pump motor 12 is added, and while the main pump 14 is stopped, the other electric motor continues to drive the pilot pump 15 with power supplied from the power storage device 19. Therefore, even when the operating device 26 is not being operated, there is a high possibility that the power of the power storage device 19 will be consumed to a certain extent by the other electric motor that drives the pilot pump 15.

[0166] In contrast, in this embodiment, since the operating device 26 is electric, there is no need to continue operating the pilot pump 15 when the main pump 14 is stopped, and the pilot pump 15 can be stopped together with the stopping of the main pump 14. Therefore, the excavator according to this embodiment can further reduce energy consumption (electricity consumption).

[0167] [Transformation / Change] Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the present invention described in the claims.

[0168] For example, in the above-described embodiment, the controller 30A may notify the operator through the display device 50 or the like to urge the operator to turn off the key switch when the operator is about to leave the cabin 10. For example, if the operator leaves the cabin 10 with the key switch still in the ON state, the pump stop function will be activated in response to a state in which no operation input is made to the hydraulic actuator, which is undesirable from the standpoint of safety, economy, etc. Specifically, the controller 30A may notify the operator when the excavator is started up, while the main pump 14 is stopped by the pump stop function, etc.

[0169] Furthermore, in the above-described embodiment and modified examples, the pump stop function may be in an inactive (stopped) state when the shovel is connected to an external commercial power source and the power storage device 19 is being charged. Normally, it is recommended that the key switch be OFF when the shovel is connected to an external power source and the power storage device 19 is being charged. Therefore, from the viewpoint of safety, etc., it is not preferable for the pump stop function to be executed for some reason even if the key switch is ON.

[0170] Furthermore, in the above-described embodiment and examples of modifications and variations, the shovel is a so-called "battery shovel" that uses the power storage device 19 as a power source, but it may also be a series-type "hybrid shovel."

[0171] For example, Fig. 7 is a block diagram showing a schematic configuration of another example of the shovel according to this embodiment. The following description will focus on the differences from Fig. 2.

[0172] As shown in FIG. 7, the excavator in this example is a series-type "hybrid excavator."

[0173] Specifically, the shovel of this example includes an engine 11 and a generator 11G driven by the engine 11. The control device 30 also includes a controller 30D that controls the engine 11, in addition to the controllers 30A to 30C.

[0174] The generator 11G is connected to the DC bus 110 via a rectifier (not shown), a converter for voltage adjustment (not shown), etc. The power generated by the generator 11G is charged into the power storage device 19 from the DC bus 110 via the power conversion device 100, and is supplied to the pump motor 12 and the swing motor 21 via inverters 18A and 18B.

[0175] The controller 30D controls the operation of the engine 11 based on various information (e.g., the set rotation speed of the engine 11 and control commands related to the operation and stop of the engine 11) input from the controller 30A. Specifically, the controller 30D realizes the operation control of the engine 11 by outputting control commands to actuators such as the starter motor and the fuel injection device of the engine 11 to be controlled.

[0176] For example, the controller 30A, via the controller 30D, stops the engine 11 when the remaining capacity of the power storage device 19 is relatively large, and operates the engine 11 to cause the generator 11G to generate power when the remaining capacity of the power storage device 19 is relatively small.

[0177] The control process (see Figs. 3 to 6) relating to the pump stop function similar to that of the above-mentioned embodiment may be applied to the excavator of this example, thereby achieving the same functions and effects as those of the above-mentioned embodiment.

[0178] In addition, in the above-described embodiment and modified examples, the excavator may be replaced with any work machine (industrial vehicle, forklift, crane, etc.) in which a hydraulic pump that supplies hydraulic oil to a hydraulic actuator is driven by an electric motor.

[0179] Finally, this application claims priority based on Japanese Patent Application No. 2019-069009, filed on March 29, 2019, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0180] 7 Boom cylinder (hydraulic actuator) 8 Arm cylinder (hydraulic actuator) 9 Bucket cylinder (hydraulic actuator) 12 Pump motor (electric motor) 14 Main pump (hydraulic pump) 15 Pilot pump 18A inverter 19. Electricity storage device (high voltage electricity storage device) 26 Operating device 30 Control device 30A~30D Controller 42 Air conditioner 42a Compressor 44 Alternator (means of generating electricity) 46 Battery (low voltage storage device) 50 Display device (notification means)

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; A working device attached to the upper rotating body; A hydraulic actuator; a hydraulic pump for supplying hydraulic oil to the hydraulic actuator; An electric motor that drives the hydraulic pump; An electric operating device for operating the hydraulic actuator; A control device that controls the electric motor, automatically stops the hydraulic pump when the operating device is not operated, and then automatically starts the hydraulic pump when there is a sign that the operating device will be started. After automatically stopping the hydraulic pump, if there is a sign that operation of the operating device will be started, the control device automatically starts the hydraulic pump and returns it to a second rotation speed that is lower than a first rotation speed at which work can be started and is a positive value, and thereafter, if operation of the operating device is started, returns the hydraulic pump from the second rotation speed to the first rotation speed. Shovel.

2. The control device does not automatically stop the hydraulic pump when there is a sign that the operation of the operation device will be started even if the operation device is not being operated. The shovel according to claim 1.

3. The control device determines whether there is a sign that the operation of the operation device will be started based on detection information from a sensor that detects contact with the operation device, an electrical signal output from the operation device, or image information from a camera installed inside the cabin. The shovel according to claim 1 or 2.

4. The control device does not automatically start the hydraulic pump even if there is a sign that the operation of the operating device will be started after automatically stopping the hydraulic pump, if the seat belt of the cockpit is not fastened, if the cabin window or door is not closed, or if the maintenance opening is not closed. A shovel according to any one of claims 1 to 3.

5. Further provided is a notification means for notifying at least one of the fact that the hydraulic pump cannot be started and the cause thereof when a seat belt of a cockpit is not fastened, a window or a door of a cabin is not closed, or a maintenance opening is not closed after the hydraulic pump is automatically stopped by the control device. A shovel according to any one of claims 1 to 4.

6. The control device does not automatically stop the hydraulic pump even if the operating device is not being operated, when a person is present within a predetermined range around the shovel, or when the shovel is in an unstable state due to its posture or the topography of the location where it is located. A shovel according to any one of claims 1 to 5.

7. The control device automatically starts the hydraulic pump when a person enters within a predetermined range around the excavator after automatically stopping the hydraulic pump. A shovel according to any one of claims 1 to 6.

8. A power generating means for generating electricity using the power of the electric motor; a low-voltage power storage device that is charged with the power generated by the power generation means and supplies power to devices that operate at a relatively low voltage, including the control device; The control device does not automatically stop the hydraulic pump when the remaining capacity of the low-voltage storage device is relatively low or when the deterioration of the low-voltage storage device is relatively advanced even when the operating device is not operated. A shovel according to any one of claims 1 to 7.

9. The power supply system further includes a high-voltage storage device that supplies relatively high-voltage power to the electric motor, The control device does not automatically stop the hydraulic pump when the remaining capacity of the high-voltage storage device is relatively low or when the deterioration of the high-voltage storage device is relatively advanced even when the operating device is not operated. A shovel according to any one of claims 1 to 8.

10. The control device does not automatically stop the hydraulic pump when a warm-up operation of the shovel is required even if the operating device is not operated. A shovel as claimed in any one of claims 1 to 9.

11. and a notification means for notifying the user that the shovel is in operation when the hydraulic pump is automatically stopped by the control device. A shovel according to any one of claims 1 to 10.

12. It has a perimeter monitoring function that monitors specific objects around the excavator, Even if the hydraulic pump is automatically stopped by the control device, the periphery monitoring function continues to operate. A shovel as claimed in any one of claims 1 to 11.

13. An operation unit that stops a function of automatically stopping the hydraulic pump when the control device is not operated, A shovel according to any one of claims 1 to 12.

Images