Excavator

Abstract

To provide an electric excavator capable of easily changing the capacity of a power storage unit.SOLUTION: An excavator 100 in an embodiment includes: an undercarriage 1; an upper revolving body 3 rotatably mounted on the undercarriage 1; an actuator for driving driven parts including the undercarriage 1 and the upper revolving body 3; and a power storage unit 19 mounted on the upper revolving body 3 as the energy source for driving actuators. The power storage unit 19 has multiple storage modules 19MD each including a battery module BMD and a housing 19H storing the battery module BMD, the power storage unit is constituted of the multiple storage modules 19MD stacked on top of each other. Regarding the multiple storage modules 19MD, the housings 19H of the vertically adjacent storage modules 19MD are connected.SELECTED DRAWING: Figure 10

Description

[Technical field]

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

[0002] For example, an electric shovel is known that operates using an electricity storage device such as a battery as an energy source (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-127751 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, there are various usage patterns of shovels, and there may be users who use the power storage device in a relatively long operating time per charge and users who use the power storage device in a relatively short operating time. Therefore, depending on the usage pattern of the electric shovel by the user, there may be cases where the capacity of the power storage device needs to be relatively large (large) and cases where the capacity of the mounted power storage device can be relatively small (small). Therefore, from the viewpoint of energy saving by reducing the weight of the power storage device and the viewpoint of cost reduction by reducing the capacity of the power storage device, it is desirable to be able to easily change the capacity of the mounted power storage device for each shovel in accordance with, for example, the usage pattern of the user.

[0005] In view of the above problem, an object of the present invention is to provide a technique that enables easy change of the capacity of a power storage device in an electric shovel. [Means for solving the problem]

[0006] 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; an actuator that drives a driven unit including the lower traveling body and the upper rotating body; a power storage device mounted on the upper rotating body and serving as an energy source for driving the actuator; the power storage device includes a plurality of power storage modules, each of which includes a power storage unit and a housing that houses the power storage unit, and the plurality of power storage modules are stacked vertically; The plurality of power storage modules are arranged such that the housings of adjacent power storage modules are connected to each other. 、 the housing includes a storage section that stores the power storage section and has an open upper portion, a lid section that closes the open upper opening of the storage section, and a plurality of first bolts that fasten the lid section to the storage section in a vertical direction, the housings of vertically adjacent power storage modules are connected to each other by a plurality of second bolts that are fastened in the vertical direction; In the housing, the first fastening hole into which the first bolt is fastened and the second fastening hole into which the second bolt is fastened are respectively arranged at intervals along the entire circumference of the opening of the accommodating portion, and the second fastening hole is provided between two adjacent first fastening holes. R, Shovel provided. Effect of the Invention

[0007] According to the above-described embodiment, the capacity of the power storage device in the electric shovel can be easily changed. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a configuration of a shovel. [Diagram 3] FIG. 11 is a block diagram illustrating a schematic configuration of another example of a shovel. [Figure 4] FIG. 4 is a diagram showing an example of a configuration related to operational restrictions of a hydraulic drive system. [Diagram 5] FIG. 11 is a diagram showing another example of a configuration relating to operational restrictions of a hydraulic control system. [Figure 6] FIG. 2 is a diagram illustrating an example of a configuration of a cooling device. [Figure 7] FIG. 1 is a diagram illustrating an example of a heat pump cycle of an air conditioner. [Figure 8] FIG. 2 is a top view showing an example of an arrangement structure of various devices of an upper rotating body. [Figure 9] FIG. 4 is a perspective view showing an example of a maintenance door of an upper rotating body. [Figure 10] FIG. 1 is a perspective view illustrating an example of a power storage device. [Figure 11] FIG. 13 is a perspective view showing another example of the power storage device. [Figure 12] FIG. 2 is an exploded view showing an example of the configuration of a power storage module. [Figure 13] 4 is a cross-sectional view showing an example of a connection structure between power storage modules. FIG. [Figure 14] FIG. 2 is a diagram illustrating a method for switching between operation and stop of a DC-DC converter. [Figure 15] FIG. 1 is a diagram showing the conversion efficiency of a DC-DC converter. [Figure 16] 5 is a flowchart illustrating an outline of a first example of a control process when power supply from a DC-DC converter is limited. [Figure 17] 11 is a diagram showing an example of a change in battery voltage when power supply from a DC-DC converter is limited. FIG. [Figure 18] 10 is a flowchart illustrating an outline of a second example of a control process when power supply from a DC-DC converter is limited. [Figure 19] 10 is a flowchart illustrating an outline of a third example of a control process when power supply from a DC-DC converter is limited. [Figure 20] 10 is a flowchart illustrating an outline of a fourth example of a control process when power supply from a DC-DC converter is limited. [Figure 21] 4 is a flowchart illustrating an example of a control process related to starting up and shutting down an operation mode of a shovel. [Figure 22] 10 is a flowchart illustrating an example of an emergency stop process for a shovel. [Figure 23] 10 is a flowchart illustrating an example of a control process related to starting and stopping a charging mode of a shovel. [Figure 24] 10 is a flowchart illustrating an example of a forced termination process of a charging mode. [Diagram 25] 5 is a flowchart illustrating a first example of a control process related to use of an air conditioner while a power storage device is being charged. [Figure 26] 6 is a flowchart illustrating a second example of a control process related to use of an air conditioner while a power storage device is being charged. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the invention will be described with reference to the drawings.

[0010] [Outline of the excavator] First, with reference to FIG. 1, an overview of a shovel 100 as an example of a work machine will be described.

[0011] FIG. 1 is a side view showing an example of a shovel 100 according to this embodiment.

[0012] The excavator 100 includes a lower carrier 1, an upper rotating body 3 mounted on the lower carrier 1 so as to be rotatable via a rotating mechanism 2, an attachment AT, and a cabin 10 in which an operator rides.

[0013] As described below, when the excavator 100 is remotely operated or operates in a fully automatic manner, the cabin 10 may be omitted.

[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 is self-propelled by the crawlers 1C being hydraulically driven by traveling hydraulic motors 1A, 1B (an example of an actuator) (see Figs. 2 and 3).

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

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

[0017] A boom 4 (an example of a driven part) is attached to the center of the front of the upper rotating body 3 so as to be able to be raised and lowered, an arm 5 (an example of a driven part) is attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 (an example of a driven part) is 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, arm cylinder 8, and bucket cylinder 9 (all of which are examples of actuators) serving as hydraulic actuators, respectively.

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

[0019] Note that, instead of the bucket 6, another end attachment may be attached to the tip of the arm 5 depending on the work content, etc. The other end attachment may be a bucket of a different type from the bucket 6, such as a slope bucket or a dredging bucket. The other end attachment may be an end attachment of a different type from the bucket, such as a breaker, an agitator, a grappler, etc. Furthermore, an auxiliary attachment, such as a quick coupling or a tiltrotator, may be provided at the connection between the arm 5 and the end attachment including the bucket 6.

[0020] In this example, as described below, all of the driven parts of the shovel 100 are hydraulically driven by hydraulic oil supplied from a main pump 14 (see FIG. 2) powered by a pump motor 12. That is, in this example, the shovel 100 corresponds to a configuration in which the prime mover (engine) of a so-called hydraulic shovel is replaced with the pump motor 12.

[0021] In addition, a part or all of the driven parts of the shovel 100 may be electrically driven. For example, the upper rotating body 3 may be electrically driven by a rotating electric motor (an example of an actuator) through the rotating mechanism 2 to rotate with respect to the lower traveling body 1.

[0022] The cabin 10 is mounted, for example, on the front left side of the upper rotating body 3, and is provided inside with a cockpit where an operator sits, an operating device 26 (described later), and the like.

[0023] As described below, when the excavator 100 is remotely operated or operates in a fully automatic manner, the cabin 10 may be omitted.

[0024] The excavator 100 operates driven parts such as the lower traveling structure 1 (left and right crawlers 1C), upper rotating structure 3, boom 4, arm 5, and bucket 6 in response to operation by an operator inside the cabin 10.

[0025] Further, instead of or in addition to being configured to be operable by an operator inside the cabin 10, the shovel 100 may be configured to be remotely operated from outside the shovel 100. When the shovel 100 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 inside the cabin 10 and the remote operation by an external operator.

[0026] The remote operation includes, for example, a mode in which the shovel 100 is operated by an operation input related to the actuator of the shovel 100 performed by a predetermined external device. The external device includes, for example, a management device that manages the shovel 100 and a terminal device (user terminal) used by a user of the shovel 100. The same may be true for the case of remote monitoring described below. In this case, the shovel 100 is equipped with a communication device capable of communicating with the external device, and may transmit to the external device, for example, an image (hereinafter, "peripheral image") showing the state of the shovel 100's surroundings based on image information (captured image) output by an imaging device included in a peripheral information acquisition device 40 described below. Then, the external device may display the peripheral image of the shovel 100 received on a display device (hereinafter, "display device for remote operation") provided in the external device. In addition, various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the shovel 100 may also be displayed on the display device for remote operation of the external device. This allows the operator of the external device to remotely operate the shovel 100 while checking the display contents of, for example, a peripheral image and an information screen of the shovel 100 displayed on the remote operation display device. The shovel 100 may operate actuators to drive driven parts such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 in response to a remote operation signal indicating the contents of the remote operation received from the external device by the communication device.

[0027] Further, the remote operation may include, for example, a mode in which the shovel 100 is operated by an external voice input or gesture input to the shovel 100 by a person (e.g., a worker) around the shovel 100. Specifically, the shovel 100 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 100 (the shovel's own machine). Then, the shovel 100 may operate actuators according to the contents of the recognized voices or gestures to drive driven parts such as the lower traveling body, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0028] The shovel 100 may automatically operate the actuators regardless of the contents of the operation by the operator. This allows the shovel 100 to realize a function of automatically operating at least some of the driven parts, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 (a so-called "automatic driving function" or "MC (Machine Control) function").

[0029] The automatic driving 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 or remote operation of the operating device 26 by an operator (so-called "semi-automatic driving function" or "operation-assisted MC function"). The automatic driving function may also include a function of automatically operating at least a part of the driven parts (actuators) on the premise that there is no operation or remote operation of the operating device 26 by an operator (so-called "fully automatic driving function" or "fully automatic MC function"). When the fully automatic driving function is enabled in the shovel 100, 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 part (actuator) to be the target of the automatic driving is automatically determined according to a rule that is defined in advance. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the shovel 100 autonomously makes various judgments and autonomously determines the operation content of the driven part (actuator) to be the target of the automatic driving in accordance with the judgment results (so-called "autonomous driving function").

[0030] Furthermore, when the shovel 100 operates with an automatic driving function (particularly, a fully automatic driving function), the status of work performed by the shovel 100 may be remotely monitored from outside the shovel 100.

[0031] When remote monitoring is performed, the shovel 100 may be equipped with a communication device capable of communicating with an external device, and may transmit to the external device, for example, an image (peripheral image) showing the state of the shovel 100's surroundings based on image information output by an imaging device included in a peripheral information acquisition device 40 described later. The external device may then display the received image information (captured image) on a display device (hereinafter, "display device for remote monitoring") provided in the external device. Also, various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the shovel 100 may also be displayed on the remote monitoring display device of the external device. This allows the monitor of the external device to remotely monitor the working status of the shovel 100 while checking, for example, the display contents of the peripheral image and information screen of the shovel 100 displayed on the display device for remote monitoring. Also, for example, when some problem occurs in the working status of the shovel 100, the monitor of the external device may be able to perform an emergency stop of the operation of the shovel 100 or perform an intervening operation of the shovel 100 by making a predetermined input to the external device. In this case, the shovel 100 may bring the driven parts, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, to an emergency stop by stopping the actuator in response to a signal indicating an emergency stop received from an external device via the communication device. The shovel 100 may also realize an intervention operation of the driven parts, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, by operating the actuator in response to a signal indicating the content of the intervention operation received from an external device via the communication device.

[0032] [Excavator configuration] Next, the configuration of a shovel 100 according to this embodiment will be described with reference to Figs. 2 to 7 in addition to Fig. 1.

[0033] Fig. 2 and Fig. 3 are block diagrams showing an example and another example of the configuration of the shovel 100 according to this embodiment. Fig. 4 is a diagram showing an example of the configuration related to the operational restriction of the hydraulic drive system. Fig. 5 is a diagram showing another example of the configuration related to the operational restriction of the hydraulic drive system. Fig. 6 is a diagram showing an example of the cooling device 60 mounted on the shovel 100 according to this embodiment. Fig. 7 is a diagram showing an example of the heat pump cycle 82 of the air conditioning device 80 mounted on the shovel 100 according to this embodiment.

[0034] In Figures 2 and 3, the mechanical power transmission system is shown by a double line, the relatively high hydraulic pressure transmission system, i.e., the hydraulic oil line of the hydraulic drive system, is shown by a thick solid line, the pilot pressure transmission system, i.e., the hydraulic oil line of the operating system, is shown by a dashed line, and the power and electrical signal transmission system is shown by a thin solid line.

[0035] The excavator 100 includes 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.

[0036] <Hydraulic drive system> The hydraulic drive system of the excavator 100 is a group of components related to the hydraulic drive of the driven parts.

[0037] The hydraulic drive system of the excavator 100 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 the driven parts such as the lower traveling structure 1, the boom 4, the arm 5, and the bucket 6. The hydraulic drive system of the excavator 100 also includes a pump motor 12, a main pump 14, and a control valve 17.

[0038] The pump motor 12 is a power source for the hydraulic drive system. The pump motor 12 is, for example, an interior permanent magnet (IPM) motor. The pump motor 12 is connected to an electricity storage device 19 via an inverter 18. The pump motor 12 runs on three-phase AC power supplied from the electricity storage device 19 via the inverter 18, and drives the main pump 14 and the pilot pump 15. Drive control of the pump motor 12 may be performed by the inverter 18 under the control of a controller 30B, which will be described later.

[0039] The main pump 14 draws hydraulic oil from the hydraulic oil tank T and discharges it to the high-pressure hydraulic line 16, thereby supplying the hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16. As described above, the main pump 14 is driven by the 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 the swash plate under the control of a controller 30A described later. This allows the main pump 14 to adjust the stroke length of the piston and adjust the discharge flow rate (discharge pressure).

[0040] The control valve 17 controls the hydraulic drive system in response to an operation command corresponding to an operator's operation or 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 be able to selectively supply 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 (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. 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.

[0041] <Electric drive system> The electric drive system of the shovel 100 is a group of components related to the electric drive of the prime mover (power source) and the driven parts of the shovel 100.

[0042] As shown in FIGS. 2 and 3, the electric drive system of the excavator 100 includes a pump motor 12, a sensor 12s, and an inverter 18.

[0043] Incidentally, as described above, when some or all of the driven parts are electrically driven, the electric drive system of the shovel 100 may include an electric actuator that drives the driven parts, an inverter that drives the electric actuator, and the like.

[0044] The sensors 12s include a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

[0045] 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 18. 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 18 through a communication line. The detection signals may also be input to the controller 30B through the communication line and input to the inverter 18 via the controller 30B.

[0046] 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 18. 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 18 through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18 via the controller 30B.

[0047] 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, a rotation position (rotation angle) and a rotation speed. The rotation state sensor 12s3 is, for example, a rotary encoder or a resolver. A detection signal corresponding to the rotation state of the pump motor 12 detected by the rotation state sensor 12s3 is directly input to the inverter 18 through a communication line. The detection signal may also be input to the controller 30B through the communication line and input to the inverter 18 via the controller 30B.

[0048] The inverter 18 drives and controls the pump motor 12 under the control of the controller 30B. The inverter 18 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 that defines the operation of the drive circuit. The control signal is, for example, a PWM (Pulse Width Modulation) signal.

[0049] 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 a detection signal of the rotation state sensor 12s3. The control circuit of the inverter 18 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).

[0050] At least one of the drive circuit and the control circuit of the inverter 18 may be provided outside the inverter 18 .

[0051] <Power system> The power supply system of the shovel 100 is a group of components for supplying power to various electrical devices.

[0052] As shown in FIGS. 2 and 3, the power supply system of the shovel 100 includes an electricity storage device 19, a DC-DC converter 44, a battery 46, an on-board charger 70, and a charging port 72.

[0053] The power storage device 19 is an energy source for driving the actuator of the shovel 100. The power storage device 19 is charged (stores electricity) by being connected to an external commercial power source via a predetermined cable (hereinafter, "charging cable"), and supplies the charged (stored) electricity 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).

[0054] A power conversion device may be provided between the power storage device 19 and the pump motor 12 to boost the output voltage of the power storage device 19 and apply the boosted output voltage to the pump motor 12. When some or all of the driven parts are electrically driven as described above, the power of the power storage device 19 is supplied to an electric actuator that electrically drives the driven parts instead of or in addition to the pump motor 12.

[0055] The DC-DC converter 44 is provided, for example, in the upper rotating body 3, and steps down the extremely 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 and charged (stored) or supplied to electrical equipment (hereinafter referred to as "low-voltage equipment") driven by the power of the battery 46. Examples of the low-voltage equipment include various controllers (controllers 30A to 30E, etc.) included in the control device 30. Examples of the low-voltage equipment also include a water pump 64, an air conditioner 80, a fan 90, etc., which will be described later.

[0056] For example, as shown in FIG. 2, the shovel 100 is equipped with one DC-DC converter 44.

[0057] Also, for example, as shown in FIG. 3, the DC-DC converter 44 may include a plurality of DC-DC converters (two DC-DC converters 44A, 44B in this example) connected in parallel. This allows the plurality of DC-DC converters 44A, 44B to share and output the current required by the low-voltage devices. Also, the plurality of DC-DC converters 44A, 44B each have a relatively small current capacity, i.e., a relatively small maximum value of the current that can be output, and therefore the outer size is also relatively small. Therefore, the degree of freedom in arrangement when mounting them on the upper rotating body 3 can be improved. Also, even if one of the plurality of DC-DC converters 44A, 44B cannot supply power due to an abnormality or the like, the power supply from the other can be continued.

[0058] The DC-DC converter 44 may be replaced with an alternator. In this case, the alternator may be provided in the upper rotating body 3 and generate power using the power of the pump motor 12. The power generated by the alternator is supplied to the battery 46, as in the case of the DC-DC converter 44, and is charged (stored) in the battery 46 or supplied to low-voltage devices such as the controllers 30A to 30E.

[0059] The battery 46 is provided in the upper rotating body 3 and has a relatively low output voltage (e.g., 24 volts). The battery 46 supplies power to low-voltage devices other than the electric drive system that require relatively high power. The battery 46 is, for example, a lead-acid battery or a lithium-ion battery, and is charged by the output power of the DC-DC converter 44 as described above.

[0060] The on-board charger 70 charges the power storage device 19 by converting single-phase AC power of a relatively low voltage (e.g., 100 volts or 200 volts) supplied from an external power source through a charging port 72A described below into DC power and outputting it to the power storage device 19.

[0061] The charging port 72 is provided, for example, on a side surface of the upper rotating body 3, and is connected by inserting an end of a charging cable extending from an external power source. The charging port 72 includes charging ports 72A and 72B.

[0062] Charging port 72A is configured to be connectable to a charging cable extending from an external power source (e.g., a commercial power source) capable of supplying single-phase AC power of a relatively low voltage. Charging port 72A is connected to on-vehicle charger 70 by a power line (wire harness), and supplies power supplied from the external power source to power storage device 19 through on-vehicle charger 70. This realizes so-called normal charging of power storage device 19.

[0063] To charging port 72B, for example, a charging cable extending from an external power source capable of supplying DC power of a relatively high voltage (for example, 400 volts) is connected. Charging port 72B is directly connected to power storage device 19 by a power line (wire harness), and supplies DC power supplied from the external power source directly to power storage device 19. This realizes so-called quick charging of power storage device 19.

[0064] <Operation system> The operating system of the shovel 100 is a group of components related to the operation of the driven parts.

[0065] As shown in Figures 2 and 3, the operation system of the shovel 100 includes the pilot pump 15, the operating device 26, and the hydraulic control valve 31. Also, as shown in Figure 4, the operation system of the shovel 100 includes a gate lock valve 25V1, a gate lock switch 25SW, and a relay 25R. Also, as shown in Figure 5, the operation system of the shovel 100 may include a change-over valve 25V2 in addition to the relay 25R.

[0066] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., hydraulic control valve 31) mounted on the excavator 100 via the pilot line 25. As a result, the hydraulic control valve 31 can supply pilot pressure to the control valve 17 according to the operation content (e.g., operation amount and operation direction) of the operating device 26 under the control of the controller 30A. Therefore, the controller 30A 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 operating device 26. Moreover, the hydraulic control valve 31 can supply pilot pressure to the control valve 17 according to the remote operation content specified by the remote operation signal under the control of the controller 30A. Moreover, the hydraulic control valve 31 can supply pilot pressure to the control valve 17 according to the operation command corresponding to the automatic operation function 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.

[0067] The pilot pump 15 may be omitted. In this case, the hydraulic equipment such as the hydraulic control valve 31 may be supplied with hydraulic oil discharged from the main pump 14 and reduced in pressure to a predetermined pilot pressure via a pressure reducing valve or the like.

[0068] 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 part (i.e., the left and right crawlers 1C 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 by the operator to operate the actuators that drive each driven part (e.g., the traveling hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.). For example, as shown in Figs. 2 and 3, the operation device 26 is 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 in by the controller 30A. As a result, the control device 30 including the controller 30A can control the hydraulic control valve 31, etc., and control the operation of the driven parts (actuators) of the excavator 100 according to the operation content of the operator and the operation command corresponding to the automatic driving function.

[0069] The operation device 26 includes, for example, levers 26A to 26C. The lever 26A may be configured to be able to receive operations related to the arm 5 (arm cylinder 8) and the upper rotating body 3 (rotation operation) in response to operations in the front-rear direction and the left-right direction. The lever 26B may be configured to be able to receive operations related to the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9) in response to operations in the front-rear direction and the left-right direction. The lever 26C may be configured to be able to receive operations related to the lower traveling body 1 (crawler 1C), for example.

[0070] In addition, when the control valve 17 is configured as an electromagnetic pilot type hydraulic control valve (directional control 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 perform an operation according to the operation content of the operation device 26. Also, the operation device 26 may be of 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.

[0071] Under the control of the controller 30A, the hydraulic control valve 31 outputs a predetermined pilot pressure using hydraulic oil supplied from the pilot pump 15 through the pilot line 25. The secondary pilot line 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.

[0072] The gate lock valve 25V1 is a switching valve provided in the pilot line 25. The gate lock valve 25V1 is, for example, an electromagnetic solenoid valve. In the de-energized state (the state in Figs. 4 and 5), the gate lock valve 25V1 maintains the spool at the right position in the figures by elastic force, and the pilot line 25 is in a non-communicated state. In this case, the gate lock valve 25V1 discharges the hydraulic oil in the downstream pilot line 25 to the hydraulic oil tank T. On the other hand, in the energized state, the gate lock valve 25V1 moves the spool leftward against the elastic force by the action of the electromagnetic solenoid, and the pilot line 25 is in a communicated state. In this case, the gate lock valve 25V1 supplies the hydraulic oil of the pilot pump 15 to the downstream side.

[0073] The gate lock switch 25SW is provided on the power line between the battery 46 and the gate lock valve 25V1 (electromagnetic solenoid). When the gate lock switch 25SW is in the off state, it opens the power line and puts the gate lock valve 25V1 in a non-energized state, and when the gate lock switch 25SW is in the on state, it closes the power line and puts the gate lock valve 25V1 in a powered state.

[0074] The gate lock switch 25SW is turned on and off depending on the operation state of a gate lock lever inside the cabin 10. The gate lock switch 25SW is, for example, a limit switch that is linked to the operation of the gate lock lever.

[0075] The gate lock switch 25SW is turned off when the gate lock lever is in an operation state corresponding to a state where the gate bar is raised, that is, the cockpit of the cabin 10 is open so that the driver can get in and out. As a result, when the gate bar is raised, the gate lock valve 25V1 maintains the pilot line 25 in a non-communicating state. Therefore, the gate lock switch 25SW can operate the gate lock valve 25V1 so that pilot pressure is not supplied to the hydraulic control valve 31 in accordance with a situation where the operator of the cabin 10 has no intention of operating the aircraft or the operator is absent from the cabin 10. On the other hand, the gate lock switch 25SW is turned on when the gate bar is lowered, that is, the operation state corresponding to a state where the cockpit of the cabin 10 is closed so that the driver cannot get in and out. As a result, the gate lock switch 25SW can operate the gate lock valve 25V1 so that pilot pressure is supplied to the hydraulic control valve 31 in accordance with a situation where the operator of the cabin 10 has the intention of operating the aircraft.

[0076] The relay 25R is used to cut off (disconnect) the pilot line 25 regardless of the operation state of the gate lock lever, that is, regardless of the state of the gate lock switch 25SW.

[0077] For example, as shown in FIG. 4, the relay 25R is disposed in the power line between the battery 46 and the gate lock valve 25V1 (electromagnetic solenoid). In this case, the relay 25R is of a normally closed type, and is opened when energized by a control current input from the controller 30A. Thus, the controller 30A energizes the relay 25R to open the relay 25R, thereby bringing the gate lock valve 25V1 into a non-energized state and transitioning the pilot line 25 into a non-communicated state even if the gate lock switch 25SW is in an on state. Therefore, the control device 30 (controller 30A) can stop the operation of the driven part (hydraulic actuator).

[0078] 5, the relay 25R may be provided in a power line between the battery 46 and the switching valve 25V2 (electromagnetic solenoid). In this case, the relay 25R is of a normally open type, and is closed when energized by a control current input from the controller 30A.

[0079] The switching valve 25V2 is provided in the pilot line 25. For example, as shown in Fig. 5, the switching valve 25V2 may be provided downstream of the gate lock valve 25V1 in the pilot line 25, or may be provided upstream of the gate lock valve 25V1. The switching valve 25V2 is, for example, an electromagnetic solenoid valve. Like the gate lock valve 25V1, in the non-energized state (state in Fig. 5), the switching valve 25V2 maintains the spool at the right position in the figure by elastic force, and brings the pilot line 25 into a connected state. On the other hand, in the energized state, the switching valve 25V2 moves the spool to the left against the elastic force by the action of the electromagnetic solenoid, and brings the pilot line 25 into a disconnected state.

[0080] When the coil of the relay 25R is not energized, the relay 25R is opened, and the switching valve 25V2 maintains the pilot line 25 in a connected state. On the other hand, when the coil of the relay 25R is energized by the controller 30A, the relay 25R is closed, and the switching valve 25V2 maintains the pilot line 25 in a disconnected state. This allows the control device 30 (controller 30A) to transition the switching valve 25V2 to a disconnected state even when the gate lock valve 25V1 is in a connected state. Therefore, the control device 30 (controller 30A) can stop the operation of the driven part (hydraulic actuator).

[0081] The relay 25R and the switching valve 25V2 may be omitted. In this case, the control device 30 may limit the operation of the driven part (hydraulic actuator) by controlling the pilot pressure output from the hydraulic control valve 31, for example.

[0082] <Cooling system> The cooling system of the shovel 100 is a group of components for cooling the components that generate heat as the shovel 100 operates.

[0083] As shown in FIG. 6, the cooling system of the shovel 100 includes a cooling device 60 and a fan 90.

[0084] The cooling device 60 cools the electric drive system devices and the relatively high voltage power supply system devices in the shovel 100. For example, as shown in Fig. 6, the devices to be cooled by the cooling device 60 include the pump motor 12, the inverter 18, the power storage device 19, the DC-DC converter 44, the on-board charger 70, and the like.

[0085] As long as the conditions related to the cooling performance required for each of the multiple cooling targets are satisfied, the connection mode of the cooling targets in the refrigerant circuit 66 that is configured to allow the refrigerant to pass around or through them may be arbitrary. That is, as long as the conditions related to the cooling performance required for each of the multiple cooling targets are satisfied, some or all of the multiple cooling targets cooled by the refrigerant circuit 66 may be connected in series, or some or all of them may be connected in parallel. Furthermore, as long as the conditions related to the cooling performance required for each of the multiple cooling targets are satisfied, the order of arrangement of the multiple cooling targets in the refrigerant circuit 66 starting from the radiator 62 may be arbitrary.

[0086] The cooling system 60 includes a radiator 62 , a water pump 64 , and a refrigerant circuit 66 .

[0087] The radiator 62 cools the refrigerant (for example, cooling water) in the refrigerant circuit 66. Specifically, the radiator 62 cools the refrigerant by exchanging heat between the surrounding air and the refrigerant.

[0088] The water pump 64 circulates the refrigerant in the refrigerant circuit 66. The water pump 64 is operated by power supplied from the DC-DC converter 44 or the battery 46, for example.

[0089] The refrigerant circuit 66 includes refrigerant flow paths 66A, 66B, 66C, 66C1, 66C2, 66D, 66D1, 66D2, 66E, and 66F.

[0090] Coolant flow path 66A connects water pump 64 and power storage device 19, and causes the coolant discharged from water pump 64 to flow into the coolant flow path inside or around power storage device 19. This enables cooling device 60 to cool power storage device 19 with the coolant. The coolant that has flowed through the coolant flow path inside or around power storage device 19 flows out into coolant flow path 66B.

[0091] The refrigerant flow paths 66B, 66B1, and 66B2 connect the power storage device 19 to the inverter 18 and the DC-DC converter 44. The refrigerant flow paths 66B, 66B1, and 66B2 allow the refrigerant flowing out of the refrigerant flow path inside or around the power storage device 19 to flow into the refrigerant flow path inside or around the inverter 18 and the DC-DC converter 44. Specifically, the refrigerant flow path 66B, one end of which is connected to the power storage device 19, branches into the refrigerant flow paths 66B1 and 66B2 at the other end, which are connected to the inverter 18 and the DC-DC converter 44, respectively. The refrigerant flow paths 66B1 and 66B2 allow the refrigerant to flow into the refrigerant flow paths inside or around the inverter 18 and the DC-DC converter 44. This allows the cooling device 60 to cool the inverter 18 and the DC-DC converter 44 with the refrigerant. The refrigerant that has flowed through the refrigerant flow path inside or around the inverter 18 flows out to the refrigerant flow path 66C1. Furthermore, the coolant that has flowed through the coolant flow passage inside or around DC-DC converter 44 flows out into coolant flow passage 66C2.

[0092] The refrigerant flow paths 66C, 66C1, 66C2 connect the inverter 18 and the DC-DC converter 44 with the pump motor 12. The refrigerant flow paths 66C, 66C1, 66C2 allow the refrigerant flowing out of the refrigerant flow paths inside or around the inverter 18 and the DC-DC converter 44 to flow into the refrigerant flow paths inside or around the pump motor 12. Specifically, the refrigerant flow paths 66C1, 66C2, one end of which is connected to the inverter 18 and the DC-DC converter 44, respectively, merge with one end of the refrigerant flow path 66C, and the other end of the refrigerant flow path 66C is connected to the pump motor 12. This allows the cooling device 60 to cool the pump motor 12 with the refrigerant. The refrigerant that has flowed through the refrigerant flow paths inside or around the pump motor 12 flows out into the refrigerant flow path 66D.

[0093] Incidentally, when a power conversion device is provided between the power storage device 19 and the pump motor 12, the power conversion device may be cooled by the cooling device 60. In this case, the power conversion device may be arranged in parallel with the inverter 18 and the DC-DC converter 44 in the refrigerant circuit 66, for example, and may be cooled by the refrigerant flowing out from the power storage device 19. Also, the DC-DC converter 44 may be air-cooled. In this case, the refrigerant flow paths 66B2, 66C2 are omitted. Also, at least a part of the inverter 18, the DC-DC converter 44, etc. may be arranged in series in the refrigerant circuit 66.

[0094] The refrigerant flow path 66D connects between the pump motor 12 and the on-vehicle charger 70, and allows the refrigerant flowing out from the refrigerant flow path inside or around the pump motor 12 to flow into the refrigerant flow path inside or around the on-vehicle charger 70. This allows the cooling device 60 to cool the on-vehicle charger 70 with the refrigerant. The refrigerant that has flowed through the refrigerant flow path inside or around the on-vehicle charger 70 flows out into the refrigerant flow path 66E.

[0095] The refrigerant flow path 66E connects the on-board charger 70 and the radiator 62, and supplies the refrigerant flowing out from the refrigerant flow path inside or around the on-board charger 70 to the radiator 62. In this way, the refrigerant circuit 66 can cool various devices in the electric drive system and power supply system, thereby allowing the radiator 62 to cool the refrigerant whose temperature has increased, and return it to a state where it can cool the various devices in the electric drive system and power supply system again.

[0096] The refrigerant flow path 66F connects between the radiator 62 and the water pump 64, and supplies the refrigerant cooled by the radiator 62 to the water pump 64. This enables the water pump 64 to discharge the refrigerant cooled by the radiator 62 to the refrigerant flow path 66A, and circulate the refrigerant in the refrigerant circuit 66.

[0097] The fan 90 operates under the control of the control device 30 (for example, the controller 30A) and sends air toward a predetermined device (hereinafter, "heat exchange device") that exchanges heat with the air. The fan 90 operates with power supplied from the DC-DC converter 44 or the battery 46, for example.

[0098] 6, the fan 90 may blow air toward the radiator 62 to cool the radiator 62. This allows air capable of exchanging heat with the refrigerant flowing inside the radiator 62 to be successively supplied around the radiator 62, thereby increasing the degree to which the radiator 62 cools the refrigerant.

[0099] There may be one fan 90, or, as described below, there may be multiple fans 90. In other words, any number of fans 90 may be configured as long as the degree of heat exchange (cooling degree or heating degree) required for the heat exchange device can be ensured.

[0100] The cooling system of the excavator 100 may include an oil cooler that cools the hydraulic oil used in the hydraulic drive system (high pressure hydraulic line) and the operation system (pilot line). The oil cooler may be provided, for example, in a return oil passage between the control valve 17 and the hydraulic oil tank T, and may exchange heat between the surrounding air and the hydraulic oil flowing inside to cool the hydraulic oil. In this case, the fan 90 may blow air toward the oil cooler to cool the oil cooler. This causes air capable of exchanging heat with the hydraulic oil flowing inside to be successively supplied around the oil cooler, thereby increasing the degree of cooling of the hydraulic oil by the oil cooler. In this case, the fan 90 may be a common fan 90 for blowing air to the radiator 62 and a fan 90 for blowing air to the oil cooler, that is, the same fan 90, or different fans 90.

[0101] <User interface> The user interface system of the excavator 100 is a group of components related to the exchange of information with the user.

[0102] As shown in FIGS. 2 and 3, the user interface system includes an output device 50 and an input device 52 .

[0103] The output device 50 outputs various information to a user under the control of the control device 30 (e.g., controller 30A). For example, the output device 50 includes an output device that is provided inside the cabin 10 and outputs various information to a user (e.g., an operator) inside the cabin 10. Also, for example, the output device 50 may include an output device that is provided outside the cabin 10 and outputs various information to a user in the vicinity of the shovel 100 (e.g., a worker or a supervisor in the vicinity of the shovel 100).

[0104] The output device 50 includes, for example, a display device or a lighting device that outputs (notifies) information to a user in a visual manner. The display device may display various information images under the control of the controller 30A. The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The lighting device is, for example, a warning light.

[0105] The output device 50 also includes, for example, a sound output device that outputs information to the user in an auditory manner, such as a buzzer or a speaker.

[0106] The input device 52 accepts various inputs from a user. For example, the input device 52 includes an input device provided inside the cabin 10 and accepting 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 and accepting various inputs from a user outside the cabin 10 (e.g., a worker or a supervisor in the vicinity of the excavator 100).

[0107] The input device 52 may include, for example, an operation input device that accepts an operation input from a user. The operation input device includes, for example, a button, a toggle, a lever, a touch panel, a touch pad, and the like. The input device 52 may also include, for example, a voice input device that accepts a voice input from an operator and a gesture input device that accepts a gesture input from an operator. The voice input device includes, for example, a microphone that acquires the voice of the user. The gesture input device includes, for example, a camera that can capture an image of the user's gesture. A signal corresponding to the input from the operator accepted by the input device 52 is taken into the control device 30 (for example, the controller 30A).

[0108] <Comfort equipment> The comfort equipment system of the excavator 100 is a group of components related to comfort equipment for the user (operator) inside the cabin 10.

[0109] 7, the comfort equipment system of the shovel 100 includes an air conditioner 80. Also, as shown in FIG. 7, the comfort equipment system of the shovel 100 includes a fan 90.

[0110] The air conditioner 80 adjusts the air condition inside the cabin 10, specifically, the temperature, humidity, etc. of the air. The air conditioner 80 is operated by power supplied from, for example, a DC-DC converter 44 or a 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.

[0111] 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 or a combustion heater.

[0112] As shown in FIG. 7, the heat pump cycle 82 includes a compressor 82A, a condenser 82B, an expansion valve 82C, and an evaporator 82D.

[0113] The arrows in FIG. 7 indicate the flow of the refrigerant when the air conditioner 80 is in cooling operation, and the flow of the refrigerant when the air conditioner 80 is in heating operation is in the opposite direction.

[0114] The compressor 82A compresses the refrigerant of the heat pump cycle 82. The compressor 82A includes, for example, a built-in electric motor and an inverter circuit that drives the electric motor, and is electrically driven by 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 when the air conditioner 80 is in cooling operation, and is sent to the evaporator 82D when the air conditioner 80 is in heating operation.

[0115] The compressor 82A may be configured to be driven by electric power directly supplied from the power storage device 19. The compressor 82A may also be configured to be mechanically driven by the electric motor 12 for the pump.

[0116] Condenser 82B cools the refrigerant in a gaseous state compressed by compressor 82A and having a relatively high temperature during cooling operation of air conditioner 80. Specifically, condenser 82B dissipates heat of the refrigerant to the outside air by heat exchange between the refrigerant flowing inside and the outside air, thereby cooling the refrigerant. The refrigerant cooled by condenser 82B changes to a liquid state.

[0117] In addition, when air conditioner 80 is in heating operation, condenser 82B absorbs heat from the outside air through heat exchange between the refrigerant flowing through it and the outside air, and raises the temperature of the refrigerant that has been reduced in pressure through expansion valve 82C to a relatively low temperature.

[0118] The expansion valve 82C rapidly reduces the pressure of the refrigerant flowing through it, thereby reducing the temperature of the refrigerant. During cooling operation of the air conditioner 80, the expansion valve 82C rapidly reduces the pressure of the refrigerant in a liquid state and in a high pressure state sent from the condenser 82B, thereby reducing the temperature. During heating operation of the air conditioner 80, the expansion valve 82C rapidly reduces the pressure of the refrigerant in a liquid state and in a high pressure state sent from the evaporator 82D, thereby reducing the temperature.

[0119] The evaporator 82D exchanges heat between the refrigerant flowing inside and the air sent from the air conditioner 80 into the cabin 10. During cooling operation of the air conditioner 80, the evaporator 82D cools the air sent into the cabin 10 by the relatively low-temperature refrigerant (gas-liquid mixed state) sent from the expansion valve 82C removing heat from the air. Moreover, during heating operation of the air conditioner 80, the evaporator 82D warms the air sent into the cabin 10 by the air removing heat from the relatively high-temperature refrigerant (gaseous state) sent from the compressor 82A.

[0120] 7, the fan 90 may blow air toward the condenser 82B to cool or heat the condenser 82B. This allows air capable of exchanging heat with the refrigerant flowing inside the condenser 82B to be successively supplied around the condenser 82B, thereby increasing the degree to which the refrigerant is cooled or heated by the condenser 82B.

[0121] <Control system> The control system of the shovel 100 is a group of components related to various controls of the shovel 100.

[0122] 2 and 3, the control system of the shovel 100 includes a control device 30. The control system of the shovel 100 also includes a peripheral information acquisition device 40, a sensor 48, and temperature sensors 54 and 56.

[0123] The control device 30 includes controllers 30A to 30E.

[0124] The functions of the controllers 30B to 30E may be integrated into the controller 30A. That is, 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.

[0125] The controllers 30A to 30E may each have a function realized by any hardware or a combination of any hardware and software. For example, the controllers 30A to 30E are each configured with a computer including a central processing unit (CPU), a memory device such as a random access memory (RAM), an auxiliary storage device such as a read only memory (ROM), and an interface device for external communication. The controllers 30A to 30E each realize various functions by, for example, loading a program installed in the auxiliary storage device into the memory device and executing the program on the CPU.

[0126] The controller 30A controls the driving of the shovel 100 in cooperation with various controllers constituting the control device 30 including the controllers 30B to 30E.

[0127] For example, the controller 30A outputs a control command to the hydraulic control valve 31 in response to an operation signal input from the operating device 26, and causes the hydraulic 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 driven part (hydraulic actuator) of the shovel 100 corresponding to the operation content of the electric operating device 26.

[0128] Furthermore, when the shovel 100 is remotely operated, the controller 30A may, for example, perform control related to the remote operation. Specifically, the controller 30A 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. In this way, the controller 30A can realize the operation of the driven parts (hydraulic actuators) of the shovel 100 corresponding to the content of the remote operation.

[0129] Furthermore, the controller 30A may perform control related to, for example, an automatic driving function. Specifically, the controller 30A may output a control command to the hydraulic control valve 31, and cause the hydraulic control valve 31 to apply a pilot pressure corresponding to an operation command corresponding to the automatic driving function to the control valve 17. In this way, the controller 30A can realize the operation of the driven parts (hydraulic actuators) of the excavator 100 corresponding to the automatic driving function.

[0130] Furthermore, the controller 30A may comprehensively control the operation of the entire shovel 100 (various devices mounted on the shovel 100) based on two-way communication with various controllers such as the controllers 30B to 30E.

[0131] The controller 30B performs control related to the electric drive system based on various information (for example, control commands including the operation signal of the operating device 26) input from the controller 30A.

[0132] The controller 30B, for example, outputs a control command to the inverter 18 and controls the driving of the pump motor 12.

[0133] As described above, when a power conversion device is provided between the power storage device 19 and the pump motor 12, the controller 30B may, for example, output a control command to the power conversion device and control the operation of the power conversion device.

[0134] The controller 30C controls the periphery monitoring function of the excavator 100.

[0135] The controller 30C detects a predetermined object (hereinafter, "monitored object") around the shovel 100 and estimates the position of the monitored object based on, for example, data relating to the situation in the three-dimensional space around the shovel 100 captured from the surrounding information acquisition device 40. The monitored object includes, for example, a person. The monitored object also includes, for example, other work vehicles and other work machines. The monitored object may also include, for example, utility poles, pylons, fences, materials on the work site, and the like. The data relating to the situation in the three-dimensional space around the shovel 100 includes, for example, detection data relating to objects around the shovel 100 and their positions.

[0136] Furthermore, for example, when the controller 30C detects a monitored object within a predetermined monitoring range, it outputs an alarm to a user in the cabin 10 and the surroundings of the shovel 100 through the output device 50 (for example, a display device or a sound output device, etc.). The monitoring range is appropriately set as a range around the shovel 100 that is relatively close to the shovel 100, for example.

[0137] Furthermore, the controller 30C may limit the operation of the driven parts (actuators) of the shovel 100, for example, when a monitored object is detected within a predetermined monitoring range.

[0138] Restricting the operation of the driven part includes, for example, stopping the operation of the driven part. For example, the controller 30C may output a request signal to the controller 30A and open the above-mentioned relay 25R to forcibly stop the operation of the driven part (hydraulic actuator). The controller 30C may also output a request signal to the controller 30A and invalidate the operation or operation command of the operator to forcibly stop the operation of the driven part (hydraulic actuator).

[0139] Furthermore, the limitation on the movement of the driven part includes, for example, deceleration of the movement of the driven part. For example, the controller 30C may output a request signal to the controller 30A to relatively reduce the pilot pressure output from the hydraulic control valve 31 to the control valve 17, thereby decelerating the movement of the driven part (hydraulic actuator) in response to the operation or operation command of the operator.

[0140] The controller 30D (an example of an electricity storage control device) controls the electricity storage device 19.

[0141] The controller 30D performs control relating to charging of the power storage device 19, for example.

[0142] The controller 30D monitors various states of the power storage device 19 (eg, current state, voltage state, temperature state, charge state, deterioration state, presence or absence of abnormality, etc.) based on outputs of various sensors built into the power storage device 19, for example.

[0143] The controller 30E controls the DC-DC converter 44.

[0144] The controller 30E controls, for example, the operation of the DC-DC converter 44.

[0145] The controller 30E monitors, for example, various states of the DC-DC converter 44 (for example, a current state, a voltage state, a temperature state, etc.).

[0146] The peripheral information acquisition device 40 outputs information related to the situation of the three-dimensional space around the shovel 100. The peripheral 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 peripheral information acquisition device 40 is taken into the controller 30C.

[0147] The periphery monitoring function of the shovel 100 may be omitted. In this case, the controller 30C and the peripheral information acquisition device 40 may be omitted.

[0148] The sensor 48 measures the state of the power supplied to the low-voltage load from the DC-DC converter 44 or the battery 46. For example, the sensor 48 may include a current sensor that measures the current supplied to the low-voltage load from the DC-DC converter 44 or the battery 46, or a voltage sensor that measures the voltage.

[0149] The temperature sensor 54 measures (detects) the temperature of the electric drive system devices to be cooled by the cooling device 60 described below. The temperature sensor 54 includes, for example, a temperature sensor that detects the temperature of the pump motor 12. The temperature sensor 54 also includes a temperature sensor that detects the temperature of the inverter 18. The temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the power storage device 19. The temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the DC-DC converter 44. The temperature sensor 54 also includes, for example, a temperature sensor that detects the temperature of the on-board charger 70. A detection signal from the temperature sensor 54 is input to, for example, the controller 30A. This allows the controller 30A to grasp the temperature state of the electric drive system devices.

[0150] 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 that grasps the temperature state of the power conversion device.

[0151] The temperature sensor 56 measures (detects) the room temperature of the cabin 10. A detection signal of the temperature sensor 56 is input to, for example, the controller 30A. This allows the controller 30A to grasp the temperature state inside the cabin 10.

[0152] [Layout of various equipment on the upper rotating body] Next, the layout structure of various devices in the upper rotating body 3 will be described with reference to FIG.

[0153] Fig. 8 is a top view showing an example of an arrangement structure of various devices of the upper rotating body 3. Fig. 9 is a perspective view showing an example of a maintenance door 3D of the upper rotating body 3. In Fig. 8, a house section 3H (see Fig. 9) of the upper rotating body 3 is omitted in order to expose the various devices of the upper rotating body 3.

[0154] As shown in FIG. 8, in this example, the power storage device 19 is mounted on the right side of the upper rotating body 3 in a range from the front to the center in the front-rear direction.

[0155] A pump motor 12, a main pump 14, a pilot pump 15, a control valve 17, and an inverter 18 are provided in the range from the central part to the right end part in the left-right direction of the rear part of the upper rotating body 3.

[0156] The pump motor 12 and the inverter 18 are disposed integrally at the center in the left-right direction of the rear of the upper revolving body 3. The pump motor 12 and the inverter 18, and the pump motor 12 are disposed so that the rotation shaft is aligned in the left-right direction and the output shaft extends to the right. For example, the pump motor 12 is mounted on the bottom 3B (revolving frame) of the upper revolving body 3 via a mount member. Specifically, the pump motor 12 may be disposed in a position relatively close to the bottom 3B so that the positions of the main pump 14 and the pilot pump 15, which are connected in a mechanically drivable manner, are as low as possible. This allows the main pump 14 to be disposed lower than the liquid level inside the hydraulic oil tank T. This makes it possible to suppress the occurrence of air entrainment in the main pump 14.

[0157] The main pump 14 and the pilot pump 15 are disposed adjacent to the right side of the pump motor 12 with their input shafts connected to the output shaft of the pump motor 12. The main pump 14 and the pilot pump 15 are mounted on the bottom 3B via the pump motor 12, for example, by being connected to the pump motor 12.

[0158] The control valve 17 is disposed in the left-right center of the rear of the upper revolving body 3 and on the pump motor 12. For example, the pump motor 12 and the main pump 14 are disposed at a relatively low position in the space between the bottom 3B of the upper revolving body 3 and the house 3H, and the control valve 17 is disposed at a relatively high position in that space. Specifically, a base 17MT is attached to the bottom 3B so as to straddle the pump motor 12 in the front-rear direction. The control valve 17 is attached on the base 17MT, and is thereby mounted on the bottom 3B via the base 17MT.

[0159] The control valve 17 may be disposed above the main pump 14 or the pilot pump. The control valve 17 may be disposed so as to straddle between the pump motor 12 and the main pump 14 or the pilot pump 15 in the left-right direction.

[0160] A hydraulic swing motor 2A is mounted in the center of the upper swing body 3.

[0161] A hydraulic oil tank T is disposed in the front-rear space between the swing hydraulic motor 2A and the pump motor 12 and the control valve 17. The hydraulic oil tank T is mounted on the bottom 3B directly or via a bracket or the like.

[0162] On the left side of the rear of the upper rotating body 3, that is, to the left of the pump motor 12, the main pump 14, and the control valve 17, a radiator 62, a condenser 82B, and a fan 90 are disposed.

[0163] The radiator 62 is disposed in a state of standing approximately perpendicular to the bottom 3B, with the front-rear direction being approximately the longitudinal direction (width direction) and the left-right direction being approximately the lateral direction (thickness direction). The word "approximately" is intended to allow for manufacturing errors in the shovel 100 and the equipment mounted on the shovel 100, for example. It is used with the same intention hereinafter. This allows the radiator 62 to introduce air between the fins of the core and pass the air in the lateral direction (lateral direction), thereby performing heat exchange. The radiator 62 is attached to the bottom 3B, for example, via a mounting member.

[0164] Condenser 82B is disposed adjacent to the left side of radiator 62. Condenser 82B is disposed in series with radiator 62 with respect to the air flow. That is, like radiator 62, condenser 82B is disposed in a state standing approximately perpendicular to bottom 3B with the front-to-rear direction being approximately the longitudinal direction (width direction) and the left-to-right direction being the lateral direction (thickness direction). Condenser 82B is mounted on bottom 3B via radiator 62 by being attached to radiator 62, for example, directly or via a bracket or the like.

[0165] Note that other heat exchange devices may be disposed adjacent to the radiator 62 and the condenser 82B. For example, an oil cooler may be disposed to the left of the radiator 62 and adjacent to the upper or lower side of the condenser 82B. This is because the vertical dimension of the condenser 82B is usually somewhat smaller than that of the radiator 62.

[0166] The fan 90 is disposed adjacent to the right side of the radiator 62. The fan 90 is attached to the radiator 62, for example, via a resin fan shroud, and is thereby mounted on the bottom 3B via the radiator 62. The fans 90 are disposed, for example, in two rows in the longitudinal direction (front-to-back direction) of the radiator 62 and in two stages in the height direction (up-down direction). The fan 90 blows air to the radiator 62, the condenser 82B, etc., in a manner that sucks air from the radiator 62 side (left side) to the right side.

[0167] The fan 90 may be disposed adjacent to the left side of the condenser 82B and the radiator 62, etc. In this case, the fan 90 blows air to the radiator 62, the condenser 82B, etc. in a manner that pushes air from the left side to the condenser 82B and the radiator 62 side (right side).

[0168] At the left end of the rear part of the upper rotating body 3, that is, to the left of the radiator 62, the condenser 82B, and the fan 90, the battery 46 and the compressor 82A are disposed.

[0169] The battery 46 is attached to the bottom portion 3B via a bracket or the like.

[0170] The compressor 82A is disposed above the battery 46, for example, by being mounted on a stand that rises from the bottom portion 3B.

[0171] A charging port 72 is provided on a side surface of the cabin 10 of the upper rotating body 3. The charging ports 72A, 72 are arranged, for example, in a front-to-rear arrangement. In addition, a DC-DC converter 44 and an on-board charger 70 are arranged inside the cabin 10.

[0172] For example, as shown in FIG. 9, a maintenance door 3D is provided at the rear of the upper revolving body 3 (house section 3H).

[0173] In this example, as described above, the relatively large power storage device 19 is disposed at the front right part of the upper rotating body 3, and the relatively small parts are concentrated at the rear part of the upper rotating body 3. Therefore, an operator can easily access these parts through the maintenance door 3D.

[0174] The maintenance door 3D includes maintenance doors 3D1 to 3D3.

[0175] The maintenance door 3D1 is provided in the left-right center of the rear of the house part 3H, and can be opened upward around a left-right axis on the top surface of the house part 3H as a fulcrum. This allows an operator to access the pump motor 12, control valve 17, inverter 18, hydraulic oil tank T, etc. through the opening of the maintenance door 3D1 to perform various maintenance. In particular, the operator can easily perform maintenance on hydraulic equipment such as the oil filter of the hydraulic oil tank T, which requires maintenance relatively frequently.

[0176] The maintenance door 3D2 is provided on the side surface at the left end of the rear part of the house part 3H, and can be opened to the left using a vertical axis on the side surface of the house part 3H as a fulcrum. This allows an operator to access the battery 46, compressor 82A, condenser 82B, radiator 62, etc. through the opening of the maintenance door 3D2 to perform various maintenance tasks.

[0177] The maintenance door 3D3 is provided on the side surface at the right end of the rear part of the house part 3H, and can be opened to the left using a vertical axis on the side surface of the house part 3H as a fulcrum. This allows an operator to access the main pump 14, the pilot pump 15, and components in the vicinity thereof through the opening of the maintenance door 3D3 to perform various maintenance tasks. In particular, the operator can easily perform maintenance on filters arranged in the vicinity of the main pump 14, which are required and maintained relatively frequently.

[0178] In this example, the rear part of the upper rotating body 3 is configured to have a substantially arc shape centered on the center of rotation (axis) 3X when viewed from above. This allows the turning radius of the rear part of the upper rotating body 3 to be relatively small. The turning radius of the rear part of the upper rotating body 3 means the radius of the path (outer edge) drawn by the rear part of the upper rotating body 3 when the upper rotating body 3 turns, centered on the center of rotation 3X. The excavator 100 corresponds to, for example, a rear ultra-small turning type excavator. The rear ultra-small turning type excavator means an excavator in which the ratio of the turning radius of the rear part of the upper rotating body 3 to half (1 / 2) the overall width of the crawler 1C is within 120 percent. This allows the excavator 100 to improve workability in a narrow work site.

[0179] On the other hand, in the case of a rear ultra-small swing excavator, the space behind the upper rotating body 3, particularly the space at the left and right ends, is reduced and becomes relatively small. Also, since there is a trend toward electrification, especially in small machines, even if the excavator is not a rear ultra-small swing excavator, the space behind the upper rotating body 3 of an electric excavator 100 is limited and tends to be relatively small. Therefore, if a relatively large part is arranged behind the upper rotating body 3, the dead space will increase, and there is a possibility that an efficient arrangement structure of the components cannot be realized.

[0180] In contrast, in this example, the power storage device 19, which is one of the largest components mounted on the upper rotating body 3, is disposed on the right front part of the upper rotating body 3. The pump motor 12 and the main pump 14 are mounted on the rear part of the upper rotating body 3.

[0181] As a result, the excavator 100 can reduce the dead space relatively by disposing the pump motor 12, the main pump 14, etc., which are relatively small in size, at the rear of the upper rotating body 3. And, the excavator 100 can secure a relatively large arrangement space for the power storage device 19 along the right side surface of the upper rotating body 3, which has little change in left-right position in the front-rear direction when viewed from above. Therefore, the excavator 100 can realize an efficient arrangement structure of the components of the upper rotating body 3, including the power storage device 19.

[0182] Also, in this example, the shovel 100 may be a rear ultra-small swing type shovel in which the ratio of the swing radius of the rear part of the upper swing body 3 to half the overall width of the lower traveling body 1 is 120 percent or less. Specifically, the rear part of the upper swing body 3 may have a substantially arc shape based on the swing center 3X in a top view.

[0183] As a result, the shovel 100 can achieve a relatively small turning radius at the rear of the upper rotating body 3 due to an efficient arrangement structure including the power storage device 19. Therefore, the shovel 100 can improve the work efficiency at a narrow work site.

[0184] In this example, the control valve 17 is disposed above at least one of the main pump 14 and the pump motor 12 .

[0185] As a result, the excavator 100 can secure the space above the main pump 14 and the pump motor 12, which have a relatively small dimension in the height direction, as an arrangement space for the control valve 17. Also, in the excavator 100, the control valve 17 supplied from the main pump 14 is arranged in a position relatively close to the main pump 14, so that the piping for the hydraulic oil can be relatively short. Therefore, the excavator 100 can realize a more efficient arrangement structure of the components in the upper rotating body 3.

[0186] In this example, the main pump 14 may be disposed below the liquid level of the hydraulic oil in the hydraulic oil tank T.

[0187] As a result, the shovel 100 can suppress the occurrence of air entrapment in the main pump 14.

[0188] In this example, the power storage device 19 may be disposed in a range extending from the front part of the right side of the upper rotating body 3 to the center part of the front and rear parts of the right side. The main pump 14 may be disposed behind the power storage device 19. The pump motor 12 may be disposed to the left of the main pump 14 so as to be able to mechanically drive the main pump 14.

[0189] As a result, the shovel 100 can keep the front-to-rear dimension at the right corner (right end) of the rear of the upper rotating body 3 small by disposing the relatively small-sized main pump 14 behind the power storage device 19 while ensuring a relatively large capacity of the power storage device 19. Therefore, the shovel 100 can simultaneously ensure the capacity of the power storage device 19 and reduce the turning radius of the rear of the upper rotating body 3.

[0190] In this example, the hydraulic oil tank T may be disposed in front of the pump motor 12 and to the left of the power storage device 19.

[0191] This makes it possible to utilize the space in front of the pump motor 12 and in front of the power storage device 19 to specifically arrange the hydraulic oil tank T and ensure its capacity.

[0192] In this example, the radiator 62 may be disposed to the left of the pump motor 12 .

[0193] This allows the radiator 62 to be specifically arranged by utilizing the space on the left side of the rear part of the upper rotating body 3.

[0194] In this example, a maintenance door 3D through which components mounted on the upper revolving body 3 can be accessed may be provided at the rear of the house portion 3H of the upper revolving body 3.

[0195] This allows the worker to easily access the group of parts that are relatively small compared to the power storage device 19 and that are collectively arranged at the rear of the upper rotating body 3 as described above.

[0196] [Details of the power storage device] Next, the details of the electricity storage device 19 will be described with reference to Figs.

[0197] Fig. 10 and Fig. 11 are perspective views showing an example and another example of the power storage device. Fig. 12 is an exploded view showing an example of the configuration of a power storage module 19MD. Fig. 13 shows an example of a connection structure between power storage modules.

[0198] 10 and 11, the power storage device 19 is configured by stacking a plurality of power storage modules 19MD in the vertical direction and connecting vertically adjacent power storage modules with a wire harness 19C. In this example, the plurality of power storage modules 19MD are connected in series, and one positive terminal of vertically adjacent power storage modules 19MD is connected to the negative terminal of the other by one wire harness 19C.

[0199] In addition, when at least some of the multiple storage modules 19MD are connected in parallel, adjacent storage modules 19MD above and below the parallel connection may be connected by two wire harnesses 19C that connect the positive terminals and the negative terminals of each other.

[0200] Moreover, the electricity storage device 19 is mounted on the bottom 3B (revolving frame) of the upper revolving body 3 via a mount member 19MT attached to the lowest electricity storage module 19MD.

[0201] As shown in FIG. 12, the power storage module 19MD includes a plurality of (eight in this example) battery modules BMD, a battery management unit 19MU, a housing 19H, a service plug installation portion 19SH, and a cover 19CV.

[0202] The battery module BMD (an example of a power storage unit) is an assembly formed by connecting a plurality of battery cells in series.

[0203] The battery management unit BMU communicates with various sensors built into the power storage module 19MD to sequentially acquire detection data from the sensors, and also communicates with a higher-level controller 30D to transmit the detection data to the controller 30D. The various sensors include a voltage sensor, a current sensor, a temperature sensor, etc. This allows the controller 30D to monitor the state of the battery module BMD and the state of each battery cell included in the battery module BMD.

[0204] The housing 19H accommodates therein components of the power storage module 19MD, such as a plurality of battery modules BMD and a battery management unit BMU. The housing 19H is made of a metal, such as an aluminum alloy or iron. The housing 19H includes an accommodation section 19H1 that accommodates the components, and a lid section 19H2 that seals an opening at the top of the accommodation section 19H1. The lid section 19H2 is fastened in the vertical direction by bolts BLT1 (see FIG. 13) to a flange FL (see FIG. 13) provided on the outer edge of the opening of the accommodation section 19H1.

[0205] The power storage modules 19MD each have a housing 19H of substantially the same shape, so that the power storage modules 19MD have substantially the same shape when viewed from above, and therefore the power storage modules 19MD can be easily stacked in the vertical direction.

[0206] The casings 19H of the multiple electricity storage modules 19MD have substantially the same basic shape manufactured by forging or casting, and may have slight differences in additional processing. For example, the lowest electricity storage module 19MD among the multiple electricity storage modules 19MD may be subjected to dedicated processing for connection to the mount member 19MT. In addition, some of the casings 19H of the multiple electricity storage modules 19MD may be subjected to dedicated processing for attaching brackets for supporting other components when mounted on the upper rotating body 3.

[0207] The service plug installation portion 19SH (an example of a hole portion) is a hole portion for installing a service plug for cutting off the electrical connection state of the multiple battery modules BMD included in the power storage module 19MD. The service plug installation portion 19SH is provided on a side surface of the housing 19H (in the accommodation portion 19H1). As a result, in a state in which the multiple power storage modules 19MD are stacked vertically and mounted on the upper rotating body 3 as shown in Figs. 10 and 11, an operator can access the service plug of each power storage module 19MD simply by removing the cover 19CV.

[0208] It should be noted that a sealed structure of the housing 19H is achieved by attaching (for example, fitting) a service plug to the service plug installation portion 19SH.

[0209] The cover 19CV is detachably attached to the side of the housing 19H (receiving section 19H1) so as to cover the service plug installation section 19SH, i.e., the service plug. This allows the cover 19CV to protect the service plug. The cover 19CV is also structured such that it cannot be attached to the housing 19H (receiving section 19H1) when the service plug is not completely attached to the service plug installation section 19SH (for example, in a half-fitted state). This makes it possible to prevent a situation in which the cover 19CV is closed due to human error when the service plug is not properly attached.

[0210] In addition, devices related to the power storage device 19 may be built in the multiple power storage modules 19MD in a distributed manner. The related devices include, for example, a controller 30D and a junction box. The junction box (an example of a power relay device) relays power between the power storage device 19 and multiple other devices (for example, the inverter 18, the DC-DC converter 44, the on-board charger 70, the charging port 72B, etc.). For example, the controller 30D may be housed in the housing 19H of any one of the multiple power storage modules 19MD, and the junction box may be housed in the housing 19H of the other one of the multiple power storage modules 19MD. This allows the devices related to the power storage device 19 to be housed by utilizing the free space in each of the multiple power storage modules 19MD.

[0211] As shown in FIG. 13, the housings 19H of vertically adjacent power storage modules 19MD are directly connected to each other in the vertical direction.

[0212] A rib RB1 is provided at the lower end of the side surface of the storage section 19H1 so as to extend along the outer edge in a top view. In addition, ribs RB2 are provided at predetermined intervals along the outer edge in a height direction range extending between the rib RB1 at the lower end of the side surface of the storage section 19H1 and the flange FL at the upper end in a top view.

[0213] A fastening hole FH11 is provided at a location where the rib RB2 is connected to the flange FL of the accommodation portion 19H1, and a fastening hole FH12 is provided at a corresponding position in the lid portion 19H2 in a top view. With this, with the fastening holes FH1, FH12 aligned, a bolt BLT1 (an example of a first bolt) is inserted into the fastening holes FH1, FH12 and fastened, whereby the lid portion 19H2 can be attached to the accommodation portion 19H1 and the accommodation portion 19H1 can be sealed by the lid portion 19H2.

[0214] A seal member for ensuring airtightness is provided between the rear surface of the cover portion 19H2 and the flange FL of the housing portion 19H1.

[0215] Further, a recess RC is provided on the lower surface of the rib RB1 of the accommodation portion 19H1. The recesses RC are arranged in the same number as the number of bolts BLT1 so that the heads of the BLT1 can be accommodated when the housing 19H (accommodation portion 19H1) is stacked on the housing 19H (lid portion 19H2) of the adjacent power storage module 19MD below. This makes it possible to prevent the heads of the bolts BLT1 on the upper surface of the housing 19H of the lower power storage module 19MD from abutting against the lower surface of the housing 19H (accommodation portion 19H1) of the upper power storage module 19MD when the power storage modules 19MD are stacked vertically. This makes it possible to avoid situations in which the bolts BLT1 are damaged or the height dimension of the power storage device 19 is increased by the amount of the heads of the bolts BLT1.

[0216] The rib RB1 of the housing portion 19H1 is provided with a plurality of fastening holes FH21 penetrating from the upper surface to the lower surface. The plurality of fastening holes FH21 are arranged between two adjacent ribs RB2 on the outer edge of the housing portion 19H1 in a top view.

[0217] The flange FL of the housing portion 19H1 is provided with a plurality of fastening holes FH22 penetrating from the upper surface to the lower surface. The fastening holes FH22 are provided at approximately the same positions as the fastening holes FH21 in a top view.

[0218] The cover portion 19H2 is provided with a plurality of fastening holes FH23 penetrating from the upper surface to the lower surface. The fastening holes FH23 are provided at approximately the same positions as the fastening holes FH21, FH22 in a top view when the accommodation portion 19H1 and the cover portion 19H2 are connected to each other.

[0219] This allows the two storage modules 19MD to be connected by inserting and fastening a bolt BLT2 (an example of a second bolt) from above into the fastening hole FH21 of the upper storage module 19MD (housing 19H) and the fastening holes FH22, FH23 of the lower storage module 19MD (housing 19H).

[0220] For example, a frame may be installed on the bottom 3B of the upper revolving body 3, and the storage modules 19MD may be attached to the frame, so that the storage modules 19MD are stacked vertically. However, for example, if it is desired to change the number of storage modules 19MD for each specification of the excavator 100, it may be necessary to change the frame, which may lead to an increase in costs. On the other hand, it is also possible to set a relatively large frame in accordance with the maximum value of the assumed storage modules 19MD, but for example, if the number of storage modules 19MD to be mounted is relatively small, the frame may restrict the layout of other devices. In addition, for example, a relatively large frame may lead to an increase in costs, and the weight of a relatively large frame may lead to a decrease in energy consumption efficiency.

[0221] In contrast, in this example, the power storage device 19 is configured by vertically stacking a plurality of power storage modules 19MD. The plurality of power storage modules 19MD have casings 19H of vertically adjacent power storage modules 19MD connected to each other.

[0222] As a result, by simply connecting the casings 19H of the vertically adjacent power storage modules 19MD to each other, a plurality of power storage modules 19MD can be mounted on the upper rotating body 3 via the power storage module 19MD at the bottom layer. Therefore, for example, as in the cases of Fig. 10 and Fig. 11, when the number of power storage modules 19MD is changed in accordance with the specifications of the excavator 100, the number of power storage modules 19MD can be easily changed. Thus, the capacity of the power storage device 19 can be easily changed.

[0223] In addition, in this example, the multiple power storage modules 19MD may each have an upper connection structure (for example, fastening holes FH22, FH23) configured to fit with the lower connection structures (for example, fastening holes FH1) of all the other power storage modules 19MD.

[0224] Similarly, each of the multiple power storage modules 19MD may have a lower coupling structure (eg, fastening hole FH21) configured to match the upper coupling structures (eg, fastening holes FH22, FH23) of all the other power storage modules 19MD.

[0225] This allows, for example, a plurality of power storage modules 19MD to be stacked and connected in any order, and therefore allows the plurality of power storage modules 19MD to be more easily stacked and mounted on the upper rotating body 3. Therefore, it is possible to more easily change the number of power storage modules 19MD.

[0226] In this example, the power storage modules 19MD may have substantially the same shape as one another when viewed from above.

[0227] This allows, for example, the multiple power storage modules 19MD to be stacked in any order, and therefore the multiple power storage modules 19MD can be more easily stacked and mounted on the upper rotating body 3. Therefore, the number of power storage modules 19MD can be more easily changed.

[0228] In this example, at least two or more of the plurality of power storage modules 19MD may have housings 19H with substantially the same outer shape.

[0229] This allows, for example, the multiple power storage modules 19MD to be stacked in any order, and therefore the multiple power storage modules 19MD can be more easily stacked and mounted on the upper rotating body 3. Therefore, the number of power storage modules 19MD can be more easily changed.

[0230] In this example, devices related to the power storage device 19 may be built in a dispersed manner within the housings 19H of the multiple power storage modules 19MD.

[0231] This allows the free space in each of the housings 19H of the multiple power storage modules 19MD to be effectively utilized.

[0232] In this example, the associated devices may include at least one of a controller 30D that controls the power storage device 19 and a junction box that relays power between the power storage device 19 and a plurality of other devices.

[0233] Specifically, this allows the controller 30D and the junction box to be built in and distributed among the housings 19H of the multiple power storage modules 19MD.

[0234] In this example, each of the multiple power storage modules 19MD may have a service plug installation portion 19SH to which a service plug that cuts off the power path is detachably attached on a side surface of the housing 19H, and a cover 19CV that covers the service plug installation portion 19SH.

[0235] As a result, even when multiple power storage modules 19MD are stacked vertically, a worker can access the service plug by removing cover 19CV on the side surface of housing 19H, for example, during maintenance of the power storage device 19. This makes it easy to cut off the power path during maintenance of the power storage device 19.

[0236] In this example, the housing 19H may include a housing portion 19H1 that houses the battery module BMD and has an open top, a lid portion 19H2 that closes the open top of the housing portion 19H1, and a plurality of bolts BLT1 that fasten the lid portion 19H2 to the housing portion 19H1 in the vertical direction. The housings 19H of vertically adjacent power storage modules 19MD may be connected to each other by a plurality of bolts BLT2 that are fastened in the vertical direction. Then, in the housing 19H, fastening holes FH21, FH22, and FH23 for fastening the bolts BLT2 may be provided between fastening holes FH11 and FH12 into which two adjacent bolts BLT1 are fastened.

[0237] This makes it possible to, for example, dispose a connecting structure connecting the housings 19H of vertically adjacent power storage modules 19MD near the connecting structure of the accommodation section 19H1 and the lid section 19H2 of the housing 19H, thereby avoiding a situation in which the outer edge of the housing 19H protrudes outward in a top view. Therefore, it is possible to achieve both the connecting structure of the accommodation section 19H1 and the lid section 19H2 of the housing 19H and the connecting structure connecting the housings 19H of vertically adjacent power storage modules 19MD in a smaller space.

[0238] Furthermore, in this example, the housing 19H may have a recess RC on the bottom surface thereof at approximately the same position as the bolt BLT1 of the housing 19H when the housing 19H is stacked on top of the housing 19H of another power storage module 19MD.

[0239] This allows the head of the bolt BLT1 to be accommodated in the recess RC when the housing 19H of another power storage module 19MD is stacked on top of the housing 19H. This makes it possible to prevent the head of the bolt BLT1 of the lower housing 19H from coming into contact with the bottom surface of the upper housing 19H. This makes it possible to prevent the head of the bolt BLT1 from being damaged or to prevent the head of the bolt BLT1 from increasing the vertical dimension of the power storage device 19.

[0240] [How to switch the DC-DC converter on and off] Next, a method for switching between operation and stop of DC-DC converters 44A and 44B will be described with reference to FIGS.

[0241] Fig. 14 is a diagram illustrating a method for switching between operation and stop of DC-DC converters 44A and 44B. Fig. 15 is a diagram illustrating the conversion efficiency of DC-DC converter 44.

[0242] In FIG. 14, the intervals between the scale marks of the current consumption are meaningless and merely represent the relationship in magnitude between the threshold values ​​I1, I2 and the maximum value Imax in an approximate manner.

[0243] In this example, DC-DC converters 44A and 44B have different current capacities, i.e., different maximum values ​​of current that can be output. Specifically, DC-DC converter 44A is configured to have a relatively small current capacity, and DC-DC converter 44B is configured to have a relatively large current.

[0244] 14, in this example, controller 30E switches between operating and stopping DC-DC converters 44A, 44B in accordance with the current required by the entire low-voltage devices, that is, the total current consumption of the low-voltage devices. Controller 30E can obtain the total current consumption of the low-voltage devices based on the output of sensor 48.

[0245] Specifically, when the total current consumption of the low-voltage devices is equal to or less than threshold I1 (>0), controller 30E operates DC-DC converter 44A and stops DC-DC converter 44B. Threshold I1 is set to a value somewhat smaller than the maximum current that DC-DC converter 44A can output. That is, when the total current consumption of the low-voltage devices is within a range equal to or less than threshold I1, controller 30E supplies power to battery 46 and the low-voltage devices only from DC-DC converter 44A, which has a relatively small current capacity.

[0246] Furthermore, when the total current consumption of the low-voltage devices is greater than threshold I1 and equal to or less than threshold I2 (>I1), controller 30E stops DC-DC converter 44A and operates DC-DC converter 44B. Threshold I2 is set to a value somewhat smaller than the maximum current that DC-DC converter 44B can output. That is, when the total current consumption of the low-voltage devices is in the range greater than threshold I1 and equal to or less than threshold I2, controller 30E supplies power to battery 46 and the low-voltage devices only from DC-DC converter 44B, which has a relatively large current capacity.

[0247] In addition, when the total current consumption of the low-voltage devices changes from below threshold I1 to above threshold I1, or vice versa, a situation may occur in which both DC-DC converters 44A, 44B stop instantaneously. However, since battery 46 functions as a buffer, problems such as a momentary interruption in the power supply to the low-voltage devices do not occur.

[0248] Furthermore, when the total current consumption of the low-voltage devices is greater than threshold I2 and equal to or less than its maximum value Imax, controller 30E operates both DC-DC converters 44A, 44B. That is, in a range in which the total current consumption of the low-voltage devices is greater than threshold I2, controller 30E causes both DC-DC converters 44A, 44B to supply power to battery 46 and the low-voltage devices.

[0249] In addition, hysteresis may be provided in the method of switching between operating and stopping DC-DC converters 44A, 44B when the current consumption of the entire low-voltage equipment increases and when it decreases, and threshold values ​​I1 and I2 may be set to different values ​​in each case.

[0250] 15, in a range where the output current is equal to or less than threshold value I1, the conversion efficiency of DC-DC converter 44A (see graph 1501) is higher than that of DC-DC converter 44B (graph 1502A). This is because the smaller the current capacity, the better the rise in conversion efficiency tends to be with respect to an increase in output current. Therefore, in a range where the current consumption of the entire low-voltage device is equal to or less than threshold value I1, the conversion efficiency of the entire DC-DC converter 44 can be made relatively high by operating only DC-DC converter 44A.

[0251] Furthermore, in a range where the output current is greater than threshold I1 and equal to or less than threshold I2, the conversion efficiency of DC-DC converter 44B remains relatively high (see graph 1502). On the other hand, when the output current exceeds threshold I1, the conversion efficiency of DC-DC converter 44A drops slightly because it is close to the upper limit of the output current (see graph 1501A). Therefore, in a range where the current consumption of the entire low-voltage devices is greater than threshold I1 and equal to or less than threshold I2, the conversion efficiency of the entire DC-DC converter 44 can be made relatively high by operating only DC-DC converter 44B.

[0252] In addition, when the current consumption of the entire low-voltage devices exceeds the threshold value I2 to a certain extent, the DC-DC converter 44B alone cannot cover the current consumption of the entire low-voltage devices. Therefore, in a range in which the current consumption of the entire low-voltage devices is greater than the threshold value I2, the current consumption of the entire low-voltage devices can be covered by operating the DC-DC converter 44A in addition to the DC-DC converter 44B. In this case, the output current of the DC-DC converter 44B is maintained in a relatively high state, so that the conversion efficiency of the DC-DC converter 44B is maintained relatively high (see graph 1503). In addition, the output current of the DC-DC converter 44A is appropriately controlled, so that the conversion efficiency is maintained relatively high outside the region of relatively low conversion efficiency (graph 1504A) (see graph 1504). This allows the conversion efficiency of the entire DC-DC converter 44 to be relatively high.

[0253] In this manner, in this example, the shovel 100 supplies power to the low-voltage devices and the battery 46 using a plurality of DC-DC converters 44A, 44B connected in parallel.

[0254] This allows the rise of the output current of each of the DC-DC converters 44A and 44B to be relatively quick, thereby relatively increasing the conversion efficiency of the entire DC-DC converter 44. This makes it possible to suppress the power consumption of the power storage device 19 and relatively lengthen the operating time of the shovel 100.

[0255] In this example, the current capacities of DC-DC converters 44A and 44B are set to be different from each other.

[0256] This makes it possible to switch between operating only DC-DC converter 44A, operating only DC-DC converter 44B, and operating both DC-DC converters 44A and 44B in accordance with the current consumption of the entire low-voltage equipment. This makes it possible to further increase the conversion efficiency of the entire DC-DC converter 44. This makes it possible to further reduce the power consumption of the power storage device 19 and further extend the operating time of the excavator 100.

[0257] Furthermore, in this example, controller 30E switches between operating and stopping DC-DC converters 44A, 44B in accordance with the current consumption of the entire low-voltage equipment.

[0258] This makes it possible to switch between operating only DC-DC converter 44A, operating only DC-DC converter 44B, or operating both DC-DC converters 44A and 44B in accordance with the current consumption of the entire low-voltage equipment.

[0259] [Control method when limiting power supply from DC-DC converter] Next, a control method performed by the control device 30 when limiting the power supply from the DC-DC converter 44 to the battery 46 and low-voltage devices will be described with reference to Figs.

[0260] The limitation of the power supply from the DC-DC converter 44 to the battery 46 or the low-voltage device includes, for example, stopping the power supply. The limitation of the power supply from the DC-DC converter 44 to the battery 46 or the low-voltage device includes, for example, stopping the power supply from either one of the DC-DCs 44A and 44B to the battery 46 or the low-voltage device, that is, limiting the current that can be supplied by the entire DC-DC converter 44. The stop of the power supply from the DC-DC converter 44 to the battery 46 or the low-voltage device includes, for example, stopping the power supply due to an abnormality in the DC-DC converter 44. The abnormality in the DC-DC converter 44 includes, for example, an input overvoltage in which the input voltage from the power storage device 19 exceeds (exceeds) a predetermined range, and an input undervoltage in which the input voltage falls below the predetermined range. The abnormality in the DC-DC converter 44 includes, for example, an output overvoltage in which the output voltage to the battery 46 or the low-voltage device exceeds (exceeds) a predetermined range, and an output undervoltage in which the output voltage falls below the predetermined range. Furthermore, the abnormality of the DC-DC converter 44 includes, for example, a short circuit of the circuit of the DC-DC converter 44. The abnormality of the DC-DC converter 44 includes, for example, an overcurrent. The abnormality of the DC-DC converter 44 includes, for example, overheating in which the temperature of a predetermined portion exceeds (exceeds) a predetermined range. The abnormality of the DC-DC converter 44 includes an abnormality in communication with the outside, such as the controller 30E. The abnormality of the DC-DC converter 44 includes, for example, an excessive power supply voltage in which the power supply voltage of the DC-DC converter 44 exceeds (exceeds) a predetermined range, or an insufficient power supply voltage in which the power supply voltage falls below the predetermined range. The stop of the power supply from the DC-DC converter 44 to the battery 46 or low-voltage equipment includes, for example, a temporary output restriction caused by the transition of the DC-DC converter 44 to a protection mode.

[0261] <First example of control method> Fig. 16 is a flowchart illustrating a first example of a control process when the power supply from the DC-DC converter 44 is limited. Fig. 17 is a diagram illustrating an example of a change in the voltage of the battery 46 when the power supply from the DC-DC converter 44 is limited.

[0262] This flowchart is started when the power supply from the DC-DC converter 44 to the battery 46 and low-voltage devices is limited. Specifically, when the power supply from the DC-DC converter 44 is limited or when the power supply from the DC-DC converter 44 is limited due to an abnormality or the like, the controller 30E may transmit a signal indicating that to the controller 30A. Then, upon receiving the signal, the controller 30A may start this flowchart. The same may be true for the flowcharts in Figs. 18 to 20 described below.

[0263] 16, in step S102, the controller 30A reduces the current consumption of the low-voltage devices by restricting the operation of the low-voltage devices. This makes it possible to suppress the current consumption of the low-voltage devices in a situation where the power supply from the DC-DC converter 44 to the battery 46 and the low-voltage devices is restricted, and relatively lengthen the time during which the controllers 30A-30E can operate using only the power of the battery 46. As a result, the controller 30A can relatively lengthen the time during which the various devices of the shovel 100 other than the low-voltage devices subject to the operation restriction can operate, and relatively lengthen the time during which the shovel 100 can operate.

[0264] Furthermore, after the process of step S102, the controller 30A may notify the user that the operation restriction of the low-voltage equipment is being performed through the output device 50. Furthermore, when the shovel 100 is remotely operated or remotely monitored, the controller 30A may transmit a notification signal that the operation restriction of the low-voltage equipment is being performed to an external device through the communication device.

[0265] The operational restrictions on low-voltage devices include, for example, stopping the operation of the low-voltage devices. This allows the current consumption of the target low-voltage devices to be reduced to approximately zero. The operational restrictions on low-voltage devices also include a state in which the low-voltage devices continue to operate in an operating condition in which their performance is relatively low (hereinafter, "performance-limited state"). This allows the current consumption of the target low-voltage devices to be reduced more than in an operating condition in which their performance is relatively high.

[0266] The low-voltage equipment that is the target of reducing the current consumption is a low-voltage equipment that consumes a relatively large current. The target low-voltage equipment includes, for example, the water pump 64. The performance limited state of the water pump 64 includes, for example, a state in which the discharge flow rate of the water pump 64 is limited to be relatively smaller (lower) than normal. The target low-voltage equipment also includes, for example, the fan 90. The performance limited state of the fan 90 includes, for example, a state in which the rotation speed of the fan 90 is limited to be relatively smaller (lower) than normal. The target low-voltage equipment also includes, for example, the air conditioner 80. The performance limited state of the air conditioner 80 includes, for example, an operating state in which the set temperature of the air conditioner 80 is limited to be relatively higher in a situation in which the set temperature of the air conditioner 80 is lower than the outside air temperature (for example, in summer). The performance limited state of the air conditioner 80 includes, for example, an operating state in which the set temperature of the air conditioner 80 is limited to be relatively lower in a situation in which the set temperature of the air conditioner 80 is higher than the outside air temperature (for example, in winter).

[0267] The refrigerant circuit 66 is filled with a relatively large volume of refrigerant. Therefore, even when the operation of the water pump 64 and the fan 90 is restricted, heat of the object to be cooled is transferred to the refrigerant circuit 66. Therefore, although the cooling performance is reduced, the cooling device 60 can continue to cool the object to be cooled even when the operation of the water pump 64 and the fan 90 is restricted.

[0268] In step S102, the controller 30A may stop operation of the target low-voltage equipment, or may transition the operation of the target low-voltage equipment to a performance-limited state, or may selectively switch between stopping operation of the target low-voltage equipment and transitioning it to a performance-limited state.

[0269] For example, the controller 30A may determine whether to stop the operation of the target low-voltage device or to place it in a performance-restricted state, depending on the voltage of the battery 46. The voltage of the battery 46 may be grasped based on the output of the sensor 48. Specifically, when the voltage of the battery 46 is relatively high, the controller 30A may place the operation of the target low-voltage device in a performance-restricted state, and when the voltage of the battery 46 is relatively low, the controller 30A may stop the operation of the target low-voltage device.

[0270] Furthermore, in step S102, the controller 30A may restrict the operation of all of the target low-voltage devices, such as the water pump 64, the fan 90, and the air conditioner 80, or may restrict the operation of some of these. Furthermore, in step S102, the controller 30A may selectively restrict the operation of all of the target low-voltage devices, such as the water pump 64, the fan 90, and the air conditioner 80, or may restrict the operation of some of the target low-voltage devices.

[0271] For example, the controller 30A may change the number of low-voltage devices for which operation is restricted, depending on the voltage of the battery 46. Specifically, the controller 30A may increase the number of low-voltage devices for which operation is restricted as the voltage of the battery 46 decreases. In this case, the controller 30A may prioritize restricting the operation of the water pump 64 and the fan 90 over the air conditioner 80. In addition, when a fan 90 for blowing air to the condenser 82B and a fan 90 for blowing air to the radiator 62 are separately provided, the controller 30A may prioritize restricting the operation of the latter fan 90 over the former fan 90.

[0272] In the cases of Figs. 18 to 20 described below, the various modes of operation restriction of the target low-voltage devices described above may be appropriately adopted.

[0273] When the process of step S102 is completed, the controller 30A proceeds to step S104.

[0274] In step S104, the controller 30A determines whether the DC-DC converter 44 has returned from the operation restricted state to the normal operation state. If the DC-DC converter 44 has returned to the normal operation state, the controller 30A proceeds to step S106, and if not, the controller 30A repeats the process of this step until the DC-DC converter 44 has returned to the normal operation state.

[0275] In step S106, the controller 30A removes the operational restriction on the target low-voltage device.

[0276] In addition, the controller 30A may notify the user that the operation restriction of the target low-voltage device is to be lifted through the output device 50 in addition to lifting the operation restriction of the target low-voltage device. When the shovel 100 is remotely operated or remotely monitored, the controller 30A may transmit a notification signal to an external device through a communication device that the operation restriction of the target low-voltage device is to be lifted. The same may be true for step S204 in the second example (FIG. 18), step S302 in the third example (FIG. 19), and step S402 in the fourth example (FIG. 20), which will be described below.

[0277] When the process of step S106 is completed, the controller 30A ends the process of this flowchart.

[0278] Incidentally, when the operational restriction on DC-DC converter 44 is unlikely to be lifted, such as when the operational restriction is due to an abnormality in DC-DC converter 44, the processes in steps S104 and S106 may be omitted.

[0279] For example, as shown in FIG. 17, when the power supply from the DC-DC converter 44 to the battery 46 is restricted and the low-voltage equipment is operated by taking power from the battery 46, the voltage of the battery 46 drops. In particular, in the electric shovel 100, the power consumption of the controllers 30B, 30D of the electric drive system and power supply system and the power consumption of the cooling system such as the water pump 64 and the fan 90 relatively increases compared to a normal hydraulic shovel, and the voltage drop due to the internal resistance becomes significant. Therefore, in a situation where the operation restriction of the DC-DC converter 44 is not released, if the operation restriction of the low-voltage equipment is not performed, the voltage of the battery 46 drops sharply. Then, the voltage immediately reaches the lower limit of the control power supply of the various controllers such as the controllers 30A to 30E included in the control device 30, and the various controllers stop (see the dashed lines in the figure). As a result, the shovel 100 is forcibly stopped. Therefore, if the power supply from the DC-DC converter 44 to the battery 46 and low-voltage equipment is restricted, in some cases it may become impossible to evacuate the shovel 100 to a safe location or to move the shovel 100 for repairs.

[0280] In contrast, in this example, the controller 30A restricts the operation of the low-voltage devices. Therefore, the current consumption of the low-voltage devices decreases, so that the voltage drop due to the internal resistance decreases, and the voltage recovers. At the same time, the voltage drop of the battery 46 also becomes gentler due to the decrease in current consumption (see the solid line in the figure). As a result, it is possible to secure a relatively long time until the voltage of the battery 46 reaches the lower limit of the control power supply of the various controllers and the shovel 100 is forcibly stopped. Therefore, the user can operate the shovel 100 to evacuate the shovel 100 to a safe place or move the shovel 100 for repair. In addition, when the shovel 100 operates with a fully automatic operation function, the shovel 100 can automatically evacuate the shovel 100 to a safe place or move the shovel 100 for repair, for example, by a predetermined evacuation mode or the like.

[0281] Thus, in this example, when the power supply from the DC-DC converter 44 to the battery 46 is limited, the controller 30A limits the operation of the target low-voltage load, thereby reducing power consumption.

[0282] Thereby, when the power supply from the DC-DC converter 44 is limited, the controller 30A can suppress a voltage drop in the battery 46 and ensure a relatively long time until the various controllers are stopped. Therefore, the shovel 100 can evacuate the shovel 100 (own machine) to a safe place or move the shovel 100 (own machine) for repairs by the operation of the operator or the automatic driving function.

[0283] In this example, the case where the power supply from the DC-DC converter 44 to the battery 46 is limited may include a case where an abnormality occurs in the DC-DC converter 44. Specifically, the abnormality in the DC-DC converter 44 may include at least one of an input overvoltage, an input low voltage, an output overvoltage, an output low voltage, a short circuit, an overcurrent, overheating, an excessive power supply voltage, an insufficient power supply voltage, and a communication abnormality.

[0284] As a result, when an abnormality occurs in the DC-DC converter 44, the controller 30A can suppress a voltage drop in the battery 46, and can ensure a relatively long time until the various controllers are stopped.

[0285] In addition, in this example, cases in which the power supply from the DC-DC converter 44 to the battery 46 is restricted may include cases in which the power supply from at least one of the multiple DC-DC converters 44A, 44B to the battery 46 is stopped.

[0286] As a result, when, for example, the power supply from one of the DC-DC converters 44A, 44B is stopped, the controller 30A can suppress a voltage drop in the battery 46 and ensure a relatively long time until the various controllers are shut down.

[0287] In this example, the low voltage loads subject to operational restrictions may include at least one of the water pump 64 and the fan 90.

[0288] As a result, the controller 30A can limit the operation of the water pump 64 and the fan 90, which consume relatively large amounts of current, and specifically, can reduce the current consumption of the low-voltage devices.

[0289] In this example, the low voltage loads subject to operational restrictions may include the air conditioner 80 .

[0290] As a result, the controller 30A can limit the operation of the air conditioner 80, which consumes a relatively large amount of current, and specifically, can reduce the current consumption of the low-voltage devices as a whole.

[0291] In this example, the controller 30A may limit the operation of the water pump 64 and the fan 90 by giving priority to the operation of the air conditioner 80.

[0292] This allows the controller 30A to reduce the current consumption of the entire low-voltage devices while taking into consideration, for example, the comfort and health of the user (operator) of the cabin 10.

[0293] <Second example of control method> FIG. 18 is a flowchart illustrating a second example of the control process when the power supply from the DC-DC converter 44 is limited.

[0294] As shown in Fig. 18, in step S202, the controller 30A outputs a control command to the controller 30B to limit the output of the pump motor 12. Specifically, the controller 30A may limit the output of the pump motor 12 by controlling a regulator (not shown) to reduce the capacity of the variable displacement main pump 14 and lighten the load. The controller 30A may also limit the output of the pump motor 12 by lowering the rotation speed of the pump motor 12. The controller 30A may also limit the output of the pump motor 12 by implementing both of these. This makes it possible to suppress heat generation from devices in the electric drive system and power supply system and reduce the load on the cooling device 60.

[0295] When the process of step S202 is completed, the controller 30A proceeds to step S204.

[0296] In step S204, the controller 30A reduces the current consumption of the low-voltage devices, including the water pump 64 and the fan 90, by restricting their operation. This allows the controller 30A to relatively extend the time during which the controllers 30A-30E, etc. can operate using only the power of the battery 46, as in the first example described above.

[0297] The processes in steps S206 and S208 are the same as those in steps S104 and S106 in FIG. 16, and therefore will not be described.

[0298] When the process of step S208 is completed, the controller 30A ends the process of this flowchart.

[0299] Thus, in this example, when limiting the operation of at least one of the water pump 64 and the fan 90, the controller 30A limits the output of the pump motor 12.

[0300] As a result, the controller 30A can suppress heat generation from the electric drive system and the power supply system by limiting the output of the pump motor 12. Therefore, the controller 30A can suppress the occurrence of temperature rise (overheating) in the devices to be cooled by the cooling device 60 even when the operation of the water pump 64 and the fan 90 is restricted.

[0301] The controller 30A may grasp the temperature state of the equipment to be cooled based on the output of the temperature sensor 54, and limit the output of the pump motor 12 according to the temperature state of the equipment to be cooled by the cooling device 60. Specifically, the controller 30A may limit the output of the pump motor 12 when the temperature of the equipment to be cooled by the cooling device 60 exceeds a predetermined threshold value.

[0302] <Third example of control method> FIG. 19 is a flowchart illustrating a third example of the control process when the power supply from the DC-DC converter 44 is limited.

[0303] 19, in step S302, the controller 30A restricts the operation of at least one of the water pump 64 and the fan 90. This makes it possible to reduce the current consumption of the entire low-voltage devices.

[0304] When the process of step S302 is completed, the controller 30A proceeds to step S304.

[0305] In step S304, controller 30A determines whether DC-DC converter 44 has returned from the operation restricted state to the normal operation state. If DC-DC converter 44 has not returned to the normal operation state, controller 30A proceeds to step S306, and if it has returned, proceeds to step S316.

[0306] On the one hand, in step S306, the controller 30A determines whether the temperature of the device to be cooled by the cooling device 60 exceeds a threshold value T11th (>0) based on the output of the temperature sensor 54. If the temperature of the device to be cooled exceeds the threshold value T11th, the controller 30A proceeds to step S308; otherwise, it returns to step S304.

[0307] In step S308, the controller 30A temporarily releases the operation restrictions on the water pump 64 and the fan 90 that were restricted in operation in step S302. Thereby, the cooling performance of the cooling device 60 can be enhanced, and the temperature rise of the device to be cooled can be suppressed.

[0308] When the process of step S308 is completed, the controller 30A proceeds to step S310.

[0309] In step S310, the controller 30A determines whether the DC-DC converter 44 has returned from the operation-restricted state to the normal operation state. If the DC-DC converter 44 has returned to the normal operation state, the controller 30A proceeds to step S316; otherwise, it proceeds to step S312.

[0310] In step S312, the controller 30A determines whether the temperature of the device to be cooled by the cooling device 60 is equal to or lower than a threshold value T12th (<T11th). If the temperature of the device to be cooled is equal to or lower than the threshold value T12th, the controller 30A proceeds to step S314; otherwise, it returns to step S310.

[0311] In step S314, the controller 30A resumes the operation restrictions on the water pump 64 and the fan 90 that were temporarily released in step S308.

[0312] When the process of step S314 is completed, the controller 30A returns to step S304.

[0313] On the other hand, in step S316, the controller 30A removes the operational restriction on the target low-voltage device.

[0314] When the process of step S316 is completed, the controller 30A ends the process of this flowchart.

[0315] Thus, in this example, when the temperature of the equipment to be cooled by the cooling device 60 becomes relatively high while the operation of the water pump 64 and the fan 90 is restricted, the controller 30A temporarily releases the operation restriction on the water pump 64 and the fan 90.

[0316] This allows the controller 30A to suppress the current consumption of the entire low-voltage devices while suppressing the temperature rise of the devices to be cooled.

[0317] <Fourth control method example> FIG. 20 is a flowchart illustrating a fourth example of the control process when the power supply from the DC-DC converter 44 is limited.

[0318] In this example, the control process is performed in a situation where the set temperature of the air conditioner 80 is lower than the outside air temperature (for example, in summer).

[0319] As shown in Fig. 20, in step S402, the controller 30A restricts the operation of the air conditioner 80. This makes it possible to reduce the current consumption of the entire low-voltage devices.

[0320] When the process of step S402 is completed, the controller 30A proceeds to step S404.

[0321] In step S404, controller 30A determines whether DC-DC converter 44 has returned from the operation restricted state to the normal operation state. If DC-DC converter 44 has not returned to the normal operation state, controller 30A proceeds to step S406, and if it has returned, proceeds to step S416.

[0322] On the other hand, in step S406, the controller 30A determines whether or not the indoor temperature of the cabin 10 exceeds a threshold value T21th (>0) based on the output of the temperature sensor 56. When the temperature of the equipment to be cooled exceeds the threshold value T21th, the controller 30A proceeds to step S408; otherwise, it returns to step S404.

[0323] In addition, in the case of the control process in a situation where the set temperature of the air conditioner 80 is higher than the outside air temperature, it may be determined whether or not the indoor temperature of the cabin 10 is below a predetermined threshold value.

[0324] In step S408, the controller 30A temporarily releases the operation restriction of the air conditioner 80 that was restricted in operation in step S402. Thereby, the performance of the air conditioner 80 can be enhanced, and an increase in the indoor temperature of the cabin 10 can be suppressed.

[0325] When the process of step S408 is completed, the controller 30A proceeds to step S410.

[0326] In step S410, the controller 30A determines whether or not the DC-DC converter 44 has returned from the operation-restricted state to the normal operation state. When the DC-DC converter 44 has returned to the normal operation state, the controller 30A proceeds to step S416; otherwise, it proceeds to step S412.

[0327] In step S412, the controller 30A determines whether or not the indoor temperature of the cabin 10 is equal to or lower than a threshold value T22th (<T11th). When the temperature of the equipment to be cooled is equal to or lower than the threshold value T22th, the controller 30A proceeds to step S414; otherwise, it returns to step S410.

[0328] In addition, in the case of the control process in a situation where the set temperature of the air conditioner 80 is higher than the outside air temperature, it may be determined whether or not the indoor temperature of the cabin 10 is equal to or higher than a predetermined threshold value.

[0329] In step S414, the controller 30A resumes the operational restriction on the air conditioner 80 that was temporarily lifted in step S408.

[0330] When the process of step S414 is completed, the controller 30A returns to step S404.

[0331] On the other hand, in step S416, the controller 30A removes the operational restriction on the target low-voltage device.

[0332] When the process of step S416 is completed, the controller 30A ends the process of this flowchart.

[0333] Thus, in this example, when the operation of the air conditioner 80 is restricted and the indoor temperature of the cabin 10 exceeds a threshold value in a direction deviating from the set temperature of the air conditioner 80, the controller 30A temporarily releases the operation restriction on the air conditioner 80.

[0334] This allows the controller 30A to suppress the current consumption of the entire low-voltage devices, while suppressing a situation in which the indoor temperature of the cabin 10 becomes too hot in summer or too cold in winter.

[0335] [Control process for starting and shutting down the operation mode] Next, the control process relating to starting and stopping the operation mode of the shovel 100 will be described with reference to Figs. 21 and 22.

[0336] Fig. 21 is a flowchart generally showing a control process related to starting up and shutting down the operation mode of the shovel 100. Fig. 22 is a flowchart generally showing an example of an emergency stop process of the shovel 100.

[0337] 21 starts when a key switch is turned on in response to a predetermined input from the user via the input device 52. The key switch is provided in a power system between the battery 46 and the various controllers such as the controllers 30A to 30E.

[0338] 21, in step S502, the controller 30A performs an operation mode start-up process, which corresponds to an initial process at the time of starting up the shovel 100. The operation mode is a default control mode during operation (during operation) of the shovel 100 for performing normal work by operating actuators in response to an operation command corresponding to an operator's operation or an automatic operation function.

[0339] When the process of step S502 is completed, the controller 30A proceeds to step S504.

[0340] In step S504, the controller 30A transitions to an operation mode corresponding to when the shovel 100 is in normal operation.

[0341] When the process of step S504 is completed, the controller 30A proceeds to step S506.

[0342] In step S506, the controller 30A determines whether or not the key switch is turned on. If the key switch is turned on, the controller 30A proceeds to step S508, and if the key switch is not turned on, the controller 30A proceeds to step S510.

[0343] In step S508, the controller 30A performs a process of shutting down the operation mode, which corresponds to the termination process when the shovel 100 is stopped.

[0344] When the process of step S508 is completed, the controller 30A ends the process of this flowchart.

[0345] On the other hand, in step S510, the controller 30A determines whether or not a charging cable extending from an external power source is connected to the charging port 72. For example, when a charging cable is connected to the charging port 72A, the in-vehicle charger 70 transmits a signal to the controller 30D indicating that the charging cable is connected to the charging port 72A. As a result, the controller 30A can grasp that the charging cable is connected to the charging port 72A by grasping the reception of a signal from the in-vehicle charger 70 through the controller 30D. Also, for example, when a charging cable is connected to the charging port 72B, the controller 30D grasps that the charging cable is connected to the charging port 72B by contact detection or communication with the charging stand side through power line communication. As a result, the controller 30A can grasp that the charging cable is connected to the charging port 72B through the controller 30D. When a charging cable extending from an external power source is connected to the charging port 72, the controller 30A proceeds to step S512, and when a charging cable is not connected, the controller 30A returns to step S506.

[0346] In step S512, an emergency stop process is performed for the shovel 100. Specifically, the process proceeds to the flowchart in FIG.

[0347] FIG. 22 is a flowchart of the emergency stop process when a charging cable is connected to the charging port 72A.

[0348] 22, in step S602, the controller 30A notifies the user through the output device 50 that the shovel 100 will be brought to an emergency stop together with the reason for the emergency stop. The controller 30A may also notify the user that the key switch must be turned off once (see step S620) in order to restore the shovel 100 from the emergency stop state. When the shovel 100 is remotely operated or remotely monitored, the controller 30A may transmit a signal indicating that the shovel 100 will be brought to an external device through the communication device.

[0349] After the process of step S602 is completed and a certain period of time has elapsed, the controller 30A proceeds to step S604.

[0350] In step S604, the controller 30A stops the hydraulic drive system. For example, the controller 30A energizes the relay 25R to open the relay 25R, thereby cutting off the pilot line 25 through the switching valve 25V2. As a result, the supply of pilot pressure to the hydraulic control valve 31 is cut off (stopped), and even if the operating device 26 is operated, the hydraulic actuator will not operate, and the hydraulic drive system is stopped.

[0351] When the process of step S604 is completed, the controller 30A proceeds to step S606.

[0352] In step S606, the controller 30A stops the pump motor 12 through the controller 30B.

[0353] When the controller 30A confirms through the controller 30B that the pump motor 12 has been stopped, the process proceeds to step S608. For example, the controller 30A receives through the controller 30B a signal relating to the rotation speed of the pump motor output from the inverter 18, and grasps that the rotation of the pump motor 12 has been stopped.

[0354] In step S608, the controller 30A stops the inverter 18 through the controller 30B.

[0355] When the controller 30A confirms that the inverter 18 has been stopped, the controller 30A proceeds to step S610. For example, the controller 30A receives a signal indicating that the inverter 18 has stopped operating through the controller 30B, and grasps that the inverter 18 has been stopped.

[0356] In step S610, the water pump 64, the fan 90, and the air conditioner 80 are stopped.

[0357] When the process of step S610 is completed, the controller 30A proceeds to step S612.

[0358] In step S612, the controller 30A stops the DC-DC converter 44 via the controller 30E.

[0359] When the controller 30A confirms that the DC-DC converter 44 has been stopped, the controller 30A proceeds to step S614. The controller 30A receives, via the controller 30E, a signal indicating that the DC-DC converter 44 has stopped operating, and determines that the DC-DC converter 44 has been stopped.

[0360] In step S614, the controller 30A outputs a command to prohibit charging of the power storage device 19 to the on-board charger 70 via the controller 30D.

[0361] When a charging cable is connected to charging port 72B, in this step, controller 30A may output a signal to the external power supply (charging stand) side requesting prohibition (stopping) of charging of power storage device 19.

[0362] When the controller 30A confirms that the charging prohibition has been reflected in the on-vehicle charger 70, the controller 30A proceeds to step S616. For example, the controller 30A receives a signal indicating the charging prohibition state output from the on-vehicle charger 70 via the controller 30D, thereby grasping the charging prohibition state of the on-vehicle charger 70.

[0363] In step S616, the controller 30A turns off the system main relay via the controller 30D to separate the power storage device 19 from the power supply system.

[0364] When the controller 30A confirms that the power storage device 19 has been disconnected from the power supply system, the process proceeds to step S618. For example, the controller 30A receives a signal indicating a measurement result of the voltage of the power storage device 19 input from the power storage device 19 via the controller 30D, thereby grasping that the power storage device 19 is in a state of being disconnected from the power supply system.

[0365] In step S618, the controller 30A stops all control processing of the control device 30.

[0366] When the process of step S618 is completed, the controller 30A proceeds to step S620.

[0367] In step S620, the controller 30A determines whether the key switch is turned off. If the key switch is not turned off, the process of this step is repeated until the key switch is turned off. If the key switch is turned off, the process of this flowchart ends.

[0368] In the emergency stop process, only one of stopping the hydraulic drive system and stopping the electric drive system and the power storage system may be performed. If only stopping the hydraulic drive system is performed, the processes of steps S604 to S618 may be omitted. If only stopping the electric drive system and the power storage system is performed, the process of step S602 is omitted.

[0369] Returning to FIG. 21, when the process of step S512, that is, the flowchart of FIG. 22, ends, the controller 30A proceeds to step S508.

[0370] Thus, in this example, when the charging cable is connected to the charging port 72 while the shovel 100 is in operation, the controller 30A transitions the hydraulic actuator to a non-operable state.

[0371] This allows the controller 30A to substantially prohibit the shovel 100 from continuing to work with the charging cable connected to the charging port. Therefore, for example, when a third party connects a charging cable to the charging port 72 while the shovel 100 is operating and the user (operator) of the cabin 10 does not notice, it is possible to avoid a situation in which the shovel 100 continues to work. Therefore, for example, it is possible to prevent a situation in which the shovel 100 continues to work and the charging cable breaks or the charging cable is dragged and affects the surroundings of the shovel 100, thereby improving the safety of the electric shovel 100.

[0372] Furthermore, in this example, the controller 30A may stop the pump motor 12 when the charging cable is connected to the charging port 72 while the shovel 100 is in operation.

[0373] As a result, the excavator 100 can stop the main pump 14, and specifically, can transition the operation of the hydraulic actuator to an inoperable state.

[0374] In addition, the controller 30A may cut off the supply of hydraulic oil from the pilot pump 15 (or the main pump 14 if the pilot pump 15 is omitted) to the hydraulic control valve 31 when a specified cable is connected to the charging port 72 while the shovel 100 is operating.

[0375] As a result, the excavator 100 can stop the supply of pilot pressure from the pilot pump 15 and the main pump 14 to the hydraulic control valve 31, and specifically, can transition the operation of the hydraulic actuator to an inoperable state.

[0376] The output device 50, under the control of the controller 30A, may inform the user of the reason why the hydraulic actuator is transitioning to a disabled state.

[0377] This allows the shovel 100 to notify the user that the hydraulic actuator will transition to an inoperable state due to the charging cable being connected.

[0378] [Control process for starting and stopping charging mode] Next, the control process relating to starting and stopping the charging mode will be described with reference to Figs.

[0379] Fig. 23 is a flowchart showing an example of a control process related to starting and stopping the charging mode of the shovel 100. Fig. 24 is a flowchart showing an example of a forced termination process of the charging mode.

[0380] 23 and 24 are flowcharts of the emergency stop process when a charging cable is connected to the charging port 72A.

[0381] The flowchart in Fig. 23 is started, for example, when the shovel 100 is stopped, i.e., when the key switch is off and a charging cable is connected to the charging port 72. The flowchart in Fig. 23 may also be started, for example, when the key switch is off and the accessory switch is off and a charging cable is connected to the charging port 72. The accessory switch is provided in a power path between the battery 46 and a predetermined low-voltage device other than the control device 30, and when the accessory switch is turned on, it enables the supply of power from the battery 46 and the DC-DC converter 44 to the low-voltage device while the shovel 100 is stopped.

[0382] As shown in Fig. 23, in step S702, the controller 30A starts processing for starting up the charge mode of the shovel 100. The charge mode of the shovel 100 is a control mode for charging the power storage device 19 via a charging cable.

[0383] When the process of step S702 is completed, the controller 30A proceeds to step S704.

[0384] In step S704, the controller 30A determines whether the charging mode startup process is complete. If the charging mode startup process is not complete, the controller 30A proceeds to step S706, and if complete, the controller 30A proceeds to step S708.

[0385] In step S706, the controller 30A determines whether or not a condition for canceling the start-up of the charging mode (hereinafter, "start-up cancel condition") is satisfied. The start-up cancel condition includes, for example, receiving a signal indicating an abnormality from the in-vehicle charger 70 via the controller 30D. If the start-up cancel condition is not satisfied, the controller 30A returns to step S704, and if the start-up cancel condition is satisfied, the controller 30A proceeds to step S732.

[0386] When a charging cable is connected to charging port 72B, the start-up suspension condition in this step may include, for example, receiving a signal indicating an abnormality from the external power supply (charging stand) via controller 30D.

[0387] On the other hand, in step S708, the controller 30A transitions to the charging mode.

[0388] When the process of step S708 is completed, the controller 30A proceeds to step S710.

[0389] In step S710, the controller 30A determines whether or not there is an abnormality in the on-vehicle charger 70. Specifically, the controller 30A may determine whether or not a signal indicating an abnormality is being output from the on-vehicle charger 70 via the controller 30D. If there is no abnormality in the on-vehicle charger 70, the controller 30A proceeds to step S712, and if there is an abnormality in the on-vehicle charger, the controller 30A proceeds to step S732.

[0390] When a charging cable is connected to charging port 72B, in this step, controller 30A may determine whether or not a signal indicating an abnormality has been received from the external power source (charging stand) via controller 30D.

[0391] In step S712, the controller 30A determines whether or not the key switch is in the OFF state. If the key switch is in the OFF state, the controller 30A proceeds to step S714, and if the key switch is in the ON state, the controller 30A proceeds to step S732.

[0392] In step S714, the controller 30A prepares to start charging. Specifically, the controller 30A may switch the system main relay to a connected state via the controller 30D. In addition, the controller 30A may notify the user via the output device 50 that charging is about to start.

[0393] When the process of step S714 is completed, the controller 30A proceeds to step S716.

[0394] In step S716, the controller 30A determines whether or not a charging start condition is satisfied. The charging start condition includes, for example, that the key switch is in an off state. The charging start condition also includes, for example, that the vehicle-mounted charger 70 is in a standby state. For example, the controller 30A grasps the state of the vehicle-mounted charger 70 by receiving a signal representing the current state from the vehicle-mounted charger 70 through the controller 30D. The charging start condition also includes that charging from the DC-DC converter 44 to the battery 46 is completed and the battery 46 is fully charged. For example, the controller 30A grasps the voltage state of the battery 46 by receiving the output of the sensor 48 through the controller 30E. The charging start condition also includes that the system main relay of the power storage device 19 is connected. For example, the controller 30A can grasp the connection state of the system main relay by receiving, through the controller 30D, a signal representing a measurement result of the voltage of the power storage device 19 that includes the system main relay in its path. If the charging start condition is met, the controller 30A proceeds to step S718, and if the charging start condition is not met, the controller 30A proceeds to step S732.

[0395] When a charging cable is connected to charging port 72B, the charging start condition may include a condition related to the state of the external power source (on the charging station side) instead of the condition related to in-vehicle charger 70.

[0396] In step S718, the controller 30A starts charging the power storage device 19. Specifically, the controller 30A outputs a command to start charging to the on-board charger 70 via the controller 30D. The controller 30A also operates the water pump 64 and the fan 90. This makes it possible to suppress temperature increases due to heat generation in the power storage device 19 and the on-board charger 70.

[0397] Incidentally, while the power storage device 19 is being charged, the controller 30A may switch between operating and stopping the water pump 64 and the fan 90 while grasping the temperature state of the equipment to be cooled (the power storage device 19, the vehicle charger 70, etc.) based on the output of the temperature sensor 54.

[0398] When the process of step S718 is completed, the controller 30A proceeds to step S720.

[0399] In step S720, the controller 30A determines whether or not a charging suspension condition is satisfied. For example, the charging suspension condition includes a condition in which the key switch is turned on. In addition, for example, the charging suspension condition includes a condition in which a signal indicating an abnormality in another controller (such as the controllers 30B to 30E) is received. If the charging suspension condition is not satisfied, the controller 30A proceeds to step S722, and if the charging suspension condition is satisfied, the controller 30A proceeds to step S732.

[0400] In step S722, the controller 30A determines whether or not a charging end condition is satisfied. For example, the charging end condition includes that the state of charge (SOC) of the power storage device 19 reaches a target value (target charge amount) that is specified in advance. The target charge amount may be, for example, 100 percent that represents a full charge, or may be a charge amount (for example, 80 percent) that is lower than a full charge that is appropriately set manually or automatically. For example, the controller 30A grasps the charging state of the power storage device 19 by receiving a signal that represents a calculation result of the charging state based on a measurement result of the voltage of the power storage device 19 from the controller 30D. In addition, the charging end condition may include, for example, that the charging cable is removed from the charging port 72. If the charging end condition is satisfied, the controller 30A proceeds to step S724, and if it is not satisfied, the controller 30A returns to step S720.

[0401] In step S724, the controller 30A stops the water pump 64, the fan 90, and the air conditioner 80.

[0402] When the process of step S724 is completed, the controller 30A proceeds to step S726.

[0403] In step S726, the controller 30A prepares to finish charging the power storage device 19. Specifically, the controller 30A may output a control command to the on-board charger 70 to transition to a standby state. The controller 30A may also output a control command to the DC-DC converter 44 to stop operation.

[0404] When the controller 30A confirms that the on-board charger 70 has transitioned to the standby state and that the DC-DC converter 44 has stopped operating, the process proceeds to step S728.

[0405] In step S728, controller 30A turns off the system main relay via controller 30D to separate power storage device 19 from the power supply system.

[0406] When controller 30A confirms that power storage device 19 has been disconnected from the power supply system, the process proceeds to step S730.

[0407] In step S730, the controller 30A stops the controller 30D for the power storage device 19.

[0408] When the process of step S730 is completed, the controller 30A proceeds to step S734.

[0409] On the other hand, in step S732, the controller 30A executes a forced termination process of the charging mode. Specifically, the process proceeds to the flowchart of FIG.

[0410] 24, in step S802, the controller 30A notifies the user through the output device 50 that the charging mode of the shovel 100 will be forcibly terminated together with the reason for the termination. The controller 30A may also notify the user that it is necessary to turn off the key switch once (see step S812) in order to return from the forcible termination of the charging mode. When the shovel 100 is remotely operated or remotely monitored, the controller 30A may transmit a signal indicating that the shovel 100 will be stopped in an emergency to an external device through the communication device.

[0411] After the process of step S802 is completed and a certain period of time has elapsed, the controller 30A proceeds to step S804. In step S804, the water pump 64, the fan 90, and the air conditioner 80 are stopped.

[0412] When the process of step S804 is completed, the controller 30A proceeds to step S806.

[0413] In step S806, the controller 30A outputs a command to prohibit charging of the power storage device 19 and the battery 46 to the on-board charger 70 and the DC-DC converter 44 via the controllers 30D and 30E.

[0414] When a charging cable is connected to charging port 72B, in this step, controller 30A may output a signal to the external power supply (charging stand) side requesting prohibition (stopping) of charging of power storage device 19.

[0415] When the controller 30A confirms that the charging prohibition has been reflected in the on-board charger 70, the process proceeds to step S808.

[0416] In step S808, the controller 30A turns off the system main relay via the controller 30D to separate the power storage device 19 from the power supply system.

[0417] When the controller 30A confirms that the power storage device 19 has been disconnected from the power supply system, the process proceeds to step S810.

[0418] In step S810, the controller 30A stops the controller 30D for the power storage device 19.

[0419] When the process of step S810 is completed, the controller 30A proceeds to step S812.

[0420] In step S812, the controller 30A determines whether the key switch is turned off. If the key switch is not turned off, the process of this step is repeated until the key switch is turned off. If the key switch is turned off, the process of this flowchart is terminated.

[0421] Returning to FIG. 23, when the process of step S732, that is, the flowchart of FIG. 24, ends, the controller 30A proceeds to step S734.

[0422] In step S734, the controller 30A performs processing to shut down the charging mode.

[0423] When the process of step S734 is completed, the controller 30A ends the process of this flowchart.

[0424] Thus, in this example, when the charging cable is connected to the charging port 72, the controller 30A does not start the pump motor 12 even if it receives input from the user to start the pump motor 12 (e.g., input to turn on the key switch).

[0425] This makes it possible to prevent, for example, a situation in which the shovel 100 starts working while charging, causing the charging cable to break or the charging cable to be dragged and affect the area around the shovel 100, thereby improving the safety of the electric shovel 100.

[0426] In addition, in this example, the controller 30A may start charging the storage device 19 when the input to start the pump motor 12 is released and the charging cable is reconnected to the charging port 72 after the charging cable is released from its connection to the charging port 72.

[0427] As a result, for example, when the user turns on the key switch, controller 30A can reconfirm the user's intention to charge power storage device 19 by requiring the user to turn off the key switch again and reconnect the charging cable to charging port 72. Therefore, controller 30A can resume charging of power storage device 19 more safely.

[0428] In response to an input from the user to start the pump motor 12 (for example, an input to turn on a key switch), the output device 50 may notify the user of the reason why the pump motor 12 does not start.

[0429] This allows the shovel 100 to notify the user that the pump motor 12 will not start because the charging cable is connected to the charging port 72.

[0430] Furthermore, in this example, when the accessory switch is in the on state and a charging cable is connected to charging port 72, controller 30A may start charging power storage device 19.

[0431] This allows the controller 30A to operate low-voltage devices (such as an air conditioner 80 and a radio, which will be described later) of the shovel 100 when charging of the power storage device 19 starts.

[0432] [Control process regarding use of air conditioner while charging power storage device] Next, a control process related to the use of the air conditioner while the power storage device 19 is being charged will be described with reference to Figs.

[0433] <First example of control processing> FIG. 25 is a flowchart illustrating a first example of a control process related to the use of the air conditioner 80 while the power storage device 19 is being charged.

[0434] This flowchart is executed when the power storage device 19 is being charged and the accessory switch is on. The accessory switch may be on from a state before the power storage device 19 is being charged, or may be on after the power storage device 19 is being charged. The same applies to the flowchart in Fig. 26 described below.

[0435] 25, in step S902, the controller 30A turns on the power of the air conditioner 80. This enables the air conditioner 80 to operate in response to an input from a user (operator) of the cabin 10.

[0436] When the process of step S902 is completed, the controller 30A proceeds to step S904.

[0437] In step S904, the controller 30A determines whether or not the accessory switch has been turned off. If the accessory switch has not been turned off, the controller 30A proceeds to step S906, and if the accessory switch has been turned off, the controller 30A proceeds to step S908.

[0438] In step S906, the controller 30A determines whether or not charging of the power storage device 19 is complete. If charging of the power storage device 19 is complete, the controller 30A ends the current process of the flowchart, and if charging is not complete, the controller 30A proceeds to step S904.

[0439] On the other hand, in step S908, the controller 30A turns off the power to the air conditioner 80.

[0440] When the process of step S908 is completed, the controller 30A ends this flow chart.

[0441] Thus, in this example, when a charging cable is connected to the charging port, controller 30A operates air conditioner 80 in response to input from the user. Specifically, when the accessory switch is on and a specific cable is connected to the charging port, controller 30A may operate the air conditioner in response to input from the user.

[0442] This makes it possible to improve the comfort and convenience of the user staying in cabin 10 while power storage device 19 is being charged.

[0443] <Second example of control processing> FIG. 26 is a flowchart illustrating a second example of the control process related to the use of the air conditioner 80 while the power storage device 19 is being charged.

[0444] As shown in FIG. 26, the processes in steps S1002, S1004, and S1006 are the same as those in steps S902, S904, and S906 in FIG. 25, and therefore the description thereof will be omitted.

[0445] In step S1004, if the accessory switch is not in the OFF state, the controller 30A proceeds to step S1006, and if the accessory switch is in the OFF state, the controller 30A proceeds to step S1020.

[0446] In step S1006, if the charging of the power storage device 19 is not complete, the controller 30A proceeds to step S1008, and if the charging is complete, the controller 30A ends the processing of this flowchart.

[0447] In step S1008, controller 30A determines whether the state of charge (SOC) of power storage device 19 is decreasing. For example, controller 30A grasps the change in the state of charge of power storage device 19 by successively receiving the state of charge (SOC) calculated from the measurement result of the voltage of power storage device 19 through controller 30D. If the state of charge of power storage device 19 is decreasing, controller 30A proceeds to step S1010, and if the state of charge is not decreasing, controller 30A returns to step S1004.

[0448] In step S1010, controller 30A restricts the operation of air conditioner 80. This makes it possible to reduce the electric power supplied from power storage device 19 to air conditioner 80 via DC-DC converter 44.

[0449] When the process of step S1010 is completed, the controller 30A proceeds to step S1012.

[0450] In step S1012, the controller 30A determines whether the accessory switch is in the OFF state. If the accessory switch is not in the OFF state, the controller 30A proceeds to step S1014, and if the accessory switch is in the OFF state, the controller 30A proceeds to step S1020.

[0451] In step S1014, the controller 30A determines whether or not charging of the power storage device 19 is complete. If charging of the power storage device 19 is not complete, the controller 30A proceeds to step S1016, and if charging is complete, the controller 30A ends the processing of this flowchart.

[0452] In step S1016, the controller 30A determines whether the state of charge (SOC) of the power storage device 19 is increasing at a rate exceeding a predetermined standard. If the state of charge of the power storage device 19 is increasing at a rate exceeding the predetermined standard, the controller 30A proceeds to step S1018, and otherwise returns to step S1012.

[0453] In step S1018, the controller 30A releases the operational restriction on the air conditioner 80.

[0454] When the process of step S1018 is completed, the controller 30A returns to step S1004.

[0455] On the other hand, step S1020 is the same as the process in step S908 in FIG. 25, and therefore a description thereof will be omitted.

[0456] In this manner, in this example, in a state in which the air conditioner 80 is operating while the power storage device 19 is being charged, the controller 30A restricts the operation of the air conditioner 80 if the charge amount of the power storage device 19 decreases.

[0457] As a result, in a situation where the current consumption of the air conditioner 80 is relatively large and the charge amount of the power storage device 19 is decreasing even during charging, the controller 30A can change the charge amount of the power storage device 19 from a decrease to an increase by limiting the operation of the air conditioner 80. Therefore, the controller 30A can more appropriately achieve both the charging of the power storage device 19 and the use of the air conditioner 80 while the power storage device 19 is being charged.

[0458] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims. [Explanation of symbols]

[0459] 1 Lower running body (driven part) 1A, 1B Travel hydraulic motor (actuator) 2A Swing Hydraulic Motor (Actuator) 3 Upper rotating body (driven part) 3B Bottom 3D, 3D1, 3D2, 3D3 Maintenance Door 3H House Club 4 Boom (driven part) 5 Arm (driven part) 6 Bucket (driven part) 7 Boom cylinder (actuator) 8 Arm cylinder (actuator) 9 Bucket cylinder (actuator) 12 Pump motor 14 Main pump 15 Pilot pump 17 Control valve 18 Inverter 19. Energy storage device 19C Wire Harness 19CV Cover (Cover part) 19H Case 19H1 Storage section 19H2 Lid 19SH Service plug installation part (hole) 26 Operating device 30 Control device 30A Controller 30B Controller 30C Controller 30D Controller (Electricity storage control device) 30E Controller 31 Hydraulic control valve 44 DC-DC converter 46 Battery 50 Output Device 54 Temperature Sensor 56 Temperature Sensor 60 Cooling device 62 Radiator 64 Water Pump 66 Refrigerant circuit 70 On-board charger 72,72A,72B charging port 80 Air conditioner 82 Heat Pump Cycle 82A Compressor 82B Capacitor 82C Expansion valve 82D Evaporator 90 Fans BLT1 Bolt (First Bolt) BLT2 bolt (second bolt) BMD Battery module (power storage unit) BMU Battery Management Unit FH11,FH12 Fastening hole FH21,FH22,FH23 Fastening hole T Hydraulic Oil Tank

Claims

1. A lower running body; An upper rotating body rotatably mounted on the lower traveling body; an actuator that drives a driven unit including the lower traveling body and the upper rotating body; a power storage device mounted on the upper rotating body and serving as an energy source for driving the actuator; the power storage device includes a plurality of power storage modules, each of which includes a power storage unit and a housing that houses the power storage unit, and the plurality of power storage modules are stacked one on top of the other; The plurality of power storage modules are configured such that the housings of vertically adjacent power storage modules are connected to each other, the housing includes a storage section that stores the power storage section and has an open upper portion, a lid section that closes the open upper opening of the storage section, and a plurality of first bolts that fasten the lid section to the storage section in a vertical direction, the housings of the vertically adjacent power storage modules are connected to each other by a plurality of second bolts that are fastened in the vertical direction; In the housing, a first fastening hole into which the first bolt is fastened and a second fastening hole into which the second bolt is fastened are respectively arranged at intervals along the entire circumference of the opening of the accommodating portion, and the second fastening hole is provided between two adjacent first fastening holes. Shovel.

2. Each of the plurality of power storage modules has a first connecting portion provided at an upper portion and a second connecting portion provided at a lower portion; the first connection portion of each of the plurality of power storage modules is adapted in position and attitude to the second connection portions of all other power storage modules; The shovel according to claim 1.

3. Each of the plurality of power storage modules has a first connecting portion provided at an upper portion and a second connecting portion provided at a lower portion; The second connection portion of each of the plurality of power storage modules is adapted in position and attitude to the first connection portions of all other power storage modules. The shovel according to claim 1 or 2.

4. The plurality of power storage modules have substantially the same shape when viewed from above. A shovel according to any one of claims 1 to 3.

5. At least two or more of the plurality of power storage modules have substantially the same outer shape of the housing. The shovel according to claim 4.

6. A power storage device comprising a plurality of associated devices each related to the power storage device, each of which is at least one of a device for controlling the operation of the power storage device and monitoring a state of the power storage device, and a device electrically connected to the power storage device; The plurality of associated devices are built in a distributed manner within the housings of the plurality of power storage modules. A shovel according to any one of claims 1 to 5.

7. A power supply system comprising a plurality of other devices each of which exchanges electric power with the power storage device; The associated device includes at least one of a power storage control device that controls an operation of the power storage device and / or monitors a state of the power storage device, and a power relay device that relays power between the power storage device and the plurality of other devices. The shovel according to claim 6.

8. Each of the plurality of power storage modules has a hole portion in a side surface of the housing to which a service plug that cuts off an electric power path is detachably attached, and a cover portion that covers the hole portion. A shovel according to any one of claims 1 to 7.

9. The housing of each of the plurality of storage modules has a recess on its underside at approximately the same position as the first bolt of the housing when stacked on the housing of another storage module. A shovel according to any one of claims 1 to 8.

10. The storage section has a bottom section covering the lower side of the power storage section and a side wall section covering the sides of the power storage section, the bottom section and the side wall section being integrally molded, a power storage module arranged in a lowermost layer among the plurality of power storage modules is fixed to the upper rotating body, A storage module that is higher than the lowest layer among the plurality of storage modules is fixed to the upper rotating body via a storage module in a layer lower than itself, including the storage module arranged in the lowest layer, only by being fixed to another storage module adjacent to the lower layer. A shovel as claimed in any one of claims 1 to 9.

Images