Electric shovel and program

Abstract

To shorten a time to complete battery charging.SOLUTION: An electric shovel has: an electric motor; a battery that supplies power to the electric motor; and a charging port for supplying power to the battery. The electric shovel is configured to perform temperature rising control of the battery in a case where a temperature of the battery detected by a detector is lower than a predetermined temperature at which the battery can be charged while the electric shovel is being driven and before a charging member is connected with the charging port.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an electric shovel and a program. [Background technology]

[0002] In recent years, electrically driven shovels have been proposed, each having an electric motor that operates a hydraulic drive system. In such electrically driven shovels, the electric motor is driven by power supplied from a battery provided in the main body.

[0003] The temperature range within which batteries mounted on electrically driven excavators can be charged and discharged is specified. Therefore, Patent Document 1 proposes a technique for cooling a battery that has generated heat due to discharging before rapid charging the battery. By cooling the battery in advance, even if the battery temperature rises due to rapid charging, the battery temperature can be kept within the temperature range within which charging is possible. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6914902 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology described in Patent Document 1 is a technology that prevents the battery temperature from exceeding the upper limit of the temperature range in which charging is possible, and is not a technology that takes into consideration operation of an excavator in a low-temperature environment.

[0006] The characteristics of batteries often mean that the temperature range in which they can be charged is different from the temperature range in which they can be discharged. For this reason, in a low-temperature environment, the battery temperature may be higher than the lowest temperature limit for discharge but lower than the lowest temperature limit for charge. In such a situation, it is difficult to immediately charge the battery even if it is connected to an external power source.

[0007] In view of the above problems, the object is to shorten the time until charging of the battery starts when the battery is connected to an external power source via a charging member (charging connector), and to shorten the time until charging of the battery is completed. [Means for solving the problem]

[0008] In order to achieve the above object, an electric shovel according to one embodiment of the present disclosure has an electric motor, a battery that supplies power to the electric motor, and a charging port for supplying power to the battery, and is configured to perform battery temperature rise control when the battery temperature detected by a detection unit while the electric shovel is operating and before a charging component is connected to the charging port is lower than a predetermined temperature at which the battery can be charged. [Effects of the Invention]

[0009] According to the above-described embodiment, by performing battery temperature control before the charging component is connected to the charging port, the time from when the charging component is connected to the charging port to when charging of the battery begins can be shortened, thereby shortening the time until battery charging is completed. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a side view showing a shovel (excavator) according to an embodiment. [Figure 2] FIG. 2 is a block diagram schematically illustrating an example of the configuration of a shovel according to an embodiment. [Figure 3] FIG. 3 is a functional block diagram showing an example of the functional configuration of a cooling system provided in the shovel according to the embodiment. [Figure 4] FIG. 4 is a diagram showing the temperature increase control of the battery performed before charging in the shovel controller according to the embodiment. [Figure 5] FIG. 5 is a diagram illustrating a display screen displayed by the display control unit according to the embodiment. [Figure 6] FIG. 6 is a flowchart showing the processing up to the start of charging the battery by the shovel controller according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are merely examples and do not limit the invention, and all features and combinations described in the embodiments are not necessarily essential to the invention. In addition, identical or corresponding components in each drawing are designated by identical or corresponding reference numerals, and descriptions thereof may be omitted.

[0012] (First embodiment) First, an overview of a shovel 200 according to a first embodiment will be described as an example of an electric shovel. The shovel 200 is capable of communicating with a management device 300 via a communication line NW. For example, the shovel 200 may receive various data related to work performed by the shovel 200 from the management device 300.

[0013] [Outline of the Excavator] As shown in FIG. 1, the excavator 200 according to this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 as attachments, and a cabin 10.

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

[0015] The upper swing structure 3 is hydraulically driven by a swing hydraulic motor 2M (see FIG. 2) through the swing mechanism 2, thereby swinging relative to the lower traveling structure 1. All driven elements (for example, the swing hydraulic motor 2M) are hydraulically driven by hydraulic oil supplied from a main pump 14 (see FIG. 2). This corresponds to a configuration in which the power source (engine) of a so-called hydraulic excavator is replaced with a pump electric motor 12.

[0016] Furthermore, the upper rotating body 3 may be electrically driven by a rotating electric motor driven by power supplied from the battery module 19 through the rotating mechanism 2, instead of the rotating hydraulic motor 2M. In this case, for example, the excavator 200 is connected to the rotating electric motor from the battery module 19 via the power conversion device 100 and an inverter. Then, under the control of the excavator controller 30 and the inverter, the rotating electric motor may perform a power running operation to drive the upper rotating body 3 to rotate, and a regenerative operation to generate regenerative power to brake the upper rotating body 3 to rotate. Furthermore, the rotating electric motor may supply regenerative power to the battery module 19 and the pump electric motor 12 via an inverter.

[0017] A boom 4 is attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 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, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively.

[0018] The bucket 6 is an example of an end attachment, and other end attachments may be attached to the tip of the arm 5 instead of the bucket 6 depending on the type of work, etc. The other end attachments may be buckets of a different type from the bucket 6, such as a slope bucket or a dredging bucket. The other end attachments may also be end attachments of a different type from the bucket, such as a breaker, a mixer, a grapple, etc.

[0019] The cabin 10 is mounted on the front left side of the upper rotating body 3, and inside (inside) thereof, a cockpit where an operator sits, an operating device 26 (see FIG. 2) described later, and the like are provided.

[0020] In response to operations by an operator seated in a cabin 10, the excavator 200 operates driven elements such as a lower traveling body 1 (left and right crawlers), an upper rotating body 3, a boom 4, an arm 5, and a bucket 6.

[0021] Furthermore, instead of or in addition to being configured to be operable by an operator inside the cabin 10, the shovel 200 may be configured to be remotely operable from outside the shovel 200. When the shovel 200 is remotely operated, the inside of the cabin 10 may be unmanned. The following description will be given on the assumption 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.

[0022] Remote control includes, for example, a mode in which the shovel 200 is operated by an operation input related to an actuator of the shovel 200 performed by a predetermined external device. In this case, the shovel 200 may be equipped with a communication device (not shown) capable of communicating with the predetermined external device, and may transmit image information (captured images) output by an imaging device (not shown) to the external device, for example. The external device may then display the received image information (captured images) on a display device (hereinafter referred to as a "display device for remote control") provided in the external device. Furthermore, various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the shovel 200 may also be displayed on the remote control display device of the external device. This allows the operator of the external device to remotely control the shovel 200 while checking the display contents of, for example, captured images and information screens showing the surroundings of the shovel 200 displayed on the display device for remote control. The excavator 200 may operate hydraulic actuators in response to remote control signals indicating the content of the remote control received from an external device via communication equipment, and drive driven elements such as the lower traveling body 1 (left and right crawlers), upper rotating body 3, boom 4, arm 5, and bucket 6.

[0023] Furthermore, remote control may include, for example, a mode in which the shovel 200 is operated by an external voice input, gesture input, or the like to the shovel 200 by a person (e.g., a worker) around the shovel 200. Specifically, the shovel 200 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 200 (the shovel itself). Then, the shovel 200 may operate actuators in accordance with the content of the recognized voices, gestures, or the like to drive driven elements such as the lower traveling body 1 (left and right crawlers), the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

[0024] Furthermore, the shovel 200 may automatically operate the actuators regardless of the operation by the operator, thereby realizing a function (so-called "automatic driving function" or "machine control function") that automatically operates at least some of the driven elements such as the lower traveling structure 1 (crawlers 1CL, 1CR), upper rotating structure 3, boom 4, arm 5, and bucket 6.

[0025] The automatic driving function may include a function (so-called "semi-automatic driving function") that automatically operates driven elements (actuators) other than the driven element (hydraulic actuator) that is the target of operation, in response to an operator's operation of the operating device 26 or remote operation. The automatic driving function may also include a function (so-called "fully automatic driving function") that automatically operates at least some of the multiple driven elements (actuators) on the assumption that there is no operation of the operating device 26 or remote operation by the operator. When the fully automatic driving function is enabled in the shovel 200, the inside of the cabin 10 may be unmanned. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the operation content of the driven element (actuator) that is the target of automatic driving is automatically determined in accordance with predetermined rules. The semi-automatic driving function, the fully automatic driving function, etc. may also include a mode in which the shovel 200 autonomously makes various decisions and autonomously determines the operation content of the driven element (actuator) that is the target of automatic driving in accordance with the decision results (so-called "autonomous driving function").

[0026] As will be described later, the shovel 200 is equipped with a communication device 70 and communicates with the management device 300 via a communication line NW. This allows the shovel 200 to transmit data related to the shovel 200 (its own machine) to the management device 300 and receive data related to the control of the shovel 200 (its own machine).

[0027] The communication line NW includes, for example, a wide area network (WAN). The wide area network may include, for example, a mobile communication network terminated at a base station. The wide area network may also include, for example, a satellite communication network using a communication satellite. The wide area network may also include, for example, the Internet. The communication line NW also includes, for example, a local area network (LAN) within a facility or the like in which the management device 300 is installed. The local network may be wired or wireless, or may include both. The communication line NW may also include, for example, a wireless short-range communication line such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0028] <Overview of the management device> The management device 300 (an example of a communication control device) is provided outside the shovel 200 and manages, for example, the operating state and operational state of the shovel 200. Specifically, the management device 300 may manage the work schedule of each shovel 200 working at a work site. In other words, the management device 300 may manage the time period when the shovel 200 starts work, the time when the shovel 200 starts charging, and the like.

[0029] The management device 300 is, for example, a cloud server installed in a management center or the like outside the work site of the shovel 200. The management device 300 may also be, for example, an edge server installed in a temporary office within the work site of the shovel 200 or in a station or base station near the work site. The management device 300 may also be, for example, a stationary terminal device (stationary terminal) or a portable terminal device (portable terminal) placed in a temporary office or the like within the work site of the shovel 200. The stationary terminal may include, for example, a desktop computer terminal. The portable terminal may include, for example, a mobile phone, a smartphone, a tablet terminal, a laptop computer terminal, etc.

[0030] The management device 300 communicates with the shovel 200 via the communication line NW. This allows the management device 300 to transmit, for example, information relating to the work schedule of the shovel 200 to the shovel 200. Furthermore, the management device 300 may externally control the shovel 200 by transmitting, for example, data relating to the control of the shovel 200 to the shovel 200.

[0031] [Excavator configuration] Next, the configuration of a shovel 200 according to this embodiment will be described with reference to FIG. 2 in addition to FIG.

[0032] FIG. 2 is a block diagram schematically showing an example of the hardware configuration of the shovel 200 according to this embodiment.

[0033] In the diagram, mechanical power lines are indicated by double lines, high-pressure hydraulic lines by thick solid lines, pilot lines by dashed lines, and electric drive and control lines by thin solid lines.

[0034] <Hydraulic drive system> The hydraulic drive system of the excavator 200 according to this embodiment includes hydraulic actuators such as traveling hydraulic motors 1R, 1L, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, which hydraulically drive each of the driven elements such as the lower traveling structure 1, boom 4, arm 5, and bucket 6. The hydraulic drive system of the excavator 200 according to this embodiment also includes a pump electric motor 12, a main pump 14, and a control valve 17.

[0035] The pump electric motor 12 (an example of an electric motor) is a power source for the hydraulic drive system. The pump electric motor 12 is, for example, an interior permanent magnet (IPM) motor. The pump electric motor 12 is connected to a high-voltage power supply including a battery module 19 and a power conversion device 100 via an inverter 18. The pump electric motor 12 runs on three-phase AC power supplied from the battery module 19 via the inverter 18, and drives the main pump 14 and the pilot pump 15. Drive control of the pump electric motor 12 may be performed by the inverter 18 under the control of a shovel controller 30, which will be described later.

[0036] The main pump 14 draws hydraulic oil from a hydraulic oil tank T and discharges it into a high-pressure hydraulic line 16, thereby supplying the hydraulic oil to a control valve 17 through the high-pressure hydraulic line 16. The main pump 14 is driven by a pump electric motor 12. The main pump 14 is, for example, a variable displacement hydraulic pump, and a regulator (not shown) controls the angle (tilting angle) of the swash plate under the control of an excavator controller 30 (described later). This allows the main pump 14 to adjust the stroke length of the piston and thereby adjust the discharge flow rate (discharge pressure).

[0037] The main pump 14 may be driven by power from another power source in addition to the pump electric motor 12. For example, the main pump 14 may be driven by regenerating energy of hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 to a hydraulic oil tank due to the weight of the boom 4 or arm 5 when the boom 4 is lowered or the arm 5 is closed. Specifically, a hydraulic motor disposed coaxially with the rotation shaft of the main pump 14 may be driven by the energy of hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 to a hydraulic oil tank due to the weight of the boom 4 or arm 5 when the boom 4 is lowered or the arm 5 is closed. Furthermore, the energy of hydraulic oil discharged from the boom cylinder 7 or arm cylinder 8 to a hydraulic oil tank due to the weight of the boom 4 or arm 5 when the boom 4 is lowered or the arm 5 is closed may be regenerated to cause a generator to generate electricity. Specifically, the hydraulic motor arranged coaxially with the generator may be driven by the energy of hydraulic oil discharged from the boom cylinder 7 or the arm cylinder 8 into the hydraulic oil tank due to the weight of the boom 4 or the arm 5 when the boom 4 is lowered or the arm 5 is closed, thereby causing the generator to generate electricity. In this case, the generated power of the generator may be supplied to the pump motor 12 or may be used to charge the battery module 19.

[0038] The control valve 17 is a hydraulic control device that 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 the hydraulic actuators (travel hydraulic motors 1R, 1L, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9). For example, the control valve 17 is a valve unit including a plurality of control valves (directional switching valves) that control the flow rate and flow direction of 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.

[0039] <Electric drivetrain> The electric drive system of the shovel 200 according to this embodiment includes the pump motor 12, the sensor 12s, and the inverter 18. The electric drive system of the shovel 200 according to this embodiment also includes a high-voltage power supply configured by a battery module 19 and the like.

[0040] The sensors 12s include a current sensor 12s1, a voltage sensor 12s2, and a rotation state sensor 12s3.

[0041] 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, on a power path between the pump motor 12 and the inverter 18. Detection signals corresponding to the current of each of the three phases of the pump motor 12 detected by the current sensor 12s1 are directly input to the inverter 18 via a communication line. The detection signals may also be input to the shovel controller 30 via the communication line and input to the inverter 18 via the shovel controller 30.

[0042] The voltage sensor 12s2 detects the voltages applied to each of the three phases of the pump motor 12. The voltage sensor 12s2 is provided, for example, on a power path between the pump motor 12 and the inverter 18. A detection signal corresponding to the voltages applied to each of the three phases of the pump motor 12 detected by the voltage sensor 12s2 is directly input to the inverter 18 via a communication line. The detection signal may also be input to the shovel controller 30 via the communication line and input to the inverter 18 via the shovel controller 30.

[0043] The rotation state sensor 12s3 detects the rotation state (for example, the rotation position (rotation angle), the rotation speed, etc.) of the pump motor 12. The rotation state sensor 12s3 is, for example, a rotary encoder or a resolver.

[0044] The inverter 18 drives and controls the pump motor 12 under the control of the shovel controller 30. The inverter 18 includes, for example, a conversion circuit that converts DC power into three-phase AC power and converts three-phase AC power into DC power, a drive circuit that switches and drives the conversion circuit, and a control circuit that outputs a control signal (for example, a PWM (Pulse Width Modulation) signal) that defines the operation of the drive circuit.

[0045] The control circuit of the inverter 18 controls the drive of the pump motor 12 while grasping the operating state of the pump motor 12. For example, the control circuit of the inverter 18 grasps the operating state of the pump motor 12 based on the detection signal of the rotation state sensor 12s3. Alternatively, the control circuit of the inverter 18 may 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).

[0046] At least one of the drive circuit and control circuit of the inverter 18 may be provided outside the inverter 18 .

[0047] The battery module 19 is configured to supply the charged power to electronic components in the shovel 200. The specific configuration will be described later.

[0048] <Operation system> The operating system of the shovel 200 according to this embodiment includes a pilot pump 15, an operating device 26, and a pressure control valve 31.

[0049] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., pressure control valve 31) mounted on the shovel 200 via a pilot line 25. As a result, the pressure 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 shovel controller 30. Therefore, the shovel controller 30 and the pressure control valve 31 can realize the operation of the driven element (hydraulic actuator) according to the operation content of the operating device 26 by the operator. Furthermore, under the control of the shovel controller 30, the pressure control valve 31 can supply pilot pressure to the control valve 17 according to the remote operation content specified by the remote operation signal. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the pump electric motor 12 as described above.

[0050] The operation device 26 is provided within reach of the operator in the driver's seat of the cabin 10 and is used by the operator to operate each driven element (i.e., the left and right crawlers of the undercarriage 1, the upper revolving 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 hydraulic actuators (e.g., the traveling hydraulic motors 1R and 1L, the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc.) and electric actuators that drive each driven element. The operation device 26 is, for example, electric, and outputs an electric signal (hereinafter referred to as an "operation signal") corresponding to the operation content by the operator. The operation signal output from the operation device 26 is input to the excavator controller 30 via a signal line 28. In this way, the excavator controller 30 can control the pressure control valve 31 and control the operation of the driven elements (actuators) of the excavator 200 in accordance with the operation content of the operator and operation commands corresponding to the automatic driving function.

[0051] 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 (swing operation) in accordance with 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 accordance with 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), for example.

[0052] In addition, when the control valve 17 is configured as an electromagnetic pilot type control valve (directional control valve), an operation signal from the electric operating device 26 may be input directly to the control valve 17, and each hydraulic control valve may perform an operation according to the operation content of the operating device 26. Also, the operating 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.

[0053] The pressure control valve 31 outputs a predetermined pilot pressure using hydraulic oil supplied from the pilot pump 15 through the pilot line 25 under the control of the excavator controller 30. The pilot line on the secondary side of the pressure control valve 31 is connected to the control valve 17, and the pilot pressure output from the pressure control valve 31 is supplied to the control valve 17.

[0054] <Power system> The power supply system of the shovel 200 is a group of components for supplying power to various electrical devices. The shovel 200 also includes a normal charging vehicle inlet 101 and a rapid charging vehicle inlet 102 as components for charging the battery module 19.

[0055] Normal charging vehicle inlet 101 is configured to be connectable to a charging connector (an example of a charging member) provided at the tip of a predetermined cable (hereinafter referred to as a "charging cable") of an external power source.

[0056] The charging AC-DC converter 103 converts AC power supplied from an external power source via the normal charging vehicle inlet 101 into DC power that can be charged into the battery 192 and supplies it to the battery module 19.

[0057] The quick-charging vehicle inlet 102 is configured to be connectable to a charging connector (an example of a charging component) provided at the tip of a charging cable of an external power source (e.g., a power supply station). The quick-charging vehicle inlet 102 is an inlet for performing quick charging based on, for example, CHAdeMO (registered trademark). In this embodiment, by using such a DC charging method, DC power can be supplied to the battery module 19 without going through an AC-DC converter.

[0058] In this embodiment, an example will be described in which a charging component connected to the normal charging vehicle inlet 101 (an example of a charging port) and the rapid charging vehicle inlet 102 (an example of a charging port) is directly connected to a charging connector provided at the tip of a charging cable. However, this embodiment is not limited to a method of directly connecting to the normal charging vehicle inlet 101 or the rapid charging vehicle inlet 102 with a charging connector. For example, a wireless charging component may be connected to the charging port and charged from an external power source.

[0059] The battery module 19 of the shovel 200 according to this embodiment supplies power to each component within the shovel 200. The battery module 19 includes a battery controller 191, a battery 192, a temperature sensor 193, and a PTC heater 194.

[0060] The battery 192 supplies power to various components within the shovel 200. For example, the battery 192 supplies charged (stored) power to the pump motor 12. The battery 192 also stores power generated by the pump motor 12 (regenerated power).

[0061] The battery 192 is charged (stores electricity) by being connected to an external power source (for example, a power supply station) via a charging cable.

[0062] The battery 192 is, for example, a lithium ion battery, and has a relatively high output voltage (for example, several hundred volts).

[0063] The temperature sensor 193 detects the surface temperature of the battery 192 and outputs a signal indicating the detection result to the battery controller 191 .

[0064] The PTC (Positive Temperature Coefficient) heater 194 (an example of a heating unit) is a type of electric wire heater, and is provided near the battery 192 to heat the battery 192 under control of the battery controller 191. Note that, in this embodiment, an example will be described in which the PTC heater 194 is used as a heating unit that heats the battery 192, but the heating unit is not limited to the PTC heater 194, and any configuration that can heat the battery 192 will suffice.

[0065] The battery controller 191 (an example of a control unit) controls the internal configuration of the battery module 19. For example, the battery controller 191 monitors the temperature status of the battery 192 based on the output result from a temperature sensor 193 (an example of a detection unit), and calculates the SOC (State Of Charge) of the battery 192. Then, the battery controller 191 outputs the detection result of the temperature sensor and the SOC to the shovel controller 30. This enables the shovel controller 30 to display the temperature and SOC of the battery 192 on the output device 50 (display device) inside the cabin 10. Furthermore, the shovel controller 30 can perform various controls based on the temperature status of the battery 192.

[0066] The battery controller 191 according to this embodiment determines whether charging is possible depending on whether a charging connector is connected to the normal charging vehicle inlet 101 or the quick charging vehicle inlet 102. Note that this embodiment does not limit the method of determining whether power can be supplied to whether the charging connector is connected. For example, when wireless power supply is performed, other methods may be used, such as determining whether power can be supplied by mutual communication with charging equipment equipped with an external power source.

[0067] Then, when the battery controller 191 determines that it is connected to an external power source (for example, a power supply station) via a charging cable and a charging connector (in other words, when it determines that it is in a state where power can be supplied), it communicates with a charging facility provided with the external power source. When the battery controller 191 is permitted to supply power from the charging facility through communication with the charging facility, the battery controller 191 starts supplying power from the external power source. The battery controller 191 may also acquire the maximum capacity, such as the maximum current value, that the external power source (for example, a power supply station) can output.

[0068] The battery controller 191 (an example of a control unit) controls the internal configuration of the battery module 19.

[0069] For example, the battery controller 191 may control heating of the battery 192 by the PTC heater 194 in response to an instruction from the shovel controller 30.

[0070] A power conversion device may be provided between the battery module 19 and the pump motor 12 to boost the output voltage of the battery module 19 and apply it to the pump motor 12. Furthermore, as described above, when some or all of the driven parts are electrically driven, power from the battery module 19 is supplied to an electric actuator that electrically drives the driven parts instead of or in addition to the pump motor 12.

[0071] <Control system> The control system of the shovel 200 according to this embodiment includes a shovel controller 30, an output device 50, an input device 52, and a communication device 70.

[0072] The communication device 70 (an example of an input device) communicates with the outside of the shovel 200, such as the management device 300, via a communication line NW. The communication device 70 includes, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), and a satellite communication module for connecting to a satellite communication network.

[0073] The output device 50 is provided in the cabin 10, and outputs various types of information to the operator under the control of the shovel controller 30. The output device 50 includes, for example, a display device that outputs (notifies) information to the operator in a visual manner. The display device may be installed, for example, in a location that is easily visible to the operator in the cabin 10, and may display various information images under the control of the shovel controller 30. The display device is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The output device 50 also includes, for example, a sound output device that outputs information to the operator in an auditory manner. The sound output device is, for example, a buzzer, a speaker, etc.

[0074] Furthermore, the output device 50 may be removably installed inside the cabin 10. The output device 50 may be, for example, a tablet terminal or a mobile communication terminal, which includes a display device capable of outputting information to the operator.

[0075] The input device 52 is provided in the cabin 10 and accepts various inputs from the operator. The input device 52 may include, for example, an operation input device that accepts operation inputs from the operator. The operation input device includes, for example, a button, a toggle, a lever, a touch panel, a touchpad, etc. The input device 52 may also include, for example, a voice input device that accepts voice inputs from the operator and a gesture input device that accepts gesture inputs from the operator. The voice input device includes, for example, a microphone that captures the voice of the operator in the cabin 10. The gesture input device includes, for example, an indoor camera that can capture images of the operator's gestures in the cabin 10. A signal corresponding to the input from the operator accepted by the input device 52 is taken into the excavator controller 30.

[0076] The shovel controller 30 may comprehensively control the operation of the entire shovel 200 (various devices mounted on the shovel 200).

[0077] The functions of the shovel controller 30 may be realized by any hardware or any combination of hardware and software. For example, the shovel controller 30 may be configured mainly with a computer including a processor such as a CPU (Central Processing Unit), a memory device (main storage device) such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device for input / output with the outside.

[0078] The shovel controller 30 controls the drive of the shovel 200. For example, the shovel controller 30 outputs a control command to the pressure control valve 31 in response to an operation signal input from the operating device 26, and causes the pressure control valve 31 to output a pilot pressure corresponding to the operation content of the operating device 26. In this way, the shovel controller 30 can realize the operation of the driven element (hydraulic actuator) of the shovel 200 corresponding to the operation content of the electric operating device 26.

[0079] Furthermore, when the shovel 200 is remotely operated, the shovel controller 30 may, for example, perform control related to the remote operation. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31 and cause the pressure control valve 31 to output a pilot pressure according to the content of the remote operation. In this way, the shovel controller 30 can realize the operation of the shovel 200 (driven element) according to the content of the remote operation.

[0080] Furthermore, the shovel controller 30 may perform control relating to, for example, an automatic driving function. Specifically, the shovel controller 30 may output a control command to the pressure control valve 31, and cause the pressure 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 shovel controller 30 can realize the operation of the driven element (hydraulic actuator) of the shovel 200 corresponding to the automatic driving function.

[0081] The shovel controller 30 performs drive control of the electric drive system based on various input information (for example, control commands including operation signals from the operation device 26, etc.).

[0082] Furthermore, the shovel controller 30 may, for example, drive the power conversion device 100 based on the operation state of the operation device 26, and perform switching control between step-up operation and step-down operation of the power conversion device 100, in other words, between the discharged state and the charged state of the battery module 19. Furthermore, for example, when the shovel 200 is remotely operated, the shovel controller 30 may drive the power conversion device 100 based on the content of the remote operation, and perform switching control between the discharged state and the charged state of the battery module 19. Furthermore, for example, when the automatic operation function of the shovel 200 is enabled, the shovel controller 30 may drive the power conversion device 100 based on an operation command corresponding to the automatic operation function, and perform switching control between the discharged state and the charged state of the battery module 19.

[0083] Furthermore, the functional blocks provided in the shovel controller 30 for raising the temperature of the battery 192 before charging the battery 192 will be described later.

[0084] <Cooling system> The cooling system of the shovel 200 is a group of components for cooling components that generate heat as the shovel 200 operates.

[0085] As shown in FIG. 3, the cooling system of the shovel 200 includes a cooling device 60 and a fan 90.

[0086] The cooling device 60 cools the electric drive system equipment and the relatively high-voltage power supply system equipment of the shovel 200. For example, as shown in Fig. 3, the equipment to be cooled by the cooling device 60 includes the pump motor 12, the inverter 18, the battery module 19, the DC-DC converter 44, and the charging AC-DC converter 103.

[0087] Note that, as long as the conditions related to the required cooling performance for each of the multiple cooling targets are satisfied, the connection mode of the cooling targets through which the refrigerant circuit 66 passes may be arbitrary. For example, as long as the conditions related to the required cooling performance for each of the multiple cooling targets are satisfied, the refrigerant circuit 66 may connect some or all of the multiple cooling targets in series, or some or all of the multiple cooling targets in parallel. Furthermore, as long as the conditions related to the required cooling performance for each of the multiple cooling targets are satisfied, the refrigerant circuit 66 may arrange the multiple cooling targets in any order starting from the radiator 62.

[0088] The cooling system 60 includes a radiator 62 , a water pump 64 , and a refrigerant circuit 66 .

[0089] The radiator 62 cools the refrigerant (for example, coolant) in the refrigerant circuit 66. Specifically, the radiator 62 cools the refrigerant by exchanging heat between the surrounding air and the refrigerant.

[0090] 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.

[0091] The refrigerant circuit 66 includes refrigerant flow paths 66A, 66B, 66C, 66D, 66E, and 66F.

[0092] The refrigerant flow path 66A connects the water pump 64 and the battery module 19, and causes the refrigerant discharged from the water pump 64 to flow into the refrigerant flow path inside or around the battery module 19. This allows the cooling device 60 to cool the battery module 19 with the refrigerant. The refrigerant that has flowed through the refrigerant flow path inside or around the battery module 19 flows out into the refrigerant flow path 66B.

[0093] The refrigerant flow paths 66B, 66B1, and 66B2 connect the battery module 19 to the inverter 18 and the DC-DC converter 44, and allow the refrigerant flowing out of the battery module 19 to flow into the refrigerant flow paths inside or around the inverter 18 and the DC-DC converter 44. Specifically, the refrigerant flow path 68B, one end of which is connected to the battery module 19, branches into refrigerant flow paths 68B1 and 68B2 at the other end, and the refrigerant flow paths 68B1 and 68B2 are connected to the inverter 18 and the DC-DC converter 44, respectively. This allows the inverter 18 and the DC-DC converter 44 to be cooled. The refrigerant that has flowed through the refrigerant flow paths inside or around the inverter 18 flows out into the refrigerant flow path 68C1. The refrigerant that has flowed through the refrigerant flow paths inside or around the DC-DC converter 44 flows out into the refrigerant flow path 68C2.

[0094] The refrigerant flow paths 68C, 68C1, and 68C2 connect the inverter 18 and DC-DC converter 44 with the pump motor 12, and allow the refrigerant flowing out from the inverter 18 and DC-DC converter 44 to flow into the refrigerant flow paths inside or around the pump motor 12. Specifically, the refrigerant flow paths 68C1 and 68C2, each having one end connected to the inverter 18 and DC-DC converter 44, merge into one end of the refrigerant flow path 68C, and the other end of the refrigerant flow path 68C is connected to the pump motor 12. This allows the pump motor 12 to be cooled by the refrigerant. The refrigerant that has flowed through the refrigerant circuit inside or around the pump motor 12 flows out into the refrigerant flow path 68D.

[0095] Note that, when a power conversion device is provided between the battery module 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 battery module 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 portion of the inverter 18, the DC-DC converter 44, etc. may be arranged in series in the refrigerant circuit 66.

[0096] Refrigerant flow path 66D connects pump motor 12 and charging AC-DC converter 103, and allows refrigerant flowing out from a refrigerant flow path inside or around pump motor 12 to flow into a refrigerant flow path inside or around charging AC-DC converter 103. This allows cooling device 60 to cool charging AC-DC converter 103 with the refrigerant. The refrigerant that has flowed through the refrigerant flow path inside or around charging AC-DC converter 103 flows out into refrigerant flow path 66E.

[0097] Refrigerant flow path 66E connects charging AC-DC converter 103 and radiator 62, and supplies radiator 62 with refrigerant flowing out from refrigerant flow paths inside or around charging AC-DC converter 103. In this way, refrigerant circuit 66 cools various devices in the electric drive system and power supply system, thereby allowing radiator 62 to cool the refrigerant whose temperature has risen, and returning it to a state where it can once again cool various devices in the electric drive system and power supply system.

[0098] The refrigerant flow path 66F connects the radiator 62 and the water pump 64, and supplies the refrigerant cooled by the radiator 62 to the water pump 64. This allows the water pump 64 to discharge the refrigerant cooled by the radiator 62 into the refrigerant flow path 66A, allowing the refrigerant to circulate in the refrigerant circuit 66.

[0099] The fan 90 operates under the control of the shovel controller 30, and sends air toward a predetermined device (hereinafter referred to as a "heat exchange device") that exchanges heat with the air. The fan 90 operates using power supplied from the DC-DC converter 44 or the battery 46, for example.

[0100] 3, 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 continuously supplied around the radiator 62, thereby increasing the degree to which the radiator 62 cools the refrigerant.

[0101] There may be one or more 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.

[0102] The cooling system of the excavator 200 may include an oil cooler that cools the hydraulic oil used in the hydraulic drive system (high-pressure hydraulic line) and the operating 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 therethrough to cool the hydraulic oil. In this case, the fan 90 may blow air toward the oil cooler to cool it. This allows air that can exchange heat with the hydraulic oil flowing therethrough to be continuously supplied around the oil cooler, thereby increasing the degree to which the hydraulic oil is cooled by the oil cooler. In this case, the fan 90 that blows air to the radiator 62 and the fan 90 that blows air to the oil cooler may be the same, i.e., the same fan 90, or different fans 90.

[0103] [Explanation about temperature rise control before battery charging] Incidentally, the characteristics of a normal battery are set so that the lowest temperature at which it can be charged (for example, 0 degrees) is higher than the lowest temperature at which it can be discharged (for example, -20 degrees to -15 degrees).

[0104] Therefore, even though the electric shovel is being driven by discharging from the battery, there are situations in which the battery temperature is lower than the lowest temperature at which charging is possible.

[0105] In such a situation, when charging the battery of a conventional electric shovel, it is necessary to heat the battery after connecting the charging connector to the charging vehicle inlet of the electric shovel, and the battery is then charged after the battery temperature is raised above the lowest chargeable temperature.

[0106] However, when the battery is heated after the charging connector is connected to the vehicle charging inlet, it takes time to heat up the battery, which causes a delay before the battery starts charging, and therefore a delay in the completion of the battery charging.

[0107] However, there are cases where the time periods during which an excavator can be charged are limited. For example, charging is possible during breaks between work (such as lunch breaks). When charging during such breaks, it is desirable that charging start immediately when the charging connector is connected to the vehicle charging inlet and that charging finish as quickly as possible.

[0108] Therefore, the shovel controller 30 of this embodiment performs temperature increase control of the battery 192 when the temperature of the battery 192 detected by the temperature sensor 193 while the shovel 200 is operating and before the charging connector (charging component) is connected to the normal charging vehicle inlet 101 or the rapid charging vehicle inlet 102 is lower than a predetermined temperature (e.g., 0 degrees) at which the battery 192 can be charged.

[0109] 4 is a diagram showing the temperature increase control of the battery 192 performed before charging in the shovel controller 30 according to this embodiment. In the example shown in FIG. 4, the horizontal axis represents time, and the vertical axis represents the temperature of the battery 192.

[0110] 4, the rest period 4011 is set to start at time t2 and end at time t3. In the example shown in Fig. 4, the charging connector is connected to the rapid charging vehicle inlet 102 at the start time t2 of the rest period 4011.

[0111] 4 shows a lower limit temperature T1 at which discharge is possible and a lower limit temperature T2 at which charge is possible. Note that the lower limit temperature T2 at which charge is possible is higher than the lower limit temperature T1 at which discharge is possible.

[0112] A line 4001 indicates the change in temperature of the battery 192. As shown by the line 4001, up to time t1, the temperature of the battery 192 is higher than the lowest temperature T1 at which the battery can be discharged, but lower than the lowest temperature T2 at which the battery can be charged.

[0113] Therefore, the battery controller 191 starts temperature increase control of the battery 192 from time t1, which is before the start time t2 of the rest period 4011. In the example shown in Fig. 4, the period from time t1 to time t2 is set as a temperature increase period 4013. The temperature increase period 4013 is set to be a period of time sufficient to increase the temperature of the battery 192 to the lower limit temperature T2.

[0114] The temperature rise time until the battery 192 reaches the lower limit temperature T2 differs depending on the current temperature of the battery 192 and the configuration for raising the temperature of the battery 192. In the present embodiment, the shovel controller 30 specifies the time t1 by calculating the temperature rise time 4013 until the battery 192 reaches the lower limit temperature T2 from the current temperature.

[0115] Specifically, the shovel controller 30 stores in a nonvolatile auxiliary storage device the lower limit temperature T2 of the battery 192 and the temperature rise performance of the battery 192 (in other words, the slope from time t1 to time t2 shown in FIG. 4). Therefore, when the temperature sensor 193 detects the current temperature of the battery 192, the shovel controller 30 calculates the temperature rise time required to reach the lower limit temperature T2 based on the current temperature of the battery 192, the lower limit temperature T2, and the temperature rise performance. Then, the shovel controller 30 calculates the time t1 for starting the temperature rise by subtracting the temperature rise time from the start time t2.

[0116] Note that, in this embodiment, an example will be described in which the temperature rise time required for the battery 192 to reach the lower limit temperature T2 from its current temperature is calculated; however, this embodiment is not limited to the method of calculating the temperature rise time, and the temperature rise time (e.g., 10 minutes) may be set in advance. When the temperature rise time (e.g., 10 minutes) is set in advance, it is conceivable that the temperature of the battery 192 will be too high or too low compared to the lower limit temperature T2 when the charging connector is connected. In such cases, feedback control may be performed. This allows the shovel controller 30 to bring the temperature of the battery 192 closer to the lower limit temperature T2 through control, thereby improving accuracy.

[0117] 4, at time t2, the temperature of battery 192 reaches the lower limit temperature T2 at which charging is possible. As a result, charging of battery 192 can begin from time t2 when the charging connector is connected to rapid charging vehicle inlet 102. When charging begins, the temperature of battery 192 rises slightly due to self-heating of battery 192, etc.

[0118] 4, charging of the battery 192 is performed during the time 4014 indicated as "charging." Then, charging of the battery 192 ends at time t3. In this embodiment, the above-described control makes it possible to end charging of the battery 192 before the end of the rest period 4011.

[0119] The shovel controller 30 according to this embodiment performs the above-described temperature increase control of the battery 192, thereby enabling charging to start at the charging start time (time t2) when the charging connector is connected to the rapid charging vehicle inlet 102. Next, a specific configuration of the shovel controller 30 will be described.

[0120] <Excavator controller function blocks> Returning to FIG. 2 , each functional block in the shovel controller 30 will be described. Each functional block in the shovel controller 30 is conceptual and does not necessarily have to be physically configured as shown in the figure. All or part of each functional block can be configured by functionally or physically distributing or integrating it in any unit. All or any part of the processing functions performed by each functional block are realized by a program executed by a CPU. Alternatively, each functional block may be realized as hardware using wired logic. The program executed by the shovel controller 30 according to this embodiment is not limited to being stored in a nonvolatile auxiliary storage device, but may also be stored in a distributable storage medium or transmitted and received via a communication line NW.

[0121] The shovel controller 30 according to this embodiment includes, as functional blocks, an acquisition unit 3001, a display control unit 3002, an operation reception unit 3003, a determination unit 3004, a temperature rise control unit 3005, and a charge control unit 3006. The shovel controller 30 also includes, in a non-volatile auxiliary storage device, a time information storage unit 3011 and an achievement information storage unit 3012.

[0122] The performance information storage unit 3012 stores performance information relating to the times when the shovel 200 has operated or charged in the past. For example, the performance information may store the work start time, work end time, charging start time, and charging end time for each date on which the shovel 200 has worked in the past. Furthermore, the performance information storage unit 3012 may store the SOC at the time charging started as performance information. The performance information is recorded by, for example, the shovel controller 30.

[0123] The time information storage unit 3011 stores time information indicating the charging start time. The time information is information input from the input device 52 by an operator on board the shovel 200. Furthermore, the time information may be information received from the operator's mobile communication terminal or the like via the communication device 70. This allows the shovel controller 30 to start raising the temperature of the battery 192 at an appropriate timing based on the charging start time input by the operator or the like. Therefore, in this embodiment, the timing when the battery 192 becomes capable of being charged due to the temperature increase can be matched with the start time t2 at which charging will start, as expected by the operator. Therefore, in this embodiment, it is possible to achieve both a reduction in the charging time of the battery 192 and a reduction in the power consumption of the battery 192.

[0124] Furthermore, the timing at which the time information is input may be input in advance by the operator before work by the shovel 200 is started, or may be input by the operator while work is being performed by the shovel 200. Next, a method for storing time information in the time information storage unit 3011 while work is being performed by the shovel 200 will be described.

[0125] For example, the display control unit 3002, which will be described later, displays a screen (for example, FIG. 5(A) , which will be described later) on the output device 50 while the shovel 200 is working, inquiring about the time to start charging. Then, the operation accepting unit 3003 accepts an operation to specify the charging start time on the screen. That is, in this embodiment, by displaying the screen while the shovel 200 is working, it is possible to accept the setting of the charging start time taking into consideration the current work status of the shovel 200, etc. As a result, the shovel controller 30 according to this embodiment automatically displays the screen, thereby reducing the operational burden on the operator when making settings and improving convenience. Furthermore, the shovel controller 30 according to this embodiment can start charging at an appropriate timing, thereby suppressing delays in the start of work due to charging of the battery 192, etc., and therefore suppressing a decrease in work efficiency.

[0126] As a result, the time information storage unit 3011 stores time information based on the operation performed on the screen for inquiring about the time.

[0127] Furthermore, the time information is not limited to information input by the operator, but may be information automatically generated by the shovel controller 30.

[0128] For example, the time information may be information estimated by the shovel controller 30 as the charging start time for each schedule based on performance information stored in the performance information storage unit 3012. Any method, including well-known methods, may be used to estimate the charging start time based on performance information. The shovel controller 30 then registers the time information estimated based on the performance information in the time information storage unit 3011. As a result, the shovel controller 30 performs temperature increase control of the battery 192 based on the estimated time information. In this case, the temperature of the battery 192 is automatically increased, taking into account past charging timings based on the performance information. This reduces the input burden on the operator and shortens the charging time of the battery 192.

[0129] Furthermore, automatic control of temperature rise may be performed based on schedule information managed by the management device 300. For example, the management device 300 generates schedule information including a work start time, a work end time, and a break time for each work day for each shovel 200 it manages. Then, the shovel controller 30 acquires the schedule information for that shovel 200 from the management device 300 using the communication device 70. Then, the shovel controller 30 may register the break start time for each work day indicated in the acquired schedule information in the time information storage unit 3011 as the charging start time. Next, the functional configuration of the shovel controller 30 will be described.

[0130] The acquisition unit 3001 acquires signals from various components within the shovel 200. For example, the acquisition unit 3001 acquires from the battery controller 191 the SOC of the battery 192, the temperature of the battery 192, a signal indicating whether or not the charging connector is connected, and the like.

[0131] The display control unit 3002 displays a screen on the output device 50 of the shovel 200. For example, the display control unit 3002 displays a setting screen for setting the charging start time. As another example, the display control unit 3002 displays a confirmation screen for asking whether or not to perform the temperature increase control when the determination unit 3004 described below determines that the conditions for performing the temperature increase control are met. Specific screens will be described later.

[0132] The operation receiving unit 3003 receives operations on the screen displayed by the display control unit 3002. For example, the operation receiving unit 3003 receives an operation on the setting screen to set a charging start time. Alternatively, the operation receiving unit 3003 receives an operation on the confirmation screen to determine whether or not to start temperature rise control.

[0133] In order to perform temperature increase control, the determination unit 3004 makes various determinations based on the signals acquired by the acquisition unit 3001. For example, the determination unit 3004 determines whether the temperature of the battery 192 is lower than the lower limit temperature T2. If the determination unit 3004 determines that the temperature of the battery 192 is higher than the lower limit temperature T2, it determines not to perform temperature increase control of the battery 192.

[0134] Furthermore, when determining that the temperature of battery 192 is lower than lower limit temperature T2, if time information indicating the charging start time is stored in time information storage unit 3011, determination unit 3004 calculates the start time of heating based on the time information, the current temperature of battery 192, lower limit temperature T2, and heating performance. Furthermore, determination unit 3004 determines whether the current time has reached the calculated start time of heating. If the current time has reached the start time of heating, it determines that the conditions for starting heating have been met.

[0135] Furthermore, when determining that the temperature of battery 192 is lower than lower limit temperature T2, determination unit 3004 may determine whether or not the condition for starting temperature increase is met based on the SOC of battery 192. For example, if the SOC at which charging of battery 192 starts is stored in the performance information stored in performance information storage unit 3012, determination unit 3004 determines that the condition for starting temperature increase is met when the difference between the current SOC of battery 192 and the SOC at which charging of battery 192 starts is within a predetermined range. Note that the predetermined range is determined depending on the embodiment.

[0136] The temperature rise control unit 3005 performs temperature rise control of the battery 192 in accordance with the determination result of the determination unit 3004, etc. The temperature rise control unit 3005 according to this embodiment performs temperature rise control of the battery 192 before the charging start time indicated by the time information stored in the time information storage unit 3011, when the battery 192 is lower than the lower limit temperature at which the battery 192 can be charged (an example of a predetermined temperature) while the shovel 200 is in operation. In this embodiment, the temperature rise control of the battery 192 is started before the charging start time indicated by the time information, and therefore the temperature of the battery 192 has already been raised at the charging start time indicated by the time information, thereby reducing the time required for charging of the battery 192 to be completed.

[0137] The temperature rise control unit 3005 according to this embodiment performs temperature rise control from the temperature rise start time calculated by the determination unit 3004. By performing the temperature rise control from the temperature rise start time, the temperature rise control unit 3005 can make the temperature of the battery 192 equal to or higher than the lower limit temperature T2 at which charging is possible (an example of a predetermined temperature) at the charging start time. Therefore, when the charging connector is connected to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101 at the charging start time, charging can start immediately. Therefore, since it is possible to suppress a temperature rise of the battery 192 after the charging connector is connected to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101, it is possible to shorten the time required to complete charging of the battery 192.

[0138] When the temperature of battery 192 detected by temperature sensor 193 reaches or exceeds the lower limit temperature at which charging is possible (an example of a predetermined temperature) due to temperature rise control, temperature rise control unit 3005 according to this embodiment controls the temperature of battery 192 to maintain the temperature at or above the lower limit temperature at which charging is possible (an example of a predetermined temperature) until the charging connector is connected to rapid charging vehicle inlet 102 or normal charging vehicle inlet 101. By temperature rise control unit 3005 performing control to maintain the temperature of battery 192 at or above the lower limit temperature at which charging is possible (an example of a predetermined temperature), charging can be started immediately when the charging connector is connected to rapid charging vehicle inlet 102 or normal charging vehicle inlet 101. This reduces the time until charging is completed.

[0139] The temperature rise control performed by the temperature rise control unit 3005 is realized by combining multiple types. The temperature rise control unit 3005 according to this embodiment controls to stop a cooling mechanism that cools the battery 192 when the cooling mechanism is operating. An example of the cooling mechanism that is stopped is the fan 90 provided in the cooling device 60 shown in FIG. 3. The cooling device 60 cools not only the battery module 19 including the battery 192, but also the pump motor 12. Therefore, the water pump 64 and fan 90 of the cooling device 60 may be operating to cool the pump motor 12 and the DC-DC converter 44 (an example of an operating unit) even if the temperature of the battery 192 is low.

[0140] Therefore, the temperature rise control unit 3005 according to the present embodiment performs control to stop the fan 90 when the fan 90 is driven. This suppresses cooling of the refrigerant circulating through the cooling device 60, thereby suppressing cooling of the battery 192. The temperature rise control unit 3005 may also control the water pump 64 to continue driving. This causes the temperature rise control unit 3005 to guide the refrigerant, which has been warmed by circulating through the pump motor 12, the DC-DC converter 44, and the like, to the battery module 19. This allows the battery 192 to be heated by the heat exhausted by the pump motor 12, the DC-DC converter 44, and the like. Note that, in this embodiment, an example will be described in which heat exhausted by the pump motor 12, the DC-DC converter 44, and the like is used; however, the source of the exhaust heat is not limited to the pump motor 12 and the DC-DC converter 44, and may be any electrical component that generates heat by operating while the excavator 200 is in operation.

[0141] Furthermore, the temperature rise control unit 3005 instructs the battery controller 191 (heating unit) to heat the battery 192 with the PTC heater 194.

[0142] In the above description, the temperature rise control unit 3005 according to the present embodiment raises the temperature of the battery 192 by combining the following: stopping the cooling control by the fan 90 provided in the cooling device 60; controlling the water pump 64 to guide exhaust heat from the pump motor 12 and the like to the battery 192; and controlling the temperature rise by the PTC heater 194. However, this embodiment is not limited to an example in which all of the above-described controls are performed; any one or more of the above-described controls may be performed. Furthermore, the above-described controls are not limiting as long as they are a method for raising the temperature of the battery 192; for example, other methods, such as guiding air from inside the cabin 10 to the battery 192, may be used. In this way, by raising the temperature of the battery 192 by any one or more of stopping the cooling control by the fan 90, controlling the water pump 64 to guide exhaust heat from the pump motor 12 and the like to the battery 192, and controlling the temperature rise by the PTC heater 194, the temperature of the battery 192 can be appropriately raised, thereby shortening the time required to complete charging of the battery 192.

[0143] The charging control unit 3006 performs charging control when a charging connector (charging member) is connected to the normal charging vehicle inlet 101 or the rapid charging vehicle inlet 102 and the temperature of the battery 192 is higher than the lower limit temperature T2 at which charging is possible.

[0144] [Explanation of the process corresponding to the display screen] Next, a description will be given of a display screen that the display control unit 3002 displays on the output device 50, along with processing when an operation is performed on the display screen. Fig. 5 is a diagram illustrating an example of a display screen that the display control unit 3002 displays according to this embodiment.

[0145] FIG. 5(A) shows an example of a setting screen displayed by the display control unit 3002 for setting the charging start time of the battery 192. In the setting screen example shown in FIG. 5(A), for example, the display control unit 3002 displays a pop-up screen 5011 on the normal display screen when the determination unit 3004 determines that the SOC has fallen to 35% or less. The pop-up screen 5011 shown in FIG. 5(A) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, the pop-up screen 5011 displays a "20 minutes later" button 5012, a "15 minutes later" button 5013, and a "within 10 minutes later" button 5014. Note that in this embodiment, the timing for displaying the setting screen for setting the charging start time is not limited to the timing when the SOC has fallen to 35% or less, but may be any timing when the SOC has reached a predetermined value. For example, the display control unit 3002 may perform display in multiple stages, such as displaying when the SOC becomes 50% or less and displaying when the SOC becomes 20% or less.

[0146] Then, the operation accepting unit 3003 accepts pressing of buttons 5012 to 5014 displayed on the pop-up screen 5011. For example, when the operation accepting unit 3003 accepts pressing of the "20 minutes later" button 5012, it stores the time obtained by adding 20 minutes to the current time as the charging start time in the time information storage unit 3011. As another example, when the operation accepting unit 3003 accepts pressing of the "15 minutes later" button 5013, it stores the time obtained by adding 15 minutes to the current time as the charging start time in the time information storage unit 3011. Furthermore, when the operation accepting unit 3003 accepts pressing of the "10 minutes later" button 5014, it stores the time obtained by adding 10 minutes to the current time as the charging start time in the time information storage unit 3011.

[0147] In this embodiment, the timing for displaying the setting screen for setting the charging start time is not limited to when the SOC of the battery 192 is used as a trigger. For example, the shovel controller 30 may be equipped with an AI (Artificial Intelligence) dialogue engine. The AI ​​dialogue engine may then ask the operator, "Will you start work in the afternoon as well?" or "When do you plan to start charging?" to receive input of the work schedule and charging start time. The AI ​​dialogue engine may register the received input charging start time in the time information storage unit 3011.

[0148] Furthermore, the timing for displaying the setting screen for setting the charging start time, as shown in FIG. 5(A), may be when the operator presses a predetermined button on the input device 52, or when a change in the work schedule is received from the management device 300, etc.

[0149] 5(B) shows an example of a confirmation screen for preparing to charge the battery 192 based on the SOC, which is displayed by the display control unit 3002. The preparation for charging shown in FIG. 5(B) indicates temperature increase control (warm-up) of the battery 192.

[0150] 5B is a screen in which the display control unit 3002 displays a pop-up screen 5021 on the normal display screen when the determination unit 3004 determines that the difference between the current SOC of the battery 192 and the SOC at which charging of the battery 192 starts is within a predetermined range. That is, if the current SOC of the battery 192 is 22% and 20% is set as the SOC at which charging of the battery 192 starts, the determination unit 3004 determines that the condition for starting temperature increase is met because the difference is within the predetermined range (2%), and the confirmation screen shown in FIG. 5B is displayed. In other words, a confirmation screen indicating whether or not to perform temperature increase control of the battery 192 is displayed at the timing for performing temperature increase control determined based on the SOC of the battery 192.

[0151] 5(B) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, the pop-up screen 5021 displays a "Yes" button 5022 and a "No" button 5023.

[0152] Then, the operation accepting unit 3003 accepts pressing of a "Yes" button 5022 or a "No" button 5023 displayed on the pop-up screen 5021. For example, when the operation accepting unit 3003 accepts pressing of the "Yes" button 5022, the temperature increase control unit 3005 starts temperature increase control of the battery 192. On the other hand, when the operation accepting unit 3003 accepts pressing of the "No" button 5022, the display control unit 3002 ends display of the pop-up screen 5021 without performing any particular control. In this way, temperature increase control of the battery 192 is started in accordance with the operation performed on the confirmation screen shown in FIG. 5(B).

[0153] That is, while the shovel 200 is operating, if the SOC of the battery 192 is lower than a predetermined charging rate (for example, 22%) and if the temperature of the battery 192 detected by the temperature sensor 193 is lower than the lower limit temperature T2 (predetermined temperature) at which the battery 192 can be charged, the confirmation screen shown in FIG. 5(B) is displayed. Then, if a confirmation operation is received from the operator on the confirmation screen, the temperature rise control unit 3005 performs temperature rise control of the battery 192. In this embodiment, if it is considered that charging will be performed soon based on the current SOC of the battery 192, by performing temperature rise control of the battery 192, it is possible to reduce a delay until charging of the battery 192 starts. This makes it possible to shorten the time until charging of the battery 192 is completed.

[0154] 5(C) shows an example of a confirmation screen for preparing to charge the battery 192 based on the temperature rise start time, which is displayed by the display control unit 3002. The charging preparation shown in FIG.

[0155] 5(C) is a screen in which the display control unit 3002 displays a pop-up screen 5031 on the normal display screen when the determination unit 3004 determines that the current time has reached the temperature increase start time. That is, the determination unit 3004 determines that if temperature increase control of the battery 192 is started from now, the temperature increase of the battery 192 will be completed at the charging start time, and therefore the confirmation screen shown in FIG.

[0156] 5(C) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, the pop-up screen 5031 displays a "Yes" button 5032 and a "No" button 5033.

[0157] Then, the operation accepting unit 3003 accepts pressing of a "Yes" button 5032 or a "No" button 5033 displayed on the pop-up screen 5031. For example, when the operation accepting unit 3003 accepts pressing of the "Yes" button 5032, the temperature increase control unit 3005 starts temperature increase control of the battery 192. On the other hand, when the operation accepting unit 3003 accepts pressing of the "No" button 5032, the display control unit 3002 ends display of the pop-up screen 5031 without performing any particular control.

[0158] However, when a break time arrives, charging of the battery 192 does not necessarily start immediately. Therefore, the temperature rise control unit 3005 according to this embodiment maintains the temperature of the battery 192 for a predetermined time only if the temperature of the battery 192 reaches the lowest chargeable temperature T2 at the charging start time. However, there are cases where the charging start time is changed. Therefore, the display control unit 3002 according to this embodiment displays the confirmation screen shown in FIG. 5(D).

[0159] Fig. 5(D) shows an example of a confirmation screen for maintaining temperature rise control, displayed by display control unit 3002. The confirmation screen example shown in Fig. 5(D) is a screen in which display control unit 3002 displays a pop-up screen 5041 on top of the normal display screen when determination unit 3004 determines that a predetermined time (e.g., 10 minutes) has elapsed since the charging start time. In other words, because the time that temperature rise control has been maintained has become longer, the confirmation screen shown in Fig. 5(D) is displayed to ask the operator whether or not to maintain the current state.

[0160] 5(D) displays the SOC of the battery 192 and the remaining operating time of the shovel 200. Furthermore, the pop-up screen 5041 displays a "Yes" button 5042 and a "No" button 5043.

[0161] Then, the operation accepting unit 3003 accepts pressing of a "Yes" button 5042 or a "No" button 5043 displayed on the pop-up screen 5041. For example, when the operation accepting unit 3003 accepts pressing of the "Yes" button 5042, the temperature rise control unit 3005 controls the battery 192 to maintain the current temperature. On the other hand, when the operation accepting unit 3003 accepts pressing of the "No" button 5042, the temperature rise control by the temperature rise control unit 3005 ends.

[0162] In this embodiment, the display is not limited to the pop-up screen described above, and other pop-up screens may be displayed. As a pop-up screen, for example, the display control unit 3002 may display a screen indicating that charging preparation (temperature increase control) of the battery 192 has started. As yet another example, when the temperature of the battery 192 reaches the lower limit temperature T2 at which charging is possible, the display control unit 3002 may display a screen indicating that charging preparation (temperature increase control) of the battery 192 has been completed. As yet another example, after completing the control to maintain the temperature of the battery 192, the display control unit 3002 may display a screen indicating that charging preparation of the battery 192 (control to maintain the temperature of the battery 192) has been completed.

[0163] In this embodiment, by displaying the screen group shown in FIG. 5, the shovel controller 30 can determine in advance whether or not it is appropriate to perform temperature increase control of the battery 192, and further whether or not it is appropriate to maintain the temperature increase control of the battery 192.

[0164] <Example of processing before starting charging of battery according to embodiment> Next, a process until the charging of the battery 192 by the shovel controller 30 according to this embodiment is started will be described.

[0165] Fig. 6 is a flowchart showing the processing up to the start of charging of the battery 192 by the shovel controller 30 according to this embodiment. The processing shown in Fig. 6 is a diagram showing a case where temperature increase control of the battery 192 is performed based on the charging start time. The example shown in Fig. 6 is an example where temperature increase control of the battery 192 is performed based on the time information stored in the time information storage unit 3011, and the temperature increase control of the battery 192 based on the SOC of the battery 192 is omitted.

[0166] First, the determination unit 3004 determines whether the temperature of the battery 192 is lower than the lower limit temperature T2 at which the battery 192 can be charged (S6001). If the determination unit 3004 determines that the temperature of the battery 192 is higher than the lower limit temperature T2 at which the battery 192 can be charged (S6001: No), it determines that temperature increase control of the battery 192 is not necessary and ends the process.

[0167] On the other hand, if the judgment unit 3004 determines that the temperature of the battery 192 is lower than the lower limit temperature T2 at which charging is possible (S6001: Yes), it calculates the start time of heating based on the time information indicating the charging start time, the current temperature of the battery 192, the lower limit temperature T2, and the heating performance (S6002).

[0168] The determination unit 3004 determines whether the current time has reached the temperature increase start time (S6003). If it is determined that the current time has not reached the temperature increase start time (S6003: No), the process of S6003 is performed again.

[0169] If the determination unit 3004 determines that the current time has reached the time to start heating (S6003: Yes), the display control unit 3002 displays a confirmation screen (e.g., Figure 5(C)) for preparing to charge the battery 192 (starting heating control) (S6004).

[0170] The operation reception unit 3003 determines whether or not an operation to permit charging preparation (pressing the "Yes" button 503 in FIG. 5C) has been received (S6005). If an operation to not permit charging preparation (pressing the "No" button 5033 in FIG. 5C) has been received (S6005: No), the process ends without performing temperature increase control of the battery 192. In this case, normal charging control of the battery 192 is performed.

[0171] On the other hand, if the operation receiving unit 3003 receives an operation to approve the charging preparation (pressing the "Yes" button 5032 in FIG. 5C) (S6005: Yes), the temperature rise control unit 3005 starts temperature rise control of the battery 192 (S6006).

[0172] Thereafter, the determination unit 3004 determines whether the temperature of the battery 192 is equal to or higher than the lower limit temperature T2 at which the battery 192 can be charged (S6007). If it is determined that the temperature of the battery 192 is lower than the lower limit temperature T2 at which the battery 192 can be charged (S6007: No), the temperature increase control is continued, and the process of S6007 is performed again.

[0173] On the other hand, if the determination unit 3004 determines that the temperature of the battery 192 is equal to or higher than the lower limit temperature T2 at which charging is possible (S6007: Yes), the determination unit 3004 determines whether or not charging of the battery 192 has started by connecting the charging connector to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101 (S6008). If it determines that charging of the battery 192 has started (S6008: Yes), it assumes that the battery will be charged thereafter and terminates the processing.

[0174] On the other hand, if the determination unit 3004 determines that the charging connector is not connected to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101 (S6008: No), the temperature rise control unit 3005 performs control to maintain the temperature of the battery 192 (S6009).

[0175] The determination unit 3004 determines whether a predetermined time has elapsed since the charging start time or after receiving an operation to continue maintenance control in S6012 (S6010). If the determination unit 3004 determines that the predetermined time has not elapsed since the charging start time (S6010: No), it performs the process again from S6008.

[0176] If the determination unit 3004 determines that a predetermined time has elapsed since the charging start time (S6010: Yes), the display control unit 3002 displays a confirmation screen (e.g., Figure 5(D)) indicating that the battery 192 will remain ready to be charged (the temperature of the battery 192 will be maintained) (S6011).

[0177] Then, the operation receiving unit 3003 determines whether or not an operation to continue the maintenance control (pressing the "Yes" button 5042 in FIG. 5D) has been received (S6012). If an operation to continue the maintenance control (pressing the "Yes" button 5042 in FIG. 5D) has been received (S6012: Yes), the process is repeated from S6008.

[0178] On the other hand, if the operation receiving unit 3003 receives an operation to end the maintenance control (pressing the "No" button 5043 in Figure 5 (D)) (S6012: No), the temperature rise control unit 3005 ends the control to maintain the temperature of the battery 192 (S6013) and ends all processing.

[0179] By using the processing procedure shown in FIG. 6 to raise the temperature of the battery 192 when the temperature of the battery 192 is lower than the lowest temperature at which charging is possible, the time until charging of the battery 192 can be started can be shortened.

[0180] <effect> In the above-described embodiment, before charging of the battery 192 starts, if the temperature of the battery 192 is lower than the lowest temperature at which charging is possible, temperature increase control of the battery 192 is performed. This makes it possible to shorten the time from when the charging connector is connected to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101 until charging starts. In other words, in this embodiment, the time until charging of the battery 192 is completed can be shortened. Therefore, the shovel controller 30 according to this embodiment can improve convenience. Furthermore, the shovel controller 30 according to this embodiment can shorten the time until work starts, thereby improving work efficiency.

[0181] This is particularly effective when the battery 192 is rapidly charged in a situation where the chargeable time of the battery 192 is limited, and it is desired to further shorten the charging time of the battery 192.

[0182] In the above-described embodiment, an example has been described in which a confirmation screen is displayed before starting to heat the battery 192. In other words, when heating the battery 192 before connecting the charging connector to the rapid charging vehicle inlet 102 or the normal charging vehicle inlet 101, the battery 192 uses its own power to heat the battery 192, consuming power from the battery 192. For this reason, if there is time before the battery 192 is to be charged, it is desirable to suppress the temperature rise control. Therefore, the shovel controller 30 according to this embodiment displays a confirmation screen and accepts an operation as to whether or not to start the temperature rise control. This makes it possible to prevent charging of the battery 192 from not being started when the temperature rise control of the battery 192 is performed, thereby suppressing unnecessary power consumption of the battery 192.

[0183] 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]

[0184] 200 Shovel 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder 8 Arm Cylinder 9 Bucket cylinder 10 Cabins 19 Battery Module 191 Battery Controller 192 Battery 193 Temperature Sensor 194 PTC heater 30 Excavator Controller 50 Output Device 52 Input Device 70 Communication equipment 101 Normal charging vehicle inlet 102 Fast charging vehicle inlet 3001 Acquisition Department 3002 Display control unit 3003 Operation reception section 3004 Judgment section 3005 Temperature rise control unit 3006 Charging control unit 3011 Time information storage unit 3012 Performance information storage unit

Claims

1. An electric motor, a battery that supplies power to the electric motor; a charging port for supplying power to the battery; and a temperature increase control for the battery is performed when the temperature of the battery detected by the detection unit is lower than a predetermined temperature at which the battery can be charged before a charging member is connected to the charging port while the electric shovel is in operation. Electric shovel.

2. further comprising a storage unit for storing time information; If the battery temperature is lower than a predetermined temperature at which the battery can be charged while the electric shovel is in operation, the temperature increase control of the battery is performed before the time indicated by the time information. The electric shovel according to claim 1 .

3. The time information stored in the storage unit is information input from an input device or information received via a communication device. The electric shovel according to claim 2.

4. further comprising an achievement information storage unit that stores achievement information relating to the time when the electric shovel was operated or charged in the past, The time information stored in the storage unit is information generated based on the performance information. The electric shovel according to claim 2.

5. displaying a setting screen for setting a time to start charging the battery while the electric shovel is in operation; the time information stored in the storage unit is information determined based on an operation performed on the setting screen; The electric shovel according to claim 2.

6. The temperature rise control of the battery is configured so that the temperature of the battery detected by the detection unit becomes equal to or higher than the predetermined temperature at the time indicated by the time information. The electric shovel according to any one of claims 2 to 5.

7. the battery temperature control is performed when the charging rate of the battery is lower than a predetermined charging rate and when the temperature of the battery detected by the detection unit is lower than a predetermined temperature at which the battery can be charged while the electric shovel is in operation. The electric shovel according to claim 1 .

8. The temperature increase control of the battery includes at least one of stopping cooling control of the battery by a cooling mechanism, heating control by a heating unit provided near the battery, and control of guiding exhaust heat generated from an operating unit operating in the electric motor or the electric shovel to the battery. The electric shovel according to any one of claims 1 to 7.

9. displaying a confirmation screen indicating whether or not to perform the temperature increase control of the battery at a timing when the temperature increase control of the battery is to be performed; The temperature increase control of the battery is started in accordance with an operation performed on the confirmation screen. The electric shovel according to any one of claims 1 to 8.

10. When the temperature of the battery detected by the detection unit reaches or exceeds the predetermined temperature due to the temperature increase control of the battery, the temperature of the battery is maintained at or above the predetermined temperature. The electric shovel according to any one of claims 1 to 9.

11. A computer mounted on an electric shovel having an electric motor, a battery that supplies power to the electric motor, and a charging port that supplies power to the battery, performing temperature increase control of the battery when the temperature of the battery detected by a detection unit while the electric shovel is in operation and before a charging member is connected to the charging port is lower than a predetermined temperature at which the battery can be charged; A program to execute.

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