Work machine

Abstract

The present invention makes it possible to easily bring a battery to a proper temperature.　A work machine (1) comprises: a machine body (2); a battery (52) that is mounted on the machine body (2) and is capable of storing power; an electric appliance (E1) that is supplied with power from the battery (52); a temperature adjustment device (59) that is capable of adjusting the temperature of the battery (52) by using the power supplied from the battery (52); an input interface (15) that receives an operation input with respect to the temperature adjustment device (59); and a control device (61) that causes the temperature adjustment device (59) to perform the process of adjusting the temperature of the battery (52) by controlling the temperature adjustment device (59) on the basis of the operation input.

Description

Work machine

[0001] The present invention relates to a work machine such as a backhoe.

[0002] The electric shovel disclosed in Patent Document 1 has an electric motor, a battery that supplies power to the electric motor, a detection unit that detects the temperature of the battery, and a heating mechanism that heats the battery. While an external power source is connectable to charge the battery, when the temperature of the battery detected by the detection unit is lower than a first reference temperature, before starting to charge the battery with the external power source, the battery is heated by the heating mechanism using the power supplied from the external power source.

[0003] Japanese Patent Publication "JP-A-2023-117976"

[0004] In the electric shovel (work machine) of Patent Document 1, although the battery can be heated by the power supplied from an external power source to suppress a decrease in the efficiency of charging and discharging in a cold region, it does not consider working at a location away from the external power source.

[0005] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a work machine that can easily set the battery to an appropriate temperature. [[ID= / / ]]

[0006] A work machine according to an aspect of the present invention includes a machine body, a battery mounted on the machine body and capable of storing electric power, an electric device supplied with power from the battery, a temperature adjustment device capable of adjusting the temperature of the battery using the power supplied from the battery, an input interface that receives an operation input for the temperature adjustment device, and a control device that controls the temperature adjustment device to perform a temperature adjustment process of the battery based on the operation input.

[0007] [[ID= / / ]] According to the above work machine, the battery can be easily set to an appropriate temperature.

[0008] This is a schematic side view showing the work equipment. This is a block diagram explaining the work equipment. This is a diagram showing an example of an input screen. This is a diagram showing the relationship between battery temperature and heating device output in warm-up control. This is a diagram explaining an example of warm-up control. This is Figure 1 showing the relationship between battery temperature and heating device output in a modified warm-up control. This is a diagram showing another example of an input screen. This is Figure 2 showing the relationship between battery temperature and heating device output in a modified warm-up control. This is a diagram explaining another example of warm-up control. This is a diagram showing the relationship between ambient temperature and heating device output in warm-up control.

[0009] One embodiment of the present invention will be described below with reference to the drawings.

[0010] <About the implement 1> Figure 1 is a schematic side view showing implement 1 according to one embodiment of the present invention. Figure 1 shows a backhoe as implement 1. For this reason, the implement 1 will be described using a backhoe as an example, but implement 1 is not limited to a backhoe and may be a construction work vehicle such as a compact track loader, or an agricultural work vehicle such as a combine harvester or rice transplanter.

[0011] As shown in Figure 1, the work machine 1 is equipped with a machine body 2 (turntable). The machine body 2 supports various devices and equipment that the work machine 1 is equipped with. For example, the machine body 2 is equipped with a driver's seat 11 in which an operator sits, and a protective mechanism 12 that protects the driver's seat 11. Operating devices 13 are provided around the driver's seat 11.

[0012] The operating device 13 includes hardware-type operating members such as levers and switches. The operating members may directly operate each device and equipment provided by the work machine 1, or they may output operating signals to a control device 61, etc., which will be described later, and indirectly operate each device and equipment via the control device 61, etc.

[0013] The work machine 1 is equipped with an operating device 3. The operating device 3 is a device that is installed on the machine body 2 and is capable of being operated. The operating device 3 includes a traveling device 4 and / or a work device 5 installed on the machine body 2.

[0014] The traveling device 4 is a device that moves the machine body 2 when it is activated. The traveling device 4 supports the machine body 2 so that it can rotate around the pivot axis C. The traveling device 4 has a traveling frame 21 (track frame) and a traveling mechanism 22. The traveling frame 21 is a structure to which the traveling mechanism 22 is attached around the periphery and which supports the machine body 2 on top. The traveling frame 21 supports the machine body 2 around the pivot axis C via a pivot bearing 23.

[0015] The running mechanism 22 is a mechanism that, when activated, imparts thrust to the machine body 2. The running mechanism 22 is, for example, a crawler-type running mechanism. The running mechanism 22 is provided on the left and right sides of the running frame 21, respectively. Note that the running mechanism 22 is not limited to a crawler-type running mechanism, but may also be a tire-type running mechanism, and its structure is not particularly limited.

[0016] The working device 5 is a device that performs work by being activated. The working device 5 has a boom 32, an arm 33, and a working tool 34. The boom 32 and the arm 33 are members that support the working tool 34. The base end of the boom 32 is pivotally attached to a swing bracket 31 so as to be rotatable around a horizontal axis. The swing bracket 31 is provided so as to be rotatable around a vertical axis relative to the machine body 2. The arm 33 is pivotally attached to the tip end of the boom 32 so as to be rotatable around a horizontal axis. The arm 33 supports the working tool 34 at its tip end.

[0017] The work tool 34 is a device used for performing work. The work tool 34 is pivotally attached to the tip of the arm 33 so as to be rotatable around a horizontal axis. Examples of work tools 34 include buckets, breakers, crushers, angle brooms, earth augers, pallet forks, sweepers, mowers, and snow blowers.

[0018] Furthermore, the work device 5 may also include a dozer device 35. The dozer device 35 is pivotally attached to the traveling device 4 so as to be rotatable around a horizontal axis.

[0019] The aforementioned operating device 3 is merely an example and is not particularly limited. Furthermore, the work machine 1 moves using the traveling device 4, rotates the machine body 2 around the pivot axis C, and performs work using the work device 5. In other words, the machine body 2, which is supported by the traveling device 4 around the pivot axis C, can also be considered the work device 5 or a part thereof.

[0020] Figure 2 is a block diagram illustrating the work machine 1. As shown in Figure 2, the work machine 1 is equipped with a battery 52. ​​In this embodiment, the work machine 1 is an electric work machine driven by power supplied from the battery 52. ​​The battery 52 is mounted on the machine body 2 and is capable of storing electricity. The battery 52 is a secondary battery (storage battery) such as a lithium-ion battery that discharges (outputs) the stored electricity. The battery 52 has a plurality of cells inside, and these plurality of cells are electrically connected in series and / or parallel.

[0021] The number of batteries 52 provided by the work machine 1 is not particularly limited; the work machine 1 only needs to have one or more batteries 52. If the work machine 1 has multiple batteries 52, the multiple batteries 52 may be connected in series or in series, or they may be configured to allow switching between a battery 52 that is being discharged (discharged battery) and a battery 52 that is being charged (charged battery).

[0022] As shown in Figure 2, the work machine 1 is equipped with electrical equipment E1 that is powered by a battery 52. ​​Electrical equipment E1 is equipment that can be powered and operated by power supplied directly or indirectly from the battery 52. ​​Electrical equipment E1 includes, for example, an electric actuator 51 that is driven by power supplied from the battery 52.

[0023] As shown in Figure 2, the work machine 1 is equipped with an electric actuator 51. The electric actuator 51 generates power to operate the actuator 3. The electric actuator 51 is a drive source that operates using electricity supplied from the battery 52. ​​The electric actuator 51 directly or indirectly operates the actuator 3 with the power it generates. Examples of the electric actuator 51 include an electric motor 51A and an electric cylinder.

[0024] In this embodiment, the electrical equipment E1 includes an electric motor 51A as an electric actuator 51. The electric motor 51A is driven by power supplied from a battery 52. ​​For example, the electric motor 51A supplies power to the hydraulic pump 42. As shown in Figure 2, the work machine 1 includes a hydraulic oil tank 41, a hydraulic pump 42, a control valve 43, and a hydraulic actuator 45. The hydraulic pump 42 is a pump that discharges hydraulic oil. The hydraulic pump 42 is operated by the power generated by the electric actuator 51 to draw in the hydraulic oil stored in the hydraulic oil tank 41 and discharge the hydraulic oil to the control valve 43.

[0025] The control valve 43 controls (adjusts) the flow rate of the hydraulic fluid that operates the hydraulic actuator 45. For example, the control valve 43 controls the flow rate of the hydraulic fluid output from the hydraulic pump 42 to the hydraulic actuator 45.

[0026] The control valve 43 has one or more control valves 44 corresponding to the hydraulic actuator 45. The control valves 44 adjust the flow rate of the hydraulic fluid that operates the hydraulic actuator 45 by changing the position of the spool in response to the operation of the operating device 13. The position of the spool of the control valves 44 is changed by pilot oil supplied from an operating valve that is directly operated by an operating member 13a included in the operating device 13, or by pilot oil supplied from a solenoid valve that is electrically operated by the operation of the operating member 13a.

[0027] The hydraulic actuator 45 is driven by the hydraulic fluid discharged by the hydraulic pump 42. Examples of hydraulic actuators 45 include hydraulic motors and hydraulic cylinders. The operating equipment 3 (traveling device 4, working device 5) is operated by the drive of the hydraulic actuator 45.

[0028] In this embodiment, the work machine 1 includes, as hydraulic actuators 45, a travel motor 45a that drives the travel mechanism 22, a slewing motor 45b that rotates the machine body 2 around the slewing axis C, a swing cylinder 45c that rotates the swing bracket 31 around the vertical axis, a boom cylinder 45d that rotates the boom 32 around the horizontal axis, an arm cylinder 45e that rotates the arm 33 around the horizontal axis, a work tool cylinder 45f that rotates the work tool 34 around the horizontal axis, and a dozer cylinder 45g that rotates the dozer around the horizontal axis. The travel motor 45a and the slewing motor 45b are hydraulic motors. The swing cylinder 45c, boom cylinder 45d, arm cylinder 45e, work tool cylinder 45f, and dozer cylinder 45g are hydraulic cylinders.

[0029] The hydraulic actuator 45 provided in the work machine 1 is merely an example and is not limited thereto. Furthermore, the electric actuator 51 may directly operate the operating device 3; in such a case, the aforementioned hydraulic actuators 45 can be replaced with the electric actuator 51. In this case, each motor and cylinder may be replaced with an electric motor or electric cylinder, etc. For example, the travel motor 45a and the slewing motor 45b may be replaced with electric motors. The swing cylinder 45c, boom cylinder 45d, arm cylinder 45e, work tool cylinder 45f, and dozer cylinder 45g may be replaced with electric cylinders.

[0030] Furthermore, the electrical equipment E1 may include other devices besides the electric actuator 51 (electric motor 51A). For example, examples of electrical equipment E1 include the control device 61, air conditioning system, various electrical components, and various lamps, which will be described later. Unlike the electric actuator 51, these electrical devices E1 may be powered via a low-voltage battery 53 that stores power supplied from the battery 52. ​​The low-voltage battery 53 is a storage battery with a lower voltage than the battery 52.

[0031] As shown in Figure 2, the work machine 1 is equipped with a junction box 54, an inverter 55, a DC / DC converter 56, and a charger 57, etc. The junction box 54 is electrically connected to other electrical components. For example, the junction box 54 is electrically connected to the battery 52, inverter 55, DC / DC converter 56, and charger 57. The junction box 54 has an electrical circuit and a relay, etc., that can change the connection state of the electrical circuit.

[0032] The inverter 55 converts the DC power input from the battery 52 via the junction box 54 into three-phase AC power and supplies the three-phase AC power to the electric actuator 51. The inverter 55 is controlled by the control device 61, and the frequency, voltage, and current of the power supplied to the electric actuator 51 can be arbitrarily adjusted. The inverter 55 is electrically operated by a rotary operating member 13b included in the operating device 13.

[0033] The DC / DC converter 56 is a voltage converter that converts the voltage of the DC power input from the battery 52 via the junction box 54 to a different voltage. The DC / DC converter 56 is a step-down converter that converts the high voltage of the battery 52 to a predetermined low voltage corresponding to the electrical equipment E1 installed in the work machine 1. After voltage conversion, the DC / DC converter 56 supplies power to the low-voltage battery 53.

[0034] The charger 57 is electrically connected to the charging port 58 and junction box 54 provided on the work machine 1. A charging cable is connected to the charging port 58, and an external power source (commercial power, etc.) is connected via the charging cable. The charger 57 converts the three-phase AC power input from the external power source via the charging cable and charging port 58 into DC power, and supplies the DC power to the junction box 54. The charger 57 has a rectifier that converts the three-phase AC power into DC power, and an electronic circuit that adjusts the current and voltage of the DC power supplied to the junction box 54. The electronic circuit is composed of, for example, switching elements, diodes, resistors, and electrolytic capacitors.

[0035] <Regarding the control system of the work machine 1> As shown in Figure 2, the work machine 1 is equipped with a control device 61. The work machine 1 is also equipped with a storage device 62.

[0036] The control device 61 includes one or more processors. The control device 61 is a controller for the work machine 1 and performs various controls related to the work machine 1. The control device 61 is connected to each device and equipment mounted on the work machine 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. The control device 61 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The control device 61 can read software programs from one or more memories using one or more processors and execute various processes based on those software programs. The control device 61 may also execute various processes based on predetermined logic circuits using one or more processors.

[0037] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0038] The control device 61 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers physically separated from the work machine 1, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0039] Furthermore, the software program may be stored in a storage device 62 that is communicatively connected to the control device 61, or in an external server device connected via the network, and then installed into the memory from there.

[0040] The storage device 62 stores various information and data related to the work machine 1 in a read-write manner. The storage device 62 includes non-volatile memory such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 62 is connected to the control device 61 in a communication manner, and the control device 61 can acquire various information and data stored in the storage device 62 and control various devices and equipment based on that information.

[0041] The control by the control device 61 can, for example, control the electric motor 51A (electric actuator 51). As shown in Figure 2, the work machine 1 is equipped with a starting device 14 that can accept operations. The starting device 14 accepts operations to start and stop the electric motor 51A. For example, the starting device 14 is a key switch (starter switch) that is located inside the protective mechanism 12 and can be operated by an operator seated in the driver's seat 11.

[0042] The control device 61 controls the starting and stopping of the electric motor 51A in response to the operation received by the starting device 14. When the starting device 14 is turned ON (start operation), the control device 61 starts the electric motor 51A in response to the start operation. The control device 61 controls the battery 52, junction box 54, inverter 55, etc., to start the supply of power from the battery 52 to the electric motor 51A, thereby starting the electric motor 51A.

[0043] The control device 61 starts the electric motor 51A and controls the inverter 55 based on the operation signal output from the rotational operating member 13b and various information stored in the storage device 62. As a result, the inverter 55 adjusts the frequency and voltage of the power supplied to the electric actuator 51 as needed to control the rotation speed of the electric motor 51A.

[0044] In addition, the control device 61 starts each part provided in the working machine 1 other than the electric motor 51A in response to the start operation.

[0045] When the start operation tool 14 is turned off (stopped), the control device 61 stops the electric motor 51A in response to the stop operation. The control device 61 controls the battery 52, the junction box 54, the inverter 55, etc., cuts off (stops) the power supply from the battery 52 to the electric motor 51A, and stops the electric motor 51A. At this time, the control device 61 stops each electric device E1 provided in the working machine 1 other than the electric motor 51A in response to the stop operation.

[0046] Further, the control device 61 can control each device and equipment based on each information and data acquired from various detection devices, sensors, etc. provided in the working machine 1. As shown in FIG. 2, the working machine 1 includes a battery monitoring device 63 (BMU: battery management unit). The battery monitoring devices 63 are provided in the corresponding batteries 52, respectively. Note that the battery monitoring devices 63 may be built in the corresponding batteries 52, or may be installed outside the batteries 52.

[0047] The battery monitoring device 63 detects (monitors) the state of the battery 52. The battery monitoring device 63 can detect the temperature of the battery 52. Further, the battery monitoring device 63 detects the voltage, current, or terminal voltage of the internal cells of the battery 52, etc. Furthermore, the battery monitoring device 63 may detect the remaining capacity (charge rate) of the battery 52 by a voltage measurement method based on the terminal voltage of the internal cells of the battery 52.

[0048] The control device 61 may limit the output of the power supplied from the discharging battery according to the temperature and remaining capacity of the battery 52. For example, the control device 61 limits the power output by the discharging battery when the temperature of the battery 52 is less than a predetermined first limit threshold. Also, the control device 61 may limit the power output by the discharging battery when the temperature of the battery 52 is equal to or higher than a predetermined second limit threshold.

[0049] The first and second limit thresholds are defined based on a predetermined operating temperature range. The operating temperature range refers to the temperature range (e.g., 0°C to 35°C) in which the battery 52 can perform normally (performance as specified). For example, the first limit threshold is defined as 0°C, and the second limit threshold is defined as 45°C. The first and second limit thresholds are predetermined values ​​stored in the storage device 62 and may be changed by a predetermined input interface 15, which will be described later.

[0050] The control device 61 directly limits the power output from the discharged battery or indirectly limits the power supplied from the discharged battery by restricting the operation of each electric actuator 51, etc., which are driven by the power output from the discharged battery, when the temperature of the battery 52 is below a first limit threshold or above a second limit threshold. For example, the control device 61 limits the upper limit threshold (upper rotational speed) of the rotational speed of the electric motor 51A. Regardless of the operation signal output from the rotational operation member 13b, the control device 61 corrects the instruction signal output to the inverter 55 and limits the rotational speed of the electric motor 51A to below the upper limit rotational speed.

[0051] Furthermore, the restrictions imposed by the control device 61 are not limited to the upper limit of the rotational speed of the electric motor 51A; the control device 61 may also restrict the operation of the operating equipment 3 (traveling device 4 and / or working device 5). For example, in the second restriction control, the control device 61 restricts the operation of the traveling device 4 among the operating equipment 3. As shown in Figure 2, if each control valve 44 of the control valve 43 is operated by pilot oil from the operating valve, it is sufficient to restrict the pilot oil supplied to the operating valve corresponding to the working device 5.

[0052] For example, an electromagnetic proportional valve (unload valve) is provided in the oil passage (pilot oil passage) connecting the operating valve and the control valve 44, and the control device 61 controls the unload valve to switch from a position that supplies pilot oil to the operating valve (supply position) to a position that cuts off the supply (unload position, cut-off position). Also, when each control valve 44 is operated by pilot oil from the electromagnetic valve, the control device 61 can limit the operation of the control valve 44 by correcting the instruction current output to the electromagnetic valve, regardless of the operation signal output from the operating member 13a.

[0053] As shown in Figure 2, the work machine 1 is equipped with an input interface 15. The input interface 15 accepts various types of information and data for operation. The input interface 15 accepts operation input of setting information (input information) by the operator, either directly or indirectly. The input interface 15 may be, for example, various switches, jog dials, keypads, etc., provided on or near the operating device 13, or it may be an input device provided on or near the display device 16. In this embodiment, the input interface 15 is the display device 16.

[0054] The display device 16 displays various types of information on its screen and accepts input operations for the information displayed on the screen. The display device 16 accepts input of various types of information settings or instructions when an operator performs a predetermined operation on the display device 16. The various types of information and data accepted by the display device 16 are output to the control device 61. The control device 61 uses the acquired information and data for various processes or stores it in the storage device 62. The control of the display device 16 screen is performed by the control device 61.

[0055] The display device 16 has various input devices such as switches and jog dials, and can be operated by these input devices. The display device 16 may also have a touch panel provided on the front of its screen as an input device, and the method of operation is not particularly limited.

[0056] Furthermore, the input interface 15 may indirectly accept operation input from an operator, and a communication device 17 that receives information transmitted from an external source can be exemplified. In such a case, the operator can arbitrarily input information using a mobile terminal (such as a smartphone or tablet), an operation terminal detachably attached to the work machine 1, or an operation terminal such as a remote control provided outside the work machine 1, and the communication device 17 receives the input information that has been input.

[0057] As shown in Figure 2, the work machine 1 is equipped with a communication device 17 in place of, or in addition to, the display device 16. The communication device 17 is a communication interface and includes a communication circuit. The communication device 17 wirelessly communicates with external mobile terminals, operating terminals, server devices, etc., using, for example, a mobile phone communication network, a data communication network, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series communication standard, or Wi-Fi® in the IEEE 802.11.n series communication standard. The communication device 17 communicates wirelessly with mobile terminals, etc., and receives various information, data, and signals.

[0058] <Regarding the temperature control process of the battery 52> As shown in Figure 2, the work machine 1 is equipped with a temperature control device 59. The temperature control device 59 can control the temperature of the battery 52 (temperature control process) using the power supplied from the battery 52. ​​The temperature control device 59 heats and / or cools the battery 52 by directly or indirectly exchanging heat with the battery 52. ​​In this way, the temperature control device 59 can perform the temperature control process of the battery 52.

[0059] The temperature control device 59 controls the start and end of the temperature control process for the battery 52 based on instruction signals output from the control device 61. The temperature control device 59 may also control its output (the amount of heat generated to warm the battery 52, or the cooling capacity to cool the battery 52) based on instruction signals output from the control device 61. In this embodiment, the temperature control device 59 operates using power supplied from the low-voltage battery 53. The temperature control device 59 is located outside or inside the battery 52.

[0060] In this embodiment, the temperature control device 59 is a heating device 59A that warms up the battery 52 as a temperature control process. The heating device 59A is supplied with power from the battery 52 and is capable of heating the battery 52. ​​The heating device 59A has a heating element 60a1, such as a sheath heater, which is attached inside or outside the housing of the battery 52. ​​The heating device 59A can heat the inside of the housing of the battery 52 and / or the air inside the battery 52 by directly exchanging heat with the air inside the housing of the battery 52 using the heat generated by the heating element 60a1. For this reason, the control device 61 can control the start and end of heating by the heating device 59A, as well as the amount of heat generated by the heating element 60a1 (output of the heating device 59A), by controlling the current supplied to the heating element 60a1.

[0061] The heating device 59A is not limited to the example described above, and other heating devices 59A may be used. For example, a device that heats the battery 52 using a heat transfer medium such as water may be used as the heating device 59A. In such a case, the heating device 59A has a medium circulation path through which the heat transfer medium circulates, a pump that circulates the heat transfer medium in the medium circulation path, and a heating element such as a PTC (Positive Temperature Coefficient) heater that heats the heat transfer medium. The medium circulation path is drawn into or outside the housing of the battery 52, and the heat transfer medium circulating in the medium circulation path exchanges heat with the housing of the battery 52 or the air inside the battery 52, thereby heating (warming up) the battery 52. ​​In addition, an air conditioning system may also serve as part or all of the heating device 59A.

[0062] The input interface 15 receives operation inputs for the temperature control device 59. The control device 61 controls the temperature control device 59 to regulate the temperature of the battery 52 based on the operation inputs (input information) received by the input interface 15. For example, the input interface 15 receives operation inputs of time information. The control device 61 controls the temperature control device 59 based on the time information and performs the temperature regulation process.

[0063] For example, the control device 61 starts the temperature control process based on time information. The control device 61 may also terminate the temperature control process based on time information. In this embodiment, the control device 61 controls the start and end of heating of the battery 52 by controlling the heating device 59A during the temperature control process.

[0064] The time information is information relating to the time of the temperature control process. The time information is the required time for the temperature control process. For example, the time information is the required time from the start to the end of the temperature control process. The control device 61 controls the start and end of the temperature control process based on this required time.

[0065] Therefore, the time information in this embodiment is the time required from the start to the end of warming up the battery 52 by the heating device 59A. The control device 61 controls the start and end of warming up the battery 52 by the heating device 59A based on this required time.

[0066] In this embodiment, the display device 16, which is the input interface 15, displays a screen (input screen M1) that accepts input of time information (required time). When an operator performs a predetermined operation on the display device 16, the control device 61 causes the display device 16 to display the input screen M1. The control device 61 causes the display device 16 to display the input screen M1 based on a program or image information stored in the storage device 62.

[0067] Figure 3 shows an example of an input screen M1. The input screen M1 has a time input unit 71. The time input unit 71 accepts input of time information. The time input unit 71 may accept input of any time as the required time, or it may present multiple required times as candidates and accept input of selection of the required time from among the candidates. In the example shown in Figure 3, the time input unit 71 presents multiple required times as candidates, in increments of 30 minutes.

[0068] Furthermore, a lower limit and / or upper limit may be defined for the required time that the time input unit 71 accepts as input. For example, the lower limit for the required time that the time input unit 71 can accept is 30 minutes, and the upper limit for the required time is 3 hours.

[0069] Furthermore, the time input unit 71 only needs to be able to accept input of the required time, and the method of input is not particularly limited.

[0070] As shown in Figure 3, the input screen M1 has a selection input unit 72. The selection input unit 72 accepts input operations to enable (ON) or disable (OFF) the temperature control process. In this embodiment, the selection input unit 72 accepts an operation to select either enable or disable the warm-up control.

[0071] The input screen M1 has a confirmation button 73 that accepts confirmation of information received from the time input unit 71 and the selection input unit 72. When an operator operates the display device 16 to input various types of information into the time input unit 71 and the selection input unit 72 and operates the confirmation button 73, the display device 16 outputs the input information received from the input screen M1 (required time and whether the temperature control process is enabled or disabled) to the control device 61. As a result, the control device 61 can acquire the input information entered into the input screen M1. The control device 61 stores (stores) the acquired input information in memory or storage device 62.

[0072] In the above explanation, the case where the display device 16 displays the input screen M1 was described. However, if the input interface 15 is a communication device 17, a mobile terminal or the like displays a screen similar to the input screen M1, and the mobile terminal transmits the input information received from the input screen M1 to the work machine 1. The control device 61 only needs to acquire the input information via the communication device 17.

[0073] The control device 61 controls the start and end of the temperature control process according to the required time (time information) and the operating status of the electric motor 51A. When the electric motor 51A is running, the control device 61 restricts the temperature control process based on the time information, and when the electric motor 51A is stopped, it allows the temperature control process based on the time information.

[0074] In other words, the control device 61 restricts the temperature control processing based on time information when the starting device 14 receives a start operation for the electric motor 51A and the electric motor 51A is running. On the other hand, the control device 61 allows the temperature control processing based on time information when the starting device 14 receives a stop operation for the electric motor 51A and the electric motor 51A is stopped.

[0075] The control device 61 starts the temperature control process when the input interface 15 receives input of the required time and the starting device 14 receives an operation to stop the electric motor 51A. For example, the control device 61 starts the temperature control process when the display device 16 receives input information (required time and activation of the temperature control process) and the starting device 14 is stopped.

[0076] The control device 61 measures the elapsed time since the start of the temperature control process using an internal timer or the like. When the required time has elapsed or the control device 61 receives a start operation for the electric motor 51A, it terminates the temperature control process. For this reason, if the start operation of the starter 14 has not been performed and the required time has elapsed, the control device 61 controls the heating device 59A to stop heating the battery 52 and terminates the temperature control process. Also, if the required time has not elapsed and the start operation of the starter 14 has been performed, the control device 61 controls the heating device 59A to stop heating the battery 52 and terminates the temperature control process.

[0077] Therefore, the operator only needs to input the time required from the start of the temperature control process (stopping the start operating device 14) until the start of work with the work machine 1 into the input interface 15. For example, if the operator transports the work machine 1 by another transport vehicle (such as a truck), the operator only needs to input the travel time required from moving the work machine 1 onto the transport vehicle to the work area using the transport vehicle into the input interface 15 as the required time.

[0078] Furthermore, once the temperature control process for the battery 52 is completed, the control device 61 switches the temperature control process to disabled. At this time, the storage device 62 retains the time required when the time input unit 71 receives input. As a result, even after the temperature control process has been executed, the control device 61 can refer to the time required stored in the storage device 62 and display the time input unit 71 with the time previously entered.

[0079] The control device 61 may control the temperature control device 59 (heating device 59A) so that the temperature of the battery 52 detected by the battery monitoring device 63 falls within a predetermined range. The predetermined range is defined as a range above a lower threshold and below an upper threshold. The predetermined range is defined based on the operating temperature range. For example, the lower threshold is defined as 0°C and the upper threshold is defined as 35°C. Note that the lower threshold and upper threshold do not have to match the lower and upper limits of the operating temperature range; the lower threshold may be 10°C or 15°C, and the upper threshold may be 25°C or 30°C.

[0080] The predetermined range may be defined based on a first limit threshold. For example, the lower limit threshold is defined as a value greater than or equal to the first limit threshold. The predetermined range may also be defined based on a second limit threshold. For example, the upper limit threshold is defined as a value less than the second limit threshold. Furthermore, the lower limit threshold and the upper limit threshold may be pre-stored in the storage device 62 and can be changed by a predetermined input interface 15.

[0081] Figure 4 shows the relationship between the temperature of the battery 52 and the output of the heating device 59A during the temperature control process. As shown in Figure 4, the control device 61 controls the heating device 59A to repeatedly heat the battery 52 and stop the heating, thereby maintaining the temperature of the battery 52 within a predetermined range. When the temperature of the battery 52 falls below a lower threshold, the control device 61 starts heating the battery 52 with the heating device 59A. When the temperature of the battery 52 rises above an upper threshold, the control device 61 controls the heating device 59A to stop (terminate) the heating of the battery 52. ​​At this time, the control device 61 may control only the heating and stopping of the heating device 59A and not control the output of the heating device 59A (the amount of heat generated by the heating element 60a1), or it may control the output.

[0082] Figure 5 is a diagram illustrating an example of the temperature control process. The series of processes shown in Figure 5 and Figure 9, which will be described later, are executed by the processor based on a software program pre-stored in the memory of the control device 61. First, the control device 61 determines whether or not the starter 14 has been stopped (S11). The control device 61 obtains the operation signal input from the starter 14 and determines whether or not the starter 14 has been stopped. If the control device 61 determines that the starter 14 has not been stopped (S11: No), it does not perform the temperature control process and terminates the series of processes.

[0083] When the control device 61 determines that the starting device 14 has been stopped (S11: Yes), it determines whether the temperature control process is enabled or not (S12). The control device 61 refers to the storage device 62 and checks via the input interface 15 whether the heating (warm-up) of the battery 52 by the heating device 59A is enabled. When the control device 61 determines that the temperature control process is disabled (S12: No), it terminates the series of processes.

[0084] If the control device 61 determines that the temperature control process is enabled (S12: Yes), it determines whether or not time information (required time) has been input (S13). The control device 61 refers to the storage device 62 and checks whether time information has been input via the input interface 15. If the control device 61 determines that time information has not been input (S13: No), it terminates the series of processes.

[0085] When the control device 61 determines that time information has been input (S13: Yes), it starts the temperature control process (S14). At this time, the control device 61 measures the elapsed time since the start of the temperature control process using an internal timer or the like. The control device 61 acquires the temperature of the battery 52 detected by the battery monitoring device 63 (S15). When the control device 61 acquires the temperature of the battery 52 (S15), it determines whether the temperature of the battery 52 is below a lower threshold (S16). The control device 61 refers to the lower threshold stored in the storage device 62 and determines whether the temperature of the battery 52 is below that lower threshold.

[0086] If the control device 61 determines that the temperature of the battery 52 is below the lower threshold (S16: Yes), it controls the heating device 59A to start heating the battery 52 (S17). If the control device 61 determines that the temperature of the battery 52 is not below the lower threshold (S16: No), it determines whether the temperature of the battery 52 is above the upper threshold (S18). The control device 61 refers to the upper threshold stored in the storage device 62 and determines whether the temperature of the battery 52 is above the upper threshold.

[0087] When the control device 61 determines that the temperature of the battery 52 is above the upper threshold (S18: Yes), it controls the heating device 59A to stop (terminate) the heating of the battery 52 (S19).

[0088] The control device 61 determines whether the elapsed time has reached the required time when it starts heating the battery 52 with the heating device 59A (S17), when it determines that the temperature of the battery 52 is not above the upper limit threshold (S18: No), and when it stops heating the battery 52 with the heating device 59A (S19).

[0089] When the control device 61 determines that the elapsed time has reached the required time (S20: Yes), it controls the heating device 59A to stop (terminate) heating of the battery 52 (S21). As a result, the control device 61 terminates the temperature control process (S22). Once the temperature control process is terminated, the control device 61 resets the elapsed time that was being measured by the internal timer, etc., to zero.

[0090] On the other hand, if the control device 61 determines that the elapsed time has not reached the required time (S20: No), it determines whether or not the starting device 14 has been started (S23). The control device 61 receives the operation signal input from the starting device 14 and determines whether or not the starting device 14 has been stopped. If the control device 61 determines that the starting device 14 has not been started (S23: No), it returns to the process in S15. If the control device 61 determines that the starting device 14 has been started (S23: Yes), it controls the heating device 59A to stop (terminate) the heating of the battery 52 (S21). As a result, the control device 61 terminates the temperature control process (S22).

[0091] The sequence of temperature control processes described using Figure 5 is merely an example and is not limited thereto. For example, in the example shown in Figure 5, it is determined in S20 whether the elapsed time has reached the required time, and then in S23 whether the starting device 14 has been started. However, it is also possible to determine whether the starting device 14 has been started, and then determine whether the elapsed time has reached the required time.

[0092] Furthermore, in the above description, the control device 61 controlled the heating device 59A in the temperature control process so that the temperature of the battery 52 falls within a predetermined range defined by a lower threshold and an upper threshold. However, the temperature control process is not limited to this. For example, the control device 61 may control the heating device 59A so that the temperature of the battery 52 maintains a predetermined target temperature.

[0093] Figure 6 shows the relationship between the temperature of the battery 52 and the output of the heating device 59A in the temperature control process of a modified example. As shown in Figure 6, the control device 61 uses PID control to control the output of the heating device 59A to maintain the temperature of the battery 52 at a target temperature. The target temperature is defined, for example, based on the operating temperature range. For this reason, the target temperature is defined in the range of 0°C to 35°C, and in this embodiment, it is 20°C.

[0094] The target temperature is not limited to this and may be defined based on a first limiting threshold. For example, the target temperature may be defined as a value greater than or equal to the first limiting threshold. Alternatively, the target temperature may be defined based on a second limiting threshold. For example, the target temperature may be defined as a value less than the second limiting threshold. Furthermore, the target temperature may be pre-stored in the storage device 62 and can be changed by a predetermined input interface 15.

[0095] <Regarding variations in time information> In the embodiment described above, the case where the time information is the time required from the start to the end of the temperature control process was explained, but the time information is not particularly limited. For example, the time information that the input interface 15 accepts may be termination information indicating the end timing of the temperature control process. The control device 61 controls the termination of the temperature control process based on this termination information.

[0096] Examples of termination information include the end time of the temperature control process or the time remaining until the temperature control process is completed (for example, the time indicating how many minutes until the temperature control process is completed; also called the end time). If the termination information is the end time, the control device 61 controls the start and end of the temperature control process based on that end time. When a predetermined time before the end time (start time) arrives, the control device 61 controls the heating device 59A to start the temperature control process (warm-up) of the battery 52.

[0097] The predetermined time is a predefined time (set time), which is defined as, for example, one hour. The set time is defined based on the time required to raise the temperature of the battery 52 from a predetermined temperature outside the operating temperature range (e.g., -20°C) to a predetermined temperature within the operating temperature range (e.g., upper threshold).

[0098] The set time is a predetermined value stored in the storage device 62 and may be changeable by a predetermined input interface 15. The control device 61 may also calculate the heating time required to bring the battery 52 to a predetermined temperature at the end time based on the battery 52 or the ambient temperature, and define this heating time as the set time.

[0099] Furthermore, if the termination information is the termination time, the control device 61 may, for example, start the temperature control process in response to the operator's operation, and then control the termination of the temperature control process based on the said termination time.

[0100] Therefore, if the completion information is the completion time, the worker can set the completion time based on, for example, the scheduled time to start work using the work machine 1, or the scheduled time of arrival at the work site by other transport vehicles, etc., and input it into the input interface 15.

[0101] Furthermore, if the end information is the end time, the worker can set the end time based on the time until the scheduled start time of work by the work machine 1, or the time until the scheduled arrival time at the work site by other transport vehicles, etc., and input it into the input interface 15. Below, the temperature control process using the end information will be explained using the case where the end information is the end time as an example.

[0102] In this embodiment, the display device 16, which is the input interface 15, displays a screen (input screen M1) that accepts input of time information (completion information). When an operator performs a predetermined operation on the display device 16, the control device 61 causes the display device 16 to display the input screen M1. The control device 61 causes the display device 16 to display the input screen M1 based on a program or image information stored in the storage device 62.

[0103] Figure 7 shows another example of the input screen M1. The input screen M1 has a time input unit 74. The time input unit 74 accepts input of time information (end time). The time input unit 74 may accept input of any time as the end time, or it may present multiple times as candidates and accept input of selection of the candidate time. In addition, the time input unit 74 may accept input of a date in addition to the time as the end time. In the example shown in Figure 7, the time input unit 74 presents multiple end times as candidates, with end times in 30-minute increments.

[0104] The time input unit 74 only needs to be able to accept input of the end time, and the method of input is not particularly limited.

[0105] When an operator operates the display device 16 to input various information into the time input unit 74 and the selection input unit 72, and then operates the confirmation button 73, the display device 16 outputs the input information received on the input screen M1 (end time and whether the temperature control process is enabled or disabled) to the control device 61.

[0106] The control device 61 controls the start and end of the temperature control process according to the operating status of the electric motor 51A, in addition to the end time (time information). Figure 8 is a diagram showing the relationship between the temperature of the battery 52 and the output of the heating device 59A in the temperature control process of a modified example. As shown in Figure 8, when the input interface 15 receives input of the end time and the start operation tool 14 receives an operation to stop the electric motor 51A, the control device 61 waits until a predetermined time before the end time (start time) arrives. The control device 61 measures the current time using an internal timer or the like. When the start time arrives, the control device 61 starts the temperature control process.

[0107] The control device 61 terminates the temperature control process when the end time is reached or when it receives a start operation for the electric motor 51A. For this reason, if the start operation of the starter 14 has not been performed and the current time is the end time, the control device 61 controls the heating device 59A to stop heating the battery 52 and terminates the temperature control process. Also, if the start operation of the starter 14 is performed before the end time, the control device 61 controls the heating device 59A to stop heating the battery 52 and terminates the temperature control process. Accordingly, the control device 61 performs the temperature control process from a predetermined time before the end time until the end time or until it receives a start operation for the electric motor 51A.

[0108] Figure 9 illustrates another example of the temperature control process. First, the control device 61 determines whether or not the starting device 14 has been stopped (S31). If the control device 61 determines that the starting device 14 has not been stopped (S31: No), it does not perform the temperature control process and terminates the series of processes.

[0109] When the control device 61 determines that the starting device 14 has been stopped (S31: Yes), it determines whether the temperature control process is effective or not (S32). When the control device 61 determines that the temperature control process is ineffective (S32: No), it terminates the series of processes.

[0110] If the control device 61 determines that the temperature control process is enabled (S32: Yes), it determines whether or not time information has been input (S33). The control device 61 refers to the storage device 62 and checks whether time information has been input via the input interface 15. If the control device 61 determines that time information has not been input (S33: No), it terminates the series of processes.

[0111] When the control device 61 determines that time information has been input (S33: Yes), it determines whether the start time has arrived or not (S34). The control device 61 refers to the storage device 62 and, based on the end time and predetermined time stored in the storage device 62, determines whether the start time, which is a predetermined time before the end time, has arrived or not.

[0112] When the control device 61 determines that the start time has arrived (S34: Yes), it starts the temperature control process (S35). The control device 61 obtains the temperature of the battery 52 detected by the battery monitoring device 63 (S36). When the control device 61 obtains the temperature of the battery 52 (S36), it determines whether the temperature of the battery 52 is below a lower threshold (S37).

[0113] If the control device 61 determines that the temperature of the battery 52 is below the lower threshold (S37: Yes), it controls the heating device 59A to start heating the battery 52 (S38). If the control device 61 determines that the temperature of the battery 52 is not below the lower threshold (S37: No), it determines whether the temperature of the battery 52 is above the upper threshold (S39).

[0114] When the control device 61 determines that the temperature of the battery 52 is above the upper threshold (S39: Yes), it controls the heating device 59A to stop (terminate) heating of the battery 52 (S40).

[0115] The control device 61 determines whether the end time has arrived (S41) when it starts heating the battery 52 with the heating device 59A (S38), when it determines that the temperature of the battery 52 is not above the upper threshold (S39: No), and when it stops heating the battery 52 with the heating device 59A (S40).

[0116] If the control device 61 determines that the end time has arrived (S41: Yes), it controls the heating device 59A to stop (terminate) the heating of the battery 52 (S42). As a result, the control device 61 terminates the temperature control process (S43). On the other hand, if the control device 61 determines that the end time has not arrived (S41: No), it determines whether or not the starting device 14 has been started (S44). If the control device 61 determines that the starting device 14 has not been started (S44: No), it returns to the process in S36. If the control device 61 determines that the starting device 14 has been started (S44: Yes), it controls the heating device 59A to stop (terminate) the heating of the battery 52 (S42). As a result, the control device 61 terminates the temperature control process (S43).

[0117] The sequence of temperature control processes described using Figure 9 is merely an example and is not limited thereto. For example, in the example shown in Figure 9, it is determined in S41 whether the end time has arrived and then in S44 whether the starting device 14 has been started. However, it is also possible to determine whether the starting device 14 has been started and then determine whether the end time has arrived.

[0118] <Output control based on ambient temperature> The control device 61 may acquire the ambient temperature (outside temperature) around the machine body 2 and control the output of the temperature control device 59 based on the ambient temperature. In this embodiment, the control device 61 controls the output of the heating device 59A (the amount of heat generated by the heating element 60a1). As shown in Figure 2, the work machine 1 is equipped with a temperature sensor 64. The temperature sensor 64 detects the ambient temperature around the machine body 2. The temperature sensor 64 may be, for example, a thermocouple that changes its resistance value in accordance with temperature changes. The temperature sensor 64 is placed in a location that is less susceptible to the effects of heat generated by the electric motor 51A, battery 52, heating device 59A, etc. (for example, the roof of the protective mechanism 12). The temperature sensor 64 is connected to the control device 61 via wired or wireless communication and outputs the detection result (resistance value indicating ambient temperature) to the control device 61. The control device 61 can calculate the ambient temperature (outside temperature) around the aircraft 2 based on the detection result output from the temperature sensor 64 and calculation formulas pre-stored in the storage device 62.

[0119] The control device 61 changes the output of the temperature control device 59 (heating device 59A) according to the temperature detected by the temperature sensor 64. For example, the control device 61 increases the output of the heating device 59A as the ambient temperature decreases. The control device 61 controls the current supplied to the heating element 60a1 as the ambient temperature decreases, thereby increasing the amount of heat generated by the heating element 60a1. Also, the control device 61 decreases the output of the heating device 59A as the ambient temperature increases. The control device 61 controls the current supplied to the heating element 60a1 as the ambient temperature increases, thereby decreasing the amount of heat generated by the heating element 60a1. The control device 61 changes the output of the heating device 59A based on a predetermined control map stored in the storage device 62, for example.

[0120] Figure 10 is a diagram showing the relationship between ambient temperature and the output of the heating device 59A during the temperature control process. In Figure 10, the horizontal axis represents ambient temperature, and the vertical axis represents the output of the heating device 59A (heat generation amount of the heating element 60a1). In the example shown by the solid line in Figure 10, the control device 61 changes the output of the heating device 59A to increase in stages as the ambient temperature decreases. The control device 61 changes the output of the heating device 59A to decrease in stages as the ambient temperature increases.

[0121] In the example shown by the solid line in Figure 10, when the ambient temperature is below the first threshold, the control device 61 controls the output of the heating device 59A to the first output (high mode). When the ambient temperature is above the first threshold but below the second threshold which is higher than the first threshold, the control device 61 controls the output of the heating device 59A to the second output which is lower than the first output (medium mode). When the ambient temperature is above the second threshold, the control device 61 controls the output of the heating device 59A to the third output which is lower than the second output (low mode).

[0122] The first to third thresholds are defined, for example, based on the operating temperature range. For example, the first threshold is defined as -20°C, the second threshold as -10°C, and the third threshold as 0°C. The first to third thresholds are predetermined values ​​stored in the storage device 62 and may be changeable by a predetermined input interface 15.

[0123] Note that the example shown by the solid line in Figure 10 is merely one example and is not limited thereto. For example, in the example shown by the solid line in Figure 10, the control device 61 changes the output of the heating device 59A in three stages according to the ambient temperature, but the number is not limited to three stages. Also, as shown in the example shown by the dashed line in Figure 10, the control device 61 may change the output of the heating device 59A to increase continuously as the ambient temperature decreases. For example, the control device 61 may change the output of the heating device 59A to increase proportionally as the ambient temperature decreases (see the dashed line in Figure 10). Alternatively, the control device 61 may change the output of the heating device 59A to increase gradually and then rapidly as the ambient temperature decreases (see the double-dashed line in Figure 10), or it may change the output of the heating device 59A to increase rapidly and then gradually.

[0124] <Regarding the control of the temperature control device 59 when an abnormality is detected> The control device 61 may also control the start and end of the temperature control process regardless of time information or the start operation of the start operation tool 14. For example, the control device 61 may control the start and end of the temperature control process based on the acceleration and attitude of the aircraft 2.

[0125] As shown in Figure 2, the work machine 1 is equipped with a state detection device 65. The state detection device 65 can detect at least one of the acceleration and attitude of the machine body 2. The state detection device 65 is, for example, an inertial measurement unit (IMU). The state detection device 65 has an acceleration sensor to detect acceleration, a gyro sensor to detect angular velocity, etc. The state detection device 65 is connected to the control device 61 via wired or wireless communication and outputs the detection results (acceleration, angular velocity, etc.) to the control device 61. The control device 61 can calculate the attitude (roll angle, pitch angle, yaw angle) and movement (acceleration) of the machine body 2 based on the detection results output from the state detection device 65 and calculation formulas etc. that are pre-stored in the storage device 62.

[0126] If the control device 61 detects an abnormality based on the detection result detected by the state detection device 65, it terminates the temperature control process. In this embodiment, if the control device 61 detects an abnormality while performing the temperature control process, it terminates (stops) the heating of the battery 52 by the heating device 59A and terminates (stops) the temperature control process (warm-up).

[0127] For example, the control device 61 detects an abnormality if the acceleration and attitude of the machine body 2 detected by the state detection device 65 are abnormal (not appropriate). The control device 61 also detects an abnormality if the acceleration fluctuates rapidly or if the attitude of the machine body 2 (roll angle or pitch angle) exceeds a first abnormal value. The first abnormal value is, for example, 30° and is defined based on an inclination angle that is not appropriate when the work machine 1 is normally driven.

[0128] The first abnormal value is a predetermined value pre-stored in the storage device 62, and may be changeable by a predetermined input interface 15.

[0129] Furthermore, if the control device 61 detects an abnormality, it may resume the temperature control process that was stopped once the abnormality is resolved. In such a case, if the control device 61 was executing the temperature control process based on the required time as time information, when it detects an abnormality and stops the temperature control process, it stores (retains) the elapsed time in memory or the like. Therefore, once the detected abnormality is resolved, the control device 61 resumes the temperature control process based on the elapsed time stored in memory or the like.

[0130] As shown in Figure 2, the work machine 1 may terminate the temperature control process if it detects an abnormality based on the detection result of the temperature sensor 64, either in addition to or in addition to the detection result of the state detection device 65. For example, the control device 61 detects an abnormality if the ambient temperature detected by the temperature sensor 64 is abnormal (not appropriate). The control device 61 also detects an abnormality if the ambient temperature exceeds a second abnormal value. The second abnormal value is, for example, 80°C, and is defined based on a temperature that is not appropriate when the work machine 1 is normally operated. The second abnormal value is a predetermined value stored in the storage device 62 and may be changeable by a predetermined input interface 15.

[0131] <Modifications of the Temperature Control Device 59> In the above-described embodiment, the case in which the temperature control device 59 is a heating device 59A was explained as an example, but the temperature control device 59 is not limited to a heating device 59A. For example, the temperature control device 59 may be a cooling device 59B that cools the battery 52 as a temperature control process. That is, the control device 61 may, in addition to or instead of warming up the battery 52 using the heating device 59A, perform cooling of the battery 52 using the cooling device 59B as a temperature control process.

[0132] The cooling device 59B is powered by the battery 52 and is capable of cooling the battery 52. ​​The cooling device 59B includes a medium circulation path 60b1 (cooling circulation path) through which a refrigerant (e.g., cooling water) circulates, a pump 60b2 (cooling pump) that circulates the refrigerant in the cooling circulation path 60b1, and a heat exchanger 60b3 that cools (removes heat from) the refrigerant. The cooling circulation path 60b1 connects the battery 52, the cooling pump 60b2, and the heat exchanger 60b3, allowing refrigerant to flow from the heat exchanger 60b3 to the battery 52 and from the battery 52 to the heat exchanger 60b3. The heat exchanger 60b3 includes a radiator and a radiator fan. The cooling pump 60b2 and the heat exchanger 60b3 are powered by electricity supplied from the battery 52.

[0133] Therefore, the cooling device 59B can directly exchange heat with the air inside the battery 52 housing and / or the battery 52 using the refrigerant cooled by the heat exchanger 60b3, thereby cooling (removing heat) the inside of the housing. For this reason, the control device 61 can control the start and end of cooling by the cooling device 59B by controlling the current supplied to the heat exchanger 60b3 (radiator fan) and the cooling pump 60b2. The control device 61 can control the cooling capacity of the heat exchanger 60b3 (output of the cooling device 59B) by controlling the current supplied to the heat exchanger 60b3 (radiator fan).

[0134] In Figure 2, for the sake of explanation, the cooling circulation path 60b1 is shown as a path connecting the battery 52, the cooling pump 60b2, and the heat exchanger 60b3. However, the cooling device 59B may also cool other electrical equipment E1, and its path is not particularly limited and may be connected to other electrical equipment E1 as well.

[0135] Furthermore, the cooling device 59B is not limited to the examples described above, and other cooling devices 59B may be used. For example, the cooling device 59B may be a cooling fan provided on the housing of the battery 52. ​​Also, the air conditioning system may serve as part or all of the cooling device 59B.

[0136] Even when the temperature control device 59 is a cooling device 59B, the control device 61 controls the temperature control device 59 (cooling device 59B) to regulate the temperature of the battery 52 based on the operation input (input information) received by the input interface 15. For example, in this modified example, the control device 61 controls the start and end of cooling of the battery 52 by controlling the cooling device 59B based on time information during the temperature control process. In such a case, the time information can be exemplified by the time required from the start to the end of cooling of the battery 52 by the cooling device 59B. Based on this required time, the control device 61 controls the start and end of cooling of the battery 52 by the cooling device 59B.

[0137] Furthermore, the time information may also be termination information indicating the end timing of the temperature control process. If the termination information is the termination time, the control device 61 controls the cooling device 59B to start the temperature control process (cooling) of the battery 52 when a predetermined time before the termination time (start time) arrives.

[0138] Furthermore, the control device 61 may control the temperature control device 59 (cooling device 59B) based on the temperature of the battery 52 detected by the battery monitoring device 63 so that the temperature is within a predetermined range. That is, similar to the temperature control process using the heating device 59A, in the temperature control process using the cooling device 59B, the control device 61 may control the cooling device 59B to repeatedly perform cooling of the battery 52 by the cooling device 59B and stopping said cooling, thereby maintaining the temperature of the battery 52 within a predetermined range. Alternatively, the control device 61 may control the cooling device 59B so that the temperature of the battery 52 maintains a predetermined target temperature.

[0139] Furthermore, the control device 61 may change the output of the temperature control device 59 (cooling device 59B) according to the temperature detected by the temperature sensor 64. For example, the control device 61 increases the output of the cooling device 59B as the ambient temperature rises. The control device 61 controls the current supplied to the heat exchanger 60b3 (radiator fan) as the ambient temperature rises to improve the cooling capacity of the heat exchanger 60b3. Also, the control device 61 decreases the cooling capacity of the heat exchanger 60b3 as the ambient temperature falls. The control device 61 controls the current supplied to the heat exchanger 60b3 (radiator fan) as the ambient temperature rises to decrease the cooling capacity of the heat exchanger 60b3. The control device 61 changes the cooling capacity of the heat exchanger 60b3 based on a predetermined control map stored in the storage device 62, for example.

[0140] In this modified example, the control device 61 may also terminate the temperature control process if it detects an abnormality based on the detection result detected by the state detection device 65 and / or the detection result detected by the temperature sensor 64. In this modified example, if the control device 61 detects an abnormality while performing the temperature control process, it terminates (stops) the cooling of the battery 52 by the cooling device 59B and terminates (stops) the temperature control process (cooling).

[0141] (Other variations) In the above-described embodiment, the case in which the battery 52 is directly mounted on the aircraft body 2 was explained, but the battery 52 only needs to be able to supply power to the electric actuator 51. For this reason, the battery 52 does not have to be directly mounted on the aircraft body 2. For example, the battery 52 may be mounted on a cargo bed connected to the aircraft body 2 or on another vehicle.

[0142] Furthermore, although the above-described embodiment explains the case in which the work machine 1 is operated by an operating device 13 provided on the machine body 2, the invention is not limited to this, and the work machine 1 may be operated by a remote control device located at a remote location, or it may operate autonomously based on information about the work machine 1 and the surrounding environment.

[0143] Furthermore, although the above-described embodiment explained a case in which the control device 61 changes the output of the temperature control device 59 according to the ambient temperature, the control device 61 may control the temperature control device 59 based on different predetermined ranges (lower threshold and / or upper threshold) depending on the ambient temperature during the temperature control process. The control device 61 controls the temperature control device 59 based on a lower threshold and / or upper threshold that is higher when the ambient temperature is a second temperature, which is lower than the first temperature, compared to when the ambient temperature is a predetermined first temperature.

[0144] For example, the control device 61 corrects the lower threshold and / or upper threshold according to the ambient temperature. In this case, the control device 61 corrects the lower threshold and / or upper threshold to a continuously or stepwise higher as the ambient temperature decreases. For example, the storage device 62 stores a first correction map showing the relationship between ambient temperature and correction values, and the control device 61 refers to the first correction map, obtains a correction value corresponding to the ambient temperature detected by the temperature sensor 64, and corrects the lower threshold and / or upper threshold.

[0145] Similarly, the control device 61 may control the heating device 59A in the temperature control process based on different target temperatures depending on the ambient temperature. The control device 61 controls the temperature control device 59 based on a higher target temperature when the ambient temperature is a second temperature, which is lower than the first temperature, compared to when the ambient temperature is a predetermined first temperature.

[0146] For example, the control device 61 corrects the target temperature according to the ambient temperature. In this case, the control device 61 corrects the target temperature to be continuously or gradually higher as the ambient temperature decreases. For example, the storage device 62 stores a second correction map showing the relationship between the ambient temperature and the correction value, and the control device 61 refers to the second correction map, obtains a correction value corresponding to the ambient temperature detected by the temperature sensor 64, and corrects the target temperature.

[0147] Furthermore, the control device 61 may correct the required time according to the ambient temperature. For example, if the temperature control device 59 is a heating device 59A, the control device 61 corrects the required time to be longer as the ambient temperature decreases. That is, the control device 61 corrects the required time to be longer when the ambient temperature is a second temperature, which is lower than the first temperature, compared to when the ambient temperature is a predetermined first temperature. If the temperature control device 59 is a cooling device 59B, the control device 61 corrects the required time to be longer as the ambient temperature increases. That is, the control device 61 corrects the required time to be longer when the ambient temperature is a predetermined first temperature than when the ambient temperature is a second temperature, which is lower than the first temperature. The storage device 62 stores a third correction map showing the relationship between ambient temperature and correction value, and the control device 61 refers to the third correction map, obtains a correction value corresponding to the ambient temperature detected by the temperature sensor 64, and corrects the required time for which the input interface 15 has received input.

[0148] Furthermore, the control device 61 may correct a predetermined time (set time) according to the ambient temperature. For example, if the temperature control device 59 is a heating device 59A, the control device 61 corrects the predetermined time to be longer as the ambient temperature decreases. That is, the control device 61 corrects the predetermined time to be longer when the ambient temperature is a second temperature, which is lower than the first temperature, compared to when the ambient temperature is a predetermined first temperature. If the temperature control device 59 is a cooling device 59B, the control device 61 corrects the predetermined time to be longer as the ambient temperature increases. That is, the control device 61 corrects the predetermined time to be longer when the ambient temperature is a predetermined first temperature than when the ambient temperature is a second temperature, which is lower than the first temperature. For example, the storage device 62 stores a fourth correction map showing the relationship between ambient temperature and a correction value, and the control device 61 refers to the fourth correction map, obtains a correction value corresponding to the ambient temperature detected by the temperature sensor 64, and corrects a predetermined time that has been stored in the storage device 62 in advance.

[0149] A preferred embodiment of the present invention provides a work machine 1 as described in the following items.

[0150] (Item 1) A work machine 1 comprising: a machine body 2; a battery 52 mounted on the machine body 2 and capable of storing electricity; an electrical device E1 supplied with power from the battery 52; a temperature control device 59 capable of controlling the temperature of the battery 52 using the power supplied from the battery 52; an input interface 15 that receives operation inputs for the temperature control device 59; and a control device 61 that controls the temperature control device 59 based on the operation inputs to perform temperature control processing of the battery 52.

[0151] According to the work machine 1 described in item 1, the temperature control device 59 can adjust the temperature of the battery 52 using the power of the battery 52 in response to the operator's input. Therefore, the work machine 1 allows the operator to easily bring the battery 52 to the appropriate temperature, and the electrical equipment E1 can operate using the power supplied from the battery 52 in the appropriate state.

[0152] (Item 2) The work machine 1 according to Item 1, wherein the input interface 15 receives time information as an input, and the control device 61 controls the temperature control device 59 based on the time information to perform the temperature control process.

[0153] According to the work machine 1 related to item 2, the temperature control device 59 can adjust the temperature of the battery 52 using the power of the battery 52 according to time information. Therefore, the work machine 1 can easily bring the battery 52 to the appropriate temperature when starting work, and the electrical equipment E1 can operate with the power supplied from the battery 52 in the appropriate state.

[0154] (Item 3) The work machine 1 according to Item 1 or 2, wherein the temperature control device 59 is a heating device 59A that warms up the battery 52 as the temperature control process.

[0155] According to the work machine 1 related to item 3, the heating device 59A can heat the battery 52 using the power of the battery 52 in response to the operator's input. Therefore, the work machine 1 can be easily heated to the appropriate temperature by the operator, and the electrical equipment E1 can be operated with the power supplied from the battery 52 in the appropriate temperature.

[0156] (Item 4) The work machine 1 according to item 1 or 2, wherein the temperature control device 59 is a cooling device 59B that cools the battery 52 as the temperature control process.

[0157] According to the work machine 1 related to item 4, the heating device 59A can cool the battery 52 using the power of the battery 52 in response to the operator's input. Therefore, the work machine 1 can be easily brought to the appropriate temperature by the operator cooling the battery 52 at their discretion, and the electrical equipment E1 can be operated with the power supplied from the battery 52 in the appropriate state.

[0158] (Item 5) A work machine 1 according to any one of Items 2 to 4, comprising a starting device 14 capable of receiving operations, the electrical equipment E1 including an electric motor 51A driven by power supplied from the battery 52, and the control device 61 controlling the starting and stopping of the electric motor 51A in accordance with the operation received by the starting device 14, restricting the temperature control processing based on the time information when the electric motor 51A is running, and allowing the temperature control processing based on the time information when the electric motor 51A is stopped.

[0159] According to the work machine 1 related to item 5, when the electric motor 51A is driven by power from the battery 52, it is possible to suppress the execution of temperature control processing based on time information. This makes it possible to avoid wasting power from the battery 52.

[0160] (Item 6) The time information is the required time for the temperature control process, and the control device 61 controls the start and end of the temperature control process based on the required time, as described in any one of Items 2 to 5.

[0161] According to the work machine 1 related to item 6, the operator can easily bring the battery 52 to the appropriate temperature simply by manually inputting the required time using the input interface 15.

[0162] (Item 7) The time information that the input interface 15 receives is termination information indicating the timing of the end of the temperature control process, and the control device 61 controls the end of the temperature control process based on the termination information, according to the work machine 1 described in any one of items 2 to 5.

[0163] According to the work machine 1 related to item 7, the operator can easily bring the battery 52 to the appropriate temperature simply by entering the completion time into the input interface 15.

[0164] (Item 8) The work machine 1 according to any one of items 1 to 7, comprising a battery monitoring device 63 capable of detecting the temperature of the battery 52, wherein the control device 61 controls the temperature control device 59 so that the temperature of the battery 52 is within a predetermined range based on the temperature of the battery 52 detected by the battery monitoring device 63.

[0165] According to the work machine 1 described in item 8, the temperature control device 59 can maintain the temperature of the battery 52 within a predetermined range. Therefore, the work machine 1 can easily bring the battery 52 to the appropriate temperature when starting work.

[0166] (Item 9) The work machine 1 according to any one of items 1 to 8, comprising a temperature sensor 64 for detecting the temperature around the machine body 2, wherein the control device 61 changes the output of the temperature control device 59 according to the temperature detected by the temperature sensor 64.

[0167] According to the work machine 1 related to item 9, the temperature control device 59 changes its output according to the ambient temperature, thereby suppressing the wasteful use of power from the battery 52. ​​In addition, the temperature control device 59 can bring the battery 52 to an appropriate temperature in an appropriate amount of time according to the ambient temperature.

[0168] (Item 10) The work machine 1 according to any one of items 1 to 9, comprising a state detection device 65 that detects the state of at least one of the acceleration and attitude of the machine body 2, wherein the control device 61 terminates the temperature control process when it detects an abnormality based on the detection result detected by the state detection device 65.

[0169] According to the work machine 1 related to item 10, when an abnormality is detected, the temperature control device 59 can avoid continuing the temperature control process of the battery 52.

[0170] Having described the present invention above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than the foregoing description, and all modifications within the meaning and scope of equivalents of the claims are intended to be included.

[0171] 1: Work machine 2: Machine body (turntable) 14: Starting device 15: Input interface 51A: Electric motor 52: Battery 59: Temperature control device 59A: Heating device 59B: Cooling device 61: Control device 63: Battery monitoring device 64: Temperature sensor 65: Status detection device E1: Electrical equipment

Claims

1. A work machine comprising: a machine body; a battery mounted on the machine body and capable of storing electricity; an electrical device supplied with power from the battery; a temperature control device capable of controlling the temperature of the battery using the power supplied from the battery; an input interface for receiving operation inputs for the temperature control device; and a control device that controls the temperature control device based on the operation inputs to perform temperature control processing for the battery.

2. The work machine according to claim 1, wherein the input interface receives time information as an operational input, and the control device controls the temperature control device based on the time information and causes the temperature control process to be performed.

3. The work machine according to claim 1, wherein the temperature control device is a heating device that warms up the battery as the temperature control process.

4. The work machine according to claim 1, wherein the temperature control device is a cooling device that performs the temperature control process by cooling the battery.

5. The work machine according to claim 2, comprising a starting device capable of receiving operations, wherein the electrical equipment includes an electric motor driven by power supplied from the battery, the control device controls the starting and stopping of the electric motor in accordance with operations received by the starting device, restricts the temperature control processing based on the time information when the electric motor is running, and allows the temperature control processing based on the time information when the electric motor is stopped.

6. The work machine according to claim 2, wherein the time information is the required time for the temperature control process, and the control device controls the start and end of the temperature control process based on the required time.

7. The work machine according to claim 2, wherein the time information that the input interface receives is termination information indicating the timing of the end of the temperature control process, and the control device controls the end of the temperature control process based on the termination information.

8. The work machine according to any one of claims 1 to 7, comprising a battery monitoring device capable of detecting the temperature of the battery, wherein the control device controls the temperature control device so that the temperature of the battery detected by the battery monitoring device falls within a predetermined range.

9. The work machine according to any one of claims 1 to 7, comprising a temperature sensor for detecting the temperature around the machine body, wherein the control device changes the output of the temperature control device according to the temperature detected by the temperature sensor.

10. The work machine according to any one of claims 1 to 7, comprising a state detection device for detecting at least one of the acceleration and attitude states of the machine, wherein the control device terminates the temperature control process when it detects an abnormality based on the detection result detected by the state detection device.

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