WO2023135921A1 - Dispositif de transport et machine de construction - Google Patents

Dispositif de transport et machine de construction Download PDF

Info

Publication number
WO2023135921A1
WO2023135921A1 PCT/JP2022/042351 JP2022042351W WO2023135921A1 WO 2023135921 A1 WO2023135921 A1 WO 2023135921A1 JP 2022042351 W JP2022042351 W JP 2022042351W WO 2023135921 A1 WO2023135921 A1 WO 2023135921A1
Authority
WO
WIPO (PCT)
Prior art keywords
supply port
hydrogen
control device
traveling
turning
Prior art date
Application number
PCT/JP2022/042351
Other languages
English (en)
Japanese (ja)
Inventor
関口政一
森本秀敏
小幡博志
Original Assignee
日本国土開発株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本国土開発株式会社 filed Critical 日本国土開発株式会社
Publication of WO2023135921A1 publication Critical patent/WO2023135921A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/84—Casings, cabinets or frameworks; Trolleys or like movable supports
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives

Definitions

  • the present invention relates to a carrier device and a construction machine, and to a carrier device and a construction machine that facilitate fuel supply to the construction machine.
  • patent document 1 discloses that the position of construction machines working in mountainous areas, the remaining amount of fuel, etc. are detected, and fuel such as light oil is supplied by tank trucks.
  • Patent Document 1 does not disclose the positioning of the construction machine and the tank truck, and there were cases where the construction machine and the tank truck could not be properly positioned when fuel was supplied to the construction machine. .
  • a second object of the present invention is to provide a construction machine capable of positioning a fuel tank at an appropriate position by turning a turning device.
  • a conveying device includes a base portion movable by a first moving device, a fuel supply portion provided on the base portion for supplying fuel, and a supply port of the device to which the fuel is supplied. a changing device for changing the size of the first moving device when moving with the first moving device.
  • a construction machine includes a fuel tank storing fuel for running a traveling device, a main device traveling by the traveling device, a turning device capable of turning the main device, and a a work device that is connected and moves to perform work; a detection device that is provided in the main body device and detects the surrounding situation of the main body device; and a control device for positioning the fuel tank in the turning direction.
  • the changing device changes the size of the first moving device when moving toward the supply port of the device to which fuel is supplied, so that the fuel can be properly positioned with respect to the supply port of the device. It is possible to realize a transport device that can According to the second aspect of the invention, the control device positions the fuel tank in the turning direction by turning the turning device based on the detection result of the detecting device, so that the fuel tank can be positioned at an appropriate position.
  • FIG. 1 is a schematic diagram of a hydraulic excavator representing the present embodiment
  • FIG. 4(a) is a view of the hydraulic excavator 100 viewed from the back
  • FIGS. 4(b) and 4(c) are views showing the transport device 1.
  • FIG. It is the figure seen from the back.
  • FIG. 5(a) shows a state in which the carrier device cannot enter inside a pair of crawler belts of the hydraulic excavator, and FIG. It shows how the conveying device is entering inside the pair of crawler belts.
  • FIG. 10 is a diagram showing how the base portion of the carrier device cannot get over the crawler belt of the hydraulic excavator;
  • FIG. 5 is a diagram showing a state in which the base portion of the carrier device is getting over the crawler belt of the hydraulic excavator; 4 is a flowchart executed by a heavy equipment control device; 4 is a flow chart executed by a control device;
  • the carrier device 1 that supplies hydrogen to a hydraulic excavator 100 that excavates at a civil engineering site.
  • the vertical direction is defined as the Z direction
  • the biaxial directions orthogonal to each other in the horizontal plane are defined as the X direction and the Y direction.
  • FIG. 1 is a schematic diagram of a conveying device 1 representing the present embodiment
  • FIG. 1(a) is a top view
  • FIG. 1(b) is a side view
  • FIG. 1(c) is a rear view
  • FIG. 2 is a block diagram of main parts of the conveying device 1 and the hydraulic excavator 100 of this embodiment.
  • the conveying apparatus 1 of this embodiment is of an automatic operation type or a remote operation type without a driver's seat.
  • the transport device 1 includes a traveling device 10, a base unit 20, a hydrogen filling device 30, an imaging device 55, a first GNSS 65 (Global Navigation Satellite System), a first communication device 66, a first memory 67, a control a device 70;
  • GNSS 65 Global Navigation Satellite System
  • the traveling device 10 moves the conveying device 1, and has driving wheels 11, driven wheels 12, crawler belts 13, and supports .
  • the travel device 10 also includes a travel motor 15 , a central frame 16 , a pair of side frames 17 , a pair of link mechanisms 18 , and a coupler 19 .
  • the travel device 10 can be detached from the base portion 20 by a coupler 19 (details will be described later).
  • one driving wheel 11 and two driven wheels 12 form a triangular shape.
  • a plurality of driven wheels smaller than the two driven wheels 12 are provided between the two driven wheels 12 .
  • the crawler belt 13 is wound around one drive wheel 11 and two driven wheels 12 .
  • the support 14 rotatably supports the drive wheel 11 and the driven wheel 12 . Since there are four triangular crawler belt-type traveling bodies in the present embodiment, the conveying device 1 can travel stably even on rough terrain.
  • the traveling device 10 an endless track in which crawler belts are wound around the front wheels and the rear wheels may be used.
  • the traveling motor 15 (see FIG. 2) is provided on the rear side of the driving wheels 11 and employs an in-wheel motor that transmits the driving force to the driving wheels 11 .
  • the rotating shaft of the in-wheel motor is connected to the rotating shaft of the driving wheel 11 , and the rotating driving force of the in-wheel motor rotates the driving wheel 11 , thereby transmitting the driving force to the crawler belt 13 .
  • a motor different from the in-wheel motor may be employed as the traveling motor 15 .
  • the center frame 16 is a frame positioned between two drive wheels 11 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18 .
  • the central frame 16 is provided with a coupler 19 for connecting with the base portion 20 on its upper surface.
  • a pair of side frames 17 are frames connected to the respective drive wheels 11 via bearings (not shown).
  • the pair of link mechanisms 18 has a Z-shape or an inverted Z-shape, and includes a pair of connection members 18a connected at one end to the pair of side frames 17 and at the other end to the central frame 16, and at one end to the center frame 16. It has an actuator 18b connected to the connection member 18a on the side of the central frame 16 and having the other end connected to the connection member 18a on the side frame 17 side. It should be noted that two pairs of connection members 18a are provided spaced apart in the Z direction.
  • the actuator 18b is provided at an angle, and expands and contracts to drive the pair of side frames 17 in the Z direction and the Y direction.
  • Actuator 18b moves drive wheel 11, driven wheel 12, and crawler belt 13 in the Z and Y directions via a pair of side frames 17. As shown in FIG. Thereby, the travel device 10 can change the size in the Z direction and the Y direction.
  • a hydraulic jack or an electric jack can be used as the actuator 18b, but the actuator 18b is not limited to this.
  • the coupler 19 has a V-shaped notch, and four are provided on the upper surface of the base portion 20, but it may be one, and the number can be set arbitrarily.
  • the coupler 19 connects the travel device 10 and the base portion 20 by engaging a pin (not shown) extending in the -Z direction provided on the lower surface of the base portion 20 and a V-shaped notch. ing. Further, the coupler 19 releases the connection between the travel device 10 and the base portion 20 by releasing the engagement with the pin.
  • the connection structure between the coupler 19 and the pin is disclosed, for example, in Japanese Patent Application Laid-Open No. 2000-6856. Also, the attachment and detachment of the coupler 19 and the pin may be performed by an electromagnet.
  • the base part 20 is a rectangular member
  • the hydrogen filling device 30 is placed on the upper surface
  • the foldable legs 21 are provided on the lower surface.
  • the leg portion 21 is a member that allows the base portion 20 to stand on its own before and after attachment/detachment to/from the travel device 10 .
  • two legs 21 are provided on the base 20, but the number can be set arbitrarily.
  • the shape of the base portion 20 is not limited to a rectangular shape, and may be an arbitrary shape such as an elliptical shape.
  • the base portion 20 can change its position in the Z direction by driving the actuator 18b.
  • the hydrogen filling device 30 is provided on the ⁇ X side, which is the traveling direction of the conveying device 1 .
  • one end side ( ⁇ X side) of the base portion 20 is closer to the central frame 16 side ( ⁇ X side) than the other end side (+X side) of the base portion 20 so that the hydrogen filling device 30 can approach the hydraulic excavator 100 . side).
  • the hydrogen filling device 30 supplies hydrogen to the hydraulic excavator 100, which is a construction machine.
  • the hydrogen filling device 30 has a pressure accumulator 31 , a temperature controller 32 and a hydrogen dispenser 40 .
  • the pressure accumulator 31 and the temperature control unit 32 are connected by a hydrogen supply pipe 33
  • the temperature control unit 32 and the hydrogen dispenser 40 are connected by a hydrogen supply pipe 34.
  • the hydrogen supply pipe 33 is provided with a first valve 35 and the hydrogen supply pipe 34 is provided with a second valve 36 .
  • a vibration absorbing member such as anti-vibration rubber is provided between the base portion 20 and the hydrogen filling device 30. is preferably provided.
  • the pressure accumulator 31 is a container that stores hydrogen pressurized by a compressor (not shown) (for example, 45 MPa to 90 MPa).
  • the temperature control unit 32 cools the compressed hydrogen (gas) to about -40°C to -33°C using a refrigerant, for example, before it is supplied to the hydrogen dispenser 40 (details will be described later).
  • the hydrogen supply pipe 33 and the hydrogen supply pipe 34 are pipes for supplying pressurized hydrogen from the pressure accumulator 31 toward the hydrogen dispenser 40 .
  • the hydrogen supply pipe 33 is a pipe that connects the pressure accumulator 31 and the temperature control section 32 .
  • the hydrogen supply pipe 34 is a pipe that connects the temperature control section 32 and the hydrogen dispenser 40 .
  • the first valve 35 and the second valve 36 are valves that are opened and closed by the control device 70, and are valves that supply hydrogen to the hydrogen dispenser 40 or shut it off. Alternatively, the first valve 35 and the second valve 36 may be opened and closed by manual operation.
  • the hydrogen dispenser 40 supplies hydrogen to the hydraulic excavator 100.
  • the hydrogen dispenser 40 includes a flow meter 41, a temperature sensor 42, a pressure sensor 43, a three-way switching valve 44, a first nozzle 45, a second nozzle 46, a third nozzle 47, and a first driver 48. , a second drive unit 49, a third drive unit 50, and the like.
  • the flow meter 41 measures the flow rate of hydrogen flowing through the hydrogen supply pipe between the second valve 36 and the hydrogen dispenser 40 and outputs the measurement results to the control device 70 .
  • the temperature sensor 42 detects the temperature of hydrogen flowing through the hydrogen supply pipeline and outputs the detection result to the control device 70 .
  • the pressure sensor 43 measures the pressure in the hydrogen supply line near the first nozzle 45 , the second nozzle 46 and the third nozzle 47 and outputs the measurement result to the control device 70 .
  • the three-way switching valve 44 is a switching valve for supplying hydrogen in the hydrogen supply pipe to any one of the first nozzle 45, the second nozzle 46, and the third nozzle 47.
  • the first nozzle 45 , the second nozzle 46 and the third nozzle 47 are filling nozzles that supply hydrogen to the excavator 100 .
  • the first nozzle 45 is a filling nozzle used when supplying hydrogen from the back (rear) of the hydraulic excavator 100 .
  • the second nozzle 46 is a filling nozzle used when supplying hydrogen from the right side of the hydraulic excavator 100 .
  • the third nozzle 47 is a filling nozzle used when supplying hydrogen from the left side of the hydraulic excavator 100 .
  • the first drive unit 48 drives the first nozzle 45 along the -X direction in FIG. 114 is an actuator for insertion.
  • the second drive unit 49 drives the second nozzle 46 along the -Y direction in FIG. Actuator for insertion into mouth 114 .
  • the third drive unit 50 drives the third nozzle 47 along the +Y direction in FIG. 114 is an actuator for insertion.
  • Each of the first driving section 48, the second driving section 49, and the third driving section 50 can be configured by a linear motor, a hydraulic motor, a pneumatic motor, or the like.
  • a robot inserts the first nozzle 45, the second nozzle 46, and the third nozzle 47 into the hydrogen supply port 114, which will be described later, the first driving unit 48 and the second It is also possible to omit the driving section 49 and the third driving section 50 .
  • the number of nozzles may be two, or four or more.
  • the pressure accumulator 31 and the temperature control section 32 may be omitted from the hydrogen filling device 30 .
  • the imaging device 55 is a digital camera that has a lens, an imaging device, an image processing engine, etc., and captures moving images and still images.
  • the imaging device 55 is provided on the front surface of the hydrogen dispenser 40, and images an image of the traveling direction of the conveying device 1, or an image of a mark provided at or near the hydrogen supply port 114, which will be described later. It is something to do.
  • LiDAR Light Detection and Ranging
  • the imaging device 55 or in combination with the imaging device 55, LiDAR (Light Detection and Ranging) that irradiates electromagnetic waves detects the traveling direction of the transport device 1, or is provided at or near the hydrogen supply port 114.
  • the mark may be detected by detecting the scattered light of the laser irradiated to the mark.
  • the first GNSS 65 measures the position of the transport device 1 using artificial satellites.
  • the first communication device 66 is a wireless communication unit that has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and accesses a second communication device 148 (to be described later) and a wide area network such as the Internet.
  • the first communication device 66 transmits data regarding the position of the transport device 1 detected by the first GNSS 65 and the dimensions of the transport device 1 to the second communication device 148 of the hydraulic excavator 100 .
  • the first memory 67 is a non-volatile memory (for example, flash memory), and stores various data and programs for driving each element of the transport device 1 and various data and programs for automatically operating the transport device 1 . ing.
  • the first memory 67 also stores data on the dimensions (length, width, height) of the conveying device 1 .
  • the dimensions of the transport device 1 stored in the first memory 67 include the maximum and minimum dimensions of the travel device 10 in the Z and Y directions driven by the actuator 18b.
  • the control device 70 has a CPU, controls the transport device 1 as a whole, and cooperates with the hydraulic excavator 100 described later. In this embodiment, the control device 70 cooperates with the heavy equipment control device 150 of the hydraulic excavator 100 to control a series of operations for supplying hydrogen to the hydraulic excavator 100 .
  • FIG. 3 is a schematic diagram of a hydraulic excavator representing this embodiment, and the configuration of the hydraulic excavator 100 will be described below using FIGS. 2 and 3.
  • FIG. 3 the hydraulic excavator 100 of this embodiment is an automatic operation type or remote operation type construction machine without a driver's seat. Note that the hydraulic excavator 100 may be automatically operated when traveling at a civil engineering site, and may be placed on a trailer and transported on public roads.
  • the hydraulic excavator 100 of this embodiment has a drive system 110 , a travel device 120 , a swing device 130 , a main device 140 , a detection device 145 and a working device 160 .
  • the hydraulic excavator 100 may have a UAV (Unmanned Aerial Vehicle, hereinafter referred to as a drone) that can take off and land on a takeoff/landing section provided on the upper surface of the main unit 140 .
  • UAV Unmanned Aerial Vehicle
  • the drive system 110 is a drive device that drives each element of the hydraulic excavator 100, and has a fuel cell 111, a fuel tank 112, a storage battery 113, and a hydrogen supply port 114 housed in the main unit 140. ing.
  • the fuel cell 111 is a power generator that produces electricity by electrochemically reacting hydrogen and oxygen.
  • the fuel tank 112 stores hydrogen in a gaseous state in this embodiment, and is provided with a remaining amount gauge (not shown) inside.
  • the fuel tank 112 stores hydrogen compressed to several tens of MPa, and supplies the hydrogen to the fuel cell 111 via a hydrogen supply line (not shown).
  • the storage battery 113 is a secondary battery that stores the electric power generated by the fuel cell 111 .
  • the storage battery 113 can also be used as an auxiliary power supply for driving the fuel cell 111 with the stored electric power, and electric power is also supplied to various motors, the traveling device 120, the swing device 130, various cylinders, etc. that constitute the hydraulic excavator 100. It supplies
  • the traveling device 120 is of a crawler track type, and includes a pair of crawler belts 123 wound around an idler wheel 121 and a driving wheel 122.
  • the driving wheels are driven by a traveling motor 124 to drive the pair of crawler belts.
  • a hydraulic excavator 100 is running.
  • the traveling motor 124 is driven by electric power supplied from the storage battery 113, and an in-wheel motor is employed in this embodiment.
  • a hydraulic motor may be used as the travel motor 124 .
  • the traveling device 120 may be a triangular crawler-type traveling body like the traveling device 10 .
  • the swing device 130 is arranged between the travel device 120 and the main device 140 .
  • the turning device 130 includes a bearing (not shown) and a turning motor 131, and turns the main body device 140 and the working device 160 around the Z-axis.
  • the main unit 140 of this embodiment has a cylindrical shape with a flat upper surface, and a drone can take off and land on this upper surface.
  • the main unit 140 has a columnar shape, but is not limited to this, and can have any shape.
  • the main unit 140 includes therein a fuel cell 111, a fuel tank 112, a storage battery 113, a hydrogen supply port 114 for supplying hydrogen from the hydrogen dispenser 40 to the fuel tank 112, and the like.
  • the hydrogen supply port 114 is provided with an opening/closing part (not shown), and a connection coupler and a detachable receptacle provided for each of the first nozzle 45, the second nozzle 46, and the third nozzle 47.
  • This receptacle is provided with a socket for locking and unlocking the connecting coupler.
  • a mark having a size that can be imaged by the imaging device 55 is provided at or near the hydrogen supply port 114 .
  • a QR code registered trademark
  • the hydrogen supply port 114 By providing the hydrogen supply port 114 at the end inside the main unit 140, the hydrogen supply port 114 and the hydrogen dispenser 40 can be brought closer. In addition, it is preferable that the hydrogen supply port 114 is provided separately from the working device 160 . In addition, since the hydrogen supply port 114 can be positioned at any position around the Z-axis by turning the turning device 130, access from any of the first nozzle 45, the second nozzle 46, and the third nozzle 47 is easy. It has become.
  • Swing portion 141 is pivotally supported such that a portion connected to one end side of main device 140 and a portion connected to boom 153 are rotatable about the Z-axis indicating the vertical direction.
  • the swing cylinder 142 is a cylinder whose one end is connected to the main unit 140 and whose other end is connected to the swing portion 141 .
  • the expansion and contraction of the swing cylinder 142 rotates the working device 160 around the Z axis in FIG.
  • the detection device 145 detects the surroundings of the main device 140, and uses LiDAR in this embodiment.
  • LiDAR scans an electromagnetic wave, such as ultraviolet, visible, or near-infrared pulsed laser, and based on emitted light and scattered light, determines the distance to an object, the shape of the object, the material of the object, and the color of the object. It is a sensor that detects information such as
  • the detection device 145 is provided on the upper surface of the main device 140, and the turning device 130 can turn 360 degrees. Therefore, the detection device 145 can detect the situation of 360 degrees around the main device 140 without providing the LiDAR with a mechanical rotation device. The stop position can be accurately detected.
  • the second GNSS 147 measures the position of the hydraulic excavator 100 using artificial satellites.
  • the second GNSS 147 may be provided on the upper surface of the main unit 140 .
  • the second communication device 148 is a wireless communication unit that has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and accesses the first communication device 66 and a wide area network such as the Internet.
  • the second communication device 148 provides information about the dimensions of the hydraulic excavator 100 , the position of the hydraulic excavator 100 detected by the second GNSS 147 , information about the direction of the hydrogen supply port 114 , and information about the direction of the hydrogen supply port 114 .
  • Connection information indicating that any one of the nozzles 45, 2nd nozzle 46, and 3rd nozzle 47 is connected or disconnected, detection results of a remaining amount meter (not shown), etc. to the first communication device 66 of the
  • the second memory 149 is a non-volatile memory (for example, flash memory), and includes various data and programs for driving the excavator 100, various data and programs for automatically operating the excavator 100, and data and programs for automatically operating the excavator 100. It stores information such as the dimensions of the
  • the heavy equipment control device 150 includes a CPU and is a control device that controls the entire hydraulic excavator 100.
  • the heavy equipment control device 150 controls the excavation operation of the work device 160 and the hydrogen supply operation to the fuel tank 112. there is
  • the work device 160 has a boom 153 , a boom cylinder 154 , an arm 155 , an arm cylinder 156 , a bucket 157 and a bucket cylinder 158 .
  • the boom 153 is a rotatable L-shaped component connected to the main unit 140 via the swing portion 141 and is rotated by the boom cylinder 154 .
  • Arm 155 is connected to the tip of boom 153 and is rotated by arm cylinder 156 .
  • a bucket 157 is connected to the tip of the arm 155 and rotated by a bucket cylinder 158 .
  • a breaker or the like can be attached to the tip of the arm 155 instead of the bucket 157 .
  • the boom cylinder 154 is a cylinder that is telescopically operated by electric power supplied from the storage battery 113 to drive the boom 153 .
  • the arm cylinder 156 is a cylinder that is expanded and contracted by electric power supplied from the storage battery 113 to drive the arm 155 .
  • the bucket cylinder 158 is a cylinder that is expanded and contracted by electric power supplied from the storage battery 113 to drive the bucket 157 .
  • the swing cylinder 142, the boom cylinder 154, the arm cylinder 156, and the bucket cylinder 158 are driven by electric power from the storage battery 113, but these cylinders may be driven by hydraulic pressure. good.
  • FIGS. 4B and 4C are diagrams for comparing the sizes of the transport device 1 and the hydraulic excavator 100.
  • FIG. 4A is a rear view of the hydraulic excavator 100
  • FIGS. 4B and 4C. 4A and 4B are views of the conveying apparatus 1 viewed from the back
  • FIG. 4B is a view showing a state in which the actuator 18b is contracted
  • FIG. 4C is a view showing a state in which the actuator 18b is extended.
  • the travel device 120 protrudes in the X direction more than the main device 140 that houses the hydrogen supply port 114. Further, in the hydraulic excavator 100, as shown in FIG. 4A, the travel device 120 protrudes in the Y direction more than the main device 140. As shown in FIG. Various sizes of the hydraulic excavator 100 are produced according to the capacity of the bucket 157 . For this reason, in the present embodiment, by changing the size of the traveling device 10 or selecting the size of the traveling device 10 from a plurality of sizes according to hydraulic excavators 100 of various sizes, the transport device 1 can be The hydraulic excavator 100 is made accessible.
  • FIG. 5 is a diagram showing how the transport device 1 approaches from the rear (+X side) of the hydraulic excavator 100.
  • FIG. 5 When the actuator 18b is contracted (see FIG. 4B), the outer space W2 of the crawler belts 13 in the Y direction is larger than the inner space W1 of the pair of crawler belts 123 in the Y direction. Therefore, as shown in FIG. 5A, the transport device 1 cannot allow the pair of crawler belts 13 located on the traveling direction side ( ⁇ X side) of the transport device 1 to enter the inside of the pair of crawler belts 123. . Therefore, the hydrogen supply port 114 and the first nozzle 45 cannot be closer than the dimension of the pair of crawler belts 13 in the X direction.
  • the conveying device 1 can cause the pair of crawler belts 13 positioned on the traveling direction side ( ⁇ X side) of the conveying device 1 to enter inside the pair of crawler belts 123. Therefore, the hydrogen supply port 114 and the first nozzle 45 can be closer than the dimension of the pair of crawler belts 13 in the X direction.
  • the actuator 18b when the actuator 18b is extended, the height h3 of the crawler belt 13 in the Z direction is higher than the height h1 of the pair of crawler belts 123 in the Z direction. Therefore, the crawler belt 123 and the base portion 20 do not interfere with each other even when the transport device 1 is brought close to the right side surface (+Y direction side) of the hydraulic excavator 100 . Therefore, the base portion 20 can approach the main unit 140, and thus the second nozzle 46 can approach the hydrogen supply port 114 (see FIG. 7).
  • FIG. 8 is a flowchart executed by the heavy equipment control device 150 of the present embodiment, which is executed when, for example, the remaining amount of the fuel tank 112 of the hydraulic excavator 100 located at the excavation site becomes equal to or less than a predetermined amount. be.
  • the control of the heavy equipment control device 150 will be described below with reference to FIG. In addition, this flowchart does not exclude that a part of it is performed by an operator.
  • the heavy equipment control device 150 uses the detection device 145 to detect the position where the transport device 1 can supply hydrogen (step S1).
  • the heavy equipment control device 150 detects the 360-degree situation around the hydraulic excavator 100 by turning the turning device 130 for a range that cannot be reached by the irradiation angle of the LiDAR laser. Then, the heavy machinery control device 150 determines the position and direction of hydrogen supply by the carrier device 1 from the situation of 360 degrees around the hydraulic excavator 100 .
  • the heavy equipment control device 150 controls the posture of the work device 160 so that the laser emitted from the LiDAR is not blocked by the work device 160 .
  • the heavy equipment control device 150 acquires the dimension of the transport device 1 using the second communication device 148 in order to determine the stop position of the transport device 1 when supplying hydrogen, and uses the acquired dimension of the transport device 1.
  • the stop position of the conveying device 1 may be determined based on. Further, the heavy equipment control device 150 may determine the stop position of the transport device 1 while the travel motor 124 is stopped, and determines the stop position of the transport device 1 while moving the hydraulic excavator 100 with the travel motor 124 . may Here, the heavy machinery control device 150 determines to stop the transport device 1 on the right side (+Y direction side) of the hydraulic excavator 100 and supply hydrogen through the second nozzle 146 .
  • the heavy machinery control device 150 uses the second communication device 148 to transmit the hydrogen supply position to the transport device 1 (step S2). Specifically, the heavy machinery control device 150 transmits the position of the hydraulic excavator 100 positioned by the second GNSS 147 and information on the nozzles in use to the transport device 1 .
  • the control device 70 of the transfer device 1 starts the flowchart of FIG. 9, which will be described later.
  • the heavy equipment control device 150 positions the hydrogen supply port 114 using the turning device 130 (step S3).
  • hydrogen is supplied from the right side surface (+Y direction side) of the hydraulic excavator 100. Therefore, the heavy equipment control device 150 rotates the main unit 140 with the rotating device 130 so that the hydrogen supply port 114 is positioned on the right side surface (+Y direction side) of the hydraulic excavator 100 .
  • the order of steps S2 and S3 may be changed.
  • the heavy machinery control device 150 determines whether the transport device 1 is positioned on the right side (+Y direction side) of the hydraulic excavator 100 (step S4). Although the details will be described later, the transport device 1 approaches the excavator 100, images the mark provided at or near the hydrogen supply port 114 with the imaging device 55, and positions the excavator 100 with respect to the fuel tank 112. . The heavy equipment control device 150 repeats step S4 until it receives a signal indicating completion of positioning from the transport device 1 . Here, the heavy equipment control device 150 assumes that the positioning of the transport device 1 is completed, and proceeds to step S5.
  • the heavy machinery control device 150 opens the opening/closing portion (not shown) of the hydrogen supply port 114 from the closed state in order to inject hydrogen from the hydrogen dispenser 40 into the fuel tank 112 (step S5).
  • the heavy equipment control device 150 determines whether or not the hydrogen dispenser 40 has finished injecting hydrogen into the fuel tank 112 . Although the details will be described later, the heavy machinery control device 150 repeats step S6 until it receives a signal indicating the completion of hydrogen injection from the transport device 1 . Here, the heavy equipment control device 150 assumes that hydrogen injection has been completed, and proceeds to step S7.
  • the heavy equipment control device 150 closes the opening/closing portion (not shown) of the hydrogen supply port 114 from the open state, and ends the flowchart of FIG. 8 (step S7).
  • An attitude detection device is provided in the main unit 140, and when the hydrogen supply position is detected in step S1, the inclination of the ground or the inclination of the hydrogen supply port 114 is detected by this attitude detection device. 150 can make a place with little inclination the hydrogen supply position.
  • An inclinometer, a spirit level, or the like can be used as the attitude detection device.
  • FIG. 9 is a flowchart executed by the control device 70 of the present embodiment. In the present embodiment, it is assumed that the transport device 1 is on standby at a standby location different from the excavation location.
  • the control device 70 determines whether or not the hydrogen supply position has been received from the hydraulic excavator 100 (step S101). Here, it is assumed that the control device 70 has received the hydrogen supply position from the hydraulic excavator 100 and proceeds to step S102.
  • the control device 70 determines the movement route to the hydrogen supply position based on the received hydrogen supply position and the current position detected by the first GNSS 65, and moves to the received hydrogen supply position (step S102). In the present embodiment, the control device 70 closes at least one of the nozzles of the first valve 35 and the second valve 36 until the hydrogen supply position is reached so that hydrogen is not supplied to the hydrogen dispenser 40. there is As a result, the control device 70 can prevent hydrogen from leaking from the hydrogen dispenser 40 while the carrier device 1 is moving.
  • the control device 70 determines whether the hydrogen supply port 114 of the hydraulic excavator 100 has been detected (step S103). When the control device 70 approaches the received hydrogen supply position (for example, 2 m to 10 m), the imaging device 55 detects the mark provided at or near the hydrogen supply port 114 . The control device 70 controls the traveling device 10 so as to approach the mark detected by the imaging device 55 . The control device 70 controls the traveling device 10 so that the second nozzle 46 faces the right side surface of the hydraulic excavator 100 in this embodiment.
  • the heavy equipment control device 150 may detect the transport device 1 by the detection device 145, guide the transport device 1 to the hydrogen supply position, and stop the movement of the transport device 1 toward the hydrogen supply port 114. You may make it control so that it may carry out.
  • the control device 70 determines whether it is necessary to change the size of the transport device 1 so that the second nozzle 46 approaches the hydrogen supply port 114 (step S104).
  • the control device 70 needs to obtain the dimensions of the pair of crawler belts 123 of the hydraulic excavator 100 from the hydraulic excavator 100, or take an image of the pair of crawler belts 123 by the imaging device 55 to change the size of the transport device 1. to determine whether Alternatively, the control device 70 may determine whether the size of the transport device 1 needs to be changed based on the size detection result of the transport device 1 by the detection device 145 . Here, it is assumed that the size of the transport device 1 needs to be changed, and the process proceeds to step S105.
  • the control device 70 drives the actuator 18b from the contracted state to the extended state, and adjusts the size of the conveying device 1 so that the height of the base portion 20 is higher than the height h1 of the pair of crawler belts 123 in the Z direction. is changed (step S105). As a result, the control device 70 can bring the second nozzle 46 closer to the hydrogen supply port 114 because the base portion 20 does not interfere with the pair of crawler belts 123 .
  • the control device 70 determines whether the positioning of the second nozzle 46 with respect to the hydrogen supply port 114 has been completed (step S106).
  • the control device 70 takes an image of a mark provided at or near the hydrogen supply port 114 using the imaging device 55 and positions the second nozzle 46 with respect to the hydrogen supply port 114 .
  • the positioning of the second nozzle 46 with respect to the hydrogen supply port 114 may be performed by the travel motor 15 in the X and Y directions, and may be performed by the actuator 18b in the Z direction. Further, the rotation direction positioning of the second nozzle 46 with respect to the hydrogen supply port 114 may be performed by the rotation motor 131 .
  • an adjustment mechanism may be provided for adjusting the position of the second nozzle 46 with three degrees of freedom, preferably six degrees of freedom.
  • an adjusting mechanism may be provided for adjusting the position of each of the first nozzle 45 and the third nozzle 47 with three degrees of freedom, preferably six degrees of freedom. It is desirable that the control device 70 notifies the hydraulic excavator 100 via the first communication device 66 that positioning of the second nozzle 46 with respect to the hydrogen supply port 114 has been completed.
  • step S107 the control device 70 determines whether the hydrogen supply port 114 is open. The control device 70 repeats the determination in step S107 until the heavy equipment control device 150 causes the hydrogen supply port 114 to open.
  • the control device 70 drives the second nozzle 46 along the -Y direction by the second driving section 49 so that the connection coupler of the second nozzle 46 is connected to the receptacle of the hydrogen supply port 114 (step S108).
  • the hydrogen supply port 114 with, for example, a tapered guide member so that the connecting coupler can be easily engaged with the receptacle.
  • the control device 70 When the connection coupler of the second nozzle 46 is connected to the receptacle of the hydrogen supply port 114, the control device 70 opens the first valve 35 and the second valve 36 to release the hydrogen stored in the pressure accumulator vessel 31 into hydrogen. While supplying the dispenser 40 , the three-way switching valve 44 is controlled so that the hydrogen is supplied to the second nozzle 46 . Thereby, the control device 70 supplies hydrogen to the fuel tank 112 through the hydrogen supply port 114 (step S109).
  • a leakage detection sensor that detects hydrogen leakage may be provided in the vicinity of the hydrogen supply port 114, for example, in the receptacle.
  • Leak detection sensors include gas thermoelectric type sensors and solid electrochemical type sensors, and any of these sensors can be applied.
  • the control device 70 stops the hydrogen supply in step S109 and notifies the remote office, the worker's smart phone, or the like via the first communication device 66 . Further, the control device 70 closes the first valve 35 and the second valve 36 .
  • the control device 70 determines whether hydrogen supply to the fuel tank 112 has ended (step S110).
  • the amount of hydrogen to be supplied to the fuel tank 112 is determined by the hydraulic excavator 100 transmitting the amount of hydrogen to the transport device 1 based on the detection result of the remaining amount gauge (not shown) before the hydrogen is supplied to the fuel tank 112. You should do it.
  • the control device 70 may determine whether the amount of supplied hydrogen has reached a predetermined amount based on the output of the flow meter 41 . Alternatively, the control device 70 may supply hydrogen to the fuel tank 112 until a remaining amount gauge (not shown) detects that a predetermined amount of hydrogen has been supplied to the fuel tank 112 .
  • control device 70 proceeds to step S111 assuming that hydrogen supply to the fuel tank 112 has ended.
  • the control device 70 sends a signal indicating that the supply of hydrogen has ended to the heavy equipment control device 150 and closes the first valve 35 and the second valve 36 .
  • the heavy equipment control device 150 releases the socket of the receptacle.
  • control device 70 When the control device 70 receives a signal indicating that the connection between the receptacle and the connection coupler has been released from the heavy machinery control device 150, the control device 70 drives the second nozzle 46 along the +Y direction by the second driving section 49, and the second nozzle 46 is withdrawn from the hydrogen supply port 114 (step S111).
  • the control device 70 determines whether it is necessary to supply hydrogen to other construction machines (step S112). If the control device 70 needs to supply hydrogen to other construction machines, it returns to step S101, and if it does not need to supply hydrogen to other construction machines, it moves to the standby location in step S113 and ends this flowchart. do.
  • the pair of link mechanisms 18 can change the size of the travel device 10, so that the transport device 1 can be positioned close to the hydrogen supply port 114. can be done. Further, since the hydrogen dispenser 40 has the first nozzle 45, the second nozzle 46, and the third nozzle 47 that can correspond to a plurality of directions, the position of the nozzle of the transport device 1 determines the rate when determining the hydrogen supply position. never be a condition.
  • the hydraulic excavator 100 is complicated because the hydrogen supply position is detected and the hydrogen supply port 114 is positioned using the turning device 130 that has been provided in the hydraulic excavator 100 .
  • Hydrogen can be injected into the fuel tank 112 without Note that when there are a plurality of candidates for the hydrogen supply position, the heavy machinery control device 150 selects a location where the rotation amount of the rotation device 130 when positioning the hydrogen supply port 114 is small or a location where the ground is less inclined. It should be determined as a position.
  • the conveying device 1 may be an integral type in which the traveling device 10 and the base portion 20 are not detachable.
  • the transport device 1 may be of a type with a driver's seat.
  • the hydraulic excavator 100 may be of a type having a driver's seat, or may be an internal combustion engine driven by light oil, ammonia, or hydrogen. In this case, the transport device 1 may supply light oil, ammonia, or hydrogen (liquid) to the fuel tank 112 .
  • the working device 160 of the hydraulic excavator 100 is not limited to one, and a plurality of working devices 160 may be provided in the main body device 140 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Afin de fournir un dispositif de transport pouvant être positionné de manière appropriée par rapport à un orifice d'alimentation d'un dispositif auquel un combustible est fourni, ce dispositif de transport comprend : une partie base qui peut se déplacer au moyen d'un premier dispositif de déplacement; une partie d'alimentation en combustible qui est disposée sur la partie base et fournit un combustible; et un dispositif de changement qui change la taille du premier dispositif de déplacement lorsqu'il se déplace vers l'orifice d'alimentation du dispositif auquel le combustible est fourni.　
PCT/JP2022/042351 2022-01-11 2022-11-15 Dispositif de transport et machine de construction WO2023135921A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263298285P 2022-01-11 2022-01-11
US63/298,285 2022-01-11

Publications (1)

Publication Number Publication Date
WO2023135921A1 true WO2023135921A1 (fr) 2023-07-20

Family

ID=87278862

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/042351 WO2023135921A1 (fr) 2022-01-11 2022-11-15 Dispositif de transport et machine de construction

Country Status (1)

Country Link
WO (1) WO2023135921A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08319635A (ja) * 1995-05-25 1996-12-03 Komatsu Ltd 油圧ショベルの足回り装置
JP2003112799A (ja) * 2001-10-02 2003-04-18 Komatsu Ltd 機械の燃料配送システム、その燃料配送方法、およびその燃料配送プログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08319635A (ja) * 1995-05-25 1996-12-03 Komatsu Ltd 油圧ショベルの足回り装置
JP2003112799A (ja) * 2001-10-02 2003-04-18 Komatsu Ltd 機械の燃料配送システム、その燃料配送方法、およびその燃料配送プログラム

Similar Documents

Publication Publication Date Title
US11492783B2 (en) Shovel and autonomous aerial vehicle flying around shovel
US8978851B2 (en) Self-propelled cable relay truck
US11891776B2 (en) Automatic operation work machine
CN112342908B (zh) 一种子母式基础设施病害检测修复系统及方法
JP7425904B2 (ja) 建設機械システム
WO2023135921A1 (fr) Dispositif de transport et machine de construction
JP2024050858A (ja) 建設機械
JP2024024635A (ja) 建設機械のアシスト方法
JP6786380B2 (ja) 位置測位システム
WO2022185666A1 (fr) Engin de chantier
WO2023162405A1 (fr) Dispositif mobile et dispositif volant sans pilote
WO2022239303A1 (fr) Machine de construction, procédé de mesure de matière excavée et véhicule aérien sans pilote
WO2023067837A1 (fr) Appareil de transport
WO2023171059A1 (fr) Engin de chantier
US8942863B2 (en) Worksite position control system having integrity checking
WO2023286309A1 (fr) Engin de chantier
US20210190252A1 (en) Two-wheeled pipe crawler
JPH10103954A (ja) トンネル工事の測量システム
WO2023044592A1 (fr) Système pour commander et coordonner un ensemble d'équipements
GB2619090A (en) An alignment system for use in coupling a work machine system comprising interchangeable trailer units
WO2024100309A1 (fr) Machine de dépliage, machine de soudure, équipement et procédé d'installation automatisée de géomembranes

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22920441

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023573866

Country of ref document: JP