WO2020184150A1 - Self-propelled exhaust purification device, and exhaust purification system - Google Patents

Self-propelled exhaust purification device, and exhaust purification system Download PDF

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Publication number
WO2020184150A1
WO2020184150A1 PCT/JP2020/007054 JP2020007054W WO2020184150A1 WO 2020184150 A1 WO2020184150 A1 WO 2020184150A1 JP 2020007054 W JP2020007054 W JP 2020007054W WO 2020184150 A1 WO2020184150 A1 WO 2020184150A1
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Prior art keywords
exhaust gas
self
unit
propelled
suction
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PCT/JP2020/007054
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French (fr)
Japanese (ja)
Inventor
竹内秀隆
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株式会社豊田自動織機
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Publication of WO2020184150A1 publication Critical patent/WO2020184150A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
    • F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
    • F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
    • F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous

Definitions

  • the present invention relates to a self-propelled exhaust gas purification device and an exhaust gas purification system.
  • Patent Document 1 describes an ammonia-burning internal combustion engine.
  • an ammonia injection valve for injecting liquid ammonia toward the combustion chamber is arranged in the cylinder head.
  • An exhaust purification catalyst that purifies ammonia and NOx contained in the exhaust gas is arranged in the exhaust system of the engine body.
  • An object of the present invention is to provide a self-propelled exhaust purification device and an exhaust purification system capable of preventing harmful substances contained in exhaust gas from being released into the atmosphere during a cold start of an internal combustion engine.
  • the self-propelled exhaust purification device sucks an exhaust gas having a drive unit and an exhaust gas mounted on the traveling body and discharged from an internal combustion engine of a vehicle through an exhaust pipe, and is contained in the exhaust gas.
  • the suction / removal unit that removes harmful substances contained in the exhaust
  • the position detection unit that detects the position of the vehicle, and the position of the vehicle detected by the position detection unit
  • the suction port of the suction / removal unit is the exhaust pipe. It is provided with a drive control unit that controls the drive unit so that the traveling body travels to a standby position facing the exhaust port.
  • the position of the vehicle is detected before the internal combustion engine of the vehicle is started, and the drive unit is controlled so that the traveling body travels to the standby position.
  • the exhaust gas from the internal combustion engine is discharged through the exhaust pipe.
  • the suction port of the suction / removal portion faces the exhaust port of the exhaust pipe. Therefore, when the suction / removal unit is activated, the exhaust gas is sucked by the suction / removal unit, and harmful substances contained in the exhaust gas are removed. This prevents harmful substances contained in the exhaust gas from being released into the atmosphere during a cold start of the internal combustion engine.
  • the self-propelled exhaust gas purification device since the self-propelled exhaust gas purification device includes a traveling body, it can travel to an arbitrary place within a predetermined range. Therefore, even if the target vehicle is stopped at an arbitrary position within a predetermined range, the exhaust gas from the internal combustion engine of the vehicle can be purified.
  • the self-propelled exhaust purification device further includes a communication unit that communicates with the vehicle, and the drive control unit controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle. Good.
  • the self-propelled exhaust gas purification device automatically travels to the standby position in response to the notification signal from the vehicle. Therefore, it is possible to save the operator the trouble of instructing the traveling body to travel by manual operation.
  • the drive control unit may control the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is stopped.
  • the self-propelled exhaust gas purification device is already waiting in the standby position, so that the driver of the vehicle does not have to wait for the arrival of the self-propelled exhaust gas purification device. Can be started.
  • the drive control unit may control the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is started.
  • the self-propelled exhaust gas purification device may further include a purification control unit that controls the suction / removal unit to be activated when the communication unit receives a notification signal notifying that the internal combustion engine is to be started.
  • a purification control unit that controls the suction / removal unit to be activated when the communication unit receives a notification signal notifying that the internal combustion engine is to be started.
  • the internal combustion engine is an ammonia engine that uses ammonia as fuel, and the suction / removal unit may remove substances containing unburned ammonia as harmful substances. With such a configuration, unburned ammonia contained in the exhaust gas is prevented from being released into the atmosphere.
  • the exhaust gas purification system includes a self-propelled exhaust gas purification device used in a vehicle and a control device for controlling an internal combustion engine of the vehicle, and the self-propelled exhaust gas purification device is a drive unit. Detects the position of the vehicle, the vehicle that is mounted on the vehicle, the suction / removal unit that sucks the exhaust gas discharged from the internal combustion engine through the exhaust pipe, and removes the harmful substances contained in the exhaust gas.
  • the drive unit is controlled so that the traveling body travels to a standby position where the suction port of the suction / removal unit faces the exhaust port of the exhaust pipe based on the position detection unit and the position of the vehicle detected by the position detection unit.
  • the drive control unit includes a drive control unit that communicates with the vehicle, and the drive control unit controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle.
  • the position of the vehicle is detected before the internal combustion engine of the vehicle is started, and the drive unit is controlled so that the traveling body of the self-propelled exhaust gas purification device travels to the standby position.
  • the internal combustion engine is started in that state, the exhaust gas from the internal combustion engine is discharged through the exhaust pipe.
  • the suction port of the suction / removal portion faces the exhaust port of the exhaust pipe. Therefore, when the suction / removal unit is activated, the exhaust gas is sucked by the suction / removal unit, and harmful substances contained in the exhaust gas are removed. This prevents harmful substances contained in the exhaust gas from being released into the atmosphere during a cold start of the internal combustion engine.
  • the self-propelled exhaust gas purification device since the self-propelled exhaust gas purification device includes a traveling body, it can travel to an arbitrary place within a predetermined range. Therefore, even if the target vehicle is stopped at an arbitrary position within a predetermined range, the exhaust gas from the internal combustion engine of the vehicle can be purified.
  • the self-propelled exhaust purification device will automatically travel to the standby position in response to the notification signal from the vehicle. Therefore, it is possible to save the operator the trouble of instructing the traveling body to travel by manual operation.
  • FIG. 5 is a side view showing a state in which the self-propelled exhaust gas purification device shown in FIG. 1 is standing by at a standby position behind the forklift.
  • FIG. 5 is a block diagram which shows the structure of the exhaust gas purification system provided with the self-propelled exhaust gas purification apparatus which concerns on one Embodiment of this invention.
  • It is a flowchart which shows the detail of the control processing procedure executed by the engine ECU shown in FIG. It is a flowchart which shows the detail of the control processing procedure executed by the controller shown in FIG.
  • FIG. 1 is a schematic view showing a work area to which an exhaust gas purification system including a self-propelled exhaust gas purification device according to an embodiment of the present invention is applied.
  • the exhaust gas purification system 1 is applied to a work area 2 (predetermined range) such as in a factory or a warehouse.
  • cargo handling work is performed by a forklift 3 which is a cargo handling vehicle.
  • forklifts 3 there are a plurality of forklifts 3 in the work area 2, for example.
  • stop points where the forklift 3 stops, such as a garage, a rest area, and a refueling station.
  • the forklift 3 is equipped with an ammonia engine 4.
  • the ammonia engine 4 is an internal combustion engine that uses ammonia as a fuel.
  • the exhaust gas generated by the ammonia engine 4 is discharged to the outside of the forklift 3 by the exhaust pipe 5.
  • the exhaust pipe 5 is arranged at the rear of the forklift 3, and exhausts the exhaust gas behind the forklift 3.
  • the opening at the tip (rear end) of the exhaust pipe 5 is the exhaust port 5a.
  • a catalyst 6 for removing unburned ammonia and NOx, which are harmful substances contained in the exhaust gas, is arranged in the middle of the exhaust pipe 5.
  • the exhaust gas purification system 1 includes the self-propelled exhaust gas purification device 10 of the present embodiment. There are a plurality of self-propelled exhaust gas purification devices 10 in the work area 2, for example.
  • the self-propelled exhaust gas purification device 10 is used for the forklift 3.
  • the self-propelled exhaust purification device 10 is a device that purifies the exhaust gas discharged from the ammonia engine 4.
  • the self-propelled exhaust gas purification device 10 has an automatic traveling function.
  • FIG. 3 is a block diagram showing a configuration of an exhaust gas purification system 1 provided with a self-propelled exhaust gas purification device 10.
  • the exhaust gas purification system 1 includes a control device 11 mounted on the forklift 3 in addition to the self-propelled exhaust gas purification device 10.
  • the self-propelled exhaust gas purification device 10 includes a traveling body 12, a suction / removal device 13 (suction / removal unit), a position sensor 14, a communication unit 15, and a controller 16.
  • the suction / removal device 13, the position sensor 14, the communication unit 15, and the controller 16 are mounted on the traveling body 12.
  • the traveling body 12 is, for example, an automatic guided vehicle.
  • the traveling body 12 has a driving unit 17 such as a traveling motor and a steering motor.
  • the suction / remover 13 has a suction unit 18 that sucks the exhaust gas discharged from the ammonia engine 4 and a removal unit that removes unburned ammonia that is a harmful substance contained in the exhaust gas sucked by the suction unit 18. Has 19 and.
  • the harmful substance may contain a substance other than unburned ammonia.
  • the suction unit 18 sucks the exhaust gas by, for example, a blower or a pump.
  • a suction pipe 20 is connected to the suction unit 18.
  • the tip of the suction tube 20 has a funnel shape in which the diameter increases from the base end side to the tip end side.
  • the opening at the tip of the suction tube 20 is a suction port 20a.
  • the removing unit 19 may, for example, burn, adsorb or neutralize unburned ammonia to remove it, or absorb unburned ammonia into water and remove it.
  • a discharge pipe 21 for discharging harmless exhaust gas from which unburned ammonia has been removed is connected to the removal unit 19.
  • the position sensor 14 is a sensor that detects the position of the exhaust pipe 5 of the forklift 3.
  • an infrared sensor, an ultrasonic sensor, a proximity sensor, a camera, or the like is used as the position sensor 14.
  • the communication unit 15 wirelessly communicates with the forklift 3.
  • the communication unit 15 has a transmission / reception antenna 15a.
  • the controller 16 is composed of a CPU, RAM, ROM, and an input / output interface.
  • the controller 16 has a position detection unit 28, a drive control unit 22, and a purification control unit 23.
  • the position detection unit 28 detects the position of the forklift 3 based on the self-position data from the forklift 3.
  • the drive control unit 22 causes the traveling body 12 to travel to the standby position based on the position of the forklift 3 detected by the position detection unit 28, the notification signal regarding the operation of the ammonia engine 4 from the forklift 3, and the detection signal of the position sensor 14.
  • the drive unit 17 is controlled so as to do so.
  • the standby position is such that the suction port 20a of the suction / remover 13 faces the exhaust port 5a of the exhaust pipe 5 of the forklift 3.
  • the purification control unit 23 controls the suction / remover 13 to be activated based on the notification signal regarding the operation of the ammonia engine 4 from the forklift 3.
  • the control processing procedure of the controller 16 will be described in detail later.
  • the control device 11 has a communication unit 24 and an engine ECU 25 (ECU: Electronic Control Unit).
  • the communication unit 24 wirelessly communicates with the self-propelled exhaust gas purification device 10.
  • the communication unit 24 has a transmission / reception antenna 24a.
  • An ignition switch 26 (IG switch) is connected to the engine ECU 25.
  • the ignition switch 26 is a manually operated switch for the driver of the forklift 3 to instruct the start and stop of the ammonia engine 4.
  • the engine ECU 25 controls the ammonia engine 4 and notifies the operation of the ammonia engine 4 based on the operation signal of the ignition switch 26 and the notification signal from the self-propelled exhaust gas purification device 10.
  • FIG. 4 is a flowchart showing details of the control processing procedure executed by the engine ECU 25. This process is executed during the rotational operation of the ammonia engine 4.
  • the engine ECU 25 first determines whether or not the ignition switch 26 has been turned off based on the operation signal of the ignition switch 26 (procedure S101).
  • the engine stop signal is a notification signal for notifying that the ammonia engine 4 is stopped.
  • the self-position data is the data of the current position of the forklift 3. The current position of the forklift 3 can be grasped from GPS (Global Positioning System) or the like. Then, the engine ECU 25 controls to stop the ammonia engine 4 (procedure S103).
  • the engine ECU 25 determines whether or not the ignition switch 26 has been turned ON based on the operation signal of the ignition switch 26 (procedure S104).
  • the engine ECU 25 determines whether or not the communication unit 24 has received a standby signal (described later) from the self-propelled exhaust gas purification device 10 (procedure S105).
  • the engine ECU 25 determines that the standby signal has been received, the engine ECU 25 transmits an engine start signal by the communication unit 24 (procedure S106).
  • the engine start signal is a notification signal for notifying that the ammonia engine 4 is started. Then, the engine ECU 25 controls to start the ammonia engine 4 (procedure S107).
  • FIG. 5 is a flowchart showing details of a control processing procedure executed by the controller 16 of the self-propelled exhaust gas purification device 10. This process is executed while the self-propelled exhaust gas purification device 10 is stopped.
  • the controller 16 first determines whether or not the engine stop signal and the self-position data from the forklift 3 have been received by the communication unit 15 (procedure S110). When the controller 16 determines that the engine stop signal and the self-position data have been received, the controller 16 detects the position of the target forklift 3 from the self-position data (procedure S111). Then, the controller 16 controls the drive unit 17 so that the traveling body 12 of the self-propelled exhaust gas purification device 10 travels toward the target forklift 3 based on the position of the forklift 3 (procedure S112).
  • the controller 16 determines whether or not the traveling body 12 of the self-propelled exhaust purification device 10 has reached the standby position behind the target forklift 3 based on the detection signal of the position sensor 14 (procedure S113). ..
  • the standby position is a position where the suction port 20a of the suction unit 18 faces the exhaust port 5a of the exhaust pipe 5 behind the forklift 3.
  • the distance between the suction port 20a and the exhaust port 5a is, for example, a distance at which most of the exhaust gas discharged from the exhaust pipe 5 can enter the suction portion 18.
  • the controller 16 determines that the traveling body 12 has not reached the standby position
  • the controller 16 executes the procedure S112 again.
  • the controller 16 determines that the traveling body 12 has reached the standby position
  • the controller 16 transmits a standby signal by the communication unit 15 (procedure S114).
  • the standby signal is a notification signal for notifying that the traveling body 12 is in a standby position.
  • the controller 16 determines whether or not the engine start signal from the forklift 3 has been received by the communication unit 15 (procedure S115). When the controller 16 determines that the engine start signal has been received, the controller 16 controls to start the suction / remover 13 (procedure S116).
  • the controller 16 determines whether or not a predetermined time has elapsed since the suction / removal device 13 was controlled to be activated (procedure S117).
  • the predetermined time is, for example, a time during which the catalyst 6 of the forklift 3 is sufficiently warmed up and activated.
  • the controller 16 controls so as to stop the suction / removal operation of the suction / removal device 13 (procedure S118).
  • the position detection unit 28 executes the procedures S110 and S111.
  • the drive control unit 22 executes steps S112 to S114.
  • the purification control unit 23 executes steps S115 to S118.
  • the forklift 3 since the cargo handling work by the forklift 3 is completed, the forklift 3 returns to the garage and stops, and when the driver of the forklift 3 turns off the ignition switch 26, the forklift 3 is self-propelled.
  • the engine stop signal and self-position data are transmitted to the exhaust purification device 10, and the ammonia engine 4 is stopped.
  • the self-propelled exhaust gas purification device 10 When the self-propelled exhaust gas purification device 10 receives the engine stop signal and the self-position data, the position of the forklift 3 is detected. Then, the self-propelled exhaust gas purification device 10 automatically travels to a standby position behind the forklift 3 to be processed, and is in a state of standby at that standby position (see FIG. 2). Then, a standby signal is transmitted from the self-propelled exhaust gas purification device 10 to the target forklift 3.
  • the forklift 3 transmits an engine start signal to the self-propelled exhaust purification device 10, and the ammonia engine 4 Starts.
  • the suction / remover 13 When the self-propelled exhaust gas purification device 10 receives the engine start signal, the suction / remover 13 is activated. Then, as shown in FIG. 2, the exhaust gas discharged from the ammonia engine 4 through the exhaust pipe 5 is sucked by the suction unit 18. At this time, since the tip of the suction pipe 20 has a funnel shape, the exhaust gas easily enters the suction portion 18. Then, the unburned ammonia contained in the sucked exhaust gas is removed by the removing unit 19. Then, the detoxified exhaust gas with the unburned ammonia removed is discharged from the discharge pipe 21. In this way, the self-propelled exhaust purification device 10 purifies the exhaust gas.
  • the position of the forklift 3 is detected before the ammonia engine 4 of the forklift 3 is started, and the traveling body 12 of the self-propelled exhaust gas purification device 10 travels to the standby position.
  • the drive unit 17 is controlled.
  • the ammonia engine 4 is started in that state, the exhaust gas from the ammonia engine 4 is discharged through the exhaust pipe 5.
  • the suction port 20a of the suction / remover 13 faces the exhaust port 5a of the exhaust pipe 5. Therefore, when the suction / remover 13 is activated, the exhaust gas is sucked by the suction / remover 13 and the unburned ammonia contained in the exhaust gas is removed. This prevents unburned ammonia contained in the exhaust gas from being released into the atmosphere during a cold start of the ammonia engine 4.
  • the ammonia engine 4 is burned using an auxiliary fuel such as gasoline, light oil, kerosene or gas to warm up the catalyst 6. It becomes unnecessary to do. Therefore, it is possible to prevent the configuration of the exhaust system of the ammonia engine 4 from becoming complicated and expensive.
  • the self-propelled exhaust gas purification device 10 since the self-propelled exhaust gas purification device 10 includes the traveling body 12, it can travel to any place in the work area 2. Therefore, even if the target forklift 3 is stopped at an arbitrary position in the work area 2, the exhaust gas from the ammonia engine 4 of the forklift 3 can be purified. As a result, the self-propelled exhaust gas purification device 10 can be effectively used for a plurality of forklifts 3.
  • the self-propelled exhaust gas purification device 10 automatically travels to the standby position in response to the notification signal from the forklift 3. Therefore, it is possible to save the operator the trouble of instructing the traveling body 12 to travel by manual operation.
  • the traveling body 12 travels to the standby position. Therefore, when the ammonia engine 4 is started, the self-propelled exhaust gas purification device 10 is already on standby at the standby position. Therefore, the driver of the forklift 3 can immediately start the ammonia engine 4 without waiting for the arrival of the self-propelled exhaust gas purification device 10.
  • the suction / remover 13 when the engine start signal notifying that the ammonia engine 4 is started is received, the suction / remover 13 is automatically started. Therefore, it is possible to save the operator the trouble of activating the suction / remover 13 by manual operation.
  • the suction / removal operation of the suction / removal device 13 is stopped after a predetermined time has elapsed from the activation of the suction / removal device 13, the power saving of the self-propelled exhaust gas purification device 10 can be achieved. Can be planned.
  • FIG. 6 is a flowchart showing a modified example of the control processing procedure executed by the engine ECU 25 as an exhaust gas purification system including a self-propelled exhaust gas purification device according to another embodiment of the present invention. This process is executed while the ammonia engine 4 is stopped.
  • the engine ECU 25 first determines whether or not the ignition switch 26 has been turned ON based on the operation signal of the ignition switch 26 (procedure S121). When the engine ECU 25 determines that the ignition switch 26 has been turned ON, the engine ECU 25 transmits the engine start signal and the self-position data by the communication unit 24 (procedure S122).
  • the engine ECU 25 determines whether or not the standby signal from the self-propelled exhaust gas purification device 10 has been received by the communication unit 24 (procedure S123). When it is determined that the standby signal has been received, the engine ECU 25 controls to start the ammonia engine 4 (procedure S124).
  • FIG. 7 is a flowchart showing a modified example of the control processing procedure executed by the controller 16 of the self-propelled exhaust gas purification device 10 as an exhaust gas purification system including the self-propelled exhaust gas purification device according to another embodiment of the present invention. Is. This process is executed while the self-propelled exhaust gas purification device 10 is stopped, similar to the control process shown in FIG.
  • the controller 16 first determines whether or not the engine start signal and the self-position data from the forklift 3 have been received by the communication unit 15 (procedure S130). When the controller 16 determines that the engine start signal and the self-position data have been received, the controller 16 detects the position of the target forklift 3 from the self-position data (procedure S131). Then, the controller 16 controls the drive unit 17 so that the traveling body 12 of the self-propelled exhaust gas purification device 10 travels toward the target forklift 3 based on the position of the forklift 3 (procedure S132).
  • the controller 16 determines whether or not the traveling body 12 of the self-propelled exhaust gas purification device 10 has reached the standby position behind the target forklift 3 based on the detection signal of the position sensor 14 (procedure S133). .. When the controller 16 determines that the traveling body 12 has reached the standby position, the controller 16 transmits a standby signal by the communication unit 15 (procedure S134).
  • the controller 16 controls to activate the suction / remover 13 (procedure S135). Then, the controller 16 determines whether or not a predetermined time has elapsed since the suction / removal device 13 was controlled to be activated (procedure S136). When the controller 16 determines that the predetermined time has elapsed, the controller 16 controls to stop the suction / removal operation of the suction / removal device 13 (procedure S137).
  • the position detection unit 28 executes the procedures S130 and S131.
  • the drive control unit 22 executes steps S132 to S134.
  • the purification control unit 23 executes steps S135 to S137.
  • the self-propelled exhaust gas purification device 10 When the self-propelled exhaust gas purification device 10 receives the engine start signal and the self-position data, the position of the forklift 3 is detected. Then, the self-propelled exhaust gas purification device 10 automatically travels to a standby position behind the forklift 3 to be processed, and is in a state of standby at that standby position (see FIG. 2). Then, a standby signal is transmitted from the self-propelled exhaust gas purification device 10 to the target forklift 3. Then, the suction / removal device 13 of the self-propelled exhaust gas purification device 10 is activated.
  • the ammonia engine 4 starts. Then, as shown in FIG. 2, the exhaust gas discharged from the ammonia engine 4 is sucked by the suction unit 18. Then, the unburned ammonia contained in the sucked exhaust gas is removed by the removing unit 19. Then, the detoxified exhaust gas with the unburned ammonia removed is discharged from the discharge pipe 21.
  • the self-propelled exhaust gas purification device 10 can be used for another forklift 3 between the stop of the ammonia engine 4 and the start of the next ammonia engine 4. Therefore, one self-propelled exhaust gas purification device 10 can be effectively used for a plurality of forklifts 3.
  • the present invention is not limited to the above embodiment.
  • communication is performed between the forklift 3 and the self-propelled exhaust gas purification device 10, and the self-propelled exhaust gas purification device 10 is placed in a standby position behind the forklift 3 in response to a notification signal from the forklift 3.
  • the self-propelled exhaust gas purification device 10 is placed in a standby position behind the forklift 3 in response to a notification signal from the forklift 3.
  • the self-propelled exhaust gas purification device communicates between the upper management device that manages the work and operation of the forklift 3 as a whole and the self-propelled exhaust gas purification device 10, and responds to a notification signal from the upper management device. 10 may be driven to a standby position behind the forklift 3. Further, when the self-propelled exhaust gas purification device 10 is instructed to run by a manual switch provided on the self-propelled exhaust gas purification device 10 or a mobile terminal possessed by the operator, the self-propelled exhaust gas purification device 10 is mounted on the forklift 3. It may be driven to the rear standby position.
  • the suction / removal operation of the suction / removal device 13 is stopped after a predetermined time has elapsed from the activation of the suction / removal device 13, but the suction / removal of the suction / removal device 13 is stopped.
  • the timing for stopping the operation is not particularly limited to that, and may be, for example, after the forklift 3 has moved from the stop location.
  • the suction / remover 13 when the self-propelled exhaust gas purification device 10 receives the engine start signal from the forklift 3, the suction / remover 13 is automatically activated, but the present invention is not particularly limited to that embodiment.
  • a manual switch for activating the suction / removal device 13 may be provided in the self-propelled exhaust gas purification device 10, and the suction / removal device 13 may be activated by the operator operating the manual switch.
  • the exhaust gas purification system 1 of the above embodiment is applied to the forklift 3 equipped with the ammonia engine 4, the present invention is also applicable to the forklift equipped with the gasoline engine. Further, the present invention is not particularly limited to a forklift, and can be applied to a vehicle equipped with an internal combustion engine such as a gasoline engine or a diesel engine.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Exhaust Gas After Treatment (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

A self-propelled exhaust purification device (10) is provided with: a travel body (12) having a drive unit (17); a suctioning remover (13) which is mounted on the travel body (12) and suctions exhaust gas which is discharged from an ammonia engine (4) of a forklift (3) via an exhaust pipe (5), to remove unburned ammonia included in the exhaust gas; a position sensing unit (28) for sensing a position of the forklift (3); and a drive control unit (22) which, on the basis of the position of the forklift (3) sensed by the position sensing unit (28), controls the drive unit (17) so that the travel body (12) travels to a standby position at which a suction opening (20a) of the suctioning remover (13) opposes an exhaust opening (5a) of the exhaust pipe (5).

Description

自走式排気浄化装置及び排気浄化システムSelf-propelled exhaust purification device and exhaust purification system
　本発明は、自走式排気浄化装置及び排気浄化システムに関する。 The present invention relates to a self-propelled exhaust gas purification device and an exhaust gas purification system.
　例えば特許文献１には、アンモニア燃焼内燃機関が記載されている。特許文献１に記載のアンモニア燃焼内燃機関では、燃焼室内に向けて液状アンモニアを噴射するアンモニア噴射弁がシリンダヘッドに配置されている。機関本体の排気系には、排気ガス中に含まれるアンモニア及びＮＯｘを浄化する排気浄化触媒が配置されている。排気浄化触媒に流入する排気ガス中に含まれる未燃アンモニアとＮＯｘとの比率を完全浄化比率となるように制御することにより、排気浄化触媒において未燃アンモニア及びＮＯｘをほぼ完全に浄化することができる。 For example, Patent Document 1 describes an ammonia-burning internal combustion engine. In the ammonia combustion internal combustion engine described in Patent Document 1, an ammonia injection valve for injecting liquid ammonia toward the combustion chamber is arranged in the cylinder head. An exhaust purification catalyst that purifies ammonia and NOx contained in the exhaust gas is arranged in the exhaust system of the engine body. By controlling the ratio of unburned ammonia and NOx contained in the exhaust gas flowing into the exhaust gas purification catalyst to a complete purification ratio, it is possible to purify the unburned ammonia and NOx almost completely in the exhaust purification catalyst. it can.
特再公表２０１１－１３６０３４号公報Special Republication 2011-136834
　しかしながら、上記従来技術においては、排気浄化触媒が十分に暖機されて活性化されていることを想定している。このため、内燃機関の冷間始動時には、排気ガス中に含まれる有害物質であるアンモニアが浄化されることなく未燃のまま大気中に放出されるおそれがある。 However, in the above-mentioned prior art, it is assumed that the exhaust gas purification catalyst is sufficiently warmed up and activated. Therefore, at the time of cold start of the internal combustion engine, ammonia, which is a harmful substance contained in the exhaust gas, may be released into the atmosphere without being purified.
　本発明の目的は、内燃機関の冷間始動時に、排気ガス中に含まれる有害物質が大気中に放出されることを防止できる自走式排気浄化装置及び排気浄化システムを提供することである。 An object of the present invention is to provide a self-propelled exhaust purification device and an exhaust purification system capable of preventing harmful substances contained in exhaust gas from being released into the atmosphere during a cold start of an internal combustion engine.
　本発明の一態様に係る自走式排気浄化装置は、駆動部を有する走行体と、走行体に搭載され、車両の内燃機関から排気管を通して排出される排気ガスを吸引して、排気ガス中に含まれる有害物質を除去する吸引・除去部と、車両の位置を検知する位置検知部と、位置検知部により検知された車両の位置に基づいて、吸引・除去部の吸引口が排気管の排気口と対向する待機位置まで走行体が走行するように駆動部を制御する駆動制御部とを備える。 The self-propelled exhaust purification device according to one aspect of the present invention sucks an exhaust gas having a drive unit and an exhaust gas mounted on the traveling body and discharged from an internal combustion engine of a vehicle through an exhaust pipe, and is contained in the exhaust gas. Based on the suction / removal unit that removes harmful substances contained in the exhaust, the position detection unit that detects the position of the vehicle, and the position of the vehicle detected by the position detection unit, the suction port of the suction / removal unit is the exhaust pipe. It is provided with a drive control unit that controls the drive unit so that the traveling body travels to a standby position facing the exhaust port.
　このような自走式排気浄化装置においては、車両の内燃機関が始動する前に、車両の位置が検知され、走行体が待機位置まで走行するように駆動部が制御される。その状態で内燃機関が始動すると、内燃機関からの排気ガスが排気管を通って排出される。このとき、吸引・除去部の吸引口は、排気管の排気口と対向している。このため、吸引・除去部が起動されると、吸引・除去部によって排気ガスが吸引され、排気ガス中に含まれる有害物質が除去される。これにより、内燃機関の冷間始動時に、排気ガス中に含まれる有害物質が大気中に放出されることが防止される。また、自走式排気浄化装置は、走行体を備えているため、所定範囲内の任意の場所に走行可能である。従って、対象となる車両が所定範囲内の任意の位置に止まっていても、当該車両の内燃機関からの排気ガスを浄化することができる。 In such a self-propelled exhaust purification device, the position of the vehicle is detected before the internal combustion engine of the vehicle is started, and the drive unit is controlled so that the traveling body travels to the standby position. When the internal combustion engine is started in that state, the exhaust gas from the internal combustion engine is discharged through the exhaust pipe. At this time, the suction port of the suction / removal portion faces the exhaust port of the exhaust pipe. Therefore, when the suction / removal unit is activated, the exhaust gas is sucked by the suction / removal unit, and harmful substances contained in the exhaust gas are removed. This prevents harmful substances contained in the exhaust gas from being released into the atmosphere during a cold start of the internal combustion engine. Further, since the self-propelled exhaust gas purification device includes a traveling body, it can travel to an arbitrary place within a predetermined range. Therefore, even if the target vehicle is stopped at an arbitrary position within a predetermined range, the exhaust gas from the internal combustion engine of the vehicle can be purified.
　自走式排気浄化装置は、車両と通信を行う通信部を更に備え、駆動制御部は、車両からの通知信号に応じて、走行体が待機位置まで走行するように駆動部を制御してもよい。このような構成では、車両からの通知信号に応じて、自走式排気浄化装置が待機位置まで自動的に走行するようになる。従って、オペレータが手動操作により走行体の走行を指示する手間を省くことができる。 The self-propelled exhaust purification device further includes a communication unit that communicates with the vehicle, and the drive control unit controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle. Good. In such a configuration, the self-propelled exhaust gas purification device automatically travels to the standby position in response to the notification signal from the vehicle. Therefore, it is possible to save the operator the trouble of instructing the traveling body to travel by manual operation.
　駆動制御部は、通信部により内燃機関を停止させることを通知する通知信号を受信したときに、走行体が待機位置まで走行するように駆動部を制御してもよい。このような構成では、内燃機関の始動時には、自走式排気浄化装置が既に待機位置で待機しているため、車両の運転者が自走式排気浄化装置の到着を待つことなく、直ちに内燃機関を始動させることができる。 The drive control unit may control the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is stopped. In such a configuration, when the internal combustion engine is started, the self-propelled exhaust gas purification device is already waiting in the standby position, so that the driver of the vehicle does not have to wait for the arrival of the self-propelled exhaust gas purification device. Can be started.
　駆動制御部は、通信部により内燃機関を始動させることを通知する通知信号を受信したときに、走行体が待機位置まで走行するように駆動部を制御してもよい。このような構成では、内燃機関の停止から次の内燃機関の始動までの間に、自走式排気浄化装置を他の車両に使用することが可能となる。従って、１台の自走式排気浄化装置を複数台の車両に対して有効利用することができる。 The drive control unit may control the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is started. With such a configuration, the self-propelled exhaust gas purification device can be used for another vehicle between the stop of the internal combustion engine and the start of the next internal combustion engine. Therefore, one self-propelled exhaust gas purification device can be effectively used for a plurality of vehicles.
　自走式排気浄化装置は、通信部により内燃機関を始動させることを通知する通知信号を受信したときに、吸引・除去部を起動するように制御する浄化制御部を更に備えてもよい。このような構成では、内燃機関を始動させる信号が受信されると、吸引・除去部が自動的に起動されるようになる。従って、オペレータが手動操作により吸引・除去部を起動する手間を省くことができる。 The self-propelled exhaust gas purification device may further include a purification control unit that controls the suction / removal unit to be activated when the communication unit receives a notification signal notifying that the internal combustion engine is to be started. In such a configuration, when a signal for starting the internal combustion engine is received, the suction / removal unit is automatically started. Therefore, it is possible to save the operator the trouble of activating the suction / removal unit by manual operation.
　内燃機関は、燃料としてアンモニアを使用するアンモニアエンジンであり、吸引・除去部は、有害物質として未燃のアンモニアを含む物質を除去してもよい。このような構成では、排気ガス中に含まれる未燃のアンモニアが大気中に放出されることが防止される。 The internal combustion engine is an ammonia engine that uses ammonia as fuel, and the suction / removal unit may remove substances containing unburned ammonia as harmful substances. With such a configuration, unburned ammonia contained in the exhaust gas is prevented from being released into the atmosphere.
　本発明の他の態様に係る排気浄化システムは、車両に使用される自走式排気浄化装置と、車両の内燃機関を制御する制御装置とを具備し、自走式排気浄化装置は、駆動部を有する走行体と、走行体に搭載され、内燃機関から排気管を通して排出される排気ガスを吸引して、排気ガス中に含まれる有害物質を除去する吸引・除去部と、車両の位置を検知する位置検知部と、位置検知部により検知された車両の位置に基づいて、吸引・除去部の吸引口が排気管の排気口と対向する待機位置まで走行体が走行するように駆動部を制御する駆動制御部と、車両と通信を行う通信部とを備え、駆動制御部は、車両からの通知信号に応じて、走行体が待機位置まで走行するように駆動部を制御する。 The exhaust gas purification system according to another aspect of the present invention includes a self-propelled exhaust gas purification device used in a vehicle and a control device for controlling an internal combustion engine of the vehicle, and the self-propelled exhaust gas purification device is a drive unit. Detects the position of the vehicle, the vehicle that is mounted on the vehicle, the suction / removal unit that sucks the exhaust gas discharged from the internal combustion engine through the exhaust pipe, and removes the harmful substances contained in the exhaust gas. The drive unit is controlled so that the traveling body travels to a standby position where the suction port of the suction / removal unit faces the exhaust port of the exhaust pipe based on the position detection unit and the position of the vehicle detected by the position detection unit. The drive control unit includes a drive control unit that communicates with the vehicle, and the drive control unit controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle.
　このような排気浄化システムにおいては、車両の内燃機関が始動する前に、車両の位置が検知され、自走式排気浄化装置の走行体が待機位置まで走行するように駆動部が制御される。その状態で内燃機関が始動すると、内燃機関からの排気ガスが排気管を通って排出される。このとき、吸引・除去部の吸引口は、排気管の排気口と対向している。このため、吸引・除去部が起動されると、吸引・除去部によって排気ガスが吸引され、排気ガス中に含まれる有害物質が除去される。これにより、内燃機関の冷間始動時に、排気ガス中に含まれる有害物質が大気中に放出されることが防止される。また、自走式排気浄化装置は、走行体を備えているため、所定範囲内の任意の場所に走行可能である。従って、対象となる車両が所定範囲内の任意の位置に止まっていても、当該車両の内燃機関からの排気ガスを浄化することができる。 In such an exhaust gas purification system, the position of the vehicle is detected before the internal combustion engine of the vehicle is started, and the drive unit is controlled so that the traveling body of the self-propelled exhaust gas purification device travels to the standby position. When the internal combustion engine is started in that state, the exhaust gas from the internal combustion engine is discharged through the exhaust pipe. At this time, the suction port of the suction / removal portion faces the exhaust port of the exhaust pipe. Therefore, when the suction / removal unit is activated, the exhaust gas is sucked by the suction / removal unit, and harmful substances contained in the exhaust gas are removed. This prevents harmful substances contained in the exhaust gas from being released into the atmosphere during a cold start of the internal combustion engine. Further, since the self-propelled exhaust gas purification device includes a traveling body, it can travel to an arbitrary place within a predetermined range. Therefore, even if the target vehicle is stopped at an arbitrary position within a predetermined range, the exhaust gas from the internal combustion engine of the vehicle can be purified.
　また、車両からの通知信号に応じて、自走式排気浄化装置が待機位置まで自動的に走行するようになる。従って、オペレータが手動操作により走行体の走行を指示する手間を省くことができる。 In addition, the self-propelled exhaust purification device will automatically travel to the standby position in response to the notification signal from the vehicle. Therefore, it is possible to save the operator the trouble of instructing the traveling body to travel by manual operation.
　本発明によれば、内燃機関の冷間始動時に、排気ガス中に含まれる有害物質が大気中に放出されることを防止できる。 According to the present invention, it is possible to prevent harmful substances contained in the exhaust gas from being released into the atmosphere during a cold start of an internal combustion engine.
本発明の一実施形態に係る自走式排気浄化装置を具備した排気浄化システムが適用される作業エリアを示す概略図である。It is a schematic diagram which shows the work area to which the exhaust gas purification system provided with the self-propelled exhaust gas purification apparatus which concerns on one Embodiment of this invention is applied. 図１に示された自走式排気浄化装置がフォークリフトの後方の待機位置で待機している状態を示す側面図である。FIG. 5 is a side view showing a state in which the self-propelled exhaust gas purification device shown in FIG. 1 is standing by at a standby position behind the forklift. 本発明の一実施形態に係る自走式排気浄化装置を具備した排気浄化システムの構成を示すブロック図である。It is a block diagram which shows the structure of the exhaust gas purification system provided with the self-propelled exhaust gas purification apparatus which concerns on one Embodiment of this invention. 図３に示されたエンジンＥＣＵにより実行される制御処理手順の詳細を示すフローチャートである。It is a flowchart which shows the detail of the control processing procedure executed by the engine ECU shown in FIG. 図３に示されたコントローラにより実行される制御処理手順の詳細を示すフローチャートである。It is a flowchart which shows the detail of the control processing procedure executed by the controller shown in FIG. 本発明の他の実施形態に係る自走式排気浄化装置を具備した排気浄化システムとして、図４に示されたエンジンＥＣＵにより実行される制御処理手順の変形例を示すフローチャートである。It is a flowchart which shows the modification of the control processing procedure executed by the engine ECU shown in FIG. 4 as the exhaust gas purification system provided with the self-propelled exhaust gas purification apparatus which concerns on another embodiment of this invention. 本発明の他の実施形態に係る自走式排気浄化装置を具備した排気浄化システムとして、図５に示されたコントローラにより実行される制御処理手順の変形例を示すフローチャートである。It is a flowchart which shows the modification of the control processing procedure executed by the controller shown in FIG. 5 as the exhaust gas purification system provided with the self-propelled exhaust gas purification apparatus which concerns on another embodiment of this invention.
　以下、本発明の実施形態について、図面を参照して詳細に説明する。なお、図面において、同一または同等の要素には同じ符号を付し、重複する説明を省略する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.
　図１は、本発明の一実施形態に係る自走式排気浄化装置を具備した排気浄化システムが適用される作業エリアを示す概略図である。図１において、排気浄化システム１は、例えば工場内や倉庫内等の作業エリア２（所定範囲）に適用される。作業エリア２では、荷役車両であるフォークリフト３により荷役作業が行われる。フォークリフト３は、例えば作業エリア２に複数台存在する。作業エリア２には、車庫、休憩所及び燃料補給所等といったフォークリフト３が停止する複数の停止箇所が存在する。 FIG. 1 is a schematic view showing a work area to which an exhaust gas purification system including a self-propelled exhaust gas purification device according to an embodiment of the present invention is applied. In FIG. 1, the exhaust gas purification system 1 is applied to a work area 2 (predetermined range) such as in a factory or a warehouse. In the work area 2, cargo handling work is performed by a forklift 3 which is a cargo handling vehicle. There are a plurality of forklifts 3 in the work area 2, for example. In the work area 2, there are a plurality of stop points where the forklift 3 stops, such as a garage, a rest area, and a refueling station.
　フォークリフト３には、図２に示されるように、アンモニアエンジン４が搭載されている。アンモニアエンジン４は、燃料としてアンモニアを使用する内燃機関である。アンモニアエンジン４で発生した排気ガスは、排気管５によりフォークリフト３の外部に排出される。排気管５は、フォークリフト３の後部に配置され、フォークリフト３の後方に排気ガスを排出する。排気管５の先端（後端）の開口は、排気口５ａとなっている。排気管５の途中には、排気ガス中に含まれる有害物質である未燃アンモニア及びＮＯｘを除去する触媒６が配設されている。 As shown in FIG. 2, the forklift 3 is equipped with an ammonia engine 4. The ammonia engine 4 is an internal combustion engine that uses ammonia as a fuel. The exhaust gas generated by the ammonia engine 4 is discharged to the outside of the forklift 3 by the exhaust pipe 5. The exhaust pipe 5 is arranged at the rear of the forklift 3, and exhausts the exhaust gas behind the forklift 3. The opening at the tip (rear end) of the exhaust pipe 5 is the exhaust port 5a. A catalyst 6 for removing unburned ammonia and NOx, which are harmful substances contained in the exhaust gas, is arranged in the middle of the exhaust pipe 5.
　排気浄化システム１は、本実施形態の自走式排気浄化装置１０を具備している。自走式排気浄化装置１０は、例えば作業エリア２に複数台存在する。自走式排気浄化装置１０は、フォークリフト３に使用される。自走式排気浄化装置１０は、アンモニアエンジン４から排出される排気ガスを浄化する装置である。自走式排気浄化装置１０は、自動走行機能を有している。 The exhaust gas purification system 1 includes the self-propelled exhaust gas purification device 10 of the present embodiment. There are a plurality of self-propelled exhaust gas purification devices 10 in the work area 2, for example. The self-propelled exhaust gas purification device 10 is used for the forklift 3. The self-propelled exhaust purification device 10 is a device that purifies the exhaust gas discharged from the ammonia engine 4. The self-propelled exhaust gas purification device 10 has an automatic traveling function.
　図３は、自走式排気浄化装置１０を具備した排気浄化システム１の構成を示すブロック図である。図３において、排気浄化システム１は、自走式排気浄化装置１０に加え、フォークリフト３に搭載された制御装置１１を具備している。 FIG. 3 is a block diagram showing a configuration of an exhaust gas purification system 1 provided with a self-propelled exhaust gas purification device 10. In FIG. 3, the exhaust gas purification system 1 includes a control device 11 mounted on the forklift 3 in addition to the self-propelled exhaust gas purification device 10.
　自走式排気浄化装置１０は、走行体１２と、吸引・除去器１３（吸引・除去部）と、位置センサ１４と、通信部１５と、コントローラ１６とを有している。吸引・除去器１３、位置センサ１４、通信部１５及びコントローラ１６は、走行体１２に搭載されている。走行体１２は、例えば無人搬送車である。走行体１２は、走行モータ及び操舵モータ等の駆動部１７を有している。 The self-propelled exhaust gas purification device 10 includes a traveling body 12, a suction / removal device 13 (suction / removal unit), a position sensor 14, a communication unit 15, and a controller 16. The suction / removal device 13, the position sensor 14, the communication unit 15, and the controller 16 are mounted on the traveling body 12. The traveling body 12 is, for example, an automatic guided vehicle. The traveling body 12 has a driving unit 17 such as a traveling motor and a steering motor.
　吸引・除去器１３は、アンモニアエンジン４から排出される排気ガスを吸引する吸引部１８と、この吸引部１８により吸引された排気ガス中に含まれる有害物質である未燃アンモニアを除去する除去部１９とを有している。なお、有害物質は、未燃アンモニア以外の物質を含んでいることもある。 The suction / remover 13 has a suction unit 18 that sucks the exhaust gas discharged from the ammonia engine 4 and a removal unit that removes unburned ammonia that is a harmful substance contained in the exhaust gas sucked by the suction unit 18. Has 19 and. In addition, the harmful substance may contain a substance other than unburned ammonia.
　吸引部１８は、例えばブロワーまたはポンプ等により排気ガスを吸引する。吸引部１８には、吸引管２０が接続されている。吸引管２０の先端部は、基端側から先端側に向けて径が大きくなるような漏斗状を呈している。吸引管２０の先端の開口は、吸引口２０ａとなっている。 The suction unit 18 sucks the exhaust gas by, for example, a blower or a pump. A suction pipe 20 is connected to the suction unit 18. The tip of the suction tube 20 has a funnel shape in which the diameter increases from the base end side to the tip end side. The opening at the tip of the suction tube 20 is a suction port 20a.
　除去部１９は、例えば未燃アンモニアを燃焼、吸着または中和させて除去してもよいし、或いは未燃アンモニアを水に吸収させて除去してもよい。除去部１９には、未燃アンモニアが除去された無害の排気ガスを排出する排出管２１が接続されている。 The removing unit 19 may, for example, burn, adsorb or neutralize unburned ammonia to remove it, or absorb unburned ammonia into water and remove it. A discharge pipe 21 for discharging harmless exhaust gas from which unburned ammonia has been removed is connected to the removal unit 19.
　位置センサ１４は、フォークリフト３の排気管５の位置を検出するセンサである。位置センサ１４としては、赤外線センサ、超音波センサ、近接センサまたはカメラ等が用いられる。 The position sensor 14 is a sensor that detects the position of the exhaust pipe 5 of the forklift 3. As the position sensor 14, an infrared sensor, an ultrasonic sensor, a proximity sensor, a camera, or the like is used.
　通信部１５は、フォークリフト３と無線による通信を行う。通信部１５は、送受信アンテナ１５ａを有している。 The communication unit 15 wirelessly communicates with the forklift 3. The communication unit 15 has a transmission / reception antenna 15a.
　コントローラ１６は、ＣＰＵ、ＲＡＭ、ＲＯＭ及び入出力インターフェースにより構成されている。コントローラ１６は、位置検知部２８と、駆動制御部２２と、浄化制御部２３とを有している。 The controller 16 is composed of a CPU, RAM, ROM, and an input / output interface. The controller 16 has a position detection unit 28, a drive control unit 22, and a purification control unit 23.
　位置検知部２８は、フォークリフト３からの自己位置データに基づいて、フォークリフト３の位置を検知する。駆動制御部２２は、位置検知部２８により検知されたフォークリフト３の位置、フォークリフト３からのアンモニアエンジン４の動作に関する通知信号及び位置センサ１４の検出信号に基づいて、走行体１２が待機位置まで走行するように駆動部１７を制御する。待機位置は、吸引・除去器１３の吸引口２０ａがフォークリフト３の排気管５の排気口５ａと対向するような位置である。浄化制御部２３は、フォークリフト３からのアンモニアエンジン４の動作に関する通知信号に基づいて、吸引・除去器１３を起動するように制御する。なお、コントローラ１６の制御処理手順については、後で詳述する。 The position detection unit 28 detects the position of the forklift 3 based on the self-position data from the forklift 3. The drive control unit 22 causes the traveling body 12 to travel to the standby position based on the position of the forklift 3 detected by the position detection unit 28, the notification signal regarding the operation of the ammonia engine 4 from the forklift 3, and the detection signal of the position sensor 14. The drive unit 17 is controlled so as to do so. The standby position is such that the suction port 20a of the suction / remover 13 faces the exhaust port 5a of the exhaust pipe 5 of the forklift 3. The purification control unit 23 controls the suction / remover 13 to be activated based on the notification signal regarding the operation of the ammonia engine 4 from the forklift 3. The control processing procedure of the controller 16 will be described in detail later.
　制御装置１１は、通信部２４と、エンジンＥＣＵ２５（ＥＣＵ：Electronic Control Unit）とを有している。通信部２４は、自走式排気浄化装置１０と無線による通信を行う。通信部２４は、送受信アンテナ２４ａを有している。 The control device 11 has a communication unit 24 and an engine ECU 25 (ECU: Electronic Control Unit). The communication unit 24 wirelessly communicates with the self-propelled exhaust gas purification device 10. The communication unit 24 has a transmission / reception antenna 24a.
　エンジンＥＣＵ２５には、イグニッションスイッチ２６（ＩＧスイッチ）が接続されている。イグニッションスイッチ２６は、フォークリフト３の運転者がアンモニアエンジン４の始動及び停止を指示するための手動操作スイッチである。エンジンＥＣＵ２５は、イグニッションスイッチ２６の操作信号及び自走式排気浄化装置１０からの通知信号に基づいて、アンモニアエンジン４を制御すると共に、アンモニアエンジン４の動作に関する通知を行う。 An ignition switch 26 (IG switch) is connected to the engine ECU 25. The ignition switch 26 is a manually operated switch for the driver of the forklift 3 to instruct the start and stop of the ammonia engine 4. The engine ECU 25 controls the ammonia engine 4 and notifies the operation of the ammonia engine 4 based on the operation signal of the ignition switch 26 and the notification signal from the self-propelled exhaust gas purification device 10.
　図４は、エンジンＥＣＵ２５により実行される制御処理手順の詳細を示すフローチャートである。本処理は、アンモニアエンジン４の回転動作中に実行される。 FIG. 4 is a flowchart showing details of the control processing procedure executed by the engine ECU 25. This process is executed during the rotational operation of the ammonia engine 4.
　図４において、エンジンＥＣＵ２５は、まずイグニッションスイッチ２６の操作信号に基づいて、イグニッションスイッチ２６がＯＦＦ操作されたかどうかを判断する（手順Ｓ１０１）。 In FIG. 4, the engine ECU 25 first determines whether or not the ignition switch 26 has been turned off based on the operation signal of the ignition switch 26 (procedure S101).
　エンジンＥＣＵ２５は、イグニッションスイッチ２６がＯＦＦ操作されたと判断したときは、エンジン停止信号及び自己位置データを通信部２４により送信する（手順Ｓ１０２）。エンジン停止信号は、アンモニアエンジン４を停止させることを通知する通知信号である。自己位置データは、フォークリフト３の現在位置のデータである。フォークリフト３の現在位置は、ＧＰＳ（Global Positioning System）等から把握することができる。そして、エンジンＥＣＵ２５は、アンモニアエンジン４を停止させるように制御する（手順Ｓ１０３）。 When the engine ECU 25 determines that the ignition switch 26 has been turned off, the engine stop signal and the self-position data are transmitted by the communication unit 24 (procedure S102). The engine stop signal is a notification signal for notifying that the ammonia engine 4 is stopped. The self-position data is the data of the current position of the forklift 3. The current position of the forklift 3 can be grasped from GPS (Global Positioning System) or the like. Then, the engine ECU 25 controls to stop the ammonia engine 4 (procedure S103).
　その後、エンジンＥＣＵ２５は、イグニッションスイッチ２６の操作信号に基づいて、イグニッションスイッチ２６がＯＮ操作されたかどうかを判断する（手順Ｓ１０４）。エンジンＥＣＵ２５は、イグニッションスイッチ２６がＯＮ操作されたと判断したときは、通信部２４により自走式排気浄化装置１０からのスタンバイ信号（後述）を受信したかどうかを判断する（手順Ｓ１０５）。 After that, the engine ECU 25 determines whether or not the ignition switch 26 has been turned ON based on the operation signal of the ignition switch 26 (procedure S104). When the engine ECU 25 determines that the ignition switch 26 has been turned ON, the engine ECU 25 determines whether or not the communication unit 24 has received a standby signal (described later) from the self-propelled exhaust gas purification device 10 (procedure S105).
　エンジンＥＣＵ２５は、スタンバイ信号を受信したと判断したときは、エンジン始動信号を通信部２４により送信する（手順Ｓ１０６）。エンジン始動信号は、アンモニアエンジン４を始動させることを通知する通知信号である。そして、エンジンＥＣＵ２５は、アンモニアエンジン４を始動させるように制御する（手順Ｓ１０７）。 When the engine ECU 25 determines that the standby signal has been received, the engine ECU 25 transmits an engine start signal by the communication unit 24 (procedure S106). The engine start signal is a notification signal for notifying that the ammonia engine 4 is started. Then, the engine ECU 25 controls to start the ammonia engine 4 (procedure S107).
　図５は、自走式排気浄化装置１０のコントローラ１６により実行される制御処理手順の詳細を示すフローチャートである。本処理は、自走式排気浄化装置１０の停止中に実行される。 FIG. 5 is a flowchart showing details of a control processing procedure executed by the controller 16 of the self-propelled exhaust gas purification device 10. This process is executed while the self-propelled exhaust gas purification device 10 is stopped.
　図５において、コントローラ１６は、まずフォークリフト３からのエンジン停止信号及び自己位置データを通信部１５により受信したかどうかを判断する（手順Ｓ１１０）。コントローラ１６は、エンジン停止信号及び自己位置データを受信したと判断したときは、自己位置データから対象のフォークリフト３の位置を検知する（手順Ｓ１１１）。そして、コントローラ１６は、フォークリフト３の位置に基づいて、自走式排気浄化装置１０の走行体１２が対象のフォークリフト３に向けて走行するように駆動部１７を制御する（手順Ｓ１１２）。 In FIG. 5, the controller 16 first determines whether or not the engine stop signal and the self-position data from the forklift 3 have been received by the communication unit 15 (procedure S110). When the controller 16 determines that the engine stop signal and the self-position data have been received, the controller 16 detects the position of the target forklift 3 from the self-position data (procedure S111). Then, the controller 16 controls the drive unit 17 so that the traveling body 12 of the self-propelled exhaust gas purification device 10 travels toward the target forklift 3 based on the position of the forklift 3 (procedure S112).
　そして、コントローラ１６は、位置センサ１４の検出信号に基づいて、自走式排気浄化装置１０の走行体１２が対象とするフォークリフト３の後方の待機位置に達したかどうかを判断する（手順Ｓ１１３）。待機位置は、上述したように、フォークリフト３の後方において吸引部１８の吸引口２０ａが排気管５の排気口５ａと対向する位置である。このとき、吸引口２０ａと排気口５ａとの距離は、例えば排気管５から排出された排気ガスの大部分が吸引部１８に入り込むことが可能な距離である。 Then, the controller 16 determines whether or not the traveling body 12 of the self-propelled exhaust purification device 10 has reached the standby position behind the target forklift 3 based on the detection signal of the position sensor 14 (procedure S113). .. As described above, the standby position is a position where the suction port 20a of the suction unit 18 faces the exhaust port 5a of the exhaust pipe 5 behind the forklift 3. At this time, the distance between the suction port 20a and the exhaust port 5a is, for example, a distance at which most of the exhaust gas discharged from the exhaust pipe 5 can enter the suction portion 18.
　コントローラ１６は、走行体１２が待機位置に達していないと判断したときは、手順Ｓ１１２を再度実行する。コントローラ１６は、走行体１２が待機位置に達したと判断したときは、スタンバイ信号を通信部１５により送信する（手順Ｓ１１４）。スタンバイ信号は、走行体１２が待機位置で待機している状態であることを通知する通知信号である。 When the controller 16 determines that the traveling body 12 has not reached the standby position, the controller 16 executes the procedure S112 again. When the controller 16 determines that the traveling body 12 has reached the standby position, the controller 16 transmits a standby signal by the communication unit 15 (procedure S114). The standby signal is a notification signal for notifying that the traveling body 12 is in a standby position.
　続いて、コントローラ１６は、フォークリフト３からのエンジン始動信号を通信部１５により受信しかたどうかを判断する（手順Ｓ１１５）。コントローラ１６は、エンジン始動信号を受信したと判断したときは、吸引・除去器１３を起動するように制御する（手順Ｓ１１６）。 Subsequently, the controller 16 determines whether or not the engine start signal from the forklift 3 has been received by the communication unit 15 (procedure S115). When the controller 16 determines that the engine start signal has been received, the controller 16 controls to start the suction / remover 13 (procedure S116).
　そして、コントローラ１６は、吸引・除去器１３を起動するように制御してから所定時間が経過したかどうかを判断する（手順Ｓ１１７）。所定時間は、例えばフォークリフト３の触媒６が十分に暖機されて活性化されるような時間である。コントローラ１６は、所定時間が経過したと判断したときは、吸引・除去器１３の吸引・除去動作を停止させるように制御する（手順Ｓ１１８）。 Then, the controller 16 determines whether or not a predetermined time has elapsed since the suction / removal device 13 was controlled to be activated (procedure S117). The predetermined time is, for example, a time during which the catalyst 6 of the forklift 3 is sufficiently warmed up and activated. When it is determined that the predetermined time has elapsed, the controller 16 controls so as to stop the suction / removal operation of the suction / removal device 13 (procedure S118).
　ここで、位置検知部２８は、手順Ｓ１１０，Ｓ１１１を実行する。駆動制御部２２は、手順Ｓ１１２～Ｓ１１４を実行する。浄化制御部２３は、手順Ｓ１１５～Ｓ１１８を実行する。 Here, the position detection unit 28 executes the procedures S110 and S111. The drive control unit 22 executes steps S112 to S114. The purification control unit 23 executes steps S115 to S118.
　以上のような排気浄化システム１において、例えばフォークリフト３による荷役作業が終了したため、フォークリフト３が車庫に戻って停止し、フォークリフト３の運転者がイグニッションスイッチ２６をＯＦＦ操作すると、フォークリフト３から自走式排気浄化装置１０にエンジン停止信号及び自己位置データが送信され、アンモニアエンジン４が停止する。 In the exhaust purification system 1 as described above, for example, since the cargo handling work by the forklift 3 is completed, the forklift 3 returns to the garage and stops, and when the driver of the forklift 3 turns off the ignition switch 26, the forklift 3 is self-propelled. The engine stop signal and self-position data are transmitted to the exhaust purification device 10, and the ammonia engine 4 is stopped.
　自走式排気浄化装置１０がエンジン停止信号及び自己位置データを受信すると、フォークリフト３の位置が検知される。そして、自走式排気浄化装置１０は、処理対象となるフォークリフト３の後方の待機位置まで自動的に走行し、その待機位置で待機した状態となる（図２参照）。そして、自走式排気浄化装置１０から対象のフォークリフト３にスタンバイ信号が送信される。 When the self-propelled exhaust gas purification device 10 receives the engine stop signal and the self-position data, the position of the forklift 3 is detected. Then, the self-propelled exhaust gas purification device 10 automatically travels to a standby position behind the forklift 3 to be processed, and is in a state of standby at that standby position (see FIG. 2). Then, a standby signal is transmitted from the self-propelled exhaust gas purification device 10 to the target forklift 3.
　その後、対象のフォークリフト３の運転者がイグニッションスイッチ２６をＯＮ操作すると、当該フォークリフト３がスタンバイ信号を受信し、当該フォークリフト３から自走式排気浄化装置１０にエンジン始動信号が送信され、アンモニアエンジン４が始動する。 After that, when the driver of the target forklift 3 turns on the ignition switch 26, the forklift 3 receives a standby signal, the forklift 3 transmits an engine start signal to the self-propelled exhaust purification device 10, and the ammonia engine 4 Starts.
　自走式排気浄化装置１０がエンジン始動信号を受信すると、吸引・除去器１３が起動される。すると、図２に示されるように、アンモニアエンジン４から排気管５を通して排出された排気ガスが吸引部１８により吸引される。このとき、吸引管２０の先端部は漏斗状を呈しているため、排気ガスが吸引部１８に入り込みやすい。そして、吸引された排気ガス中に含まれる未燃アンモニアが除去部１９により除去される。そして、未燃アンモニアが除去された状態の無害化された排気ガスが排出管２１より排出される。このように自走式排気浄化装置１０によって排気ガスの浄化が行われる。 When the self-propelled exhaust gas purification device 10 receives the engine start signal, the suction / remover 13 is activated. Then, as shown in FIG. 2, the exhaust gas discharged from the ammonia engine 4 through the exhaust pipe 5 is sucked by the suction unit 18. At this time, since the tip of the suction pipe 20 has a funnel shape, the exhaust gas easily enters the suction portion 18. Then, the unburned ammonia contained in the sucked exhaust gas is removed by the removing unit 19. Then, the detoxified exhaust gas with the unburned ammonia removed is discharged from the discharge pipe 21. In this way, the self-propelled exhaust purification device 10 purifies the exhaust gas.
　その後、所定時間が経過すると、吸引・除去器１３の吸引・除去動作が停止し、フォークリフト３の触媒６によって排気ガスの浄化が行われる。 After that, when a predetermined time elapses, the suction / removal operation of the suction / removal device 13 is stopped, and the exhaust gas is purified by the catalyst 6 of the forklift 3.
　以上のように本実施形態にあっては、フォークリフト３のアンモニアエンジン４が始動する前に、フォークリフト３の位置が検知され、自走式排気浄化装置１０の走行体１２が待機位置まで走行するように駆動部１７が制御される。その状態でアンモニアエンジン４が始動すると、アンモニアエンジン４からの排気ガスが排気管５を通って排出される。このとき、吸引・除去器１３の吸引口２０ａは、排気管５の排気口５ａと対向している。このため、吸引・除去器１３が起動されると、吸引・除去器１３によって排気ガスが吸引され、排気ガス中に含まれる未燃アンモニアが除去される。これにより、アンモニアエンジン４の冷間始動時に、排気ガス中に含まれる未燃アンモニアが大気中に放出されることが防止される。 As described above, in the present embodiment, the position of the forklift 3 is detected before the ammonia engine 4 of the forklift 3 is started, and the traveling body 12 of the self-propelled exhaust gas purification device 10 travels to the standby position. The drive unit 17 is controlled. When the ammonia engine 4 is started in that state, the exhaust gas from the ammonia engine 4 is discharged through the exhaust pipe 5. At this time, the suction port 20a of the suction / remover 13 faces the exhaust port 5a of the exhaust pipe 5. Therefore, when the suction / remover 13 is activated, the exhaust gas is sucked by the suction / remover 13 and the unburned ammonia contained in the exhaust gas is removed. This prevents unburned ammonia contained in the exhaust gas from being released into the atmosphere during a cold start of the ammonia engine 4.
　また、アンモニアエンジン４の冷間始動時に未燃アンモニアが垂れ流されることを防止するために、ガソリン、軽油、灯油またはガス等の補助燃料を用いてアンモニアエンジン４を燃焼させて触媒６を暖機することが不要となる。従って、アンモニアエンジン４の排気系の構成が煩雑化して高価になることを防止できる。 Further, in order to prevent unburned ammonia from dripping during a cold start of the ammonia engine 4, the ammonia engine 4 is burned using an auxiliary fuel such as gasoline, light oil, kerosene or gas to warm up the catalyst 6. It becomes unnecessary to do. Therefore, it is possible to prevent the configuration of the exhaust system of the ammonia engine 4 from becoming complicated and expensive.
　さらに、自走式排気浄化装置１０は、走行体１２を備えているため、作業エリア２内の任意の場所に走行可能である。従って、対象となるフォークリフト３が作業エリア２内の任意の位置に止まっていても、当該フォークリフト３のアンモニアエンジン４からの排気ガスを浄化することができる。その結果、複数台のフォークリフト３に対して自走式排気浄化装置１０の有効利用が可能となる。 Further, since the self-propelled exhaust gas purification device 10 includes the traveling body 12, it can travel to any place in the work area 2. Therefore, even if the target forklift 3 is stopped at an arbitrary position in the work area 2, the exhaust gas from the ammonia engine 4 of the forklift 3 can be purified. As a result, the self-propelled exhaust gas purification device 10 can be effectively used for a plurality of forklifts 3.
　また、本実施形態では、フォークリフト３からの通知信号に応じて、自走式排気浄化装置１０が待機位置まで自動的に走行するようになる。従って、オペレータが手動操作により走行体１２の走行を指示する手間を省くことができる。 Further, in the present embodiment, the self-propelled exhaust gas purification device 10 automatically travels to the standby position in response to the notification signal from the forklift 3. Therefore, it is possible to save the operator the trouble of instructing the traveling body 12 to travel by manual operation.
　また、本実施形態では、アンモニアエンジン４を停止させることを通知するエンジン停止信号が受信されたときに、走行体１２が待機位置まで走行する。従って、アンモニアエンジン４の始動時には、自走式排気浄化装置１０が既に待機位置で待機していることになる。このため、フォークリフト３の運転者が自走式排気浄化装置１０の到着を待つことなく、直ちにアンモニアエンジン４を始動させることができる。 Further, in the present embodiment, when the engine stop signal notifying that the ammonia engine 4 is stopped is received, the traveling body 12 travels to the standby position. Therefore, when the ammonia engine 4 is started, the self-propelled exhaust gas purification device 10 is already on standby at the standby position. Therefore, the driver of the forklift 3 can immediately start the ammonia engine 4 without waiting for the arrival of the self-propelled exhaust gas purification device 10.
　また、本実施形態では、アンモニアエンジン４を始動させることを通知するエンジン始動信号が受信されると、吸引・除去器１３が自動的に起動されるようになる。従って、オペレータが手動操作により吸引・除去器１３を起動する手間を省くことができる。 Further, in the present embodiment, when the engine start signal notifying that the ammonia engine 4 is started is received, the suction / remover 13 is automatically started. Therefore, it is possible to save the operator the trouble of activating the suction / remover 13 by manual operation.
　また、本実施形態では、吸引・除去器１３が起動してから所定時間が経過した後に、吸引・除去器１３の吸引・除去動作を停止させるので、自走式排気浄化装置１０の省電力化を図ることができる。 Further, in the present embodiment, since the suction / removal operation of the suction / removal device 13 is stopped after a predetermined time has elapsed from the activation of the suction / removal device 13, the power saving of the self-propelled exhaust gas purification device 10 can be achieved. Can be planned.
　次に、本発明の他の実施形態に係る自走式排気浄化装置を具備した排気浄化システムについて説明する。図６は、本発明の他の実施形態に係る自走式排気浄化装置を具備した排気浄化システムとして、エンジンＥＣＵ２５により実行される制御処理手順の変形例を示すフローチャートである。本処理は、アンモニアエンジン４の停止中に実行される。 Next, an exhaust gas purification system including a self-propelled exhaust gas purification device according to another embodiment of the present invention will be described. FIG. 6 is a flowchart showing a modified example of the control processing procedure executed by the engine ECU 25 as an exhaust gas purification system including a self-propelled exhaust gas purification device according to another embodiment of the present invention. This process is executed while the ammonia engine 4 is stopped.
　図６において、エンジンＥＣＵ２５は、まずイグニッションスイッチ２６の操作信号に基づいて、イグニッションスイッチ２６がＯＮ操作されたかどうかを判断する（手順Ｓ１２１）。エンジンＥＣＵ２５は、イグニッションスイッチ２６がＯＮ操作されたと判断したときは、エンジン始動信号及び自己位置データを通信部２４により送信する（手順Ｓ１２２）。 In FIG. 6, the engine ECU 25 first determines whether or not the ignition switch 26 has been turned ON based on the operation signal of the ignition switch 26 (procedure S121). When the engine ECU 25 determines that the ignition switch 26 has been turned ON, the engine ECU 25 transmits the engine start signal and the self-position data by the communication unit 24 (procedure S122).
　続いて、エンジンＥＣＵ２５は、通信部２４により自走式排気浄化装置１０からのスタンバイ信号を受信したかどうかを判断する（手順Ｓ１２３）。エンジンＥＣＵ２５は、スタンバイ信号を受信したと判断したときは、アンモニアエンジン４を始動させるように制御する（手順Ｓ１２４）。 Subsequently, the engine ECU 25 determines whether or not the standby signal from the self-propelled exhaust gas purification device 10 has been received by the communication unit 24 (procedure S123). When it is determined that the standby signal has been received, the engine ECU 25 controls to start the ammonia engine 4 (procedure S124).
　図７は、本発明の他の実施形態に係る自走式排気浄化装置を具備した排気浄化システムとして、自走式排気浄化装置１０のコントローラ１６により実行される制御処理手順の変形例を示すフローチャートである。本処理は、図５に示される制御処理と同様に、自走式排気浄化装置１０の停止中に実行される。 FIG. 7 is a flowchart showing a modified example of the control processing procedure executed by the controller 16 of the self-propelled exhaust gas purification device 10 as an exhaust gas purification system including the self-propelled exhaust gas purification device according to another embodiment of the present invention. Is. This process is executed while the self-propelled exhaust gas purification device 10 is stopped, similar to the control process shown in FIG.
　図７において、コントローラ１６は、まずフォークリフト３からのエンジン始動信号及び自己位置データを通信部１５により受信したかどうかを判断する（手順Ｓ１３０）。コントローラ１６は、エンジン始動信号及び自己位置データを受信したと判断したときは、自己位置データから対象のフォークリフト３の位置を検知する（手順Ｓ１３１）。そして、コントローラ１６は、フォークリフト３の位置に基づいて、自走式排気浄化装置１０の走行体１２が対象のフォークリフト３に向けて走行するように駆動部１７を制御する（手順Ｓ１３２）。 In FIG. 7, the controller 16 first determines whether or not the engine start signal and the self-position data from the forklift 3 have been received by the communication unit 15 (procedure S130). When the controller 16 determines that the engine start signal and the self-position data have been received, the controller 16 detects the position of the target forklift 3 from the self-position data (procedure S131). Then, the controller 16 controls the drive unit 17 so that the traveling body 12 of the self-propelled exhaust gas purification device 10 travels toward the target forklift 3 based on the position of the forklift 3 (procedure S132).
　そして、コントローラ１６は、位置センサ１４の検出信号に基づいて、自走式排気浄化装置１０の走行体１２が対象とするフォークリフト３の後方の待機位置に達したかどうかを判断する（手順Ｓ１３３）。コントローラ１６は、走行体１２が待機位置に達したと判断したときは、スタンバイ信号を通信部１５により送信する（手順Ｓ１３４）。 Then, the controller 16 determines whether or not the traveling body 12 of the self-propelled exhaust gas purification device 10 has reached the standby position behind the target forklift 3 based on the detection signal of the position sensor 14 (procedure S133). .. When the controller 16 determines that the traveling body 12 has reached the standby position, the controller 16 transmits a standby signal by the communication unit 15 (procedure S134).
　続いて、コントローラ１６は、吸引・除去器１３を起動するように制御する（手順Ｓ１３５）。そして、コントローラ１６は、吸引・除去器１３を起動するように制御してから所定時間が経過したかどうかを判断する（手順Ｓ１３６）。コントローラ１６は、所定時間が経過したと判断したときは、吸引・除去器１３の吸引・除去動作を停止させるように制御する（手順Ｓ１３７）。 Subsequently, the controller 16 controls to activate the suction / remover 13 (procedure S135). Then, the controller 16 determines whether or not a predetermined time has elapsed since the suction / removal device 13 was controlled to be activated (procedure S136). When the controller 16 determines that the predetermined time has elapsed, the controller 16 controls to stop the suction / removal operation of the suction / removal device 13 (procedure S137).
　ここで、位置検知部２８は、手順Ｓ１３０，Ｓ１３１を実行する。駆動制御部２２は、手順Ｓ１３２～Ｓ１３４を実行する。浄化制御部２３は、手順Ｓ１３５～Ｓ１３７を実行する。 Here, the position detection unit 28 executes the procedures S130 and S131. The drive control unit 22 executes steps S132 to S134. The purification control unit 23 executes steps S135 to S137.
　このような排気浄化システム１において、荷役作業を開始するために、フォークリフト３の運転者がイグニッションスイッチ２６をＯＮ操作すると、フォークリフト３から自走式排気浄化装置１０にエンジン始動信号及び自己位置データが送信される。 In such an exhaust gas purification system 1, when the driver of the forklift 3 turns on the ignition switch 26 in order to start the cargo handling work, the engine start signal and the self-position data are transmitted from the forklift 3 to the self-propelled exhaust purification device 10. Will be sent.
　自走式排気浄化装置１０がエンジン始動信号及び自己位置データを受信すると、フォークリフト３の位置が検知される。そして、自走式排気浄化装置１０は、処理対象となるフォークリフト３の後方の待機位置まで自動的に走行し、その待機位置で待機した状態となる（図２参照）。そして、自走式排気浄化装置１０から対象のフォークリフト３にスタンバイ信号が送信される。そして、自走式排気浄化装置１０の吸引・除去器１３が起動する。 When the self-propelled exhaust gas purification device 10 receives the engine start signal and the self-position data, the position of the forklift 3 is detected. Then, the self-propelled exhaust gas purification device 10 automatically travels to a standby position behind the forklift 3 to be processed, and is in a state of standby at that standby position (see FIG. 2). Then, a standby signal is transmitted from the self-propelled exhaust gas purification device 10 to the target forklift 3. Then, the suction / removal device 13 of the self-propelled exhaust gas purification device 10 is activated.
　対象のフォークリフト３が自走式排気浄化装置１０からのスタンバイ信号を受信すると、アンモニアエンジン４が始動する。すると、図２に示されるように、アンモニアエンジン４から排出された排気ガスが吸引部１８により吸引される。そして、吸引された排気ガス中に含まれる未燃アンモニアが除去部１９により除去される。そして、未燃アンモニアが除去された状態の無害化された排気ガスが排出管２１より排出される。 When the target forklift 3 receives the standby signal from the self-propelled exhaust gas purification device 10, the ammonia engine 4 starts. Then, as shown in FIG. 2, the exhaust gas discharged from the ammonia engine 4 is sucked by the suction unit 18. Then, the unburned ammonia contained in the sucked exhaust gas is removed by the removing unit 19. Then, the detoxified exhaust gas with the unburned ammonia removed is discharged from the discharge pipe 21.
　本変形例では、アンモニアエンジン４を始動させることを通知するエンジン始動信号が受信されると、フォークリフト３の位置が検知され、自走式排気浄化装置１０の走行体１２が待機位置まで走行する。このため、アンモニアエンジン４の停止から次のアンモニアエンジン４の始動までの間に、自走式排気浄化装置１０を他のフォークリフト３に使用することが可能となる。従って、１台の自走式排気浄化装置１０を複数台のフォークリフト３に対して有効利用することができる。 In this modification, when the engine start signal notifying that the ammonia engine 4 is started is received, the position of the forklift 3 is detected, and the traveling body 12 of the self-propelled exhaust purification device 10 travels to the standby position. Therefore, the self-propelled exhaust gas purification device 10 can be used for another forklift 3 between the stop of the ammonia engine 4 and the start of the next ammonia engine 4. Therefore, one self-propelled exhaust gas purification device 10 can be effectively used for a plurality of forklifts 3.
　なお、本発明は、上記実施形態には限定されない。例えば、上記実施形態では、フォークリフト３と自走式排気浄化装置１０との間で通信を行い、フォークリフト３からの通知信号に応じて、自走式排気浄化装置１０をフォークリフト３の後方の待機位置まで走行させているが、特にその形態には限られない。 The present invention is not limited to the above embodiment. For example, in the above embodiment, communication is performed between the forklift 3 and the self-propelled exhaust gas purification device 10, and the self-propelled exhaust gas purification device 10 is placed in a standby position behind the forklift 3 in response to a notification signal from the forklift 3. However, it is not limited to that form.
　例えば、フォークリフト３の作業及び運行を全体的に管理する上位管理装置と自走式排気浄化装置１０との間で通信を行い、上位管理装置からの通知信号に応じて、自走式排気浄化装置１０をフォークリフト３の後方の待機位置まで走行させてもよい。また、自走式排気浄化装置１０に設けられた手動スイッチまたはオペレータが所持する携帯端末によって自走式排気浄化装置１０の走行が指示されたときに、自走式排気浄化装置１０をフォークリフト３の後方の待機位置まで走行させてもよい。 For example, the self-propelled exhaust gas purification device communicates between the upper management device that manages the work and operation of the forklift 3 as a whole and the self-propelled exhaust gas purification device 10, and responds to a notification signal from the upper management device. 10 may be driven to a standby position behind the forklift 3. Further, when the self-propelled exhaust gas purification device 10 is instructed to run by a manual switch provided on the self-propelled exhaust gas purification device 10 or a mobile terminal possessed by the operator, the self-propelled exhaust gas purification device 10 is mounted on the forklift 3. It may be driven to the rear standby position.
　また、上記実施形態では、吸引・除去器１３が起動してから所定時間が経過した後に、吸引・除去器１３の吸引・除去動作を停止させているが、吸引・除去器１３の吸引・除去動作を停止させるタイミングとしては、特にそれには限られず、例えばフォークリフト３が停止箇所から移動した後であってもよい。 Further, in the above embodiment, the suction / removal operation of the suction / removal device 13 is stopped after a predetermined time has elapsed from the activation of the suction / removal device 13, but the suction / removal of the suction / removal device 13 is stopped. The timing for stopping the operation is not particularly limited to that, and may be, for example, after the forklift 3 has moved from the stop location.
　また、上記実施形態では、自走式排気浄化装置１０がフォークリフト３からのエンジン始動信号を受信したときに、吸引・除去器１３が自動的に起動されているが、特にその形態には限られず、例えば吸引・除去器１３を起動するための手動スイッチを自走式排気浄化装置１０に設け、オペレータが手動スイッチを操作することで吸引・除去器１３を起動してもよい。 Further, in the above embodiment, when the self-propelled exhaust gas purification device 10 receives the engine start signal from the forklift 3, the suction / remover 13 is automatically activated, but the present invention is not particularly limited to that embodiment. For example, a manual switch for activating the suction / removal device 13 may be provided in the self-propelled exhaust gas purification device 10, and the suction / removal device 13 may be activated by the operator operating the manual switch.
　また、上記実施形態の排気浄化システム１は、アンモニアエンジン４を搭載したフォークリフト３に適用されているが、本発明は、ガソリンエンジンを搭載したフォークリフトにも適用可能である。また、本発明は、特にフォークリフトには限られず、ガソリンエンジンやディーゼルエンジン等の内燃機関を搭載した車両であれば、適用可能である。 Further, although the exhaust gas purification system 1 of the above embodiment is applied to the forklift 3 equipped with the ammonia engine 4, the present invention is also applicable to the forklift equipped with the gasoline engine. Further, the present invention is not particularly limited to a forklift, and can be applied to a vehicle equipped with an internal combustion engine such as a gasoline engine or a diesel engine.
　１　　排気浄化システム
　３　　フォークリフト（車両）
　４　　アンモニアエンジン（内燃機関）
　５　　排気管
　５ａ　　排気口
　１０　　自走式排気浄化装置
　１１　　制御装置
　１２　　走行体
　１３　　吸引・除去器（吸引・除去部）
　１５　　通信部
　１７　　駆動部
　２０ａ　　吸引口
　２２　　駆動制御部
　２３　　浄化制御部
　２８　　位置検知部 1 Exhaust purification system 3 Forklift (vehicle)
4 Ammonia engine (internal combustion engine)
5 Exhaust pipe 5a Exhaust port 10 Self-propelled exhaust purification device 11 Control device 12 Traveling body 13 Suction / remover (suction / remover)
15 Communication unit 17 Drive unit 20a Suction port 22 Drive control unit 23 Purification control unit 28 Position detection unit

Claims (7)

  1. 　駆動部を有する走行体と、
    　前記走行体に搭載され、車両の内燃機関から排気管を通して排出される排気ガスを吸引して、前記排気ガス中に含まれる有害物質を除去する吸引・除去部と、
    　前記車両の位置を検知する位置検知部と、
    　前記位置検知部により検知された前記車両の位置に基づいて、前記吸引・除去部の吸引口が前記排気管の排気口と対向する待機位置まで前記走行体が走行するように前記駆動部を制御する駆動制御部とを備える自走式排気浄化装置。     A traveling body having a drive unit and
    A suction / removal unit mounted on the vehicle and sucking exhaust gas discharged from the internal combustion engine of the vehicle through an exhaust pipe to remove harmful substances contained in the exhaust gas.
    A position detection unit that detects the position of the vehicle and
    Based on the position of the vehicle detected by the position detection unit, the drive unit is controlled so that the traveling body travels to a standby position where the suction port of the suction / removal unit faces the exhaust port of the exhaust pipe. A self-propelled exhaust purification device equipped with a drive control unit.
  2. 　前記車両と通信を行う通信部を更に備え、
    　前記駆動制御部は、前記車両からの通知信号に応じて、前記走行体が前記待機位置まで走行するように前記駆動部を制御する請求項１記載の自走式排気浄化装置。     Further equipped with a communication unit that communicates with the vehicle,
    The self-propelled exhaust gas purification device according to claim 1, wherein the drive control unit controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle.
  3. 　前記駆動制御部は、前記通信部により前記内燃機関を停止させることを通知する前記通知信号を受信したときに、前記走行体が前記待機位置まで走行するように前記駆動部を制御する請求項２記載の自走式排気浄化装置。 2. The drive control unit controls the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is stopped. The self-propelled exhaust purification device described.
  4. 　前記駆動制御部は、前記通信部により前記内燃機関を始動させることを通知する前記通知信号を受信したときに、前記走行体が前記待機位置まで走行するように前記駆動部を制御する請求項２記載の自走式排気浄化装置。 2. The drive control unit controls the drive unit so that the traveling body travels to the standby position when the communication unit receives the notification signal notifying that the internal combustion engine is started. The self-propelled exhaust purification device described.
  5. 　前記通信部により前記内燃機関を始動させることを通知する前記通知信号を受信したときに、前記吸引・除去部を起動するように制御する浄化制御部を更に備える請求項２～４の何れか一項記載の自走式排気浄化装置。 Any one of claims 2 to 4, further comprising a purification control unit that controls the suction / removal unit to be activated when the notification signal for notifying the start of the internal combustion engine is received by the communication unit. The self-propelled exhaust purification device described in the section.
  6. 　前記内燃機関は、燃料としてアンモニアを使用するアンモニアエンジンであり、
    　前記吸引・除去部は、前記有害物質として未燃のアンモニアを含む物質を除去する請求項１～５の何れか一項記載の自走式排気浄化装置。     The internal combustion engine is an ammonia engine that uses ammonia as fuel.
    The self-propelled exhaust gas purification device according to any one of claims 1 to 5, wherein the suction / removal unit removes a substance containing unburned ammonia as the harmful substance.
  7. 　車両に使用される自走式排気浄化装置と、
    　前記車両の内燃機関を制御する制御装置とを具備し、
    　前記自走式排気浄化装置は、
    　駆動部を有する走行体と、
    　前記走行体に搭載され、前記内燃機関から排気管を通して排出される排気ガスを吸引して、前記排気ガス中に含まれる有害物質を除去する吸引・除去部と、
    　前記車両の位置を検知する位置検知部と、
    　前記位置検知部により検知された前記車両の位置に基づいて、前記吸引・除去部の吸引口が前記排気管の排気口と対向する待機位置まで前記走行体が走行するように前記駆動部を制御する駆動制御部と、
    　前記車両と通信を行う通信部とを備え、
    　前記駆動制御部は、前記車両からの通知信号に応じて、前記走行体が前記待機位置まで走行するように前記駆動部を制御する排気浄化システム。

          Self-propelled exhaust purification equipment used in vehicles and
    A control device for controlling the internal combustion engine of the vehicle is provided.
    The self-propelled exhaust purification device is
    A traveling body having a drive unit and
    A suction / removal unit mounted on the traveling body and sucking exhaust gas discharged from the internal combustion engine through an exhaust pipe to remove harmful substances contained in the exhaust gas.
    A position detection unit that detects the position of the vehicle and
    Based on the position of the vehicle detected by the position detection unit, the drive unit is controlled so that the traveling body travels to a standby position where the suction port of the suction / removal unit faces the exhaust port of the exhaust pipe. Drive control unit and
    It is equipped with a communication unit that communicates with the vehicle.
    The drive control unit is an exhaust gas purification system that controls the drive unit so that the traveling body travels to the standby position in response to a notification signal from the vehicle.

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JP2003146599A (en) * 2001-11-16 2003-05-21 Tcm Corp Container cargo facility
JP2004100548A (en) * 2002-09-09 2004-04-02 Toyota Motor Corp Exhaust gas processing device for internal combustion engine
JP2009167667A (en) * 2008-01-15 2009-07-30 Toyota Motor Corp Exhaust gas recovery device and prefabricated garage
WO2011136034A1 (en) * 2010-04-28 2011-11-03 トヨタ自動車株式会社 Ammonia-fueled internal combustion engine

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