WO2023054462A1 - 運搬車両 - Google Patents

運搬車両 Download PDF

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Publication number
WO2023054462A1
WO2023054462A1 PCT/JP2022/036144 JP2022036144W WO2023054462A1 WO 2023054462 A1 WO2023054462 A1 WO 2023054462A1 JP 2022036144 W JP2022036144 W JP 2022036144W WO 2023054462 A1 WO2023054462 A1 WO 2023054462A1
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WO
WIPO (PCT)
Prior art keywords
water
watering
transport vehicle
vehicle according
storage tank
Prior art date
Application number
PCT/JP2022/036144
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
夏樹 渡辺
佑太 星野
Original Assignee
株式会社小松製作所
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 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to AU2022355172A priority Critical patent/AU2022355172A1/en
Priority to CN202280053783.2A priority patent/CN117795161A/zh
Priority to CA3227535A priority patent/CA3227535A1/en
Publication of WO2023054462A1 publication Critical patent/WO2023054462A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
    • E01H3/02—Mobile apparatus, e.g. watering-vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/50—Fuel cells

Definitions

  • This disclosure relates to transportation vehicles.
  • Patent Document 1 A fuel cell vehicle as disclosed in Patent Document 1 is known.
  • the electrochemical reaction between hydrogen and oxygen produces electric power for driving the vehicle as the main product and water as the by-product.
  • the present disclosure aims to utilize water produced by the reaction of hydrogen and oxygen.
  • a dump body a vehicle body that supports the dump body, a traveling device that supports the vehicle body, a power device that reacts hydrogen and oxygen to generate power for driving the traveling device, and power
  • a transport vehicle includes a water storage tank that stores water generated in the device, and a water spraying device that sprays water stored in the water storage tank to at least partly around a vehicle body.
  • the water generated by the reaction of hydrogen and oxygen is used for watering the work site.
  • FIG. 1 is a diagram schematically showing a work site of a transport vehicle according to an embodiment.
  • FIG. 2 is a diagram schematically showing a work site management system according to the embodiment.
  • FIG. 3 is a perspective view schematically showing the transport vehicle according to the embodiment.
  • FIG. 4 is a configuration diagram showing the transportation vehicle according to the embodiment.
  • FIG. 5 is a functional block diagram showing the watering system according to the embodiment.
  • FIG. 6 is a diagram schematically showing a watering area according to the embodiment.
  • FIG. 7 is a flow chart showing a control method of the watering system according to the embodiment.
  • FIG. 8 is a flow chart showing a method for driving the watering system according to the embodiment.
  • FIG. 9 is a block diagram showing a computer system according to the embodiment.
  • FIG. 10 is a configuration diagram showing a transport vehicle according to another embodiment.
  • FIG. 11 is a configuration diagram showing a transport vehicle according to another embodiment.
  • FIG. 12 is a diagram schematically showing a
  • FIG. 1 is a diagram schematically showing a work site 1 of a transport vehicle 2 according to an embodiment.
  • a mine or a quarry is exemplified as the work site 1 .
  • a mine is a place or establishment from which minerals are extracted.
  • a quarry is a place or establishment where stone is mined.
  • a plurality of transport vehicles 2 are in operation at a work site 1 .
  • the transport vehicle 2 is a dump truck that travels through the work site 1 and transports cargo.
  • An excavated material excavated at the work site 1 is exemplified as a load to be transported to the transport vehicle 2 .
  • the transport vehicle 2 may be an unmanned dump truck that operates unmanned without the driver's operation, or a manned dump truck that operates based on the driver's operation.
  • the transport vehicle 2 is a manned dump truck.
  • worksite 1 is a mine.
  • mines include metal mines for mining metals, non-metal mines for mining limestone, and coal mines for mining coal.
  • a traveling area 4 is set in the work site 1.
  • the travel area 4 is an area in which the transportation vehicle 2 can travel.
  • the traveling area 4 includes a loading area 5 , a dumping area 6 , an apron 7 , a refueling area 8 , a traveling path 9 and an intersection 10 .
  • the loading area 5 refers to the area where the loading work of loading the cargo onto the transport vehicle 2 is carried out.
  • a loading machine 11 operates in the loading field 5 .
  • a hydraulic excavator is exemplified as the loader 11 .
  • the unloading site 6 is an area where unloading work is carried out in which cargo is discharged from the transport vehicle 2 .
  • a crusher 12 is provided in the dumping site 6 .
  • the tarmac 7 is the area where the transport vehicle 2 is parked.
  • the refueling station 8 is an area where the transportation vehicle 2 is refueled.
  • the travel route 9 refers to the area where the transport vehicle 2 travels toward at least one of the loading area 5, the unloading area 6, the parking area 7, and the refueling area 8.
  • the travel path 9 is provided so as to connect at least the loading site 5 and the dumping site 6 .
  • the travel path 9 leads to each of the loading area 5, the earth discharging area 6, the parking area 7, and the fueling area 8.
  • An intersection 10 is an area where a plurality of roads 9 intersect or an area where one road 9 branches into a plurality of roads 9.
  • FIG. 2 is a diagram schematically showing the management system 13 of the work site 1 according to the embodiment.
  • the management system 13 includes a management device 14 and a communication system 15.
  • the management device 14 is installed in a control facility 16 at the work site 1 .
  • Management device 14 includes a computer system.
  • the transport vehicle 2 has a control device 3 .
  • the control device 3 includes a computer system.
  • the communication system 15 includes a wireless communication device 15A connected to the management device 14 and a wireless communication device 15B connected to the control device 3 .
  • the management device 14 and the control device 3 of the transportation vehicle 2 wirelessly communicate via the communication system 15 .
  • FIG. 3 is a perspective view schematically showing the transport vehicle 2 according to the embodiment.
  • the transport vehicle 2 includes a vessel 21, a vehicle body 22, a traveling device 23, a power device 24, a water storage tank 25, a water sprayer 26, a wireless communication device 15B, and a control device.
  • a vessel (dump body) 21 is a member on which cargo is loaded. At least part of the vessel 21 is arranged above the vehicle body 22 .
  • the vessel 21 performs a dump operation and a lower operation.
  • the dumping operation and the lowering operation adjust the vessel 21 to the dumping posture and the loading posture.
  • the dump posture refers to a posture in which the vessel 21 is raised.
  • the loading posture refers to a posture in which the vessel 21 is lowered.
  • the dumping operation refers to the operation of separating the vessel 21 from the vehicle body 22 and tilting it in the dumping direction.
  • the dumping direction is the rear of the vehicle body 22 .
  • the dumping operation includes raising the front end of vessel 21 to tilt vessel 21 rearward. Due to the dumping operation, the loading surface of the vessel 21 is inclined downward toward the rear.
  • a lowering operation refers to an operation to bring the vessel 21 closer to the vehicle body 22 .
  • the lowering motion includes lowering the front end of vessel 21 .
  • the vessel 21 When carrying out earth removal work, the vessel 21 performs a dumping operation so as to change from the loading attitude to the dumping attitude.
  • the vessel 21 When the vessel 21 is loaded with cargo, the cargo is discharged rearward from the rear end of the vessel 21 by a dump operation.
  • the vessel 21 When the loading operation is performed, the vessel 21 is adjusted to the loading posture.
  • the vehicle body 22 includes a vehicle body frame.
  • the vehicle body 22 supports the vessel 21 .
  • the vehicle body 22 is supported by the travel device 23 .
  • the power unit 24 , the water storage tank 25 , the water sprayer 26 , the wireless communication device 15B, and the control device 3 are each mounted on the vehicle body 22 .
  • the traveling device 23 supports the vehicle body 22.
  • the traveling device 23 causes the transportation vehicle 2 to travel.
  • the travel device 23 moves the transport vehicle 2 forward or backward. At least part of the travel device 23 is arranged below the vehicle body 22 .
  • the travel device 23 has wheels 27 and tires 28 .
  • the tire 28 is attached to the wheel 27.
  • Wheels 27 include front wheels 27F and rear wheels 27R.
  • the tire 28 includes a front tire 28F attached to the front wheel 27F and a rear tire 28R attached to the rear wheel 27R.
  • the front wheels 27F are steering wheels.
  • the rear wheels 27R are drive wheels.
  • the power unit 24 generates power for driving the traveling device 23 by reacting hydrogen and oxygen.
  • Driving the traveling device 23 includes rotating the rear wheels 27R, which are drive wheels.
  • the power plant 24 includes a fuel cell 29 that electrochemically reacts hydrogen and oxygen to generate electric power, a condenser 30 that condenses water vapor generated in the fuel cell 29, and the fuel cell 29 generates and a travel drive motor 31 that generates power for driving the travel device 23 based on the generated electric power.
  • An outside air introduction port 32 is provided in the front portion of the vehicle body 22 .
  • the fuel cell 29 of the power plant 24 generates electric power from oxygen contained in the air introduced from the outside air inlet 32 .
  • the water storage tank 25 stores the water generated in the power plant 24.
  • hydrogen and oxygen undergo an electrochemical reaction to generate water vapor
  • the condenser 30 the water vapor generated in the fuel cell 29 is condensed to generate water.
  • Water generated in the condenser 30 is stored in the water storage tank 25 .
  • the water sprayer 26 is a sprinkler device that sprays water stored in the water storage tank 25 to at least part of the surroundings of the vehicle body 22 .
  • a water spray 26 is arranged at the front part of the vehicle body 22 .
  • the water spray 26 sprinkles water forward in the traveling direction of the vehicle body 22 .
  • the three watering sprays 26 include a watering spray 26C, a watering spray 26L, and a watering spray 26R that are spaced apart in the vehicle width direction of the vehicle body 22 .
  • the water spray 26C is arranged in the central portion of the vehicle body 22 in the vehicle width direction.
  • the water spray 26L is arranged on the left side of the water spray 26C.
  • the water spray 26R is arranged on the right side of the water spray 26C.
  • the number of water sprays 26 is not limited to three in the present embodiment.
  • One, two, or four or more water sprays 26 may be provided.
  • the position where the water spray 26 is arranged is not particularly limited, and it can be installed at various positions on the vehicle body 22 .
  • the position of at least part of the water spray 26C and the outside air introduction port 32 is the same.
  • the water spray 26 ⁇ /b>C sprinkles water in front of the outside air introduction port 32 .
  • the position of at least part of the water spray 26L and the left front wheel 27F is the same.
  • the water spray 26L sprays water in front of the left front wheel 27F.
  • the position of at least part of the water spray 26R and the right front wheel 27F are the same.
  • the water spray 26R sprays water in front of the right front wheel 27F.
  • the water spray 26 sprinkles water in front of the travel device 23 when the transport vehicle 2 moves forward.
  • the water spray 26L sprays water in front of the left front wheel 27F
  • the water spray 26R sprays water in front of the right front wheel 27F.
  • the road surface in front of the travel device 23 gets wet, so when the transport vehicle 2 travels, it is possible to suppress the diffusion of dust or sand.
  • the fuel cell 29 has an electrolyte membrane through which hydrogen and oxygen are ion-conducted. It is said that an electrolyte membrane requires moderate humidity.
  • the water spray 26 ⁇ /b>C sprinkles water in front of the outside air introduction port 32 .
  • high-humidity air is supplied to the fuel cell 29 from the outside air inlet 32 .
  • the humidifier in the fuel cell 29 can be simplified or omitted.
  • FIG. 4 is a configuration diagram showing the transportation vehicle 2 according to the embodiment.
  • the transportation vehicle 2 includes a monitor 54, an input unit 55, an accelerator brake pedal 56, a shift lever 57, a lift lever 58, an energy supply system 17, a vehicle drive system 18, a water spray system 19, and a control device 3. and
  • the monitor 54 , the input unit 55 , the accelerator brake pedal 56 , the shift lever 57 and the lift lever 58 are arranged in the cab of the transport vehicle 2 .
  • a monitor 54 displays display data.
  • the input unit 55 generates an input signal by being operated by the driver.
  • the accelerator brake pedal 56 is operated by the driver, the travel device 23 is accelerated or decelerated.
  • the shift lever 57 is operated by the driver, the speed stage of the travel device 23 is changed, or the travel device 23 is switched between forward and reverse travel.
  • the lift lever 58 is operated by the driver, the vessel 21 is dumped or lowered.
  • the energy supply system 17 has a hydrogen tank 33 , a hydrogen supply device 34 , a fuel cell 29 , a battery 35 , a voltage conversion device 36 and a condenser 30 .
  • the hydrogen supply device 34 supplies the hydrogen in the hydrogen tank 33 to the fuel cell 29 .
  • Air is supplied to the fuel cell 29 from an outside air inlet 32 .
  • the fuel cell 29 electrochemically reacts hydrogen and oxygen to generate electric power.
  • Battery 35 stores the power generated in fuel cell 29 .
  • a voltage conversion device 36 boosts the voltage of the fuel cell 29 or the battery 35 .
  • the condenser 30 condenses the steam generated in the fuel cell 29 to generate water.
  • the vehicle drive system 18 includes an inverter 37 , a pump drive motor 38 , a hydraulic pump 39 , a control valve 40 , a hoist cylinder 41 , an inverter 42 , a travel drive motor 31 , a speed reduction mechanism 43 , and wheels 27 .
  • the inverter 37 converts the DC current from the voltage converter 36 into a three-phase AC current and supplies it to the pump drive motor 38 .
  • a pump drive motor 38 drives a hydraulic pump 39 . Hydraulic oil discharged from the hydraulic pump 39 is supplied to the hoist cylinder 41 via the control valve 40 .
  • the hoist cylinder 41 is operated by supplying hydraulic oil to the hoist cylinder 41 .
  • the hoist cylinder 41 dumps or lowers the vessel 21 .
  • the inverter 42 converts the DC current from the voltage conversion device 36 into a three-phase AC current and supplies it to the travel drive motor 31 .
  • the rotational force generated by the travel drive motor 31 is transmitted to the wheels 27 via the speed reduction mechanism 43 . As the wheels 27 rotate, the travel device 23 travels.
  • the watering system 19 includes a water storage tank 25, a water spray 26, a water pump 44 that supplies the water stored in the water storage tank 25 to the water spray 26, a pipe 45 that connects the water storage tank 25 and the water pump 44, A pipe 46 connecting the water pump 44 and the water spray 26 is provided.
  • Water generated in the condenser 30 is stored in the water storage tank 25 .
  • the water stored in the water storage tank 25 is supplied to the water spray 26 via the pipe 45 , the water pump 44 and the pipe 46 .
  • the water spray 26 sprays water supplied from the water storage tank 25 .
  • the control device 3 includes an energy control unit 47, a vehicle operation control unit 48, a watering control unit 49, an own vehicle information storage unit 50, a terrain information storage unit 51, a control/other vehicle information storage unit 52, and a monitor control unit. and a portion 53 .
  • the energy control section 47 controls the energy supply system 17 .
  • a vehicle operation control unit 48 controls the vehicle drive system 18 .
  • the watering control unit 49 controls the watering system 19 .
  • the input unit 55 when the input unit 55 is operated by the driver, the input unit 55 generates a water spray command signal as an input signal.
  • the watering control unit 49 outputs a control command based on the watering command signal from the input unit 55 so that the water sprayer 26 sprays water.
  • the own vehicle information storage unit 50 stores information related to the own transportation vehicle 2 (own vehicle) in which the own vehicle information storage unit 50 is mounted.
  • the topography information storage unit 51 stores topography information of the work site.
  • the terrain information of the work site includes, for example, the inclination angle (slope) of the road surface of the travel path 9 .
  • the control other vehicle information storage unit 52 stores the information transmitted from the management device 14 .
  • the control other vehicle information storage unit 52 stores information transmitted from other transportation vehicles 2 (other vehicles).
  • the monitor control unit 53 controls the monitor 54 .
  • FIG. 5 is a functional block diagram showing a watering system 59 according to the embodiment.
  • the watering system 59 includes the management device 14, an energy control unit 47, a vehicle operation control unit 48, a watering control unit 49, an own vehicle information storage unit 50, a terrain information storage unit 51, and a control other vehicle information storage unit. 52, a monitor control unit 53, and a sensor 60 for judging watering.
  • the watering determination sensor 60 includes a position sensor 61, a water amount sensor 62, a dust sensor 63, an inclination sensor 64, a slip sensor 65, a weather sensor 66, a temperature sensor 67, and a humidity sensor 68.
  • the detection signal of the watering determination sensor 60 (watering determination detection signal) is stored in the own vehicle information storage unit 50 .
  • the detection signal (watering determination detection signal) of the watering determination sensor 60 is used to determine whether watering from the watering sprayer 26 is necessary and to control the amount of watering from the watering sprayer 26 .
  • the watering determination sensor 60 includes a position sensor 61, a water amount sensor 62, a dust sensor 63, an inclination sensor 64, a slip sensor 65, a weather sensor 66, a temperature sensor 67, a humidity sensor 68, It is not necessary to have all of the above, and it is only necessary to have the sensors necessary for the control performed by the watering system 59.
  • the position sensor 61 detects the position of the transport vehicle 2 on which the position sensor 61 is mounted. In the embodiment, the position sensor 61 detects the position of the transport vehicle 2 using the Global Navigation Satellite System (GNSS). Position sensor 61 includes a GNSS receiver.
  • GNSS Global Navigation Satellite System
  • the water volume sensor 62 detects the volume of water in the water storage tank 25 .
  • a water level sensor or a weight sensor is exemplified as the water quantity sensor 62 .
  • the dust sensor 63 detects dust at the work site 1.
  • the dust at the work site 1 includes sand dust.
  • a laser sensor LIDAR: Light Detection and Ranging
  • RADAR Radio Detection and Ranging
  • the dust sensor 63 may include a camera.
  • the tilt angle sensor 64 detects the tilt angle of the road surface of the work site 1 .
  • the tilt angle sensor 64 detects the tilt angle of the road surface of the work site 1 by detecting the tilt angle of the transport vehicle 2 .
  • the tilt angle sensor 64 is exemplified by an acceleration sensor, a gyro sensor, or an inertial measurement unit (IMU).
  • the slip sensor 65 detects the amount of slip of the rear tire 28R mounted on the rear wheel 27R, which is the drive wheel of the travel device 23.
  • An encoder or resolver is exemplified as the slip sensor 65 .
  • the slip sensor 65 may be arranged in the vehicle drive system 18 and the slip amount may be calculated by the arithmetic processing of the vehicle operation control section 48 .
  • the weather sensor 66 detects the weather at the work site 1.
  • a rain gauge is exemplified as the weather sensor 66 .
  • the temperature sensor 67 detects the temperature of the work site 1.
  • the temperature sensor 67 detects the temperature of the road surface of the work site 1 .
  • the temperature sensor 67 may be arranged in the energy supply system 17 and the temperature of the work site 1 may be calculated by the arithmetic processing of the energy control section 47 .
  • the humidity sensor 68 detects the humidity of the work site 1. Note that the humidity sensor 68 may be arranged in the energy supply system 17 and the temperature of the work site 1 may be calculated by the arithmetic processing of the energy control section 47 .
  • the watering control unit 49 outputs a control command to the watering system 19 so that the watering spray 26 waters the watering area set in the work site 1 .
  • the watering area is a divided area obtained by subdividing the entire area of the work site 1 into squares, rectangles, circles, or regular hexagons. In this embodiment, the watering area is used, but the range information may not be included. That is, the watering area may be a watering position that includes information on the position of the target to be watered.
  • Information related to the watering area is transmitted from the management device 14 to the control other vehicle information storage unit 52 .
  • the control other vehicle information storage unit 52 stores information relating to the watering area of the work site 1 transmitted from the management device 14 .
  • the watering control unit 49 outputs a control command so that the watering spray 26 waters the watering area based on the detection signal of the position sensor 61 and the position of the watering area stored in the control/other vehicle information storage unit 52. .
  • FIG. 6 is a diagram schematically showing the watering area according to the embodiment.
  • a watering permission level is set for each of the plurality of watering areas.
  • a watering area of [watering permission level 1] is a watering area where watering is always permitted.
  • the watering area of [watering permissible level 1] is exemplified by a place with a drainage ditch or the parking lot 7 .
  • the watering area of [permissible watering level 2] is a watering area for which the permissible amount of watering is set. Examples of the watering area of [permissible watering level 2] include a road surface with a predetermined inclination angle or less, a normal road surface 9, and a place where dust generation is desired to be suppressed.
  • the permissible watering amount for each area is set in accordance with the management operation policy of the work site 1 in the watering area of [permissible watering level 2].
  • the allowable amount of water to be sprinkled is planned based on, for example, the number of transport vehicles 2 equipped with fuel cells present at the work site 1, the operation rate, season, climate information, and the like.
  • a watering area of [watering permissible level 3] is a watering area in which watering is not permitted.
  • [Permissible watering level 3] watering areas include roads with steep slopes, roads that become muddy when wet, roads that are easy to slip due to iron plate laying, etc., loading area 5, earth dumping area 6, natural environment with watering Examples are places where the impact on the environment is severely limited.
  • the permissible water spray level is set in advance according to the situation of the work site 1 .
  • the watering control unit 49 controls the amount of watering from the watering sprayer 26 based on the watering allowable level.
  • permissible watering level set for each of the plurality of watering areas is appropriately referred to as a permissible watering amount level map.
  • the watering control unit 49 performs watering based on not only the watering amount permissible level map, but also watering performance information indicating the watering area already watered and the amount of watering, and the detection signal of the watering determination sensor 60. Controls the amount of water sprayed from 26.
  • the control device 14 sends the control and other vehicle information storage unit 52 a permissible watering amount level map.
  • the control other vehicle information storage unit 52 stores not only the watering amount permissible level map transmitted from the management device 14 but also the watering performance information indicating the watering area already watered by the other transport vehicle 2 and the watering amount.
  • the watering performance information may be transmitted from another transportation vehicle 2 to one's own transportation vehicle 2 or may be transmitted from another transportation vehicle 2 to one's own transportation vehicle 2 via the management device 14 .
  • the watering control unit 49 includes an information integration unit 71 , a contribution degree application unit 72 , a watering amount allowable level map correction unit 73 , a watering permission signal generation unit 74 , and a watering device drive command unit 75 . and
  • the information integration unit 71 combines the topography information of the work site 1 stored in the topography information storage unit 51, the permissible level map of water spray amount stored in the control/other vehicle information storage unit 52, and the control/other vehicle information storage unit 52. Using the watering result information of the other transport vehicle 2 stored in the storage unit 50 and the detection signal of the watering determination sensor 60 stored in the own vehicle information storage unit 50, the request watering is performed based on the preset calculation rule. Calculate the amount of water and integrate it into information that can be compared and judged.
  • the amount of sprinkled water is reduced. If it is determined that the slope of the road surface is small, the amount of water sprinkled is increased. Further, when it is determined that the other transport vehicle 2 has already sprinkled a large amount of water based on the watering performance information of the other transport vehicle 2 stored in the control other vehicle information storage unit 52, the amount of water sprinkled is reduced. If it is determined that the other transport vehicle 2 is not watering, the amount of watering is increased.
  • the amount of water sprayed is decreased, and if it is judged that the amount of water in the water storage tank 25 is large, the amount of water is increased. Also, based on the detection signal of the dust sensor 63, if it is determined that the amount of dust in the work site 1 is small, the amount of water sprayed is reduced, and if it is determined that the amount of dust in the work site 1 is large, the amount of water sprayed is increased.
  • the detection signal of the slip sensor 65 when it is determined that the slip amount of the rear tire 28R is large, the amount of water sprayed is decreased, and when it is determined that the slip amount of the rear tire 28R is small, the amount of water sprayed is increased.
  • the detection signal of the weather sensor 66 when it is determined that it is raining, the amount of watering is reduced, and when it is determined that it is fine, the amount of watering is increased.
  • the detection signal of the temperature sensor 67 when it is determined that the temperature of the road surface is low, the amount of water sprayed is reduced, and when it is determined that the temperature of the road surface is high, the amount of water sprayed is increased.
  • the detection signal of the humidity sensor 68 when it is determined that the humidity is high, the watering amount is decreased, and when it is determined that the humidity is low, the watering amount is increased.
  • the contribution degree application unit 72 applies the contribution degree related to the necessity of watering from the water sprayer 26 and the watering amount from the water sprayer 26 to the required watering amount integrated by the information integration unit 71 .
  • the degree of contribution As an example of the degree of contribution, the degree of contribution of information related to the safety of the work site 1, such as the detection signal of the tilt angle sensor 64 and the required amount of sprinkled water based on the slip sensor 65, is set high.
  • the degree of contribution is low, and when the elapsed time is short, the degree of contribution is high. set.
  • the degree of contribution When the degree of contribution is low, the correlation between the required watering amount calculated by the information integration unit 71 and the allowable watering amount is weakened. When the degree of contribution is high, the correlation between the allowable watering amount and the required watering amount calculated by the information integration unit 71 is strengthened.
  • the watering amount permissible level map correction unit 73 corrects the watering amount permissible level map based on the contribution applied by the contribution degree application unit 72 . For example, the watering amount permissible level map correction unit 73 increases the permissible watering amount for a watering area of [watering permissible level 2] that requires a large amount of watering, Reduce or eliminate the permissible amount of watering.
  • the watering permission signal generation unit 74 estimates the predicted vehicle passing position from the terrain information in the terrain information storage unit 51, the position sensor 61, and the vehicle speed information from the vehicle operation control unit 48, and generates a corrected watering amount allowable level map, A watering permission signal to the watering device drive commanding unit 75 is generated based on the watering amount allowable level map from the control other vehicle information storage unit 52 .
  • the corrected watering amount permissible level map and accumulated watering amount are stored in the own vehicle information storage unit 50 .
  • the monitor control unit 53 causes the monitor 54 to display the corrected watering amount permissible level map.
  • the own vehicle information storage unit 50 transmits the corrected watering amount permissible level map and accumulated watering amount to the management device 14 .
  • FIG. 7 is a flow chart showing a control method of the watering system 59 according to the embodiment.
  • the watering permission signal generation unit 74 calculates the predicted vehicle passage position, which is the watering position, from the information in the terrain information storage unit 51, the position sensor 61, and the vehicle speed information of the transport vehicle 2 (step SA1).
  • the reference position on the allowable water level map based on the predicted vehicle passage position. A difference may occur between the position of the transportation vehicle 2 and the position where water is sprinkled due to traveling. From the information in the topography information storage unit 51, the position sensor 61, and the vehicle speed information of the transport vehicle 2, the watering position can be calculated with high accuracy. Note that the predicted vehicle passage position may be calculated from the information in the terrain information storage unit 51 and the position sensor 61 .
  • the control and other vehicle information storage unit 52 receives the water spray amount allowable level map from the management device 14 (step SA2).
  • the watering permission signal generation unit 74 receives the watering amount permissible level map after correction from the watering amount permissible level map correcting unit 73 and the watering amount permissible level map from the control other vehicle information storage unit 52 .
  • the watering permission signal generation unit 74 uses the watering amount allowable level map after correction from the watering amount allowable level map correcting unit 73 and the watering amount allowable level map from the control and other vehicle information storage unit 52 to determine the predicted vehicle passage position. It is determined whether or not it exists in the watering area of [watering permissible level 1] (step SA3).
  • step SA3 If it is determined in step SA3 that the predicted vehicle passage position is in the watering area of [watering permission level 1] (step SA3: Yes), the watering permission signal generator 74 causes the water quantity sensor 62 to store water based on the detection signal. A water storage tank capacity indicating the amount of water stored in the tank 25 is calculated (step SA4).
  • the watering permission signal generation unit 74 determines whether or not the capacity of the water storage tank is equal to or greater than the threshold (step SA5).
  • step SA5 When it is determined in step SA5 that the water storage tank capacity is equal to or greater than the threshold (step SA5: Yes), the watering permission signal generator 74 transmits a watering permission signal. Further, the monitor control unit 53 causes the monitor 54 to display display data indicating that watering is permitted (step SA6).
  • the watering permission signal generation unit 74 calculates the cumulative amount of watering (step SA7).
  • the watering permission signal generation unit 74 calculates the current vehicle position based on the information from the own vehicle information storage unit 50 and the vehicle speed information from the vehicle operation control unit 48 (step SA8).
  • the watering permission signal generation unit 74 confirms whether or not the watering area has been changed from the terrain information in the terrain information storage unit 51 and the position sensor 61 (step SA9).
  • step SA9 If it is determined in step SA9 that there is no change in the watering area (step SA9: Yes), the process returns to step SA4.
  • step SA3 When it is determined in step SA3 that the predicted vehicle passage position does not exist in the watering area of [permissible watering level 1] (step SA3: No), the watering permission signal generator 74 determines that the predicted vehicle passing position is [permissible watering level 2]. ] (step SA10).
  • step SA10 When it is determined in step SA10 that the predicted vehicle passage position is in the watering area of [watering permission level 2] (step SA10: Yes), the watering permission signal generator 74 causes the water quantity sensor 62 to store water based on the detection signal. Calculate the tank capacity. The initial value of the water storage tank capacity is latched for calculating the cumulative amount of sprinkled water (step SA11).
  • the watering permission signal generation unit 74 determines whether or not the capacity of the water storage tank is equal to or greater than the threshold (step SA12).
  • step SA12 When it is determined in step SA12 that the water storage tank capacity is equal to or greater than the threshold (step SA12: Yes), the watering permission signal generator 74 determines whether the cumulative watering amount is equal to or less than the allowable watering amount (step SA13).
  • step SA13 When it is determined in step SA13 that the cumulative amount of watering is equal to or less than the allowable amount of watering (step SA13: Yes), the watering permission signal generator 74 transmits a watering permission signal. Further, the monitor control unit 53 causes the monitor 54 to display display data indicating that watering is permitted (step SA14).
  • the watering permission signal generation unit 74 calculates the cumulative amount of watering (step SA15).
  • the watering permission signal generation unit 74 calculates the current vehicle position based on the information from the own vehicle information storage unit 50 and the vehicle speed information from the vehicle operation control unit 48 (step SA16).
  • the watering permission signal generation unit 74 confirms whether or not the watering area has been changed from the terrain information in the terrain information storage unit 51 and the position sensor 61 (step SA17).
  • step SA17 If it is determined in step SA17 that there is no change in the watering area (step SA17: Yes), the process returns to step SA11.
  • step SA5 If it is determined in step SA5 that the water storage tank capacity is not equal to or greater than the threshold value (step SA5: No), if it is determined in step SA10 that the predicted vehicle passage position does not exist in the watering area of [permissible watering level 2] (step SA10 : No), when it is determined in step SA12 that the capacity of the water storage tank is not equal to or greater than the threshold (step SA12: No), and when it is determined in step SA13 that the cumulative watering amount is not equal to or less than the allowable watering amount (step S13: No). , the watering permission signal generator 74 stops the watering permission signal. Further, the monitor control unit 53 causes the monitor 54 to display display data indicating that watering is not permitted (step SA18).
  • the watering permission signal generation unit 74 transmits the cumulative amount of watering in the watering area to the own vehicle information storage unit 50 (step SA19).
  • FIG. 8 is a flow chart showing a method for driving the water sprinkler system 59 according to the embodiment.
  • Watering device drive command unit 75 determines whether or not watering permission signal generation unit 74 is transmitting a watering permission signal (step SB1).
  • step SB1 When it is determined in step SB1 that the watering permission signal has been transmitted (step SB1: Yes), the watering device drive command unit 75 determines whether or not the watering command mode is auto (step SB2).
  • step SB2 When it is determined in step SB2 that the watering command mode is not automatic (step SB2: No), the watering device drive commanding section 75 determines whether or not the watering command switch of the input section 55 is ON (step SB3). .
  • step SB2 If it is determined in step SB2 that the watering command mode is auto (step SB2: Yes), or if it is determined that the watering command switch is ON in step SB3 (step SB3: Yes), the watering device drive command section 75 performs opening/closing adjustment of the valve of the water spray 26 (step SB4).
  • the sprinkler device drive command unit 75 drives the sprinkler pump 44 and adjusts the capacity of the sprinkler pump 44 (step SB5), and returns to the process of step SB1.
  • step SB1 If it is determined in step SB1 that the watering permission signal has not been transmitted (step SB1: No), or if it is determined that the watering command switch is not ON in step SB3 (step SB3: No), the watering device drive command section 75 stops the sprinkler pump 44 (step SB6).
  • the water sprinkler drive command unit 75 closes the valve of the water spray 26 (step SB7).
  • the water sprayer 26 waters the watering area based on the control of the watering device drive command unit 75 .
  • the water sprayer 26 may spray water in an automatic mode based on the watering permission signal from the watering permission signal generating section 74 .
  • the water sprayer 26 may spray water in manual mode based on the watering permission signal from the watering permission signal generation unit 74 and the input signal from the input unit 55 .
  • FIG. 9 is a block diagram illustrating a computer system 1000 according to an embodiment.
  • Each of the management device 14 and the control device 3 described above includes a computer system 1000 .
  • a computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), It has a storage 1003 and an interface 1004 including an input/output circuit.
  • Each function of the management device 14 and the control device 3 described above is stored in the storage 1003 as a computer program.
  • the processor 1001 reads a computer program from the storage 1003, develops it in the main memory 1002, and executes the above-described processing according to the computer program. Note that the computer program may be distributed to the computer system 1000 via a network.
  • the computer program or computer system 1000 generates power for driving the traveling device 23 of the transport vehicle 2 by electrochemically reacting hydrogen and oxygen according to the above-described embodiment, and the watering area of the work site 1. setting and spraying water produced in the electrochemical reaction of hydrogen and oxygen from the water spray 26 so as to be watered in the watering area.
  • the computer program or computer system 1000 also detects the position of the transport vehicle 2 and sprays water from the water spray 26 based on the position of the transport vehicle 2 and the position of the watering area according to the above-described embodiments. and can be executed.
  • the computer program or computer system 1000 also sets an acceptable level of watering for each of the plurality of watering areas, and controls the amount of watering from the water sprayer 26 based on the acceptable level, according to the above-described embodiments. and can be executed.
  • the computer program or computer system 1000 based on the watering performance information indicating at least one of the watering area already watered and the watering amount, and the detection signal of the watering determination sensor 60, the water spray controlling the amount of water spray from 26 can be performed.
  • the computer program or computer system 1000 can also display the watering area on the monitor 54 mounted on the transport vehicle 2 according to the above-described embodiments.
  • the computer program or computer system 1000 can execute spraying water from the water sprayer 26 based on an input signal from the input unit 55 mounted on the transport vehicle 2 according to the above-described embodiment.
  • the transportation vehicle 2 includes the vessel 21, the vehicle body 22 that supports the vessel 21, the traveling device 23 that supports the vehicle body 22, and the traveling device by reacting hydrogen and oxygen. 23, a water storage tank 25 that stores water generated in the power plant 24, and the water stored in the water storage tank 25 is injected to at least one area around the vehicle body 22. and a watering spray 26 for spraying water on the part.
  • the water generated by the electrochemical reaction between hydrogen and oxygen is used for watering the work site 1. Further, by spraying water on a predetermined watering area of the work site 1, the diffusion of dust or sand at the work site 1 is suppressed.
  • the water spray 26 is arranged in the front part of the vehicle body 22 .
  • the water spray 26 sprinkles water in front of the vehicle body 22. ⁇
  • An outside air introduction port 32 is provided in the front part of the vehicle body 22 , and the power unit 24 generates power from the oxygen introduced from the outside air introduction port 32 .
  • the fuel cell 29 has an electrolyte membrane through which hydrogen and oxygen are ion-conducted. It is said that an electrolyte membrane requires moderate humidity. Since high-humidity air is supplied to the fuel cell 29 from the outside air inlet 32, a decrease in power generation efficiency of the fuel cell 29 is suppressed. Also, the humidifier in the fuel cell 29 can be simplified or omitted.
  • the water spray 26 sprinkles water forward in the traveling direction of the traveling device 23 .
  • the water spray 26L sprays water in front of the left front wheel 27F
  • the water spray 26R sprays water in front of the right front wheel 27F.
  • FIG. 10 is a configuration diagram showing a transport vehicle 2 according to another embodiment.
  • the power plant 24 of the transport vehicle 2 includes the fuel cell 29 .
  • the power plant 24 (energy supply system 17B) of the transport vehicle 2 may include a hydrogen engine 81 .
  • the hydrogen engine 81 generates power by causing a combustion reaction between hydrogen and oxygen.
  • the hydrogen engine 81 has a cylinder block and a piston. A combustion chamber defined by the cylinder block and the piston is supplied with hydrogen and air containing oxygen. Hydrogen is stored in the hydrogen tank 33 and supplied to the hydrogen engine 81 by the hydrogen supply device 34 . Air is supplied to the hydrogen engine 81 from the outside air inlet 32 .
  • the water vapor generated in the hydrogen engine 81 is condensed by the condenser 30. Water generated in the condenser 30 is stored in the water storage tank 25 .
  • the energy supply system 17B shown in FIG. 10 has a generator 83 that generates electric power based on the power generated by the hydrogen engine 81.
  • a generator 83 is connected to the field regulator 82 .
  • Electric power generated by generator 83 is supplied to vehicle drive system 18B via rectifier 84 .
  • the vehicle drive system 18B has an inverter 42, a travel drive motor 31, a speed reduction mechanism 43, and wheels 27, as in the above-described embodiment.
  • the travel drive motor 31 generates power based on the electric power generated by the generator 83 .
  • FIG. 11 is a configuration diagram showing a transportation vehicle 2 according to another embodiment.
  • the energy supply system 17C includes a hydrogen engine 81, as in the example shown in FIG.
  • the vehicle drive system 18 ⁇ /b>C has a power distribution mechanism 85 and a power transmission mechanism 86 .
  • a power distribution mechanism 85 is connected to the hydrogen engine 81 .
  • Power generated by the hydrogen engine 81 is distributed to the hydraulic pump 39 and the power transmission mechanism 86 .
  • the power distributed to the power transmission mechanism 86 is transmitted to the wheels 27 via the speed reduction mechanism 43 .
  • the energy supply system 17C does not have to have a generator.
  • FIG. 12 is a diagram schematically showing a transport vehicle 2 according to another embodiment.
  • the water spray 26 may be provided at the rear portion of the vehicle body 22 .
  • the water spray tank 87 may be arranged at a different position from the water storage tank 25 .
  • the water spray tank 87 is arranged behind the water storage tank 25 in the vehicle body 22 .
  • the transport vehicle 2 includes a first water pump 88 that supplies water stored in the water storage tank 25 to the water spray tank 87 , and a first water pump 88 that supplies water stored in the water tank 87 to the water spray 26 .
  • 2 sprinkler pump 89 The water storage tank 25 and the first sprinkler pump 88 are connected via a pipe 90A.
  • the first watering pump 88 and the watering tank 87 are connected via a pipe 90B.
  • the watering tank 87 and the second watering pump 89 are connected via a pipe 91A.
  • the second watering pump 89 and the watering spray 26 are connected via a pipe 91B.
  • the water spray 26 sprays water supplied from the water storage tank 25 to the water spray tank 87 .
  • the water receiving port 87A may be connected to the water spray tank 87. Water is supplied from the outside of the vehicle body 22 to the water receiving port 87A. When the amount of water in the water spray tank 87 is small, the water spray tank 87 may be replenished with water through the water receiving port 87A. Similarly, a water receiving port 25A to which water is supplied from outside the vehicle body 22 may be connected to the water storage tank 25 .
  • the position of at least part of the water spray 26L and the rear wheel 27R, which is the drive wheel, is the same.
  • the water spray 26L may be watered in front of the left rear wheel 27R.
  • the position of at least a portion of the water spray 26R and the rear wheels 27R, which are driving wheels, is the same.
  • the water spray 26L may be watered in front of the right rear wheel 27R.
  • the water spray 26 appropriately changes the angle formed by the water spray direction of the water spray 26 and the forward direction of the transport vehicle 2 based on the left and right wheel rotation speed information of the steering input device or the traveling device 23. You may do so.
  • the sprinkler device is the sprinkler spray 26 .
  • the watering device may be any other device with watering functionality.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Vehicle Body Suspensions (AREA)
  • Automatic Cycles, And Cycles In General (AREA)
PCT/JP2022/036144 2021-09-29 2022-09-28 運搬車両 WO2023054462A1 (ja)

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AU2022355172A AU2022355172A1 (en) 2021-09-29 2022-09-28 Haul Vehicle
CN202280053783.2A CN117795161A (zh) 2021-09-29 2022-09-28 运载车辆
CA3227535A CA3227535A1 (en) 2021-09-29 2022-09-28 Haul vehicle

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JPH0486543U (zh) * 1990-11-01 1992-07-28
JP2009135006A (ja) * 2007-11-30 2009-06-18 Toyota Motor Corp 燃料電池システム
JP2010263737A (ja) * 2009-05-11 2010-11-18 Toyota Industries Corp 生成水霧化装置付き燃料電池車両
JP2013103618A (ja) * 2011-11-14 2013-05-30 Okumura Corp 散水装置
JP2015003528A (ja) * 2013-06-19 2015-01-08 株式会社日立製作所 電気駆動車両、電気駆動車両の制御装置及び電気駆動車両の制御方法
JP2017024541A (ja) * 2015-07-22 2017-02-02 新明和工業株式会社 散水車
CN108791030A (zh) * 2018-07-23 2018-11-13 成都客车股份有限公司 用于氢燃料电池汽车的路面抑尘系统及氢燃料电池汽车
JP2020036403A (ja) * 2018-08-28 2020-03-05 トヨタ自動車株式会社 燃料電池を搭載した移動体
JP2021174469A (ja) * 2020-04-30 2021-11-01 トヨタ自動車株式会社 情報処理装置、制御装置、車両、及び散水方法
JP2021177449A (ja) * 2020-05-07 2021-11-11 尚士 柴山 燃料電池車

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0486543U (zh) * 1990-11-01 1992-07-28
JP2009135006A (ja) * 2007-11-30 2009-06-18 Toyota Motor Corp 燃料電池システム
JP2010263737A (ja) * 2009-05-11 2010-11-18 Toyota Industries Corp 生成水霧化装置付き燃料電池車両
JP2013103618A (ja) * 2011-11-14 2013-05-30 Okumura Corp 散水装置
JP2015003528A (ja) * 2013-06-19 2015-01-08 株式会社日立製作所 電気駆動車両、電気駆動車両の制御装置及び電気駆動車両の制御方法
JP2017024541A (ja) * 2015-07-22 2017-02-02 新明和工業株式会社 散水車
CN108791030A (zh) * 2018-07-23 2018-11-13 成都客车股份有限公司 用于氢燃料电池汽车的路面抑尘系统及氢燃料电池汽车
JP2020036403A (ja) * 2018-08-28 2020-03-05 トヨタ自動車株式会社 燃料電池を搭載した移動体
JP2021174469A (ja) * 2020-04-30 2021-11-01 トヨタ自動車株式会社 情報処理装置、制御装置、車両、及び散水方法
JP2021177449A (ja) * 2020-05-07 2021-11-11 尚士 柴山 燃料電池車

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CN117795161A (zh) 2024-03-29

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