JP7762233B2 - Conveying equipment and construction machinery - Google Patents

Description

The present invention relates to a conveying device and construction machinery, and to a conveying device and construction machinery that facilitates the supply of fuel to the construction machinery.

Patent document 1 discloses a method for detecting the location of construction machinery working in mountainous areas and the amount of remaining fuel, and then supplying fuel such as diesel fuel using a tanker truck.

Japanese Patent Application Laid-Open No. 2003-112799

However, Patent Document 1 does not disclose how to position the construction machine and the tank truck, and there were cases where the construction machine and the tank truck could not be properly positioned when supplying fuel to the construction machine.

SUMMARY OF THE INVENTION It is therefore an object of the first invention to provide a transport device that can be appropriately positioned with respect to the supply port of a device to which fuel is supplied.
Another object of the second invention is to provide a construction machine in which the fuel tank can be positioned at an appropriate location by rotating the rotating device.

The transport device of the first invention comprises a base portion movable by a first moving device, a fuel supply portion provided on the base portion and supplying hydrogen or ammonia fuel, an imaging device that images the supply port of the device to which the fuel is supplied and the traveling device that runs the device, and a change device that changes the size of the first moving device so that it does not interfere with the device to which the fuel is supplied when moving toward the supply port based on the imaging results of the imaging device.
The construction machine of the second invention is equipped with a fuel tank storing hydrogen or ammonia fuel for propelling a traveling device, a main body that travels using the traveling device, a slewing device that can rotate the main body, a working device that is connected to the main body and moves to perform work, a detection device that is provided on the main body and detects the condition of the ground slope around the main body by irradiating electromagnetic waves, and a control device that positions the rotation direction of the fuel tank by rotating the slewing device based on the detection results of the detection device.

According to the first invention, when the change device changes the size of the first moving device when moving toward the supply port of the device to which fuel is supplied, it is possible to realize a transport device that can be appropriately positioned relative to the supply port of the device.
According to the second aspect of the present invention, the control device positions the fuel tank in the rotation direction by the rotation of the rotation device based on the detection result of the detection device, so that the fuel tank can be positioned in an appropriate position.

1A, 1B, and 1C are schematic diagrams of a conveying device according to an embodiment of the present invention, in which FIG. 1A is a top view, FIG. 1B is a side view, and FIG. 1C is a rear view. 1 is a block diagram of the main parts of a transport device and a hydraulic excavator according to an embodiment of the present invention. 1 is a schematic diagram of a hydraulic excavator illustrating an embodiment of the present invention. 4A and 4B are drawings comparing the sizes of a transport device and a hydraulic excavator, in which FIG. 4A is a view of the hydraulic excavator 100 from the rear, and FIGS. 4B and 4C are views of the transport device 1 from the rear. 5A and 5B are diagrams showing a transport device approaching from behind a hydraulic excavator, in which FIG. 5A shows a state in which the transport device cannot enter inside a pair of tracks of the hydraulic excavator, and FIG. 5B shows a state in which the transport device enters inside a pair of tracks of the hydraulic excavator. 10 is a diagram showing a state in which the base portion of the transport device cannot climb over the crawler of the hydraulic excavator. FIG. FIG. 10 is a diagram showing a state in which the base portion of the transport device rides over the crawler track of the hydraulic excavator. 10 is a flowchart executed by the heavy equipment control device. 10 is a flowchart executed by the control device.

A construction machine according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the present invention is not limited to the embodiment described below. In this embodiment, the description will continue using as an example a transport device 1 that supplies hydrogen to a hydraulic excavator 100 that performs excavation at a civil engineering site. For convenience, in the following description, the vertical direction will be referred to as the Z direction, and two orthogonal axial directions in a horizontal plane will be referred to as the X direction and the Y direction.

(Embodiment)
Fig. 1 is a schematic diagram of a transport device 1 representing this embodiment, Fig. 1(a) is a top view, Fig. 1(b) is a side view, Fig. 1(c) is a rear view, and Fig. 2 is a block diagram of the main parts of the transport device 1 of this embodiment and a hydraulic excavator 100. First, the configuration of the transport device 1 will be described using Figs. 1 and 2.
The transport device 1 of this embodiment is an automatic or remote-operated type without a driver's seat. The transport device 1 includes a traveling device 10, a base unit 20, a hydrogen filling device 30, an imaging device 55, a first GNSS (Global Navigation Satellite System) 65, a first communication device 66, a first memory 67, and a control device 70.

The traveling device 10 moves the transport device 1 and includes drive wheels 11, driven wheels 12, tracks 13, and a support 14. The traveling device 10 also includes a traveling motor 15, a central frame 16, a pair of side frames 17, a pair of link mechanisms 18, and a coupler 19. In this embodiment, the traveling device 10 is detachable from the base portion 20 by the coupler 19 (described in detail below).

In this embodiment, a triangle is formed by one drive wheel 11 and two driven wheels 12. Note that a plurality of driven wheels smaller than the two driven wheels 12 are provided between the two driven wheels 12.
The crawler belt 13 is wound around one drive wheel 11 and two driven wheels 12. The support body 14 rotatably supports the drive wheel 11 and the driven wheels 12. In this embodiment, there are four triangular track-type running bodies, so the transport device 1 can travel stably even on uneven ground. Note that the running device 10 may also be an endless track with tracks wound around the front and rear wheels.

In this embodiment, the traction motor 15 (see Figure 2) is an in-wheel motor that is provided on the back side of the drive wheel 11 and transmits driving force to the drive wheel 11. The rotation shaft of the in-wheel motor is connected to the rotation shaft of the drive wheel 11, and the rotational driving force of the in-wheel motor rotates the drive wheel 11, which in turn transmits driving force to the crawler 13. Note that a motor other than the in-wheel motor may be used as the traction motor 15.

The central frame 16 is a frame located between two drive wheels 11 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18. A coupler 19 for connecting to the base portion 20 is provided on the upper surface of the central frame 16.

A pair of side frames 17 are frames connected to each drive wheel 11 via bearings not shown.

The pair of link mechanisms 18 are Z-shaped or inverted Z-shaped, and include a pair of connecting members 18a, one end of which is connected to the pair of side frames 17 and the other end of which is connected to the central frame 16, and an actuator 18b, one end of which is connected to the connecting member 18a on the central frame 16 side and the other end of which is connected to the connecting member 18a on the side frame 17 side. Two of the pair of connecting members 18a are provided, spaced apart in the Z direction.

The actuator 18b is installed at an angle and extends and retracts to drive the pair of side frames 17 in the Z and Y directions. The actuator 18b moves the drive wheels 11, driven wheels 12, and tracks 13 in the Z and Y directions via the pair of side frames 17. This allows the travel device 10 to change its size in the Z and Y directions. The actuator 18b can be, but is not limited to, a hydraulic jack or an electric jack.

In this embodiment, the coupler 19 has a V-shaped notch, and four couplers are provided on the top surface of the base portion 20, but it may be one, and the number can be set arbitrarily. The coupler 19 connects the traveling device 10 and the base portion 20 by engaging the V-shaped notch with a pin (not shown) extending in the -Z direction provided on the underside of the base portion 20. The coupler 19 also disconnects the traveling device 10 and the base portion 20 by disengaging from the pin. The connection structure between the coupler 19 and the pin is disclosed, for example, in JP 2000-6856 A. The coupler 19 and the pin may also be attached and detached using an electromagnet.

In this embodiment, the base 20 is a rectangular member with the hydrogen filling device 30 placed on its upper surface and foldable legs 21 on its lower surface. The legs 21 allow the base 20 to stand on its own before and after attachment and detachment to the traveling device 10. In this embodiment, the base 20 is provided with two legs 21, but the number can be set as desired. The shape of the base 20 is not limited to a rectangular shape and can be any shape, such as an elliptical shape. The position of the base 20 in the Z direction can be changed by driving the actuator 18b. As is clear from FIG. 1, the hydrogen filling device 30 is located on the -X side, which is the traveling direction of the transport device 1. To allow the hydrogen filling device 30 to approach the hydraulic excavator 100, one end of the base 20 (-X side) is shifted toward the center frame 16 (-X side) compared to the other end of the base 20 (+X side).

In this embodiment, the hydrogen filling device 30 supplies hydrogen to a hydraulic excavator 100, which is a construction machine. The hydrogen filling device 30 includes a pressure accumulator 31, a temperature control unit 32, and a hydrogen dispenser 40. As shown in FIG. 1, the pressure accumulator 31 and the temperature control unit 32 are connected by a hydrogen supply pipe 33, and the temperature control unit 32 and the hydrogen dispenser 40 are connected by a hydrogen supply pipe 34. As shown in FIG. 2, the hydrogen supply pipe 33 is provided with a first valve 35, and the hydrogen supply pipe 34 is provided with a second valve 36. To prevent vibrations from being transmitted to the hydrogen filling device 30 when the transport device 1 moves around the construction site, it is preferable to provide a vibration-absorbing member, such as a vibration-isolating rubber, between the base 20 and the hydrogen filling device 30.

The pressure accumulator vessel 31 is a vessel for storing hydrogen pressurized by a compressor (not shown) (for example, 45 MPa to 90 MPa).
The temperature adjusting unit 32 cools the compressed hydrogen (gas) to about −40° C. to −33° C. using, for example, a refrigerant before the compressed hydrogen (gas) is supplied to a hydrogen dispenser 40 (described in detail later).

The hydrogen supply pipe 33 and the hydrogen supply pipe 34 are pipes for supplying pressurized hydrogen from the pressure accumulator vessel 31 to the hydrogen dispenser 40. The hydrogen supply pipe 33 is a pipe that connects the pressure accumulator vessel 31 to the temperature adjustment unit 32. The hydrogen supply pipe 34 is a pipe that connects the temperature adjustment unit 32 to the hydrogen dispenser 40.

The first valve 35 and the second valve 36 are valves that are opened and closed by the control device 70, and are valves that allow or block the supply of hydrogen to the hydrogen dispenser 40. The first valve 35 and the second valve 36 may also be opened and closed manually.

The hydrogen dispenser 40 supplies hydrogen to the hydraulic excavator 100. The hydrogen dispenser 40 includes a flow meter 41, a temperature sensor 42, a pressure sensor 43, a three-way switching valve 44, a first nozzle 45, a second nozzle 46, a third nozzle 47, a first drive unit 48, a second drive unit 49, and a third drive unit 50.

The flow meter 41 measures the flow rate of hydrogen flowing in the hydrogen supply line between the second valve 36 and the hydrogen dispenser 40 and outputs the measurement result to the control device 70. The temperature sensor 42 detects the temperature of the hydrogen flowing in the hydrogen supply line and outputs the measurement result to the control device 70. The pressure sensor 43 measures the pressure in the hydrogen supply line near the first nozzle 45, the second nozzle 46, and the third nozzle 47 and outputs the measurement result to the control device 70.

The three-way switching valve 44 is a switching valve for supplying hydrogen in the hydrogen supply line to one of the first nozzle 45, the second nozzle 46, and the third nozzle 47. The first nozzle 45, the second nozzle 46, and the third nozzle 47 are filling nozzles that supply hydrogen to the hydraulic excavator 100.

The first nozzle 45 is a filling nozzle used when supplying hydrogen from the back (rear) of the hydraulic excavator 100. The second nozzle 46 is a filling nozzle used when supplying hydrogen from the right side of the hydraulic excavator 100. The third nozzle 47 is a filling nozzle used when supplying hydrogen from the left side of the hydraulic excavator 100.

The first drive unit 48 is an actuator that drives the first nozzle 45 along the -X direction in Figure 1 when the transport device 1 is positioned behind the hydraulic excavator 100, thereby inserting the first nozzle 45 into the hydrogen supply port 114 described below.
The second drive unit 49 is an actuator for driving the second nozzle 46 along the -Y direction in Figure 1 when the transport device 1 is positioned on the right side of the hydraulic excavator 100, thereby inserting the second nozzle 46 into the hydrogen supply port 114 described below.
The third drive unit 50 is an actuator for driving the third nozzle 47 along the +Y direction in Figure 1 when the transport device 1 is positioned on the left side of the hydraulic excavator 100, thereby inserting the third nozzle 47 into the hydrogen supply port 114 described below.

The first drive unit 48, the second drive unit 49, and the third drive unit 50 can each be configured using a linear motor, a hydraulic motor, a pneumatic motor, or the like. Note that if the first nozzle 45, the second nozzle 46, and the third nozzle 47 are inserted into the hydrogen supply port 114 (described below) by an operator or a robot (not shown), the first drive unit 48, the second drive unit 49, and the third drive unit 50 can be omitted. The number of nozzles may also be two, four, or more.

The pressure accumulator vessel 31 and temperature control unit 32 may be omitted from the hydrogen filling device 30. In this case, it is preferable to provide a cooling device in the hydrogen dispenser 40 to cool the hydrogen.

The imaging device 55 is a digital camera equipped with a lens, an imaging element, an image processing engine, etc., and capable of capturing video and still images. In this embodiment, the imaging device 55 is provided on the front surface of the hydrogen dispenser 40 and captures images of the direction of travel of the transport device 1, as well as the hydrogen supply port 114 (described below) or a mark provided in its vicinity. Instead of or in combination with the imaging device 55, a LiDAR (Light Detection and Ranging) system that emits electromagnetic waves may be used to detect the direction of travel of the transport device 1, or to detect scattered light from a laser irradiated on a mark provided in the hydrogen supply port 114 or its vicinity to detect the mark.

The first GNSS 65 uses artificial satellites to determine the position of the transport device 1. The first communication device 66 has a transmitter, a receiver, various circuits, an antenna (not shown), and is a wireless communication unit that accesses the second communication device 148 (described below) and a wide area network such as the Internet. In this embodiment, the first communication device 66 transmits data regarding the position and dimensions of the transport device 1 detected by the first GNSS 65 to the second communication device 148 of the hydraulic excavator 100.

The first memory 67 is a non-volatile memory (e.g., flash memory) that stores various data and programs for driving each element of the conveying device 1, as well as various data and programs for automatically operating the conveying device 1. The first memory 67 also stores data on the dimensions (length, width, height) of the conveying device 1. The dimensions of the conveying device 1 stored in the first memory 67 include the maximum and minimum dimensions of the traveling device 10 in the Z and Y directions, as determined by the drive of the actuator 18b.

The control device 70 is equipped with a CPU and controls the entire transport device 1, as well as working in cooperation with the hydraulic excavator 100, which will be described later. In this embodiment, the control device 70 works in cooperation with the heavy equipment control device 150 of the hydraulic excavator 100 to control a series of operations for supplying hydrogen to the hydraulic excavator 100.

(hydraulic excavator)
Fig. 3 is a schematic diagram of a hydraulic excavator representing this embodiment, and the configuration of the hydraulic excavator 100 will be described below with reference to Figs. 2 and 3. As is clear from Fig. 3, the hydraulic excavator 100 of this embodiment is an autonomous or remotely operated construction machine that does not have a driver's seat. The hydraulic excavator 100 is autonomously driven when traveling at a civil engineering site, and may be transported on a trailer on public roads.

The hydraulic excavator 100 of this embodiment has a drive system 110, a traveling device 120, a slewing device 130, a main body device 140, a detection device 145, and a working device 160. The hydraulic excavator 100 may also have a UAV (Unmanned Aerial Vehicle, hereinafter referred to as a drone) that can take off and land on a takeoff and landing section provided on the top surface of the main body device 140.

The drive system 110 is a drive device that drives each element of the hydraulic excavator 100, and includes a fuel cell 111 housed in the main body device 140, a fuel tank 112, a storage battery 113, and a hydrogen supply port 114. The fuel cell 111 is a power generation device that generates electricity through an electrochemical reaction between hydrogen and oxygen.

In this embodiment, the fuel tank 112 stores gaseous hydrogen and is equipped with a fuel level gauge (not shown) inside. The fuel tank 112 stores hydrogen compressed to several tens of MPa and supplies hydrogen to the fuel cell 111 via a hydrogen supply line (not shown).

The storage battery 113 is a secondary battery that stores the electricity generated by the fuel cell 111. The storage battery 113 can also be used as an auxiliary power source to drive the fuel cell 111 with the stored electricity, and also supplies power to the various motors that make up the hydraulic excavator 100, the traveling gear 120, the swing gear 130, and various cylinders.

The traveling device 120 is of an endless track type and is equipped with a pair of tracks 123 wound around an idler wheel 121 and a drive wheel 122. The drive wheels are driven by a traveling motor 124, which drives the pair of tracks, causing the hydraulic excavator 100 to travel. The traveling motor 124 is driven by power supplied from the storage battery 113, and in this embodiment, an in-wheel motor is used. Note that a hydraulic motor may also be used for the traveling motor 124. The traveling device 120 may also be a triangular track-type traveling body like the traveling device 10.

The swivel device 130 is disposed between the traveling device 120 and the main device 140. The swivel device 130 is equipped with a bearing (not shown) and a swivel motor 131, and rotates the main device 140 and the working device 160 around the Z axis.

In this embodiment, the main unit 140 has a cylindrical shape with a flat top surface, and a drone can take off and land on this top surface. Note that, although the main unit 140 is cylindrical in shape in this embodiment, it is not limited to this and can have any shape.

The main body device 140 is equipped with a fuel cell 111, a fuel tank 112, a storage battery 113, and a hydrogen supply port 114 for supplying hydrogen from the hydrogen dispenser 40 to the fuel tank 112.

The hydrogen supply port 114 is equipped with an opening/closing section (not shown), a connection coupler provided on each of the first nozzle 45, second nozzle 46, and third nozzle 47, and a detachable receptacle. The receptacle is equipped with a socket for locking and unlocking the connection coupler. Furthermore, a mark large enough to be captured by the imaging device 55 is provided on or near the hydrogen supply port 114. This mark may be, for example, a QR code (registered trademark).

By providing the hydrogen supply port 114 at the end of the main body device 140, the hydrogen supply port 114 and the hydrogen dispenser 40 can be brought closer together. It is preferable to provide the hydrogen supply port 114 away from the working device 160. Furthermore, the hydrogen supply port 114 can be positioned at any position around the Z axis by rotating the rotating device 130, making it easily accessible from all three of the first nozzle 45, second nozzle 46, and third nozzle 47.

In addition, as shown in the block diagram of Figure 2, the main unit 140 is provided with a detection device 145, a second GNSS 147 (Global Navigation Satellite System) which is a global positioning system, a second communication device 148, a second memory 149, and a heavy equipment control device 150 which controls the entire hydraulic excavator 100.

The swing section 141 is supported so that a portion connected to one end of the main device 140 and a portion connected to the boom 153 can rotate around the Z axis, which indicates the vertical direction. The swing cylinder 142 is a cylinder having one end connected to the main device 140 and the other end connected to the swing section 141, and the cylinder extends and retracts using power supplied from the storage battery 113.
The extension and contraction of the swing cylinder 142 causes the working device 160 to rotate around the Z axis in FIG.

The detection device 145 detects the situation around the main device 140, and in this embodiment, LiDAR is used. LiDAR is a sensor that scans electromagnetic waves (ultraviolet, visible, or near-infrared) with a pulsed laser, and detects information such as the distance to an object, the object's shape, material, and color based on the emitted light and scattered light. In this embodiment, the detection device 145 is mounted on the top surface of the main device 140 and can rotate 360 degrees using the rotation device 130. Therefore, the detection device 145 can detect the situation 360 degrees around the main device 140 without providing a mechanical rotation device to the LiDAR, and can accurately detect the stopping position of the transport device 1 when supplying hydrogen to the fuel tank 112. Accurately detecting the stopping position of the transport device 1 is effective when the civil engineering site is narrow or has a slope. Furthermore, when the LiDAR is rotated by itself, the positional relationship between the detection device 145 and the working device 160 is shifted. However, when the LiDAR is rotated by the turning device 130, the positional relationship between the detection device 145 and the working device 160 is maintained, and changes in the attitude of the working device 160 do not affect the detection of the detection device 145.

The second GNSS 147 uses artificial satellites to determine the position of the hydraulic excavator 100. The second GNSS 147 may be provided on the top surface of the main body device 140.
The second communication device 148 has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and is a wireless communication unit that accesses the first communication device 66 or a wide area network such as the Internet. In this embodiment, the second communication device 148 transmits to the first communication device 66 of the transport device 1 information regarding the dimensions of the hydraulic excavator 100, the position of the hydraulic excavator 100 detected by the second GNSS 147, information regarding the orientation of the hydrogen supply port 114, connection information indicating that any of the first nozzle 45, the second nozzle 46, and the third nozzle 47 is connected to the hydrogen supply port 114 or that this connection has been released, detection results of a fuel gauge (not shown), and the like.

The second memory 149 is a non-volatile memory (e.g., flash memory) and stores various data and programs for driving the hydraulic excavator 100, various data and programs for automatically operating the hydraulic excavator 100, and information regarding the dimensions of the hydraulic excavator 100.

The heavy equipment control device 150 is equipped with a CPU and is a control device that controls the entire hydraulic excavator 100.For example, it controls the excavation operation of the work device 160 and the hydrogen supply operation to the fuel tank 112.

The work device 160 has a boom 153, a boom cylinder 154, an arm 155, an arm cylinder 156, a bucket 157, and a bucket cylinder 158.

The boom 153 is a rotating L-shaped part connected to the main body device 140 via a swing part 141 and is rotated by a boom cylinder 154 .
The arm 155 is connected to the tip of the boom 153 and is rotated by an arm cylinder 156 .
The bucket 157 is connected to the tip of the arm 155 and is rotated by a bucket cylinder 158. Instead of the bucket 157, a breaker or the like can be attached to the tip of the arm 155.

The boom cylinder 154 is a cylinder that extends and retracts using power supplied from the storage battery 113 to drive the boom 153 .
The arm cylinder 156 is a cylinder that extends and retracts using power supplied from the storage battery 113 to drive the arm 155 .
The bucket cylinder 158 is a cylinder that extends and retracts using power supplied from the storage battery 113 to drive the bucket 157 .
In this embodiment, the swing cylinder 142, the boom cylinder 154, the arm cylinder 156, and the bucket cylinder 158 are driven by power from the storage battery 113, but these cylinders may also be driven using hydraulic pressure.

Figure 4 is a drawing comparing the sizes of the conveying device 1 and the hydraulic excavator 100, where Figure 4(a) is a view of the hydraulic excavator 100 from the rear, Figures 4(b) and 4(c) are views of the conveying device 1 from the rear, Figure 4(b) is a view showing the actuator 18b in a retracted state, and Figure 4(c) is a view showing the actuator 18b in an extended state.

As shown in FIG. 3, the traveling device 120 of the hydraulic excavator 100 protrudes in the X direction beyond the main body 140, which houses the hydrogen supply port 114. Also, as shown in FIG. 4(a), the traveling device 120 of the hydraulic excavator 100 protrudes in the Y direction beyond the main body 140. Hydraulic excavators 100 are available in a variety of sizes depending on the capacity of the bucket 157. Therefore, in this embodiment, the size of the traveling device 10 can be changed or the size of the traveling device 10 can be selected from multiple sizes to suit various sizes of hydraulic excavators 100, thereby allowing the transport device 1 to approach the hydraulic excavator 100.

Figure 5 shows the transport device 1 approaching from the rear (+X side) of the hydraulic excavator 100. When the actuator 18b is retracted (see Figure 4(b)), the Y-direction spacing W2 between the outer sides of the crawler tracks 13 is greater than the Y-direction spacing W1 between the inner sides of the pair of crawler tracks 123. Therefore, as shown in Figure 5(a), the transport device 1 cannot allow the pair of crawler tracks 13 located on the travel direction side (-X side) of the transport device 1 to enter the inside of the pair of crawler tracks 123. Therefore, the hydrogen supply port 114 and the first nozzle 45 cannot be closer than the X-direction dimension of the pair of crawler tracks 13.

In contrast, when the actuator 18b is extended (see Figure 4(c)), the Y-direction spacing W3 between the outer sides of the tracks 13 is smaller than the Y-direction spacing W1 between the inner sides of the pair of tracks 123. Therefore, as shown in Figure 5(b), the transport device 1 can cause a pair of tracks 13 located on the travel direction side (-X side) of the transport device 1 to enter the inside of the pair of tracks 123, so that the hydrogen supply port 114 and the first nozzle 45 can be closer than the X-direction dimension of the pair of tracks 13.

When the actuator 18b is in a contracted state, the height h2 of the crawler belt 13 in the Z direction is lower than the height h1 of the pair of crawler belts 123 in the Z direction.
Therefore, when the transport device 1 is brought close to the right side (+Y direction side) of the hydraulic excavator 100, the crawler belt 123 interferes with the base part 20. Therefore, the base part 20 cannot climb over the crawler belt 123 and cannot approach the hydrogen supply port 114 (see FIG. 6 ).

In contrast, when the actuator 18b is extended, the Z-direction height h3 of the crawler 13 is higher than the Z-direction height h1 of the pair of crawler tracks 123. Therefore, even when the transport device 1 is brought closer to the right side (+Y direction side) of the hydraulic excavator 100, there is no interference between the crawler 123 and the base portion 20. Therefore, the base portion 20 can approach the main body device 140, and ultimately, the second nozzle 46 can approach the hydrogen supply port 114 (see Figure 7).

The following continues to explain the cooperative operation regarding hydrogen supply between the transport device 1 of this embodiment configured as described above and the hydraulic excavator 100.

(flowchart)
8 is a flowchart executed by the heavy equipment control device 150 of this embodiment, and is executed, for example, when the remaining amount of fuel in the fuel tank 112 of the hydraulic excavator 100 located at an excavation site falls below a predetermined amount. The control of the heavy equipment control device 150 will be described below with reference to FIG. 8. Note that this flowchart does not exclude the possibility that a worker may perform part of it.

The heavy equipment control device 150 uses the detection device 145 to detect a position where hydrogen can be supplied by the transport device 1 (step S1). For areas that cannot be reached by the LiDAR laser irradiation angle, the heavy equipment control device 150 detects the situation in a 360-degree area around the hydraulic excavator 100 by rotating the rotation device 130. The heavy equipment control device 150 then determines the position and direction of hydrogen supply by the transport device 1 from the situation in a 360-degree area around the hydraulic excavator 100. The heavy equipment control device 150 controls the attitude of the work device 160 so that the laser emitted from the LiDAR is not blocked by the work device 160.

To determine the stopping position of the transport device 1 when supplying hydrogen, the heavy equipment control device 150 may acquire the dimensions of the transport device 1 using the second communication device 148 and determine the stopping position of the transport device 1 based on the acquired dimensions of the transport device 1. The heavy equipment control device 150 may also determine the stopping position of the transport device 1 with the travel motor 124 stopped, or may determine the stopping position of the transport device 1 while moving the hydraulic excavator 100 using the travel motor 124. Here, the heavy equipment control device 150 determines that the transport device 1 will be stopped on the right side (+Y direction) of the hydraulic excavator 100 and that hydrogen will be supplied using the second nozzle 146.

The heavy equipment control device 150 transmits the hydrogen supply location to the transport device 1 using the second communication device 148 (step S2). Specifically, the heavy equipment control device 150 transmits the position of the hydraulic excavator 100 measured by the second GNSS 147 and information on the nozzle being used to the transport device 1. Upon receiving the hydrogen supply location, the control device 70 of the transport device 1 starts the flowchart shown in Figure 9, which will be described later.

The heavy equipment control device 150 uses the slewing device 130 to position the hydrogen supply port 114 (step S3). As described above, in this embodiment, hydrogen is supplied to the right side surface (+Y direction side) of the hydraulic excavator 100, so the heavy equipment control device 150 uses the slewing device 130 to swivel the main unit 140 and position the hydrogen supply port 114 on the right side surface (+Y direction side) of the hydraulic excavator 100.
The order of steps S2 and S3 may be reversed.

The heavy equipment control device 150 determines whether the transport device 1 has been positioned on the right side (+Y direction side) of the hydraulic excavator 100 (step S4). As will be described in detail later, the transport device 1 approaches the hydraulic excavator 100, captures an image of the hydrogen supply port 114 or a mark provided in its vicinity using the imaging device 55, and positions itself relative to the hydraulic excavator 100's fuel tank 112. The heavy equipment control device 150 repeats step S4 until it receives a signal from the transport device 1 indicating that positioning is complete. Here, the heavy equipment control device 150 proceeds to step S5, assuming that positioning of the transport device 1 has been completed.

The heavy equipment control device 150 changes the opening/closing section (not shown) of the hydrogen supply port 114 from a closed state to an open state in order to inject hydrogen from the hydrogen dispenser 40 into the fuel tank 112 (step S5).

The heavy equipment control device 150 determines whether the hydrogen dispenser 40 has finished injecting hydrogen into the fuel tank 112. Although details will be described later, the heavy equipment control device 150 repeats step S6 until it receives a signal from the transport device 1 indicating the end of hydrogen injection. Here, the heavy equipment control device 150 proceeds to step S7, assuming that hydrogen injection has been completed.

The heavy equipment control device 150 changes the opening/closing section (not shown) of the hydrogen supply port 114 from the open state to the closed state, thereby ending the flowchart of Figure 8 (step S7).

In addition, if an attitude detection device is provided in the main unit 140, and this attitude detection device detects the inclination of the ground and the inclination of the hydrogen supply port 114 when detecting the hydrogen supply position in step S1, the heavy equipment control device 150 can determine the hydrogen supply position as a location with a small inclination.In addition, an inclinometer, a spirit level, etc. can be used as the attitude detection device.

Figure 9 is a flowchart executed by the control device 70 of this embodiment, in which the conveying device 1 is assumed to be waiting at a waiting location different from the excavation site.

The control device 70 determines whether it has received a hydrogen supply location from the hydraulic excavator 100 (step S101). Here, it is assumed that the control device 70 has received a hydrogen supply location from the hydraulic excavator 100 and proceeds to step S102.

The control device 70 determines a route to travel from the received hydrogen supply position and the current position detected by the first GNSS 65 to the hydrogen supply position, and travels to the received hydrogen supply position (step S102). In this embodiment, the control device 70 closes the nozzle of at least one of the first valve 35 and the second valve 36 until the transport device 1 arrives at the received hydrogen supply position, preventing hydrogen from being supplied to the hydrogen dispenser 40. This allows the control device 70 to prevent hydrogen from leaking from the hydrogen dispenser 40 while the transport device 1 is moving.

The control device 70 determines whether the hydrogen supply port 114 of the hydraulic excavator 100 has been detected (step S103). When the control device 70 approaches the received hydrogen supply position (e.g., 2 m to 10 m), it uses the imaging device 55 to detect the hydrogen supply port 114 or a mark located near it. The control device 70 controls the traveling device 10 so that it approaches the mark detected by the imaging device 55. In this embodiment, the control device 70 controls the traveling device 10 so that the second nozzle 46 faces the right side of the hydraulic excavator 100. The heavy equipment control device 150 may detect the transport device 1 using the detection device 145 and guide the transport device 1 to the hydrogen supply position, or may control the transport device 1 to stop movement toward the hydrogen supply port 114.

The control device 70 determines whether the size of the transport device 1 needs to be changed in order for the second nozzle 46 to approach the hydrogen supply port 114 (step S104). The control device 70 determines whether the size of the transport device 1 needs to be changed by obtaining the dimensions of the pair of tracks 123 of the hydraulic excavator 100 from the hydraulic excavator 100 and by capturing an image of the pair of tracks 123 using the imaging device 55. Alternatively, the control device 70 may determine whether the size of the transport device 1 needs to be changed based on the size detection results of the transport device 1 using the detection device 145. Here, it is assumed that the size of the transport device 1 needs to be changed, and the process proceeds to step S105.

The control device 70 drives the actuator 18b from a retracted state to an extended state, changing the size of the transport device 1 so that the height of the base portion 20 is higher than the Z-direction height h1 of the pair of tracks 123 (step S105). This allows the control device 70 to move the second nozzle 46 closer to the hydrogen supply port 114, since the base portion 20 does not interfere with the pair of tracks 123.

The control device 70 determines whether positioning of the second nozzle 46 relative to the hydrogen supply port 114 has been completed (step S106). The control device 70 uses the imaging device 55 to capture an image of the hydrogen supply port 114 or a mark provided near it, and then positions the second nozzle 46 relative to the hydrogen supply port 114. Positioning of the second nozzle 46 relative to the hydrogen supply port 114 can be performed by the travel motor 15 in the X and Y directions, and by the actuator 18b in the Z direction. Positioning of the second nozzle 46 relative to the hydrogen supply port 114 in the rotation direction can be performed by the rotation motor 131. Alternatively, an adjustment mechanism may be provided that adjusts the position of the second nozzle 46 with three degrees of freedom, preferably six degrees of freedom. Similarly, an adjustment mechanism may be provided that adjusts the positions of the first nozzle 45 and the third nozzle 47 with three degrees of freedom, preferably six degrees of freedom. It is desirable that the control device 70 notify the hydraulic excavator 100 via the first communication device 66 that the positioning of the second nozzle 46 relative to the hydrogen supply port 114 has been completed.

When the control device 70 has completed positioning the second nozzle 46 relative to the hydrogen supply port 114 in step S106, it determines whether the hydrogen supply port 114 is open (step S107). The control device 70 repeats the determination in step S107 until the heavy equipment control device 150 opens the hydrogen supply port 114.

The control device 70 drives the second nozzle 46 in the -Y direction using the second drive unit 49 so that the connection coupler of the second nozzle 46 connects to the receptacle of the hydrogen supply port 114 (step S108). It is preferable to provide a tapered guide member, for example, on the hydrogen supply port 114 to facilitate engagement of the connection coupler with the receptacle. For example, it is preferable to provide a detector that mechanically detects the connection between the receptacle and the connection coupler, and output the detection result to the heavy equipment control device 150 when the connection between the receptacle and the connection coupler is detected. It is also preferable for this detector to output the detection result to the heavy equipment control device 150 when the connection between the receptacle and the connection coupler is released.

When the connection coupler of the second nozzle 46 is connected to the receptacle of the hydrogen supply port 114, the control device 70 opens the first valve 35 and the second valve 36 to supply hydrogen stored in the pressure accumulator vessel 31 to the hydrogen dispenser 40, and controls the three-way switching valve 44 to supply hydrogen to the second nozzle 46. As a result, the control device 70 supplies hydrogen to the fuel tank 112 via the hydrogen supply port 114 (step S109).

A leak detection sensor for detecting hydrogen leaks may be provided near the hydrogen supply port 114, for example, in the receptacle. Leak detection sensors include gas thermoelectric and solid-state electrochemical sensors, and either type of sensor can be used. If a hydrogen leak is detected, the control device 70 stops the hydrogen supply in step S109 and notifies a remote office or the worker's smartphone via the first communication device 66. The control device 70 also closes the first valve 35 and the second valve 36.

The control device 70 determines whether the supply of hydrogen to the fuel tank 112 has finished (step S110). The amount of hydrogen to be supplied to the fuel tank 112 may be determined based on the detection result of a fuel gauge (not shown) before hydrogen is supplied to the fuel tank 112, and the amount of hydrogen to be supplied may be transmitted from the hydraulic excavator 100 to the transport device 1. The control device 70 may determine whether the amount of hydrogen to be supplied has reached a predetermined amount based on the output of the flow meter 41. Alternatively, the control device 70 may continue to supply hydrogen to the fuel tank 112 until a fuel gauge (not shown) detects that the predetermined amount of hydrogen has been supplied to the fuel tank 112.

Here, the control device 70 proceeds to step S111, assuming that the supply of hydrogen to the fuel tank 112 has ended. The control device 70 sends a signal to the heavy equipment control device 150 indicating that the supply of hydrogen has ended, and closes the first valve 35 and the second valve 36. When the heavy equipment control device 150 receives the signal indicating that the supply of hydrogen has ended, it releases the receptacle socket.

When the control device 70 receives a signal from the heavy equipment control device 150 indicating that the connection between the receptacle and the connection coupler has been released, it drives the second nozzle 46 along the +Y direction using the second drive unit 49 to withdraw the second nozzle 46 from the hydrogen supply port 114 (step S111).

The control device 70 determines whether it is necessary to supply hydrogen to other construction machines (step S112). If it is necessary to supply hydrogen to other construction machines, the control device 70 returns to step S101; if it is not necessary to supply hydrogen to other construction machines, the control device 70 moves to a waiting area in step S113 and ends this flowchart.

As described above, in this embodiment, the pair of link mechanisms 18 can change the size of the travel device 10, allowing the transport device 1 to be positioned close to the hydrogen supply port 114. Furthermore, because the hydrogen dispenser 40 has a first nozzle 45, a second nozzle 46, and a third nozzle 47 that can accommodate multiple directions, the nozzle position of the transport device 1 is not a rate-limiting factor when determining the hydrogen supply position.

Furthermore, according to this embodiment, the swing device 130 already provided on the hydraulic excavator 100 is used to detect the hydrogen supply position and determine the position of the hydrogen supply port 114, so hydrogen can be injected into the fuel tank 112 without complicating the hydraulic excavator 100. Furthermore, if there are multiple candidate hydrogen supply positions, the heavy equipment control device 150 can simply determine the hydrogen supply position as a location where the swing device 130 rotates less when positioning the hydrogen supply port 114 or where the ground is less inclined.

The above-described embodiment is merely an example for explaining the present invention, and various modifications can be made without departing from the spirit of the present invention. For example, the conveying device 1 may be an integrated type in which the running device 10 and the base unit 20 are not detachable.

The transport device 1 may also be a type with a driver's seat. The hydraulic excavator 100 may also be a type with a driver's seat, or may be an internal combustion engine powered by diesel, ammonia, or hydrogen. In this case, the transport device 1 may supply diesel, ammonia, or hydrogen (liquid) to the fuel tank 112.

The hydraulic excavator 100 is not limited to having one working device 160, and multiple working devices 160 may be provided on the main body device 140.

REFERENCE SIGNS LIST 1 Conveyor device 10 Travel device 18 Pair of link mechanisms 18b Actuator 20 Base portion 30 Hydrogen filling device 40 Hydrogen dispenser 44 Three-way switching valve 45 First nozzle 46 Second nozzle 47 Third nozzle 55 Imaging device 110 Drive system 112 Fuel tank 114 Hydrogen supply port 130 Swivel device 140 Main device 145 Detection device

Claims (17)

a base portion movable by a first moving device;
a fuel supply unit provided in the base unit and supplying a fuel such as hydrogen or ammonia ;
an imaging device that captures an image of a supply port of the device to which the fuel is supplied and a traveling device that causes the device to travel;
and a change device that changes the size of the first moving device so that it does not interfere with the device to which the fuel is supplied when moving toward the supply port based on the imaging results of the imaging device . The transport device according to claim 1 , wherein the change device changes the vertical size of the first moving device so as not to interfere with the traveling device, and positions the supply port and the fuel supply unit along the vertical direction . The conveying device described in claim 1, wherein the change device changes the size in the width direction intersecting the movement direction of the first moving device so as not to interfere with the traveling device. a communication device for communicating with the device;
The conveying device according to claim 1 , further comprising: a control device that moves the first moving device toward the supply port based on an instruction from the device via the communication device. The conveying device described in claim 4, wherein the control device stops movement of the first moving device toward the supply port based on an instruction from the device via the communication device. The transport device described in any one of claims 1 to 5, further comprising an attachment/detachment device that enables the first moving device and the base unit to be attached/detached. The first moving device is available in a variety of sizes;
The size of the first moving device is selected according to the size of the device;
7. The transport device according to claim 6, wherein the attachment/detachment device attaches the selected first moving device to the base portion. A conveying device according to any one of claims 1 to 7, wherein the fuel supply unit comprises a first supply unit formed on a first surface side and a second supply unit formed on a second surface side different from the first surface side. The conveying device of claim 8, further comprising a selection device for selecting either the first supply unit or the second supply unit. a main body device having a supply port into which hydrogen or ammonia fuel for propelling the propelling device is injected, the main body device being propelled by the propelling device;
a rotation device capable of rotating the main body device;
a working device that is connected to the main body device and moves to perform work;
a detection device provided in the main body device and configured to detect a condition related to the inclination of the ground around the main body device by irradiating electromagnetic waves;
a control device that positions the supply port in a rotation direction by rotating the rotation device based on the detection result of the detection device. A construction machine according to claim 10, wherein the control device controls the attitude of the work device so that the electromagnetic waves are not blocked by the work device. A construction machine according to claim 10 or claim 11, wherein the detection device detects the situation around the main body device while changing its position in the rotation direction due to the rotation of the rotation device. A construction machine according to any one of claims 10 to 12, wherein the control device positions the supply port in the rotation direction so that a supply device that supplies fuel to the supply port can face the supply port, based on the detection results of the detection device. A construction machine as described in claim 13, wherein the detection device is provided on the main body so as to be able to detect the supply device when the supply port is positioned so as to face the supply device. the traveling device has a pair of traveling portions spaced apart in a direction intersecting a traveling direction of the traveling device,
The construction machine according to any one of claims 10 to 14, wherein the control device positions the supply port between the pair of traveling portions. A construction machine according to any one of claims 10 to 15, wherein the supply port is provided separate from the work device. A construction machine according to any one of claims 10 to 16, wherein the control device positions the rotation direction of the supply port by rotating the rotation device based on the dimensions of a device that injects the fuel into the supply port.