Work vehicle

Abstract

The present disclosure provides a work vehicle capable of suppressing an increase in size and weight of a power receiving device that supplies power supplied from an electric vehicle frame line to a battery and an electric motor, and improving the efficiency of work including transport work. A work vehicle (100) is provided with: a battery control device (140) for controlling charging power supplied from a power receiving device (110) to a battery (120); a motor control device (150) that controls travel power supplied from the power receiving device (110) to the electric motor (130); and a power control device (160) that calculates the distribution of the power received by the power receiving device (110) to the charging power and the traveling power within a range in which the total of the charging power and the traveling power does not exceed the rated capacity of the power receiving device (110), and controls the battery control device (140) and the motor control device (150). The distributed power is supplied from the power receiving device (110) to the battery (120) and the electric motor (130).

Description

Technical Field

[0001] The present invention relates to a work vehicle. Background Art

[0002] Conventionally, a control device for an autonomous driving vehicle that can suppress deterioration of a power storage device while charging the power storage device from an external power source and driving has been known (see Patent Document 1 below). In this control device, the controller is configured to detect a charging section in which charging using an external power source is possible, and when the vehicle travels in the charging section, limit at least one of the charging amount to the power storage device and the discharge amount from the power storage device so that the load rate of the power storage device based on charging to the power storage device and discharging from the power storage device becomes equal to or less than a preset limit value (ibid., Abstract, etc.).

[0003] On the other hand, at a work site such as a mine, for example, an electric dump truck is used. The electric dump truck is equipped with an engine, a generator, and an electric motor, and travels by driving the electric motor with electric power generated by rotating the generator with the engine. In addition, an electric dump truck with trolley wire power reception is also used. In a power reception section where a trolley wire is provided, it travels by driving the electric motor with electric power supplied from the trolley wire, and in a non-power reception section, it travels by driving the electric motor with electric power generated by the engine and the generator.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-187130 Summary of the Invention

[0007] In the above-described conventional electric dump truck with trolley wire power reception, for example, in order to address environmental issues, full electrification has been studied in which a battery is installed instead of an engine and a generator to achieve full electrification. The electric dump truck with trolley wire power reception drives the electric motor and charges the battery with electric power supplied from the trolley wire in a power reception section where a trolley wire is provided, and drives the electric motor with electric power charged in the battery in a non-power reception section where a trolley wire is not provided.

[0008] The conventional electric dump truck with trolley wire power reception supplies electric power generated by an engine and a generator to the electric motor and supplies electric power supplied from the trolley wire to the electric motor in the power reception section, thereby improving the driving performance compared to the non-power reception section. However, since the electric dump truck with trolley wire power reception needs to charge the battery in the power reception section, the supply of driving electric power from the battery to the electric motor is stopped.

[0009] Therefore, in the trolley-powered all-electric dump truck, during the power receiving period, it is necessary to supply the driving power that is supplied from the trolley wire during the non-charging period from the battery, and it is also necessary to supply the charging power for battery charging from the trolley wire. Therefore, during the power receiving period, in order to make the driving performance of the all-electric dump truck higher than that in the non-power receiving period, it is necessary to supply not only the same driving power as in the non-power receiving period and the charging power for the battery from the trolley wire, but also additional driving power.

[0010] As a result, in the trolley-powered all-electric dump truck, compared with the existing trolley-powered electric dump truck, the power supplied from the trolley wire to the power receiving device increases significantly, the rated capacity of the electrical equipment included in the power receiving device increases, and the power receiving device may become larger. Such a large-sized power receiving device may increase the weight of work vehicles such as electric dump trucks, and reduce the work efficiency of transportation operations and the like performed by the work vehicles.

[0011] The present disclosure provides a work vehicle that can suppress the enlargement and weight increase of a power receiving device that supplies power supplied from a trolley wire to a battery and an electric motor, and improve the work efficiency including transportation operations.

[0012] One aspect of the present disclosure is a work vehicle including a power receiving device, a battery, and an electric motor for driving. The power receiving device receives power supply from the trolley wire by connecting to the trolley wire. The battery is charged using the power supplied from the power receiving device. The electric motor is driven using the power supplied from the power receiving device or the battery. The work vehicle is characterized by including: a battery control device that performs charge and discharge control of the battery and supplies charging power from the power receiving device to the battery when the power receiving device is connected to the trolley wire; a motor control device that performs drive control of the electric motor and supplies driving power from the power receiving device to the electric motor when the power receiving device is connected to the trolley wire; and a power control device that, when the power receiving device is connected to the trolley wire, acquires the charging state of the battery, and based on this charging state, calculates the distribution of the power received by the power receiving device to the charging power and the driving power within the range where the sum of the charging power and the driving power does not exceed the rated capacity of the power receiving device, and controls the battery control device and the motor control device so that the distributed power is supplied from the power receiving device to the battery and the electric motor.

[0013] Advantages of the Invention

[0014] According to one of the above aspects of the present disclosure, it is possible to provide a work vehicle that can suppress the enlargement and weight increase of a power receiving device that supplies power supplied from a tramway overhead wire to a battery and an electric motor, and improve the efficiency of operations including transportation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. 1 is a perspective view showing Embodiment 1 of the work vehicle of the present disclosure.

[0016] Figure 2 FIG. Figure 1 is a schematic circuit diagram of the work vehicle.

[0017] Figure 3 FIG. Figure 2 is a schematic diagram showing an example of the configuration of a battery that constitutes the circuit of FIG.

[0018] Figure 4 FIG. Figure 3 is a functional block diagram of each control device that constitutes the circuit of FIG.

[0019] Figure 5 FIG. Figure 1 is a schematic diagram showing one cycle (one period) of the transportation operation performed by the work vehicle of FIG.

[0020] Figure 6 FIG. Figure 4 is a flowchart showing an example of the operation of the power control device of FIG.

[0021] Figure 7 FIG.

[0022] Figure 8 FIG. Figure 7 is a graph showing the relationship between the state of charge and the charging speed of the battery of the work vehicle of Embodiment 1.

[0023] Figure 9 FIG.

[0024] Figure 10 FIG.

[0025] Figure 11 is a flowchart showing an example of the operation of the power control device of the work vehicle of Embodiment 2.

[0026] Figure 12 FIG. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, an embodiment of the work vehicle of the present disclosure will be described with reference to the accompanying drawings.

[0028] [Embodiment 1]

[0029] Figure 1 FIG. 1 is a perspective view showing Embodiment 1 of the work vehicle of the present disclosure. Figure 2 It is Figure 1 a schematic circuit diagram of the work vehicle 100. Figure 3 FIG. 2 is a view showing Figure 2 an example of the configuration of the battery 120 of the work vehicle 100. Figure 4 FIG. 3 is a functional block diagram of each control device constituting Figure 3 the circuit. The work vehicle 100 of the present embodiment includes, for example, a power receiving device 110, a battery 120, and an electric motor 130 as shown in Figure 2 FIG. 4.

[0030] The work vehicle 100 of the present embodiment is, for example, a dump truck that performs transportation work at a mine, a construction site, or the like. More specifically, the work vehicle 100 is, for example, an electric trolley-powered engine-less / full-electric rigid dump truck. That is, the work vehicle 100 is not equipped with an engine and a generator, receives power supply from the trolley wire 1 and charges the battery 120, and travels by driving the electric motor 130 with power supplied from at least one of the trolley wire 1 and the battery 120.

[0031] In addition, the work vehicle 100 of the present embodiment includes, for example, a battery control device 140, a motor control device 150, and a power control device 160 as shown in Figure 2 FIG. 5. In addition, the work vehicle 100 may include, for example, an input device 170 and a display device 180.

[0032] The power receiving device 110 has, for example, a current collector 111 and a power receiving control unit 112. The current collector 111 is, for example, provided so as to be able to be lifted and lowered by operating a lift switch provided in the cab of the work vehicle 100 by an operator, and contacts the trolley wire 1 when lifted to receive power supply from the trolley wire 1.

[0033] The power receiving control unit 112 supplies the power supplied from the trolley wire 1 via the current collector 111 to the battery control device 140 and the motor control device 150. The power receiving control unit 112 includes, for example, electrical equipment such as a transformer and a switching element, and a control device such as an electronic control unit (ECU), and has a specified rated capacity. The power receiving control unit 112 controls the power supplied from the current collector 111 to the battery control device 140 and the motor control device 150.

[0034] The battery 120 is a secondary battery that is charged using the electric power supplied from the power receiving device 110. The battery 120 is composed of, for example, a plurality of single cells. More specifically, for example, a battery module is formed by connecting a plurality of single cells in series, and then a battery pack (or battery module) is formed by connecting a plurality of battery modules in series and / or in parallel. The battery 120 can be composed of one or more battery packs. As the single cell, for example, a lead-acid battery, a lithium-ion secondary battery, or an all-solid-state battery can be used.

[0035] The battery 120, for example, as Figure 3 shown, includes a charge state monitoring device 121 and a battery state monitoring device 122. The battery state monitoring device 122 detects, for example, a state including the temperature of at least one of each single cell, battery module, or battery pack and outputs it to the power control device 160.

[0036] The charge state monitoring device 121 acquires, for example, the charge state (SOC) of at least one of each single cell, battery module, or battery pack of the battery 120 and outputs it to the power control device 160. More specifically, the charge state monitoring device 121 detects the voltage of at least one of each single cell, battery module, or battery pack of the battery 120 and calculates the SOC of at least one of each single cell, battery module, or battery pack.

[0037] The electric motor 130 is, for example, a traveling motor driven by the electric power supplied from the power receiving device 110 or the battery 120. The electric motor 130 is rotated under the control of the motor control device 150, and the driving force is transmitted via a transmission to rotate the drive wheels of the work vehicle 100, thereby causing the work vehicle 100 to travel. It should be noted that the work vehicle 100 may be equipped with only one electric motor 130 or may be equipped with a plurality of electric motors 130.

[0038] The battery control device 140 performs charge and discharge control of the battery 120. When the power receiving device 110 is connected to the trolley wire 1, the battery control device 140 controls the charging power supplied from the power receiving device 110 to the battery 120. In addition, the battery control device 140 controls, for example, the traveling power supplied from the battery 120 to the motor control device 150. That is, the battery control device 140 controls the charging of the battery 120 using the electric power supplied from the power receiving device 110 to the battery 120 and the discharging of the battery 120 in which the electric power is stored to the motor control device 150.

[0039] The battery control device 140 includes, for example, a circuit that switches the supply and cut-off of power from the power receiving device 110 to the battery 120, and a circuit that switches the supply and cut-off of power from the battery 120 to the motor control device 150. Additionally, the battery control device 140 includes, for example, electrical equipment and an ECU that controls these electrical equipment and the above circuits. Among them, these electrical equipment boost or step down the voltage to a voltage suitable for supplying to the battery control device 140 or charging the battery 120, or suppress voltage fluctuations. The battery control device 140 controls the charging power supplied from the power receiving device 110 to the battery 120 by controlling at least one of the voltage and current.

[0040] Additionally, the battery control device 140, for example, as Figure 4 shown, has a charge-discharge control unit 141, a charging power output unit 142, and a driving power output unit 143. Each part of these battery control devices 140 represents, for example, each function of the battery control device 140 realized by the central processing unit (CPU) of the ECU constituting the battery control device 140 executing a program stored in the memory. The operations of each part of these battery control devices 140 will be described later.

[0041] The motor control device 150 performs drive control of the electric motor 130. When the power receiving device 110 is connected to the tramway overhead wire 1, the motor control device 150 controls the drive of the electric motor 130 by controlling the driving power supplied from the power receiving device 110 to the electric motor 130. Additionally, the motor control device 150 controls the drive of the electric motor 130 by controlling, for example, the driving power supplied from the battery 120 to the electric motor 130 via the battery control device 140. The motor control device 150 controls the running performance of the work vehicle 100 by controlling, for example, the output torque and rotational speed of the electric motor 130. It should be noted that when the work vehicle 100 is equipped with multiple electric motors 130, a motor control device 150 can also be provided for each electric motor 130.

[0042] Additionally, for example, as Figure 4 shown, the motor control device 150 has a driving power control unit 151 and a driving power output unit 152. Each part of these motor control devices 150 represents, for example, each function of the motor control device 150 realized by the CPU of the ECU constituting the motor control device 150 executing a program stored in the memory. The operations of each part of these motor control devices 150 will be described later.

[0043] The power control device 160 controls, for example, the battery control device 140 and the motor control device 150 so that the total of the charging power supplied from the power receiving device 110 to the battery 120 and the driving power supplied from the power receiving device 110 to the electric motor 130 does not exceed a specified upper limit power. The specified upper limit power can be set, for example, to not exceed the rated capacity of the power receiving device 110. Specifically, when the power receiving device 110 is connected to the tramway overhead wire 1, the power control device 160 acquires the charging state of the battery 120. Then, based on this charging state, the power control device 160 calculates the distribution of the received power of the power receiving device 110 to the charging power and the driving power within the range where the total of the charging power and the driving power does not exceed the rated capacity of the power receiving device 110. Then, the power control device 160 controls the battery control device 140 and the motor control device 150 to supply the distributed power from the power receiving device 110 to the battery 120 and the electric motor 130.

[0044] In addition, in the work vehicle 100 of the present embodiment, the power control device 160, for example, stops the supply of the charging power to the battery control device 140 when the SOC acquired from the charging state monitoring device 121 of the battery 120 is in a fully charged state. In this case, the power control device 160, for example, increases the driving power of the motor control device 150 with the rated capacity of the power receiving device 110 as the upper limit.

[0045] In addition, for example, as Figure 4 shown, the power control device 160 includes a charging state determination unit 161, a charging power calculation unit 162, a driving power calculation unit 163, and a display device control unit 164. Each of these parts of the power control device 160 represents, for example, each function of the power control device 160 realized by the CPU of the ECU constituting the power control device 160 executing a program stored in a memory. The operations of each of these parts of the power control device 160 will be described later.

[0046] The input device 170 is, for example, a human-machine interface (HMI) capable of inputting the set charging speed of the battery 120. More specifically, the input device 170 can be constituted by, for example, a touch panel or a keyboard provided on the driver's seat of the work vehicle 100. The input device 170 receives, for example, the input of the set charging speed of the battery 120 performed by the operator of the work vehicle 100 and outputs the input set charging speed of the battery 120 to the power control device 160.

[0047] The display device 180 can be constituted by, for example, a display meter provided on the driver's seat of the work vehicle 100, a liquid crystal display device, an organic EL display device, a head-up display, or the like. The display device 180 receives, for example, information related to the distribution of the charging power supplied from the power receiving device 110 to the battery 120 and the driving power supplied from the power receiving device 110 to the electric motor 130 from the power control device 160. The display device 180 displays, for example, information related to the distribution of the charging power and the driving power received from the power control device 160, and notifies the operator of the work vehicle 100.

[0048] Figure 5 is a schematic diagram showing Figure 1 one cycle (one period) of the transportation operation performed by the work vehicle 100. The work vehicle 100 of the present embodiment is, for example, as described above, an electric trolley-powered all-electric rigid dump truck that performs transportation operations of goods such as ore and sand at mines, construction sites, etc. The work vehicle 100 is loaded with goods such as ore and sand (during period 1) into the vehicle body or the vessel by a loading machine such as a hydraulic excavator or a wheel loader.

[0049] The work vehicle 100 travels, for example, in the non-powered section NPS from the unloading yard where the goods are unloaded to the loading yard where the goods are loaded, by driving the electric motor 130 using the power stored in the battery 120. Therefore, the SOC of the battery 120 of the work vehicle 100 becomes, for example, the lowest state in one cycle at the loading yard. Then, the work vehicle 100 travels, for example, in the powered section PRS provided with the trolley wire 1 (during period 2).

[0050] In this powered section PRS, the operator of the work vehicle 100 performs an operation of raising the current collector 111 to contact the trolley wire 1, for example. Thereby, power is supplied from the trolley wire 1 to the battery 120 via the power receiving device 110 and the battery control device 140 to charge the battery 120. In addition, power is supplied from the trolley wire 1 to the electric motor 130 via the power receiving device 110 and the motor control device 150, and the electric motor 130 is driven to make the work vehicle 100 travel.

[0051] The powered section PRS is set, for example, as an uphill section or the like where the work vehicle 100 travels in a fully loaded state and the driving load is high. At the end of the powered section PRS, the SOC of the battery 120 of the work vehicle 100 is, for example, Figure 5 the maximum in one cycle of the work vehicle 100 shown. Then, the work vehicle 100 travels, for example, in the non-powered section NPS where the trolley wire 1 is not provided to the unloading yard, and raises the front end of the vehicle body or the vessel to drop the goods (during period 3).

[0052] Then, for example, when the work vehicle 100 is in an unloaded state where the vehicle body or the dump body does not carry goods, it travels downhill on the non-powered section NPS (period 4), and then travels on a flat path of the non-powered section NPS from the downhill to the loading yard (period 5). In these non-powered sections NPS, the work vehicle 100 supplies electric power from the battery 120 to the electric motor 130 via the battery control device 140 and the motor control device 150, and drives the electric motor 130 to travel. As a result, the SOC of the battery 120 gradually decreases with the end point of the power receiving section PRS as the peak value.

[0053] Then, the work vehicle 100 reloads the vehicle body or the dump body with goods at the loading yard (period 1), and the SOC of the battery 120 increases by traveling in the power receiving section PRS. Thus, in the trolley-powered all-electric rigid dump truck such as the work vehicle 100 of the present embodiment, by appropriately setting the power receiving section PRS on a one-cycle travel path, it is possible to avoid stopping at the charging station for the purpose of charging the battery 120. Therefore, the work efficiency of the work vehicle 100 such as the cargo transportation operation can be improved.

[0054] On the other hand, as shown in the work vehicle 100 of the present embodiment, in an all-electric rigid dump truck without an engine and a generator, in the power receiving section PRS, it is necessary to supply both the charging electric power for charging the battery 120 and the traveling electric power for driving the electric motor 130 from the trolley wire 1 via the power receiving device 110. Therefore, in the power receiving section PRS, in order to improve the traveling performance of the work vehicle 100 and increase the productivity compared with the non-powered section NPS, in addition to the charging electric power, it is also necessary to supply from the trolley wire 1 via the power receiving device 110 the traveling electric power supplied from the battery 120 in the non-powered section NPS and the additional traveling electric power for improving the traveling performance.

[0055] Here, it is set that the charging electric power in the power receiving section PRS and the additional traveling electric power for improving the traveling performance of the work vehicle 100 are respectively equal to the traveling electric power supplied from the battery 120 to the electric motor 130 in the non-powered section NPS. In addition, in the existing electric dump truck, it is assumed that the traveling electric power generated by the engine and the generator is equal to the traveling electric power supplied from the battery 120 in the work vehicle 100 of the present embodiment. Furthermore, it is assumed that in the existing electric dump truck, in order to improve the traveling performance, the additional traveling electric power supplied from the trolley wire is equal to the traveling electric power generated by the engine and the generator.

[0056] In this case, compared with an existing electric dump truck equipped with an engine and a generator, three times as much power is supplied from the trolley wire 1 to the work vehicle 100 of the present embodiment. In this way, if the power supplied from the trolley wire 1 increases, it is necessary to increase the rated capacity of the electrical equipment used in the power receiving device 110, which may cause the power receiving device 110 to become larger and heavier.

[0057] If the weight of the power receiving device 110 increases, it may cause a reduction in the weight of the goods that can be loaded in the body or the dump of the work vehicle 100, and a reduction in the work efficiency of each cycle of the transportation work of the work vehicle 100. Therefore, according to the configuration described below, the work vehicle 100 of the present embodiment suppresses the enlargement and weight increase of the power receiving device 110 that supplies power from the trolley wire 1 to the battery 120 and the electric motor 130, and improves the efficiency of the work including the transportation work performed by the work vehicle 100.

[0058] Figure 6 It is a flowchart showing an example of the operation of the power control device 160 in the power receiving section PRS where the work vehicle 100 receives power supply from the trolley wire 1 Figure 4 of. When starting the Figure 6 processing flow shown, the power control device 160 first executes the process P11 of obtaining the SOC from the battery 120. In this process P11, the power control device 160, for example, as Figures 2 to 4 shown, the charge state determination unit 161 obtains the SOC of the battery 120 from the charge state monitoring device 121 of the battery 120. In addition, the charging power calculation unit 162 can also obtain the state of the battery 120 including the temperature from the battery state monitoring device 122 of the battery 120, for example.

[0059] Next, the power control device 160 executes Figure 6 the determination process P12 shown. In this process P12, Figure 4 the charge state determination unit 161 of the power control device 160 shown determines whether the battery 120 is in a fully charged state based on the SOC obtained from the battery 120. In this process P12, for example, if the charge state determination unit 161 determines that the battery 120 is not in a fully charged state (No), the power control device 160 executes the process P13 of calculating the charging power.

[0060] In this process P13, the charging power calculation unit 162 calculates, for example, the charging power for charging the battery 120 at a preset charging speed based on the determination result of the charging state determination unit 161, and outputs it to the battery control device 140. For example, the charging power calculation unit 162 may also calculate the charging power for charging the battery 120 at a constant charging speed before the SOC of the battery 120 reaches 100% of the fully charged state, or may calculate the charging power in such a way that the charging speed changes according to the SOC of the battery 120.

[0061] Figure 7 It is a graph showing the relationship between the charging state (SOC) of the battery 120 of the work vehicle 100 in the first embodiment and the charging speed. In Figure 7 In the example shown, when the SOC obtained from the battery 120 exceeds a specified threshold value, the charging power calculation unit 162 calculates, for example, the charging power for charging the battery 120 at the upper limit charging speed. In addition, the charging power calculation unit 162 calculates the charging power so that, for example, when the SOC obtained from the battery 120 exceeds a specified threshold value, the charging speed of the battery 120 decreases as the SOC approaches 100% of the fully charged state.

[0062] Then, the power control device 160 executes, for example, the process P14 of calculating Figure 6 the driving power shown. In this process P14, the driving power calculation unit 163 calculates, for example, the driving power whose total with the charging power does not exceed the rated capacity of the power receiving device 110 based on the charging power calculated by the charging power calculation unit 162, and outputs it to the motor control device 150. In addition, the display device control unit 164 generates, for example, information for displaying an image representing the distribution of these powers based on the charging power calculated by the charging power calculation unit 162 and the driving power calculated by the driving power calculation unit 163, and outputs it to the display device 180.

[0063] Figure 8 It is a graph showing Figure 7 the distribution of the charging power CP and the driving power DP at the charging speed of Figure 8 In the example shown, the driving power calculation unit 163 calculates the driving power DP in such a way that the sum of the charging power CP and the driving power DP does not exceed the rated capacity RC of the power receiving device 110. In addition, when the SOC obtained from the battery 120 exceeds a specified threshold value and the charging power calculation unit 162 reduces the charging power CP, the driving power calculation unit 163 increases the driving power DP corresponding to the amount by which the charging power CP is reduced. Then, after the process flow shown in Figure 6 ends, the power control device 160 restarts and repeats at a specified cycle.

[0064] On the other hand, in the aforementioned process P12, for example, when the charging state determination unit 161 determines that the battery 120 is in a fully charged state (yes), the power control device 160 executes a process P15 to stop the supply of charging power. Then, the power control device 160 executes Figure 6 the process P16 shown. In this process P16, the charging power calculation unit 162 of the power control device 160 increases the driving power DP with the rated capacity RC of the power receiving device 110 as the upper limit, for example. Then, after the power control device 160 finishes Figure 6 the process flow shown, it restarts and repeats at a prescribed cycle.

[0065] In Figure 6 the process flow shown, the value of the charging power CP calculated by the power control device 160 is input to, for example, Figure 4 the charge-discharge control unit 141 of the battery control device 140 shown. The charge-discharge control unit 141 controls the charging power CP output from the power receiving device 110 to the battery 120 via the charging power output unit 142 based on the input value of the charging power CP, for example. Thus, in the power receiving section PRS, the battery 120 of the work vehicle 100 is charged with the charging power CP calculated by the power control device 160 and supplied from the overhead wire 1 via the power receiving device 110 and the battery control device 140.

[0066] In Figure 6 the process flow shown, the value of the driving power DP calculated by the power control device 160 is input to, for example, Figure 4 the driving power control unit 151 of the motor control device 150 shown. The driving power control unit 151 controls the driving power DP output from the power receiving device 110 to the electric motor 130 via the driving power output unit 1522 based on the input value of the driving power DP, for example.

[0067] Thus, in the power receiving section PRS, the electric motor 130 of the work vehicle 100 is driven with the driving power DP calculated by the power control device 160 and supplied from the overhead wire 1 via the power receiving device 110 and the motor control device 150. In addition, the display device 180 displays the allocation of the charging power CP and the driving power DP based on the information input from the display device control unit 164 of the power control device 160.

[0068] Note that in the non-powered section NPS, the charging power calculation unit 162 of the power control device 160 outputs, for example, an instruction to stop the supply of the charging power CP to the battery control device 140. Further, the driving power calculation unit 163 of the power control device 160 calculates, for example, the driving power supplied from the battery 120 based on the instruction output from the charging power calculation unit 162 and outputs it to the motor control device 150.

[0069] Further, the display device control unit 164 of the power control device 160 generates, for example, information for displaying the situation that the work vehicle 100 is traveling with the driving power supplied from the battery 120 based on the instruction output from the charging power calculation unit 162 and the driving power calculated by the driving power calculation unit 163, and outputs it to the display device 180.

[0070] Further, in the non-powered section NPS, the charge / discharge control unit 141 of the battery control device 140 controls, for example, the driving power output unit 143 based on the instruction input from the charging power calculation unit 162, and supplies power from the battery 120 to the driving power output unit 152 of the motor control device 150. The driving power control unit 151 of the motor control device 150 controls, for example, the driving power output unit 152 based on the value of the driving power input from the driving power calculation unit 163 of the power control device 160. As a result, the driving power supplied from the battery 120 via the driving power output unit 143 is supplied to the electric motor 130 via the driving power output unit 152.

[0071] As a result, in the non-powered section NPS, the electric motor 130 of the work vehicle 100 is driven by the driving power calculated by the power control device 160 and supplied from the battery 120 via the battery control device 140 and the motor control device 150. Further, the display device 180 displays, for example, the situation of traveling with the driving power supplied from the battery 120 based on the information input from the display device control unit 164 of the power control device 160.

[0072] As described above, the work vehicle 100 of the present embodiment includes a power receiving device 110 that receives power supply from the trolley wire 1 by being connected to the trolley wire 1, a battery 120 that is charged with the power supplied from the power receiving device 110, and an electric motor 130 for traveling that is driven by the power supplied from the power receiving device 110 or the battery 120. In addition, the work vehicle 100 includes a battery control device 140, a motor control device 150, and a power control device 160. The battery control device 140 performs charge and discharge control of the battery 120, and supplies charging power CP from the power receiving device 110 to the battery 120 when the power receiving device 110 is connected to the trolley wire 1. The motor control device 150 performs drive control of the electric motor 130, and supplies traveling power DP from the power receiving device 110 to the electric motor 130 when the power receiving device 110 is connected to the trolley wire 1. The power control device 160 acquires the charging state of the battery 120 when the power receiving device 110 is connected to the trolley wire 1, and based on the charging state, calculates the distribution of the power received by the power receiving device 110 to the charging power CP and the traveling power DP within a range where the sum of the charging power CP and the traveling power DP does not exceed the rated capacity RC of the power receiving device 110. Then, the power control device 160 controls the battery control device 140 and the motor control device 150 so that the distributed power is supplied from the power receiving device 110 to the battery 120 and the electric motor 130.

[0073] With such a configuration, the work vehicle 100 of the present embodiment can limit the sum of the charging power CP and the traveling power DP respectively supplied from the trolley wire 1 to the battery 120 and the electric motor 130 to be equal to or less than the rated capacity RC of the power receiving device 110. As a result, it is possible to suppress the enlargement and weight increase of the power receiving device 110, increase the weight of the cargo loaded on the work vehicle 100, improve the work efficiency such as the transportation work performed by the work vehicle 100, and improve the productivity of mines and construction sites.

[0074] In particular, in the work vehicle 100 such as a dump truck that performs a transportation operation at a mine or a construction site, the cycle shown basically repeats within a day. Figure 5 Therefore, in terms of a period of one day, one month, etc., even if the weight of the power receiving device 110 is slightly suppressed and the weight of the cargo loaded on the work vehicle 100 is slightly increased, it will have a great impact on the improvement of productivity. Therefore, according to the work vehicle 100 of the present embodiment, it is possible to greatly improve the productivity of mines, construction sites, etc.

[0075] In addition, in the work vehicle 100 of the present embodiment, when the state of charge (SOC) obtained from the battery 120 is a fully charged state, the battery control device 140 stops the supply of charging power, and the motor control device 150 increases the driving power with the above-mentioned rated capacity RC as the upper limit.

[0076] According to such a configuration, in the power receiving section PRS provided with the trolley wire 1, when the SOC of the battery 120 is in a fully charged state, more driving power can be supplied from the trolley wire 1 to the electric motor 130 of the work vehicle 100, improving the driving performance of the work vehicle 100. More specifically, the climbing performance of the work vehicle 100 can be improved or the driving speed can be increased, and the time required for one cycle as shown can be shortened. Figure 5 Therefore, according to the work vehicle 100 of the present embodiment, the work efficiency of transportation work and the like can be further improved.

[0077] In addition, in the work vehicle 100 of the present embodiment, as the state of charge (SOC) obtained from the battery 120 approaches the fully charged state, the power control device 160 decreases the charging power through the battery control device 140, and increases the driving power through the motor control device 150 corresponding to the amount of decrease in the charging power.

[0078] According to such a configuration, for example, in the transportation work of one cycle of the work vehicle 100, when the SOC of the battery 120 does not decrease significantly, more power supplied from the trolley wire 1 can be allocated to the driving power. As a result, in the power receiving section PRS, the driving performance of the work vehicle 100 can be further improved, and the productivity of the work vehicle 100 can be further improved.

[0079] As described above, according to the present embodiment, it is possible to provide a work vehicle 100 that can suppress the increase in the size and weight of the power receiving device 110 that supplies power from the trolley wire 1 to the battery 120 and the electric motor 130, and improve the efficiency of work including transportation work.

[0080] [Embodiment 2]

[0081] Hereinafter, reference will be made to Figures 1 to 5 and reference will be made to Figure 9 to describe Embodiment 2 of the work vehicle of the present disclosure. Figure 9 is a flowchart showing an example of the operation of the power control device 160 of the work vehicle 100 according to Embodiment 2. In the work vehicle 100 of the present embodiment, at the start of the processing flow shown in Figure 9 , similar to the first embodiment described above, the process P21 of obtaining the SOC from the battery 120 is executed.

[0082] Next, the power control device 160 performs, for example, a process P22 of setting a charging speed. In this process P22, for example, the charge state determination unit 161 sets the charging speed based on the change in the SOC of one cycle input from the battery 120. For example, when the SOC of the battery 120 changes between a relatively high 70% and 100%, the charge state determination unit 161 sets a charging speed lower than the upper limit charging speed of the battery 120. On the other hand, for example, when the SOC of the battery 120 changes between a relatively low 10% and 60%, the charge state determination unit 161 sets the upper limit charging speed of the battery 120 as the charging speed.

[0083] Next, the power control device 160 performs, for example, Figure 9 the determination process P23 shown. In this process P23, for example, the charging power calculation unit 162 determines whether the charging speed set by the charge state determination unit 161 is lower than the upper limit charging speed of the battery 120. In this process P23, when the charging power calculation unit 162 determines that the set charging speed is the upper limit charging speed of the battery 120 (No), it performs a process P24 of calculating the charging power corresponding to the upper limit charging speed. Then, the driving power calculation unit 163 performs a process P25 of calculating the driving power based on the charging power calculated by the charging power calculation unit 162. Then, after the processing flow shown in Figure 9 ends, the power control device 160 restarts and repeats it at a prescribed cycle.

[0084] On the other hand, in the aforementioned process P23, when the charging power calculation unit 162 determines that the set charging speed is lower than the upper limit charging speed of the battery 120 (Yes), it performs a process P26 of reducing the charging power of the battery 120 corresponding to the set charging speed. In addition, the driving power calculation unit 163 performs a process P27 of increasing the driving power corresponding to the amount by which the charging current is reduced by the charging power calculation unit 162.

[0085] According to such a configuration, the work vehicle 100 according to the present embodiment can make the sum of the charging power and the driving power supplied from the trolley wire 1 to the battery control device 140 and the motor control device 150 via the power receiving device 110 constant, and can balance the improvement of driving performance and the charging of the battery 120.

[0086] [Embodiment 3]

[0087] Hereinafter, Figures 1 to 5 is cited Figure 10 and the third embodiment of the work vehicle of the present disclosure will be described with reference to Figure 10It is a graph showing the distribution of the charging power CP and the driving power DP of the work vehicle 100 according to Embodiment 3. In Figure 10 In the example shown, a case where the maximum chargeable power MPCP of the battery 120 is lower than the rated capacity RC of the power receiving device 110 is shown, but the maximum chargeable power MPCP and the rated capacity RC may also be the same.

[0088] As Figure 2 and Figure 4 shown, the work vehicle 100 of the present embodiment includes an input device 170 capable of inputting the set charging speed of the battery 120. For example, when the operator of the work vehicle 100 refers to the SOC of the battery 120 displayed on the display device 180 and there is a margin in the SOC of the battery 120 in one cycle, the operator inputs a set charging speed lower than the normal charging speed to the input device 170.

[0089] As Figure 4 shown, the input device 170 outputs the set charging speed input by the operator to, for example, the charging power calculation unit 162 of the power control device 160. The charging power calculation unit 162, for example, as Figure 10 shown, calculates the charging power CP based on the distribution corresponding to the set charging speeds of the charging power CP and the driving power DP preset and stored in the memory, and outputs it to the battery control device 140. Thereby, the battery control device 140 supplies the charging power CP corresponding to the set charging speed acquired by the power control device 160 from the input device 170 to the battery 120.

[0090] The driving power calculation unit 163, for example, as Figure 10 shown, calculates the driving power DP based on the charging power CP calculated by the charging power calculation unit 162 and the rated capacity RC of the power receiving device 110, and outputs it to the motor control device 150. Thereby, the motor control device 150 supplies, for example, the driving power DP which is the difference between the rated capacity RC and the charging power CP to the electric motor 130. In addition, the display device control unit 164 generates, for example, a signal for displaying the distribution and the set charging speed based on the charging power CP calculated by the charging power calculation unit 162 and the driving power DP calculated by the driving power calculation unit 163, and outputs it to the display device 180.

[0091] As described above, the work vehicle 100 of the present embodiment further includes an input device 170 capable of inputting the set charging speed of the battery 120. The power control device 160 causes the battery control device 140 to supply the charging power corresponding to the set charging speed acquired from the input device 170. In addition, the power control device 160 causes the motor control device 150 to supply the driving power DP which is the difference between the rated capacity RC of the power receiving device 110 and the charging power CP.

[0092] According to such a configuration, in the work vehicle 100 according to the present embodiment, for example, when the SOC of the battery 120 has a margin with respect to the amount of power consumed during one cycle of driving of the work vehicle 100, the operator can input a set charging speed lower than normal to the input device 170. As a result, the distribution of the charging power CP supplied to the battery 120 can be reduced, and the distribution of the driving power DP supplied to the electric motor 130 can be increased.

[0093] Thereby, the driving performance of the work vehicle 100 can be improved, the work efficiency of the work vehicle 100 can be improved, and the productivity can be improved. In addition, the operator of the work vehicle 100 can confirm the distribution of the charging power CP and the driving power DP, the set charging speed, the SOC of the battery 120, etc. displayed on the display device 180. It should be noted that when the SOC of the battery 120 is low with respect to the amount of power consumed during one cycle of driving of the work vehicle 100, the operator of the work vehicle 100 can also input a set charging speed higher than normal to the input device 170 to increase the distribution of the charging power CP.

[0094] [Embodiment 4]

[0095] Cited below Figures 1 to 5 And refer to Figure 11 And Figure 12 To describe Embodiment 4 of the work vehicle of the present disclosure. Figure 11 It is a flowchart showing an example of the operation of the power control device 160 of the work vehicle 100 according to Embodiment 4. ​ It is a graph showing the distribution of the charging power CP and the driving power DP of the work vehicle 100 according to Embodiment 4. For example, the battery 120 may have a maximum chargeable speed reduced due to its state such as SOC and temperature.

[0096] In the work vehicle 100 of the present embodiment, at the start of the processing flow shown in ​ the power control device 160 first executes a process P31 of acquiring the state including the SOC of the battery 120 and the temperature of the battery 120 by the charge state determination unit 161. In addition, the power control device 160 executes a process P32 of setting an upper limit charging speed that does not exceed the maximum chargeable speed based on the state of the SOC and temperature of the battery 120, for example, by the charging power calculation unit 162.

[0097] Then, the power control device 160, for example, executes a process P33 of obtaining the set charging speed input by the operator from the input device 170 by the charging power calculation unit 162 and a process P34 of determining whether the obtained set charging speed exceeds the upper limit charging speed. In this process P34, when the charging power calculation unit 162 determines that the set charging speed does not exceed the upper limit charging speed (No), it executes the next process P35.

[0098] In this process P35, the charging power calculation unit 162, for example, as ​ shown, based on the distribution of the charging power CP and the driving power DP preset corresponding to the normal maximum rechargeable power MPCP of the battery 120 and the set charging speed, calculates the charging power CP and outputs it to the battery control device 140. Then, the driving power calculation unit 163 executes a process P36 of calculating the driving power DP based on the charging power CP and the rated capacity RC of the power receiving device 110 and outputting it to the motor control device 150.

[0099] On the other hand, in the aforementioned process P34, when the charging power calculation unit 162 determines that the set charging speed exceeds the upper limit charging speed (Yes), it executes the next process P37. In this process P37, the charging power calculation unit 162, for example, as ​ shown, calculates the maximum rechargeable power MPCP' of the battery 120 that is reduced corresponding to the reduction of the upper limit charging speed as the charging power CP. Then, the driving power calculation unit 163 executes a process P38 of calculating the driving power DP based on the charging power CP and the power receiving device 110 and outputting it to the motor control device 150.

[0100] Then, the power control device 160 executes a process P39 of generating information for displaying the distribution of the charging power CP and the driving power DP by the display device control unit 164, outputting it to the display device 180, and displaying it. ​ The processing flow shown ends.

[0101] As described above, in the work vehicle 100 of the present embodiment, the power control device 160 supplies the charging power CP corresponding to the smaller of the upper limit charging speed of the battery 120 and the set charging speed to the battery control device 140. According to such a configuration, the charging power CP can be freely set within the range not exceeding the maximum rechargeable power MPCP' corresponding to the state such as the SOC temperature of the battery 120, and the driving power DP can be increased to improve the driving performance of the work vehicle 100.

[0102] The embodiments of the work vehicle of the present disclosure have been described in detail above with reference to the drawings. However, the specific configuration is not limited to these embodiments, and even if there are design changes and the like within the scope not departing from the gist of the present disclosure, these are also included in the present disclosure.

[0103] Description of Reference Numerals

[0104] 1 trolley wire

[0105] 100 work vehicle

[0106] 110 current collector

[0107] 120 battery

[0108] 130 electric motor

[0109] 140 battery control device

[0110] 150 motor control device

[0111] 160 power control device

[0112] 170 input device

[0113] CP charging power

[0114] RC rated capacity.

Claims

1. An operating vehicle includes a power receiving device, a battery, and an electric motor for traveling. The power receiving device receives power supply from the trolley wire by connecting to the trolley wire. The battery is charged using the power supplied from the power receiving device. The electric motor is driven using the power supplied from the power receiving device or the battery. The operating vehicle is characterized by including: A battery control device that performs charge and discharge control of the battery and supplies charging power from the power receiving device to the battery when the power receiving device is connected to the trolley wire. A motor control device that performs drive control of the electric motor and supplies traveling power from the power receiving device to the electric motor when the power receiving device is connected to the trolley wire. And A power control device that, when the power receiving device is connected to the trolley wire, acquires the charging state of the battery, and based on this charging state, calculates the distribution of the power received by the power receiving device to the charging power and the traveling power within the range where the sum of the charging power and the traveling power does not exceed the rated capacity of the power receiving device, and controls the battery control device and the motor control device so that the distributed power is supplied from the power receiving device to the battery and the electric motor.

2. The operating vehicle according to claim 1, wherein when the charging state obtained from the battery is a fully charged state, the power control device stops the supply of the charging power through the battery control device and increases the traveling power to the upper limit of the rated capacity through the motor control device.

3. The operating vehicle according to claim 1, wherein as the charging state obtained from the battery approaches the fully charged state, the power control device decreases the charging power through the battery control device and increases the traveling power through the motor control device by an amount equal to the decrease in the charging power.

4. The operating vehicle according to claim 1, wherein it further includes an input device capable of inputting a set charging speed of the battery, and the power control device supplies the charging power through the battery control device and supplies the traveling power of the difference between the rated capacity and the charging power through the motor control device according to the set charging speed obtained from the input device.

5. The operating vehicle according to claim 4, wherein the power control device causes the battery control device to supply the charging power corresponding to the smaller value between the upper limit charging speed at which the battery can be charged and the set charging speed.

Images