System, work vehicle, and method

Abstract

To determine electric power to be output by a fuel cell mounted on a work vehicle properly.SOLUTION: A system controls a work vehicle provided with a fuel cell and a power storage device. A control device of the system controls a power generation amount of the fuel cell on the basis of an altitude of the work vehicle.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] TECHNICAL FIELD The present disclosure relates to systems, work vehicles and methods. [Background technology]

[0002] Work vehicles equipped with fuel cells that use hydrogen gas as fuel are being considered. Fuel cell-powered work vehicles typically have a battery to limit the amount of fuel cell they carry and to absorb regenerative power when going downhill. Therefore, the work vehicle's control device must perform energy management to appropriately distribute the energy between the fuel cell and the battery.

[0003] Patent Document 1 discloses a technique for controlling the output of a fuel cell based on the topography of a travel route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-073113 Summary of the Invention [Problem to be solved by the invention]

[0005] The power required for a work vehicle to travel varies depending on the road. If the road is uphill, more power is required for powering, and if the road is downhill, regenerative power is generated. For this reason, when a work vehicle operates at a work site with elevation changes, if the power storage device is charged by the output of the fuel cell at a relatively high altitude, when the work vehicle travels downhill toward a lower altitude, the regenerative power must be converted into heat and consumed, which may result in poor energy efficiency. An object of the present disclosure is to provide a system, a work vehicle, and a method that can improve the energy efficiency of a work vehicle equipped with a fuel cell that operates at a work site with elevation differences. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, a system for controlling a work vehicle equipped with a fuel cell and a power storage device includes a control device that controls the amount of power generated by the fuel cell based on the altitude of the work vehicle. [Effects of the Invention]

[0007] According to the above aspect, the system can improve the energy efficiency of a work vehicle equipped with a fuel cell that operates at a work site with elevation differences. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view schematically showing a transporter vehicle according to a first embodiment. [Figure 2] 1 is a schematic block diagram showing a configuration of a transporter vehicle according to a first embodiment. [Figure 3] FIG. 2 is a schematic block diagram showing the configuration of a control system provided in the transporter vehicle according to the first embodiment. [Figure 4] FIG. 3 is a block diagram showing a calculation algorithm performed by a control amount determination unit according to the first embodiment. [Figure 5] 4 is a flowchart showing a control method for a transporter vehicle according to the first embodiment. [Figure 6] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] First Embodiment <<Configuration of Transport System 1>> Hereinafter, the embodiments will be described in detail with reference to the drawings. 1 is a perspective view schematically showing a transporter vehicle 10 according to a first embodiment. The transporter vehicle 10 includes a dump body 11, a vehicle body 12, and a traveling device 13. The transporter vehicle 10 is, for example, a dump truck, which is an example of a work vehicle.

[0010] The dump body 11 is a member on which a load is loaded. The dump body 11 is an example of a work machine. At least a portion of the dump body 11 is disposed above the vehicle body 12. The dump body 11 performs a dumping operation and a lowering operation. By the dumping operation and the lowering operation, the dump body 11 is adjusted to a dumping position and a loaded position. The dump position refers to a position in which the dump body 11 is raised. The loaded position refers to a position in which the dump body 11 is lowered.

[0011] The dumping operation refers to an operation of moving the dump body 11 away from the vehicle body 12 and tilting it in the dumping direction. The dumping direction is toward the rear of the vehicle body 12. In the embodiment, the dumping operation includes lifting the front end of the dump body 11 and tilting the dump body 11 rearward. Due to the dumping operation, the loading surface of the dump body 11 tilts downward toward the rear.

[0012] The lowering operation refers to an operation of bringing the dump body 11 closer to the vehicle body 12. In the embodiment, the lowering operation includes lowering the front end of the dump body 11.

[0013] When performing soil removal work, the dump body 11 performs a dumping operation to change from a loaded position to a dumping position. If a load is loaded on the dump body 11, the load is discharged rearward from the rear end of the dump body 11 by the dumping operation. When a loading operation is performed, the dump body 11 is adjusted to the loaded position.

[0014] The vehicle body 12 includes a vehicle body frame. The vehicle body 12 supports the dump truck body 11. The vehicle body 12 is supported by a traveling device 13.

[0015] The traveling device 13 supports the vehicle body 12. The traveling device 13 causes the transporter vehicle 10 to travel. The traveling device 13 causes the transporter vehicle 10 to move forward or backward. At least a portion of the traveling device 13 is disposed below the vehicle body 12. The traveling device 13 has a pair of front wheels and a pair of rear wheels. The front wheels are steered wheels, and the rear wheels are driven wheels. Note that the combination of steered wheels and driven wheels is not limited to this, and the traveling device 13 may be four-wheel drive or four-wheel steering.

[0016] FIG. 2 is a schematic block diagram showing the configuration of a transporter vehicle 10 according to the first embodiment. As shown in FIG. 2, the transporter vehicle 10 includes a power system 14, a drive system 15, and a control system 16. The power system 14 is configured to generate power for driving the dump body 11 and traveling devices 13, which are working machines. The drive system 15 is configured to drive the dump body 11 and traveling devices 13, which are working machines, with the power generated by the power system 14. The control system 16 is configured to control the power system 14 and the drive system 15.

[0017] The power system 14 generates electric power as a power source and includes a hydrogen tank 141, a hydrogen supply device 142, an air intake device 143, a fuel cell 144, a first power converter 145, a battery 146, a second power converter 147, and a retarder 148.

[0018] The hydrogen supply device 142 supplies hydrogen filled in the hydrogen tank 141 to the fuel cell 144. The air intake device 143 supplies air to the fuel cell 144. The air intake device 143 is, for example, a blower or a compressor. The fuel cell 144 generates electricity by causing an electrochemical reaction between the hydrogen supplied from the hydrogen supply device 142 and oxygen contained in the outside air.

[0019] The first power converter 145 controls the output of the electric power generated by the fuel cell 144. The first power converter 145 is, for example, a DC-DC converter. The first power converter 145 converts the electric power generated by the fuel cell 144 into electric power of a predetermined voltage and outputs it in accordance with a command from the control system 16. The electric power output by the first power converter 145 is output to the drive system 15 via the bus B.

[0020] The battery 146 stores the power generated in the fuel cell 144. The battery 146 is an example of a power storage device. In other embodiments, the transport vehicle 10 may include another power storage device, such as a capacitor, instead of the battery 146. The battery 146 is provided with a monitoring device (not shown) that monitors the state of the battery 146. The monitoring device determines the maximum chargeable power and the maximum dischargeable power to prevent breakdown of the battery 146. The monitoring device determines the maximum chargeable power and the maximum dischargeable power using measurement data indicating the state of the battery 146, such as the temperature, charging rate, and voltage of the battery 146. For example, the maximum chargeable power and the maximum dischargeable power become smaller as the temperature of the battery 146 increases.

[0021] The second power converter 147 controls the input and output of power to and from the battery 146. It converts the input power and outputs it. The second power converter 147 is, for example, a DC-DC converter. The second power converter 147 converts the power input from the battery 146 into power of a predetermined voltage and outputs it in accordance with a command from the control system 16. The power output by the second power converter 147 is output to the drive system 15 via the bus B.

[0022] The retarder 148 converts regenerated electric power generated by the electric traction motor 156 (described later) into thermal energy when the regenerated electric power cannot be charged into the battery 146. The retarder 148 is an example of a consumption device for consuming surplus electric power.

[0023] The drive system 15 includes an inverter 151, an electric pump motor 152, a hydraulic pump 153, a hoist cylinder 154, an inverter 155, and an electric travel motor 156. The inverter 151 converts DC current from the bus B into three-phase AC current and supplies it to the electric pump motor 152. The electric pump motor 152 drives the hydraulic pump 153. Hydraulic oil discharged from the hydraulic pump 153 is supplied to the hoist cylinder 154 via a control valve (not shown). The supply of hydraulic oil to the hoist cylinder 154 activates the hoist cylinder 154. The hoist cylinder 154 performs a dumping operation or a lowering operation of the dump body 11. The inverter 155 converts DC current from the bus B into three-phase AC current and supplies it to the electric travel motor 156. The rotational force generated by the electric travel motor 156 is transmitted to the drive wheels of the traveling device 13.

[0024] 3 is a schematic block diagram showing the configuration of the control system 16 provided in the transporter vehicle 10 according to the first embodiment. The control system 16 includes a measuring device 161, an operating device 162, and a control device 163.

[0025] The measurement device 161 collects measurement data related to the operating state of the transport vehicle 10 and measurement data indicating the state of the battery 146. The measurement device 161 includes an altimeter for measuring the altitude of the transport vehicle 10, a temperature sensor for measuring the temperature of the battery 146, a fuel gauge for measuring the charging rate of the battery 146, a current sensor for measuring the current passing through the inverter 155, and a voltage sensor for measuring the voltage of the bus bar B. The measurement device 161 outputs the collected measurement data to the control device 163.

[0026] The operation device 162 is provided in the driver's cab and receives operations by the operator. The operation device 162 includes an accelerator pedal, a brake pedal, a steering wheel, a dump lever, etc. The operation device 162 outputs an operation signal to the control device 163.

[0027] The control device 163 drives the transport vehicle 10 in accordance with an operation signal from the operation device 162. The control device 163 includes a data acquisition unit 171, a target charging rate determination unit 172, a reference generated power setting unit 173, a vehicle body control unit 174, a required power calculation unit 175, a regenerative power calculation unit 176, a battery capacity determination unit 177, a control amount determination unit 178, a fuel cell control unit 179, and a battery control unit 180.

[0028] The data acquisition unit 171 acquires measurement data from the measurement device 161 and an operation signal from the operation device 162 .

[0029] The target charging rate determination unit 172 determines a target charging rate for the battery 146 based on the measurement data of the altitude of the haulage vehicle 10 acquired by the data acquisition unit 171. Specifically, the target charging rate determination unit 172 determines a lower target charging rate as the altitude of the haulage vehicle 10 increases. The target charging rate, for example, monotonically decreases (does not monotonically increase) with respect to the altitude of the haulage vehicle 10. The target charging rate determination unit 172 according to the first embodiment determines the target charging rate in the following procedure. First, the target charging rate determination unit 172 calculates the relative altitude by subtracting the altitude of the lowest point at the work site from the altitude of the haulage vehicle 10 indicated by the measurement data. The relative altitude takes a value of 0 or greater, and is 0 when the haulage vehicle 10 is located at the lowest point at the work site. Next, the target charging rate determination unit 172 obtains the target charging rate by substituting the calculated relative altitude into a target determination function, which is a monotonically decreasing function (e.g., a linear function) that calculates the target charging rate from the relative altitude at the work site. The target determination function is calculated in advance based on the altitude range and gradient of the work site. If there are multiple travel routes at the work site, a target determination function may be set for each travel route, or a target determination function common to multiple travel routes may be set. Note that an upper limit and a lower limit are set for the target charging rate. Note that, in other embodiments, the relative altitude may be calculated by subtracting the altitude of the haulage vehicle 10 indicated by the measurement data from the altitude of the highest point of the work site. In this case, the relative altitude takes a value of 0 or less, and becomes 0 when the haulage vehicle 10 is located at the highest point of the work site. In other embodiments, the relative altitude may be calculated by normalizing the measurement data so that the altitude of the lowest point is 0 and the altitude of the highest point is 1.

[0030] The reference generated power setting unit 173 sets the reference generated power of the fuel cell 144 based on the target charging rate determined by the target charging rate determination unit 172 and the charging rate of the battery 146 acquired by the data acquisition unit 171. Specifically, the reference generated power setting unit 173 sets the reference generated power to a lower value the greater the difference between the charging rate of the battery 146 and the target charging rate, and sets the reference generated power to a higher value the smaller the difference between the charging rate of the battery 146 and the target charging rate. The reference generated power, for example, monotonically decreases (does not monotonically increase) with respect to the difference between the charging rate of the battery 146 and the target charging rate. The reference generated power setting unit 173 sets the reference generated power of the fuel cell 144 based on, for example, proportional control of the target charging rate and the charging rate.

[0031] The vehicle body control unit 174 generates control signals for controlling the transporter vehicle 10 based on the operation signal of the operation device 162. For example, the vehicle body control unit 174 generates control signals for controlling the steering, accelerator, brake, vessel operation, etc. of the traveling device 13.

[0032] The required power calculation unit 175 calculates the required power required by the powertrain 14 based on the control signal generated by the vehicle body control unit 174 . The regenerative power calculation unit 176 calculates the regenerative power generated by the haulage vehicle 10 based on the measurement data of the voltage of the bus B and the current passing through the inverter 155 acquired by the data acquisition unit 171.

[0033] The battery capability determination unit 177 determines the maximum chargeable power and the maximum dischargeable power by using the measurement data indicating the state of the battery 146 acquired by the data acquisition unit 171. Note that the battery capability determination unit 177 may determine the maximum chargeable power and the maximum dischargeable power by inquiring about the maximum chargeable power and the maximum dischargeable power from a monitoring device for the battery 146.

[0034] The control amount determination unit 178 determines the target power generation of the fuel cell 144 and the target charge power or target discharge power of the battery 146 based on the required power, the regenerated power, the reference generated power, and the maximum chargeable power and maximum dischargeable power of the battery 146. The method of determining the control amount by the control amount determination unit 178 will be described later.

[0035] The fuel cell control unit 179 controls the amount of power generated by the fuel cell 144 in accordance with the target power generation determined by the control variable determination unit 178. The fuel cell control unit 179 controls the amount of hydrogen supplied by the hydrogen supply device 142, the amount of air taken in by the air intake device 143, and the first power converter 145 connected to the fuel cell 144 so that the fuel cell 144 generates power in accordance with the target power generation determined by the control variable determination unit 178.

[0036] The battery control unit 180 controls the second power converter 147 connected to the battery 146 so as to discharge the battery 146 in accordance with the target discharge power determined by the control amount determination unit 178, or to charge the battery 146 in accordance with the target charge power determined by the control amount determination unit 178. The battery control unit 180 is an example of a power storage device control unit. Furthermore, the battery control unit 180 corrects the target discharge power or the target charge power by feedback control based on the voltage of the bus B in order to maintain the voltage of the bus B at a constant value.

[0037] Here, a description will be given of the calculations performed by the control amount determiner 178 according to the first embodiment. Fig. 4 is a block diagram showing a calculation algorithm performed by the control amount determiner 178 according to the first embodiment. The control amount determination unit 178 includes a first subtraction block 181, a second subtraction block 182, a MAX block 183, a first MIN block 184, a third subtraction block 186, an addition block 188, a second MIN block 187, a third MIN block 189, and a fourth subtraction block 190.

[0038] The first subtraction block 181 subtracts the maximum dischargeable power from the required power. A second subtraction block 182 subtracts the subtracted regenerative power from the maximum chargeable power. 4 are represented by the difference between the required power calculated by the required power calculation unit 175 and the regenerative power calculated by the regenerative power calculation unit 176. Specifically, the required power is the value obtained by subtracting the regenerative power from the required power, and the regenerative power is the value obtained by subtracting the required power from the regenerative power. In other words, the required power is equal to the value obtained by multiplying the regenerative power by −1.

[0039] The MAX block 183 selects the larger of the reference generated power and the calculation result of the first subtraction block 181 .

[0040] The first MIN block 184 selects the smaller of the calculation result of the MAX block 183 and the calculation result of the second subtraction block 182. However, if the calculation result is a negative number, the first MIN block 184 outputs zero as the calculation result. The calculation result of the first MIN block 184 indicates the target power generation power of the fuel cell 144.

[0041] The third subtraction block 186 subtracts the calculation result of the first MIN block 184 from the subtracted required power. The second MIN block 187 determines the smaller of the calculation result of the third subtraction block 186 and the maximum dischargeable power as the target discharge power of the battery 146.

[0042] The addition block 188 adds the calculation result of the first MIN block 184 and the subtracted regenerative power. The third MIN block 189 determines the smaller of the maximum chargeable power and the calculation result of the addition block 188 as the target charge power for the battery 146 .

[0043] A fourth subtraction block 190 subtracts the calculation result of the third MIN block 189 from the calculation result of the addition block 188 and determines the result as the surplus power to be consumed by the retarder 148 .

[0044] At least one of the target discharging power and the target charging power determined by the control amount determination unit 178 is zero.

[0045] FIG. 5 is a flowchart showing a method for controlling the transporter vehicle 10 according to the first embodiment. When the haulage vehicle 10 according to the first embodiment starts traveling, the data acquisition unit 171 of the control device 163 acquires measurement data relating to the operating state of the haulage vehicle 10 and measurement data indicating the state of the battery 146 from the measurement device 161, and acquires an operation signal from the operation device 162 (step S1). The measurement data acquired from the measurement device 161 includes the altitude of the haulage vehicle 10, the temperature of the battery 146, the charging rate of the battery 146, the passing current of the inverter 155, and the voltage of the bus B.

[0046] The target charging rate determination unit 172 calculates the relative altitude from the measurement data of the altitude of the transport vehicle 10 acquired in step S1 (step S2). Next, the target charging rate determination unit 172 determines the target charging rate based on the calculated relative altitude (step S3). The target charging rate determination unit 172 determines the target charging rate by substituting the calculated relative altitude into a target determination function.

[0047] Next, the reference power generation setting unit 173 sets the reference power generation of the fuel cell 144 based on the difference between the measurement data of the charging rate of the battery 146 acquired in step S1 and the target charging rate calculated in step S3 (step S4). The vehicle body control unit 174 generates a control signal for controlling the transporter vehicle 10 based on the operation signal acquired in step S1 (step S5).

[0048] The required power calculation unit 175 calculates the required power based on the control signal generated in step S5 (step S6). Furthermore, the regenerative power calculation unit 176 calculates the regenerative power based on the measurement data of the voltage of the bus B and the passing current of the inverter 155 acquired in step S1 (step S7).

[0049] The battery capacity determination unit 177 uses the measurement data indicating the state of the battery 146 acquired in step S1 to determine the maximum chargeable power and the maximum dischargeable power of the battery 146 (step S8).

[0050] The control quantity determination unit 178 determines the target power generation of the fuel cell 144, the target charging power or target discharging power of the battery 146, and the surplus power to be consumed by the retarder 148 based on the reference power generation set in step S4, the required power calculated in step S6, the regenerative power calculated in step S7, and the maximum chargeable power and maximum dischargeable power determined in step S8 (step S9).

[0051] The fuel cell control unit 179 controls the amount of power generated by the fuel cell 144 in accordance with the target power generation determined in step S9 (step S10). If the target power generation determined in step S9 is zero, the fuel cell control unit 179 may stop power generation by the fuel cell 144. If the target power generation determined in step S9 is zero, the fuel cell control unit 179 may continue power generation by the fuel cell 144 at a predetermined low current to prevent deterioration of the fuel cell 144. The battery control unit 180 also controls the second power converter 147 in accordance with the target discharge power or target charge power determined in step S9 (step S11).

[0052] Actions and Effects As described above, the control device 163 according to the first embodiment functions as follows. The control device 163 identifies the altitude of the haulage vehicle 10. The control device 163 controls the amount of power generated by the fuel cell 144 based on the altitude, the charge rate of the battery 146, and the power required to operate the haulage vehicle 10. This allows the control device 163 to achieve energy management according to the altitude of the haulage vehicle 10. The target determination function according to the first embodiment is calculated in advance based on the altitude range, gradient, etc. of the work site.

[0053] In particular, the control device 163 according to the first embodiment determines a lower target charging rate as the altitude of the haulage vehicle 10 increases. In other words, when the haulage vehicle 10 is located at a high altitude where regenerative power is likely to be generated, the control device 163 sets the charging rate of the battery 146 low, thereby allowing the battery 146 to absorb the regenerative power that is subsequently generated. Note that the control device 163 according to other embodiments does not need to calculate the target charging rate. For example, the control device 163 according to other embodiments may determine the power to be generated by the fuel cell 144 directly from the altitude, the charging rate of the battery 146, and the required power.

[0054] Second Embodiment The control device 163 of the haulage vehicle 10 according to the first embodiment determines the altitude of the haulage vehicle 10 based on measurement data from an altimeter included in the measuring device 161. In contrast, the control device 163 according to the second embodiment determines the altitude of the haulage vehicle 10 based on GNSS position measurement data and map data indicating the relationship between position and altitude. The map data is pre-stored in the control device 163. The data acquisition unit 171 acquires the GNSS measurement data from the measuring device 161. The target charging rate determination unit 172 reads out the altitude corresponding to the position indicated by the acquired GNSS measurement data from the map data. The target charging rate determination unit 172 then calculates the relative altitude from the read altitude to determine the target charging rate.

[0055] As a result, the control device 163 according to the second embodiment can realize energy management according to the altitude of the transporter vehicle 10, similar to the first embodiment.

[0056] <Computer Configuration> FIG. 6 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. The computer 90 includes a processor 91 , a main memory 92 , a storage 93 , and an interface 94 . The above-mentioned control device 163 is implemented in a computer 90. The operations of the above-mentioned processing units are stored in the form of a program in a storage 93. The processor 91 reads the program from the storage 93, loads it into the main memory 92, and executes the above-mentioned processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to the above-mentioned storage units in accordance with the program. Examples of the processor 91 include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor.

[0057] The program may be for realizing some of the functions to be performed by the computer 90. For example, the program may be combined with other programs already stored in storage or implemented in other devices to perform the functions. In another embodiment, the computer 90 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor 91 may be realized by the integrated circuit. Such an integrated circuit is also an example of a processor. In another embodiment, the computer 90 may be virtualized on one or more computers.

[0058] Examples of storage 93 include a magnetic disk, a magneto-optical disk, an optical disk, and a semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of computer 90, or an external medium connected to computer 90 via interface 94 or a communication line. Furthermore, when this program is distributed to computer 90 via a communication line, computer 90 that receives the program may load the program into main memory 92 and execute the above-described processing. In at least one embodiment, storage 93 is a non-transitory tangible storage medium.

[0059] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 93.

[0060] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel. The control device 163 according to the above-described embodiment may be configured by a single computer 90. Alternatively, the configuration of the control device 163 may be divided into multiple computers 90, and the multiple computers 90 may function as the control device 163 by working together. In this case, some of the computers 90 constituting the control device 163 may be mounted inside the haulage vehicle 10, and other computers 90 may be provided outside the haulage vehicle 10. For example, when the haulage vehicle 10 according to the other embodiment is remotely operated or automatically driven, components other than the fuel cell control unit 179 and the battery control unit 180 may be provided in a remote computer 90 (such as a remote control device or a control server). In particular, when the haulage vehicle 10 is automatically driven, the control server notifies the control device 163 of the haulage vehicle 10 of the driving route. When a target determination function is provided for each driving route, the control device 163 or the computer 90 can determine a target charging rate using the target determination function corresponding to the driving route determined by the control server.

[0061] Furthermore, although the transport vehicle 10 according to the embodiment described above is equipped with the retarder 148 that consumes surplus power, this is not limiting. For example, a transport vehicle 10 according to another embodiment may not be equipped with the retarder 148, and may consume surplus power by the electric pump motor 152 or an auxiliary device mounted on the transport vehicle 10.

[0062] In the above-described embodiment, the transport vehicle 10 such as a dump truck has been described as a work vehicle equipped with the fuel cell 144 and the battery 146, but the present invention is not limited to this. For example, the work vehicle according to other embodiments may be other work vehicles such as a hydraulic excavator, bulldozer, wheel loader, crane, forklift, motor grader, or the like. [Explanation of symbols]

[0063] 10...Transport vehicle 11...Dump body 12...Vehicle body 13...Travel device 14...Power system 141...Hydrogen tank 142...Hydrogen supply device 144...Fuel cell 145...First power converter 146...Battery 147...Second power converter 148...Retarder 15...Drive system 151...Inverter 152...Electric pump motor 153...Hydraulic pump 154...Hoist cylinder 155...Inverter 156...Electric travel motor 16...Control system 161...Measuring device 162...Operation device 163...Control device 171...Data acquisition unit 172...Target charging rate determination unit 173...Reference generated power setting unit 174...Vehicle body control unit 175...Required power calculation unit 176...Regenerative power calculation unit 177...Battery capacity determination unit 178...Control amount determination unit 179...Fuel cell control unit 180...Battery control unit 181...First subtraction block 182...Second subtraction block 183...MAX block 184...First MIN block 185...Division block 186...Third subtraction block 187...Second MIN block 188...Addition block 189...Third MIN block 190...Fourth subtraction block 90...Computer 91...Processor 92...Main memory 93...Storage 94...Interface B...Bus

Claims

1. A system for controlling a work vehicle equipped with a fuel cell and a power storage device, A control device is provided, The control device controlling the amount of power generated by the fuel cell based on the altitude of the work vehicle; system.

2. The control device controlling the amount of power generated by the fuel cell based on the charge rate of the power storage device and the required power for operating the work vehicle; The system of claim 1 .

3. The control device determining a target charging rate based on the altitude; controlling the amount of power generated by the fuel cell based on the target charging rate, the charging rate of the power storage device, and the required power; The system of claim 2 .

4. The control device The higher the altitude, the lower the target charging rate is determined to be. The system of claim 3.

5. The control device setting a reference power generation output of the fuel cell based on proportional control of the target charging rate and the charging rate; controlling the amount of power generated by the fuel cell based on the reference power generation amount and the required power; The system of claim 3.

6. The control device identifies the altitude based on a measurement value of the altitude of the work vehicle. The system of claim 1 .

7. The control device identifies the altitude based on the position of the work vehicle and map data that associates the position and altitude of a work site where the work vehicle is operating. The system of claim 1 .

8. A fuel cell; a power storage device; A system according to any one of claims 1 to 7. A work vehicle equipped with:

9. A method for controlling a work vehicle equipped with a fuel cell and a power storage device, comprising: controlling the amount of power generated by the fuel cell based on the altitude of the work vehicle; A method for providing the above.

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