Construction machine

Abstract

To provide a construction machine capable of properly positioning a position for injecting fuel into a supply port to which the fuel is supplied.SOLUTION: A construction machine includes a main body device that includes a supply port through which fuel for causing a traveling device to travel is injected and that is caused to travel by the traveling device, a work device that is separated from the supply port, is connected to the main body device, and is movable to perform work, a detection device that is provided in the main body device and detects a position at which the fuel is injected into the supply port, and a control device that controls the work device such that, when the detection device detects the position at which the fuel is injected, the detection is not blocked by the work device.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a construction machine, and more particularly to a construction machine that facilitates fuel supply. [Background technology]

[0002] BACKGROUND ART Patent Document 1 discloses a conventional method of detecting the location of construction machinery working in mountainous areas and the remaining amount of fuel, and supplying fuel such as diesel oil by a tanker truck. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-112799 Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not disclose how to position the construction machine and the tank truck, and there have been cases where the construction machine and the tank truck could not be properly positioned when supplying fuel to the construction machine.

[0005] Therefore, an object of the first invention is to provide a construction machine that can appropriately position the position at which fuel is injected into the supply port. [Means for solving the problem]

[0006] The construction machine of the first invention comprises a main body device having a supply port into which fuel is injected to propel the traveling device, the main body device being moved by the traveling device, a work device that is connected to the main body device at a distance from the supply port and is movable to perform work, a detection device provided on the main body device that detects the position at which the fuel is injected into the supply port, and a control device that controls the work device so that the detection by the detection device at the position at which the fuel is injected is not obstructed by the work device. [Effects of the Invention]

[0007] According to the first aspect of the present invention, the control device controls the working device based on the detection result of the detection device, so that the position at which fuel is injected into the supply port can be set to an appropriate position. [Brief explanation of the drawings]

[0008] [Figure 1] 1A, 1B, and 1C are schematic diagrams of a conveying device according to the present embodiment, in which FIG. 1A is a top view, FIG. 1B is a side view, and FIG. 1C is a rear view. [Figure 2] 1 is a block diagram of the main parts of a transport device and a hydraulic excavator according to an embodiment of the present invention. [Figure 3] 1 is a schematic diagram of a hydraulic excavator illustrating an embodiment of the present invention. [Figure 4] 4A and 4B are drawings comparing the sizes of a conveying device and a hydraulic excavator, with FIG. 4A being a rear view of the hydraulic excavator 100, and FIGS. 4B and 4C being rear views of the conveying device 1. [Figure 5] 5A and 5B are diagrams showing a transport device approaching from behind a hydraulic excavator, where FIG. 5A shows the transport device being unable to enter inside the pair of tracks of the hydraulic excavator, and FIG. 5B shows the transport device entering inside the pair of tracks of the hydraulic excavator. [Figure 6] 10 is a diagram showing a state in which the base portion of the transport device cannot climb over the crawler of the hydraulic excavator. FIG. [Figure 7] FIG. 10 is a diagram showing a state in which the base portion of the transport device rides over the crawler track of the hydraulic excavator. [Figure 8] 10 is a flowchart executed by the heavy equipment control device. [Figure 9] 10 is a flowchart executed by the control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Construction machines according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below. In this embodiment, the description will continue using as an example a transport device 1 that supplies hydrogen to a hydraulic excavator 100 that performs excavation at a civil engineering site. Note that in the following description, for convenience, the vertical direction is defined as the Z direction, and two orthogonal axial directions in a horizontal plane are defined as the X direction and the Y direction.

[0010] (Embodiment) Fig. 1 is a schematic diagram of a transport device 1 representing this embodiment, Fig. 1(a) is a top view, Fig. 1(b) is a side view, Fig. 1(c) is a rear view, and Fig. 2 is a block diagram of the main parts of the transport device 1 of this embodiment and a hydraulic excavator 100. First, the configuration of the transport device 1 will be explained using Figs. 1 and 2. The transport device 1 of this embodiment is an automatic or remotely operated type without a driver's seat. The transport device 1 includes a traveling device 10, a base unit 20, a hydrogen filling device 30, an imaging device 55, a first GNSS (Global Navigation Satellite System) 65, a first communication device 66, a first memory 67, and a control device 70.

[0011] The traveling device 10 moves the transport device 1 and includes driving wheels 11, driven wheels 12, crawler tracks 13, and a support body 14. The traveling device 10 also includes a traveling motor 15, a central frame 16, a pair of side frames 17, a pair of link mechanisms 18, and a coupler 19. In this embodiment, the traveling device 10 is detachable from the base unit 20 by the coupler 19 (described in detail later).

[0012] In this embodiment, a triangle is formed by one drive wheel 11 and two driven wheels 12. Note that a plurality of driven wheels smaller than the two driven wheels 12 are provided between the two driven wheels 12. The crawler belt 13 is wound around one driving wheel 11 and two driven wheels 12. The support body 14 rotatably supports the driving wheel 11 and the driven wheels 12. Since there are four triangular crawler-type running bodies in this embodiment, the conveyance device 1 can travel stably even on uneven ground. Note that an endless track with crawler belts wound around the front and rear wheels may also be used as the running device 10.

[0013] In this embodiment, the travel motor 15 (see FIG. 2) is an in-wheel motor that is provided on the rear side of the drive wheel 11 and transmits driving force to the drive wheel 11. The rotation shaft of the in-wheel motor is connected to the rotation shaft of the drive wheel 11, and the drive wheel 11 is rotated by the rotation driving force of the in-wheel motor, which in turn transmits driving force to the crawler belt 13. Note that a motor other than the in-wheel motor may be used as the travel motor 15.

[0014] The central frame 16 is a frame located between two drive wheels 11 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18. A coupler 19 for connecting to a base portion 20 is provided on the upper surface of the central frame 16.

[0015] The pair of side frames 17 are frames connected to the respective drive wheels 11 via bearings (not shown).

[0016] The pair of link mechanisms 18 are Z-shaped or inverted Z-shaped, and include a pair of connecting members 18a, one end of which is connected to the pair of side frames 17 and the other end of which is connected to the central frame 16, and an actuator 18b, one end of which is connected to the connecting member 18a on the central frame 16 side and the other end of which is connected to the connecting member 18a on the side frame 17 side. Two of the pair of connecting members 18a are provided, spaced apart in the Z direction.

[0017] The actuator 18b is provided at an angle and extends and contracts to drive the pair of side frames 17 in the Z and Y directions. The actuator 18b moves the drive wheels 11, the driven wheels 12, and the crawler tracks 13 in the Z and Y directions via the pair of side frames 17. This allows the travel device 10 to change its size in the Z and Y directions. Note that, although a hydraulic jack or an electric jack can be used as the actuator 18b, it is not limited to these.

[0018] In this embodiment, the coupler 19 has a V-shaped notch, and four couplers are provided on the upper surface of the base unit 20, but the number may be one, and the number can be set arbitrarily. The coupler 19 connects the traveling device 10 and the base unit 20 by engaging a pin (not shown) extending in the -Z direction on the lower surface of the base unit 20 with the V-shaped notch. The coupler 19 also disconnects the traveling device 10 and the base unit 20 by disengaging from the pin. The connection structure between the coupler 19 and the pin is disclosed, for example, in Japanese Patent Application Laid-Open No. 2000-6856. The coupler 19 and the pin may be attached and detached by an electromagnet.

[0019] In this embodiment, the base unit 20 is a rectangular member, with the hydrogen filling device 30 placed on its upper surface and foldable legs 21 provided on its lower surface. The legs 21 allow the base unit 20 to stand on its own before and after attachment and detachment to the traveling device 10. In this embodiment, the base unit 20 is provided with two legs 21, but the number can be set as desired. The shape of the base unit 20 is not limited to a rectangular shape and can be any shape, such as an elliptical shape. The position of the base unit 20 in the Z direction can be changed by driving the actuator 18b. As is clear from FIG. 1 , the hydrogen filling device 30 is provided on the −X side, which is the traveling direction of the transport device 1. To allow the hydrogen filling device 30 to approach the hydraulic excavator 100, one end side (−X side) of the base unit 20 (−X side) is shifted toward the center frame 16 (−X side) compared to the other end side (+X side) of the base unit 20.

[0020] In this embodiment, the hydrogen filling device 30 supplies hydrogen to a hydraulic excavator 100, which is a construction machine. The hydrogen filling device 30 has a pressure accumulator vessel 31, a temperature adjustment unit 32, and a hydrogen dispenser 40. As shown in FIG. 1, the pressure accumulator vessel 31 and the temperature adjustment unit 32 are connected by a hydrogen supply pipe 33, and the temperature adjustment unit 32 and the hydrogen dispenser 40 are connected by a hydrogen supply pipe 34. As shown in FIG. 2, a first valve 35 is provided on the hydrogen supply pipe 33, and a second valve 36 is provided on the hydrogen supply pipe 34. In order to suppress transmission of vibrations to the hydrogen filling device 30 when the transport device 1 moves around the civil engineering site, it is preferable to provide a vibration absorbing member, such as a vibration isolating rubber, between the base 20 and the hydrogen filling device 30.

[0021] The pressure accumulator vessel 31 is a vessel that stores hydrogen pressurized by a compressor (not shown) (for example, 45 MPa to 90 MPa). The temperature adjusting unit 32 cools the compressed hydrogen (gas) to about −40° C. to −33° C. using, for example, a refrigerant before the compressed hydrogen (gas) is supplied to a hydrogen dispenser 40 (described in detail later).

[0022] The hydrogen supply pipe 33 and the hydrogen supply pipe 34 are pipes for supplying pressurized hydrogen from the pressure accumulator vessel 31 to the hydrogen dispenser 40. The hydrogen supply pipe 33 is a pipe that connects the pressure accumulator vessel 31 and the temperature adjustment unit 32. The hydrogen supply pipe 34 is a pipe that connects the temperature adjustment unit 32 and the hydrogen dispenser 40.

[0023] The first valve 35 and the second valve 36 are valves that are opened and closed by the control device 70, and that allow or block the supply of hydrogen to the hydrogen dispenser 40. The first valve 35 and the second valve 36 may also be opened and closed manually.

[0024] The hydrogen dispenser 40 supplies hydrogen to the hydraulic excavator 100. The hydrogen dispenser 40 includes a flow meter 41, a temperature sensor 42, a pressure sensor 43, a three-way switching valve 44, a first nozzle 45, a second nozzle 46, a third nozzle 47, a first drive unit 48, a second drive unit 49, a third drive unit 50, and the like.

[0025] The flow meter 41 measures the flow rate of hydrogen flowing in the hydrogen supply line between the second valve 36 and the hydrogen dispenser 40, and outputs the measurement result to the control device 70. The temperature sensor 42 detects the temperature of the hydrogen flowing in the hydrogen supply line, and outputs the measurement result to the control device 70. The pressure sensor 43 measures the pressure in the hydrogen supply line near the first nozzle 45, the second nozzle 46, and the third nozzle 47, and outputs the measurement result to the control device 70.

[0026] The three-way switching valve 44 is a switching valve for supplying hydrogen in the hydrogen supply pipeline to one of a first nozzle 45, a second nozzle 46, and a third nozzle 47. The first nozzle 45, the second nozzle 46, and the third nozzle 47 are filling nozzles that supply hydrogen to the hydraulic excavator 100.

[0027] The first nozzle 45 is a filling nozzle used when supplying hydrogen from the back (rear) of the hydraulic excavator 100. The second nozzle 46 is a filling nozzle used when supplying hydrogen from the right side of the hydraulic excavator 100. The third nozzle 47 is a filling nozzle used when supplying hydrogen from the left side of the hydraulic excavator 100.

[0028] The first drive unit 48 is an actuator for driving the first nozzle 45 along the -X direction in Figure 1 when the transport device 1 is positioned behind the hydraulic excavator 100, thereby inserting the first nozzle 45 into the hydrogen supply port 114 described below. The second drive unit 49 is an actuator for driving the second nozzle 46 along the -Y direction in Figure 1 when the transport device 1 is positioned on the right side of the hydraulic excavator 100, thereby inserting the second nozzle 46 into the hydrogen supply port 114 described below. The third drive unit 50 is an actuator for driving the third nozzle 47 along the +Y direction in Figure 1 when the transport device 1 is positioned on the left side of the hydraulic excavator 100, thereby inserting the third nozzle 47 into the hydrogen supply port 114 described below.

[0029] The first drive unit 48, the second drive unit 49, and the third drive unit 50 can each be configured with a linear motor, a hydraulic motor, a pneumatic motor, or the like. Note that if the first nozzle 45, the second nozzle 46, and the third nozzle 47 are inserted into the hydrogen supply port 114 described below by an operator or a robot (not shown), the first drive unit 48, the second drive unit 49, and the third drive unit 50 can be omitted. The number of nozzles may be two, four, or more.

[0030] The pressure accumulator vessel 31 and the temperature adjustment unit 32 may be omitted from the hydrogen filling device 30. In this case, it is preferable to provide the hydrogen dispenser 40 with a cooling device for cooling the hydrogen.

[0031] The imaging device 55 is a digital camera that has a lens, an imaging element, an image processing engine, etc., and captures moving images and still images. In this embodiment, the imaging device 55 is provided on the front surface of the hydrogen dispenser 40, and captures images of the traveling direction of the transport device 1, and of the hydrogen supply port 114 (described later) or a mark provided in the vicinity thereof. Note that instead of or in combination with the imaging device 55, a LiDAR (Light Detection and Ranging) that irradiates electromagnetic waves may be used to detect the traveling direction of the transport device 1, or the mark provided in the hydrogen supply port 114 or its vicinity may be detected by detecting scattered light of a laser irradiated on the mark.

[0032] The first GNSS 65 uses artificial satellites to measure the position of the transport device 1. The first communication device 66 has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and is a wireless communication unit that accesses a second communication device 148 (described below) and a wide area network such as the Internet. In this embodiment, the first communication device 66 transmits data related to the position and dimensions of the transport device 1 detected by the first GNSS 65 to the second communication device 148 of the hydraulic excavator 100.

[0033] The first memory 67 is a non-volatile memory (for example, a flash memory) that stores various data and programs for driving each element of the conveying device 1 and various data and programs for automatically operating the conveying device 1. The first memory 67 also stores data on the dimensions (length, width, height) of the conveying device 1. The dimensions of the conveying device 1 stored in the first memory 67 include the maximum and minimum dimensions of the traveling device 10 in the Z and Y directions as a result of driving the actuator 18b.

[0034] The control device 70 is equipped with a CPU, and controls the entire transport device 1, and also cooperates with the hydraulic excavator 100, which will be described later. In this embodiment, the control device 70 cooperates with a heavy equipment control device 150 of the hydraulic excavator 100 to control a series of operations for supplying hydrogen to the hydraulic excavator 100.

[0035] (hydraulic excavator) Fig. 3 is a schematic diagram of a hydraulic excavator representing this embodiment, and the configuration of the hydraulic excavator 100 will be described below with reference to Figs. 2 and 3. As is clear from Fig. 3, the hydraulic excavator 100 of this embodiment is an autonomous or remotely operated construction machine that does not have a driver's seat. The hydraulic excavator 100 is autonomously driven when traveling at civil engineering sites, and may be transported on a trailer on public roads.

[0036] The hydraulic excavator 100 of this embodiment has a drive system 110, a traveling device 120, a slewing device 130, a main body device 140, a detection device 145, and a working device 160. The hydraulic excavator 100 may also have a UAV (Unmanned Aerial Vehicle, hereinafter referred to as a drone) that can take off and land on a takeoff and landing section provided on the top surface of the main body device 140.

[0037] The drive system 110 is a drive device that drives each element of the hydraulic excavator 100, and includes a fuel cell 111 housed in the main body device 140, a fuel tank 112, a storage battery 113, and a hydrogen supply port 114. The fuel cell 111 is a power generation device that generates electricity through an electrochemical reaction between hydrogen and oxygen.

[0038] In this embodiment, the fuel tank 112 stores gaseous hydrogen and is provided with a fuel level gauge (not shown) inside. The fuel tank 112 stores hydrogen compressed to several tens of MPa and supplies the hydrogen to the fuel cell 111 via a hydrogen supply line (not shown).

[0039] The storage battery 113 is a secondary battery that stores the power generated by the fuel cell 111. The storage battery 113 can also be used as an auxiliary power source for driving the fuel cell 111 with the stored power, and also supplies power to the various motors that constitute the hydraulic excavator 100, the traveling device 120, the swing device 130, the various cylinders, and the like.

[0040] The traveling device 120 is of an endless track type and includes a pair of crawler belts 123 wound around idler wheels 121 and drive wheels 122. The drive wheels are driven by a traveling motor 124, which drives the pair of crawler belts, causing the hydraulic excavator 100 to travel. The traveling motor 124 is driven by power supplied from the storage battery 113, and in this embodiment, an in-wheel motor is used. Note that a hydraulic motor may also be used as the traveling motor 124. The traveling device 120 may also be a triangular crawler-type traveling body like the traveling device 10.

[0041] The turning device 130 is disposed between the traveling device 120 and the main device 140. The turning device 130 includes a bearing (not shown) and a turning motor 131, and turns the main device 140 and the working device 160 around the Z axis.

[0042] The main body device 140 of this embodiment has a cylindrical shape with a flat top surface, and a drone can take off and land on this top surface. Note that, although the main body device 140 has a cylindrical shape in this embodiment, it is not limited to this and can have any shape.

[0043] The main body device 140 includes therein a fuel cell 111, a fuel tank 112, a storage battery 113, a hydrogen supply port 114 for supplying hydrogen from the hydrogen dispenser 40 to the fuel tank 112, and the like.

[0044] The hydrogen supply port 114 is provided with an opening / closing section (not shown), and a receptacle that can be attached or detached to a connection coupler provided on each of the first nozzle 45, the second nozzle 46, and the third nozzle 47. The receptacle is provided with a socket that locks and unlocks the connection coupler. A mark large enough to be captured by the imaging device 55 is provided on or near the hydrogen supply port 114. A QR code (registered trademark), for example, may be used as this mark.

[0045] By providing the hydrogen supply port 114 at an end portion within the main body device 140, the hydrogen supply port 114 and the hydrogen dispenser 40 can be brought close to each other. It is preferable that the hydrogen supply port 114 is provided at a distance from the working device 160. Furthermore, the hydrogen supply port 114 can be positioned at any position around the Z axis by rotating the rotating device 130, making it easy to access from any of the first nozzle 45, the second nozzle 46, and the third nozzle 47.

[0046] As shown in the block diagram of Figure 2, the main device 140 is provided with a detection device 145, a second GNSS 147 (Global Navigation Satellite System) which is a global positioning system, a second communication device 148, a second memory 149, and a heavy equipment control device 150 which controls the entire hydraulic excavator 100.

[0047] The swing unit 141 is supported such that a portion connected to one end of the main device 140 and a portion connected to the boom 153 are rotatable around the Z axis indicating the vertical direction. The swing cylinder 142 is a cylinder having one end connected to the main device 140 and the other end connected to the swing unit 141, and the cylinder extends and retracts using power supplied from the storage battery 113. The extension and contraction of the swing cylinder 142 causes the working device 160 to rotate around the Z axis in FIG.

[0048] The detection device 145 detects the situation around the main device 140, and in this embodiment, a LiDAR is used. The LiDAR is a sensor that scans an electromagnetic wave, such as an ultraviolet, visible, or near-infrared pulse laser, and detects information such as the distance to an object, the shape, material, and color of the object based on the emitted light and scattered light. In this embodiment, the detection device 145 is provided on the upper surface of the main device 140 and can rotate 360 ​​degrees using the rotation device 130. Therefore, the detection device 145 can detect the situation 360 degrees around the main device 140 without providing a mechanical rotation device to the LiDAR, and can accurately detect the position where the transport device 1 stops when supplying hydrogen to the fuel tank 112. Accurately detecting the position where the transport device 1 stops is effective when the civil engineering site is narrow or has a slope. Furthermore, rotating the LiDAR alone would result in a misalignment of the positional relationship between the detection device 145 and the work device 160. However, when the LiDAR is rotated by the rotation device 130, the positional relationship between the detection device 145 and the working device 160 is maintained, and the detection of the detection device 145 is not affected by changes in the attitude of the working device 160.

[0049] The second GNSS 147 uses an artificial satellite to measure the position of the hydraulic excavator 100. The second GNSS 147 may be provided on the top surface of the main body device 140. The second communication device 148 has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and is a wireless communication unit that accesses the first communication device 66 or a wide area network such as the Internet. In this embodiment, the second communication device 148 transmits to the first communication device 66 of the transport device 1 information regarding the dimensions of the hydraulic excavator 100, the position of the hydraulic excavator 100 detected by the second GNSS 147, information regarding the orientation of the hydrogen supply port 114, connection information indicating that any of the first nozzle 45, the second nozzle 46, and the third nozzle 47 has been connected to the hydrogen supply port 114 or that this connection has been released, detection results of a fuel gauge (not shown), and the like.

[0050] The second memory 149 is a non-volatile memory (e.g., a flash memory) and stores various data and programs for driving the hydraulic excavator 100, various data and programs for automatically operating the hydraulic excavator 100, information regarding the dimensions of the hydraulic excavator 100, and the like.

[0051] The heavy equipment control device 150 is a control device that includes a CPU and controls the entire hydraulic excavator 100, and for example, controls the excavation operation of the work device 160 and the operation of supplying hydrogen to the fuel tank 112.

[0052] The work device 160 has a boom 153 , a boom cylinder 154 , an arm 155 , an arm cylinder 156 , a bucket 157 , and a bucket cylinder 158 .

[0053] The boom 153 is a rotating L-shaped part connected to the main body device 140 via a swing part 141 and rotated by a boom cylinder 154 . The arm 155 is connected to the tip of the boom 153 and is rotated by an arm cylinder 156 . The bucket 157 is connected to the tip of the arm 155 and is rotated by a bucket cylinder 158. Instead of the bucket 157, a breaker or the like can be attached to the tip of the arm 155.

[0054] The boom cylinder 154 is a cylinder that is extended and retracted by power supplied from the storage battery 113 to drive the boom 153. The arm cylinder 156 is a cylinder that is extended and retracted by power supplied from the storage battery 113 to drive the arm 155 . The bucket cylinder 158 is a cylinder that is extended and retracted by power supplied from the storage battery 113 to drive the bucket 157. In this embodiment, the swing cylinder 142, the boom cylinder 154, the arm cylinder 156, and the bucket cylinder 158 are driven by electric power from the storage battery 113, but these cylinders may also be driven by hydraulic pressure.

[0055] Figure 4 is a drawing comparing the sizes of the conveying device 1 and the hydraulic excavator 100, where Figure 4(a) is a drawing of the hydraulic excavator 100 seen from the back, Figures 4(b) and 4(c) are drawings of the conveying device 1 seen from the back, Figure 4(b) is a drawing showing the actuator 18b in a contracted state, and Figure 4(c) is a drawing showing the actuator 18b in an extended state.

[0056] As shown in FIG. 3 , the traveling gear 120 of the hydraulic excavator 100 protrudes in the X direction from the main body 140 that houses the hydrogen supply port 114. Also, as shown in FIG. 4( a) , the traveling gear 120 of the hydraulic excavator 100 protrudes in the Y direction from the main body 140. Note that hydraulic excavators 100 are commercially available in various sizes depending on the capacity of the bucket 157. For this reason, in this embodiment, the size of the traveling gear 10 can be changed or the size of the traveling gear 10 can be selected from a plurality of sizes depending on the size of the hydraulic excavator 100, thereby enabling the transport device 1 to approach the hydraulic excavator 100.

[0057] 5 is a diagram showing the transport device 1 approaching from the rear (+X side) of the hydraulic excavator 100. When the actuator 18b is retracted (see FIG. 4(b)), the distance W2 in the Y direction between the outer sides of the crawler belts 13 is greater than the distance W1 in the Y direction between the inner sides of the pair of crawler belts 123. Therefore, as shown in FIG. 5(a), the transport device 1 cannot allow the pair of crawler belts 13 located on the traveling direction side (−X side) of the transport device 1 to enter the inner side of the pair of crawler belts 123. Therefore, the hydrogen supply port 114 and the first nozzle 45 cannot be closer than the dimension of the pair of crawler belts 13 in the X direction.

[0058] In contrast, when the actuator 18b is in an extended state (see FIG. 4(c)), the distance W3 in the Y direction between the outer sides of the crawler belts 13 is smaller than the distance W1 in the Y direction between the inner sides of the pair of crawler belts 123. Therefore, as shown in FIG. 5(b), the transport device 1 can cause the pair of crawler belts 13 located on the traveling direction side (-X side) of the transport device 1 to enter the inner side of the pair of crawler belts 123, so that the hydrogen supply port 114 and the first nozzle 45 can be closer than the dimension in the X direction of the pair of crawler belts 13.

[0059] When the actuator 18b is in a contracted state, the height h2 of the crawler belt 13 in the Z direction is lower than the height h1 of the pair of crawler belts 123 in the Z direction. For this reason, when the transport device 1 is brought close to the right side (+Y direction side) of the hydraulic excavator 100, the crawler belt 123 interferes with the base part 20. For this reason, the base part 20 cannot climb over the crawler belt 123 and cannot approach the hydrogen supply port 114 (see FIG. 6).

[0060] In contrast, when the actuator 18b is extended, the height h3 of the crawler belt 13 in the Z direction is higher than the height h1 of the pair of crawler belts 123 in the Z direction. Therefore, even when the transportation device 1 is brought close to the right side (+Y direction side) of the hydraulic excavator 100, there is no interference between the crawler belt 123 and the base unit 20. Therefore, the base unit 20 can approach the main body device 140, and therefore the second nozzle 46 can approach the hydrogen supply port 114 (see FIG. 7).

[0061] The cooperative operation regarding hydrogen supply between the transport device 1 of this embodiment configured as above and the hydraulic excavator 100 will be described below.

[0062] (flowchart) Fig. 8 is a flowchart executed by the heavy equipment control device 150 of this embodiment, and is executed, for example, when the remaining amount of fuel in the fuel tank 112 of the hydraulic excavator 100 located at an excavation site falls below a predetermined amount. The control of the heavy equipment control device 150 will be explained below using Fig. 8. Note that this flowchart does not exclude the possibility that a worker may perform part of it.

[0063] The heavy equipment control device 150 uses the detection device 145 to detect a position where hydrogen can be supplied by the transport device 1 (step S1). For areas that cannot be reached by the irradiation angle of the LiDAR laser, the heavy equipment control device 150 detects the situation in 360 degrees around the hydraulic excavator 100 by rotating the rotation device 130. The heavy equipment control device 150 then determines the position and direction of hydrogen supply by the transport device 1 from the situation in 360 degrees around the hydraulic excavator 100. The heavy equipment control device 150 controls the attitude of the working device 160 so that the laser emitted from the LiDAR is not blocked by the working device 160.

[0064] In order to determine the stopping position of the transportation device 1 when supplying hydrogen, the heavy equipment control device 150 may acquire the dimensions of the transportation device 1 using the second communication device 148 and determine the stopping position of the transportation device 1 based on the acquired dimensions of the transportation device 1. Furthermore, the heavy equipment control device 150 may determine the stopping position of the transportation device 1 with the travel motor 124 stopped, or may determine the stopping position of the transportation device 1 while moving the hydraulic excavator 100 by the travel motor 124. Here, the heavy equipment control device 150 determines that the transportation device 1 will be stopped on the right side (+Y direction side) of the hydraulic excavator 100 and that hydrogen will be supplied by the second nozzle 46.

[0065] The heavy equipment control device 150 transmits the hydrogen supply position to the transportation device 1 using the second communication device 148 (step S2). Specifically, the heavy equipment control device 150 transmits the position of the hydraulic excavator 100 measured by the second GNSS 147 and information on the nozzle being used to the transportation device 1. Upon receiving the hydrogen supply position, the control device 70 of the transportation device 1 starts the flowchart of FIG. 9, which will be described later.

[0066] The heavy equipment control device 150 uses the slewing device 130 to position the hydrogen supply port 114 (step S3). As described above, in this embodiment, hydrogen is supplied to the right side (+Y direction side) of the hydraulic excavator 100, so the heavy equipment control device 150 uses the slewing device 130 to swivel the main body device 140 and positions the hydrogen supply port 114 on the right side (+Y direction side) of the hydraulic excavator 100. The order of steps S2 and S3 may be reversed.

[0067] The heavy equipment control device 150 determines whether the transportation device 1 has been positioned on the right side (+Y direction side) of the hydraulic excavator 100 (step S4). Although details will be described later, the transportation device 1 approaches the hydraulic excavator 100, captures an image of the hydrogen supply port 114 or a mark provided in its vicinity with the imaging device 55, and positions the transportation device 1 with respect to the fuel tank 112 of the hydraulic excavator 100. The heavy equipment control device 150 repeats step S4 until it receives a signal indicating completion of positioning from the transportation device 1. Here, it is assumed that the heavy equipment control device 150 has completed positioning of the transportation device 1 and proceeds to step S5.

[0068] The heavy machinery control device 150 changes the open / close part (not shown) of the hydrogen supply port 114 from the closed state to the open state in order to inject hydrogen from the hydrogen dispenser 40 into the fuel tank 112 (step S5).

[0069] The heavy equipment control device 150 determines whether the hydrogen dispenser 40 has finished injecting hydrogen into the fuel tank 112. Although details will be described later, the heavy equipment control device 150 repeats step S6 until it receives a signal indicating the end of hydrogen injection from the transport device 1. Here, the heavy equipment control device 150 proceeds to step S7 assuming that hydrogen injection has been completed.

[0070] The heavy machinery control device 150 changes the open / close part (not shown) of the hydrogen supply port 114 from the open state to the closed state, and ends the flowchart of FIG. 8 (step S7).

[0071] It should be noted that if an attitude detection device is provided in the main unit 140, and when detecting the hydrogen supply position in step S1, this attitude detection device detects the inclination of the ground and the inclination of the hydrogen supply port 114, the heavy equipment control device 150 can determine a place with a small inclination as the hydrogen supply position. Note that an inclinometer, a level, or the like can be used as the attitude detection device.

[0072] FIG. 9 is a flowchart executed by the control device 70 of this embodiment, and in this embodiment, it is assumed that the transport device 1 is waiting at a waiting location different from the excavation site.

[0073] The control device 70 determines whether or not a hydrogen supply location has been received from the hydraulic excavator 100 (step S101). Here, it is assumed that the control device 70 has received a hydrogen supply location from the hydraulic excavator 100 and proceeds to step S102.

[0074] The control device 70 determines a route to the hydrogen supply position from the received hydrogen supply position and the current position detected by the first GNSS 65, and moves to the received hydrogen supply position (step S102). In this embodiment, the control device 70 closes the nozzle of at least one of the first valve 35 and the second valve 36 until the transfer device 1 arrives at the received hydrogen supply position, preventing hydrogen from being supplied to the hydrogen dispenser 40. This allows the control device 70 to prevent hydrogen from leaking from the hydrogen dispenser 40 while the transfer device 1 is moving.

[0075] The control device 70 determines whether or not the hydrogen supply port 114 of the hydraulic excavator 100 has been detected (step S103). When the control device 70 approaches the received hydrogen supply position (for example, 2 m to 10 m), the image capture device 55 detects the hydrogen supply port 114 or a mark provided in its vicinity. The control device 70 controls the traveling device 10 so that it approaches the mark detected by the image capture device 55. In this embodiment, the control device 70 controls the traveling device 10 so that the second nozzle 46 faces the right side of the hydraulic excavator 100. Note that the heavy equipment control device 150 may detect the transportation device 1 using the detection device 145 and guide the transportation device 1 to the hydrogen supply position, or may control the transportation device 1 to stop moving toward the hydrogen supply port 114.

[0076] The control device 70 determines whether the size of the transportation device 1 needs to be changed in order for the second nozzle 46 to approach the hydrogen supply port 114 (step S104). The control device 70 determines whether the size of the transportation device 1 needs to be changed by obtaining the dimensions of the pair of tracks 123 of the hydraulic excavator 100 from the hydraulic excavator 100 and by capturing an image of the pair of tracks 123 using the imaging device 55. Alternatively, the control device 70 may determine whether the size of the transportation device 1 needs to be changed based on the size detection result of the transportation device 1 by the detection device 145. Here, it is assumed that the size of the transportation device 1 needs to be changed and the process proceeds to step S105.

[0077] The control device 70 drives the actuator 18b from a contracted state to an extended state, and changes the size of the transfer device 1 so that the height of the base portion 20 is higher than the height h1 in the Z direction of the pair of crawler tracks 123 (step S105). As a result, the control device 70 can move the second nozzle 46 closer to the hydrogen supply port 114 because the base portion 20 does not interfere with the pair of crawler tracks 123.

[0078] The control device 70 determines whether positioning of the second nozzle 46 relative to the hydrogen supply port 114 has been completed (step S106). The control device 70 uses the imaging device 55 to capture an image of the hydrogen supply port 114 or a mark provided in its vicinity, and then positions the second nozzle 46 relative to the hydrogen supply port 114. Positioning of the second nozzle 46 relative to the hydrogen supply port 114 can be performed by the travel motor 15 in the X and Y directions, and by the actuator 18b in the Z direction. Furthermore, positioning of the second nozzle 46 relative to the hydrogen supply port 114 in the rotation direction can be performed by the rotation motor 131. Alternatively, an adjustment mechanism may be provided that adjusts the position of the second nozzle 46 with three degrees of freedom, preferably six degrees of freedom. Similarly, an adjustment mechanism may be provided that adjusts the positions of the first nozzle 45 and the third nozzle 47 with three degrees of freedom, preferably six degrees of freedom. It is desirable that the control device 70 notify the hydraulic excavator 100 via the first communication device 66 that the positioning of the second nozzle 46 relative to the hydrogen supply port 114 has been completed.

[0079] When the control device 70 has completed positioning of the second nozzle 46 relative to the hydrogen supply port 114 in step S106, it determines whether the hydrogen supply port 114 is open (step S107). The control device 70 repeats the determination in step S107 until the heavy equipment control device 150 opens the hydrogen supply port 114.

[0080] The control device 70 drives the second nozzle 46 in the -Y direction using the second drive unit 49 so that the connection coupler of the second nozzle 46 connects to the receptacle of the hydrogen supply port 114 (step S108). It is preferable to provide a tapered guide member, for example, on the hydrogen supply port 114 so that the connection coupler can easily engage with the receptacle. For example, it is preferable to provide a detector that mechanically detects the connection between the receptacle and the connection coupler, and output the detection result to the heavy equipment control device 150 when the connection between the receptacle and the connection coupler is detected. It is also preferable that this detector output the detection result to the heavy equipment control device 150 when the connection between the receptacle and the connection coupler is released.

[0081] When the connection coupler of the second nozzle 46 is connected to the receptacle of the hydrogen supply port 114, the control device 70 opens the first valve 35 and the second valve 36 to supply hydrogen stored in the pressure accumulator vessel 31 to the hydrogen dispenser 40, and controls the three-way switching valve 44 to supply hydrogen to the second nozzle 46. As a result, the control device 70 supplies hydrogen to the fuel tank 112 via the hydrogen supply port 114 (step S109).

[0082] A leak detection sensor for detecting hydrogen leaks may be provided near the hydrogen supply port 114, for example, in the receptacle. Leak detection sensors include gas thermoelectric and solid-state electrochemical sensors, and either type of sensor can be used. If a hydrogen leak is detected, the control device 70 stops the hydrogen supply in step S109 and notifies a remote office or the operator's smartphone via the first communication device 66. The control device 70 also closes the first valve 35 and the second valve 36.

[0083] The control device 70 determines whether the supply of hydrogen to the fuel tank 112 has finished (step S110). The amount of hydrogen to be supplied to the fuel tank 112 may be determined based on the detection result of a fuel gauge (not shown) before hydrogen is supplied to the fuel tank 112, and the amount of hydrogen to be supplied may be transmitted from the hydraulic excavator 100 to the transport device 1. The control device 70 may determine whether the amount of hydrogen to be supplied has reached a predetermined amount based on the output of the flow meter 41. Alternatively, the control device 70 may continue to supply hydrogen to the fuel tank 112 until a fuel gauge (not shown) detects that a predetermined amount of hydrogen has been supplied to the fuel tank 112.

[0084] Here, the control device 70 proceeds to step S111, assuming that the supply of hydrogen to the fuel tank 112 has ended. The control device 70 sends a signal indicating that the supply of hydrogen has ended to the heavy equipment control device 150, and closes the first valve 35 and the second valve 36. When the heavy equipment control device 150 receives the signal indicating that the supply of hydrogen has ended, it releases the socket of the receptacle.

[0085] When the control device 70 receives a signal from the heavy equipment control device 150 indicating that the connection between the receptacle and the connection coupler has been released, the control device 70 drives the second nozzle 46 along the +Y direction using the second drive unit 49, thereby withdrawing the second nozzle 46 from the hydrogen supply port 114 (step S111).

[0086] The control device 70 determines whether or not it is necessary to supply hydrogen to other construction machines (step S112). If it is necessary to supply hydrogen to other construction machines, the control device 70 returns to step S101, and if it is not necessary to supply hydrogen to other construction machines, the control device 70 moves to a standby location in step S113 and ends this flowchart.

[0087] As described above, according to this embodiment, the pair of link mechanisms 18 can change the size of the traveling device 10, so that the transport device 1 can be positioned close to the hydrogen supply port 114. Furthermore, since the hydrogen dispenser 40 has the first nozzle 45, the second nozzle 46, and the third nozzle 47 that can accommodate multiple directions, the position of the nozzles of the transport device 1 is not a rate-limiting condition when determining the hydrogen supply position.

[0088] Furthermore, according to this embodiment, the swing device 130 already provided on the hydraulic excavator 100 is used to detect the hydrogen supply position and determine the position of the hydrogen supply port 114, so hydrogen can be injected into the fuel tank 112 without complicating the hydraulic excavator 100. When there are multiple candidates for the hydrogen supply position, the heavy equipment control device 150 may select a location where the swing device 130 rotates less when positioning the hydrogen supply port 114 or where the ground is less inclined, as the hydrogen supply position.

[0089] The above-described embodiment is merely an example for explaining the present invention, and various modifications can be made without departing from the scope of the present invention. For example, the transport device 1 may be an integrated type in which the traveling device 10 and the base unit 20 are not detachable.

[0090] The transport device 1 may also be a type with a driver's seat. The hydraulic excavator 100 may also be a type with a driver's seat, or may be an internal combustion engine driven by diesel, ammonia, or hydrogen. In this case, the transport device 1 may supply diesel, ammonia, or hydrogen (liquid) to the fuel tank 112.

[0091] The number of working devices 160 of the hydraulic excavator 100 is not limited to one, and a plurality of working devices 160 may be provided on the main body device 140 . [Explanation of symbols]

[0092] 1 conveying device 10 traveling device 18 pair of link mechanisms 18b actuator 20 base portion 30 hydrogen filling device 40 Hydrogen dispenser 44 Three-way switching valve 45 First nozzle 46 Second nozzle 47 Third nozzle 55 Imaging device 110 drive system 112 fuel tank 114 hydrogen supply port 130 Swivel device 140 Main body device 145 Detection device

Claims

1. a main body device having a supply port into which fuel for propelling the propelling device is injected, the main body device being propelled by the propelling device; a work device that is connected to the main body device and is spaced from the supply port and moves to perform work; a detection device provided in the main body device and detecting a position at which the fuel is injected into the supply port; a control device that controls the working device so that the detection device does not block the detection of the position where the fuel is to be injected by the working device.

2. 2. The construction machine according to claim 1, wherein the detection device detects the inclination of the ground around the main body device to detect the position where the fuel is to be injected.

3. 3. The construction machine according to claim 1, wherein the detection device detects the position where the fuel is to be injected by irradiating an electromagnetic wave.

4. a turning device that can turn the main body device; 2. The construction machine according to claim 1, wherein the control device positions the supply port by rotating the rotating device based on the detection result of the detection device.

5. 2. The construction machine according to claim 1, further comprising a communication device that transmits information about the position of the main body device and the orientation of the supply port to the fuel injection device.

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