A work machine, a work machine system, and a method for controlling a work machine.

Abstract

The present invention provides a work machine, a work machine system, and a control method for the work machine that can suppress hydrogen leakage. [Solution] The work machine 100 comprises a fuel cell stack 22, a hydrogen tank 21, a hydrogen valve 24, a main body 11, and a controller 30. The fuel cell stack 22 generates electricity by reacting oxygen and hydrogen. The hydrogen tank 21 supplies hydrogen to the fuel cell stack 22. The hydrogen valve 24 opens and closes the hydrogen flow path from the hydrogen tank 21 to the fuel cell stack 22. The main body 11 supports the fuel cell stack 22 and the hydrogen tank 21, respectively. The controller 30 controls the opening and closing of the hydrogen valve 24 based on the tilt angle of the main body 11.

Description

Technical Field

[0001] The present disclosure relates to a working machine, a working machine system, and a control method for a working machine.

Background Art

[0002] Conventionally, new energy that does not emit greenhouse gases such as carbon dioxide has been developed in working machines and the like. As such energy, for example, fuel cells have attracted attention. A fuel cell generates electrical energy by causing hydrogen and oxygen to chemically react in a fuel cell stack. In a fuel cell, only water is discharged after power generation, and carbon dioxide is not discharged. A working machine equipped with such a fuel cell is described in, for example, International Publication No. 2022 / 137688 (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a working machine such as a hydraulic excavator, the entire working machine may be inclined more greatly than a passenger vehicle. When a hydrogen system device such as a fuel cell through which hydrogen flows is excessively inclined, an abnormality may occur in the operation of the hydrogen system device. In this case, hydrogen may leak from the hydrogen system device.

[0005] An object of the present disclosure is to provide a working machine, a working machine system, and a control method for a working machine capable of suppressing hydrogen leakage.

Means for Solving the Problems

[0006] Each of the work machines and work machine systems in this disclosure comprises a hydrogen power source, a hydrogen tank, a hydrogen valve, a vehicle body, and a controller. The hydrogen power source is a power source that utilizes hydrogen. The hydrogen tank supplies hydrogen to the hydrogen power source. The hydrogen valve opens and closes the hydrogen flow path from the hydrogen tank to the hydrogen power source. The vehicle body supports the hydrogen power source and the hydrogen tank, respectively. The controller controls the opening and closing of the hydrogen valve based on the inclination angle of the vehicle body.

[0007] The method for controlling a work machine in this disclosure comprises a hydrogen power source, a hydrogen tank for supplying hydrogen to the hydrogen power source, a hydrogen valve for opening and closing the hydrogen flow path from the hydrogen tank to the hydrogen power source, and a vehicle body supporting the hydrogen power source and the hydrogen tank, and includes the following steps: The inclination angle of the vehicle body is detected. If the inclination angle is greater than or equal to a preset first predetermined angle, the hydrogen valve is closed. [Effects of the Invention]

[0008] According to this disclosure, it is possible to realize a work machine, a work machine system, and a control method for a work machine that can suppress hydrogen leakage. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view showing the configuration of a work machine having a fuel cell in one embodiment of the present disclosure. [Figure 2] Figure 1 is a side view showing the arrangement of the fuel cell stack, hydrogen tank, and battery in the work machine shown. [Figure 3] Figure 1 is a rear view showing the arrangement of the fuel cell stack, hydrogen tank, and battery in the work machine shown. [Figure 4] Figure 1 is a partial cross-sectional view showing the connection between the hydrogen tank and the hydrogen valve in the work machine shown. [Figure 5] This is a functional block diagram showing a work machine system in one embodiment of the present disclosure. [Figure 6]This is a flowchart illustrating a control method for a work machine in one embodiment of the present disclosure. [Figure 7] This diagram shows the power supply flow to the inverter when the hydrogen valve is closed. [Figure 8] This is a flowchart illustrating a control method for a fuel cell stack and battery in one embodiment of the present disclosure. [Modes for carrying out the invention]

[0010] The embodiments of this disclosure will be described below with reference to the drawings. In the specification and drawings, the same reference numerals are used for identical or corresponding components, and redundant descriptions are avoided. Furthermore, in the drawings, components may be omitted or simplified for the sake of clarity.

[0011] In the following explanation, "up," "down," "forward," "backward," "left," and "right" refer to directions relative to the operator seated in the driver's seat 14S inside the driver's cab 14 shown in Figure 1.

[0012] Therefore, in the following, the front-rear direction X is the direction in which the boom 16 extends between its base and tip when viewed from above. The left-right direction Y is the direction perpendicular to the front-rear direction X when viewed from above. The up-down direction Z is the direction perpendicular to the plane containing the mutually perpendicular front-rear direction X and left-right direction Y.

[0013] The direction from the base to the tip of the boom 16 is forward, and the direction from the tip to the base of the boom 16 is rear. In a viewpoint looking from rear to front, the right and left sides are to the right and left, respectively. In the vertical direction, the side with the ground is down, and the side with the sky is up. A top view means a viewpoint looking at the work machine 100 from above and below. A side view means a viewpoint looking at the slewing body 13 from the left or right. A rear view means a viewpoint looking at the slewing body 13 from rear to front.

[0014] <Configuration of the working machine> Hereinafter, as a working machine of the present disclosure, a hydraulic excavator having a fuel cell will be described as an example with reference to FIGS. 1 to 4.

[0015] Note that the working machine of the present disclosure is not limited to a hydraulic excavator, and may be a bulldozer, wheel loader, motor grader, dump truck, forklift, etc. having a fuel cell. Further, the working machine to which the present disclosure is applied is not limited to those having a fuel cell, and may be any working machine having a hydrogen power source which is a power source using hydrogen. The hydrogen power source may be, for example, a hydrogen co-firing engine that burns hydrogen by mixing with fossil fuel, or a hydrogen dedicated firing engine that burns only hydrogen without using fossil fuel.

[0016] FIG. 1 is a side view schematically showing the configuration of a working machine in an embodiment of the present disclosure. As shown in FIG. 1, the working machine 100 of the present embodiment is, for example, a hydraulic excavator having a fuel cell. The fuel cell generates electricity (electrical energy) by chemically reacting hydrogen and oxygen.

[0017] The generated electrical energy drives a hydraulic pump 35 (FIG. 5). The hydraulic oil discharged from the hydraulic pump 35 by driving the hydraulic pump 35 operates each hydraulic actuator (swing motor, travel motor, each hydraulic cylinder). When each hydraulic actuator is an electric motor, the generated electrical energy is supplied to the electric motor.

[0018] The working machine 100 has a fuel cell stack 22 as an example of the fuel cell of the present disclosure. The fuel cell stack 22 is formed by connecting a plurality of fuel cells in series and stacking them. The working machine 100 has, for example, one fuel cell stack 22, but the number of fuel cell stacks 22 mounted on the working machine 100 is not limited to one, and may be two or more.

[0019] The working machine 100 has a hydrogen tank 21 for supplying hydrogen to the fuel cell stack 22. The working machine 100 has, for example, two hydrogen tanks 21, but the number of hydrogen tanks 21 mounted on the working machine 100 is not limited to two, and may be one, or may be a plurality of three or more.

[0020] The working machine 100 has a battery 27. The battery 27 is, for example, a stack of a plurality of lithium ion battery cells. The battery 27 is charged by the power output from the fuel cell stack 22. The battery 27 may be charged by an external power source. The hydraulic pump 35 is driven by the power output from the battery 27. For this reason, each of the hydraulic actuators (swing motor, travel motor, each hydraulic cylinder) is driven by the power supplied from at least one of the fuel cell stack 22 or the battery 27.

[0021] The working machine 100 has a main body 11 and a working device 12 that operates hydraulically. The main body 11 is an example of the vehicle body of the present disclosure. The main body 11 has a swing body 13 and a traveling body 15.

[0022] The traveling body 15 has a pair of left and right crawlers 15Cr and a travel motor 15M. The working machine 100 can travel by the rotation of the crawlers 15Cr. The travel motor 15M is provided as a drive source of the traveling body 15. The travel motor 15M may be a hydraulic motor or an electric motor.

[0023] The swing body 13 is disposed on the traveling body 15 and supported by the traveling body 15. The swing body 13 can swing with respect to the traveling body 15 about a swing axis RX by a swing motor (not shown). The swing axis RX is a virtual straight line that is the swing center of the swing body 13. The swing motor may be a hydraulic motor or an electric motor.

[0024] The slewing body 13 has a cab 14. Inside the cab 14 is a driver's seat 14S where the operator sits. The operator can sit in the driver's seat 14S and operate the work implement 12, rotate the slewing body 13 relative to the traveling body 15, and operate the traveling body 15 to move the work machine 100.

[0025] The work implement 12 is supported by a slewing body 13. The work implement 12 has a boom 16, an arm 17, and a bucket 18. The work implement 12 further has a boom cylinder 19a, an arm cylinder 19b, and a bucket cylinder 19c. Each cylinder 19a, 19b, and 19c may be a hydraulic cylinder or be driven by an electric motor.

[0026] The boom 16 is rotatably connected to the main body 11. Specifically, the base end of the boom 16 is rotatably connected to the slewing body 13 with the boom foot pin BF as the pivot point. The base end of the boom 16 is positioned in the left-right direction of the operator's cab 14. The arm 17 is rotatably connected to the boom 16. Specifically, the base end of the arm 17 is rotatably connected to the tip of the boom 16 with the boom top pin BT as the pivot point. The bucket 18 is rotatably connected to the arm 17. Specifically, the base end of the bucket 18 is rotatably connected to the tip of the arm 17 with the arm top pin AT as the pivot point.

[0027] The rotating body 13 has exterior panels OP surrounding the machine room. Inside the machine room of the rotating body 13 are a hydrogen tank 21, a fuel cell stack 22, a battery 27, a cooling unit CU (Figure 3), etc. The hydrogen tank 21, fuel cell stack 22, battery 27, cooling unit CU, etc. are covered by the exterior panels OP.

[0028] Although the above description mentions a configuration in which the driver's seat 14S is located inside the driver's cab 14, the driver's cab 14 may be absent and the driver's seat 14S may be exposed to the outside. Furthermore, the work machine 100 may not have a driver's cab 14 and may operate automatically and unmanned. Also, the work machine 100 may not have a driver's cab 14 and may be operated remotely by a remote controller.

[0029] Figures 2 and 3 are side and rear views, respectively, showing the arrangement of the fuel cell stack, hydrogen tank, and battery in the work machine shown in Figure 1. As shown in Figure 2, the work machine 100 further includes a fuel cell unit support mechanism FS, a hydrogen tank support mechanism TF, and a tilt sensor 1.

[0030] The fuel cell unit support mechanism FS supports the hydrogen tank 21, the fuel cell stack 22, and the battery 27, respectively. The fuel cell unit support mechanism FS includes a base plate BP, a lower plate UP, an upper plate TP, a column member CM, and damping mechanisms DM1 and DM2. The base plate BP is fixed to the slewing frame 20 by bolting, welding, etc. The lower plate UP is connected to the base plate BP via damping mechanisms DM1, etc. The damping mechanism DM1 supports the lower plate UP relative to the base plate BP.

[0031] The base plate BP and the column member CM are fixed to each other by bolting, welding, etc. This restrains the base plate BP and the column member CM so that they cannot move relative to each other.

[0032] The column member CM extends in the vertical direction Z. The upper plate TP is connected to the column member CM via a damping mechanism DM2, etc. The damping mechanism DM2 supports the upper plate TP relative to the column member CM. The upper plate TP, lower plate UP, and base plate BP are not limited to plates, but may also be frames.

[0033] The damping mechanisms DM1 and DM2 have the function of damping vibrations. The damping mechanisms DM1 and DM2 may be, for example, liquid-filled mounts or rubber. Liquid-filled mounts as damping mechanisms DM1 and DM2 are configured to obtain a large damping force due to the pressure loss when the sealed viscous liquid is constricted as it passes through a minute gap. The viscous liquid used in liquid-filled mounts may be, for example, silicone oil.

[0034] The tilt sensor 1 is attached to the main body 11. Specifically, the tilt sensor 1 is attached to the lower plate UP. The tilt sensor 1 detects the tilt angle of the main body 11. The tilt angle is, for example, the tilt angle of the main body 11 with respect to a horizontal plane. The tilt sensor 1 is, for example, an inertial measurement unit (IMU). The tilt sensor 1 detects, for example, the direction of gravity and detects a plane perpendicular to the direction of gravity as the horizontal plane.

[0035] The work machine 100 has, for example, one tilt sensor 1, but the number of tilt sensors 1 mounted on the work machine 100 is not limited to one, and may be two or more. By having multiple tilt sensors 1 on the work machine 100, redundancy can be increased. This can improve the reliability of the tilt sensor 1.

[0036] Each of the fuel cell stacks 22 and batteries 27 is supported by the main body 11 (Figure 1) of the work machine 100. Specifically, each of the fuel cell stacks 22 and batteries 27 is attached to the slewing frame 20 via a lower plate UP, a damping mechanism DM1, and a base plate BP. Each of the fuel cell stacks 22, batteries 27, and tilt sensors 1 is positioned on the lower plate UP. The fuel cell stacks 22 and batteries 27 are arranged side by side, for example, in the front-to-back direction X, and extend in the left-to-right direction Y (Figure 3) so as to be approximately parallel to each other.

[0037] Each of the fuel cell stack 22, battery 27, and tilt sensor 1 is fixed to the lower plate UP, for example, by bolting or welding. This restrains each of the fuel cell stack 22, battery 27, and tilt sensor 1 so that they cannot move relative to the lower plate UP. For this reason, the fuel cell stack 22, battery 27, tilt sensor 1, and lower plate UP are included in the same vibration system, which has the same vibration pattern relative to the slewing frame 20. Each of the fuel cell stack 22, battery 27, tilt sensor 1, and lower plate UP and the slewing frame 20 are included in different vibration systems from each other.

[0038] The hydrogen tank support mechanism TF is positioned on the upper plate TP. The hydrogen tank support mechanism TF and the upper plate TP are fixed together, for example, by bolting or welding. This restrains the hydrogen tank support mechanism TF so that it cannot move relative to the upper plate TP.

[0039] Each of the two hydrogen tanks 21 is positioned above the fuel cell stack 22 and the battery 27. Each of the two hydrogen tanks 21 is supported by the main body 11 of the work machine 100 (Figure 1). Specifically, each of the two hydrogen tanks 21 is attached to the slewing frame 20 via a hydrogen tank support mechanism TF, an upper plate TP, a damping mechanism DM2, a column member CM, and a base plate BP.

[0040] Each of the two hydrogen tanks 21 is fixed to the hydrogen tank support mechanism TF by means of a belt, for example. This restrains each of the two hydrogen tanks 21 so that it cannot move relative to the hydrogen tank support mechanism TF. For this reason, the hydrogen tanks 21, the hydrogen tank support mechanism TF, and the upper plate TP are all included in the same vibration system, which has the same vibration pattern relative to the slewing frame 20. The hydrogen tanks 21, the hydrogen tank support mechanism TF, and the upper plate TP are each included in different vibration systems than the slewing frame 20.

[0041] The fuel cell stack 22 and the two hydrogen tanks 21 are connected to the swivel frame 20 via different damping mechanisms. This allows the two hydrogen tanks 21 and the fuel cell stack 22 to move relative to each other due to vibrations, etc. Therefore, the hydrogen tanks 21 and the fuel cell stack 22 are contained within different vibration systems.

[0042] The two hydrogen tanks 21 are arranged side by side, for example, in the front-to-back direction X. For example, each of the two hydrogen tanks 21 is positioned such that its longitudinal direction aligns with the left-to-right direction Y of the work machine 100.

[0043] A pressure reducer 23 is attached to the hydrogen tank support mechanism TF. The pressure reducer 23 has the function of reducing the pressure of the high-pressure hydrogen gas supplied from the hydrogen tank 21 to a level that can be used by the fuel cell stack 22, which is a power generation device, and has a pressure reducing valve. The pressure reducer 23 is located, for example, in front of the arrangement area AR of the two hydrogen tanks 21. The arrangement position of the pressure reducer 23 is not limited to the front of the arrangement area AR, but may be behind or to the side of the arrangement area AR.

[0044] The hydrogen tank 21 and the pressure reducer 23 are connected by a tank hose TH (Figure 4). High-pressure hydrogen gas from the hydrogen tank 21 is supplied to the pressure reducer 23 through this tank hose TH. A hydrogen valve 24 is located between the hydrogen tank 21 and the tank hose TH. The hydrogen valve 24 opens and closes the flow path of high-pressure hydrogen gas from the hydrogen tank 21 to the fuel cell stack 22. Specifically, the opening and closing operation of the hydrogen valve 24 controls the start and stop of the supply of high-pressure hydrogen gas from the hydrogen tank 21 to the pressure reducer 23. The hydrogen valve 24 is, for example, a normally closed type and remains closed at all times when no external signal is applied. A gate valve can generally be used for the hydrogen valve 24.

[0045] The pressure reducer 23 and the fuel cell stack 22 are connected by a stack hose SH. Hydrogen gas, which has been depressurized by the pressure reducer 23, is supplied to the fuel cell stack 22 through this stack hose SH.

[0046] The connection point P1 between the fuel cell stack 22 and the stack hose SH, the connection point P2 between the hydrogen valve 24 and the tank hose TH, the connection point P3 between the stack hose SH and the pressure reducer 23, and the connection point P4 (not shown) between the tank hose TH and the pressure reducer 23 are points where hydrogen gas is likely to leak. These connection points P1, P2, P3, and P4 are located on the same side of each other in the left-right direction Y. For example, connection point P1 is located at the left end of the fuel cell stack 22, connection point P2 is located at the left end of the hydrogen tank 21, and connection points P3 and P4 are located at the left end of the pressure reducer 23. Alternatively, connection point P1 may be located at the right end of the fuel cell stack 22, connection point P2 may be located at the right end of the hydrogen tank 21, and connection points P3 and P4 may be located at the right end of the pressure reducer 23.

[0047] As shown in Figure 3, the work machine 100 has a cooling unit CU. The cooling unit CU has a radiator 25 and an electric fan 26.

[0048] The radiator 25 is a device for dissipating heat from the cooling medium (coolant, such as water) that cools the fuel cell stack 22. The radiator 25 is, for example, a heat exchanger. The radiator 25 is located, for example, to the side of the fuel cell stack 22, and for example, on the left side of the fuel cell stack 22. The radiator 25 may also be located, for example, on the right side of the fuel cell stack 22, or on the front or rear side of the fuel cell stack 22.

[0049] The electric fan 26 works to dissipate the heat released from the radiator 25 by blowing air onto it. The electric fan 26 is positioned, for example, between the radiator 25 and the fuel cell stack 22.

[0050] Each hydrogen valve 24 of the two hydrogen tanks 21 is located on the same side of the hydrogen tank 21 in the longitudinal direction. Each hydrogen valve 24 of the two hydrogen tanks 21 is located, for example, on the left side of the hydrogen tank 21 in the longitudinal direction. Each hydrogen valve 24 of the two hydrogen tanks 21 is located at the end of the hydrogen tank 21 closer to the cooling unit CU in the longitudinal direction.

[0051] Figure 4 is a partial cross-sectional view showing the connection between the hydrogen tank and the hydrogen valve in the work machine shown in Figure 1. As shown in Figure 4, the hydrogen tank 21 has an internal space 91 and an opening 92. The internal space 91 stores hydrogen. The opening 92 connects the internal space 91 to the outside of the hydrogen tank 21. The opening 92 opens in the longitudinal direction of the hydrogen tank 21. The hydrogen valve 24 is attached to the opening 92. Therefore, the internal flow path of the hydrogen valve 24 is connected to the internal space 91.

[0052] <Work machine system and control method for work machine> Next, a working machine system and a control method for the working machine in one embodiment of the present disclosure will be described with reference to Figures 5 to 8.

[0053] Figure 5 is a functional block diagram showing a work machine system in one embodiment of the present disclosure. In Figure 5, the flow of power supply is indicated by solid arrows, the flow of electrical signals is indicated by dashed arrows, mechanical connections are indicated by double lines, and the flow of hydrogen gas supply and hydraulic oil supply is indicated by dashed-dotted arrows. As shown in Figure 5, the work machine 100 further comprises an inverter 28, an electric motor 34, and a notification unit 36.

[0054] The inverter 28 is connected to the fuel cell stack 22 and the battery 27 by electrical wiring. The fuel cell stack 22 and the battery 27 each supply power to the electric motor 34 through the inverter 28. The inverter 28 converts the DC power, which is the output of the fuel cell stack 22 and the battery 27, into AC power with controlled frequency and other properties. The inverter 28 supplies AC power to the electric motor 34 through the electrical wiring.

[0055] The electric motor 34 and the hydraulic pump 35 are mechanically connected. The driving force of the electric motor 34 is transmitted to the hydraulic pump 35, which drives the hydraulic pump 35. By driving, the hydraulic pump 35 operates each hydraulic actuator, such as the travel motor 15M. As a result, the vehicle 15 is driven by power supplied from at least one of the fuel cell stack 22 or the battery 27.

[0056] The fuel cell stack 22 receives hydrogen from the hydrogen tank 21 through the hydrogen valve 24. The fuel cell stack 22 has, for example, a pump that supplies hydrogen to the fuel cell cells. Therefore, hydrogen flows into the fuel cell stack 22 due to the pressure difference between the internal space 91 of the hydrogen tank 21 and the outside of the hydrogen tank 21, and the force applied from the fuel cell stack 22. The fuel cell stack 22 controls the flow rate of hydrogen that flows from the hydrogen tank 21 into the fuel cell stack 22 based on a signal from the controller 30.

[0057] The notification unit 36 ​​may be, for example, a display device or a notification speaker. The notification unit 36 ​​is located, for example, inside the driver's cab 14. The battery 27 outputs information regarding the remaining charge of the battery 27 to the controller 30.

[0058] The controller 30 includes a tilt acquisition unit 30a, a calculation unit 30b, a valve control unit 30c, an output control unit 30d, a charge level acquisition unit 30e, a notification control unit 30f, and a memory 30g.

[0059] Figure 6 is a flowchart showing a control method for a work machine in one embodiment of the present disclosure. The control method for the work machine in this embodiment is started, for example, by a start operation by an operator. The start operation by the operator is, for example, inserting a key into the key switch of the work machine 100 to turn the work machine 100 from the OFF state to the ON state. If the hydrogen valve 24 is of the normally closed type, for example, after the start operation by the operator, an open signal is output from the valve control unit 30c to the hydrogen valve 24, causing the hydrogen valve 24 to open. This starts the supply of hydrogen gas from the hydrogen tank 21 to the fuel cell stack 22.

[0060] As shown in Figures 5 and 6, in the control method for the work machine in this embodiment, after the start operation described above, the tilt sensor 1 detects the tilt angle of the main body 11 (step S1). The tilt sensor 1 outputs information regarding the detected tilt angle of the main body 11 to the controller 30. The tilt acquisition unit 30a acquires the information regarding the tilt angle of the main body 11 output from the tilt sensor 1.

[0061] The calculation unit 30b obtains information regarding the tilt angle of the main body 11 from the tilt acquisition unit 30a and obtains a first predetermined angle and a second predetermined angle that are pre-stored in the memory 30g. The first predetermined angle and the second predetermined angle are each the tilt angle of the main body 11 and are pre-set angles. The second predetermined angle is smaller than the first predetermined angle. For example, the first predetermined angle is 35° and the second predetermined angle is 25°.

[0062] The calculation unit 30b determines whether the tilt angle of the main body 11 detected by the tilt sensor 1 is greater than or equal to a second predetermined angle (step S2). If it is determined that the tilt angle of the main body 11 is not greater than or equal to the second predetermined angle (NO in step S2), the controller 30 repeats the execution of step S1. On the other hand, if it is determined that the tilt angle of the main body 11 is greater than or equal to the second predetermined angle (YES in step S2), the calculation unit 30b determines whether the tilt angle of the main body 11 detected by the tilt sensor 1 is greater than or equal to a first predetermined angle (step S3).

[0063] If it is determined that the tilt angle of the main unit 11 is not greater than or equal to a first predetermined angle (NO in step S3), the calculation unit 30b outputs a signal indicating the determination result to the notification control unit 30f. Based on the determination result that the tilt angle of the main unit 11 is greater than or equal to a second predetermined angle but not greater than or equal to a first predetermined angle, the notification control unit 30f outputs warning information to the notification unit 36. When the notification unit 36 ​​receives the warning information, it issues a warning, for example, urging the operator not to increase the tilt angle of the main unit 11.

[0064] If it is determined that the tilt angle of the main unit 11 is greater than or equal to a first predetermined angle (YES in step S3), the calculation unit 30b outputs a signal indicating the determination result to the valve control unit 30c, the output control unit 30d, and the notification control unit 30f, respectively.

[0065] The valve control unit 30c controls the opening and closing of the hydrogen valve 24 based on the tilt angle detected by the tilt sensor 1. Specifically, the valve control unit 30c controls the hydrogen valve 24 to close based on the determination that the tilt angle of the main body 11 is greater than or equal to a first predetermined angle (step S5). If the hydrogen valve 24 is of the normally closed type, the open signal from the valve control unit 30c is stopped. This stops the supply of hydrogen gas from the hydrogen tank 21 to the fuel cell stack 22.

[0066] Figure 5 shows the power supply flow to the inverter 28 when the hydrogen valve 24 is open. Figure 7 shows the power supply flow to the inverter 28 when the hydrogen valve 24 is closed. In Figure 7, the dashed line indicates that power supply and hydrogen gas supply are stopped.

[0067] As shown in Figure 5, with the hydrogen valve 24 open, both the fuel cell stack 22 and the battery 27 can supply power to the inverter 28. Therefore, with the hydrogen valve 24 open, the vehicle 15 runs on power supplied from at least one of the fuel cell stack 22 and the battery 27. Also, with the hydrogen valve 24 open, the fuel cell stack 22 can supply power to the battery 27, thereby enabling the battery 27 to be charged.

[0068] As shown in Figure 7, when the hydrogen valve 24 is closed, the fuel cell stack 22 does not supply power to either the inverter 28 or the battery 27. Therefore, after step S5, the vehicle 15 runs solely on power supplied by the battery 27.

[0069] As shown in Figure 6, when the hydrogen valve 24 is closed (Figure 7), the output control unit 30d controls the fuel cell stack 22 to stop the operation of injecting hydrogen from the hydrogen tank 21 into the fuel cell stack 22 (step S6). Specifically, the output control unit 30d outputs a stop signal to the fuel cell stack 22 based on the determination result that the tilt angle of the main body 11 is greater than or equal to a first predetermined angle. Upon receiving the stop signal, the fuel cell stack 22 stops the operation of injecting hydrogen from the hydrogen tank 21 into the fuel cell stack 22.

[0070] When the hydrogen valve 24 is closed (Figure 7), the output control unit 30d adjusts the amount of power output from the battery 27 (step S7). Specifically, the calculation unit 30b obtains an upper limit power value that has been pre-stored in the memory 30g. The upper limit power value is a preset power value that represents the amount of power output by the battery 27.

[0071] The output control unit 30d controls the battery 27 so that the amount of power output from the battery 27 is less than or equal to the upper limit current value, based on the determination result that the tilt angle of the main body 11 is greater than or equal to a first predetermined angle. Furthermore, when the hydrogen valve 24 is closed, the output control unit 30d controls the battery 27 so that the amount of power output from the battery 27 is greater than or equal to the amount of power required to drive the drive motor 15M.

[0072] When the hydrogen valve 24 is closed (Figure 7), the notification control unit 30f controls the notification unit to notify the amount of time the vehicle 15 can operate using the power supplied from the battery 27 (step S8). Specifically, the charge level acquisition unit 30e acquires information regarding the remaining charge of the battery 27 from the battery 27. The calculation unit 30b acquires information regarding the remaining charge of the battery 27 from the charge level acquisition unit 30e and calculates the amount of time the vehicle 15 can operate based on the information regarding the remaining charge of the battery 27. The calculation unit 30b outputs information regarding the amount of time the vehicle 15 can operate to the notification control unit 30f.

[0073] The notification control unit 30f outputs notification information to the notification unit 36 ​​based on the determination result that the tilt angle of the main unit 11 is greater than or equal to a first predetermined angle. The notification information includes information about the time that the mobile body 15 can travel, calculated by the calculation unit 30b. When the notification unit 36 ​​receives the notification information, it notifies the time that the mobile body 15 can travel. The notification unit 36 ​​may also issue a warning when it receives the notification information. Specifically, when the notification unit 36 ​​receives the notification information, it may issue a warning prompting the operator to immediately reduce the tilt angle of the main unit 11.

[0074] The control method for the work machine 100 in this embodiment is then executed. Note that each of steps S6 to S8 may occur after step S5 and before step S6, or simultaneously with step S6. After step S5, the hydrogen valve 24 remains closed until, for example, the operator performs the start operation again.

[0075] Next, a control method for the fuel cell stack 22 and battery 27 in one embodiment of the present disclosure will be described with reference to Figures 5 and 8.

[0076] Figure 8 is a flowchart showing a control method for a fuel cell stack and battery in one embodiment of the present disclosure. The control method for the fuel cell stack 22 and battery 27 in this embodiment is performed continuously, for example, after a start operation is performed by an operator, up to step S5.

[0077] With the hydrogen valve 24 open (Figure 5), the controller 30 controls the fuel cell stack 22 and the battery 27 respectively so that the remaining charge of the battery 27 is maintained at or above a predetermined charge level. Specifically, as shown in Figure 8, the charge level acquisition unit 30e acquires information regarding the remaining charge of the battery 27 from the battery 27 (step S9). The calculation unit 30b acquires information regarding the remaining charge of the battery 27 from the charge level acquisition unit 30e and acquires a predetermined charge level from the memory 30g. The predetermined charge level is the remaining charge of the battery 27 and is a predetermined charge level.

[0078] The calculation unit 30b determines whether the remaining charge of the battery 27 is below a predetermined charge level (step S10). If it is determined that the remaining charge of the battery 27 is not below a predetermined charge level (NO in step S10), the controller 30 repeats the execution of step S9. On the other hand, if it is determined that the remaining charge of the battery 27 is below a predetermined charge level (YES in step S10), the calculation unit 30b outputs a signal indicating the determination result to the output control unit 30d.

[0079] Based on the determination that the remaining charge of the battery 27 is below a predetermined charge level, the output control unit 30d controls the fuel cell stack 22 so that the output of the fuel cell stack 22 increases (step S11). Specifically, the output control unit 30d controls the fuel cell stack 22 so that the amount of power output by the fuel cell stack 22 is greater than the amount of power required to drive each hydraulic actuator.

[0080] Based on the determination that the remaining charge level of the battery 27 is below a predetermined charge level, the output control unit 30d controls the battery 27 so that the amount of power output from the battery 27 is reduced (step S12). Specifically, the output control unit 30d controls the battery 27 so that the amount of power output by the battery 27 is less than the amount of power supplied to the battery 27 from the fuel cell stack 22. The output control unit 30d may also control the battery 27 so that it does not output any power. As a result of steps S11 and S12, a portion of the power output by the fuel cell stack 22 is charged into the battery 27.

[0081] The control method for the fuel cell and battery in this embodiment is then executed. Note that step S12 may be performed after step S10 and before step S11, or simultaneously with step S11.

[0082] In the above configuration, the tilt sensor 1 may continuously detect and output the tilt angle. In this case, the tilt acquisition unit 30a of the controller 30 continuously acquires the tilt angle from the tilt sensor 1. Alternatively, the tilt sensor 1 may temporarily detect and output the tilt angle. In this case, the tilt acquisition unit 30a of the controller 30 temporarily acquires the tilt angle from the tilt sensor 1.

[0083] As shown in Figure 5, the controller 30 may include, for example, a vehicle body controller 31 and a hydrogen controller 32. The vehicle body controller 31 and the hydrogen controller 32 may be composed of different circuit boards or may be integrated together. The vehicle body controller 31 and the hydrogen controller 32 may have separate CPUs. The vehicle body controller 31 includes a tilt acquisition unit 30a, a calculation unit 30b, an output control unit 30d, a charge level acquisition unit 30e, a notification control unit 30f, and a memory 30g. The hydrogen controller 32 includes a valve control unit 30c.

[0084] The controller 30 includes a processor, main memory, and storage. The processor is, for example, a CPU (Central Processing Unit). The main memory includes, for example, non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory).

[0085] The controller 30 reads the program stored in storage, loads it into main memory, and executes predetermined processing according to the program. The program may also be distributed to the controller 30 via the network.

[0086] The controller 30 may be mounted on the work machine 100, or it may be located separately outside the work machine 100. If the controller 30 is located separately outside the work machine 100, the controller 30 may be wirelessly connected to the tilt sensor 1, hydrogen valve 24, fuel cell stack 22, battery 27, notification unit 36, etc. The controller 30 may be stored in a server located away from the work machine 100. The memory 30g may be provided separately from the controller 30.

[0087] In the above, the controller 30 may, for example, selectively set a high-power (Hi) driving mode and a low-power (Low) driving mode. The Hi driving mode and Low driving mode are driving modes of the vehicle 15. In the Hi driving mode, the upper limit of the amount of power output from the fuel cell stack 22 and the battery 27 is greater than the upper limit of the amount of power output from the fuel cell stack 22 and the battery 27 in the Low driving mode.

[0088] The upper limit power value may be the same as, for example, the upper limit of the amount of power output from the battery 27 in Low driving mode. In this case, after step S7, the controller 30 can only be set to Low driving mode.

[0089] In the above, the notification information may include, for example, information regarding the time during which the vehicle 15 can travel in both the Hi and Low driving modes. In step S8, when the notification unit 36 ​​acquires the notification information, it may notify the time during which the vehicle 15 can travel in both the Hi and Low driving modes.

[0090] In the above configuration, the calculation unit 30b may output information regarding the tilt angle of the main body 11 detected by the tilt sensor 1 to the notification control unit 30f. The notification control unit 30f may then notify the notification unit 36 ​​of the tilt angle of the main body 11 based on the information regarding the tilt angle obtained from the calculation unit 30b.

[0091] The tilt sensor 1 may also be capable of detecting the acceleration of the main unit 11. In this case, the tilt sensor 1 outputs information regarding the detected acceleration of the main unit 11 to the controller 30. The controller 30 may calculate the load (fatigue damage) applied to the hydrogen tank 21 based on the information regarding the acceleration of the main unit 11. The controller 30 may control the notification unit 36 ​​to issue a warning prompting the replacement of the hydrogen tank 21 if the fatigue damage exceeds a preset threshold.

[0092] In the above, the work machine 100 does not necessarily have a tilt sensor 1. In this case, the work machine system has a tilt measuring device (not shown) located outside the work machine 100. The tilt measuring device detects the tilt angle of the main body 11 and outputs information regarding the tilt angle of the main body 11 to the controller 30. The tilt measuring device and the main body 11 are connected, for example, by wireless.

[0093] <Effects> Next, we will explain the effects of this disclosure.

[0094] According to this embodiment, the controller 30 controls the opening and closing of the hydrogen valve 24 based on the tilt angle of the main body 11 detected by the tilt sensor 1. Therefore, the hydrogen valve 24 can be closed before the hydrogen system device, such as a fuel cell, tilts excessively. This stops the supply of hydrogen to the hydrogen system device. Consequently, even if an operational abnormality occurs in the hydrogen system device due to excessive tilting of the hydrogen system device, hydrogen leakage can be suppressed.

[0095] According to this embodiment, the hydrogen valve 24 is attached to the opening 92 of the hydrogen tank 21. Therefore, high-pressure hydrogen gas can be blocked at a position close to the hydrogen tank 21. This makes it possible to more reliably suppress hydrogen leakage in the event of an operational malfunction of the hydrogen system equipment.

[0096] According to this embodiment, the work machine 100 has a battery 27. The vehicle 15 of the main body 11 is powered by electricity supplied from at least one of the fuel cell stack 22 or the battery 27. Therefore, even when the fuel cell stack 22 cannot generate electricity because the hydrogen valve 24 is closed, the vehicle 15 can still be powered by electricity supplied from the battery 27. As a result, even after the hydrogen valve 24 is closed, the work machine 100 can be retracted to reduce the tilt of the main body 11.

[0097] According to this embodiment, when the hydrogen valve 24 is open, the controller 30 controls the fuel cell stack 22 and the battery 27 respectively to maintain the remaining charge of the battery 27 at or above a predetermined charge level. This makes it possible to sufficiently extend the time during which the vehicle 15 can operate when the hydrogen valve 24 is closed.

[0098] According to this embodiment, when the hydrogen valve 24 is closed, the controller 30 controls the battery 27 to adjust the amount of power output from the battery 27. Therefore, when the vehicle 15 is running on power supplied by the battery 27, it is possible to suppress an excessive decrease in the remaining charge of the battery 27. This makes it possible to sufficiently extend the time that the vehicle 15 can run when the hydrogen valve 24 is closed.

[0099] According to this embodiment, when the hydrogen valve 24 is closed, the controller 30 controls the notification unit 36 ​​to notify the operator of the remaining time that the vehicle 15 can operate using the power supplied from the battery 27. This allows the operator to easily understand the remaining time that the vehicle 15 can operate. Therefore, the operator can operate the work machine 100 to reduce the inclination of the main body 11 while the vehicle 15 is operational.

[0100] According to this embodiment, the controller 30 controls the hydrogen valve 24 to close when the tilt angle is greater than or equal to a first predetermined angle. The controller 30 controls the notification unit 36 ​​to issue a warning when the tilt angle is greater than or equal to a second predetermined angle which is smaller than the first predetermined angle. Therefore, the operator can be notified of a warning regarding the tilt angle before the main body 11 tilts excessively. This prevents the main body 11 from tilting excessively.

[0101] In this embodiment, the tilt sensor 1 and the fuel cell stack 22 are included in the same vibration system. Therefore, the relative displacement between the tilt sensor 1 and the fuel cell stack 22 can be reduced. As a result, the tilt sensor 1 can accurately detect the tilt angle of the fuel cell stack 22. Consequently, excessive tilting of the fuel cell stack 22 can be suppressed more reliably.

[0102] According to this embodiment, the hydrogen tank 21 and the fuel cell stack 22 are contained within different vibration systems. This allows the vibrations of the hydrogen tank 21 and the fuel cell stack 22 to be suppressed using different damping mechanisms. This reduces damage to the hydrogen tank 21 and the fuel cell stack 22.

[0103] According to this embodiment, when the hydrogen valve 24 is closed, the controller 30 controls the fuel cell stack 22 to stop the operation of supplying hydrogen from the hydrogen tank 21 to the fuel cell stack 22. Therefore, it is possible to prevent the fuel cell stack 22 from supplying hydrogen when the hydrogen valve 24 is closed. This prevents excessively large negative pressure from being applied to the flow path from the fuel cell stack 22 to the hydrogen valve 24. Consequently, damage to the hydrogen system equipment can be suppressed.

[0104] <Note> The embodiments described above include the following technical concepts.

[0105] (Note 1) Hydrogen power sources, which are power sources that utilize hydrogen, A hydrogen tank that supplies hydrogen to the aforementioned hydrogen power source, A hydrogen valve that opens and closes the hydrogen flow path from the hydrogen tank to the hydrogen power source, A vehicle body supporting the hydrogen power source and the hydrogen tank, A work machine comprising a controller that controls the opening and closing of the hydrogen valve based on the tilt angle of the vehicle body.

[0106] (Note 2) The aforementioned hydrogen tank is An internal space for storing hydrogen, It has an opening that connects the internal space and the outside of the hydrogen tank, The hydrogen valve is attached to the opening of the work machine described in Appendix 1.

[0107] (Note 3) Equipped with an additional battery, The hydrogen power source is a fuel cell, The work machine according to Appendix 1 or Appendix 2, wherein the vehicle body has a vehicle that runs on electricity supplied from at least one of the fuel cell or the battery.

[0108] (Note 4) The battery is charged by the power supplied from the fuel cell. The work machine according to Appendix 3, wherein, when the hydrogen valve is open, the controller controls the fuel cell and the battery respectively so that the remaining charge of the battery is maintained at or above a predetermined charge level.

[0109] (Note 5) The work machine according to Appendix 3 or Appendix 4, wherein, when the hydrogen valve is closed, the controller controls the battery to adjust the amount of power output from the battery.

[0110] (Note 6) Furthermore, with the addition of a news department, The work machine according to any one of Appendix 3 to Appendix 5, wherein, when the hydrogen valve is closed, the controller controls the notification unit to notify the amount of time the vehicle can travel using the power supplied from the battery.

[0111] (Note 7) Furthermore, with the addition of a news department, The aforementioned controller, The system controls the hydrogen valve to close when the inclination angle is greater than or equal to a predetermined first angle. The work machine according to any one of the appendices 1 to 5, wherein the notification unit is controlled to issue a warning when the inclination angle is greater than or equal to a preset second predetermined angle and less than the first predetermined angle, which is smaller than the first predetermined angle.

[0112] (Note 8) The system further includes a tilt sensor for detecting the aforementioned tilt angle, The tilt sensor and the hydrogen power source are included in the same vibration system, and the work machine is one of those described in any one of the appendices 1 to 7.

[0113] (Note 9) The work machine described in any one of the appendices 1 to 8, wherein the hydrogen tank and the hydrogen power source are contained in different vibration systems.

[0114] (Note 10) The work machine according to any one of the appendices 1 to 9, wherein, when the hydrogen valve is closed, the controller controls the hydrogen power source to stop the operation of supplying hydrogen from the hydrogen tank to the hydrogen power source.

[0115] (Note 11) A control method for a work machine having a hydrogen power source, a hydrogen tank for supplying hydrogen to the hydrogen power source, a hydrogen valve for opening and closing the hydrogen flow path from the hydrogen tank to the hydrogen power source, and a vehicle body supporting the hydrogen power source and the hydrogen tank, respectively, The steps include detecting the inclination angle of the vehicle body, A method for controlling a work machine, comprising the step of closing the hydrogen valve when the inclination angle is greater than or equal to a first predetermined angle set in advance.

[0116] (Note 12) The hydrogen power source is a fuel cell, The aforementioned work machine has a battery that is charged by power supplied from the fuel cell, The control method for a work machine according to Appendix 11, wherein, before the step of closing the hydrogen valve, the output of the fuel cell and the battery are controlled based on the remaining charge of the battery.

[0117] (Note 13) The aforementioned work machine has a battery, The control method for a work machine according to Appendix 11, further comprising the step of adjusting the amount of power output from the battery when the inclination angle is greater than or equal to the first predetermined angle.

[0118] (Note 14) The hydrogen power source is a fuel cell, The aforementioned work machine has a battery, The vehicle body has a running body that runs on electricity supplied from at least one of the fuel cell or the battery. The control method for a work machine according to Appendix 11, further comprising the step of notifying the amount of time the vehicle can travel using power supplied from the battery when the inclination angle is equal to or greater than the first predetermined angle.

[0119] (Note 15) A control method for a work machine according to any one of appendices 11 to 14, further comprising the step of issuing a warning when the inclination angle is greater than or equal to a preset second predetermined angle that is smaller than the first predetermined angle and less than the first predetermined angle.

[0120] (Note 16) A control method for a work machine according to any one of appendices 11 to 15, further comprising the step of stopping the operation of the hydrogen power source to inject hydrogen from the hydrogen tank into the hydrogen power source when the inclination angle is greater than or equal to the first predetermined angle.

[0121] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0122] 1 Inclination sensor, 11 Main body, 12 Work equipment, 13 Slewing body, 14 Cab, 14S Driver's seat, 15 Driving body, 15Cr Tracks, 15M Driving motor, 16 Boom, 17 Arm, 18 Bucket, 19a Boom cylinder, 19b Arm cylinder, 19c Bucket cylinder, 20 Slewing frame, 21 Hydrogen tank, 22 Fuel cell stack, 23 Pressure reducer, 24 Hydrogen valve, 25 Radiator, 26 Electric fan, 27 Battery, 28 Inverter, 30 Controller, 30a Inclination acquisition unit, 30b Calculation unit, 30c Valve control unit, 30d Output control unit, 30e Charge level acquisition unit, 30g Memory, 34 Electric motor, 35 Hydraulic pump, 36 Notification unit, 91 Internal space, 92 Opening, 100 Work equipment, AR Placement area, AT Arm top pin, BF boom foot pin, BP base plate, BT boom top pin, CM column member, CU cooling unit, DM1, DM2 damping mechanism, FS fuel cell unit support mechanism, OP exterior panel, P1, P2, P3 connection part, RX slewing axis, SH stack hose, TF hydrogen tank support mechanism, TH tank hose, TP upper plate, UP lower plate, X front-to-back direction, Y left-to-right direction, Z up-and-down direction.

Claims

1. Hydrogen power sources, which are power sources that utilize hydrogen, A hydrogen tank that supplies hydrogen to the aforementioned hydrogen power source, A hydrogen valve that opens and closes the hydrogen flow path from the hydrogen tank to the hydrogen power source, A vehicle body supporting the hydrogen power source and the hydrogen tank, A work machine comprising a controller that controls the opening and closing of the hydrogen valve based on the tilt angle of the vehicle body.

2. The aforementioned hydrogen tank is An internal space for storing hydrogen, It has an opening that connects the internal space and the outside of the hydrogen tank, The work machine according to claim 1, wherein the hydrogen valve is attached to the opening.

3. Equipped with an additional battery, The hydrogen power source is a fuel cell, The work machine according to claim 1 or 2, wherein the vehicle body has a vehicle that runs on electricity supplied from at least one of the fuel cell or the battery.

4. The battery is charged by the power supplied from the fuel cell. The work machine according to claim 3, wherein, when the hydrogen valve is open, the controller controls the fuel cell and the battery respectively so as to maintain the remaining charge of the battery at or above a predetermined charge level.

5. The work machine according to claim 3, wherein, when the hydrogen valve is closed, the controller controls the battery to adjust the amount of power output from the battery.

6. Furthermore, with the addition of a news department, The work machine according to claim 3, wherein, when the hydrogen valve is closed, the controller controls the notification unit to notify the amount of time the vehicle can travel using the power supplied from the battery.

7. Furthermore, with the addition of a news department, The aforementioned controller, The system controls the hydrogen valve to close when the inclination angle is greater than or equal to a predetermined first angle. The work machine according to claim 1 or 2, wherein the notification unit is controlled to issue a warning when the inclination angle is greater than or equal to a preset second predetermined angle and less than the first predetermined angle, which is smaller than the first predetermined angle.

8. The system further includes a tilt sensor for detecting the aforementioned tilt angle, The work machine according to claim 1 or claim 2, wherein the tilt sensor and the hydrogen power source are included in the same vibration system.

9. The working machine according to claim 1 or claim 2, wherein the hydrogen tank and the hydrogen power source are contained in different vibration systems.

10. The working machine according to claim 1 or 2, wherein, when the hydrogen valve is closed, the controller controls the hydrogen power source to stop the operation of supplying hydrogen from the hydrogen tank to the hydrogen power source.

11. Hydrogen power sources, which are power sources that utilize hydrogen, A hydrogen tank that supplies hydrogen to the aforementioned hydrogen power source, A hydrogen valve that opens and closes the hydrogen flow path from the hydrogen tank to the hydrogen power source, A vehicle body supporting the hydrogen power source and the hydrogen tank, A work machine system comprising: a controller that controls the opening and closing of the hydrogen valve based on the tilt angle of the vehicle body.

12. The aforementioned hydrogen tank is An internal space for storing hydrogen, It has an opening that connects the internal space and the outside of the hydrogen tank, The work machine system according to claim 11, wherein the hydrogen valve is attached to the opening.

13. Equipped with an additional battery, The hydrogen power source is a fuel cell, The work machine system according to claim 11 or 12, wherein the vehicle body has a vehicle that runs on electricity supplied from at least one of the fuel cell or the battery.

14. The battery is charged by the power supplied from the fuel cell. The work machine system according to claim 13, wherein, when the hydrogen valve is open, the controller controls the fuel cell and the battery respectively so that the remaining charge of the battery is maintained at or above a predetermined charge level.

15. A control method for a work machine having a hydrogen power source, a hydrogen tank for supplying hydrogen to the hydrogen power source, a hydrogen valve for opening and closing the hydrogen flow path from the hydrogen tank to the hydrogen power source, and a vehicle body supporting the hydrogen power source and the hydrogen tank, respectively, The steps include detecting the inclination angle of the vehicle body, A method for controlling a work machine, comprising the step of closing the hydrogen valve when the inclination angle is greater than or equal to a first predetermined angle set in advance.

16. The hydrogen power source is a fuel cell, The aforementioned work machine has a battery that is charged by power supplied from the fuel cell, The method for controlling a work machine according to claim 15, wherein, before the step of closing the hydrogen valve, the output of the fuel cell and the battery are controlled based on the remaining charge of the battery.

17. The aforementioned work machine has a battery, The control method for a work machine according to claim 15, further comprising the step of adjusting the amount of power output from the battery when the inclination angle is greater than or equal to the first predetermined angle.

18. The hydrogen power source is a fuel cell, The aforementioned work machine has a battery, The vehicle body has a running body that runs on electricity supplied from at least one of the fuel cell or the battery. The control method for a work machine according to claim 15, further comprising the step of notifying the amount of time the vehicle can travel using power supplied from the battery when the inclination angle is greater than or equal to a first predetermined angle.

19. A method for controlling a work machine according to any one of claims 15 to 18, further comprising the step of issuing a warning when the inclination angle is greater than or equal to a preset second predetermined angle that is smaller than the first predetermined angle and less than the first predetermined angle.

20. A method for controlling a work machine according to any one of claims 15 to 18, further comprising the step of stopping the operation of the hydrogen power source to inject hydrogen from the hydrogen tank into the hydrogen power source when the inclination angle is greater than or equal to the first predetermined angle.

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