Work vehicle management device, system, and work vehicle management method

Abstract

To determine filling timing of hydrogen gas of a plurality of work vehicles loaded with hydrogen tanks.SOLUTION: A measurement value acquisition unit acquires a measurement value of pressure of a hydrogen tank of each of a plurality of work vehicles loaded with the hydrogen tanks, and the measurement value of the pressure of an accumulator of a hydrogen station which fills the hydrogen tank with hydrogen gas. An estimation unit estimates a value relating to filling time of the hydrogen gas in the hydrogen station due to the plurality of work vehicles, on the basis of the measurement value of the pressure. A determination unit determines filling timing of the hydrogen gas into the plurality of work vehicles, such that the total sum of the filling time is minimized, on the basis of the value relating to the filling time.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a work vehicle management device, a system, and a work vehicle management method. [Background technology]

[0002] Patent Document 1 discloses a technology for scheduling the refueling timing of multiple work vehicles that make up a fleet. According to Patent Document 1, the refueling timing can be scheduled so that waiting times due to more than a certain number of work vehicles arriving at the same gas station at the same time are avoided. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-185358 Summary of the Invention [Problem to be solved by the invention]

[0004] Work vehicles equipped with fuel cells that use hydrogen gas as fuel are being considered. Such work vehicles are equipped with hydrogen tanks filled with hydrogen gas as fuel. Hydrogen gas is filled by connecting a pressure accumulator, which stores hydrogen gas at high pressure and is installed at a hydrogen station, to the hydrogen tank. Hydrogen gas is filled from the pressure accumulator to the hydrogen tank due to the pressure difference between the hydrogen tank and the pressure accumulator. Therefore, the rate at which hydrogen gas is filled into the hydrogen tank increases as the pressure difference between the hydrogen tank and the pressure accumulator increases. Therefore, even if the method described in Patent Document 1 is applied to a work vehicle equipped with a fuel cell, the timing of hydrogen gas replenishment may not necessarily be appropriate. An object of the present disclosure is to provide a work vehicle management device, system, and work vehicle management method that can determine the timing for filling hydrogen gas into multiple work vehicles equipped with hydrogen tanks. [Means for solving the problem]

[0005] According to one aspect of the present disclosure, a work vehicle management device includes a measurement value acquisition unit that acquires a measurement value of the pressure of the hydrogen tank of each of a plurality of work vehicles equipped with a hydrogen tank and a measurement value of the pressure of a pressure accumulator at a hydrogen station that fills the hydrogen tank with hydrogen gas, and a determination unit that determines the timing of filling the plurality of work vehicles with hydrogen gas based on the pressure measurement values.

[0006] According to one aspect of the present disclosure, a work vehicle management method includes steps of obtaining a measured value of the pressure of the hydrogen tank of each of a plurality of work vehicles equipped with a hydrogen tank and a measured value of the pressure of a pressure accumulator at a hydrogen station that fills the hydrogen tank with hydrogen gas, and a step of determining the timing of filling the hydrogen gas into the plurality of work vehicles based on the measured pressure values. [Effects of the Invention]

[0007] According to the above aspect, it is possible to determine the timing for filling hydrogen gas into a plurality of work vehicles equipped with hydrogen tanks. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a configuration of an automated conveyance system including a management device according to a first embodiment. [Figure 2] 1 is a schematic block diagram showing the configuration of a hydrogen station according to a first embodiment. [Figure 3] 1 is a perspective view schematically showing a transporter vehicle according to a first embodiment. [Figure 4] 1 is a schematic block diagram showing the configuration of a power system and a drive system provided in a transporter vehicle according to a first embodiment. [Figure 5] 2 is a schematic block diagram showing the configuration of a control system provided in the transporter vehicle according to the first embodiment. FIG. [Figure 6] FIG. 2 is a schematic block diagram showing the configuration of a management device according to the first embodiment. [Figure 7]4 is a flowchart (part 1) showing a method for determining the hydrogen gas filling order by the management device according to the first embodiment. [Figure 8] 10 is a flowchart (part 2) showing a method for determining the hydrogen gas filling order by the management device according to the first embodiment. [Figure 9] 5 is a flowchart showing a method for transmitting control data of a haulage vehicle by the management device according to the first embodiment. [Figure 10] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] First Embodiment <Configuration of Automated Transport System 1> Hereinafter, the embodiments will be described in detail with reference to the drawings. FIG. 1 is a diagram showing the configuration of an automated transport system 1 equipped with a management device 50 according to the first embodiment. The automated transport system 1 is used to transport mined crushed stone and the like to multiple transport vehicles 10 that travel automatically in a mine. The transport vehicles 10 are powered by fuel cells that use hydrogen gas as fuel. The management device 50 transmits driving instructions to the transport vehicles 10 and controls the operation of the transport vehicles 10. The transport vehicles 10 are an example of a work vehicle. Multiple transport vehicles 10 form a fleet.

[0010] The mine is equipped with a quarry P1, a soil unloading site P2, and a hydrogen station P3. A transport vehicle 10 transports quarry loaded at the quarry P1 to the soil unloading site P2 and unloads crushed stone at the soil unloading site P2. After unloading the crushed stone at the soil unloading site P2, the transport vehicle 10 moves back to the quarry P1 and loads the quarry stone again. The transport vehicle 10 refuels with hydrogen gas at the hydrogen station P3.

[0011] A course C along which the transport vehicle 10 travels is provided in the mine. The course C includes a first passage C1, a second passage C2, and a third passage C3. The first passage C1 is a one-way passage from the excavation site P1 to the dumping site P2. The second passage C2 is a one-way passage from the dumping site P2 to the excavation site P1. The third passage C3 branches off from the second passage C2 and connects to the hydrogen station P3. In other embodiments, the third passage C3 may branch off from the first passage C1. In other embodiments, if the mine has multiple hydrogen stations P3, a third passage C3 is provided for each hydrogen station P3. In the example shown in FIG. 1, the first passage C1 and the second passage C2 are provided at a distance from each other to form the circular course C, but this is not limited to this in other embodiments. For example, in other embodiments, the first passage C1 and the second passage C2 may be provided adjacent to each other to form a two-way course C.

[0012] FIG. 2 is a schematic block diagram showing the configuration of a hydrogen station P3 according to the first embodiment. The hydrogen station P3 includes a hydrogen storage tank P31, a compressor P32, a pressure accumulator P33, a dispenser P34, a pressure gauge P35, and a communication device P36. The hydrogen storage tank P31 is a tank for storing hydrogen gas. The hydrogen storage tank P31 stores hydrogen gas at a first pressure (e.g., approximately 20 MPa). The first pressure may be lower than the pressure of the hydrogen tank 141 provided in the delivery vehicle 10. The pressure accumulator P33 stores hydrogen gas at a second pressure (e.g., approximately 82 MPa). The second pressure is higher than the pressure of the hydrogen tank 141 provided in the delivery vehicle 10. The compressor P32 pressurizes the hydrogen gas in the hydrogen storage tank P31 to the second pressure and fills it into the pressure accumulator P33. The compressor P32 fills the accumulator P33 with hydrogen gas from the hydrogen storage facility P31 when the delivery vehicle 10 is not being filled with hydrogen gas. The dispenser P34 has a nozzle that outputs hydrogen gas. The nozzle is configured to engage with the hydrogen tank 141. The dispenser P34 cools the hydrogen gas to prevent the temperature of the hydrogen tank 141 from rising due to adiabatic compression caused by filling the hydrogen gas. The accumulator P33 and the dispenser P34 are connected by high-pressure piping. The hydrogen station P3 according to the first embodiment can supply hydrogen gas to one delivery vehicle 10 at a time. In other embodiments, the hydrogen station P3 may be equipped with multiple accumulators P33 and dispensers P34 and be able to supply hydrogen gas to multiple delivery vehicles 10.

[0013] The pressure gauge P35 measures the pressure of the pressure accumulator P33. The communication device P36 transmits the measurement value of the pressure gauge P35 to the management device 50.

[0014] Configuration of transport vehicle 10 3 is a perspective view schematically showing the transporter vehicle 10 according to the first embodiment. The transporter vehicle 10 includes a vessel 11, a vehicle body 12, and a traveling device 13.

[0015] The vessel 11 is a member on which cargo is loaded. At least a portion of the vessel 11 is disposed above the vehicle body 12. The vessel 11 performs a dumping operation and a lowering operation. By the dumping operation and the lowering operation, the vessel 11 is adjusted to a dumping position and a loaded position. The dumping position refers to a position in which the vessel 11 is raised. The loaded position refers to a position in which the vessel 11 is lowered.

[0016] The dumping operation refers to an operation of moving the vessel 11 away from the vehicle body 12 and tilting it in the dumping direction. The dumping direction is toward the rear of the vehicle body 12. In the embodiment, the dumping operation includes lifting the front end of the vessel 11 and tilting the vessel 11 rearward. Due to the dumping operation, the loading surface of the vessel 11 tilts downward toward the rear.

[0017] The lowering operation refers to an operation of bringing the vessel 11 closer to the vehicle body 12. In the embodiment, the lowering operation includes lowering the front end of the vessel 11.

[0018] When earth removal work is performed, the vessel 11 performs a dumping operation to change from a loaded posture to a dump posture. If a load is loaded on the vessel 11, the load is discharged rearward from the rear end of the vessel 11 by the dumping operation. When loading work is performed, the vessel 11 is adjusted to the loaded posture.

[0019] The vehicle body 12 includes a vehicle body frame. The vehicle body 12 supports the vessel 11. The vehicle body 12 is supported by a traveling device 13.

[0020] The traveling device 13 supports the vehicle body 12. The traveling device 13 causes the transporter vehicle 10 to travel. The traveling device 13 causes the transporter vehicle 10 to move forward or backward. At least a portion of the traveling device 13 is disposed below the vehicle body 12. The traveling device 13 has a pair of front wheels and a pair of rear wheels. The front wheels are steered wheels, and the rear wheels are driven wheels.

[0021] 4 is a schematic block diagram showing the configuration of the power system 14 and drive system 15 provided in the transporter vehicle 10 according to the first embodiment. The power system 14 includes a hydrogen tank 141, a hydrogen supply device 142, a fuel cell 143, a battery 144, and a DC-DC converter 145. The power system 14 includes a plurality of fuel cells 143. The hydrogen supply device 142 supplies hydrogen gas filled in the hydrogen tank 141 to the fuel cell 143. The fuel cell 143 generates electric power by causing an electrochemical reaction between the hydrogen supplied from the hydrogen supply device 142 and oxygen contained in the outside air. The battery 144 stores the electric power generated in the fuel cell 143. The DC-DC converter 145 outputs electric power from the connected fuel cell 143 or battery 144 in accordance with instructions from the control system 16 (see FIG. 4).

[0022] The power output from the power system 14 is output to the drive system 15 via a bus B. The drive system 15 has an inverter 151, a pump drive motor 152, a hydraulic pump 153, a hoist cylinder 154, an inverter 155, and a traveling drive motor 156. The inverter 151 converts the DC current from the bus B into three-phase AC current and supplies it to the pump drive motor 152. The pump drive motor 152 drives the hydraulic pump 153. The hydraulic oil discharged from the hydraulic pump 153 is supplied to the hoist cylinder 154 via a control valve (not shown). The supply of the hydraulic oil to the hoist cylinder 154 activates the hoist cylinder 154. The hoist cylinder 154 performs a dumping or lowering operation on the vessel 11. The inverter 155 converts the DC current from the bus B into three-phase AC current and supplies it to the traveling drive motor 156. The rotational force generated by the traveling drive motor 156 is transmitted to the rear wheels of the traveling device 13 .

[0023] The transporter vehicle 10 is equipped with a control system 16 that controls the power system 14 and the drive system 15. Figure 5 is a schematic block diagram showing the configuration of the control system 16 equipped in the transporter vehicle 10 according to the first embodiment. The control system 16 is equipped with a measuring device 161, a communication device 162, and a control device 163.

[0024] The measurement device 161 collects data regarding the operating state and traveling state of the transport vehicle 10. The measurement device 161 includes at least a positioning device that measures the position and direction of the transport vehicle 10 using a Global Navigation Satellite System (GNSS), a speedometer that measures the speed of the transport vehicle 10, and a pressure gauge that measures the pressure of the hydrogen tank 141.

[0025] The communication device 162 communicates with the management device 50 via a mobile communication network or the like. The communication device 162 transmits measurement data that stores various measurement values ​​measured by the measuring device 161 to the management device 50. The communication device 162 receives control data for controlling the haulage vehicle 10 from the management device 50.

[0026] The control device 163 drives the haulage vehicle 10 in accordance with the control data received by the communication device 162 from the management device 50. The control device 163 generates control signals for controlling the haulage vehicle 10, for example, by PID control based on the control data and the measurement values ​​obtained by the measuring device 161. For example, the control device 163 generates control signals for controlling the steering, accelerator, brake, vessel operation, etc. of the traveling device 13. The control device 163 includes a processor, a memory, an auxiliary storage device, and the like, which are connected via a bus, and functions as a device that generates control signals by PID control by executing a program. Examples of the processor include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor. The program may be recorded on a computer-readable recording medium, such as a storage device including a magnetic disk, a magneto-optical disk, an optical disk, or a semiconductor memory. The program may be transmitted via a telecommunications line. Note that all or part of the functions of the control device 163 may be implemented using a custom LSI (Large Scale Integrated Circuit) such as an ASIC (Application Specific Integrated Circuit) or a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). Such integrated circuits are also included in the scope of the processor.

[0027] Configuration of management device 50 FIG. 6 is a schematic block diagram showing the configuration of the management device 50 according to the first embodiment. The management device 50 includes a measurement value acquisition unit 51 , a candidate generation unit 52 , an estimation unit 53 , a determination unit 54 , a storage unit 55 , a control data generation unit 56 , and a control data transmission unit 57 .

[0028] The measurement value acquisition unit 51 receives measurement values ​​of the position, direction, speed, and pressure of the hydrogen tank 141 from multiple transport vehicles 10. The measurement value acquisition unit 51 also receives a measurement value of the pressure of the pressure accumulator P33 from the hydrogen station P3.

[0029] The candidate generation unit 52 randomly determines candidates for the filling order of hydrogen gas for the multiple delivery vehicles 10. The candidate filling order generated by the candidate generation unit 52 is a sequence without overlaps that is generated by rearranging the multiple delivery vehicles 10. The candidate generation unit 52 generates a predetermined number of candidate filling orders.

[0030] The estimation unit 53 estimates a value related to the filling time when hydrogen gas is filled in accordance with the filling sequence candidates generated by the candidate generation unit 52. The filling time is determined by the differential pressure between the hydrogen tank 141 and the pressure accumulator P33 at the start of hydrogen gas filling. Therefore, the estimation unit 53 according to the first embodiment calculates the sum of the differential pressures between the hydrogen tank 141 and the pressure accumulator P33 at the start of hydrogen gas filling in multiple delivery vehicles 10 as the value related to the filling time. Specifically, the estimation unit 53 simulates the filling of multiple delivery vehicles 10 with hydrogen gas in accordance with the filling sequence candidates generated by the candidate generation unit 52, based on the measurement values ​​received by the measurement value acquisition unit 51, and calculates the differential pressure between the hydrogen tank 141 and the pressure accumulator P33 based on the results of the simulation.

[0031] The determination unit 54 determines the filling order that has the shortest hydrogen gas filling time from among the multiple filling order candidates generated by the candidate generation unit 52 as the filling order. The storage unit 55 stores the filling order determined by the determination unit 54. The control data generation unit 56 generates control data for the multiple haulage vehicles 10 based on the filling order determined by the determination unit 54, the data acquired by the measurement value acquisition unit 51, and predetermined operation rules for the haulage vehicles 10. The operation rules for the haulage vehicles 10 are determined by the traveling direction and traveling speed on the course C, and the standard work time at the excavation site P1 and the discharge site P2. For example, the operation rules may divide the course C into multiple sections and associate the traveling direction and traveling speed for each section. The operation rules may be set manually by an administrator or the like, or may be automatically generated according to the travel of the haulage vehicles 10 on the course C. The control data transmitting unit 57 transmits the control data generated by the control data generating unit 56 to each haulage vehicle 10 .

[0032] <<Processing of the Management Device 50>> Fig. 7 is a flowchart (part 1) showing a method for determining the hydrogen gas filling order by the management device 50 according to the first embodiment. Fig. 8 is a flowchart (part 2) showing a method for determining the hydrogen gas filling order by the management device 50 according to the first embodiment. The management device 50 performs the process for determining the hydrogen gas filling order shown in Fig. 7, for example, every time filling of hydrogen gas into a plurality of transport vehicles 10 is completed according to the filling order. The management device 50 determines the order in which to fill multiple delivery vehicles 10 with hydrogen gas using the following procedure. First, the measurement value acquisition unit 51 of the management device 50 receives measurement values ​​of the position, direction, speed, and pressure of the hydrogen tank 141 from the multiple delivery vehicles 10 (step S1). The measurement value acquisition unit 51 also receives a measurement value of the pressure of the pressure accumulator P33 from the hydrogen station P3 (step S2).

[0033] Next, the candidate generation unit 52 randomly determines candidates for the filling order of hydrogen gas for the multiple delivery vehicles 10 (step S3). The estimation unit 53 determines the delivery vehicle 10 at the head of the filling order candidates determined in step S3 as the target vehicle, and determines the current time as the first target time (step S4). The target vehicle is the delivery vehicle 10 that will be filled with hydrogen gas in the operation simulation of the delivery vehicle 10. The first target time is the time that serves as the starting point of calculations in the operation simulation.

[0034] The estimation unit 53 estimates a first time, which is the time it takes for the target vehicle to reach the hydrogen station P3 from its position at the first target time (step S5). For example, the estimation unit 53 estimates the first time by multiplying the distance from the target vehicle's position at the target time to the hydrogen station P3 by the speed limit for the transport vehicle 10 defined in the operation rules. The position of the target vehicle at the first target time in the initial calculation is the position indicated by the measurement value received in step S1. The position of the target vehicle at the first target time in the second and subsequent calculations is calculated in step S12, which will be described later.

[0035] Next, the estimation unit 53 determines the second target time as the time obtained by adding the first time calculated in step S5 to the first target time (step S6). The second target time is the time when the target vehicle arrives at the hydrogen station P3, i.e., the time when filling of the target vehicle with hydrogen gas begins. The estimation unit 53 estimates the pressure in the hydrogen tank 141 of the target vehicle at the second target time (step S7). For example, the estimation unit 53 estimates the pressure in the hydrogen tank 141 of the target vehicle at the second target time using the following procedure. First, the estimation unit 53 identifies a predetermined rate of decrease in hydrogen gas pressure for the section of course C in which the transport vehicle 10 is traveling. The rate of decrease in hydrogen gas pressure for each section is calculated in advance based on the gradient, speed limit, etc. of the section. Next, the estimation unit 53 multiplies the identified rate of decrease by the first time calculated in step S5 to obtain the amount of pressure decrease. The estimation unit 53 estimates the pressure in the hydrogen tank 141 of the target vehicle at the second target time by subtracting the calculated decrease from the pressure in the hydrogen tank 141 at the first target time. The estimation unit 53 also estimates the pressure in the accumulator P33 of the hydrogen station P3 at the second target time (step S8). For example, the estimation unit 53 estimates the pressure in the accumulator P33 at the second target time using the following procedure. First, the estimation unit 53 calculates the increase in pressure by multiplying the rate at which the pressure in the accumulator P33 is increased by the compressor P32 by the first time calculated in step S5. The estimation unit 53 estimates the pressure in the accumulator P33 at the second target time by adding the calculated increase to the pressure in the accumulator P33 at the first target time.

[0036] Estimation unit 53 estimates the differential pressure between hydrogen tank 141 and pressure accumulator P33 of the target vehicle at a second target time (step S9). Based on the estimated differential pressure, estimation unit 53 estimates a second time, which is the time required to complete filling of hydrogen gas into hydrogen tank 141 of the target vehicle (step S10). The relationship between the differential pressure between hydrogen tank 141 and pressure accumulator P33 and the amount of change in pressure in hydrogen tank 141 per unit time can be calculated in advance. Therefore, estimation unit 53 estimates, as the second time, the time at which the time integral of the amount of change in pressure becomes equal to the difference between the pressure in hydrogen tank 141 of the target vehicle at the second target time and the pressure in hydrogen tank 141 when fully filled.

[0037] The estimation unit 53 determines whether or not there is a delivery vehicle 10 that follows the target vehicle in the filling order candidates determined in step S3 (step S11).

[0038] If the next delivery vehicle 10 exists (step S11: YES), the estimation unit 53 determines the third target time to be the time obtained by adding the second time to the second target time (step S12). The estimation unit 53 estimates the position of the delivery vehicle 10 other than the target vehicle at the third target time (step S13). For example, the estimation unit 53 estimates the position of the delivery vehicle 10 at the third target time by adding the distance obtained by multiplying the speed limit of the delivery vehicle 10 defined in the operation rules by the sum of the first time and the second time to the position of the delivery vehicle 10 at the first target time. The position of the target vehicle at the third target time is the position of the hydrogen station P3. Next, the estimation unit 53 estimates the pressure of the hydrogen tank 141 of the delivery vehicle 10 other than the target vehicle at the third target time (step S14). For example, the estimation unit 53 identifies a predetermined rate of decrease in the pressure of hydrogen gas for the section of course C where the delivery vehicle 10 is traveling. Next, the estimation unit 53 estimates the pressure in the hydrogen tank 141 of the delivery vehicle 10 at the third target time by subtracting the amount of pressure decrease obtained by multiplying the identified decrease rate by the sum of the first time and the second time from the pressure in the hydrogen tank 141 at the first target time. The estimation unit 53 also estimates the pressure in the accumulator P33 of the hydrogen station P3 at the third target time (step S15). For example, the estimation unit 53 estimates the pressure in the accumulator P33 at the third target time by subtracting the amount of change in pressure in the hydrogen tank 141 over the second time from the pressure in the accumulator P33 at the second target time. The estimation unit 53 then changes the target vehicle to the next delivery vehicle 10 and changes the first target time to the value of the third target time (step S16). The estimation unit 53 then returns to step S5.

[0039] If there is no next transport vehicle 10 in step S11 (step S11: NO), the estimation unit 53 calculates the sum of the pressure differences between the hydrogen tanks 141 of the multiple transport vehicles 10 and the pressure accumulator P33 at the start of filling with hydrogen gas, calculated in step S9, as an index value for the hydrogen gas filling time (step S17). The index value increases as the filling time becomes shorter. By performing the processes from step S4 to step S17, the management device 50 can estimate the filling start time of each of the multiple delivery vehicles 10 so that two or more delivery vehicles 10 are not present at the hydrogen station P3 at the same time.

[0040] The candidate generation unit 52 determines whether the number of generated filling order candidates is equal to or greater than a predetermined number (step S18). If the number of filling order candidates is less than the predetermined number (step S18: NO), the management device 50 returns the process to step S3 and calculates the index value for the next filling order candidate. On the other hand, if the number of filling order candidates is equal to or greater than the predetermined number (step S18: YES), the determination unit 54 determines, as the filling order to be adopted, the filling order candidate having the largest index value calculated in step S17 among the multiple filling order candidates generated by the candidate generation unit 52 (step S19). The determination unit 54 records the determined filling order in the storage unit 55 (step S20) and ends the filling order determination process. Note that the determination of whether the number of filling order candidates is equal to or greater than the predetermined number in step S18 may be performed by the determination unit 54. In this case, if the number of filling order candidates is less than the predetermined number, the determination unit 54 instructs the candidate generation unit 52 to generate a new filling order candidate.

[0041] This allows the management device 50 to control the delivery vehicle 10 so that the delivery vehicle 10 moves to the hydrogen station P3 in accordance with the filling order stored in the memory unit 55. Figure 9 is a flowchart showing a method for transmitting control data for the delivery vehicle 10 by the management device 50 according to the first embodiment. The management device 50 executes the control data transmission process shown in Figure 8 at regular control intervals. First, the measurement value acquisition unit 51 of the management device 50 receives the position, direction, and speed from the multiple delivery vehicles 10 (step S31). Next, the management device 50 selects the delivery vehicles 10 one by one (step S32), and performs the calculations shown in the following steps S33 to S37 for the selected delivery vehicles 10.

[0042] The control data generation unit 56 refers to the filling order stored in the memory unit 55 and determines whether the delivery vehicle 10 to be filled with hydrogen gas next is the delivery vehicle 10 selected in step S32 (step S33). If the delivery vehicle 10 to be filled with hydrogen gas next is the delivery vehicle 10 selected in step S32 (step S33: YES), it determines whether the selected delivery vehicle 10 is located near the branch point of the third passage C3 based on the position measurement value received in step S31 (step S34). The vicinity of the branch point may be, for example, a range from a point before the branch point by the distance traveled by the delivery vehicle 10 in the time related to the control cycle to the branch point. If the selected delivery vehicle 10 is located near the branch point of the third passage C3 (step S34: YES), it determines whether another delivery vehicle 10 is being filled with hydrogen gas at the hydrogen station P3 (step S35). If another delivery vehicle 10 is not being filled with hydrogen gas (step S35: NO), the control data generation unit 56 generates control data for causing the selected delivery vehicle 10 to travel through the third passage C3 (step S36). On the other hand, if the delivery vehicle 10 to be filled with hydrogen gas is not the delivery vehicle 10 selected in step S32 (step S33: NO), if the selected delivery vehicle 10 is not located near the branch point (step S34: NO), or if another delivery vehicle 10 is being filled with hydrogen gas at the hydrogen station P3 (step S35: YES), the control data generation unit 56 generates control data for causing the selected delivery vehicle 10 to travel through the first passage C1 or the second passage C2 (step S37).

[0043] Actions and Effects In this way, the management device 50 according to the first embodiment determines the timing for filling hydrogen gas into the multiple delivery vehicles 10 so as to minimize the total time it takes for the multiple delivery vehicles 10 to fill with hydrogen gas at the hydrogen station, based on the measured pressure values ​​of the hydrogen tanks 141 of each of the multiple delivery vehicles 10 and the measured pressure value of the accumulator P33 of the hydrogen station P3. This allows the management device 50 to determine the appropriate timing for replenishment of hydrogen gas for the management device 50 equipped with a fuel cell.

[0044] Furthermore, the management device 50 according to the first embodiment calculates an index value for the filling time based on the differential pressure between the hydrogen tank 141 and the pressure accumulator P33 at the start of filling with hydrogen gas. The filling rate of hydrogen gas is determined by the differential pressure between the hydrogen tank 141 and the pressure accumulator P33. Therefore, the management device 50 calculates an index value based on the differential pressure between the hydrogen tank 141 and the pressure accumulator P33, and determines the filling timing so as to maximize this index value, thereby determining the appropriate timing for replenishment of hydrogen gas.

[0045] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel. The management device 50 according to the above-described embodiment may be configured by a single computer, or the configuration of the management device 50 may be divided among multiple computers that cooperate with each other to function as the management device 50. In this case, some of the computers that make up the management device 50 may be provided in the hydrogen station P3.

[0046] The management device 50 according to the embodiment described above performs the process of determining the hydrogen gas filling order each time the filling of hydrogen gas into a plurality of transport vehicles 10 is completed according to the filling order, but this is not limited to this. For example, the management device 50 according to other embodiments may perform the process of determining the filling order in response to other triggers, such as when the pressure in the hydrogen tank 141 of one of the plurality of transport vehicles 10 falls below a predetermined value.

[0047] The management device 50 according to the embodiment described above fills all of the multiple transport vehicles 10 with hydrogen gas according to the determined filling order, but this is not limited to this. For example, the management device 50 according to another embodiment may determine the filling order for those of the multiple transport vehicles 10 whose hydrogen tanks 141 have pressures below a predetermined value, and not perform calculations for those whose hydrogen tanks 141 have pressures above the predetermined value.

[0048] The management device 50 according to the embodiment described above generates a predetermined number of candidate filling orders and determines the optimal filling order from among them, but this is not limited to this. For example, the management device 50 according to another embodiment may repeatedly generate candidate filling orders and determine the next filling order from the time the delivery vehicle 10 starts filling hydrogen gas until the filling is completed. In this case, the management device 50 may recalculate the filling order each time the delivery vehicle 10 at the head of the filling order arrives at the hydrogen station P3. The accuracy of estimating the location of the delivery vehicle 10, the pressure in the hydrogen tank 141, and the pressure in the accumulator P33 of the hydrogen station P3 decreases the further away from the current time the time becomes. Therefore, by recalculating the filling order each time the delivery vehicle 10 arrives at the hydrogen station P3, it is possible to consistently calculate the appropriate filling order.

[0049] The management device 50 according to the embodiment described above determines the filling order of the haulage vehicles 10, but is not limited to this. For example, the management device 50 according to another embodiment may determine the filling start time, i.e., the filling timing, of each haulage vehicle 10. In this case, the candidate generation unit 52 randomly determines the filling timing of each of the multiple haulage vehicles 10, and estimates the filling time at the filling timing for each haulage vehicle 10. Furthermore, the management device 50 according to another embodiment may determine the filling order in the same procedure as in the first embodiment, and may determine the filling start time of each haulage vehicle 10 estimated by the estimation unit 53 as the filling timing.

[0050] Although the management device 50 according to the embodiment described above generates the candidate filling orders randomly, this is not limiting. For example, the management device 50 according to another embodiment may generate the candidate filling orders based on weights corresponding to the pressure of the hydrogen tank 141. In other words, the management device 50 according to another embodiment may generate the candidate filling orders so that delivery vehicles 10 with lower pressure in the hydrogen tank 141 are preferentially selected.

[0051] Although the hydrogen station P3 according to the embodiment described above can only fill one delivery vehicle 10 with hydrogen gas at a time, this is not limited to this. For example, in other embodiments, the hydrogen station P3 may be able to simultaneously fill two or more delivery vehicles 10 with hydrogen gas. In this case, the management device 50 estimates the filling start time for each of the multiple delivery vehicles 10 so that the number of delivery vehicles 10 present at the hydrogen station P3 does not exceed the number that can be filled simultaneously.

[0052] <Computer Configuration> FIG. 10 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. The computer 90 includes a processor 91 , a main memory 92 , a storage 93 , and an interface 94 . The above-described management device 50 is implemented in a computer 90. The operations of the above-described processing units are stored in the form of a program in a storage 93. A processor 91 reads the program from the storage 93, loads it into a main memory 92, and executes the above-described processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to the above-described storage units in accordance with the program. Examples of the processor 91 include a CPU, a GPU, and a microprocessor.

[0053] The program may be for realizing some of the functions to be performed by the computer 90. For example, the program may be combined with other programs already stored in storage or other programs implemented in other devices to perform the functions. In other embodiments, the computer 90 may include a custom LSI such as a PLD in addition to or instead of the above configuration. Examples of PLDs include PALs, GALs, CPLDs, and FPGAs. In this case, some or all of the functions realized by the processor 91 may be realized by the integrated circuit. Such an integrated circuit is also included as an example of a processor.

[0054] Examples of storage 93 include a magnetic disk, a magneto-optical disk, an optical disk, and a semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of computer 90, or an external medium connected to computer 90 via interface 94 or a communication line. Furthermore, when this program is distributed to computer 90 via a communication line, computer 90 that receives the program may load the program into main memory 92 and execute the above-described processing. In at least one embodiment, storage 93 is a non-transitory tangible storage medium.

[0055] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 93. [Explanation of symbols]

[0056] 1...Automated transport system 10...Transport vehicle 11...Vessel 12...Vehicle body 13...Traveling device 14...Power system 141...Hydrogen tank 142...Hydrogen supply device 143...Fuel cell 144...Battery 145...DCDC converter 15...Drive system 151...Inverter 152...Pump drive motor 153...Hydraulic pump 154...Hoist cylinder 155...Inverter 156...Travel drive motor 16...Control system 161...Measuring device 162...Communication device 163...Control device 50...Management device 51...Measurement value acquisition unit 52...Candidate generation unit 53...Estimation unit 54...Decision unit 55...Memory unit 56...Control data generation unit 57...Control data transmission unit 90...Computer 91...Processor 92...Main memory 93...Storage 94...Interface B...Bus C...Course C1...First passage C2...Second passage C3...Third passage P1...Excavation site P2...Soil disposal site P3...Hydrogen station P31...Hydrogen storage facility P32...Compressor P33...Accumulator P34...Dispenser P35...Pressure gauge P36...Communication equipment

Claims

1. a measurement value acquisition unit that acquires a measurement value of the pressure of the hydrogen tank of each of a plurality of work vehicles equipped with the hydrogen tank and a measurement value of the pressure of a pressure accumulator at a hydrogen station that fills the hydrogen tank with hydrogen gas; an estimation unit that estimates a value related to a filling time of the hydrogen gas at the hydrogen station by the plurality of work vehicles based on the pressure measurement value; a determination unit that determines the timing or order of filling hydrogen gas into the plurality of work vehicles based on the value related to the filling time; A work vehicle management device comprising:

2. The determination unit determines the timing or sequence of filling hydrogen gas into the plurality of work vehicles based on the value related to the filling time so as to minimize the sum of the filling times. The work vehicle management device according to claim 1 .

3. the value relating to the filling time is a differential pressure between the pressure of the hydrogen tank and the pressure of the pressure accumulator at the start of filling of hydrogen gas, The determination unit determines the filling timing or filling sequence so as to maximize the sum of the differential pressures between the hydrogen tank and the pressure accumulator at the start of filling of hydrogen gas for each of the plurality of work vehicles. The work vehicle management device according to claim 2 .

4. a candidate generator that generates a plurality of candidates for the timing or sequence of hydrogen gas filling for the plurality of work vehicles; the estimation unit estimates a value related to the filling time of the hydrogen gas for each of the plurality of candidates; The determination unit determines the timing or sequence of filling the hydrogen gas into the plurality of work vehicles based on the candidate with the shortest sum of the filling times among the plurality of candidates. The work vehicle management device according to claim 2 or 3.

5. the candidate generation unit generates candidates for the filling order of the hydrogen gas; The estimation unit According to the filling order, a time is estimated at which each of the plurality of work vehicles will start filling hydrogen gas at the hydrogen station so that the number of work vehicles at the hydrogen station does not exceed the number that can be filled simultaneously; estimating a pressure difference between the hydrogen tank and the pressure accumulator at the estimated time based on the pressure measurement value; The hydrogen gas filling time is estimated based on the pressure difference. The work vehicle management device according to claim 4.

6. a control data generation unit that generates control data for the plurality of work vehicles based on the filling timing or filling order determined by the determination unit; a control data transmission unit that transmits the control data to the plurality of work vehicles; The work vehicle management device according to any one of claims 1 to 5, comprising:

7. a plurality of work vehicles each equipped with a hydrogen tank, a pressure gauge for acquiring a pressure measurement value of the hydrogen tank, and a communication device for transmitting the pressure measurement value of the hydrogen tank; a hydrogen station including a pressure accumulator into which hydrogen gas is pressurized to a predetermined pressure and filled, a pressure meter that acquires a measured value of the pressure of the pressure accumulator, and a communication device that transmits the measured value of the pressure of the pressure accumulator; a management device including: a communication device that receives a measured value of the pressure of the hydrogen tank and a measured value of the pressure of the pressure accumulator; an estimation unit that estimates a value related to the time it will take for the multiple work vehicles to fill up with hydrogen gas at the hydrogen station based on the measured values ​​of the pressure of the hydrogen tank and the pressure accumulator; and a determination unit that determines the timing or order of filling up with hydrogen gas into the multiple work vehicles based on the value related to the filling time; A system comprising:

8. The determination unit determines the timing or sequence of filling hydrogen gas into the plurality of work vehicles based on the value related to the filling time so as to minimize the sum of the filling times. The system of claim 7.

9. the value relating to the filling time is a differential pressure between the pressure of the hydrogen tank and the pressure of the pressure accumulator at the start of filling of hydrogen gas, The determination unit determines the filling timing or filling sequence so as to maximize the sum of the differential pressures between the hydrogen tank and the pressure accumulator at the start of filling of hydrogen gas for each of the plurality of work vehicles. The system of claim 8.

10. The management device a candidate generator that generates a plurality of candidates for the timing or sequence of hydrogen gas filling for the plurality of work vehicles; the estimation unit estimates a value related to the filling time of the hydrogen gas for each of the plurality of candidates; The determination unit determines the timing or sequence of filling the hydrogen gas into the plurality of work vehicles based on the candidate with the shortest sum of the filling times among the plurality of candidates.

10. The system according to claim 8 or claim 9.

11. the candidate generation unit generates candidates for the filling order of the hydrogen gas; The estimation unit According to the filling order, a time is estimated at which each of the plurality of work vehicles will start filling hydrogen gas at the hydrogen station so that the number of work vehicles at the hydrogen station does not exceed the number that can be filled simultaneously; estimating a pressure difference between the hydrogen tank and the pressure accumulator at the estimated time based on the pressure measurement value; The hydrogen gas filling time is estimated based on the pressure difference. The system of claim 10.

12. The management device: a control data generation unit that generates control data for the plurality of work vehicles based on the filling timing or filling order determined by the determination unit; a control data transmission unit that transmits the control data to the plurality of work vehicles; 12. The system according to any one of claims 7 to 11, comprising:

13. A step in which a management device acquires a measured value of the pressure of the hydrogen tank of each of a plurality of work vehicles equipped with the hydrogen tank, and a measured value of the pressure of a pressure accumulator of a hydrogen station that fills the hydrogen tank with hydrogen gas; the management device estimating a value related to a filling time of the hydrogen gas at the hydrogen station by the plurality of work vehicles based on the pressure measurement value; the management device determines the timing or order of filling hydrogen gas into the plurality of work vehicles based on the value related to the filling time; A work vehicle management method comprising:

14. In the step of determining the timing or sequence of filling, the management device determines the timing or sequence of filling hydrogen gas into the plurality of work vehicles based on the value related to the filling time so as to minimize the sum of the filling times. The work vehicle management method according to claim 13.

15. the value relating to the filling time is a differential pressure between the pressure of the hydrogen tank and the pressure of the pressure accumulator at the start of filling of hydrogen gas, In the step of determining the filling timing or the filling sequence, the management device determines the filling timing or the filling sequence so that the sum of the differential pressures between the hydrogen tank and the pressure accumulator at the start of filling of hydrogen gas for each of the plurality of work vehicles is maximized. The work vehicle management method according to claim 14.

16. The management device includes a step of generating a plurality of candidates for the timing or sequence of filling hydrogen gas for the plurality of work vehicles, In the step of estimating a value related to the filling time, the management device estimates a value related to the filling time of the hydrogen gas for each of the plurality of candidates; In the step of determining the filling timing or the filling sequence, the management device determines the timing or sequence of filling hydrogen gas into the plurality of work vehicles based on the candidate that has the shortest total filling time among the plurality of candidates. A work vehicle management method according to claim 14 or 15.

17. In the step of generating a plurality of candidates, the management device generates a plurality of candidates related to the hydrogen gas filling order, In the step of estimating a value related to the filling time, the management device estimates the time when each of the plurality of work vehicles will start filling hydrogen gas at the hydrogen station according to the filling order so that the number of work vehicles at the hydrogen station does not exceed the number that can be filled simultaneously; the management device estimates a differential pressure between the hydrogen tank and the pressure accumulator at the estimated time based on the measured pressure value; The management device estimates the hydrogen gas filling time based on the differential pressure. The work vehicle management method according to claim 16.

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