Control device and control method

Abstract

To appropriately determine electric power to be output by a fuel cell mounted on a work vehicle.SOLUTION: A power amount calculation unit calculates on the basis of a travel route of a work vehicle at a work site and power generated by a fuel cell, a required battery power of the work vehicle for travelling on the travel route. An instruction unit instructs the work vehicle to standby until a battery residual quantity is charged to the required power or more by the power generated by the fuel cell when the battery residual quantity is less than the required power.SELECTED DRAWING: Figure 1

Description

【Technical Field】 【0001】 The present disclosure relates to a management device and a management method. 【Background Art】 【0002】 There has been a consideration of a work vehicle equipped with a fuel cell that uses hydrogen gas as fuel. A work vehicle driven by a fuel cell usually has a battery in order to suppress the amount of the fuel cell mounted and absorb regenerative power when going down a slope. Therefore, the control device of the work vehicle needs to perform energy management that appropriately distributes the energy of the fuel cell and the battery. 【0003】 Patent Document 1 discloses a system for managing a fleet of autonomous vehicles that carry users and travel in a predetermined area according to the requests of the users. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 International Publication No. 2019 / 124539 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 As an operation method of a power system, a range extender method is known. The range extender method is a method in which a constant power is always output from a fuel cell, and the difference between the power required for driving the work vehicle and the power output from the fuel cell is covered by charging or discharging the battery. That is, the work vehicle travels using assist power from the battery in addition to the generated power of the fuel cell, for example, when going up a slope. Therefore, when assigning a travel route to the work vehicle, the management device needs to manage not only the remaining amount of hydrogen gas but also the remaining amount of the battery. An object of the present disclosure is to provide a management device and a management method capable of managing travel at a work site by a work vehicle including a fuel cell and a battery. [Means for solving the problem] 【0006】 According to one aspect of the present disclosure, the management device is a management device for a work vehicle equipped with a fuel cell and a battery, comprising: a power calculation unit that calculates the amount of power required for the battery to travel along the travel route of the work vehicle at the work site and the power generated by the fuel cell; and an instruction unit that, when the remaining battery level falls below the required amount of power, instructs the work vehicle to wait until the remaining battery level is charged to or above the required amount by the power generated by the fuel cell. [Effects of the Invention] 【0007】 According to the above embodiment, the work vehicle management device can manage the movement of work vehicles equipped with fuel cells and batteries at the work site. [Brief explanation of the drawing] 【0008】 [Figure 1] This diagram shows the configuration of a transport system equipped with a control device according to the first embodiment. [Figure 2] This is a schematic perspective view showing a transport vehicle according to the first embodiment. [Figure 3] This is a schematic block diagram showing the configuration of the power system and drive system of the transport vehicle according to the first embodiment. [Figure 4] This is a schematic block diagram showing the configuration of the control system provided in the transport vehicle according to the first embodiment. [Figure 5] This is a schematic block diagram showing the configuration of the control device according to the first embodiment. [Figure 6] This flowchart shows the process of setting control data by the management device and transport vehicle according to the first embodiment. [Figure 7] This is a schematic block diagram showing the configuration of a computer according to at least one embodiment. [Modes for carrying out the invention] 【0009】 <First Embodiment> Configuration of Transportation System 1 The embodiments will be described in detail below with reference to the drawings. Figure 1 shows the configuration of a transport system 1 equipped with a control device 50 according to the first embodiment. The transport system 1 is used to transport mined crushed stone and the like using a plurality of transport vehicles 10. The transport vehicles 10 are driven by fuel cells that use hydrogen gas as fuel. The control device 50 transmits control data for driving the transport vehicles 10 and controls the operation of the transport vehicles 10. The transport vehicles 10 are an example of work vehicles. As an example of a work site, a mine will be used as an example in the explanation. 【0010】 The mine is equipped with a mining area P1, a soil disposal area P2, and a waiting area P3. The transport vehicle 10 loads crushed stone at the mining area P1 using a loading machine 30, transports the crushed stone to the soil disposal area P2, and discharges the crushed stone at the soil disposal area P2. The loading machine 30 may be, for example, a hydraulic excavator or a wheel loader. After discharging the crushed stone at the soil disposal area P2, the transport vehicle 10 moves back to the mining area P1 and loads crushed stone again. The waiting area P3 is a space for transport vehicles 10 with low battery charge 144 to wait. The waiting area P3 is also equipped with a hydrogen station S for replenishing hydrogen gas. At the hydrogen station S, hydrogen gas is stored at a higher pressure than the hydrogen tank 141 equipped in the transport vehicle 10, and the hydrogen gas is filled into the hydrogen tank 141 by the difference in pressure. In other embodiments, the hydrogen station S and the waiting area P3 may be provided separately. A course C is provided at the mine for transport vehicles 10 to travel on. Course C may be a two-way road or a one-way road, as shown in Figure 1. 【0011】 《Configuration of transport vehicle 10》 Figure 2 is a schematic perspective view showing a transport vehicle 10 according to the first embodiment. The transport vehicle 10 comprises a dump body 11, a vehicle body 12, and a running gear 13. 【0012】 The dump body 11 is a member on which a load is loaded. At least a part of the dump body 11 is disposed above the vehicle body 12. The dump body 11 performs a dump operation and a lowering operation. By the dump operation and the lowering operation, the dump body 11 is adjusted to a dump posture and a loading posture. The dump posture refers to a posture in which the dump body 11 is rising. The loading posture refers to a posture in which the dump body 11 is descending. 【0013】 The dump operation refers to an operation of separating the dump body 11 from the vehicle body 12 and inclining it in the dump direction. The dump direction is the rear of the vehicle body 12. In the embodiment, the dump operation includes raising the front end portion of the dump body 11 and inclining the dump body 11 backward. By the dump operation, the loading surface of the dump body 11 inclines downward toward the rear. 【0014】 The lowering operation refers to an operation of approaching the dump body 11 to the vehicle body 12. In the embodiment, the lowering operation includes lowering the front end portion of the dump body 11. 【0015】 When performing a dumping operation, the dump body 11 performs a dump operation so as to change from the loading posture to the dump posture. When a load is loaded on the dump body 11, the load is discharged rearward from the rear end portion of the dump body 11 by the dump operation. When a loading operation is performed, the dump body 11 is adjusted to the loading posture. 【0016】 The vehicle body 12 includes a vehicle body frame. The vehicle body 12 supports the dump body 11. The vehicle body 12 is supported by the traveling device 13. 【0017】 The traveling device 13 supports the vehicle body 12. The traveling device 13 runs the transport vehicle 10. The traveling device 13 moves the transport vehicle 10 forward or backward. At least a part of the traveling device 13 is disposed below the vehicle body 12. The traveling device 13 includes a pair of front wheels and a pair of rear wheels. For example, the front wheels are steering wheels and the rear wheels are drive wheels. Note that the combination of the steering wheels and the drive wheels is not limited to this, and the traveling device 13 may be four-wheel drive and four-wheel steering. 【0018】 Figure 3 is a schematic block diagram showing the configuration of the power system 14 and the drive system 15 provided in the transport 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, a DCDC converter 145, and a retard grid 146. The hydrogen supply device 142 supplies the hydrogen gas filled in the hydrogen tank 141 to the fuel cell 143. The fuel cell 143 generates electric power by electrochemically reacting the hydrogen supplied from the hydrogen supply device 142 with oxygen contained in the outside air. The battery 144 stores the electric power generated in the fuel cell 143. The DCDC converter 145 outputs electric power from the fuel cell 143 or the battery 144 connected according to an instruction from the control system 16 (see FIG. 4). The retard grid 146 converts the regenerative electric power from the drive system 15 into thermal energy when the battery 144 cannot be charged. 【0019】 The electric power output by the power system 14 is output to the drive system 15 via the bus bar B. The drive system 15 includes 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 direct current from the bus bar B into a three-phase alternating 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). When the hydraulic oil is supplied to the hoist cylinder 154, the hoist cylinder 154 operates. The hoist cylinder 154 causes the dump body 11 to perform a dump operation or a lowering operation. The inverter 155 converts the direct current from the bus bar B into a three-phase alternating current and supplies it to the traveling drive motor 156. The rotational force generated by the traveling drive motor 156 is transmitted to the drive wheels of the traveling device 13. 【0020】 The transport vehicle 10 is equipped with a control system 16 that controls the power system 14 and the drive system 15. Figure 4 is a schematic block diagram showing the configuration of the control system 16 equipped with the transport vehicle 10 according to the first embodiment. The control system 16 includes a measuring device 161, a communication device 162, a control device 163, an operating device 164, and a monitor 165. 【0021】 The measuring device 161 collects data on the operating and driving conditions of the transport vehicle 10. The measuring device 161 includes at least a positioning device that measures the position and direction of the transport vehicle 10 using GNSS (Global Navigation Satellite System), a speedometer that measures the speed of the transport vehicle 10, a battery charge meter that measures the charge level of the battery 144, and a fuel gauge that measures the remaining amount of hydrogen gas. 【0022】 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, which stores various measurement values ​​measured by the measuring device 161, to the management device 50. The communication device 162 receives instruction data for the operator from the management device 50. 【0023】 The control device 163 drives the transport vehicle 10 according to the amount of operation of the operating device 164. The control device 164 is located in the driver's cab and accepts operations from the operator. The control device 164 includes an accelerator pedal, a brake pedal, a steering wheel, a dump lever, and the like. Monitor 165 is installed in the driver's cab and displays the route and other information to the operator. 【0024】 The control device 163 includes a data acquisition unit 171, a vehicle body control unit 172, a fuel cell control unit 173, a required power calculation unit 174, a battery control unit 175, and a display control unit 176. 【0025】 The data acquisition unit 171 acquires instruction data from the communication device 162 and measurement data from the measuring device 161. The vehicle control unit 172 generates control signals to control the transport vehicle 10 based on the amount of operation of the operating device 164. For example, the vehicle control unit 172 generates control signals to control the steering, accelerator, brakes, dump body operation, etc., of the running gear 13. 【0026】 The fuel cell control unit 173 controls the amount of hydrogen supplied by the hydrogen supply device 142 so that the fuel cell 143 outputs a preset constant power. The required power calculation unit 174 calculates the required power for the power system 14 based on the control signals generated by the vehicle body control unit 172. The battery control unit 175 calculates the difference between the power generated by the fuel cell 143 and the required power. The battery control unit 175 controls the DC-DC converter 145 connected to the battery 144 so that if the power generated is greater than the required power, it charges the battery 144 with the difference, and if the power generated is less than the required power, it discharges the difference from the battery 144. The display control unit 176 displays the information contained in the instruction data on the monitor 165. 【0027】 Configuration of the control device 50 Figure 5 is a schematic block diagram showing the configuration of the control device 50 according to the first embodiment. The management device 50 includes a measurement value acquisition unit 51, a mine condition identification unit 52, a route generation unit 53, a terrain data storage unit 54, a driving load calculation unit 55, an energy consumption calculation unit 56, a route selection unit 57, and an instruction unit 58. 【0028】 The measurement value acquisition unit 51 receives position, direction, and speed from multiple transport vehicles 10. The mine condition identification unit 52 identifies the congestion status of the mining area P1 and the excavation area P2 based on the measurement values ​​acquired by the measurement value acquisition unit 51. For example, the mine condition identification unit 52 identifies the number of transport vehicles 10 waiting at the mining area P1 and the excavation area P2. 【0029】 The route generation unit 53 generates multiple travel routes for a transport vehicle 10 that has completed loading work at a mining site P1, moving from mining site P1 to the next mining site P1 via the excavation site P2. The starting and ending mining sites P1 of the travel routes may be the same or different. The management device 50 can recognize the completion of loading work by, for example, receiving a signal from the loading machine 30 indicating the completion of loading onto the transport vehicle 10. The management device 50 can also recognize the completion of loading work by, for example, when the load weight of the dump body 11 of the transport vehicle 10 located at mining site P1 exceeds a predetermined value and the travel speed exceeds a predetermined value. 【0030】 The terrain data storage unit 54 stores the terrain data of the mine. Specifically, the terrain data stores the gradient for each location on course C. The driving load calculation unit 55 calculates the time series of driving load required for each of the multiple driving routes based on the multiple driving routes generated by the route generation unit 53 and the terrain data stored in the terrain data storage unit 54. The driving load calculation unit 55 calculates the time series of driving load in consideration of the waiting time at the mining site P1, the load due to the operation of the dump body 11 at the soil discharge site P2, and the regenerative power during downhill driving. The driving load is negative during powered driving and positive during regeneration. 【0031】 The power calculation unit 56 calculates the amount of power required for the battery 144 to travel along the route. Specifically, the power calculation unit 56 calculates the required amount of power using the following procedure. First, the power calculation unit 56 obtains a time series of balance between the driving load and generated power by adding the power generated by the fuel cell 143 to the time series of the driving load calculated by the driving load calculation unit 55. The power calculation unit 56 obtains a time series of power by integrating the balance time series. The power calculation unit 56 uses the difference between the initial value and the minimum value of the power in the time series of power as the amount of power required for the battery 144 to travel along the route. If the remaining amount of battery 144 falls below the required amount of power, the remaining amount of battery 144 will become zero while traveling along the route. The power calculation unit 56 also uses the difference between the initial value and the maximum value of the power in the time series of power as the surplus power of battery 144 to absorb regenerative power. If the remaining charge of battery 144 exceeds the reserve power, the battery 144 will reach its maximum charge level while traveling along the route, and will no longer be able to absorb regenerative power. However, if battery 144 cannot absorb regenerative power, the retarder grid 146 can absorb it, so there will be no problem with the braking of the transport vehicle 10. 【0032】 The route selection unit 57 selects a route for the transport vehicle 10 from among multiple routes generated by the route generation unit 53, based on the measured values ​​acquired by the measurement value acquisition unit 51, the mine conditions identified by the mine condition identification unit 52, and the required power and reserve power calculated by the power amount calculation unit 56. Note that the route selection unit 57 is an example of a route determination unit that determines the travel route. 【0033】 The instruction unit 58 transmits instructions to the operator of the transport vehicle 10 to the transport vehicle 10. Specifically, if the remaining amount of hydrogen gas in the transport vehicle 10 falls below the replenishment threshold, the instruction unit 58 outputs a replenishment instruction to the transport vehicle 10 to instruct it to replenish hydrogen gas. The replenishment threshold is set, for example, to an amount sufficient for the transport vehicle 10 to travel the route twice. In addition, if the remaining charge of the battery 144 of the transport vehicle 10 falls below the required power amount for all travel routes, the instruction unit 58 outputs a standby instruction to the transport vehicle 10 at the standby area P3. Even while the transport vehicle 10 is standby, the fuel cell 143 continues to generate power, so the remaining charge of the battery 144 increases during standby. If the remaining amount of hydrogen gas is above the replenishment threshold and the remaining charge of the battery 144 is above the required power amount for at least one travel route, the instruction unit 58 outputs a travel instruction to the transport vehicle 10 for the travel route selected by the route selection unit 57. 【0034】 Operation of the control device 50 The measurement value acquisition unit 51 of the control device 50 receives measurement information from the transport vehicle 10 as needed, and the mine condition identification unit 52 updates the status of the mining site P1 and the excavation site P2. 【0035】 Figure 6 is a flowchart showing the control data setting process by the management device 50 and the transport vehicle 10 according to the first embodiment. When the management device 50 detects that the loading operation of the transport vehicle 10 is complete, the management device 50 and the transport vehicle 10 execute the control data setting process shown in Figure 6. 【0036】 The instruction unit 58 determines whether the measured amount of remaining hydrogen gas received by the measurement value acquisition unit 51 from the transport vehicle 10 is equal to or greater than the replenishment threshold (step S1). If the measured amount of remaining hydrogen gas falls below the replenishment threshold (step S1: NO), the instruction unit 58 outputs a hydrogen gas replenishment instruction to the transport vehicle 10 (step S2). The replenishment instruction may include information indicating the route to the hydrogen station S. 【0037】 On the other hand, if the measured remaining amount of hydrogen gas is equal to or greater than the replenishment threshold (Step S1: YES), the route generation unit 53 generates multiple travel routes that move from the mining site P1 where the transport vehicle 10 is located, via an arbitrary soil disposal site P2, to an arbitrary mining site P1 (Step S3). The number of travel route patterns is at least equal to the product of the number of soil disposal sites P2 and the number of mining sites P1. Next, the travel load calculation unit 55 calculates a time series of travel load for each of the multiple travel routes based on the multiple travel routes and the terrain data stored in the terrain data storage unit 54 (Step S4). The power consumption calculation unit 56 calculates the required power consumption and the reserve power consumption for each travel route based on the time series of travel load calculated in Step S4 (Step S5). 【0038】 The instruction unit 58 determines whether the measured value of the remaining charge of the battery 144 received by the measurement value acquisition unit 51 from the transport vehicle 10 is equal to or greater than a predetermined standard upper limit (step S6). The standard upper limit may be the upper limit of a predetermined standard range for the remaining charge of the battery 144. The standard range is a range determined so as to reduce the possibility of consumption of regenerative power by the retarder grid 146 or depletion of the battery 144 during acceleration when driving on any driving route. In other embodiments, the standard upper limit may be determined from the value obtained by subtracting the maximum value of the surplus power amount for multiple driving routes calculated in step S5 from the maximum capacity of the battery 144, or from the value obtained by subtracting the average value of the surplus power amount + 2σ from the maximum capacity of the battery 144. 【0039】 If the measured remaining charge of the battery 144 is above the standard upper limit (step S6: YES), the route selection unit 57 selects the route with the highest power consumption from among the multiple travel routes generated in step S3 (step S7). The instruction unit 58 outputs a travel instruction to the transport vehicle 10 for the travel route selected in step S7 (step S8). The travel instruction includes information indicating the travel route. 【0040】 If the measured remaining charge of the battery 144 falls below the upper limit of the standard (step S6: NO), the indicator unit 58 determines whether the measured remaining charge of the battery 144 is below a predetermined lower limit of the standard (step S9). The lower limit of the standard may be the lower limit of a predetermined standard range for the remaining charge of the battery 144. In other embodiments, the lower limit of the standard may be determined from the absolute value of the minimum required power for multiple driving routes calculated in step S5, or the absolute value of the average value - 2σ, etc. 【0041】 If the measured remaining charge of the battery 144 exceeds the standard lower limit (step S9: NO), the route selection unit 57 selects one travel route from among several travel routes based on the state identified by the mine condition identification unit 52 (step S10). For example, the route generation unit 53 can assign a travel route to a transport vehicle 10 that passes through the mining area P1 and the excavation area P2 where there are relatively few waiting transport vehicles 10. The instruction unit 58 outputs a travel instruction to the transport vehicle 10 for the travel route selected in step S10 (step S8). 【0042】 If the measured remaining charge of the battery 144 is below the reference lower limit (step S9: YES), the route selection unit 57 determines whether the measured remaining charge of the battery 144 is greater than or equal to the smallest required power amount calculated in step S5 (step S11). If the measured remaining charge of the battery 144 is greater than or equal to the minimum required power amount (step S11: YES), the route selection unit 57 selects the route with the smallest required power amount from among multiple travel routes (step S12). The instruction unit 58 outputs a travel instruction to the transport vehicle 10 for the travel route selected in step S12 (step S8). 【0043】 If the measured remaining charge of battery 144 falls below the minimum required power (step S11: NO), the instruction unit 58 outputs a standby instruction to the transport vehicle 10 until the battery 144 is charged to the required power level or higher by the power generated by the fuel cell 143 (step S13). The standby instruction may include information indicating the route to the standby area P3. Subsequently, when the measured remaining charge of battery 144 exceeds the required power level, the process returns to step S1 and outputs an instruction to the transport vehicle 10 again. 【0044】 Action / Effect As described above, in the first embodiment, the transport system 1 instructs the transport vehicle 10 to wait until the battery 144 is charged to more than the required amount of power by the power generated by the fuel cell 143 when the remaining charge of the battery 144 falls below the amount of power required to travel the route. As a result, the battery 144 is charged by the power generated by the fuel cell 143 while it is waiting, and the remaining charge of the battery 144 is restored to a level sufficient to travel the route. In other words, the transport system 1 in the first embodiment can prevent the battery 144 from being depleted while traveling the route. This allows the transport system 1 to prevent a decrease in the driving performance of the transport vehicle 10 and improve the productivity of the mine. Furthermore, by maintaining an appropriate battery charge level in the transport vehicle 10, the transport system 1 can improve the lifespan of the battery 144. 【0045】 Furthermore, in the first embodiment, the transport system 1 selects a travel route based on the mine conditions when the remaining charge of the battery 144 is above a standard lower limit and below a standard upper limit. This makes it less likely that the battery 144 will be depleted even if an arbitrary travel route is selected, and less likely that regenerative power will be consumed by the retarder grid 146. By having the transport vehicle 10 travel on a route selected according to the mine conditions, it is possible to improve the efficiency of the mine while preventing a decrease in the efficiency of the transport vehicle 10. In other embodiments, the transport system 1 may select a travel route based on the mine conditions when the remaining charge of the battery 144 is above a standard lower limit, regardless of the standard upper limit. In other embodiments, the transport system 1 may select a travel route based on the mine conditions when the remaining charge of the battery 144 is below a standard upper limit, regardless of the standard lower limit. Furthermore, in other embodiments, the transport system 1 may select a travel route by other means, regardless of the mine conditions. 【0046】 Furthermore, in the first embodiment, the transport system 1 selects the route with the highest power consumption when the remaining charge of the battery 144 is above a standard upper limit. This allows the transport system 1 to make the transport vehicle 10 with an excessive battery charge run on a high-load route, thereby consuming the power of the battery 144. In other embodiments, the transport system 1 does not necessarily have to select a route that does not have the highest power consumption. For example, it may select a route from among a plurality of routes with high power consumption, including the route with the highest power consumption, based on the mining conditions. 【0047】 Furthermore, the transport system 1 according to the first embodiment instructs the work vehicle to replenish hydrogen gas when the remaining amount of hydrogen gas carried by the transport vehicle 10 falls below a replenishment threshold. This prevents the transport system 1 from running out of hydrogen gas while traveling along the route. 【0048】 <Other Embodiments> Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to that described above, and various design changes are possible. In other embodiments, the order of the above-described processes may be changed as appropriate. Also, some processes may be executed in parallel. 【0049】 The management device 50 and control device 163 according to the above embodiment may each be composed of a single computer, or the configuration of the management device 50 or control device 163 may be divided among multiple computers, and the multiple computers may cooperate with each other to function as the management device 50 or control device 163. In this case, some of the computers constituting the control device 163 may be mounted inside the transport vehicle 10, and the other computers may be provided outside the transport vehicle 10. 【0050】 The transport vehicle 10 according to the above embodiment is a manned vehicle operated by an operator, but is not limited to this. For example, the transport vehicle 10 according to another embodiment may be an unmanned vehicle that drives automatically. In this case, the control system 16 of the transport vehicle 10 does not need to include an operating device 164 and a monitor 165. The vehicle control unit 172 can generate control signals by PID control or the like using the travel route and the measured values ​​of the measuring device 161. 【0051】 Furthermore, although the above-described embodiment uses the transport vehicle 10 as an example of a work vehicle, it is not limited to this. For example, in other embodiments, the management device 50 may manage other work vehicles such as hydraulic excavators, wheel loaders, and dump trucks. 【0052】 The management device 50 according to the above embodiment generates multiple travel routes and selects one of them, but is not limited to this. For example, the management device 50 according to another embodiment may generate only one travel route and decide whether to travel along that route or wait based on the remaining charge of the battery 144. 【0053】 The management device 50 according to the above embodiment selects a route for the transport vehicle 10 from among a plurality of routes generated by the route generation unit 53, but is not limited to this. For example, in another embodiment, the management device 50 may search for and determine a route based on the measured values ​​acquired by the measured value acquisition unit 51, the mine status identified by the mine status identification unit 52, and the required power and reserve power calculated by the power amount calculation unit 56. 【0054】 <Computer Configuration> Figure 7 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. The computer 90 includes a processor 91, main memory 92, storage 93, and an interface 94. The management device 50 and control device 163 described above are each implemented in the computer 90. The operation of each processing unit described above is stored in storage 93 in the form of a program. The processor 91 reads the program from storage 93, loads it into main memory 92, and executes the above processing according to the program. The processor 91 also allocates memory areas in main memory 92 corresponding to each of the above-mentioned storage units according to the program. Examples of the processor 91 include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a microprocessor. 【0055】 The program may be for implementing some of the functions that the computer 90 is to perform. For example, the program may perform functions in combination with other programs already stored in the storage 93, or in combination with other programs implemented in other devices. In other embodiments, the computer 90 may be equipped with a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by the processor 91 may be implemented by the integrated circuit. Such an integrated circuit is also included as an example of a processor. 【0056】 Examples of storage 93 include magnetic disks, magneto-optical disks, optical disks, and semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of the computer 90, or it may be an external medium connected to the computer 90 via an interface 94 or a communication line. Furthermore, if this program is delivered to the computer 90 via a communication line, the computer 90 that receives the delivery may load the program into the main memory 92 and execute the above processing. In at least one embodiment, storage 93 is a tangible storage medium that is not temporary. 【0057】 Furthermore, the program may be intended to implement some of the functions described above. In addition, the program may be a so-called differential file (differential program) that implements the functions described above in combination with other programs already stored in storage 93. [Explanation of symbols] 【0058】 1…Transportation system 10…Transport vehicle 11…Dump body 12…Vehicle body 13…Running gear 14…Power system 141…Hydrogen tank 142…Hydrogen supply device 143…Fuel cell 144…Battery 145…DC-DC converter 146…Retarder grid 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…Measurement device 162…Communication device 163…Control device 164…Operation device 165…Monitor 171…Data acquisition unit 172…Vehicle body control unit 173…Fuel cell control unit 174…Required power calculation unit 175…Battery control unit 176…Display control unit 30…Loading machine 50…Management device 51…Measurement value acquisition unit 52…Mine condition identification unit 53…Route generation unit 54…Terrain data storage unit 55…Driving load calculation unit 56…Energy consumption calculation unit 57…Route selection unit 58…Instruction unit 90…Computer 91…Processor 92…Main memory 93…Storage 94…Interface B…Bus line C…Course P1…Mining site P2…Soil disposal site P3…Waiting area S…Hydrogen station

Claims

[Claim 1] A control device for a work vehicle equipped with a fuel cell and a battery, A power calculation unit calculates the amount of power required for the battery to travel along the travel route, based on the travel route of the work vehicle at the work site and the power generated by the fuel cell. An instruction unit that, when the remaining charge of the battery falls below the required amount of power, instructs the work vehicle to wait until the battery is charged to a level equal to or greater than the required amount of power by the power generated by the fuel cell, Equipped with, The instructions to wait include information showing the route to the waiting area. Management device. [Claim 2] The instruction unit instructs the work vehicle to travel along the travel route when the remaining battery power is equal to or greater than the required power. The control device according to claim 1. [Claim 3] The power consumption calculation unit calculates the amount of power required for the battery to travel along the travel route based on the load required for traveling along the travel route and the power generated by the fuel cell, as described in claim 1 or claim 2. [Claim 4] Route generation unit that generates the travel route of the work vehicle at the work site. A control device according to any one of claims 1 to 3, comprising: [Claim 5] The route generation unit generates a plurality of travel routes, including the aforementioned travel route. The power calculation unit calculates the required power for each of the multiple travel routes, The indicator unit is, If the remaining charge of the battery is above a predetermined lower limit, the work vehicle is instructed to travel along one of the multiple travel routes. If the remaining charge of the battery falls below the standard lower limit, and the remaining charge of the battery is equal to or greater than the smallest amount of power required for the multiple travel routes, the work vehicle is instructed to travel along the travel route corresponding to the smallest amount of power required. The control device according to claim 4. [Claim 6] The route generation unit generates a plurality of travel routes, including the aforementioned travel route. The power calculation unit calculates the required power for each of the multiple travel routes, The indicator unit is, If the remaining charge of the battery is below a predetermined upper limit, the work vehicle is instructed to travel along one of the multiple travel routes. If the remaining battery level exceeds the standard upper limit, the work vehicle is instructed to travel along the route with the greatest required power among the multiple travel routes. The control device according to claim 4 or claim 5. [Claim 7] The indicator unit is, When the remaining amount of hydrogen gas carried by the aforementioned work vehicle falls below a predetermined replenishment threshold, the work vehicle is instructed to replenish the hydrogen gas. When the remaining amount of hydrogen gas is equal to or greater than the replenishment threshold, and the remaining amount of the battery is equal to or greater than the required amount of power, the work vehicle is instructed to travel along the travel route. A control device according to any one of claims 1 to 6. [Claim 8] A method for managing a work vehicle equipped with a fuel cell and a battery, A step of calculating the amount of power required for the battery to travel along the route, based on the travel route of the work vehicle at the work site and the power generated by the fuel cell, If the remaining charge of the battery falls below the required amount of power, the work vehicle is instructed to wait until the battery is charged to a level equal to or greater than the required amount of power by the power generated by the fuel cell. Equipped with, The instructions to wait include information showing the route to the waiting area. Management methods. [Claim 9] If the remaining battery power is equal to or greater than the required power, the step of instructing the work vehicle to travel along the travel route. The management method according to claim 8, comprising: [Claim 10] In the step of calculating the required amount of power, the required amount of power for the battery to travel the route is calculated based on the load required for traveling the route and the power generated by the fuel cell. The management method according to claim 8 or claim 9. [Claim 11] Steps to generate the travel route of the work vehicle at the work site. A management method according to any one of claims 8 to 10, comprising the above. [Claim 12] In the step of generating the aforementioned travel route, a plurality of travel routes including the aforementioned travel route are generated, In the step of calculating the required amount of power, the required amount of power for each of the multiple driving routes is calculated, In the step of instructing the vehicle to travel, if the remaining charge of the battery is above a predetermined lower limit, the vehicle is instructed to travel along one of the multiple travel routes. In the step of instructing the vehicle to travel, if the remaining battery level falls below the standard lower limit and the remaining battery level is equal to or greater than the smallest required power amount for the multiple travel routes, the vehicle is instructed to travel along the travel route corresponding to the smallest required power amount. The management method according to claim 11. [Claim 13] In the step of generating the aforementioned travel route, a plurality of travel routes including the aforementioned travel route are generated, In the step of calculating the required amount of power, the required amount of power for each of the multiple driving routes is calculated, In the step of instructing the vehicle to travel, if the remaining battery charge is below a predetermined upper limit, the vehicle is instructed to travel along one of the multiple travel routes. In the step of instructing the vehicle to travel, if the remaining battery charge exceeds the standard upper limit, the vehicle is instructed to travel along the route with the greatest required power among the multiple travel routes. The management method according to claim 11 or claim 12. [Claim 14] Step 1: When the remaining amount of hydrogen gas carried by the work vehicle falls below a predetermined replenishment threshold, the work vehicle is instructed to replenish the hydrogen gas. Equipped with, In the step of instructing the vehicle to travel, if the remaining amount of hydrogen gas is equal to or greater than the replenishment threshold and the remaining amount of battery is equal to or greater than the required amount of power, the vehicle is instructed to travel along the travel route. The management method according to any one of claims 11 to 13.

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