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JP-7855462-B2 - dump truck

JP7855462B2JP 7855462 B2JP7855462 B2JP 7855462B2JP-7855462-B2

Inventors

  • 小原 峻介
  • 金子 悟
  • 北口 篤
  • 高田 知範

Assignees

  • 日立建機株式会社

Dates

Publication Date
20260508
Application Date
20220906

Claims (7)

  1. The driving motor and An inverter that converts DC power to AC power and supplies it to the aforementioned drive motor, Battery and A battery converter that controls the charging and discharging power of the aforementioned battery, A pantograph that receives power from the overhead wire, Display device and A dump truck is equipped with a vehicle control device that controls the battery converter and inverter so that power is supplied from the trolley wire to the battery and the drive motor in the trolley wire section, which is a driving section where the trolley wire is installed, and controls the battery converter and inverter so that power is supplied from the battery to the drive motor in the non-trolley wire section, which is a driving section where the trolley wire is not installed, The aforementioned vehicle control device is A battery remaining charge reduction calculation unit calculates the amount of battery remaining charge reduction in the non-trolley wire section, A battery remaining charge target increase range calculation unit calculates the target increase range by adding a predetermined amount of battery remaining charge to the amount of battery remaining charge decrease, A battery remaining value target value calculation unit calculates a battery remaining value target value by adding the battery remaining amount at the start of operation in the trolley wire section to the battery remaining amount at the start of operation in the trolley wire section, It includes a driving operation support unit that assists in driving operations to match the remaining battery level at the end of driving in the trolley wire section to the target battery level, The aforementioned running operation support unit is comprised of a recommended running speed calculation unit that calculates the recommended running speed for the overhead wire section. The aforementioned recommended driving speed calculation unit, The remaining charging time in the trolley wire section is calculated by dividing the difference between the target battery level and the remaining battery level by the battery charging power. The recommended driving speed is calculated by dividing the remaining driving distance of the trolley wire section by the remaining charging time. A dump truck characterized by outputting the recommended driving speed to the display device .
  2. The driving motor and An inverter that converts DC power to AC power and supplies it to the aforementioned drive motor, Battery and A battery converter that controls the charging and discharging power of the aforementioned battery, A pantograph that receives power from the overhead wire, A dump truck is equipped with a vehicle control device that controls the battery converter and inverter so that power is supplied from the trolley wire to the battery and the drive motor in the trolley wire section, which is a driving section where the trolley wire is installed, and controls the battery converter and inverter so that power is supplied from the battery to the drive motor in the non-trolley wire section, which is a driving section where the trolley wire is not installed, The aforementioned vehicle control device is A battery remaining charge reduction calculation unit calculates the amount of battery remaining charge reduction in the non-trolley wire section, A battery remaining charge target increase range calculation unit calculates the target increase range by adding a predetermined amount of battery remaining charge to the amount of battery remaining charge decrease, A battery remaining value target value calculation unit calculates a battery remaining value target value by adding the battery remaining amount at the start of operation in the trolley wire section to the battery remaining amount at the start of operation in the trolley wire section, It includes a driving operation support unit that assists in driving operations to match the remaining battery level at the end of driving in the trolley wire section to the target battery level, The aforementioned running operation support unit is comprised of a recommended running speed calculation unit that calculates the recommended running speed for the overhead wire section. The aforementioned recommended driving speed calculation unit, The remaining charging time for the trolley wire section is calculated by dividing the difference between the target battery level and the current battery level by the battery charging power. The recommended driving speed is calculated by dividing the remaining driving distance of the trolley wire section by the remaining charging time. A dump truck characterized by outputting a driving speed command value corresponding to the recommended driving speed to the inverter.
  3. In the dump truck according to claim 1, The battery level reduction calculation unit is comprised of a battery level fluctuation recording unit that records the fluctuations in the battery level in the non-trolley wire section. The dump truck is characterized in that the battery level fluctuation recording unit calculates the amount of battery level decrease using the recorded value of the battery level fluctuation.
  4. In the dump truck according to claim 1, The battery remaining charge reduction calculation unit is comprised of a battery remaining charge fluctuation prediction unit that predicts the fluctuation in the battery remaining charge in the non-trolley wire section. The aforementioned battery level fluctuation prediction unit is: Using the load capacity of the dump truck and the gradient information of the non-trolley wire section, a predicted value for the battery charge fluctuation in the non-trolley wire section is calculated. A dump truck characterized by calculating the amount of battery charge reduction in the non-trolley wire section using the predicted value of the battery charge fluctuation.
  5. The driving motor and An inverter that converts DC power to AC power and supplies it to the aforementioned drive motor, Battery and A battery converter that controls the charging and discharging power of the aforementioned battery, A pantograph that receives power from the overhead wire, A dump truck is equipped with a vehicle control device that controls the battery converter and inverter so that power is supplied from the trolley wire to the battery and the drive motor in the trolley wire section, which is a driving section where the trolley wire is installed, and controls the battery converter and inverter so that power is supplied from the battery to the drive motor in the non-trolley wire section, which is a driving section where the trolley wire is not installed, The aforementioned vehicle control device is A battery remaining charge reduction calculation unit calculates the amount of battery remaining charge reduction in the non-trolley wire section, A battery remaining charge target increase range calculation unit calculates the target increase range by adding a predetermined amount of battery remaining charge to the amount of battery remaining charge decrease, A battery remaining value target value calculation unit calculates a battery remaining value target value by adding the battery remaining amount at the start of operation in the trolley wire section to the battery remaining amount at the start of operation in the trolley wire section, It includes a driving operation support unit that assists in driving operations to match the remaining battery level at the end of driving in the trolley wire section to the target battery level, The aforementioned battery remaining charge target increase calculation unit: A dump truck characterized in that the amount of battery charge added is calculated by multiplying the amount of battery charge reduction by the difference obtained by dividing the difference between the average travel speed of the trolley wire section when the battery charge is stable and the amount of battery charge added is zero, and the minimum average travel speed of the trolley wire section that is allowed when the battery charge is recovered to a level greater than zero, by the minimum average travel speed.
  6. The driving motor and An inverter that converts DC power to AC power and supplies it to the aforementioned drive motor, Battery and A battery converter that controls the charging and discharging power of the aforementioned battery, A pantograph that receives power from the overhead wire, A dump truck is equipped with a vehicle control device that controls the battery converter and inverter so that power is supplied from the trolley wire to the battery and the drive motor in the trolley wire section, which is a driving section where the trolley wire is installed, and controls the battery converter and inverter so that power is supplied from the battery to the drive motor in the non-trolley wire section, which is a driving section where the trolley wire is not installed, The aforementioned vehicle control device is A battery remaining charge reduction calculation unit calculates the amount of battery remaining charge reduction in the non-trolley wire section, A battery remaining charge target increase range calculation unit calculates the target increase range by adding a predetermined amount of battery remaining charge to the amount of battery remaining charge decrease, A battery remaining value target value calculation unit calculates a battery remaining value target value by adding the battery remaining amount at the start of operation in the trolley wire section to the battery remaining amount at the start of operation in the trolley wire section, It includes a driving operation support unit that assists in driving operations to match the remaining battery level at the end of driving in the trolley wire section to the target battery level, The aforementioned battery remaining target value calculation unit, After charging the battery to the target battery level in the trolley wire section, the predicted maximum and minimum battery levels are calculated when the vehicle travels through the non-trolley wire section. If the predicted maximum battery level exceeds the upper limit of the battery level set based on the battery life, the target battery level is corrected to decrease. A dump truck characterized in that, when the predicted minimum battery charge falls below the lower limit of the battery charge set based on battery life, the target battery charge is corrected to increase.
  7. In the dump truck according to claim 1, The aforementioned vehicle control device is A trolley wire section travel time calculation unit that calculates the travel time in the aforementioned trolley wire section, A dump truck characterized by having a battery charge power command value calculation unit that calculates the remaining driving time in the trolley wire section by subtracting the elapsed time since entering the trolley wire section from the aforementioned driving time, calculates the remaining charge amount by subtracting the battery charge amount from the battery charge target value, calculates a battery charge power command value by dividing the remaining charge amount by the remaining driving time, and outputs the battery charge power command value to the battery converter.

Description

This invention relates to a trolley-powered dump truck equipped with a battery. In recent years, there has been a shift from conventional fossil fuel-dependent power sources to electric drive systems across various product sectors as a way to reduce environmental impact. Regarding mining dump trucks used to transport ore and excavated soil from loading sites to disposal sites, there is a growing movement toward the practical application of dump trucks equipped with batteries instead of engines. In mines, multiple dump trucks of the same size travel back and forth along a route from the loading area to the unloading area, operating 24 hours a day. Because efficient transport of cargo is crucial, transport efficiency, expressed as the total transport volume of multiple dump trucks per unit time, is highly valued. Since stopping to charge batteries significantly reduces transport efficiency, development is underway on trolley-powered dump trucks that charge while moving. A trolley wire is installed along the mine's travel path to supply power from ground equipment. In sections with trolley wires (hereinafter referred to as "trolley wire sections"), the trolley-powered dump trucks use power supplied from the trolley wires to drive their motors and charge their batteries while moving. In sections without trolley wires (hereinafter referred to as "non-trolley wire sections"), the trolley motors are driven by the discharged power of the batteries. Trolley-powered dump trucks need to be sufficiently charged in trolley-wire sections to complete the journey through non-trolley-wire sections. Because trolley-wire power and battery charging power have upper limits due to equipment limitations and battery life, it is necessary to reduce speed in trolley-wire sections to ensure sufficient charging time. However, to avoid a decrease in transport efficiency, it is desirable to minimize the speed reduction in trolley-wire sections. In vehicles such as trolley-powered dump trucks, which charge their batteries using overhead lines while driving and run on battery power in sections without overhead lines, there is a technology disclosed in Patent Document 1. According to this technology, while charging at the maximum charging current determined by the battery storage device's lifespan, the amount of charge necessary for the next run in a section without overhead lines can be secured. International Publication No. 2013/153659 This figure shows the configuration of a dump truck in the first embodiment of the present invention.This diagram schematically shows the travel route of a dump truck in a mine.This figure shows the configuration of an electric drive system mounted on a dump truck in a first embodiment of the present invention.This figure shows the fluctuation of battery charge in the non-trolley wire section.This figure shows the change in battery level for each driving cycle.This is a block diagram showing the process related to calculating the target battery level for the vehicle control system.This is a flowchart of the processes that the battery level fluctuation recording unit repeatedly executes while the train is running on the overhead wire section.This is a flowchart of the processes that the battery level fluctuation recording unit repeatedly executes while the train is running on a non-trolley wire section.This is a flowchart of the process repeatedly executed by the battery level target value calculation unit while the train is running on a non-trolley wire section.This is a block diagram showing the processing related to the vehicle control system's driving operation support.This figure shows an example of a display screen for a display device.This is a block diagram showing the process related to calculating the battery level target value of the vehicle control device in the second embodiment of the present invention.This is a flowchart showing the processing of the battery level fluctuation prediction unit.This is a block diagram showing the process related to battery charging power control of a vehicle control device in a third embodiment of the present invention.This is a block diagram showing the processing related to the driving operation support of the vehicle control device in the fourth embodiment of the present invention. The embodiments of the present invention will be described below with reference to the drawings. In each figure, equivalent elements are denoted by the same reference numerals, and redundant explanations are omitted as appropriate.