WO2008066052A1 - Automatic charging method and device of automated guided vehicle - Google Patents

Automatic charging method and device of automated guided vehicle Download PDF

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Publication number
WO2008066052A1
WO2008066052A1 PCT/JP2007/072877 JP2007072877W WO2008066052A1 WO 2008066052 A1 WO2008066052 A1 WO 2008066052A1 JP 2007072877 W JP2007072877 W JP 2007072877W WO 2008066052 A1 WO2008066052 A1 WO 2008066052A1
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WO
WIPO (PCT)
Prior art keywords
charging
power
automatic
guided vehicle
capacitor
Prior art date
Application number
PCT/JP2007/072877
Other languages
French (fr)
Japanese (ja)
Inventor
Hideki Okashita
Takashi Zochi
Ryutaro Nozu
Yoichi Katahira
Yoshinari Komada
Shigenori Sato
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Nisshinbo Industries, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha, Nisshinbo Industries, Inc. filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2008066052A1 publication Critical patent/WO2008066052A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/11—DC charging controlled by the charging station, e.g. mode 4
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to an automatic charging method and apparatus for an automatic guided vehicle that automatically charges a battery that is a power source of an automated guided vehicle (A GV).
  • a GV automated guided vehicle
  • the automatic charging control panel is notified of the arrival of the automated guided vehicle by illuminating the photoelectric switch of the actuator device.
  • the control panel confirms the arrival of the automated guided vehicle, it gives a movement instruction to the actuator device.
  • the actuator device detects the magnetism from the embedded magnetic rod with the magnetic sensor, moves forward along the magnetic rod to a predetermined position, and brings the contact terminal forward to contact the charging terminal of the battery of the automatic guided vehicle. And start charging.
  • control panel When the control panel detects charging for a predetermined time or completion of charging, the control panel gives a moving instruction to the actuator device and moves it back to the original position.
  • the actuator device When the actuator device arrives at the position, it lights the photoelectric switch of the automatic guided vehicle to notify the completion of automatic charging.
  • the automatic guided vehicle is started when automatic charging is confirmed (see Patent Document 1).
  • Patent Document 1 Japanese Patent Application Laid-Open No. Hei 10-2 8 5 7 12 (paragraph numbers [0 0 1 2] to [0 0 1 5])
  • the above-mentioned conventional technology eliminates the need to replace a battery with a reduced capacity with a charged battery, especially in the use environment of unmanned transport vehicles where the current consumption of the battery is large and the battery replacement frequency is high. Although there was an advantage that high efficiency could be achieved, further speeding up and consideration of safety in automatic charging were not yet satisfactory.
  • An object of the present invention is to perform automatic charging more quickly (by increasing the restraint time at the charging standby position).
  • the present invention also provides an automatic charging method and apparatus for an automated guided vehicle that can further enhance safety during charging.
  • each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is only for the purpose of facilitating the understanding of the present invention, and should not be construed as limiting the technical features and combinations thereof described in this specification to those described in the following sections. .
  • the charging standby position is set at the charging standby position.
  • charging power is supplied from the power feeding device to the automated guided vehicle in a non-contact manner, and this charging power is installed in the automated guided vehicle and connected in parallel to the capacitor and the battery.
  • the automatic charging method of the automatic guided vehicle characterized in that the automatic charging is completed upon completion or charging completion of the capacitor for a predetermined time, and the battery is charged from the capacitor even after the automatic charging is completed.
  • the charging standby position for example, the unloading of assembled parts and the standby position for loading in the one-cycle operation route of the automated guided vehicle are suitable.
  • the AC power supplied from the power feeding device to the automatic guided vehicle is power for charging the battery mounted on the automatic guided vehicle, and is not contacted from the power feeding device to the automatic guided vehicle, that is, through the space. Supplied. Therefore, the AC power supplied from the power feeding device to the automated guided vehicle by electromagnetic inductive coupling here includes not only general AC but also pulse wave.
  • Battery basically refers to a battery for powering automatic guided vehicles, but it is not for power. This includes those that are used for power or other uses. Needless to say, this battery is a secondary battery that can be recharged and used.
  • the power supplying device is When the automatic guided vehicle arrives at the charging standby position, it converts AC power into electromagnetic energy, radiates it into the space, and receives an automatic charging completion signal to stop the emission of the electromagnetic energy.
  • the automatic guided vehicle receives the electromagnetic energy from the power supply control device in a non-contact manner by electromagnetic inductive coupling, converts the AC power into DC power, and is connected in parallel to the battery and the battery.
  • the charging / control device is supplied to the capacitor and wirelessly sends an automatic charge completion signal to the power supply / control device upon completion of charging or completion of charging for a predetermined time. To become Te automatic charging device of non-person transport vehicle according to claim.
  • Receiving or sending an automatic charging completion signal wirelessly means receiving or sending an automatic charging completion signal via a space, that is, a spatial transmission medium such as radio waves, infrared rays, or light as a carrier (carrier wave).
  • a space that is, a spatial transmission medium such as radio waves, infrared rays, or light as a carrier (carrier wave).
  • the automatic charging completion signal is sent wirelessly from the automated guided vehicle (charging and control device) to the power supply device (power supply and control device), the automatic charging completion signal can be sent and received without contact.
  • a magnet permanent magnet
  • a detection means for detecting the magnetic flux from the magnet is provided at the charging standby position, it is possible to contact the automatic guided vehicle at the charging standby position without contact. It can be detected.
  • a circuit element may be provided.
  • the power feeding / control device includes an AC power output circuit that outputs AC power, a primary power bra that radiates electromagnetic energy when AC power is supplied from the AC power output circuit, An AC power control circuit for detecting the arrival of the automatic guided vehicle at the charging standby position and operating the AC power output circuit to supply AC power to the primary power bra, and an automatic charging completion signal And an automatic charging completion signal receiving circuit for stopping the operation of the AC power output circuit by the AC power control circuit and cutting off the supply of AC power to the primary power bra.
  • the control device includes a secondary force bra that receives the electromagnetic energy by electromagnetic inductive coupling with the primary force bra, converts AC power from the secondary force bra into DC power, and the battery.
  • an AC / DC conversion circuit that supplies the capacitor
  • an automatic charging completion signal transmission circuit that wirelessly sends an automatic charging completion signal to the automatic charging completion signal receiving circuit upon completion of charging or completion of charging of the capacitor for a predetermined time.
  • the AC power output circuit comprises a rectifying / smoothing circuit that rectifies and smoothes commercial AC, and a high-frequency inverter that converts the DC output from this rectifying / smoothing circuit into a high frequency.
  • AC power can be generated and radiated from the primary power bra.
  • the charging power supplied from the power feeding device to the automatic guided vehicle is supplied to the battery and the capacitor connected in parallel, the charging of the battery and the capacitor is started. At this time, the capacitor is charged (rapid charge) in a short time.
  • the automatic guided vehicle is released from the charging standby position, but is charged by the capacitor when the battery voltage is low. In other words, the battery can be charged from the capacitor after being charged in parallel with the capacitor (mainly rapid charging of the capacitor).
  • automatic charging of the automatic guided vehicle is completed in a short time without waiting for completion of charging of the battery, that is, completion of charging of the capacitor for a predetermined time or completion of charging, and thus is performed extremely quickly.
  • the charging power is supplied from the power supply device to the automatic guided vehicle in a non-contact manner, there is no exposure of the current-carrying portion in the charging power transmission path, and the safety during charging can be further improved.
  • the AC power generated by the electromagnetic energy from the power supply control device is converted into DC power and supplied to the battery and capacitor connected in parallel. These batteries and capacitors start to be charged. At this time, the capacitors are charged in a short time (rapid charge).
  • the automatic charging completion signal is sent to the controller and automatic charging is completed, the automatic guided vehicle is released from the charging standby position, but the battery can be charged thereafter. Charging at this time is performed from the capacitor. In other words, the battery can be charged from the charged capacitor after parallel charging with the capacitor (mainly rapid charging of the capacitor).
  • the automatic charging completion signal is sent from the charging / automatic charging completion signal transmitting circuit of the control device to the automatic charging completion signal receiving circuit of the control device, the primary side force The supply of AC power to the bra is cut off. Therefore, the radiation of the electromagnetic energy from the primary side bra is stopped, no AC power is output from the secondary side bra, and the charging operation to the capacitor and battery connected in parallel is completed (automatic charging is completed). ) As a result, the automatic guided vehicle is released from the charging standby position, but the battery is still charged. Charging at this time is performed from the capacitor. In other words, the battery is charged from the charged capacitor after the parallel charging with the capacitor.
  • the automatic charging operation between the power supply device and the automatic guided vehicle is completed when the capacitor is completely charged for a predetermined time or when the charging is completed, that is, it is completed in a short time without waiting for the battery to be fully charged. .
  • AC power is supplied in a non-contact manner from the primary power bra of the power feeder to the secondary power bra of the automated guided vehicle, so there is no exposure of the current-carrying part in the charging power transmission path and safety during charging. Can be enhanced in a simple and reliable way.
  • FIG. 1 is a block diagram showing an outline of an automatic charging device for automatic guided vehicles (the device of the present invention) to which the method of the present invention is applied.
  • FIG. 2 is a block diagram showing a specific example of the apparatus. Explanation of symbols
  • FIG. 1 is a block diagram showing an outline of an automatic charging device (invention device) of an automatic guided vehicle to which the method of the invention is applied.
  • the inventive device can charge the battery 3 mounted on the automatic guided vehicle (AGV) 2.
  • a automatic charging device for an automatic guided vehicle wherein the power feeding device 1 and the automatic guided vehicle 2 are configured as follows.
  • the power feeding device 1 converts charging power, here AC power 4 into electromagnetic energy and radiates it into the space, receives the automatic charging completion signal 5 and AC. It is equipped with a power feeding and control device 6 that stops radiation of electric power 4 (electromagnetic energy).
  • 7 is a commercial 100 V AC power supply.
  • the automatic guided vehicle 2 includes a charging / control device 10.
  • the charging / control device 10 receives the AC power 4 (electromagnetic energy) from the power feeding / control device 6 in a non-contact manner by electromagnetic inductive coupling, converts the AC power 4 to DC power 8, , And a capacitor 9 connected in parallel to the battery 3, and an automatic charging completion signal 5 is transmitted to the power feeding / control device 6 by radio when the charging of the capacitor 9 is completed for a predetermined time or when the charging is completed.
  • 1 1 in the figure is equipped with a motor for driving an automatic guided vehicle that rotates when DC power 12 is supplied from the battery 3 (capacitor 9), and a control circuit (motor control circuit) of this motor. It is a trolley part.
  • the battery 3, the capacitor 9 and the charging control device 10 are actually mounted on the cart unit 11. However, in order to make the added configuration easy to understand, they are placed outside the cart unit 11. Indicated.
  • FIG. 2 is a block diagram showing a specific example of the embodiment of the device of the present invention shown in FIG.
  • the power feeding control device 6 includes an AC power output circuit 21, a primary side cover 2 2, an AC power control circuit 23, an inverter stop signal receiving circuit 24, and the like.
  • the AC power output circuit 21 is a circuit that outputs AC power 4.
  • a rectifying / smoothing circuit 25 that rectifies and smoothes AC power 4 from a commercial 100 V AC power source 7 and this rectifying smoothing
  • a high-frequency inverter 26 that converts the DC output from the circuit 25 into a high frequency.
  • the primary-side force bra 22 is a force bra that radiates electromagnetic energy by being supplied with high-frequency power (AC power 4) from the high-frequency inverter 26, and is formed of a coil.
  • the AC power control circuit 2 3 is a control that detects the arrival of the automatic guided vehicle 2 at the charging standby position and operates the AC power output circuit 21 and supplies the AC power 4 to the primary power bra 2 2. It is a circuit.
  • the inverter stop signal receiving circuit 2 4 receives the automatic charge completion signal (inverter stop signal in this case) 5 and stops the operation of the AC power output circuit 2 1 by the AC power control circuit 2 3. This circuit cuts off the supply of AC power 4 to 2 (automatic charging completion signal receiving circuit).
  • reference numeral 27 denotes a position detection of the automatic guided vehicle 2 that detects a magnetic flux from a magnet (described later) provided in the charging / control device 10 and detects that the automatic guided vehicle 2 has arrived at the charging standby position. Circuit.
  • the power feeding / control device 6 detects whether or not a current is output from the rectifying and smoothing circuit 25, and if it is output, the power supply detection circuit 29 and the power supply detection lamp 28 are turned on.
  • a display contact 30 is also provided.
  • the AC power control circuit 2 3 operates the AC power output circuit 21 and detects whether the AC power 4 is supplied to the primary power bra 2 2 and if it is supplied, the power supply indicator lamp 3 Power supply display contact 3 2 for lighting 1 is also provided.
  • the charging / control device 10 includes a secondary force bra 41, an AC / DC conversion circuit 4 2, an inverter stop signal transmission circuit 4 3, and the like.
  • the secondary-side force bra 41 is a force bra that receives the electromagnetic energy (AC power 4) by electromagnetic induction coupling with the primary-side force bra 22, and is formed of a coil.
  • the AC / DC conversion circuit 4 2 is a circuit that converts the AC power 4 from the secondary side power bra 4 1 into DC power 8 and supplies it to the battery 3 and the capacitor 9.
  • the DC constant voltage output circuit 44 includes, for example, a rectifying / smoothing circuit and a constant voltage circuit for controlling the DC from the rectifying / smoothing circuit to a predetermined constant voltage.
  • the DC constant voltage output circuit 44 may be replaced with a DC constant current output circuit including a constant current circuit for controlling the DC to a predetermined constant current. With a DC constant current output circuit, the capacitor can be charged efficiently when the voltage fluctuation during capacitor charging is large.
  • the inverter stop signal transmission circuit 4 3 completes charging of the capacitor 9 for a predetermined time or completes charging.Here, when charging is completed, the inverter stop signal 5 is transmitted to the inverter stop signal receiving circuit 24 by radio, and here the radio wave is transmitted. This is a circuit that uses and sends (automatic charging completion signal transmission circuit).
  • the inverter stop signal transmission circuit 43 is a circuit that receives the capacitor completion signal 47 from the charge completion detection circuit 46 that detects the charging completion T of the capacitor 9 and transmits an inverter stop signal 5.
  • the charging / control device 10 is in a position where the automatic guided vehicle 2 has arrived at the charging standby position and is ready to start the operation of the AC power output circuit 21 in the power supply / control device 6.
  • a magnet 48 is provided to notify the detection circuit 27.
  • the position detection circuit 27 detects the magnetic flux and sends a signal to that effect to the AC power control circuit 23.
  • the AC power control circuit 23 operates the AC power output circuit 21, that is, operates the rectifying / smoothing circuit 25 and the high frequency inverter 26, and the high frequency power from the high frequency inverter 26 (AC power 4 ) To the primary force bra 2 2.
  • the primary force bra 2 2 converts the AC power 4 into electromagnetic energy and radiates it into space.
  • the AC power 4 (electromagnetic energy) from the primary force bra 2 2 is provided so that it can be electromagnetically coupled to the primary force bra 2 2 when the automatic guided vehicle 2 is in the charging standby position.
  • the secondary force bra 4 1 is supplied by electromagnetic inductive coupling.
  • the AC power 4 supplied to the secondary side power bra 41 is converted into DC power by the AC / DC conversion circuit 42 and supplied to the battery 3 and the capacitor 9 connected in parallel.
  • the battery 3 and the capacitor 9 are charged.
  • the capacitor 9 is charged (rapidly charged) in a short time.
  • the charge completion detection circuit 46 detects this and generates a capacitor charge completion signal 47.
  • the capacitor charge completion signal 4 7 is given to the inverter stop signal transmission circuit 4 3, and the inverter stop signal reception circuit 2 in the power supply device 1 (power supply / control device 6) is sent from the transmission circuit 4 3 as the inverter stop signal 5. Sent to 4 using radio waves.
  • the receiver circuit 2 4 When the inverter stop signal receiver circuit 2 4 receives the inverter stop signal 5, the receiver circuit 2 4 stops the operation of the AC power output circuit 2 1 by the AC power control circuit 2 3 and the primary side power bra 2 2 Shut off the supply of AC power 4 to. Thus, the automatic charging operation is completed on both the charging control device 10 side and the power feeding / control device 6 side.
  • the automatic guided vehicle 2 is charged when the inverter stop signal 5 is charged. ⁇
  • the power is supplied from the inverter stop signal transmission circuit 4 3 of the control device 10 ⁇
  • the restriction from the charging standby position is released, but the battery 3 is still charged.
  • Charging at this time is performed from the capacitor 9. That is, the battery 3 is charged from the charged capacitor 9 after being charged in parallel with the capacitor 9 (mainly rapid charging of the capacitor 9).
  • AC power 4 is supplied from power supply device 1 to automatic guided vehicle 2 in a non-contact manner, so there is no exposure of current-carrying parts (current-carrying terminals and current-carrying paths) in the power transmission path for charging, and charging is more secure Can be raised.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Automatic charging method and device for an automated guided vehicle (AGV) which can carry out automatic charging quickly while enhancing safety at charging. A power supply unit (1) is provided with a power supplier/controller (6) for radiating electromagnetic energy converted from AC power (4) when the AGV (2) arrives at a charge waiting position, and stopping radiation of electromagnetic energy upon receiving an automatic charge completion signal (5). The AGV (2) is provided with a a charge controller (10) which converts electromagnetic energy received from the power supplier/controller (6) through electromagnetic induction coupling into DC power (8) that is then supplied to a parallel circuit of a battery (3) and a capacitor (9), and which transmits the automatic charge completion signal (5) to the power supplier/controller (6) by radio upon charge completion of the capacitor (9). Automatic charging is completed when charging of the capacitor (9) to be charged in a short time is completed thus quickly completing automatic charging of the AGV involving positional restriction, but the battery (3) is charged from the capacitor (9) afterwards. Since charging power is converted into electromagnetic energy and supplied to the AGV (2) in noncontact, the live part is not exposed in the power transmission line for charging, thus enhancing safety at charging.

Description

明細書  Specification
無人搬送車の自動充電方法及び装置 Automatic charging method and apparatus for automatic guided vehicle
技術分野 Technical field
本発明は、 無人搬送車 （A G V ： Automated Guided Vehicle) の動力源であるバッ テリを自動的に充電する無人搬送車の自動充電方法及び装置に関するものである。 背景技術  The present invention relates to an automatic charging method and apparatus for an automatic guided vehicle that automatically charges a battery that is a power source of an automated guided vehicle (A GV). Background art
従来、 無人搬送車の自動充電技術として、 次のような装置があった。  Conventionally, the following devices have been used as automatic charging technology for automated guided vehicles.
すなわち、 無人搬送車が充電位置 （充電待機位置） に到着すると、 ァクチユエータ 装置の光電スィツチに光を当てて自動充電制御盤に無人搬送車の到着を知らせる。 同 制御盤は無人搬送車の到着を確認すると、 ァクチユエータ装置に対して移動指示を与 える。  In other words, when the automated guided vehicle arrives at the charging position (charging standby position), the automatic charging control panel is notified of the arrival of the automated guided vehicle by illuminating the photoelectric switch of the actuator device. When the control panel confirms the arrival of the automated guided vehicle, it gives a movement instruction to the actuator device.
これによりァクチユエータ装置は磁気センサで埋込磁気棒からの磁気を検出し、 磁 気棒に沿って所定の位置まで前進し、 接触端子を前方に出して無人搬送車のバッテリ の充電用端子に接触させ、 充電を開始する。  As a result, the actuator device detects the magnetism from the embedded magnetic rod with the magnetic sensor, moves forward along the magnetic rod to a predetermined position, and brings the contact terminal forward to contact the charging terminal of the battery of the automatic guided vehicle. And start charging.
上記制御盤は、 所定時間充電又は充電完了を検出すると、 ァクチユエータ装置に移 動指示を与えて元の位置まで後退させる。 ァクチユエータ装置はその位置に着くと無 人搬送車の光電スィツチに光を当てて自動充電完了を知らせる。 無人搬送車は自動充 電完了を確認すると発車する、 というものである （特許文献 1参照） 。  When the control panel detects charging for a predetermined time or completion of charging, the control panel gives a moving instruction to the actuator device and moves it back to the original position. When the actuator device arrives at the position, it lights the photoelectric switch of the automatic guided vehicle to notify the completion of automatic charging. The automatic guided vehicle is started when automatic charging is confirmed (see Patent Document 1).
特許文献 1 ：特開平 1 0— 2 8 5 7 1 2号公報 （段落番号 [ 0 0 1 2 ] 〜 [ 0 0 1 5 ] ) Patent Document 1: Japanese Patent Application Laid-Open No. Hei 10-2 8 5 7 12 (paragraph numbers [0 0 1 2] to [0 0 1 5])
発明の開示 Disclosure of the invention
発明が解決しようとする課題 Problems to be solved by the invention
上記従来技術では、 容量が低下したバッテリを充電済バッテリに交換する作業が不 要となり、 特に、 バッテリの消費電流が大きく、 バッテリ交換頻度が高くなる無人搬 送車の使用環境下において、 省力化、 高効率化が図れるという利点があつたが、 自動 充電において、 更なる迅速化、 安全性への配慮については、 未だ満足できるものでは なかった。  The above-mentioned conventional technology eliminates the need to replace a battery with a reduced capacity with a charged battery, especially in the use environment of unmanned transport vehicles where the current consumption of the battery is large and the battery replacement frequency is high. Although there was an advantage that high efficiency could be achieved, further speeding up and consideration of safety in automatic charging were not yet satisfactory.
本発明の課題は、 自動充電を更に迅速に行う （充電待機位置における拘束時間を更 に短縮する） ことができ、 また、 充電時の安全性をより高めることのできる無人搬送 車の自動充電方法及び装置を提供することにある。 An object of the present invention is to perform automatic charging more quickly (by increasing the restraint time at the charging standby position). The present invention also provides an automatic charging method and apparatus for an automated guided vehicle that can further enhance safety during charging.
課題を解決するための手段 Means for solving the problem
上記課題は、 無人搬送車の自動充電方法及び装置を下記各態様の構成とすることに よって解決される。  The above-described problems can be solved by configuring the automatic charging method and apparatus for an automatic guided vehicle according to the following aspects.
各態様は、 請求項と同様に、 項に区分し、 各項に番号を付し、 必要に応じて他の項 の番号を引用する形式で記載する。 これは、 あくまでも本発明の理解を容易にするた めであり、 本明細書に記載の技術的特徴及びそれらの組合わせが以下の各項に記載の ものに限定されると解釈されるべきではない。 また、 1つの項に複数の事項が記載さ れている場合、 それら複数の事項を常に一緒に採用しなければならないわけではなく、 一部の事項のみを取り出して採用することも可能である。  Like each claim, each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is only for the purpose of facilitating the understanding of the present invention, and should not be construed as limiting the technical features and combinations thereof described in this specification to those described in the following sections. . In addition, when multiple items are listed in one section, it is not always necessary to adopt these multiple items together, and it is possible to pick out only some items and adopt them.
以下の各項のうち、 （1 ) 項が請求項 1に、 （2 ) 項が請求項 2に、 （3 ) 項が請 求項 3に、 各々対応する。  Of the following items, (1) corresponds to claim 1, (2) corresponds to claim 2, and (3) corresponds to claim 3 respectively.
( 1 ) 給電装置の近傍の充電待機位置に無人搬送車が到着すると、 その無人搬送車に 搭載されたバッテリへの充電が行われる無人搬送車の自動充電方法において、 前記充 電待機位置に前記無人搬送車が到着することにより、 前記給電装置から無人搬送車に 非接触で充電用電力を供給し、 この充電用電力を、 前記無人搬送車に搭載され、 並列 接続されたキャパシタ及び前記バッテリに供給し、 前記キャパシタの所定時間の充電 終了又は充電完了により自動充電を完了し、 この自動充電完了後にも前記バッテリは 前記キヤパシタからの充電が行われることを特徴とする無人搬送車の自動充電方法。 充電待機位置としては、 例えば、 無人搬送車の 1サイクル運行路線中の、 組付け部 品の荷卸し、 積込みの待機位置等が好適である。  (1) In the automatic charging method for an automatic guided vehicle in which a battery mounted on the automatic guided vehicle is charged when the automatic guided vehicle arrives at a charging standby position in the vicinity of the power feeding device, the charging standby position is set at the charging standby position. When the automated guided vehicle arrives, charging power is supplied from the power feeding device to the automated guided vehicle in a non-contact manner, and this charging power is installed in the automated guided vehicle and connected in parallel to the capacitor and the battery. The automatic charging method of the automatic guided vehicle, characterized in that the automatic charging is completed upon completion or charging completion of the capacitor for a predetermined time, and the battery is charged from the capacitor even after the automatic charging is completed. . As the charging standby position, for example, the unloading of assembled parts and the standby position for loading in the one-cycle operation route of the automated guided vehicle are suitable.
給電装置から無人搬送車に供給される交流電力は、 無人搬送車に搭載されたバッテ リへの充電用の電力であり、 給電装置から無人搬送車へは非接触で、 つまり空間を介 して供給される。 したがって、 給電装置から無人搬送車に電磁誘導結合により供給さ れる交流電力としては、 ここでは一般的な交流によるものの他、 パルス波によるもの も含まれる。  The AC power supplied from the power feeding device to the automatic guided vehicle is power for charging the battery mounted on the automatic guided vehicle, and is not contacted from the power feeding device to the automatic guided vehicle, that is, through the space. Supplied. Therefore, the AC power supplied from the power feeding device to the automated guided vehicle by electromagnetic inductive coupling here includes not only general AC but also pulse wave.
バッテリは、 基本的には無人搬送車の動力用のバッテリを指すが、 動力用以外の用 途のもの、 あるいは動力用とそれ以外の用途に兼用されるものも含む。 このバッテリ は、 繰り返し充電して使用可能な 2次電池を指すことはいうまでもない。 Battery basically refers to a battery for powering automatic guided vehicles, but it is not for power. This includes those that are used for power or other uses. Needless to say, this battery is a secondary battery that can be recharged and used.
( 2 ) 給電装置の近傍の充電待機位置に無人搬送車が到着すると、 その無人搬送車に 搭載されたバッテリへの充電が行われる無人搬送車の自動充電装置において、 前記給 電装置は、 前記無人搬送車が前記充電待機位置に到着することにより交流電力を電磁 エネルギに変換して空間に放射し、 自動充電完了信号を受けて前記電磁エネルギの放 射を停止する給電 ·制御装置を備えてなり、 前記無人搬送車は、 前記給電 .制御装置 からの電磁エネルギを電磁誘導結合にて非接触で受けて、 その交流電力を直流電力に 変換し、 前記バッテリ、 及びこのバッテリに並列接続されたキャパシタに供給し、 前 記キャパシタの所定時間の充電終了又は充電完了により自動充電完了信号を前記給 電 ·制御装置に無線によって送る充電 ·制御装置とを備えてなることを特徴とする無 人搬送車の自動充電装置。  (2) In the automatic charging device of the automatic guided vehicle in which the battery mounted on the automatic guided vehicle is charged when the automatic guided vehicle arrives at the charging standby position in the vicinity of the power feeding device, the power supplying device is When the automatic guided vehicle arrives at the charging standby position, it converts AC power into electromagnetic energy, radiates it into the space, and receives an automatic charging completion signal to stop the emission of the electromagnetic energy. The automatic guided vehicle receives the electromagnetic energy from the power supply control device in a non-contact manner by electromagnetic inductive coupling, converts the AC power into DC power, and is connected in parallel to the battery and the battery. The charging / control device is supplied to the capacitor and wirelessly sends an automatic charge completion signal to the power supply / control device upon completion of charging or completion of charging for a predetermined time. To become Te automatic charging device of non-person transport vehicle according to claim.
自動充電完了信号を無線によって受け、 あるいは送るとは、 自動充電完了信号を、 空間を介して、 つまり、 電波、 赤外線あるいは光等の空間伝送媒体をキャリア （搬送 波） として受け、 あるいは送ることをいう。  Receiving or sending an automatic charging completion signal wirelessly means receiving or sending an automatic charging completion signal via a space, that is, a spatial transmission medium such as radio waves, infrared rays, or light as a carrier (carrier wave). Say.
上記のように、 給電装置から無人搬送車に非接触で供給される充電用電力として交 流電力を用レ、れば、 給電装置から無人搬送車への電力の非接触供給が容易化される。 また、 無人搬送車 （充電，制御装置） から給電装置 （給電 ·制御装置） への自動充 電完了信号を無線によって送るようにしたので、 自動充電完了信号の送受信について も非接触化できる。  As described above, if AC power is used as charging power that is supplied from the power supply device to the automatic guided vehicle in a non-contact manner, non-contact supply of power from the power supply device to the automatic guided vehicle is facilitated. . In addition, since the automatic charging completion signal is sent wirelessly from the automated guided vehicle (charging and control device) to the power supply device (power supply and control device), the automatic charging completion signal can be sent and received without contact.
例えば、 無人搬送車にマグネット （永久磁石） を固定し、 このマグネットからの磁 束を検出する検知手段を充電待機位置に設ければ、 無人搬送車が充電待機位置に到着 したことも非接触で検出できる。  For example, if a magnet (permanent magnet) is fixed to the automatic guided vehicle and a detection means for detecting the magnetic flux from the magnet is provided at the charging standby position, it is possible to contact the automatic guided vehicle at the charging standby position without contact. It can be detected.
バッテリ及びキャパシタの並列接続回路中に、 キャパシタ側からバッテリ側への通 電は可能であるが、 バッテリ側からキャパシタ側への通電は不能となるように、 例え ばダイォードのような逆流阻止用の回路素子を設けてもよい。  In the parallel connection circuit of the battery and capacitor, power can be passed from the capacitor side to the battery side, but current flow from the battery side to the capacitor side is disabled. A circuit element may be provided.
( 3 ) 前記給電 ·制御装置は、 交流電力を出力する交流電力出力回路と、 この交流電 力出力回路からの交流電力が供給されて電磁エネルギを放射する 1次側力ブラと、 前 記無人搬送車の前記充電待機位置への到着を検知して前記交流電力出力回路を動作さ せ、 前記 1次側力ブラに交流電力を供給させる交流電力制御回路と、 自動充電完了信 号を受けて前記交流電力制御回路により前記交流電力出力回路の動作を停止させ、 前 記 1次側力ブラへの交流電力の供給を遮断させる自動充電完了信号受信回路とを備え てなり、 前記充電 ·制御装置は、 前記 1次側力ブラとの電磁誘導結合によつて前記電 磁ェネルギを受ける 2次側力ブラと、 この 2次側力ブラからの交流電力を直流電力に 変換し、 前記バッテリ及びキャパシタに供給する交流/直流変換回路と、 前記キャパ シタの所定時間の充電終了又は充電完了により自動充電完了信号を前記自動充電完了 信号受信回路に無線によって送る自動充電完了信号送信回路とを備えてなることを特 徴とする（2)項に記載の無人搬送車の自動充電装置。 (3) The power feeding / control device includes an AC power output circuit that outputs AC power, a primary power bra that radiates electromagnetic energy when AC power is supplied from the AC power output circuit, An AC power control circuit for detecting the arrival of the automatic guided vehicle at the charging standby position and operating the AC power output circuit to supply AC power to the primary power bra, and an automatic charging completion signal And an automatic charging completion signal receiving circuit for stopping the operation of the AC power output circuit by the AC power control circuit and cutting off the supply of AC power to the primary power bra. The control device includes a secondary force bra that receives the electromagnetic energy by electromagnetic inductive coupling with the primary force bra, converts AC power from the secondary force bra into DC power, and the battery. And an AC / DC conversion circuit that supplies the capacitor, and an automatic charging completion signal transmission circuit that wirelessly sends an automatic charging completion signal to the automatic charging completion signal receiving circuit upon completion of charging or completion of charging of the capacitor for a predetermined time. To become equipped bets and Features (2) automatic charging device of the automatic guided vehicle according to claim.
交流電力出力回路は、 商用交流を整流 ·平滑する整流平滑回路と、 この整流平滑回 路からの直流出力を高周波に変換する高周波ィンバータとを備えて構成することによ り、 小形、 高効率にて交流電力を生成でき、 1次側力ブラから放射可能である。  The AC power output circuit comprises a rectifying / smoothing circuit that rectifies and smoothes commercial AC, and a high-frequency inverter that converts the DC output from this rectifying / smoothing circuit into a high frequency. AC power can be generated and radiated from the primary power bra.
発明の効果 The invention's effect
( 1 ) 項に記載の発明によれば、 給電装置から無人搬送車に供給される充電用電力 は、 並列接続されたバッテリ及びキャパシタに供給されるので、 これらバッテリ及び キャパシタは充電開始されるが、 この際、 キャパシタは短時間に充電 （急速充電） さ れる。 キャパシタの所定時間の充電終了又は充電完了により自動充電が完了すると、 無人搬送車は充電待機位置からの拘束が解かれるが、 バッテリの電圧が低下している 場合、 キャパシタより充電が行われる。 つまり、 バッテリの充電は、 キャパシタとの 並列充電 （キャパシタの急速充電が主である） を経た後、 キャパシタからも行うこと ができる。 このように、 無人搬送車の自動充電は、 キャパシタの所定時間の充電終了 又は充電完了により完了、 つまりバッテリの充電完了を待つことなく短時間に完了す るので、 極めて迅速に行われる。  According to the invention described in item (1), since the charging power supplied from the power feeding device to the automatic guided vehicle is supplied to the battery and the capacitor connected in parallel, the charging of the battery and the capacitor is started. At this time, the capacitor is charged (rapid charge) in a short time. When automatic charging is completed due to completion of charging of the capacitor for a predetermined time or completion of charging, the automatic guided vehicle is released from the charging standby position, but is charged by the capacitor when the battery voltage is low. In other words, the battery can be charged from the capacitor after being charged in parallel with the capacitor (mainly rapid charging of the capacitor). As described above, automatic charging of the automatic guided vehicle is completed in a short time without waiting for completion of charging of the battery, that is, completion of charging of the capacitor for a predetermined time or completion of charging, and thus is performed extremely quickly.
また充電用電力は、 給電装置から無人搬送車に非接触で供給するので、 充電用電力 伝送路中に通電部の露出がなく、 充電時の安全性をより高めることができる。  In addition, since the charging power is supplied from the power supply device to the automatic guided vehicle in a non-contact manner, there is no exposure of the current-carrying portion in the charging power transmission path, and the safety during charging can be further improved.
( 2 ) 項に記載の発明によれば、 給電 '制御装置からの電磁エネルギによる交流電 力は、 直流電力に変換され、 並列接続されたバッテリ及びキャパシタに供給されるの で、 これらバッテリ及びキャパシタは充電開始されるが、 この際、 キャパシタは短時 間に充電 （急速充電） される。 自動充電完了信号が給電 .制御装置に送られて自動充 電が完了すると、 無人搬送車は充電待機位置からの拘束が解かれるが、 バッテリは、 その後も充電を行うことができる。 このときの充電はキャパシタから行われる。 つま り、 バッテリの充電は、 キャパシタとの並列充電 （キャパシタの急速充電が主であ る） を経た後、 充電済のキャパシタからも行うことができる。 このように、 無人搬送 車の自動充電は、 キャパシタの所定時間の充電終了又は充電完了により完了、 つまり ノくッテリの充電完了を待つことなく短時間に完了するので、 極めて迅速に行われる。 また交流電力は、 給電装置から無人搬送車に非接触で供給するので、 充電用電力伝 送路中に通電部の露出がなく、 充電時の安全性をより高めることができる。 According to the invention described in (2), the AC power generated by the electromagnetic energy from the power supply control device is converted into DC power and supplied to the battery and capacitor connected in parallel. These batteries and capacitors start to be charged. At this time, the capacitors are charged in a short time (rapid charge). When the automatic charging completion signal is sent to the controller and automatic charging is completed, the automatic guided vehicle is released from the charging standby position, but the battery can be charged thereafter. Charging at this time is performed from the capacitor. In other words, the battery can be charged from the charged capacitor after parallel charging with the capacitor (mainly rapid charging of the capacitor). In this way, automatic charging of the automated guided vehicle is completed in a short time without waiting for completion of charging of the capacitor, ie, completion of charging for a predetermined time, that is, completion of charging of the capacitor, and thus is performed very quickly. In addition, AC power is supplied from the power supply device to the automatic guided vehicle in a non-contact manner, so that there is no exposure of the current-carrying part in the charging power transmission path, and the safety during charging can be further improved.
( 3 ) 項に記載の発明によれば、 自動充電完了信号が充電 ·制御装置の自動充電完 了信号送信回路から給電 ·制御装置の自動充電完了信号受信回路に送られると、 1次 側力ブラへの交流電力の供給が遮断される。 したがって、 1次側力ブラからの電磁ェ ネルギの放射が停止され、 2次側力ブラからは交流電力が出力されず、 並列接続され たキャパシタ及びバッテリへの充電動作が終了 （自動充電が完了） する。 これにより、 無人搬送車は充電待機位置からの拘束が解かれるが、 バッテリは、 その後も充電が行 われる。 このときの充電はキャパシタから行われる。 つまり、 バッテリの充電は、 キ ャパシタとの上記並列充電を経た後、 充電済のキャパシタからも行われる。 ここで、 給電装置及び無人搬送車間における自動充電動作は、 キャパシタの所定時間の充電終 了又は充電完了により完了、 つまりバッテリの充電完了を待つことなく短時間に完了 するので、 極めて迅速に行われる。  According to the invention described in item (3), when the automatic charging completion signal is sent from the charging / automatic charging completion signal transmitting circuit of the control device to the automatic charging completion signal receiving circuit of the control device, the primary side force The supply of AC power to the bra is cut off. Therefore, the radiation of the electromagnetic energy from the primary side bra is stopped, no AC power is output from the secondary side bra, and the charging operation to the capacitor and battery connected in parallel is completed (automatic charging is completed). ) As a result, the automatic guided vehicle is released from the charging standby position, but the battery is still charged. Charging at this time is performed from the capacitor. In other words, the battery is charged from the charged capacitor after the parallel charging with the capacitor. Here, the automatic charging operation between the power supply device and the automatic guided vehicle is completed when the capacitor is completely charged for a predetermined time or when the charging is completed, that is, it is completed in a short time without waiting for the battery to be fully charged. .
また交流電力は、 給電装置の 1次側力ブラから無人搬送車の 2次側力ブラに非接触 で供給するので、 充電用電力伝送路中に通電部の露出がなく、 充電時の安全性を簡単、 確実な方法でより高めることができる。  In addition, AC power is supplied in a non-contact manner from the primary power bra of the power feeder to the secondary power bra of the automated guided vehicle, so there is no exposure of the current-carrying part in the charging power transmission path and safety during charging. Can be enhanced in a simple and reliable way.
図面の簡単な説明 Brief Description of Drawings
[図 1 ] 本発明方法が適用された無人搬送車の自動充電装置 （本発明装置） の概略を 示すプロック図である。  FIG. 1 is a block diagram showing an outline of an automatic charging device for automatic guided vehicles (the device of the present invention) to which the method of the present invention is applied.
[図 2 ] 同上装置の具体例を示すプロック図である。 符号の説明 FIG. 2 is a block diagram showing a specific example of the apparatus. Explanation of symbols
1 ：給電装置、 2 ：無人搬送車、 3 ：バッテリ、 4 ：交流電力、 5 ：インバータ停 止信号 （自動充電完了信号） 、 6 ：給電 ·制御装置、 8 ：直流電力、 9 ： キャパシタ、 1 0 :充電 ·制御装置、 2 1 ：交流電力出力回路、 2 2 : 1次側力ブラ、 2 3 ：交流 電力制御回路、 2 4 ：インバータ停止信号受信回路 （自動充電完了信号受信回路） 、 4 1 ： 2次側力ブラ、 4 2 ：交流 直流変換回路、 4 3 ：インバータ停止信号送信回 路 （自動充電完了信号送信回路） 。 1: Power feeder, 2: Automated guided vehicle, 3: Battery, 4: AC power, 5: Inverter stop signal (automatic charge completion signal), 6: Power supply / control device, 8: DC power, 9: Capacitor, 1 0 : Charging control device, 2 1: AC power output circuit, 2 2: Primary power bra, 2 3: AC power control circuit, 2 4: Inverter stop signal receiving circuit (automatic charging completion signal receiving circuit), 4 1: Secondary force bra, 4 2: AC DC conversion circuit, 4 3: Inverter stop signal transmission circuit (automatic charge completion signal transmission circuit).
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
以下、 本発明の実施の形態を図面に基づき説明する。 なお、 各図間において、 同一 符号は同一又は相当部分を示す。  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in each figure, the same code | symbol shows the same or equivalent part.
図 1は、 本発明方法が適用された無人搬送車の自動充電装置 （本発明装置） の概略 を示すブロック図である。  FIG. 1 is a block diagram showing an outline of an automatic charging device (invention device) of an automatic guided vehicle to which the method of the invention is applied.
この図 1に示すように、 本発明装置は、 給電装置 1に隣接する充電待機位置に無人 搬送車 2が到着すると、 その無人搬送車 （A G V) 2に搭載されたバッテリ 3への充 電が行われる無人搬送車の自動充電装置であって、 上記給電装置 1及び無人搬送車 2 は次のように構成されている。  As shown in FIG. 1, when the automatic guided vehicle 2 arrives at the charging standby position adjacent to the power feeding device 1, the inventive device can charge the battery 3 mounted on the automatic guided vehicle (AGV) 2. An automatic charging device for an automatic guided vehicle, wherein the power feeding device 1 and the automatic guided vehicle 2 are configured as follows.
すなわち給電装置 1は、 無人搬送車 2が充電待機位置に到着することにより、 充電 用電力、 ここでは交流電力 4を電磁エネルギに変換して空間に放射し、 自動充電完了 信号 5を受けて交流電力 4 (電磁エネルギ） の放射を停止する給電 ·制御装置 6を備 えてなる。 なお、 図中 7は、 商用 1 0 0 V交流電源である。  That is, when the automatic guided vehicle 2 arrives at the charging standby position, the power feeding device 1 converts charging power, here AC power 4 into electromagnetic energy and radiates it into the space, receives the automatic charging completion signal 5 and AC. It is equipped with a power feeding and control device 6 that stops radiation of electric power 4 (electromagnetic energy). In the figure, 7 is a commercial 100 V AC power supply.
また無人搬送車 2は、 充電 ·制御装置 1 0を備えてなる。 この充電 ·制御装置 1 0 は、 上記給電 ·制御装置 6からの交流電力 4 (電磁エネルギ） を電磁誘導結合にて非 接触で受け、 その交流電力 4を直流電力 8に変換して、 バッテリ 3、 及びこのバッテ リ 3に並列接続されたキャパシタ 9に供給し、 キャパシタ 9の所定時間の充電終了又 は充電完了により自動充電完了信号 5を給電 ·制御装置 6に無線によって送る装置で ある。  The automatic guided vehicle 2 includes a charging / control device 10. The charging / control device 10 receives the AC power 4 (electromagnetic energy) from the power feeding / control device 6 in a non-contact manner by electromagnetic inductive coupling, converts the AC power 4 to DC power 8, , And a capacitor 9 connected in parallel to the battery 3, and an automatic charging completion signal 5 is transmitted to the power feeding / control device 6 by radio when the charging of the capacitor 9 is completed for a predetermined time or when the charging is completed.
なお図中 1 1は、 バッテリ 3 (キャパシタ 9 ) からの直流電力 1 2が供給されて回 転する無人搬送車駆動用モータ、 このモータの制御回路 （モータ制御回路） 等を搭載 した台車部である。 上記バッテリ 3、 キャパシタ 9及び充電 .制御装置 1 0は、 実際 にはこの台車部 1 1に搭載されるが、 付加された構成を分かりやすくするために、 こ れらを台車部 1 1外に示した。 In addition, 1 1 in the figure is equipped with a motor for driving an automatic guided vehicle that rotates when DC power 12 is supplied from the battery 3 (capacitor 9), and a control circuit (motor control circuit) of this motor. It is a trolley part. The battery 3, the capacitor 9 and the charging control device 10 are actually mounted on the cart unit 11. However, in order to make the added configuration easy to understand, they are placed outside the cart unit 11. Indicated.
図 2は、 図 1に示した本発明装置の一実施形態の具体例を示すプロック図である。 この図 2に示すように、 給電 '制御装置 6は、 交流電力出力回路 2 1、 1次側カブ ラ 2 2、 交流電力制御回路 2 3及びインバータ停止信号受信回路 2 4等を備えてなる。 交流電力出力回路 2 1は、 交流電力 4を出力する回路であって、 ここでは商用 1 0 0 V交流電源 7からの交流電力 4を整流 ·平滑する整流平滑回路 2 5と、 この整流平 滑回路 2 5からの直流出力を高周波に変換する高周波インバータ 2 6とを備えてなる。  FIG. 2 is a block diagram showing a specific example of the embodiment of the device of the present invention shown in FIG. As shown in FIG. 2, the power feeding control device 6 includes an AC power output circuit 21, a primary side cover 2 2, an AC power control circuit 23, an inverter stop signal receiving circuit 24, and the like. The AC power output circuit 21 is a circuit that outputs AC power 4. Here, a rectifying / smoothing circuit 25 that rectifies and smoothes AC power 4 from a commercial 100 V AC power source 7 and this rectifying smoothing And a high-frequency inverter 26 that converts the DC output from the circuit 25 into a high frequency.
1次側力ブラ 2 2は、 高周波インバータ 2 6からの高周波電力 （交流電力 4 ) が供 給されて電磁エネルギを放射する力ブラであって、 コイルにより形成されている。 交流電力制御回路 2 3は、 無人搬送車 2の上記充電待機位置への到着を検知して交 流電力出力回路 2 1を動作させ、 1次側力ブラ 2 2に交流電力 4を供給させる制御回 路である。  The primary-side force bra 22 is a force bra that radiates electromagnetic energy by being supplied with high-frequency power (AC power 4) from the high-frequency inverter 26, and is formed of a coil. The AC power control circuit 2 3 is a control that detects the arrival of the automatic guided vehicle 2 at the charging standby position and operates the AC power output circuit 21 and supplies the AC power 4 to the primary power bra 2 2. It is a circuit.
インバータ停止信号受信回路 2 4は、 自動充電完了信号 （ここではインバータ停止 信号） 5を受けて交流電力制御回路 2 3により交流電力出力回路 2 1の動作を停止さ せ、 1次側力ブラ 2 2への交流電力 4の供給を遮断させる回路 （自動充電完了信号受 信回路） である。  The inverter stop signal receiving circuit 2 4 receives the automatic charge completion signal (inverter stop signal in this case) 5 and stops the operation of the AC power output circuit 2 1 by the AC power control circuit 2 3. This circuit cuts off the supply of AC power 4 to 2 (automatic charging completion signal receiving circuit).
なお図中 2 7は、 充電 ·制御装置 1 0に設けられた後述するマグネットからの磁束 を検出し、 無人搬送車 2が充電待機位置に到着したことを検知する、 無人搬送車 2の 位置検知回路である。  In the figure, reference numeral 27 denotes a position detection of the automatic guided vehicle 2 that detects a magnetic flux from a magnet (described later) provided in the charging / control device 10 and detects that the automatic guided vehicle 2 has arrived at the charging standby position. Circuit.
給電 ·制御装置 6は、 本実施形態では整流平滑回路 2 5から電流が出力されている か否かを検出し、 出力されていれば通電表示ランプ 2 8を点灯させる通電検知回路 2 9及び通電表示接点 3 0も備える。 また、 交流電力制御回路 2 3が交流電力出力回路 2 1を動作させ、 1次側力ブラ 2 2に交流電力 4を供給しているか否かを検出し、 供 給していれば給電表示ランプ 3 1を点灯させる給電表示接点 3 2も備えている。  In the present embodiment, the power feeding / control device 6 detects whether or not a current is output from the rectifying and smoothing circuit 25, and if it is output, the power supply detection circuit 29 and the power supply detection lamp 28 are turned on. A display contact 30 is also provided. Also, the AC power control circuit 2 3 operates the AC power output circuit 21 and detects whether the AC power 4 is supplied to the primary power bra 2 2 and if it is supplied, the power supply indicator lamp 3 Power supply display contact 3 2 for lighting 1 is also provided.
また上記充電 ·制御装置 1 0は、 2次側力ブラ 4 1、 交流/直流変換回路 4 2及び インバータ停止信号送信回路 4 3等を備えてなる。 2次側力ブラ 4 1は、 1次側力ブラ 2 2との電磁誘導結合によって上記電磁エネル ギ （交流電力 4 ) を受ける力ブラであって、 コイルにより形成されている。 The charging / control device 10 includes a secondary force bra 41, an AC / DC conversion circuit 4 2, an inverter stop signal transmission circuit 4 3, and the like. The secondary-side force bra 41 is a force bra that receives the electromagnetic energy (AC power 4) by electromagnetic induction coupling with the primary-side force bra 22, and is formed of a coil.
交流 直流変換回路 4 2は、 2次側力ブラ 4 1からの交流電力 4を直流電力 8に変 換し、 上記バッテリ 3及びキャパシタ 9に供給する回路であって、 直流定電圧出力回 路 4 4及び充電回路 4 5からなる。 直流定電圧出力回路 4 4は、 例えば整流平滑回路 及びこの整流平滑回路からの直流を所定の一定電圧に制御する定電圧回路等からなる。 ここで直流定電圧出力回路 4 4を、 直流を所定の一定電流に制御する定電流回路等 からなる直流定電流出力回路に置き換えてもよい。 直流定電流出力回路であると、 キ ャパシタ充電時の電圧変動が大きいときに、 キャパシタを効率よく充電できる。  The AC / DC conversion circuit 4 2 is a circuit that converts the AC power 4 from the secondary side power bra 4 1 into DC power 8 and supplies it to the battery 3 and the capacitor 9. The DC constant voltage output circuit 4 4 and charging circuit 45. The DC constant voltage output circuit 44 includes, for example, a rectifying / smoothing circuit and a constant voltage circuit for controlling the DC from the rectifying / smoothing circuit to a predetermined constant voltage. Here, the DC constant voltage output circuit 44 may be replaced with a DC constant current output circuit including a constant current circuit for controlling the DC to a predetermined constant current. With a DC constant current output circuit, the capacitor can be charged efficiently when the voltage fluctuation during capacitor charging is large.
ィンバ一タ停止信号送信回路 4 3は、 キャパシタ 9の所定時間の充電終了又は充電 完了、 ここでは充電完了により、 インバータ停止信号 5をインバータ停止信号受信回 路 2 4に無線によって、 ここでは電波を用いて送る回路 （自動充電完了信号送信回 路） である。  The inverter stop signal transmission circuit 4 3 completes charging of the capacitor 9 for a predetermined time or completes charging.Here, when charging is completed, the inverter stop signal 5 is transmitted to the inverter stop signal receiving circuit 24 by radio, and here the radio wave is transmitted. This is a circuit that uses and sends (automatic charging completion signal transmission circuit).
インバータ停止信号送信回路 4 3は、 キャパシタ 9の充電完 Tを検知する充電完了 検知回路 4 6からのキャパシタ充電完了信号 4 7を受けてインバータ停止信号 5を送 信する回路である。  The inverter stop signal transmission circuit 43 is a circuit that receives the capacitor completion signal 47 from the charge completion detection circuit 46 that detects the charging completion T of the capacitor 9 and transmits an inverter stop signal 5.
なお充電 ·制御装置 1 0には、 無人搬送車 2が充電待機位置に到着して、 給電 ·制 御装置 6内の交流電力出力回路 2 1の動作を開始させ得る状態になったことを位置検 知回路 2 7に知らせるマグネット 4 8が設けられている。  The charging / control device 10 is in a position where the automatic guided vehicle 2 has arrived at the charging standby position and is ready to start the operation of the AC power output circuit 21 in the power supply / control device 6. A magnet 48 is provided to notify the detection circuit 27.
次に、 このような実施形態の動作について説明する。  Next, the operation of such an embodiment will be described.
まず、 無人搬送車 2が充電待機位置に到着すると、 充電 '制御装置 1 0に設けられ たマグネット 4 8と給電 '制御装置 6の位置検知回路 2 7とが対向し、 マグネッ ト 4 8からの磁束を位置検知回路 2 7が検知してその旨の信号を交流電力制御回路 2 3に 送る。  First, when the automatic guided vehicle 2 arrives at the charging standby position, the charging 'magnet 4 8 provided in the control device 10 and the power feeding' position detection circuit 2 7 of the control device 6 face each other, and the magnet 48 The position detection circuit 27 detects the magnetic flux and sends a signal to that effect to the AC power control circuit 23.
これにより、 交流電力制御回路 2 3は交流電力出力回路 2 1を動作させ、 つまり、 整流平滑回路 2 5及び高周波インバ一タ 2 6を動作させ、 高周波インバータ 2 6から の高周波電力 （交流電力 4 ) を 1次側力ブラ 2 2に供給させる。 1次側力ブラ 2 2は、 上記交流電力 4を電磁エネルギに変換して空間に放射する。 1次側力ブラ 2 2からの交流電力 4 (電磁エネルギ） は、 無人搬送車 2が充電待機 位置にあるとき、 1次側力ブラ 2 2と電磁誘導結合可能な位置となるように設けられ た 2次側力ブラ 4 1に、 電磁誘導結合によって供給される。 2次側力ブラ 4 1に供給 された交流電力 4は、 交流/直流変換回路 4 2によって直流電力に変換され、 並列接 続されたバッテリ 3及びキャパシタ 9に供給される。 As a result, the AC power control circuit 23 operates the AC power output circuit 21, that is, operates the rectifying / smoothing circuit 25 and the high frequency inverter 26, and the high frequency power from the high frequency inverter 26 (AC power 4 ) To the primary force bra 2 2. The primary force bra 2 2 converts the AC power 4 into electromagnetic energy and radiates it into space. The AC power 4 (electromagnetic energy) from the primary force bra 2 2 is provided so that it can be electromagnetically coupled to the primary force bra 2 2 when the automatic guided vehicle 2 is in the charging standby position. The secondary force bra 4 1 is supplied by electromagnetic inductive coupling. The AC power 4 supplied to the secondary side power bra 41 is converted into DC power by the AC / DC conversion circuit 42 and supplied to the battery 3 and the capacitor 9 connected in parallel.
これにより、 バッテリ 3及びキャパシタ 9は充電動作されるが、 この際、 キャパシ タ 9は短時間に充電 （急速充電） される。  As a result, the battery 3 and the capacitor 9 are charged. At this time, the capacitor 9 is charged (rapidly charged) in a short time.
キャパシタ 9が充電を完了すると、 充電完了検知回路 4 6はそれを検知してキャパ シタ充電完了信号 4 7を発生する。 このキャパシタ充電完了信号 4 7は、 インバータ 停止信号送信回路 4 3に与えられ、 この送信回路 4 3からィンバータ停止信号 5とし て給電装置 1 (給電 ·制御装置 6 ) 中のインバータ停止信号受信回路 2 4に電波を用 いて送られる。  When the capacitor 9 completes charging, the charge completion detection circuit 46 detects this and generates a capacitor charge completion signal 47. The capacitor charge completion signal 4 7 is given to the inverter stop signal transmission circuit 4 3, and the inverter stop signal reception circuit 2 in the power supply device 1 (power supply / control device 6) is sent from the transmission circuit 4 3 as the inverter stop signal 5. Sent to 4 using radio waves.
インバータ停止信号受信回路 2 4がインバータ停止信号 5を受けると、 この受信回 路 2 4は、 交流電力制御回路 2 3によって交流電力出力回路 2 1の動作を停止させ、 1次側力ブラ 2 2への交流電力 4の供給を遮断させる。 これにより、 充電 .制御装置 1 0側及び給電 ·制御装置 6側のいずれにおいても、 自動充電動作は完了する。  When the inverter stop signal receiver circuit 2 4 receives the inverter stop signal 5, the receiver circuit 2 4 stops the operation of the AC power output circuit 2 1 by the AC power control circuit 2 3 and the primary side power bra 2 2 Shut off the supply of AC power 4 to. Thus, the automatic charging operation is completed on both the charging control device 10 side and the power feeding / control device 6 side.
無人搬送車 2は、 インバータ停止信号 5が充電 ·制御装置 1 0のインバータ停止信 号送信回路 4 3から給電 ·制御装置 6のインバータ停止信号受信回路 2 4に送られ、 自動充電が完了した時点から、 充電待機位置からの拘束が解かれるが、 バッテリ 3に は、 その後も充電が行われる。 このときの充電はキャパシタ 9から行われる。 つまり、 バッテリ 3の充電は、 キャパシタ 9との並列充電 （キャパシタ 9の急速充電が主であ る） を経た後、 充電済のキャパシタ 9からも行われる。  The automatic guided vehicle 2 is charged when the inverter stop signal 5 is charged. · The power is supplied from the inverter stop signal transmission circuit 4 3 of the control device 10 · When it is sent to the inverter stop signal reception circuit 24 of the control device 6 and automatic charging is completed. Thus, the restriction from the charging standby position is released, but the battery 3 is still charged. Charging at this time is performed from the capacitor 9. That is, the battery 3 is charged from the charged capacitor 9 after being charged in parallel with the capacitor 9 (mainly rapid charging of the capacitor 9).
このように、 無人搬送車 2の自動充電 （充電待機位置における拘束） は、 キャパシ タ 9の充電完了により完了、 つまりバッテリ 3の充電完了を待つことなく短時間に完 了するので、 極めて迅速に行われる。  In this way, automatic charging of the automated guided vehicle 2 (restraint at the charging standby position) is completed when the charging of the capacitor 9 is completed, that is, it is completed in a short time without waiting for the charging of the battery 3 to be completed. Done.
また交流電力 4は、 給電装置 1から無人搬送車 2に非接触で供給するので、 充電用 電力伝送路中に通電部 （通電端子や通電路） の露出がなく、 充電時の安全性をより高 めることができる。  In addition, AC power 4 is supplied from power supply device 1 to automatic guided vehicle 2 in a non-contact manner, so there is no exposure of current-carrying parts (current-carrying terminals and current-carrying paths) in the power transmission path for charging, and charging is more secure Can be raised.

Claims

請求の範囲 The scope of the claims
[ 1 ] 給電装置の近傍の充電待機位置に無人搬送車が到着すると、 その無人搬送車に 搭載されたバッテリへの充電が行われる無人搬送車の自動充電方法において、 前記充電待機位置に前記無人搬送車が到着することにより、 前記給電装置から無人 搬送車に非接触で充電用電力を供給し、  [1] In an automatic charging method for an automatic guided vehicle in which a battery mounted on the automatic guided vehicle is charged when the automatic guided vehicle arrives at a charging standby position in the vicinity of the power feeding device, the unmanned guided vehicle is charged at the charging standby position. When the transport vehicle arrives, charging power is supplied from the power feeding device to the unmanned transport vehicle in a contactless manner,
この充電用電力を、 前記無人搬送車に搭載され、 並列接続されたキャパシタ及び前 記バッテリに供給し、 前記キャパシタの所定時間の充電終了又は充電完了により自動 充電を完了し、  The charging power is supplied to the capacitor and the battery that are mounted on the automatic guided vehicle and connected in parallel, and the automatic charging is completed upon completion of charging or completion of charging for a predetermined time of the capacitor,
この自動充電完了後にも前記バッテリは前記キャパシタからの充電が行われること を特徴とする無人搬送車の自動充電方法。  The automatic charging method for an automatic guided vehicle, wherein the battery is charged from the capacitor even after completion of the automatic charging.
[ 2 ] 給電装置の近傍の充電待機位置に無人搬送車が到着すると、 その無人搬送車に 搭載されたバッテリへの充電が行われる無人搬送車の自動充電装置にぉレ、て、 前記給電装置は、 前記無人搬送車が前記充電待機位置に到着することにより交流電 力を電磁エネルギに変換して空間に放射し、 自動充電完了信号を受けて前記電磁エネ ルギの放射を停止する給電 ·制御装置を備えてなり、  [2] When the automatic guided vehicle arrives at a charging standby position in the vicinity of the power supply device, the automatic power supply device of the automatic guided vehicle that charges the battery mounted on the automatic guided vehicle is connected to the power supply device. Is a power feeding / control device that converts alternating current power into electromagnetic energy and radiates it into the space when the automatic guided vehicle arrives at the charging standby position, and stops radiation of the electromagnetic energy upon receiving an automatic charging completion signal. With
前記無人搬送車は、 前記給電 ·制御装置からの電磁エネルギを電磁誘導結合にて非 接触で受けて、 その交流電力を直流電力に変換し、 前記バッテリ、 及びこのバッテリ に並列接続されたキヤパシタに供給し、 前記キヤパシタの所定時間の充電終了又は充 電完了により自動充電完了信号を前記給電♦制御装置に無線によって送る充電 ·制御 装置とを備えてなることを特徴とする無人搬送車の自動充電装置。  The automatic guided vehicle receives electromagnetic energy from the power feeding / control device in a non-contact manner by electromagnetic inductive coupling, converts the AC power into DC power, and supplies the battery and a capacitor connected in parallel to the battery. An automatic charging of an automatic guided vehicle comprising: a charging / control device that wirelessly sends an automatic charging completion signal to the power supply ♦ upon completion of charging or completion of charging for a predetermined time of the capacitor apparatus.
[ 3 ] 前記給電 ·制御装置は、  [3] The power supply / control device
交流電力を出力する交流電力出力回路と、 この交流電力出力回路からの交流電力が 供給されて電磁エネルギを放射する 1次側力ブラと、 前記無人搬送車の前記充電待機 位置への到着を検知して前記交流電力出力回路を動作させ、 前記 1次側力ブラに交流 電力を供給させる交流電力制御回路と、 自動充電完了信号を受けて前記交流電力制御 回路により前記交流電力出力回路の動作を停止させ、 前記 1次側力ブラへの交流電力 の供給を遮断させる自動充電完了信号受信回路とを備えてなり、  An AC power output circuit that outputs AC power, a primary power bra that radiates electromagnetic energy when AC power is supplied from the AC power output circuit, and detects the arrival of the automatic guided vehicle at the charging standby position The AC power output circuit is operated, an AC power control circuit for supplying AC power to the primary power bra, and an operation of the AC power output circuit by the AC power control circuit in response to an automatic charging completion signal. An automatic charging completion signal receiving circuit for stopping and interrupting the supply of AC power to the primary power bra,
前記充電 ·制御装置は、 前記 1次側力ブラとの電磁誘導結合によって前記電磁エネルギを受ける 2次側力プ ラと、 この 2次側力ブラからの交流電力を直流電力に変換し、 前記バッテリ及びキヤ パシタに供給する交流/直流変換回路と、 前記キャパシタの所定時間の充電終了又は 充電完了により自動充電完了信号を前記自動充電完了信号受信回路に無線によって送 る自動充電完了信号送信回路とを備えてなることを特徴とする請求項 2に記載の無人 搬送車の自動充電装置。 The charging and control device A secondary-side force plunger that receives the electromagnetic energy by electromagnetic induction coupling with the primary-side force bra, and converts AC power from the secondary-side force bra into DC power and supplies it to the battery and capacitor An AC / DC conversion circuit; and an automatic charging completion signal transmitting circuit that wirelessly transmits an automatic charging completion signal to the automatic charging completion signal receiving circuit upon completion of charging or completion of charging of the capacitor for a predetermined time. The automatic charging device for automatic guided vehicles according to claim 2.
PCT/JP2007/072877 2006-11-30 2007-11-20 Automatic charging method and device of automated guided vehicle WO2008066052A1 (en)

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