JP2007074800A - Battery charge/discharge management system of automatic carrier vehicle - Google Patents
Battery charge/discharge management system of automatic carrier vehicle Download PDFInfo
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Description
本発明は、搭載した電池を駆動源として無人で走行し、地上側に設けられた充電ステーションで電池の充電を行う無人搬送車に関し、さらに詳しくは、無人搬送車の電池の充放電管理システムに関するものである。 The present invention relates to an automatic guided vehicle that runs unattended using a mounted battery as a drive source and charges the battery at a charging station provided on the ground side, and more particularly, to a charge / discharge management system for a battery of the automatic guided vehicle. Is.
従来、工場や倉庫内で使用される無人搬送車は、駆動源となる電池として鉛蓄電池を搭載していた。そして、工場や倉庫内に設けられた充電ステーションにおいて、電池を満充電にして使用されていた（例えば、特許文献１）。また、最近、満充電で使わなくても良い、すなわち部分充放電で使用可能なニッケル水素電池や、リチウムイオン電池が開発されハイブリッドカー等に使用されている。 Conventionally, automatic guided vehicles used in factories and warehouses have been equipped with lead-acid batteries as a battery serving as a drive source. And in the charging station provided in the factory or the warehouse, the battery was fully charged and used (for example, patent document 1). Recently, nickel-metal hydride batteries and lithium-ion batteries that do not need to be fully charged, that is, can be used for partial charge / discharge, have been developed and used in hybrid cars and the like.
ところが、駆動源となる電池に使用される鉛蓄電池の寿命は通常２〜３年であり、過充電を行うと副反応などによりさらにと短くなる。鉛蓄電池を新型電池であるニッケル水素電池やリチウムイオン電池に置き換えるだけでは、同様に過充電による寿命低下を回避することはできなかった。 However, the life of a lead storage battery used for a battery serving as a drive source is usually 2 to 3 years, and if it is overcharged, it is further shortened due to side reactions and the like. By simply replacing lead-acid batteries with new nickel-metal hydride batteries or lithium-ion batteries, it was not possible to avoid a decrease in life due to overcharging.
そこで本発明の目的は、過充電による寿命の低下を回避する無人搬送車を提供することにある。 Accordingly, an object of the present invention is to provide an automatic guided vehicle that avoids a decrease in life due to overcharging.
請求項１に係る発明は、搭載した電池を駆動源として無人で走行し、地上側に設けられた充電ステーションで前記電池の充電を行う無人搬送車の電池充放電管理システムにおいて、前記電池として、ニッケル水素電池又はリチウムイオン電池を使用し、前記電池の残容量が充電開始容量になった時に充電を開始し、前記電池の残容量が充電停止容量になった時に充電を停止する充電制御手段を有することにより、上記の課題を解決するものである。 The invention according to claim 1 is a battery charge / discharge management system for an automated guided vehicle that runs unmanned using a mounted battery as a drive source and charges the battery at a charging station provided on the ground side. Charge control means using a nickel metal hydride battery or a lithium ion battery, and starting charging when the remaining capacity of the battery reaches a charge start capacity, and stopping charging when the remaining capacity of the battery reaches a charge stop capacity. By having this, the above-described problems are solved.
請求項２に係る発明は、請求項１に係る発明の構成に加えて、前記充電制御手段が、前記無人搬送車側に存在することにより、上記の課題をさらに解決するものである。 According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the charging control means is provided on the automatic guided vehicle side to further solve the above problem.
請求項３に係る発明は、請求項１に係る発明の構成に加えて、前記充電制御手段が地上側に存在し、前記電池の残容量を地上側の前記充電制御手段に知らせる通信手段を無人搬送車側に有しており、地上側の前記充電制御手段が受信した前記電池の残容量情報に基づき、前記充電制御手段が前記地上側の充電ステーションに対して充電の開始及び停止の制御を行うことにより、上記の課題をさらに解決するものである。 According to a third aspect of the present invention, in addition to the configuration of the first aspect of the invention, the charge control means is present on the ground side, and communication means for informing the charge control means on the ground side of the remaining capacity of the battery is unmanned. Based on the remaining capacity information of the battery received by the charging control means on the ground side, the charging control means controls the start and stop of charging for the charging station on the ground side. By doing so, the above-described problems are further solved.
なお、本発明において充電開始容量及び充電停止容量とは、ニッケル水素電池又はリチウムイオン電池の長寿命化が図られるのものであれば、特に限定されるものではないが、好適には、満充電容量に対して２０％容量〜８０％容量の部分充電を行うものであって、すなわち、満充電容量に対して８０％容量未満である場合に充電を開始し、満充電容量に対して８０％容量以上である場合に充電を停止する。 In the present invention, the charge start capacity and the charge stop capacity are not particularly limited as long as the life of the nickel metal hydride battery or the lithium ion battery can be extended. Charging is performed when 20% to 80% capacity is partially charged with respect to the capacity, that is, when the capacity is less than 80% capacity with respect to the full charge capacity, and 80% with respect to the full charge capacity. Stop charging when the capacity is exceeded.
請求項１に係る無人搬送車の電池充放電管理システムによれば、電池として、ニッケル水素電池又はリチウムイオン電池を使用し、前記電池の残容量が充電開始容量になった時に充電を開始し、前記電池の残容量が充電停止容量になった時に充電を停止する充電制御手段を有することにより、電池を満充電で使用しないので、過充電の恐れがなく、安全性が向上する。さらに、ニッケル水素電池又はリチウムイオン電池を、例えば、電池の満充電容量の２０％容量〜８０％容量という部分充放電で電池を使用するため、電池の長寿命化が図られる。 According to the battery charging / discharging management system of the automated guided vehicle according to claim 1, a nickel metal hydride battery or a lithium ion battery is used as a battery, and charging is started when the remaining capacity of the battery reaches a charging start capacity. By having the charge control means for stopping charging when the remaining capacity of the battery reaches the charge stop capacity, the battery is not used at full charge, so there is no fear of overcharging and safety is improved. Furthermore, since a nickel metal hydride battery or a lithium ion battery is used with a partial charge / discharge of, for example, 20% to 80% capacity of the full charge capacity of the battery, the life of the battery can be extended.
請求項２に係る無人搬送車の電池充放電管理システムによれば、請求項１に係る発明の構成に加えて、充電制御手段が無人搬送車側に存在することにより、安全性の向上及び電池の長寿命化という効果に加えて、無人搬送車の台数が少ない場合に、複雑な地上側充電器を用意する必要がないため、システム全体の低コスト化が図られる。 According to the battery charging / discharging management system of the automatic guided vehicle according to claim 2, in addition to the configuration of the invention according to claim 1, the charge control means is present on the automatic guided vehicle side, thereby improving safety and the battery. In addition to the effect of extending the service life of the system, it is not necessary to prepare a complicated ground side charger when the number of automatic guided vehicles is small, so that the cost of the entire system can be reduced.
請求項３に係る無人搬送車の電池充放電管理システムによれば、請求項１に係る発明の構成に加えて、充電制御手段が地上側に存在し、電池の残容量を地上側の充電制御手段に知らせる通信手段を無人搬送車側に有しており、前記地上側の充電制御手段が受信した前記電池の残容量情報に基づき、前記充電制御手段が地上側の充電ステーションに対して充電の開始及び停止の制御を行うことにより、安全性の向上及び電池の長寿命化という効果に加えて、無人搬送車のコストを下げることができるため、無人搬送車の台数が多い場合に、システム全体の低コスト化が図られる。 According to the battery charge / discharge management system of the automatic guided vehicle according to claim 3, in addition to the configuration of the invention according to claim 1, the charge control means exists on the ground side, and the remaining capacity of the battery is controlled by the charge control on the ground side. Communication means to inform the means on the automatic guided vehicle side, and based on the remaining capacity information of the battery received by the ground side charging control means, the charging control means charges the ground side charging station. By controlling start and stop, in addition to the effects of improving safety and extending battery life, the cost of automated guided vehicles can be reduced. Cost reduction.
本発明の無人搬送車の電池充放電管理システムは、前記電池として、ニッケル水素電池又はリチウムイオン電池を使用し、前記電池の残容量が充電開始容量になった時に充電を開始し、前記電池の残容量が充電停止容量になった時に充電を停止する充電制御手段を有するものであって、過充電による電池の寿命低下を回避するとともに、電池の寿命を長期化が図られるものであれば、その具体的態様は、如何なるものであっても構わない。
以下、図１乃至図３を参照して、本発明の実施例である無人搬送車の電池充放電管理システムについて説明する。
The battery charge / discharge management system of the automatic guided vehicle of the present invention uses a nickel metal hydride battery or a lithium ion battery as the battery, starts charging when the remaining capacity of the battery reaches a charge start capacity, If it has a charge control means to stop charging when the remaining capacity becomes the charge stop capacity, avoiding a decrease in battery life due to overcharge, and extending the battery life, The specific aspect may be anything.
Hereinafter, with reference to FIG. 1 thru | or FIG. 3, the battery charging / discharging management system of the automatic guided vehicle which is an Example of this invention is demonstrated.
図１は、本発明の実施例１を示すブロック図である。また、図３は、無人搬送車の搬送路の一例を示している。この無人搬送車は、駆動源である電池１として、ニッケル水素電池又はリチウムイオン電池を搭載している。そして、充電制御手段として充放電状態を監視する充放電モニタ２及び電池１からの放電電流及び端子間電圧、電池温度、電池の内部抵抗による損失等に基づいて、電池の残容量を推定する電池残量推定回路３を搭載している。そして、電池残量の推定の結果、電池の残容量が満充電の８０％容量未満まで低下した場合には、無人搬送車が図３に示したような搬送路近傍に設置された充電ステーション、すなわち地上側充電器５の位置に来た際に無人搬送車に装備された充電ＯＮ／ＯＦＦ装置４を介して電池への充電を開始する。この場合、地上側の充電ステーションに設けられた充電器５には、特に充電の開始と停止を制御する手段を設けられておらず、無人搬送車に装備された充電ＯＮ／ＯＦＦ装置４によって、充電の制御が行われる。 FIG. 1 is a block diagram showing Embodiment 1 of the present invention. Moreover, FIG. 3 has shown an example of the conveyance path of an automatic guided vehicle. This automatic guided vehicle is equipped with a nickel metal hydride battery or a lithium ion battery as the battery 1 as a drive source. And the battery which estimates the remaining capacity of a battery based on the discharge current and the voltage between terminals, the battery temperature, the loss by internal resistance of a battery, etc. from the charge / discharge monitor 2 which monitors a charging / discharging state as a charge control means A remaining amount estimation circuit 3 is mounted. As a result of the estimation of the remaining battery capacity, when the remaining capacity of the battery is reduced to less than 80% capacity of full charge, the automatic guided vehicle is installed in the vicinity of the transport path as shown in FIG. That is, when the vehicle reaches the position of the ground side charger 5, charging of the battery is started via the charging ON / OFF device 4 provided in the automatic guided vehicle. In this case, the charger 5 provided at the charging station on the ground side is not particularly provided with a means for controlling the start and stop of charging, and by the charging ON / OFF device 4 provided in the automatic guided vehicle, Charging control is performed.
そして、電池の残容量が満充電の８０％容量以上にまで回復した場合、充電ＯＮ／ＯＦＦ装置４により充電を停止し、再び、搬送路に復帰し、荷積み、脱荷等の所定の搬送作業を継続する。すなわち、この実施例においては、充電管理を全て台車側で行っている。 And when the remaining capacity of the battery recovers to 80% capacity or more of the full charge, the charging is stopped by the charging ON / OFF device 4 and returned to the transport path again, and the predetermined transport such as loading and unloading is performed. Continue work. That is, in this embodiment, all charge management is performed on the cart side.
図２は、本発明の実施例２を示すブロック図である。この無人搬送車も、駆動源である電池１として、ニッケル水素電池又はリチウムイオン電池を搭載している。そして、無人搬送車側に、電池の充電量と放電量の状態を地上側に送る通信装置６を有している。そして、地上側に設けられた充電制御手段である指令装置７が、無人搬送車から送られた信号に基づき電池の残容量が満充電の８０％容量未満まで低下したことを検知すると、無人搬送車が図３に示したような搬送路近傍に設置された充電ステーション、すなわち地上側充電器５の位置に来た際に、電池の充電を開始する。 FIG. 2 is a block diagram showing Embodiment 2 of the present invention. This automatic guided vehicle also has a nickel hydride battery or a lithium ion battery mounted as the battery 1 as a driving source. And it has the communication apparatus 6 which sends the state of charge amount and discharge amount of a battery to the ground side on the automatic guided vehicle side. When the command device 7 which is the charging control means provided on the ground side detects that the remaining capacity of the battery has decreased to less than 80% capacity of the full charge based on the signal sent from the automatic guided vehicle, When the vehicle comes to the charging station installed near the conveyance path as shown in FIG. 3, that is, the position of the ground side charger 5, the charging of the battery is started.
そして、地上側の充電制御手段である指令装置７が電池の残容量が満充電の８０％容量以上までに回復したことを検知した場合、充電を停止する。そして、無人搬送車は、再び、搬送路に復帰し、所定の搬送作業を継続する。すなわち、この実施例においては、充電管理を全て地上側で行っている。なお、実施例１も実施例２も共に運行管理については、別途、上位コンピュータによって行っており、例えば、電池残量が２０％容量以下を検出した場合は、次の配車要求を割り当てず、充電ステーションへ走行させ、充電をする。 When the command device 7 as the ground side charge control means detects that the remaining capacity of the battery has recovered to 80% capacity or more of the full charge, the charging is stopped. Then, the automatic guided vehicle returns to the transport path again and continues the predetermined transport work. That is, in this embodiment, all charge management is performed on the ground side. In both the first and second embodiments, the operation management is separately performed by a host computer. For example, when the remaining battery level is detected to be 20% or less, the next dispatch request is not assigned and charging is performed. Drive to the station and charge.
１ ・・・ 電池
２ ・・・ 充放電モニタ
３ ・・・ 電池残量推定回路
４ ・・・ 充電ＯＮ／ＯＦＦ装置
５ ・・・ 充電器
６ ・・・ 通信装置
７ ・・・ 指令装置
DESCRIPTION OF SYMBOLS 1 ... Battery 2 ... Charging / discharging monitor 3 ... Battery residual quantity estimation circuit 4 ... Charge ON / OFF apparatus 5 ... Charger 6 ... Communication apparatus 7 ... Command apparatus
Claims (3)
前記電池として、ニッケル水素電池又はリチウムイオン電池を使用し、
前記電池の残容量が充電開始容量になった時に充電を開始し、
前記電池の残容量が充電停止容量になった時に充電を停止する充電制御手段を有すること
を特徴とする無人搬送車の電池充放電管理システム。 In the battery charging / discharging management system of the automated guided vehicle that runs unattended with the mounted battery as a driving source and charges the battery at a charging station provided on the ground side,
As the battery, a nickel metal hydride battery or a lithium ion battery is used,
Start charging when the remaining capacity of the battery reaches the charge start capacity,
A battery charge / discharge management system for an automated guided vehicle comprising charge control means for stopping charging when the remaining capacity of the battery reaches a charge stop capacity.
を特徴とする請求項１に記載の無人搬送車の電池充放電管理システム。 The battery charge / discharge management system for an automatic guided vehicle according to claim 1, wherein the charging control means is on the automatic guided vehicle side.
前記電池の残容量を地上側の前記充電制御手段に知らせる通信手段を前記無人搬送車側に有しており、
地上側の前記充電制御手段が受信した前記電池の残容量情報に基づき、前記充電制御手段が前記地上側の充電ステーションに対して充電の開始及び停止の制御を行うこと
を特徴とする請求項１に記載の無人搬送車の電池充放電管理システム。
The charging control means exists on the ground side,
The automatic guided vehicle side has communication means for informing the charge control means on the ground side of the remaining capacity of the battery,
The charge control means controls the start and stop of charging for the charging station on the ground side based on the remaining battery capacity information received by the charge control means on the ground side. The battery charge / discharge management system for automated guided vehicles described in 1.
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