CN105373120A - 自动导向的货运车系统控制 - Google Patents
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Abstract
本发明涉及自动导向的货运车系统控制。一种操作自动导向货运车的方法可包括:使用控制器在生产操作路径上引导所述货运车;自动检测车载电池组的电荷状态;将所述电荷状态发信号至远程站;以及当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站。
Description
技术领域
本发明一般涉及自动导向的货运车(cart)系统,更特别地涉及这样的系统的控制。
背景技术
自动导向货运车可以被用于工厂以将物品从一个位置移动到另一个位置。这些货运车自动操作,而不需要人工操作者驾驶货运车。这样的货运车使用电池为电动机提供功率,以推动货运车。但是,在这样的操作条件下,可能会有具体货运车的电池在使用过程中放电的时候,因此使货运车滞留(strand)。这可导致工厂的生产损失。已经做出一些努力以解决这个相关问题,例如购买更昂贵的设备/电池或者使用自动充电垫(pad),这会比预期的更昂贵。
发明内容
实施例构思了一种操作自动导向货运车的方法,包括:使用控制器在生产操作路径上引导所述货运车;自动检测车载电池组的电荷状态(state-of-charge);将所述电荷状态发信号至远程站;以及当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站。
实施例构思了一种自动导向货运车系统,包括:自动导向的货运车,其包括:车载电池组、在生产操作路径上引导所述货运车且自动检测所述车载电池组中的电荷状态的车载控制器、以及用于发射与所述车载电池组的电荷状态相关的信号的车载收发器;固定的远程站,其具有与所述车载收发器通信的固定收发器、以及控制器,所述控制器经来自所述固定收发器的信号引导所述货运车在所述生产操作路径上继续或者当所述电池的电荷状态低于预定的阈值时驾驶(steer)至低电池电荷路径。
实施例的优点在于自动导向货运车在正常操作过程中,当检测到低电池电荷时,可以被自动规定路线(routed)离线以用于电池更换。这可帮助降低或者消除这样的货运车由于放电的电池导致的停工。并且,货运车移动至允许快速更换电池的位置。
本发明还提供了以下方案:
1.一种操作自动导向货运车的方法,所述方法包括以下步骤:
(a)使用控制器在生产操作路径上引导所述货运车;
(b)自动检测车载电池组的电荷状态;
(c)将所述电荷状态发信号至远程站;以及
(d)当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站。
2.根据方案1所述的方法,进一步包括:(e)当所述货运车到达所述电池站时,启动电池电荷指示器。
3.根据方案2所述的方法,进一步包括:(e)在所述电池站用备用电池组换出所述车载电池组,以及(f)启动所述货运车回到所述生产操作路径。
4.根据方案1所述的方法,进一步包括:(e)在所述电池站用备用电池组换出所述车载电池组,以及(f)启动所述货运车回到所述生产操作路径。
5.根据方案1所述的方法,其中步骤(a)进一步由位于所述货运车的车上的控制器限定。
6.根据方案1所述的方法,其中步骤(b)进一步由所述货运车的车上确定的电池组的电荷状态限定。
7.根据方案1所述的方法,其中步骤(c)进一步由与固定收发器通信的所述货运车上的收发器限定,所述固定收发器与所述远程站通信。
8.根据方案7所述的方法,其中步骤(c)进一步由所述收发器之间经由红外传输的通信限定。
9.根据方案7所述的方法,其中步骤(c)进一步由所述收发器之间经由无线电波传输的通信限定。
10.一种操作自动导向货运车的方法,所述方法包括以下步骤:
(a)使用控制器在生产操作路径上引导所述货运车;
(b)自动检测车载电池组的电荷状态;
(c)将所述电荷状态无线发信号至远程站;以及
(d)当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站;
(e)在所述电池站用备用电池组换出所述车载电池组;以及
(f)启动所述货运车回到所述生产操作路径。
11.根据方案10所述的方法,其中步骤(c)进一步由所述收发器之间经由红外传输的通信限定。
12.根据方案10所述的方法,进一步包括:(e)当所述货运车到达所述电池站时,启动电池电荷指示器。
13.一种自动导向货运车系统,包括:
自动导向的货运车,其包括:车载电池组、被配置为在生产操作路径上引导所述货运车且自动检测所述车载电池组的电荷状态的车载控制器、以及被配置为发射与所述车载电池组的电荷状态相关的信号的车载收发器;
固定的远程站,其具有被配置为与所述车载收发器通信的固定收发器、以及控制器,所述控制器被配置为经由来自所述固定收发器的信号引导所述货运车,以在所述生产操作路径上继续,或者当所述电池的电荷状态低于预定的阈值时驾驶至低电池电荷路径上。
14.根据方案13所述的系统,进一步包括沿着所述低电池电荷路径的电池站,其具有位于所述电池站的备用的充过电的电池组。
15.根据方案13所述的系统,其中所述车载收发器和所述固定收发器被配置为与红外信号通信。
16.根据方案13所述的系统,进一步包括沿着所述低电池电荷路径的电池站、以及位于所述电池站的电池电荷指示器,所述电池电荷指示器被配置为当所述货运车到达所述电池站时被启动。
附图说明
图1是工厂内的自动导向货运车系统和控制的示意图。
图2是与自动导向货运车系统一起使用的远程站的示意图。
具体实施方式
参照图1,自动导向的货运车系统8包括自动导向的货运车10,自动导向的货运车10图示为位于工厂地面12上。货运车10可包括为驱动轮子18的电动机16提供动力的电池组14、以及驾驶另一组轮子22的自动驾驶组件20。货运车10可还包括控制器24,控制器24与驾驶组件20、电池组14和电动机16通信。控制器24可以与电池电荷检测器25通信,电池电荷检测器25可检测电池组14的电荷状态。检测器25可以是能够检测电池电荷状态的多种设备中的任何一种,如本领域技术人员已知的。货运车10可以还包括车载收发器26,车载收发器26用于在控制器24和安装在地面12上的某个位置处的远程站28之间通信。
远程站28可包括电源30和控制器32,电源30可以是工厂内的电力源,控制器32与收发器34通信,收发器34与车载收发器26通信。当两个收发器26、34沿着货运车10遵循的导向路径36通过而彼此靠近时,收发器26、34可以通过例如红外或者无线传输发射数据而彼此通信。
导向路径36可以是例如固定到地面12上的磁性带。导向路径36是货运车10在进行生产操作以围绕工厂地面12输送零件(或者其它行为)时沿着其行进的路径。在地面12上的某个位置,导向路径36可分叉为在生产操作路径38或者低电池电荷路径40上继续,在生产操作路径38上货运车在路径上继续以输送与工厂中的正常任务相关联的零件、组件等,低电池电荷路径将货运车10引导至电池站42。
电池站42可包括一个或多个备用电池组44,且可包括电池充电器46。如果这个位置包括电池充电器,它可用于给备用电池组44和/或车辆上的电池组14充电,可保证特殊情况。电池站42可以还包括一些类型的电池充电指示器48,电池充电指示器48可用于通知工厂工人,货运车10位于站42处,且需要更换电池或者再充电。
图2描述了远程站28可以被如何配置的实例。电源30可包括零线52和带有断路开关56的一百二十伏特的电源线(supplyline)54,电源线为电源转换器58提供功率。电源转换器58可以将功率转换为例如二十四伏特,且具有功率线(powerline)60和公用线63。控制器32可具有各种输入——例如,可以有功率输入64和来自收发器34的输入。控制器32可以还具有输出68。一种输出70可以是正常状况输出,当电池状况是充分充电时,其输出高信号。另一种输出72可以是电池低状况输出,当报告低电池电荷时,其输出高信号。
现在将参照图1和2描述自动导向的货运车系统8的操作。当货运车10沿着导向路径36围绕工厂地面12行进,移动零件或者执行其它的自动化操作,车载控制器24监测车载电池组14的电荷状态。当货运车10通过远程站28的收发器34,如果电池组电荷低,车载收发器26将会经固定的收发器34发出低电荷状态的信号至远程站28。控制器32的输出将会经收发器34发信号,如果电池电荷充足,使控制器24沿着生产操作路径24继续驾驶货运车10,或者,如果车载电池组14的电荷低,驾驶货运车10至低电池电荷路径40上。这在效果上作用类似于自动铁路切换器(switch),以切换货运车10将会沿着哪一条路径行进,而不需要任何的人工干涉。在低电池电荷路径40上,货运车10接下来将会停靠在电池站42一边以采用充满的备用电池组44来更换电池组14。电池电荷指示器,如果有的话,被启动以警报工厂工人电池需要充电。或者,电池站42可以位于工厂地面12上、靠近工作站,使得当货运车10由于低电池电荷而开入站时,附近的工人将会自然地注意到。之后电池组14可以被备用电池组44换出,货运车10被启动以回到生产操作路径38,以继续它在工厂地面12上的操作。
在货运车10被引导到电池站之前,电池组电荷多低取决于货运车所使用和电池组被使用的具体情形。因此,用于低电池电荷的预定的电荷极限阈值可以根据经验确定。
虽然已经详细描述了本发明的某些实施例,本发明所涉及领域的技术人员将认识到如以下的权利要求所限定的用于实施本发明的各种替代设计和实施例。
Claims (10)
1.一种操作自动导向货运车的方法,所述方法包括以下步骤:
(a)使用控制器在生产操作路径上引导所述货运车;
(b)自动检测车载电池组的电荷状态;
(c)将所述电荷状态发信号至远程站;以及
(d)当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站。
2.根据权利要求1所述的方法,进一步包括:(e)当所述货运车到达所述电池站时,启动电池电荷指示器。
3.根据权利要求2所述的方法,进一步包括:(e)在所述电池站用备用电池组换出所述车载电池组,以及(f)启动所述货运车回到所述生产操作路径。
4.根据权利要求1所述的方法,进一步包括:(e)在所述电池站用备用电池组换出所述车载电池组,以及(f)启动所述货运车回到所述生产操作路径。
5.根据权利要求1所述的方法,其中步骤(a)进一步由位于所述货运车的车上的控制器限定。
6.根据权利要求1所述的方法,其中步骤(b)进一步由所述货运车的车上确定的电池组的电荷状态限定。
7.根据权利要求1所述的方法,其中步骤(c)进一步由与固定收发器通信的所述货运车上的收发器限定,所述固定收发器与所述远程站通信。
8.根据权利要求7所述的方法,其中步骤(c)进一步由所述收发器之间经由红外传输的通信限定。
9.一种操作自动导向货运车的方法,所述方法包括以下步骤:
(a)使用控制器在生产操作路径上引导所述货运车;
(b)自动检测车载电池组的电荷状态;
(c)将所述电荷状态无线发信号至远程站;以及
(d)当所述电荷状态低于预定的电荷极限时,所述远程站自动发信号至所述货运车,以自动地从所述生产操作路径转向至低电池电荷路径,且停在电池站;
(e)在所述电池站用备用电池组换出所述车载电池组;以及
(f)启动所述货运车回到所述生产操作路径。
10.一种自动导向货运车系统,包括:
自动导向的货运车,其包括:车载电池组、被配置为在生产操作路径上引导所述货运车且自动检测所述车载电池组的电荷状态的车载控制器、以及被配置为发射与所述车载电池组的电荷状态相关的信号的车载收发器;
固定的远程站,其具有被配置为与所述车载收发器通信的固定收发器、以及控制器,所述控制器被配置为经由来自所述固定收发器的信号引导所述货运车,以在所述生产操作路径上继续,或者当所述电池的电荷状态低于预定的阈值时驾驶至低电池电荷路径上。
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