JP2002223521A - Unmanned truck system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To overcome the problem of components for a power feeder being damaged by adding overvoltage and an overcurrent to a device constituting non-contact feed, when a power supply being turned on, as the connection of a feeder is left as it is in an insufficient state. SOLUTION: In the unmanned truck system 1 for driving unmanned trucks 13, 13 and the like by non-contact feed, a timer 14, an output detector 6, an emergency means 8 operated when the result of the detection of the output detector 6 is kept outside a fixed range and a controller 7 inhibiting an output to a fixed output lower than a normal output during the operation of the timer 14, while normally outputting the output after the completion of the operation of the timer 14, when the emergency means 8 is not operated during the operation of the timer 14 are mounted on the power feeder 16, the rate of increase in the output is made lower than that, after the completion of the operation of the timer during the operation of the timer 14, and power feeding is stopped by the actuation of the emergency means 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle system for driving an automatic guided vehicle by non-contact power supply having a power supply device to a power supply line, and more particularly to a method for protecting the power supply device.

[0002]

2. Description of the Related Art Conventionally, there is known an automatic guided vehicle system for driving an automatic guided vehicle along a rail by non-contact power supply in a place where generation of dust is disliked, such as a clean room. Power is supplied to the automatic guided vehicle by supplying a high-frequency current to a power supply line laid along a rail and obtaining power from a generated magnetic field via a pickup coil. As a power source, a voltage and current can be adjusted using a power supply device having an inverter, and a high-frequency current is supplied to a power supply line to the automatic guided vehicle.

[0003]

As the number of connection points of the rails increases, for example, a branch path is provided on the track of a transport vehicle constituted by the rails, the number of connection points of the power supply lines also increases. Power is supplied after the operator confirms that the connection terminals of the power supply line are firmly fixed, but confirmation errors are likely to occur due to an increase in the number of connection points of the power supply line. Had become. If the power is turned on while the connection of the power supply line is insufficient, there is a possibility that an overvoltage or an overcurrent may be applied to a device constituting the non-contact power supply. In particular, an inverter provided in a power supply device is configured by electronic components such as a diode and a transistor. When an overvoltage or an overcurrent is applied, an element is damaged.
Therefore, the present invention provides an automatic guided vehicle system in which overvoltage and overcurrent do not occur even when the power is turned on while the connection of the power supply line is insufficient.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. That is, in the automatic guided vehicle system for driving an automatic guided vehicle by non-contact power supply having a power supply device to a power supply line according to claim 1, the power supply device includes a timer and an output detection device for detecting an output. And an emergency means that operates when the detection result of the output detection device is out of a predetermined range, and an emergency means that operates while the timer is operating, while keeping the output below a predetermined output lower than the normal output and operating the timer. For example, there is provided a control device for setting the output to the normal output after the operation of the timer is completed.

According to a second aspect of the present invention, the control device reduces the rate of increase in the output during the operation of the timer, after the operation of the timer is completed.

According to a third aspect of the present invention, the power supply is stopped by the operation of the emergency means.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A non-contact power supply system according to one embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram of an automatic guided vehicle system 1 using a non-contact power supply system using a power supply line. The automatic guided vehicle system 1 includes one or more automatic guided vehicles 13, a track 12,
A power supply device 16 for supplying power to the automatic guided vehicle 13
, A control panel 17 and a power supply path 50.

In FIG. 1, a track 12 is an automatic guided vehicle 1
3, and a feed path 50 is formed along the track 12. The power supply path 50 includes a forward path and a return path for power supply, and the forward path and the return path respectively connect power supply lines 5, 5,... Formed by covering a conductive wire such as a copper wire with an insulating material. It is composed. The power supply lines 5 are connected via connection terminals 15. The connection terminal 15 is capable of conducting between the power supply lines 5 and 5, extending the forward path and the return path so that a branch path can be provided in the power supply path 50 and also serves as an end of the forward path and the return path. . .. Are arranged on the side of the track 12 so that the automatic guided vehicle 13 can move between the stations 10 and 10 to convey articles from one station 10 to the other station 10. ing.

A power supply device 16 is provided at one end (the opposite end side) of the power supply path 50 so that power can be supplied to the power supply path 50. The track 12 formed of a rail is formed in a ring shape and provided with a branch path so that the automatic guided vehicle 13 can circulate on the track 12 in one direction. However, it is also possible to reciprocate. Then, the automatic guided vehicle 13 obtains electric power from a magnetic field generated from a high-frequency current supplied from the power supply device 16 and drives the motor to travel.

The automatic guided vehicle 13 is provided with one power receiving unit 9 on each of the left and right sides in the running direction. The power receiving unit 9 is a device for extracting electric power from the power supply lines 5.5 in a non-contact manner, and the automatic guided vehicle 13 moves on the track 12 using the extracted electric power. In addition,
As described later, the power receiving unit 9 is configured to extract power from a pair of power supply lines 5 forming a forward path and a return path. On the other hand, on the track 12, the power supply path 50 is formed on one side or both sides on the left and right with respect to the laying direction. Then, at least one of the power receiving units 9 provided on the left and right sides of the automatic guided vehicle 13 is always located near the pair of power supply lines 5.5.
Electric power can be taken out from the power supply line 5.5.

A method for the power receiving unit 9 to extract power from the power supply lines 5.5 will be described with reference to FIG. FIG.
FIG. 3 is a cross-sectional view of the power receiving unit 9 provided in the automatic guided vehicle 13 in a traveling direction. A rail 20 constituting the track 12 is fixed on a floor 21, and the wheels of the automatic guided vehicle 13 run on the rail 20 by driving a motor.

A feeder holder 24 having a substantially U-shaped cross section is fixed on the rail 20 in the longitudinal direction along the rail 20. At the upper end of the power supply line holder 24, a C-shaped power supply line holding portion 24 a having an open side is formed. 5.5 are installed. However, depending on the type of the automatic guided vehicle, the power supply line holder 24 may be configured to protrude in the horizontal direction.

A power receiving unit 9 surrounds the power supply line 5.
The power receiving unit 9 is provided with a bracket 26.
And is fixed to the automatic guided vehicle 13 via the. A ferrite core 3 having a substantially E-shaped cross section is fixed in a bracket 26 of the power receiving unit 9, and a pickup coil 4 is wound around a protruding portion 3 a at the center of the core 3.

The core 3 has two spaces (concave portions) formed between the projecting portions 3b on both sides and the central projecting portion 3a between the projecting portions 3b, 3b. In the space, the power supply line holding portions 24a are positioned substantially in the center of the left and right in the figure, and the power supply lines 5.5 are accommodated one by one. The pickup coil 4 receives a magnetic field generated by flowing a high-frequency current through the power supply lines 5. Then, using the electromagnetic induction phenomenon, the power receiving unit 9 extracts power from the current generated in the pickup coil 4 due to the change in the magnetic flux. In this way, electric power is supplied from the power supply line 5 to the power receiving unit 9 in a non-contact manner, to drive a driving motor or supply electric power to a control device.

As shown in FIG. 1, the power supply device 16 includes an AC power supply 11, a power conversion device 2 connected to the AC power supply 11, and an output of the power conversion device 2 connected to the power conversion device 2. A constant current circuit (not shown) for changing a harmonic to a sine wave. This constant current circuit has, for example, L
This is an impedance conversion circuit using C, and may be configured to be substantially constant current. The power conversion device 2 includes a forward conversion (rectification) circuit and an inverse conversion (inverter) circuit, and these circuits use elements such as diodes and transistors. The forward conversion circuit
The AC power input to the circuit is output as DC power, and the inverse conversion circuit is a circuit that outputs DC power input to the circuit as AC power. Then, the AC power input from the AC power supply 11 is first converted by the forward conversion circuit into DC power, and then the DC power is converted back into AC by the reverse conversion circuit and output to the power supply line 50 side. ing. The forward conversion circuit performs power conversion from AC to DC. When converting the DC power input from the forward conversion circuit into the AC power, the inverse conversion circuit can output AC power having a higher frequency than the AC power input from the AC power supply 11. Further, the magnitude of the DC power transmitted from the forward conversion circuit can be changed to an arbitrary value and output. The output is changed by changing the conduction time of the transistor in the inverse conversion circuit. The transistor conduction timing is periodic. Therefore,
The conduction time is a time (pulse width) for applying the base voltage.
be equivalent to. Hereinafter, the conduction time is referred to as an output phase value F, and the setting of the output phase value F is changed to change the magnitude of the output current value J from the inverter. By the power conversion as described above, the power supply to the automatic guided vehicles 13, 13,... Using electromagnetic induction is appropriately performed.

The power supply device 16 includes an output detection device 6
And emergency means 8 are provided. The power output from the AC power supply 11 is supplied to the power conversion device 2 via the emergency means 8, and the power output from the power conversion device 2 is supplied to the power supply path 50 via the output detection device 6. Is done. The emergency means 8 is a protection means for the power supply device 16 that operates under the conditions described below, and normally does not affect the power supply from the AC power supply 11 to the power conversion device 2 at all. The output detection device 6 is a unit that detects the power output from the power conversion device 2. In the present embodiment, the output detection device 6 is a means (ammeter) for detecting the output current value J of the inverter among the output power. Hereinafter, the output current value J is given as an absolute value so as to be a positive value. In the present embodiment, the current in the output power from the power conversion device 2 is set as a detection target and a control target.
Since the power conversion device 2 includes an inverter, the output of the power conversion device 2 can be detected by utilizing the function of the inverter, such as the current detection mechanism of the inverter, and a special output detection unit is newly provided. It is not necessary. In FIG. 1, the power conversion device 2 and the output detection means 6 are separately illustrated in order to clarify the role of each member.

The power supply from the power supply device 16 to the power supply path 50 will be described with reference to FIGS. First,
FIG. 3 is a procedure diagram of power supply from the power supply device 16 to the power supply path 50, and FIG. 4 is a diagram showing a time change of an output phase value (output current value) in the power supply procedure 100. As shown in FIGS. 3 and 4, the power supply procedure 100 is roughly divided into a self-diagnosis process 200, a through-up control 300,
Automatic current adjustment control 400, through-down control 500-4
It consists of two processing groups. Self-diagnosis processing 200
Is to increase the output current from the power supply device 16 stepwise to a predetermined output current value (diagnosis target current value J0), and to protect the power supply device 16 when there is a poor connection in the power supply path 50. This is a process for detecting disconnection. In the through-up control 300, control is performed such that the output current from the power supply device 16 is increased stepwise so as to approach a normal output current value (control target current value J2). In the automatic current adjustment control 400, control is performed such that the control target current value J2 is kept constant. And through-down control 50
At 0, the output current is reduced stepwise, and control is finally performed to make the output current 0. Here, the predetermined output current value is a current value that is lower than the normal output current value in order to protect the power supply device 16 when a disconnection described below is detected. Further, the normal output current value is an output current value supplied when the automatic guided vehicles 13 are driven. In these processes and controls, the power converter 2 changes the output phase value F to convert the power supplied to the power supply path 50 into power. These processes and controls will be described later.

The power supply device 16 includes a control device 7 and a timer 14. Timer 14
The switch is automatically activated after the set time has elapsed, and constitutes a protection means of the power converter 2.
The timer 14 is connected to the power conversion device 2, the output detection device 6, and the control device 7, and operates only while the self-diagnosis processing 200 is executed (during the self-diagnosis processing time T0). The timer 14 transmits an output suppression signal to the control device 7 during operation. While the output suppression signal is being transmitted (while the timer 14 is operating), the control device 7 determines that the output current value J of the power conversion device 2 is lower than the normal output current value (control target current value J2). Control is performed so as to be the predetermined output current (diagnosis target current value J0).

The control device 7 is connected to the power conversion device 2, the output detection device 6, the emergency means 8 and the timer 14 so as to be able to transmit control signals. Then, in the self-diagnosis processing 200, when the output current value J detected by the output detection device 6 is out of a predetermined range having the disconnection detection current value Jd as an upper limit, the control device 7 activates the emergency means 8. Like that. The disconnection detection current value Jd is a set current value used as a determination condition when disconnection detection described later is performed. Here, the control target current value J2 is an output current value when the output phase value F becomes the control target phase value F2. The diagnostic target current value J0 is an output current value when the output phase value F becomes the diagnostic target output phase value F0. In addition, during the operation of the timer 14 in the self-diagnosis processing 200, if the emergency means 8 does not operate, that is, if no abnormality is found in the output current value J detected by the output detection means 6, the control device 7 performs self-diagnosis. After the diagnosis process 200 is completed, the process proceeds to the through-up control 300 and the automatic current adjustment control 400, and the power conversion device 2 is controlled so that the output current value J becomes the control target current value J2.
Control.

The control panel 17 includes an automatic guided vehicle system 1
, And is connected to the control device 7 so as to be able to transmit signals. The control panel 17 is provided with an operation command switch for supplying power to the power supply path 50. The operation command switch is an alternative switch that can switch between ON and OFF states, and the control device 7 constantly monitors the ON / OFF state of the operation switch. When the operation command (switch) is ON, a value of 1 is substituted for a variable C set in the control device 7, and the operation command is turned OFF.
In the case of the state, a value of 0 is substituted for the variable C.

As shown in FIG. 3, in the power supply procedure 100, first, a variable C relating to a determination condition of an operation command is set to 1 and 0.
Is detected by the control device 7 (step 101). Here, the operation command is ON (variable C = 1)
If, the self-diagnosis processing 200 is executed (step 102). Also, the operation command is in the OFF state (variable C =
If it is (0), it is in the standby state of the power supply procedure 100, and the process returns to step 101 again.

The self-diagnosis processing 200 will be described with reference to FIG. FIG. 5 is a procedure diagram showing the self-diagnosis processing 200. The self-diagnosis processing 200 is a processing group for detecting the presence or absence of disconnection in the power supply path 50 and protecting the power supply device 16. First, the output phase value F and the time t are reset, and a value of 0 is assigned to each of them (step 201). Here, the time t is a variable used for determining whether or not the phase change unit time dT has been reached, as described later. Then, the output phase value F is changed stepwise at every phase change unit time dT. Next, it is determined whether or not the output phase value F has reached the diagnostic target output phase value F0 (step 202). In the self-diagnosis processing 200, the processing of the self-diagnosis processing 200 ends when the output phase value F reaches the diagnosis target output phase value F0, unless an abnormality is found in the output current value J. At the end, the output current value J is smaller than the disconnection detection current value Jd, and the output phase value F is the diagnostic target output phase value F0. If the output phase value F has not reached the diagnosis target output phase value F0, the process proceeds to step 203.

The diagnosis target current value J0, which is the output current value at the time of the diagnosis target output phase value F0, is about 10% of the control target current value J2 in this embodiment. Then, the output phase value F is increased to the diagnosis target output phase value F0 over a time corresponding to the self-diagnosis processing time T0 so that the output current value becomes the diagnosis target current value J0 from 0. The self-diagnosis processing time T0 is about 1 second in this embodiment.

If there is a poor connection between the connection terminals 15, 15... And the power supply lines 5, 5,. When power is supplied from the power supply device 16 in such a state, the power supply device 16 supplies constant power to a load such as the automatic guided vehicle 13 to stabilize operation and the like. When the circuit is disconnected, the resistance becomes infinite, the output current value J increases, and an overcurrent occurs in the power supply device 16. Therefore, in the self-diagnosis processing 200, by supplying only a part of the electric power required by the entire automatic guided vehicle system 1, the power supply device 16 due to overcurrent is supplied.
The disconnection is detected while avoiding damage to the elements inside. Therefore, as described above, even if the time corresponding to the self-diagnosis processing time T0 elapses, the output current is supplied only to the diagnosis target current value J0 which is about 10% of the control target current value J2, so that the overcurrent Is prevented from flowing.
Since the purpose of the self-diagnosis processing 200 is not to set the output current value J to the control target current value J2, the rate of increase of the output current during the operation of the timer is the rate of increase after the operation of the timer 14 ends, that is, the through-up. It is lower than the rate of increase in the control 300 and the automatic current adjustment control 400. Even if a disconnection occurs, the self-diagnosis processing 200
During the period, the output current value J is lower than the normal output current value (control target current value J2), so that the elements in the power supply device are not damaged.

In the processing from step 203 to step 206, if there is an abnormality in the output current, the processing is immediately stopped, the emergency means 8 is operated, and the control after the through-up control 300 is stopped. In addition, when there is no abnormality in the output current, the output phase value F is increased by the diagnostic phase increase amount dF0 every phase change unit time dT. First, at step 203, it is determined whether or not the time t has reached the phase change unit time dT.
Here, the time required for the series of processing in steps 203, 204, and 206 is defined as the processing time dt. Each time the processing time dt elapses, the time t is increased by the processing time dt (step 206). When the time t has reached the phase change unit time dT, the process proceeds from step 203 to step 205, where the series of processes is completed. If the time t has reached the phase change unit time dT, the output phase value F is increased by the diagnostic phase increase dF0 (step 205). Also,
If the time t does not reach the phase change unit time dT, the process proceeds to step 204. In step 204, the output current value J
Is determined to be within the disconnection detection current value Jd. If the output current value J is within the disconnection detection current value Jd, it is determined that there is no abnormality, and the process proceeds to step 206 as described above.
If the output current value J is larger than the disconnection detection current value Jd, it is determined that an abnormality has been detected, and the self-diagnosis processing 200 ends.

In FIG. 4, the broken line output current value Je when the self-diagnosis process 200 is performed when the power supply path 50 and the power supply device 16 are disconnected is indicated by a one-point hatched line. . The power supply lines 5.5 constituting the power supply path 50 are, for example,
When the connection current is incompletely connected to the connection terminal 15, the output current has a slope lower than the output current value Je at the time of disconnection. Regardless of the disconnection state, the rate of increase in the output current in the disconnected state is higher than that in the normal state. Therefore,
When the output current value J exceeds the disconnection detection current value Jd during the self-diagnosis processing time T0, a disconnection state is determined, and the occurrence of disconnection is detected. In this case, that is, when the output current value J exceeds the disconnection detection current value Jd, as shown in FIG. 3, the self-diagnosis processing 200 is interrupted and the emergency means 8 is operated (step 10).
6). When the emergency means 8 operates, the connection between the AC power supply 11 on the power supply side and the power converter 2 is cut off, and the power supply to the power supply path 50 is stopped.

If no abnormality is detected in the self-diagnosis processing 200, the output phase value F finally reaches the diagnosis target phase value F0, and the processing is terminated based on the determination in step 202. At this time, J <Jd and F = F0. Then, as shown in FIG. 3, the through-up control 300 is subsequently executed (step 103). At the end of the self-diagnosis processing 200, the output phase value F has been incremented by a predetermined number of times m0 (step 205).
T0 = m0 × dT and F0 = m0 × dF0. In the case of the present embodiment, the predetermined number m0 is about 80 times, and the processing time d
T has a time width of about 10 sec, and the self-diagnosis processing time T0 is about 800 msec, which is about 1 second as described above.

The through-up control 300 will be described with reference to FIG. FIG. 6 is a procedure diagram showing the through-up control 300. The through-up control 300 is a control for making the output current value J gradually approach the vicinity of the control target current value J2, and the power supply device 16 and the automatic guided vehicle 13 in the automatic guided vehicle 13 are changed by a sudden change in the output current. The element is prevented from being damaged. First, the output phase value F and the time t are reset, a diagnostic target phase value F0 is substituted for the output phase value F, and a value of 0 is substituted for the time t (step 301). Next, it is determined whether the output phase value F has reached the through-up target phase value F1 (Step 302). In the through-up control 300, the process ends when the output phase value F reaches the through-up target phase value F1. If the output phase value F has not reached the through-up target phase value F1, step 3
Go to 03.

In the processing from step 303 to step 305, the output phase value F is increased by the through-up phase increase amount dF1 every phase change unit time dT. As described above, the rate of increase in the output current during the operation of the timer is lower than the rate of increase after the operation of the timer 14 is completed. Therefore, the diagnostic phase increase dF0 is smaller than the through-phase increase dF1. It has become.
First, in step 303, it is determined whether or not the time t has reached the phase change unit time dT. here,
The time required for the series of processing in steps 303 and 304 is defined as the processing time dt, and the time t is increased by the processing time dt each time the processing time dt elapses (step 30).
4) If the series of processes is performed a plurality of times and the time t reaches the phase change unit time dT, the process proceeds from step 303 to step 305 to end the series of processes. When the time t has reached the phase change unit time dT, the output phase value F is changed to the phase increase amount d during the through-up.
Increase by F1 (step 305).

Then, finally, the output phase value F reaches the through-up target phase value F1, and the processing is terminated based on the determination in step 302. Then, as shown in FIG. 3, the process returns to step 101 again, and enters a state of waiting for the operation command to be turned on. Through-up control 300
Is completed, the output phase value F is incremented by a predetermined number of times m1 (step 305).
T1 = m1 × dT and F1-F0 = m1 × dF1.
In the case of this embodiment, the predetermined number m1 is about 500 times, and the through-up control time T1 is about 5000 msec, which is about 5 seconds.

The automatic current adjustment control 400 will be described with reference to FIG. FIG. 7 is a procedure diagram showing the automatic current adjustment control 400. The automatic current adjustment control 400 is a control for causing the output current value J to approach the control target current value J2 and keeping the output current value J near the control target current value J2. Power is supplied stably so that the automatic guided vehicle 13 is driven well. At the start of the automatic current adjustment control 400, the output phase value F is the through-up target phase value F1, and the output current at this time, the through-up target current value J1, is smaller than the control target current value J2. Therefore, for a while after the start of the automatic current adjustment control 400, control for increasing the output phase value F and increasing the output current value J is performed.

First, the controller 7 detects whether the operation command is in the OFF state, that is, whether the variable C is 1 or 0 (step 401). here,
If the operation command is in the ON state (variable C = 1), the process proceeds to step 402. If the operation command is in the OFF state (variable C = 0), the automatic current adjustment control 400 ends. That is, in the automatic current adjustment control 400, step 4
As long as the operation command at 01 is not turned off, the control process is continued and power is supplied to the power supply path 50 side. It is to be noted that the detection of an abnormal state by other detecting means not shown in FIG. 1 and the stop of power supply by a stopping means operating in the abnormal state and the like are omitted.

In step 402, the control device 7 determines whether or not the output current value J is smaller than the control target current value J2. If the output current value J is smaller than the control target current value J2, the process proceeds to step 403. If the output current value J is larger, the process skips step 403 and proceeds to step 404. In step 403, the output phase value F is set to the phase increase amount dF.
Control is performed to increase the output current value J by up, and the output current value J is increased to approach the control target current value J2.

Next, the output current value J becomes equal to the control target current value J.
The control device 7 determines whether or not the value is larger than 2 (step 404). If the output current value J is larger than the control target current value J2, the process proceeds to step 405. If the output current value J is smaller, the process skips step 405 and returns to step 4 again.
It returns to the process of 01. In step 403, control is performed to reduce the output phase value F by the phase decrease amount dFdown.
The output current value J is reduced to approach the control target current value J2.

When the operation command is turned off in the automatic current adjustment control 400, the processing of the automatic current adjustment control 400 is completed as described above, and the routine proceeds to step 105 as shown in FIG.

In this embodiment, the automatic guided vehicle 13.1
Are driven by the automatic current adjustment control 400 in order to bring the output current value J closer to the control target current value J2 in the normal output state in which the drive phase 3 is driven, but the output phase value F is fixed at the control target phase value F2. May be performed. In this case, regardless of the change in the output current value J due to the influence of the driving state of the automatic guided vehicles 13, 13,.
Output is fixed. For this reason, there is no response to an external change, but a constant and stable output can be maintained. Further, the output phase value F is controlled by the through-up control 300.
The output current at the time of reaching the through-up target phase value F1 may be fixed to the power supply path 50 side at the end. In this case, one control procedure can be omitted, and the burden on the control device 7 can be reduced.

The through-down control 500 will be described with reference to FIG. FIG. 8 is a procedure diagram showing the through-down control 500. The through-down control 500 is a control in which the output current value J is gradually decreased from the control target current value J2 to 0, and an element in the power supply device 16 or the automatic guided vehicle 13 is changed by a rapid change of the output current. To prevent the burden on the user. First, the output phase value F and the time t are reset, the diagnostic target phase value F2 is substituted for the output phase value F, and a value of 0 is substituted for the time t (step 501). Next, it is determined whether or not the output phase value F has reached 0 (step 502). In the through-down control 500, when the output phase value F becomes 0, the process ends. If the output phase value F is not 0, the process proceeds to step 503.

In the processing from step 503 to step 505, the output phase value F is reduced by the through-down phase reduction amount dF3 for each phase change unit time dT. First, in step 503, it is determined whether or not the time t has reached the phase change unit time dT. Here, the time required for the series of processing in steps 503 and 504 is defined as the processing time dt, and the time t is increased by the processing time dt each time the processing time dt elapses (step 5).
04), when the series of processes is performed a plurality of times and the time t reaches the phase change unit time dT, the process proceeds from step 503 to step 505, and the series of processes is completed. If the time t has reached the phase change unit time dT, the output phase value F is decreased by the through-down phase decrease amount dF3 (step 505).

Then, finally, the output phase value F reaches 0, and the processing is terminated based on the determination in the step 502. Then, as shown in FIG. 3, the process returns to step 101 again to be in a standby state for an operation command. Through-down control 5
At the end of 00, the output phase value F has been decremented by a predetermined number of times m3 (step 505), and T3 = m3 × dT and F2-0 = m3 × dF3. In the case of the present embodiment, the predetermined number m3 is about 500 times, and the through-down control time T3 is 5000 msec.
About 5 seconds.

In the present embodiment, the output current value J of the inverter is detected by the output detecting means 8, but
The output current of the power supply device 16 may be detected, and if no current is detected, it may be determined that the wire is disconnected.

[0041]

According to the first aspect of the present invention, in an automatic guided vehicle system for driving an automatic guided vehicle by non-contact power supply having a power supply device to a power supply line, the power supply device detects a timer and an output. An output detecting device, and an emergency unit that operates when a detection result of the output detecting device is out of a predetermined range;
A control device that suppresses the output to a predetermined output lower than the normal output during the operation of the timer and sets the output to the normal output after the operation of the timer is provided if the emergency means does not operate during the operation of the timer, If there is an abnormality in the connection of the power supply line, an output abnormality can be detected at an output lower than a normal output. Further, when an output abnormality is detected, the emergency means operates in this low output state, so that the elements in the power supply device are reliably protected.

According to a second aspect of the present invention, the control device reduces the rate of increase of the output during the operation of the timer from that after the operation of the timer is completed. The output can be made lower than the normal output, and the output abnormality in which the emergency means operates can be detected in a safe state, which is a lower output state.

According to a third aspect of the present invention, the power supply is stopped by the operation of the emergency means, so that the element and the power supply side are cut off in the power supply device, and the protection of the power supply device is ensured. Done in

[Brief description of the drawings]

FIG. 1 is a schematic diagram of an automatic guided vehicle system 1 using a non-contact power supply system using a power supply line.

FIG. 2 is a cross-sectional view in the traveling direction of a power receiving unit 9 provided in the automatic guided vehicle 13;

FIG. 3 is a procedure diagram of power supply from a current supply device 16 to a power supply path 50.

FIG. 4 is a diagram showing a time change of an output phase value F (output current value J) in a power supply procedure 100.

FIG. 5 is a procedure diagram showing a self-diagnosis process 200.

FIG. 6 is a procedure diagram showing a through-up control 300;

FIG. 7 is a procedure diagram showing an automatic current adjustment control 400.

FIG. 8 is a procedure diagram showing a through-down control 500;

[Explanation of symbols]

 Reference Signs List 1 automatic guided vehicle system 2 power conversion device 5 power supply line 6 output detection device 7 control device 8 emergency means 9 power receiving unit 13 automatic guided vehicle 14 timer 16 power supply device 50 power supply path F output phase value J output current value Jd disconnection detection current Value Je Disconnection output current value

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Manabu Tanaka 136 Takeda Mukoshirocho, Fushimi-ku, Kyoto Murata Machinery Co., Ltd. F-term (reference) 5G004 AA01 AB02 BA05 5G013 AA01 AA14 AA16 BA01 BA02

Claims (3)

[Claims] 1. An automatic guided vehicle system for driving an automatic guided vehicle by non-contact power supply including a power supply device to a power supply line, the power supply device includes a timer, an output detection device for detecting an output, and an output. If the detection result of the detection device is out of the predetermined range, the emergency means is activated, and if the output is suppressed to a predetermined output lower than the normal output during the operation of the timer and the emergency means is not activated during the operation of the timer, the timer is activated. An automatic guided vehicle system, comprising: a control device for setting an output to a normal output after the operation of (1) is completed. 2. The automatic guided vehicle system according to claim 1, wherein the control device sets the rate of increase in the output during operation of the timer lower than after the operation of the timer is completed. 3. The automatic guided vehicle system according to claim 1, wherein the power supply is stopped by the operation of the emergency means.