JP2007068398A - 無人搬送車システム - Google Patents
無人搬送車システム Download PDFInfo
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- 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
- B60L53/30—Constructional details of charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
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- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
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- 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
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- 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
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- 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
- Y02T90/12—Electric charging stations
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
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Abstract
【解決手段】バッテリ(101)を搭載し、該バッテリで駆動される走行モータによって移動する無人搬送車(100A)と、前記バッテリを充電する充電装置(300)とを含む無人搬送車システムにおいて、前記無人搬送車は、前記充電装置による充電のための停車位置を検出する定位置検出センサ(130)と、前記充電装置側に充電を要求するための光通信装置(110)とを備えてなり、前記充電装置は、前記無人搬送車からの充電要求に応じて該無人搬送車のバッテリを充電する。
【選択図】図4
Description
即ち、この発明にかかる無人搬送車システムは、バッテリを搭載し、該バッテリで駆動される走行モータによって移動する無人搬送車と、前記バッテリを充電する充電装置とを含む無人搬送車システムにおいて、前記無人搬送車が、前記充電装置による充電のための停車位置を検出する位置検出手段と、前記充電装置側に充電を要求する充電要求手段とを備えてなり、前記充電装置が、前記無人搬送車からの充電要求に応じて該無人搬送車のバッテリを充電することを特徴としている。前記充電装置は、例えば、前記無人搬送車が待機中にバッテリの充電を行う。
実施の形態1.
図1に、この発明の実施の形態1にかかる無人搬送車の構成を示す。
同図において、ベクトルインバータ20M、走行モータ30M、減速機40M、および車輪50M(主駆動輪)は、速度指令信号Vに基づき走行する主走行装置を構成する。また、ベクトルインバータ20S、走行モータ30S、減速機40S、および車輪50S(従駆動輪)は、主走行装置からのトルク指令信号Tに基づき走行する従走行装置を構成する。
ステップS1:走行中、コントローラ10は、ベクトルインバータ20M,20Sから、車輪50M,50Sの各回転速度を表す回転速度信号Vm,Vsを随時入力し、これらの差分値Vd(=Vs−Vm)を演算する。この差分値Vdは、主走行装置の車輪50Mと従走行装置の車輪50Sとの回転差を表す。例えば、車輪50S(従駆動輪)がスリップして空転した場合、回転速度信号Vsは大きな値を示し、差分値Vdが増大する。
ステップS3:ここで、差分値Vdが所定値以下の場合、スリップ状態ではないと判定し(ステップS2:NO)、トルク制限値Tsを主走行装置側のトルク制限値Tmと同一にする。
ステップS4:また、差分値Vdが所定値より大きい場合、スリップ状態と判定し(ステップS2:YES)、トルク制限値Tsを主走行装置側に与えるトルク制限値Tmより小さい値に下げる。
以下、図3および図4を参照して、この発明の実施の形態2を説明する。
図3に示すように、この実施の形態2にかかる無人搬送車100Aは、バッテリ101を充電するための電極104が接続されたファンタグラフ102を備え、このファンタグラフ102は、無人搬送車100Aのフレーム103に固定されている。このファンタグラフ102が伸縮することにより、電極104が搬送車内部または外部に移動し、充電時以外に電極104を搬送車の内部に収納するようになっている。
同図に示すように、ファンタグラフ102は、搬送車100Aの両サイドに設けられ、このファンタグラフ102の近傍には、電極104を充電装置側の集電装置200に接続する際に使用される光通信装置110およびマーク111が設けられている。集電装置200は、無人搬送車100Aの軌道近くの所定位置に固定される。
無人搬送車100Aは、貨物の搬送を終えて待機状態になると、充電装置300が設けられたステーションに向かう。そして、定位置検出センサ130がステーションに設けられた定位置用マーク130Aを検出し、番地検出センサ120が番地用マーク120Aを検出すると、無人搬送車100Aは、これらのマークで指定される定位置に停車する。そして、定位置と番地を確認した後、光通信装置110により充電装置300側に対して充電を要求する。
以上により、無人搬送車100Aは、バッテリ101が充電されて待機状態とされる。
以下、図5を参照して、この発明の実施の形態3を説明する。
図5に示すように、この実施の形態3にかかる無人搬送車は、主搬送車100Mと、この主搬送車に従属して走行する従搬送車100Sとを連結して構成され、主搬送車100M側から従搬送車100S側にトルク指令信号を電圧信号に変換して伝達するように構成される。
Claims (4)
- バッテリを搭載し、該バッテリで駆動される走行モータによって移動する無人搬送車と、前記バッテリを充電する充電装置とを含む無人搬送車システムにおいて、
前記無人搬送車は、
前記充電装置による充電のための停車位置を検出する位置検出手段と、
前記充電装置側に充電を要求する充電要求手段とを備えてなり、
前記充電装置は、前記無人搬送車からの充電要求に応じて該無人搬送車のバッテリを充電することを特徴とする無人搬送車システム。 - 前記充電装置は、
前記無人搬送車が待機中にバッテリの充電を行うことを特徴とする請求項1に記載された無人搬送車システム。 - バッテリを搭載し、該バッテリで駆動される走行モータによって移動する無人搬送車と、前記バッテリを充電する充電装置とを含む無人搬送車システムにおいて、
前記無人搬送車は、
速度指令信号に基づき車輪を駆動して走行する主搬送車と、
前記主搬送車からのトルク指令信号に基づき車輪を駆動して走行する従搬送車とからなり、
前記主搬送車は、前記トルク指令信号を電圧信号として前記従搬送車に与えることを特徴とする無人搬送車システム。 - 前記無人搬送車は、
前記主走行装置からのトルク指令信号を電圧信号に変換する第1の変換器と、
前記第1の変換器により変換されたトルク指令信号を元の信号に変換する第2の変換器と、
を備えたことを特徴とする請求項3に記載された無人搬送車システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11007009A JP2000209705A (ja) | 1999-01-13 | 1999-01-13 | 無人搬送車システム |
JP2006313249A JP4453695B2 (ja) | 1999-01-13 | 2006-11-20 | 無人搬送車システム |
KR1020097012150A KR101450927B1 (ko) | 1999-01-13 | 2007-11-20 | 무인 반송차 시스템 |
PCT/JP2007/072480 WO2008062801A1 (fr) | 1999-01-13 | 2007-11-20 | Système de véhicule à guidage automatique |
CNA2007800422957A CN101535084A (zh) | 1999-01-13 | 2007-11-20 | 无人搬运车系统 |
Applications Claiming Priority (2)
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JP11007009A JP2000209705A (ja) | 1999-01-13 | 1999-01-13 | 無人搬送車システム |
JP2006313249A JP4453695B2 (ja) | 1999-01-13 | 2006-11-20 | 無人搬送車システム |
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JP11007009A Division JP2000209705A (ja) | 1999-01-13 | 1999-01-13 | 無人搬送車システム |
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JP2007068398A true JP2007068398A (ja) | 2007-03-15 |
JP4453695B2 JP4453695B2 (ja) | 2010-04-21 |
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JP11007009A Pending JP2000209705A (ja) | 1999-01-13 | 1999-01-13 | 無人搬送車システム |
JP2006313249A Expired - Lifetime JP4453695B2 (ja) | 1999-01-13 | 2006-11-20 | 無人搬送車システム |
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JP11007009A Pending JP2000209705A (ja) | 1999-01-13 | 1999-01-13 | 無人搬送車システム |
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JP (2) | JP2000209705A (ja) |
KR (1) | KR101450927B1 (ja) |
CN (1) | CN101535084A (ja) |
WO (1) | WO2008062801A1 (ja) |
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JP2000209705A (ja) | 2000-07-28 |
WO2008062801A1 (fr) | 2008-05-29 |
KR101450927B1 (ko) | 2014-10-14 |
CN101535084A (zh) | 2009-09-16 |
JP4453695B2 (ja) | 2010-04-21 |
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