JP2008137451A - 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
JP2008137451A
JP2008137451A JP2006324436A JP2006324436A JP2008137451A JP 2008137451 A JP2008137451 A JP 2008137451A JP 2006324436 A JP2006324436 A JP 2006324436A JP 2006324436 A JP2006324436 A JP 2006324436A JP 2008137451 A JP2008137451 A JP 2008137451A
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charging
power
automatic
guided vehicle
capacitor
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Japanese (ja)
Inventor
Hideki Okashita
秀喜 岡下
Takashi Kurachi
隆 蔵地
Ryutaro Nozu
龍太郎 野津
Yoichi Katahira
洋一 片平
Yoshishige Komada
圭成 駒田
Shigenori Sato
成典 里
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Nisshinbo Holdings Inc
Toyota Motor Corp
Aichi Electric Co Ltd
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Toyota Motor Corp
Aichi Electric Co Ltd
Nisshinbo Industries Inc
Nisshin Spinning Co Ltd
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Application filed by Toyota Motor Corp, Aichi Electric Co Ltd, Nisshinbo Industries Inc, Nisshin Spinning Co Ltd filed Critical Toyota Motor Corp
Priority to JP2006324436A priority Critical patent/JP2008137451A/en
Priority to PCT/JP2007/072877 priority patent/WO2008066052A1/en
Publication of JP2008137451A publication Critical patent/JP2008137451A/en
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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
    • 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

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

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic charging method and a device for an automated guided vehicle (AGV) capable of carrying out automatic charging quickly while enhancing safety at charging. <P>SOLUTION: 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 the radiation of the electromagnetic energy upon receiving an automatic charge completion signal 5. The AGV 2 is provided with a charge/controller 10 which converts the 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. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、無人搬送車（ＡＧＶ：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。   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 (AGV).

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。
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、アクチュエータ装置の光電スイッ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、アクチュエータ装置に対して移動指示を与える。
これによりアクチュ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。
上記制御盤は、所定時間充電又は充電完了を検出すると、アクチュ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。アクチュエータ装置はその位置に着くと無人搬送車の光電スイッ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）。 Conventionally, there are the following devices as automatic charging technology for automatic guided vehicles.
That is, when the automatic guided vehicle arrives at the charging position (charging standby position), light is applied to the photoelectric switch of the actuator device to notify the automatic charging control panel of the arrival of the automatic guided vehicle. When the arrival of the automatic guided vehicle is confirmed, the control panel gives a movement instruction to the actuator device.
As a result, the actuator device detects the magnetism from the embedded magnetic rod by the magnetic sensor, advances to a predetermined position along the magnetic rod, and brings the contact terminal forward to contact the charging terminal of the battery of the automatic guided vehicle. Start charging.
When the control panel detects charging for a predetermined time or completion of charging, the control panel gives a movement instruction to the actuator device and moves it back to the original position. When the actuator device arrives at the position, light is applied to the photoelectric switch of the automatic guided vehicle to notify the completion of automatic charging. The automatic guided vehicle departs when the completion of automatic charging is confirmed (see Patent Document 1).

特開平１０−２８５７１２号公報（段落番号［００１２］〜［００１５］）JP-A-10-285712 (paragraph numbers [0012] to [0015])

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ったが、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-described conventional technology eliminates the need to replace a battery with a reduced capacity with a charged battery. Particularly, in a use environment of an automatic guided vehicle in which the current consumption of the battery is large and the frequency of battery replacement is high, labor saving and high performance are achieved. Although there was an advantage that efficiency could be achieved, further speeding up and consideration for safety in automatic charging were still unsatisfactory.

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 provide an automatic charging method for an automatic guided vehicle capable of performing automatic charging more quickly (further reducing the restraint time at the charging standby position) and further improving safety during charging, and To provide an apparatus.

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。
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。 The said subject is solved by making the automatic charging method and apparatus of an automatic guided vehicle have the structure of each following aspect.
As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is merely for the purpose of facilitating the understanding of the present invention, and the technical features described in this specification and combinations thereof should not be construed as being limited to those described in the following sections. . In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together, and it is also possible to take out only a part of the items and employ 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.

（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。
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。
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。
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。 (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 placed at the charging standby position. When the transport vehicle arrives, charging power is supplied from the power feeding device to the automatic guided vehicle in a non-contact manner, and this charging power is supplied to the capacitor and the battery that are mounted on the automatic guided vehicle and connected in parallel. An automatic charging method for an automatic guided vehicle, wherein automatic charging is completed when charging of the capacitor is completed or completed 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 and loading standby positions of the assembled parts in the one-cycle operation route of the automatic guided vehicle are preferable.
The AC power supplied from the power feeding device to the automatic guided vehicle is power for charging a battery mounted on the automatic guided vehicle, and is supplied from the power feeding device to the automatic guided vehicle in a non-contact manner, that is, through a space. The Accordingly, the AC power supplied from the power feeding device to the automatic guided vehicle by electromagnetic induction coupling includes not only general AC but also pulsed power.
The battery basically refers to a battery for power of an automatic guided vehicle, but includes a battery used for purposes other than power, or a battery used for power and other purposes. It goes without saying that this battery refers to a secondary battery that can be repeatedly charged 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。
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。
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いれば、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。
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。
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、例えばダイオードのような逆流阻止用の回路素子を設けてもよい。 (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 in which the battery mounted on the automatic guided vehicle is charged. When the transport vehicle arrives at the charging standby position, it converts AC power into electromagnetic energy and radiates it into the space, and includes a power supply / control device that receives an automatic charging completion signal and stops emission of the electromagnetic energy, The automatic guided vehicle receives 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 supplies the battery and a capacitor connected in parallel to the battery. And a charging / control device that wirelessly sends an automatic charging completion signal to the power supply / control device upon completion of charging of the capacitor for a predetermined time or upon completion of charging. Automatic charging device of an automated guided 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. .
As described above, when AC power is used as charging power that is supplied from the power supply device to the automatic guided vehicle in a contactless manner, non-contact power supply from the power supply device to the automatic guided vehicle is facilitated.
In addition, since the automatic charging completion signal from the automatic guided vehicle (charging / control device) to the power feeding device (power feeding / control device) is wirelessly transmitted, the transmission / reception of the automatic charging completion signal can be made non-contact.
For example, if a magnet (permanent magnet) is fixed to the automatic guided vehicle and a detecting means for detecting the magnetic flux from this magnet is provided at the charging standby position, it can be detected without contact that the automatic guided vehicle has arrived at the charging standby position. it can.
In a parallel connection circuit of a battery and a capacitor, a circuit element for preventing a backflow, such as a diode, can be applied from the capacitor side to the battery side but not from the battery side to the capacitor side. 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次側カプラと、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次側カプ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次側カプ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次側カプ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次側カプラと、この２次側カプ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。
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イ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次側カプラから放射可能である。 (3) The power supply / control device includes an AC power output circuit that outputs AC power, a primary coupler that is supplied with AC power from the AC power output circuit and radiates electromagnetic energy, and the automatic guided vehicle. An AC power control circuit that detects the arrival at the charging standby position and operates the AC power output circuit to supply AC power to the primary-side coupler; and an AC power control circuit that receives an automatic charging completion signal An automatic charging completion signal receiving circuit that stops the operation of the AC power output circuit and cuts off the supply of AC power to the primary coupler, and the charging / control device includes: Secondary side coupler that receives the electromagnetic energy by electromagnetic inductive coupling, and AC / DC conversion that converts AC power from the secondary side coupler into DC power and supplies it to the battery and capacitor And an automatic charging completion signal transmitting 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 for a predetermined time of the capacitor (2) The automatic charging device of the automatic guided vehicle according to the item.
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 the rectifying / smoothing circuit to a high frequency, thereby making AC power small and highly efficient. Can be emitted from the primary-side coupler.

（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。
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。 According to the invention described in the item (1), 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. At this time, the capacitor is charged (rapidly charged) in a short time. When automatic charging is completed upon completion of charging or completion of charging of the capacitor for a predetermined time, the automatic guided vehicle is released from the charging standby position, but is charged by the capacitor when the battery voltage is low. That is, the battery can be charged from the capacitor after parallel charging with the capacitor (mainly rapid charging of the capacitor). Thus, automatic charging of the automated guided vehicle is completed in a short time without waiting for completion of charging of the capacitor for a predetermined time or completion of charging, that is, completion of charging of the battery.
Further, since the charging power is supplied from the power feeding device to the automatic guided vehicle in a non-contact manner, there is no exposure of the energizing 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。
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 item (2), AC power generated by electromagnetic energy from the power supply / control device is converted to DC power and supplied to the battery and the capacitor connected in parallel. At this time, the capacitor is charged (rapid charge) in a short time. When the automatic charging completion signal is sent to the power supply / control device and the 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. That is, the battery can be charged from the charged capacitor after parallel charging with the capacitor (mainly rapid charging of the capacitor). Thus, automatic charging of the automated guided vehicle is completed in a short time without waiting for completion of charging of the capacitor for a predetermined time or completion of charging, that is, completion of charging of the battery.
In addition, since AC power is supplied from the power supply device to the automatic guided vehicle in a non-contact manner, there is no exposure of the energizing portion 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次側カプラへの交流電力の供給が遮断される。したがって、１次側カプラからの電磁エネルギの放射が停止され、２次側カプ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。
また交流電力は、給電装置の１次側カプラから無人搬送車の２次側カプ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。 According to the invention described in item (3), when the automatic charging completion signal is sent from the automatic charging completion signal transmitting circuit of the charging / control device to the automatic charging completion signal receiving circuit of the power supply / control device, to the primary side coupler. AC power supply is cut off. Therefore, radiation of electromagnetic energy from the primary side coupler is stopped, AC power is not output from the secondary side coupler, and the charging operation to the capacitor and the 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. That is, the battery is charged from the charged capacitor after the parallel charging with the capacitor. Here, the automatic charging operation between the power feeding apparatus and the automatic guided vehicle is completed when the capacitor has been charged for a predetermined time or when the charging is completed, that is, completed in a short time without waiting for the battery to be fully charged.
In addition, AC power is supplied from the primary coupler of the power supply device to the secondary coupler of the automated guided vehicle in a contactless manner, so there is no exposure of the current-carrying part in the charging power transmission path, and safety during charging is simplified. Can be enhanced in a reliable way.

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。
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。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol shows the same or an equivalent part between each figure.
FIG. 1 is a block diagram showing an outline of an automatic charging device (device of the present invention) for an automated guided vehicle to which the method of the present 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（ＡＧＶ）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。
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１００Ｖ交流電源である。 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 device according to the present invention charges the battery 3 mounted on the automatic guided vehicle (AGV) 2. In this automatic charging device for automatic guided vehicles, the power feeding device 1 and the automatic guided vehicle 2 are configured as follows.
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, radiates it into the space, receives an automatic charging completion signal 5 and receives AC. A power supply / control device 6 that stops radiation of electric power 4 (electromagnetic energy) is provided. In the figure, reference numeral 7 denotes a commercial 100V AC power source.

また無人搬送車２は、充電・制御装置１０を備えてなる。この充電・制御装置１０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。
なお図中１１は、バッテリ３（キャパシタ９）からの直流電力１２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１０は、実際にはこの台車部１１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１１外に示した。 The automatic guided vehicle 2 includes a charging / control device 10. The charging / control device 10 receives AC power 4 (electromagnetic energy) from the power feeding / control device 6 in a non-contact manner by electromagnetic induction coupling, converts the AC power 4 into DC power 8, And an automatic charging completion signal 5 which is supplied to the capacitor 9 connected in parallel to the battery 3 and wirelessly transmits the automatic charging completion signal 5 to the power supply / control device 6 when the charging of the capacitor 9 is completed or completed for a predetermined time.
In the figure, reference numeral 11 denotes a carriage unit equipped with a motor for driving an automatic guided vehicle that rotates by being supplied with DC power 12 from the battery 3 (capacitor 9), a control circuit (motor control circuit) of the motor, and the like. The battery 3, the capacitor 9, and the charging / control device 10 are actually mounted on the cart unit 11, but these are shown outside the cart unit 11 for easy understanding of the added configuration.

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ブロック図である。
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２１、１次側カプラ２２、交流電力制御回路２３及びインバータ停止信号受信回路２４等を備えてなる。
交流電力出力回路２１は、交流電力４を出力する回路であって、ここでは商用１００Ｖ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２５と、この整流平滑回路２５からの直流出力を高周波に変換する高周波インバータ２６とを備えてなる。
１次側カプラ２２は、高周波インバータ２６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カプラであって、コイルにより形成されている。
交流電力制御回路２３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２１を動作させ、１次側カプラ２２に交流電力４を供給させる制御回路である。 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 coupler 22, 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, and here, a rectifying / smoothing circuit 25 that rectifies and smoothes AC power 4 from a commercial 100V AC power supply 7, and a DC output from the rectifying / smoothing circuit 25. And a high frequency inverter 26 for converting the signal into a high frequency.
The primary side coupler 22 is a coupler that radiates electromagnetic energy when 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 23 is a control circuit that detects the arrival of the automatic guided vehicle 2 at the charging standby position, operates the AC power output circuit 21, and supplies the AC power 4 to the primary side coupler 22.

インバータ停止信号受信回路２４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２３により交流電力出力回路２１の動作を停止させ、１次側カプラ２２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。
なお図中２７は、充電・制御装置１０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。 The inverter stop signal receiving circuit 24 receives the automatic charging completion signal (inverter stop signal in this case) 5 and stops the operation of the AC power output circuit 21 by the AC power control circuit 23, and the AC power 4 to the primary-side coupler 22. Is a circuit (automatic charging completion signal receiving circuit) that cuts off the supply of.
Reference numeral 27 in the figure denotes a position detection circuit for the automatic guided vehicle 2 that detects 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. is there.

給電・制御装置６は、本実施形態では整流平滑回路２５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２８を点灯させる通電検知回路２９及び通電表示接点３０も備える。また、交流電力制御回路２３が交流電力出力回路２１を動作させ、１次側カプラ２２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３１を点灯させる給電表示接点３２も備えている。   In the present embodiment, the power supply / control device 6 detects whether or not a current is output from the rectifying and smoothing circuit 25. Prepare. Further, the AC power control circuit 23 operates the AC power output circuit 21 to detect whether or not the AC power 4 is supplied to the primary side coupler 22, and if it is supplied, the power supply display lamp 31 is turned on. A display contact 32 is also provided.

また上記充電・制御装置１０は、２次側カプラ４１、交流／直流変換回路４２及びインバータ停止信号送信回路４３等を備えてなる。
２次側カプラ４１は、１次側カプラ２２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）を受けるカプラであって、コイルにより形成されている。
交流／直流変換回路４２は、２次側カプラ４１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４４及び充電回路４５からなる。直流定電圧出力回路４４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４４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 charging / control device 10 includes a secondary side coupler 41, an AC / DC conversion circuit 42, an inverter stop signal transmission circuit 43, and the like.
The secondary side coupler 41 is a coupler that receives the electromagnetic energy (AC power 4) by electromagnetic induction coupling with the primary side coupler 22, and is formed of a coil.
The AC / DC conversion circuit 42 is a circuit that converts the AC power 4 from the secondary side coupler 41 into DC power 8 and supplies the DC power 8 to the battery 3 and the capacitor 9, and includes a DC constant voltage output circuit 44 and a charging circuit 45. Consists of. 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 direct current constant voltage output circuit 44 may be replaced with a direct current constant current output circuit including a constant current circuit for controlling direct current to a predetermined constant current. When the DC constant current output circuit is used, the capacitor can be charged efficiently when the voltage fluctuation during charging of the capacitor is large.

インバータ停止信号送信回路４３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２４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。
インバータ停止信号送信回路４３は、キャパシタ９の充電完了を検知する充電完了検知回路４６からのキャパシタ充電完了信号４７を受けてインバータ停止信号５を送信する回路である。
なお充電・制御装置１０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２１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２７に知らせるマグネット４８が設けられている。 The inverter stop signal transmission circuit 43 is a circuit for sending the inverter stop signal 5 to the inverter stop signal receiving circuit 24 wirelessly, here using radio waves, when the charging of the capacitor 9 is completed or completed, in this case, charging is completed. Automatic charge completion signal transmission circuit).
The inverter stop signal transmission circuit 43 is a circuit that receives the capacitor charge completion signal 47 from the charge completion detection circuit 46 that detects the completion of charging of the capacitor 9 and transmits the inverter stop signal 5.
In the charging / control device 10, the position detection circuit 27 indicates that the automatic guided vehicle 2 has arrived at the charging standby position and can start the operation of the AC power output circuit 21 in the power feeding / control device 6. A magnet 48 for informing the user is provided.

次に、このような実施形態の動作について説明する。
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１０に設けられたマグネット４８と給電・制御装置６の位置検知回路２７とが対向し、マグネット４８からの磁束を位置検知回路２７が検知してその旨の信号を交流電力制御回路２３に送る。
これにより、交流電力制御回路２３は交流電力出力回路２１を動作させ、つまり、整流平滑回路２５及び高周波インバータ２６を動作させ、高周波インバータ２６からの高周波電力（交流電力４）を１次側カプラ２２に供給させる。１次側カプラ２２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。 Next, the operation of such an embodiment will be described.
First, when the automatic guided vehicle 2 arrives at the charging standby position, the magnet 48 provided in the charging / control device 10 and the position detection circuit 27 of the power feeding / control device 6 face each other, and the magnetic flux from the magnet 48 is detected by the position detection circuit. 27 detects and sends a signal to that effect to the AC power control circuit 23.
As a result, the AC power control circuit 23 operates the AC power output circuit 21, that is, operates the rectifying and smoothing circuit 25 and the high frequency inverter 26, and uses the high frequency power (AC power 4) from the high frequency inverter 26 as the primary side coupler 22. To supply. The primary side coupler 22 converts the AC power 4 into electromagnetic energy and radiates it into space.

１次側カプラ２２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次側カプラ２２と電磁誘導結合可能な位置となるように設けられた２次側カプラ４１に、電磁誘導結合によって供給される。２次側カプラ４１に供給された交流電力４は、交流／直流変換回路４２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。
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。 The AC power 4 (electromagnetic energy) from the primary side coupler 22 is provided so that it can be electromagnetically coupled to the primary side coupler 22 when the automatic guided vehicle 2 is in the charging standby position. The coupler 41 is supplied by electromagnetic inductive coupling. The AC power 4 supplied to the secondary coupler 41 is converted into DC power by the AC / DC converter circuit 42 and supplied to the battery 3 and the capacitor 9 connected in parallel.
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４６はそれを検知してキャパシタ充電完了信号４７を発生する。このキャパシタ充電完了信号４７は、インバータ停止信号送信回路４３に与えられ、この送信回路４３からインバータ停止信号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２４に電波を用いて送られる。
インバータ停止信号受信回路２４がインバータ停止信号５を受けると、この受信回路２４は、交流電力制御回路２３によって交流電力出力回路２１の動作を停止させ、１次側カプラ２２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１０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 capacitor 9 completes charging, the charging completion detection circuit 46 detects this and generates a capacitor charging completion signal 47. The capacitor charge completion signal 47 is given to the inverter stop signal transmission circuit 43, and the transmission circuit 43 uses the radio wave as the inverter stop signal 5 to the inverter stop signal reception circuit 24 in the power feeding device 1 (power feeding / control device 6). Sent.
When the inverter stop signal receiving circuit 24 receives the inverter stop signal 5, the receiving circuit 24 stops the operation of the AC power output circuit 21 by the AC power control circuit 23 and supplies the AC power 4 to the primary side coupler 22. Shut off. Accordingly, 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１０のインバータ停止信号送信回路４３から給電・制御装置６のインバータ停止信号受信回路２４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。
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。
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 the automatic guided vehicle 2, the inverter stop signal 5 is sent from the inverter stop signal transmission circuit 43 of the charging / control device 10 to the inverter stop signal receiving circuit 24 of the power supply / control device 6, and the automatic charging is completed. Although the restriction from the position is released, the battery 3 is still charged. Charging at this time is performed from the capacitor 9. In other words, the battery 3 is charged from the charged capacitor 9 after parallel charging with the capacitor 9 (mainly rapid charging of the capacitor 9).
Thus, the automatic charging of the automatic guided vehicle 2 (restraint at the charging standby position) is completed when the capacitor 9 is completely charged, that is, completed in a short time without waiting for the battery 3 to be fully charged. .
In addition, since AC power 4 is supplied from the power feeding device 1 to the automatic guided vehicle 2 in a non-contact manner, there is no exposure of the energizing portion (the energizing terminal and the energizing path) in the charging power transmission path, and the safety during charging is further increased. Can be increased.

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。It is a block diagram which shows the outline of the automatic charging apparatus (this invention apparatus) of the automatic guided vehicle to which this invention method was applied. 同上装置の具体例を示すブロック図である。It is a block diagram which shows the specific example of an apparatus same as the above.

符号の説明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、１０：充電・制御装置、２１：交流電力出力回路、２２：１次側カプラ、２３：交流電力制御回路、２４：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）、４１：２次側カプラ、４２：交流／直流変換回路、４３：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 supply device, 2: automatic 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, 10: Charging / control device, 21: AC power output circuit, 22: primary side coupler, 23: AC power control circuit, 24: inverter stop signal receiving circuit (automatic charging completion signal receiving circuit), 41: secondary side coupler, 42 : AC / DC conversion circuit, 43: Inverter stop signal transmission circuit (automatic charging completion signal transmission circuit).

Claims (3)

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。 When the automatic guided vehicle arrives at the charging standby position in the vicinity of the power supply device, the automatic charging method for 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, the charging power is supplied to the automatic guided vehicle from the power feeding device in a contactless manner,
This charging power is mounted on the automatic guided vehicle and supplied to the capacitor and the battery connected in parallel, and the automatic charging is completed upon completion of charging or completion of charging for a predetermined time of the capacitor,
The automatic charging method for an automatic guided vehicle, wherein the battery is charged from the capacitor even after the automatic charging is completed. 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。 When the automatic guided vehicle arrives at the charging standby position in the vicinity of the power supply device, the automatic charging device of the automatic guided vehicle in which the battery mounted on the automatic guided vehicle is charged,
The power feeding device converts the AC power into electromagnetic energy by radiating the automatic guided vehicle to the charging standby position and radiates it to the space, and receives the automatic charging completion signal to stop the radiation of the electromagnetic energy. With a control device,
The automatic guided vehicle receives 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 supplies the battery and a capacitor connected in parallel to the battery. An automatic charging device for an automatic guided vehicle, comprising: a charging / control device that wirelessly sends an automatic charging completion signal to the power supply / control device upon completion of charging or completion of charging of the capacitor for a predetermined time. . 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次側カプラと、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次側カプ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次側カプ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次側カプ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次側カプラと、この２次側カプ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請求項２に記載の無人搬送車の自動充電装置。
The power supply / control device is:
An AC power output circuit that outputs AC power, a primary coupler that radiates electromagnetic energy when AC power is supplied from the AC power output circuit, and the arrival of the automatic guided vehicle at the charging standby position are detected. An AC power control circuit that operates the AC power output circuit to supply AC power to the primary coupler, and an AC power control circuit that stops the operation of the AC power output circuit in response to an automatic charging completion signal. An automatic charging completion signal receiving circuit for cutting off the supply of AC power to the primary side coupler,
The charging / control device includes:
A secondary-side coupler that receives the electromagnetic energy by electromagnetic inductive coupling with the primary-side coupler, and an AC / DC converter circuit that converts AC power from the secondary-side coupler into DC power and supplies the DC power to the battery and the capacitor 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 or completion of charging of the capacitor for a predetermined time. The automatic charging device of the described automatic guided vehicle.
JP2006324436A 2006-11-30 2006-11-30 Automatic charging method and device of automated guided vehicle Pending JP2008137451A (en)

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