JP2009085676A - Battery deterioration diagnosis method of conveyance vehicle, and battery deterioration diagnosis system of conveyance vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a battery deterioration diagnosis method of a conveyance vehicle and a battery deterioration diagnosis system of the conveyance vehicle capable of diagnosing deterioration of each cell constituting a battery by easy work. <P>SOLUTION: A battery 5 loaded on an automatic conveyance vehicle is charged or discharged by being connected to a charging circuit 22 or a discharging circuit 23 of a refresh device 20. Measuring devices 25 are connected electrically to the battery 5, and cell voltages V1-V10 of the first to tenth cells SL1-SL10 are measured by the zeroth to tenth probes P0-P10, and a current Ib in wiring 13 is measured by an ammeter 26, and the results are input from each measuring device 25 into a data processing device 28. The data processing device 28 discriminates between charge and discharge from the current Ib, compares each cell voltage V1-V10 with a prescribed reference voltage respectively, determined that a cell in the first to tenth cells SL1-SL10 having a cell voltage V1-V10 determined to be abnormal is defective, and displays information of the defective cell on a display part 31 of an input/output device 30. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

The present invention relates to a battery deterioration diagnosis method for a transport vehicle and a battery deterioration diagnosis system for a transport vehicle.

In recent years, in a clean room, which is a manufacturing facility for electronic components such as semiconductor integrated circuits, automatic transport vehicles are used to transport electronic components and the like to a manufacturing apparatus or the like. The automatic transport vehicle includes a storage battery (battery) as a power source for driving and controlling the automatic transport vehicle, and is driven and controlled by supplying power from the storage battery. The storage battery is replenished with an appropriate amount of electricity used by the drive control of the automated guided vehicle, and can always supply the amount of electricity required for the drive control of the automated guided vehicle.

There are many types of storage batteries, and there are suitable charging methods for each type of storage battery. For example, in the case of a nickel-cadmium storage battery, it is preferable to charge after the usage amount increases (remaining capacity decreases) in order to reduce the number of times of charging since the deterioration of the storage battery proceeds by charging. In addition, charging after the usage amount increases is also preferable in order to prevent deterioration of the storage battery due to overcharging.

On the other hand, the usage amount (remaining capacity) of the storage battery cannot be directly measured, but is calculated by various methods. However, there may be an error between the calculated usage amount and the actual usage amount. Many. As a result of an error between the calculated usage of the storage battery and the actual usage of the storage battery, the storage battery that has deteriorated due to use may have a smaller electric capacity than the storage battery that has not deteriorated. Therefore, there has been a demand for a method for diagnosing the deterioration of the storage battery so that the usage amount can be calculated with less error than the actual usage amount.

Then, the method of diagnosing degradation of a storage battery is proposed (patent document 1). Patent Document 1
A discharge circuit of a short time pulse by a constant current is connected between the positive and negative terminals of a module storage battery in which a plurality of cell storage batteries are connected in series, and the module storage battery is discharged for a short time by the discharge circuit. The voltage change between the two terminals was measured when the voltage drop between the two terminals of the module storage battery during the short-time discharge was in a stable state. Then, it is detected from the degree of the voltage change whether at least one cell storage battery constituting the module is deteriorated in characteristics.
JP 2001-296341 A

However, Patent Document 1 detects whether at least one of the cell storage batteries constituting the module storage battery is deteriorated in characteristics, and cannot determine the deterioration of individual cell storage batteries. . In addition, it is necessary to perform a predetermined test for diagnosing deterioration, and the work for diagnosing battery deterioration is complicated.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a battery deterioration diagnosis method for a transport vehicle and a transport capable of diagnosing deterioration for each cell constituting a storage battery with easy work. The object is to provide a car battery deterioration diagnosis system.

The battery deterioration diagnosis method for a transport vehicle according to the present invention measures each cell voltage of a plurality of cells connected in series constituting a battery mounted on the transport vehicle, and determines the plurality of cells based on each cell voltage. A battery deterioration diagnosis method for a transport vehicle that performs a deterioration diagnosis process for each of the vehicles, wherein the deterioration diagnosis process includes a cell voltage of a cell measured during discharge or charge performed on the battery during a refresh process, If it is determined that the cell is defective by comparison with a predetermined reference voltage, the cell having the measured cell voltage is determined to be defective.

According to the battery deterioration diagnosis method for a transport vehicle of the present invention, the deterioration diagnosis process is performed based on the cell voltage of the cell measured during the refresh process. Accordingly, since the cell voltage is measured for the deterioration diagnosis process simultaneously with the refresh process, no separate measurement or test is required for the deterioration diagnosis process. As a result, it is possible to provide a battery deterioration diagnosis method with a high battery operation rate without increasing the time during which the battery cannot be used.

In addition, since the cell voltage can be measured while the cells are connected in series without being separated, it is also easy to measure the cell voltage for the deterioration diagnosis process.
Furthermore, since the cell determined to be defective is specified, it is possible to extend the life of the battery by replacing the defective cell.

In the method for diagnosing battery deterioration of the transport vehicle, the battery is subjected to first discharge and charge and second discharge and charge during the refresh process, and the deterioration diagnosis process includes the second charge and charge. It is preferable to carry out based on the cell voltage of the cell measured at the time of discharge.

According to the battery deterioration diagnosis method for the transport vehicle, the deterioration diagnosis process is performed based on the cell voltage of the cell measured at the second charge and discharge of the refresh process. Therefore, since the deterioration diagnosis process is performed based on the cell voltage measured in the state where there is little non-uniformity such as the electromotive voltage between the cells by the first charge and discharge, the cell deterioration diagnosis process can be suitably performed. .

In this method for diagnosing battery deterioration of a transport vehicle, it is preferable that the deterioration diagnosis process is repeatedly performed at a predetermined cycle during discharge or charge performed on the battery during the refresh process.

According to the battery deterioration diagnosis method for the transport vehicle, the deterioration diagnosis process is repeatedly performed at a predetermined cycle, and therefore the cell deterioration diagnosis process corresponding to the elapsed time from the start of charging can be performed.

In the battery deterioration diagnosis method for the transport vehicle, it is preferable that the refresh process is stopped when at least one cell is determined to be defective in each of the deterioration diagnosis processes for the plurality of cells.

According to this battery deterioration diagnosis method for a transport vehicle, the refresh process is stopped when at least one cell is determined to be defective by the deterioration diagnosis process, and therefore a wasteful refresh process is performed on a battery having a defective cell. Can be prevented. As a result, the time required for useless refresh processing can be reduced.

In this method of diagnosing battery deterioration of a transport vehicle, the deterioration diagnosis process is performed when the battery is discharged in a refresh process, and the cell voltage of the cell corresponding to the elapsed time from the start of discharge corresponds to the elapsed time. If the cell voltage is lower than a predetermined reference voltage determined in this way, the cell voltage may be determined to be defective, and the cell having the measured cell voltage may be determined to be defective.

According to this battery degradation diagnosis method for a transport vehicle, a cell having a reduced charge capacity due to degradation can be easily determined according to the characteristics of the battery.
The battery degradation diagnosis system for a transport vehicle according to the present invention includes a battery mounted as a power source in the transport vehicle, a refresh device connected to the battery and performing a refresh process on the battery, and a plurality of the battery in series forming the battery. A cell, a measuring device for measuring each cell voltage of the plurality of cells, and a deterioration diagnosis means for performing a deterioration diagnosis on each of the cell voltages of the plurality of cells measured by the measuring device. The deterioration diagnosis unit determines that the cell whose cell voltage has been measured is determined to be defective when the cell voltage of the cell is determined to be defective based on a comparison with a predetermined reference voltage.

According to the battery deterioration diagnosis system for a transport vehicle of the present invention, the deterioration diagnosis means performs deterioration diagnosis based on the cell voltage of the cell measured during the refresh process. Therefore, since the cell voltage is measured for the deterioration diagnosis simultaneously with the refresh process, no separate measurement or test is required for the deterioration diagnosis. As a result, it is possible to provide a battery deterioration diagnosis system with a high battery operation rate without increasing the time during which the battery cannot be used.

In addition, since the cell voltage can be measured with the cells connected in series without being separated, it is easy to measure the cell voltage for diagnosis of deterioration.
Furthermore, since the cell determined to be defective is specified, the life of the entire battery can be extended by replacing the defective cell.

The battery deterioration diagnosis system for a transport vehicle includes a display device that displays a defective cell, and the deterioration diagnosis means transmits display information for displaying a cell determined to be defective to the display device. Thus, it is effective to display the cells determined to be defective based on the display information on the display device.

According to this battery degradation diagnosis system for a transport vehicle, since a defective cell is displayed on the display device, it is possible to easily recognize a cell determined to be defective as well as whether the battery is good or bad.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments embodying the present invention will be described with reference to FIGS.
FIG. 1 is a side view of the automatic transport vehicle 1.
The automatic transport vehicle 1 includes a plurality of wheels 2 on a transport base 3 on which electronic parts or the like that are transported objects are placed. The automatic transport vehicle 1 places electronic components on the transport table 3 and moves from the transport source position to the transport destination position in each work area.

The wheels 2 are rotated by a rotational drive of a drive device (not shown) controlled by a travel control device (not shown) provided in the automatic guided vehicle 1. That is, the travel control device of the automatic transport vehicle 1 drives and controls each wheel 2 via each drive device so as to move the automatic transport vehicle 1 based on an external transport instruction.

The automatic transport vehicle 1 is provided with two batteries 5 as power sources for a travel control device and a drive device. As shown in FIG. 2, the battery 5 includes a case 6 having an upper portion opened in a rectangular shape. Inside the case 6, the first to tenth cells SL1 to SL10 are arranged adjacently in order.

Each of the first to tenth cells SL1 to SL10 is a storage battery having a positive electrode and a negative electrode, and in the present embodiment, each of the cells SL1 to SL10 is a nickel cadmium storage battery.

In the first to tenth cells SL1 to SL10, as shown in FIG. 3, the positive electrodes of the cells SL1 to SL9 are electrically connected to the negative electrodes of the adjacent cells SL2 to SL10, that is, connected in series. In addition, first to ninth terminals T1 to T9 are provided between the cells SL1 to SL10 connected in series.

The negative electrode of the first cell SL1 is connected to the minus terminal T0, and the minus terminal T0 is connected to the refresh device 20 via the wiring 11. On the other hand, the positive electrode of the tenth cell SL10 is connected to the plus terminal T10, and the plus terminal T10 is connected to the refresh device 20 via the wiring 13.

The refresh device 20 is a device that performs refresh processing on one battery 5 at a time, and discharges and charges the connected battery 5 for refresh processing. The refresh process is one of maintenance work necessary for maintaining the performance of the battery 5, and the battery 5 is completely discharged and fully charged a predetermined number of times (in the present embodiment, in a predetermined time according to the use state).
(2 times) It is a repeated process. By this refreshing process, the electromotive voltages of the cells SL1 to SL10 constituting the battery 5 are made uniform so that the battery 5 can be used suitably.

The refresh device 20 includes a control unit 21 that controls refresh processing, a charging circuit 22 that performs charging for refresh processing, and a discharging circuit 23 that performs discharging for refresh processing.

The control unit 21 controls the refresh process of the battery 5 connected to the refresh device 20. Specifically, when discharging the battery 5, the control unit 21 connects the battery 5 to the discharge circuit 23 and discharges the battery 5 for a predetermined discharge time. In addition, when charging the battery 5, the control unit 21 connects the battery 5 to the charging circuit 22 and charges the battery 5 for a predetermined charging time. Further, when the battery 5 is not discharged or charged, the control unit 21 electrically opens between the minus terminal T0 and the plus terminal T10 of the battery 5.

That is, when the battery 5 is connected and the refresh process is started, the control unit 21 of the refresh device 20 waits for a predetermined standby time, and automatically transfers the battery 5 to the discharge circuit 23 after the standby time elapses. The first discharge is performed by connecting.

When the predetermined discharge time has elapsed and the first discharge is completed, the control unit 21 automatically connects the battery 5 to the charging circuit 22 and performs the first charge. When the predetermined charging time has elapsed and the first charging of the battery 5 has been completed, the control unit 21 waits for a predetermined standby time, and automatically connects the battery 5 to the discharge circuit 23 after the standby time has elapsed. The second discharge is performed.

When the second discharge of the battery 5 is finished, the battery 5 is automatically connected to the charging circuit 22 and the second charge is performed. When a predetermined charging time has elapsed, the control unit 21 ends the second charging of the battery 5, thereby completing the refresh process for the battery 5.

The purpose of the first discharge and the first charge in the refresh process is to use each cell SL1-
The purpose of the second discharge and the second charge is to equalize the electromotive voltage by the process of the first discharge and the first charge. Each cell SL1
It is to charge the SL10 uniformly.

A measuring instrument 25 is electrically connected to the battery 5. The measuring device 25 includes 0th to 1st.
Zero probes P0 to P10 are provided. The zeroth probe P0 is a negative terminal T.
0, the first probe P1 at the first terminal T1, the second probe P2 at the second terminal T2, the third probe P3 at the third terminal T3, the fourth probe P4 at the fourth terminal T4, and the fifth probe P5 is electrically connected to the fifth terminal T5. The sixth probe P6 is connected to the sixth terminal T6, the seventh probe P7 is connected to the seventh terminal T7, the eighth probe P8 is connected to the eighth terminal T8, and the ninth terminal
The probe P9 is electrically connected to the ninth terminal T9, and the tenth probe P10 is electrically connected to the plus terminal T10.

The measuring device 25 measures the voltage between the adjacent probes P0 to P10. Specifically, the measuring instrument 25 measures the cell voltage V1 of the first cell SL1 between the zeroth probe P0 and the first probe P1. The measuring instrument 25 includes the first probe P1 and the second probe
The cell voltage V2 of the second cell SL2 between the probes P2, the cell voltage V3 of the third cell SL3 between the second probe P2 and the third probe P3, the first voltage between the third probe P3 and the fourth probe P4. The cell voltage V4 of each of the four cells SL4 is measured. Further, the measuring instrument 25 determines the cell voltage V5 of the fifth cell SL5 between the fourth probe P4 and the fifth probe P5 as the fifth probe P5.
The cell voltage V6 of the sixth cell SL6 between the sixth probe P6 and the cell voltage V7 of the seventh cell SL7 between the sixth probe P6 and the seventh probe P7 is measured. Furthermore, the measuring instrument 25 uses the cell voltage V8 of the eighth cell SL8 between the seventh probe P7 and the eighth probe P8, and the cell voltage V9 of the ninth cell SL9 between the eighth probe P8 and the ninth probe P9. , The cell voltage V10 of the tenth cell SL10 between the ninth probe P9 and the tenth probe P10 is measured.

An ammeter 26 is electrically connected to the measuring instrument 25. The ammeter 26 detects the current Ib flowing through the wiring 13 and inputs a signal indicating the value of the detected current Ib to the measuring instrument 25. For example, the ammeter 26 detects the current Ib flowing in the direction of the arrow shown in FIG. 3 when the battery 5 is connected to the discharge circuit 23, and conversely, when the battery 5 is connected to the charging circuit 22. The current Ib flowing in the direction opposite to the arrow shown in FIG. 3 is detected. The ammeter 26 is
When the battery 5 is in an open state, the current Ib is not detected.

The measuring device 25 is electrically connected to a data processing device 28 as a deterioration diagnosis unit.
The measuring instrument 25 detects the cell voltages V1 to V10 of the detected cells SL1 to SL10 and the current I.
Data regarding each value of b is input to the data processor 28. That is, the data processing device 28 acquires data relating to the cell voltages V1 to V10 and the current Ib of the cells SL1 to SL10 from the measuring instrument 25.

The data processing device 28 includes a CPU (Central Processing Unit), ROM, RAM, and data storage unit 2.
9 is provided. The CPU of the data processing device 28 executes cell deterioration diagnosis processing, various processing, and the like according to various data and various control programs stored in the ROM and RAM.

In the present embodiment, the CPU stores data related to the values of the cell voltages V1 to V10 and the currents Ib of the cells SL1 to SL10 acquired from the measuring instrument 25 in the data storage unit 29 at each predetermined time. It is supposed to be. The CPU determines that the battery 5 is “discharging” when the current Ib flows in the direction of the arrow, and the battery 5 “charges” when the current Ib flows in the direction opposite to the arrow. When the current Ib is not flowing, the battery 5 is determined to be “open”.

The data storage unit 29 can read and write data from the CPU, and the values of the cell voltages V1 to V10 and the currents Ib for each predetermined time input from the measuring device 25 to the data processor 28, and the cell The result calculated in the deterioration diagnosis process is stored.

The data processing device 28 is electrically connected to the input / output device 30. Data processing device 2
8, various data and the like are input from the input / output device 30 and stored in the RAM or the data storage unit 29. Further, the data processing device 28 outputs a signal for displaying measurement data and the like to the input / output device 30.

The input / output device 30 includes a display unit 31 as a display device for displaying characters and images. The input / output device 30 displays characters and images on the display unit 31 based on a signal for displaying measurement data and the like from the data processing device 28.

Next, the cell voltages V1 to V10 of the cells SL1 to SL10 measured in the refresh process with the above configuration will be described with reference to a graph.
4 to 6 show changes in the cell voltages V1 to V10 of the cells SL1 to SL10 during the discharge in the refresh process. It is assumed that the battery 5 is sufficiently charged at time td0.

FIG. 4 shows respective voltages Vt1 to Vt10 of the terminals T1 to T9 and the plus terminal T10 with respect to the minus terminal T0. The voltage Vt1 at the terminal T1 is changed to the time td along with the discharge.
The voltage drops from 0 to time td5. Similarly, the voltage Vt2 at the terminal T2, the voltage Vt3 at the terminal T3, the voltage Vt4 at the terminal T4, the voltage Vt5 at the terminal T5, and the voltage V at the terminal T6.
At t6, the voltage Vt7 at the terminal T7, the voltage Vt8 at the terminal T8, and the voltage Vt9 at the terminal T9 all drop in voltage from time td0 to time td5 due to discharge. further,
The voltage Vt10 (= Vbat) of the positive terminal T10 is also changed from the time td0 to the time td along with the discharge.
The voltage drops to 5. The value of the voltage Vt10 is represented by integrating fluctuations generated in the cell voltages V1 to V10 of the cells SL1 to SL10.

FIG. 5 shows fluctuations of the cell voltages V1 to V10 of the cells SL1 to SL10 from the time td0 to the time td5. Usually, each cell SL1 constituting one battery 5
If SL10 is normal, the respective cell voltages V of the discharged cells SL1 to SL10
1 to V10 cause substantially the same voltage drop with respect to the elapsed time. On the other hand, in the case of a cell with advanced deterioration, the voltage drop is faster than that of a normal cell due to a decrease in charge capacity or the like. That is, as shown in FIG. 5, each cell SL1 corresponding to each cell voltage V1 to V8, V10 from each cell voltage V1 to V8, V10 that causes a voltage drop substantially the same as the elapsed time when discharged. It can be seen that SL8 and SL10 are normal. On the other hand, the cell voltage V9 causes a voltage drop earlier than the elapsed time when discharged compared to the cell voltages V1 to V8 and V10 corresponding to the normal cells SL1 to SL8 and SL10, respectively. It can be seen that the ninth cell SL9 corresponding to the cell voltage V9 is deteriorated.

FIG. 6 is an enlarged view from time td3 to td5 in FIG. According to FIG.
The cell voltage V9 of the cell SL9 is the cell voltage V of each of the other cells SL1 to SL8, SL10.
It can be seen that the voltage drop is faster than 1 to V8 and V10. In addition, the eighth and fifth cells S
It can be seen that the cell voltages V8 and V5 of L8 and SL5 also drop relatively quickly. This indicates that the ninth cell SL9 has deteriorated and that the fifth cell SL5 and the eighth cell SL8 have also started to deteriorate.

7 and 8 show changes in the cell voltages V1 to V10 of the cells SL1 to SL10 during charging of the refresh process. It is assumed that the battery 5 is sufficiently discharged at time tc0. The battery 5 is charged from the time tc0 to the time tc5, and the graph after the time tc5 shows the case where the charged battery 5 is left open.

FIG. 7 shows respective voltages Vt1 to Vt10 of the terminals T1 to T9 and the positive terminal T10 with respect to the negative terminal T0. The voltage Vt1 at the terminal T1 is equal to the time tc along with charging.
The voltage increases from 0 to time tc5. Similarly, the voltage Vt2 at the terminal T2, the voltage Vt3 at the terminal T3, the voltage Vt4 at the terminal T4, the voltage Vt5 at the terminal T5, and the voltage V at the terminal T6.
At t6, the voltage Vt7 at the terminal T7, the voltage Vt8 at the terminal T8, and the voltage Vt9 at the terminal T9 are also increased from time tc0 to time tc5 with charging. Further, the voltage Vt10 (= Vbat) of the plus terminal T10 also increases from time tc0 to time tc5 with charging. The value of the voltage Vt10 is represented by integrating fluctuations generated in the cell voltages V1 to V10 of the cells SL1 to SL10.

FIG. 8 shows the cell voltages V1 of the cells SL1 to SL10 from the time tc0 to the time tc5.
-V10 variation is shown. Usually, each cell SL1 to SL1 constituting one battery 5
If 0 is normal, the respective cell voltages V1 to V1 of the cells SL1 to SL10 to be charged
0 produces substantially the same voltage increase with respect to the elapsed time. On the other hand, in the case of a deteriorated cell,
Although not shown, the voltage rises faster than normal cells due to a decrease in charge capacity and the like. That is, in the case where the convex portion in the graph appearing from time tc4 to time tc5 in FIG. 8 is a deteriorated cell, for example, it appears between time tc3 and time tc4.

Next, the deterioration diagnosis process for diagnosing the deterioration of the cells SL1 to SL10 of the battery 5 of the automatic guided vehicle 1 with the above configuration will be described with reference to the flowchart.
First, it is assumed that the battery 5 that performs the refresh process is electrically connected to the refresh device 20 and the measuring device 25.

When the refresh device 20 starts the refresh process, the data processing device 28 performs the initial setting (step S1) and the first pre-discharge measurement after the initial setting during the predetermined standby time of the refresh device 20 (step S2). ). In the initial setting, a storage area for data to be measured is secured in the data storage unit 29, or a stop flag that is set to “1” when the deterioration determination process is stopped indicates that the deterioration determination process is not stopped. For example, “0” is set. In the first pre-discharge measurement, the data processing device 28 measures each voltage Vbat, V1 to V10 and stores it in a predetermined area of the data storage unit 29.

When the first pre-discharge measurement is completed, the data processing device 28 has the refresh device 20 first.
Wait for the discharge to start. When the refresh device 20 starts the first discharge after a predetermined standby time has elapsed, the data processing device 28 performs the first discharge process (step S3).
Here, the fact that the refresh device 20 has started the first discharge is determined from the fact that the current Ib flows in the direction of the arrow and is determined to be “discharging”.

In the first discharge process, as shown in FIG. 10, the data processing device 28 measures the cell voltages V1 to V10 of the cells SL1 to SL10 via the measuring device 25 (step S3).
-1) The measured cell voltages V1 to V10 are stored in the data storage unit 29 together with the measurement time (step S3-2). Further, the data processing device 28 integrates the voltages Vt1 to Vt1 accumulated from the negative terminals T0 of the positive electrodes of the cells SL1 to SL10 based on the cell voltages V1 to V10.
Data processing such as calculating 0 is performed (step S3-3).

When the data processing is completed, the data processing device 28 displays the progress on the display unit 31 (
Step S3-4). In the middle progress display, the data processing device 28 generates, for example, a signal for displaying a graph as shown in FIG. 4 on the display unit 31 from the voltages Vt1 to Vt10, and the input / output device 30 based on the signal. A graph or the like is displayed on the display unit 31 via. When the display unit 31 displays the progress in progress, the data processing device 28 determines whether or not the first discharge has ended (step S3-5). Here, the end of the first discharge is determined because the current Ib does not flow in the direction of the arrow and it is not determined that the current is being discharged. First
If the discharge has not been completed (NO in step S3-5), the data processing device 28 returns to step S3-1 and repeats the steps after step S3-1 in a predetermined cycle.

On the other hand, when the first discharge is completed (YES in step S3-5), the data processing device 28
Finishes the first discharge process. When the first discharge process is completed, the data processor 28
Waits for the refresh device 20 to start the first charging, and when the first charging is started, performs the first charging process (step S4). Here, the first charge started
This is determined by determining that the current Ib flows in the direction opposite to the arrow and is “charging”.

In the first charging process, as shown in FIG. 11, the data processing device 28 measures the cell voltages V1 to V10 of the cells SL1 to SL10 via the measuring device 25 (step S4).
-1) The measured cell voltages V1 to V10 are stored in the data storage unit 29 together with the measurement time (step S4-2). The data processing device 28 also integrates voltages Vt1 to Vt10 accumulated from the negative terminals T0 of the positive electrodes of the cells SL1 to SL10 based on the cell voltages V1 to V10.
Data processing such as calculating is performed (step S4-3).

When the data processing is completed, the data processing device 28 displays the progress on the display unit 31 (
Step S4-4). In the middle progress display, for example, the data processing device 28 generates a signal for displaying a graph as shown in FIG. 7 on the display unit 31 from the voltages Vt1 to Vt10, and the input / output device 30 based on the signal. A graph or the like is displayed on the display unit 31 via. When the display unit 31 displays the progress in progress, the data processing device 28 determines whether or not the first charging is finished (step S4-5). Here, the completion of the first charging is determined because the current Ib does not flow in the direction opposite to the arrow and is not determined to be “charging”. If the first charging is not completed (NO in step S4-5), the data processing device 28
Returns to step S4-1 and repeats the steps after step S4-1 in a predetermined cycle.

On the other hand, when the first charging is completed (YES in step S4-5), the data processing device 28
Ends the first charging process. When the first charging process ends, the data processing device 28
During the predetermined waiting time until the refresh device 20 starts the second discharge.
Measurement before the discharge is performed (step S5). In the second measurement before discharge, each voltage Vbat, V1
˜V10 is measured and stored in a predetermined area of the data storage unit 29.

When the second pre-discharge measurement is completed, the data processing device 28 has the refresh device 20 in the second state.
Wait for the discharge to start. When the predetermined standby time has elapsed and the refresh device 20 starts the second discharge, the data processing device 28 performs the second discharge process (step S6).
Here, the fact that the refresh device 20 has started the second discharge is determined from the fact that the current Ib flows in the direction of the arrow and is determined to be “discharging”.

In the second discharge process, as shown in FIG. 12, the data processor 28 measures the cell voltages V1 to V10 of the cells SL1 to SL10 via the measuring device 25 (step S6).
-1) The measured cell voltages V1 to V10 are stored in the data storage unit 29 together with the measurement time (step S6-2). Further, the data processing device 28 integrates the voltages Vt1 to Vt1 accumulated from the negative terminals T0 of the positive electrodes of the cells SL1 to SL10 based on the cell voltages V1 to V10.
Data processing such as calculating 0 is performed (step S6-3).

When the data processing is completed, the data processing device 28 displays the progress on the display unit 31 (
Step S6-4). In the middle progress display, the data processing device 28 generates, for example, a signal for displaying a graph as shown in FIG. 4 on the display unit 31 from the voltages Vt1 to Vt10, and the input / output device 30 based on the signal. A graph or the like is displayed on the display unit 31 via. When the progress is displayed on the display unit 31, the data processing device 28 sends each cell SL at that time.
It is determined whether or not the progress of the values of the cell voltages V1 to V10 of 1 to SL10 is normal (step S6-5). Here, the normal progress of the cell voltages V1 to V10 is normal if all the cell voltages V1 to V10 are before the time td4.
When not lower than [V] or after time td4, 0.9 [V as a reference voltage
] Is not determined. On the other hand, if any one of the cell voltages V1 to V10 is before time td4, if it is lower than 1 [V] or after time td4, 0.9 [V
], It is determined that the halfway progress of the values of the cell voltages V1 to V10 is not normal.

When it is determined that each cell voltage V1 to V10 is a normal value (YES in step S6-5)
), The data processing device 28 determines whether or not the second discharge has ended (step S6-6).
). Here, the end of the second discharge is determined because the current Ib does not flow in the direction of the arrow and is not determined to be “discharging”. If the second discharge has not ended (NO in step S6-6), the data processing device 28 returns to step S6-1 and repeats the steps after step S6-1 in a predetermined cycle.

When the second discharge is completed (YES in step S6-6), the data processing device 2
8 finishes the second discharge process.
On the other hand, when it is determined that the cell voltages V1 to V10 are not normal values (step S6-5).
YES), the data processing device 28 has cell voltages V1 to V1 that are abnormal in the display unit 31.
0 is specifically displayed (step S6-7). At this time, the cell voltages V1 to V1 in an abnormal state
V10 is specifically specified in step S6-5. When the abnormal state is displayed on the display unit 31, the data processing device 28 sets “1” in the stop flag (step S6).
-8) The second discharge process is terminated.

When the second discharge process is completed, the data processing device 28 has the refresh device 20 in the second state.
When the second charging is started after waiting for the start of the second charging, the second charging process is performed (step S7). Here, the start of the second charging is determined from the fact that the current Ib flows in the direction opposite to the arrow and is determined to be “charging”.

In the second charging process, as shown in FIG.
It is determined whether it is “0” (step S7-1). When the stop flag is not “0” (
In step S7-1, NO), the data processing device 28 ends the second charging process.

On the other hand, when the stop flag is “0” (YES in step S7-1), the data processing device 28 uses the measuring device 25 to select the cell voltages V1 to V10 of the cells SL1 to SL10.
(Step S7-2), and the measured cell voltages V1 to V10 are stored in the data storage unit 29 together with the measurement time (step S7-3). Further, the data processing device 28 performs data processing such as calculating each voltage Vt1 to Vt10 integrated from the negative terminal T0 of the positive electrode of each cell SL1 to SL10 based on the cell voltage V1 to V10 (step S7-4). .

When the data processing is completed, the data processing device 28 displays the progress on the display unit 31 (
Step S7-5). In the middle progress display, for example, the data processing device 28 generates a signal for displaying a graph as shown in FIG. 7 on the display unit 31 from the voltages Vt1 to Vt10, and the input / output device 30 based on the signal. A graph or the like is displayed on the display unit 31 via. When the progress is displayed on the display unit 31, the data processing device 28 sends each cell SL at that time.
It is determined whether or not the halfway progress of the values of the cell voltages V1 to V10 of 1 to SL10 is normal (step S7-6). Here, the normal progress of the cell voltages V1 to V10 is normal if all the cell voltages V1 to V10 are before the time tc4.
. If it is not higher than 5 [V] or if it is between time tc4 and time tc5, it is determined that it is not higher than 1.6 [V] as the reference voltage. On the other hand, if any one of the cell voltages V1 to V10 is higher than 1.5 [V] if it is before time tc4, or if it is higher than 1.6 [V] if it is between time tc4 and time tc5 Is determined that the halfway progress of the values of the cell voltages V1 to V10 is not normal.

When it is determined that each cell voltage V1 to V10 is a normal value (YES in step S7-6)
), The data processing device 28 determines whether or not the second charging is finished (step S7-7).
). Here, the end of the second charging is determined because the current Ib does not flow in the direction opposite to the arrow and is not determined to be “charging”. If the second charging is not completed (NO in step S7-7), the data processing device 28 returns to step S7-2,
Steps S7-2 and subsequent steps are repeated at a predetermined cycle.

When the second charging is completed (YES in step S7-7), the data processing device 2
8 ends the second charging process.
On the other hand, when it is determined that the cell voltages V1 to V10 are not normal values (step S7-6).
YES), the data processing device 28 has cell voltages V1 to V1 that are abnormal in the display unit 31.
Specifically, 0 is displayed (step S7-8). At this time, the cell voltages V1 to V1 in an abnormal state
V10 is specifically specified in step S7-6. When the abnormal state is displayed on the display unit 31, the data processing device 28 sets “1” in the stop flag (step S7).
-9), the second charging process is terminated.

When the second charging process is completed, the data processing device 28 makes a comprehensive determination (step S8).
In the comprehensive determination, as shown in FIG. 14, the data processing device 28 determines whether or not the stop flag is “0” (step S8-1). If the stop flag is not “0” (NO in step S8-1), the data processing device 28 causes the display unit 31 to display a status indicating a battery failure (step S8-5), and then completes the comprehensive determination. To do. At this time, the status display
Which cell SL1 to SL10 is defective can be determined from the abnormal cell voltages V1 to V10 specified in step S6-5 or step S7-6.
L10 is specifically displayed.

On the other hand, when the stop flag is “0” (YES in step S8-1), the data processing device 28 performs comprehensive determination (step S8-2). In the comprehensive determination, for example, the respective cell voltages V1 to V1 when the normal cells SL1 to SL10 obtained in advance by experiments or the like are charged or discharged.
The change in data is larger than a predetermined value by comparing the change data of V10 with the change data of each cell voltage V1 to V10 obtained by the second charge and second discharge of the refresh process. Or not. Then, the cell voltage V1 in which the data shift is larger than a predetermined value.
When there is ~ V10, it is determined that the cells SL1 to SL10 corresponding to the cell voltages V1 to V10 are defective.

When the comprehensive determination is finished, the data processing device 28 determines whether or not the battery is good (
Step S8-3). Whether or not the battery is good is determined based on, for example, whether or not there is at least one defective cell SL1 to SL10. If the battery is not good (NO in step S8-3), the data processing device 28 displays a defective cell SL1 on the display unit 31.
After displaying the status indicating the failure of SL10 and battery 5 (step S8-5)
The comprehensive judgment is finished.

On the other hand, if the battery is good (YES in step S8-3), the data processing device 28
Causes the display unit 31 to display a state indicating that the battery 5 is good (step S8-4), and completes the comprehensive determination.

When the comprehensive determination is finished, the data processing device 28 determines each cell SL1 to SL10 of the battery 5.
End the diagnosis of deterioration.
Next, effects of the present embodiment configured as described above will be described below.

(1) According to the present embodiment, the data processing device 28 measures the cell voltages V1 to V10 of the cells SL1 to SL10 for the deterioration diagnosis process simultaneously with the refresh process. Therefore, no separate measurement or test is required for the deterioration diagnosis process. As a result, the operating rate of the battery 5 can be increased without increasing the time during which the battery 5 cannot be used.

(2) According to this embodiment, the respective cell voltages V1 to V1 of the cells SL1 to SL10.
0 was measured while the cells SL1 to SL10 were connected in series. Therefore, each cell SL
The cell voltages V1 to V10 of 1 to SL10 can be easily measured.

(3) According to the present embodiment, the data processing device 28 specifies the cells SL1 to SL10 that are determined to be defective in the deterioration diagnosis process. Therefore, each defective cell S from the data processor 28
By displaying the information of L1 to SL10 on the display unit 31, each cell SL1 of the battery 5 is displayed.
The life of the battery 5 can be extended by replacing the SL 10.

(4) According to the present embodiment, the data processing device 28 performs the deterioration diagnosis process based on the cell voltages V1 to V10 of the cells SL1 to SL10 measured during the second discharge and the second charge. It was. Therefore, the data processing device 28 is connected to each cell SL1 to SL by the first charge and discharge.
The cells SL1 to SL10 are preferably used after the state in which the electromotive voltage between the L10s is less uneven.
It is possible to perform deterioration diagnosis processing.

(5) According to the present embodiment, the data processing device 28 repeatedly performs the deterioration diagnosis process at a predetermined cycle. Therefore, the data processing device 28 can perform the deterioration diagnosis process of each of the cells SL1 to SL10 corresponding to the elapsed time from the start of charging and discharging.

(6) According to the present embodiment, the data processing device 28 includes at least one cell SL1 to SL.
When it is determined that L10 is defective, the stop flag is set to “1” and the deterioration determination process is stopped. Therefore, the data processing device 28 can prevent performing a useless deterioration determination process on the battery 5 that has the defective cells SL1 to SL10 and cannot be charged appropriately.

(7) According to the present embodiment, at the time of discharging, the cell voltages V1 to V10 are lower than 1 [V] if they are before time td4, and are lower than 0.9 [V] if they are after time td4. The case was determined to be bad. Further, at the time of charging, it was determined as defective when it was higher than 1.5 [V] before time tc4 and higher than 1.6 [V] between time tc4 and time tc5. Therefore, it is possible to easily determine the cells SL <b> 1 to SL <b> 10 whose charging capacity has decreased due to deterioration by comparison with a reference value that matches the characteristics of the battery 5.

In addition, you may change the said embodiment as follows.
In the above embodiment, when the refresh device 20 discharges the battery 5, the battery 5 is connected to the discharge circuit 23 for a predetermined discharge time. However, the present invention is not limited to this, and when the refresh device 20 discharges the battery 5, it may be connected to the discharge circuit 23 until the battery voltage Vbat of the battery 5 drops to a predetermined voltage.

When the refresh device 20 charges the battery 5, the battery 5 is connected to the charging circuit 22 for a predetermined charging time. However, the present invention is not limited to this. When the battery 5 is charged, the refresh device 20 may be connected to the charging circuit 22 until the battery voltage Vbat of the battery 5 rises to a predetermined voltage.

In the above embodiment, if the cell voltages V1 to V10 are before time td4 during discharge, 1 [
If it is later than 0.9 [V] if it is after the time td4 than V], it was determined to be defective. At the time of charging, if it is before time tc4, the time tc is longer than 1.5 [V].
If it was between 4 and time tc5, it was determined to be defective if it was higher than 1.6 [V]. However, the present invention is not limited to this, and based on a change in value measured at the time of discharging or charging measured from a new battery cell, this standard is compared with the cell voltages V1 to V10 measured at the time of refresh processing, and the deviation is predetermined. If it is larger than the value of, it may be determined as defective.

-In above-mentioned embodiment, although the battery was made into the nickel cadmium storage battery, it is not restricted to this.
In the above embodiment, the data processing device 28 determines charging, discharging, and releasing during the refresh process from the direction of the current Ib. However, the present invention is not limited to this, and charging, discharging, and release information may be transmitted from the refresh device 20 to the data processing device 28.

In the above embodiment, the data processing device 28 includes at least one cell SL1 to SL10.
When it is determined that the defect is defective, the stop flag is set to “1” and the deterioration determination process is stopped. However, the present invention is not limited to this, and the data processing device 28 notifies the refresh device 20 of the suspension of the deterioration determination processing, stops the refresh processing, has defective cells SL1 to SL10, and is preferably a battery that cannot be discharged or charged. On the other hand, it is possible to prevent unnecessary refresh processing. Then, the time required for useless refresh processing can be reduced.

The side view which shows the side structure of the automatic conveyance vehicle in this embodiment. The perspective view which shows the perspective structure of the battery mounted in the automatic conveyance vehicle in this embodiment. Explanatory drawing explaining the electrical structure of the deterioration diagnosis system of the battery in this embodiment. The graph which shows the relationship between each terminal voltage at the time of discharge in this embodiment, and time. The graph which shows the relationship between the cell voltage of each cell at the time of discharge in this embodiment, and elapsed time. The graph which shows the relationship between the cell voltage of each cell near the time of completion | finish of discharge in this embodiment, and elapsed time. The graph which shows the relationship between each terminal voltage at the time of charge in this embodiment, and elapsed time. The graph which shows the relationship between the cell voltage of each cell at the time of charge in this embodiment, and elapsed time. The flowchart which shows the method of diagnosing the deterioration of the battery in this embodiment. The flowchart which shows the 1st discharge process which the data processor in this embodiment performs. The flowchart which shows the 1st charge process which the data processor in this embodiment performs. The flowchart which shows the 2nd discharge process which the data processor in this embodiment performs. The flowchart which shows the 2nd charge process which the data processor in this embodiment performs. 6 is a flowchart showing a procedure for comprehensively diagnosing battery deterioration from the result of refresh processing in the present embodiment.

Explanation of symbols

Ib ... current, P0 to P10 ... 0th to 10th probes, V1 to V10 ... cell voltage, Vt1
~ Vt10 ... voltage, SL1 to SL10 ... first to tenth cells, T0 ... minus terminal, T10
... plus terminals, T1 to T9 ... first to ninth terminals, tc0 to tc5, td0 to td5 ... time,
Vbat ... battery voltage, 1 ... automatic conveyance vehicle, 2 ... wheel, 3 ... conveying platform, 5 ... battery, 6 ...
Case, 11, 13 ... wiring, 20 ... refresh device, 21 ... control unit, 22 ... charging circuit,
DESCRIPTION OF SYMBOLS 23 ... Discharge circuit, 25 ... Measuring device, 26 ... Ammeter, 28 ... Data processing apparatus, 29 ... Data storage part, 30 ... Input-output device, 31 ... Display part.

Claims (7)

A battery of a transport vehicle that measures each cell voltage of a plurality of cells connected in series constituting a battery mounted on the transport vehicle, and performs a deterioration diagnosis process on each of the plurality of cells based on each cell voltage. A deterioration diagnosis method,
When the deterioration diagnosis process determines that the cell voltage of the cell measured during discharging or charging performed on the battery during the refresh process is defective by comparison with a predetermined reference voltage, A method for diagnosing battery deterioration in a transport vehicle, wherein the measured cell is determined to be defective. The battery deterioration diagnosis method for a transport vehicle according to claim 1,
During the refresh process, the battery is discharged and charged for the first time and discharged and charged for the second time.
The method for diagnosing battery deterioration of a transport vehicle, wherein the deterioration diagnosis process is performed based on the cell voltage of the cell measured at the time of the second charge and discharge. In the method for diagnosing battery deterioration of a transport vehicle according to claim 1 or 2,
The method for diagnosing battery deterioration in a transport vehicle, wherein the deterioration diagnosis process is repeatedly performed at a predetermined cycle during discharge or charge performed on the battery during a refresh process. In the method for diagnosing battery deterioration of a transport vehicle according to claim 1,
The refresh process is performed in the deterioration diagnosis process for each of the plurality of cells.
A method for diagnosing battery deterioration in a transport vehicle, wherein the method is stopped when it is determined that at least one cell is defective. In the battery deterioration diagnosis method for a transport vehicle according to claim 1,
The deterioration diagnosis process is performed when the battery is discharged in a refresh process.
When the cell voltage of the cell at the elapsed time from the start of discharge is lower than a predetermined reference voltage determined corresponding to the elapsed time, it is determined that the cell voltage is defective and the cell voltage is A method for diagnosing battery deterioration in a transport vehicle, wherein the measured cell is determined to be defective. A battery mounted as a power source in the transport vehicle;
A refresh device connected to the battery and performing a refresh process on the battery;
A plurality of cells connected in series constituting the battery;
A measuring instrument for measuring each cell voltage of the plurality of cells;
Deterioration diagnosis means for performing deterioration diagnosis on each of the cell voltages of the plurality of cells measured by the measuring device,
When the deterioration diagnosis unit determines that the cell voltage of the cell is defective based on a comparison with a predetermined reference voltage, the deterioration diagnosis unit determines that the cell having the measured cell voltage is defective. Battery deterioration diagnosis system. The battery deterioration diagnosis system for a transport vehicle according to claim 6,
The battery deterioration diagnosis system includes a display device that displays defective cells,
The deterioration diagnostic means transmits display information for displaying a cell determined to be defective to the display device, and causes the display device to display a cell determined to be defective based on the display information. Battery deterioration diagnosis system.

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