JP2010088215A - Automatic charging device of unmanned vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic charging device of unmanned vehicle which can check the connection state of the positive and negative charging terminals on the ground side and the unmanned vehicle side simply and certainly. <P>SOLUTION: A voltage detector S of a charging controller 60 measures the voltage between the positive and negative charging terminals 31 and 32 on the ground side in a state where there is no output from a charger 50 before charging after the charger 50 is connected to a battery 2 through the positive and negative charging terminals 31 and 32 on the ground side and the positive and negative charging terminals 4 and 5 on the unmanned vehicle side. The charging controller 60 decides whether the connection state of the positive and negative charging terminals 31 and 32 on the ground side and the positive and negative charging terminals 4 and 5 on the unmanned vehicle side is normal or not based on the voltage measured between the positive and negative charging terminals 31 and 32 on the ground side. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic charging device for unmanned vehicles.

An automatic charging device for an unmanned vehicle is disclosed in Patent Document 1. In this device, the power receiving coupler is provided with a dog and the power feeding coupler is provided with a limit switch. After the power feeding terminal of the power feeding coupler contacts the charging terminal of the power receiving coupler, the coupling confirmation means including the dog and the limit switch is activated. Check the binding. When the operation of the coupling confirmation means is not confirmed, no charging current is passed between the charging terminals.
Japanese Patent Laid-Open No. 5-15073

  However, in the connection confirmation means of the automatic charging device using only a contact type sensor such as a limit switch, the connection is made by operating the limit switch even though the terminal electrodes on the power receiving side and the power feeding side are not reliably in contact with each other. It may be confirmed as completed.

Moreover, when installing a dog | hook in order to perform the coupling | bonding of the terminal electrodes of a receiving side and electric power feeding side reliably, it is requested | required that the positioning accuracy of an unmanned vehicle and a charger should be made high.
The present invention has been made under such a background, and an object of the present invention is to provide an unmanned vehicle that can easily and reliably check a connection state between a ground-side positive / negative charging terminal and an unmanned vehicle-side positive / negative charging terminal. It is to provide an automatic charging device.

  In the invention according to claim 1, the unmanned vehicle is provided with an unmanned vehicle side positive / negative charging terminal for charging a battery mounted on the unmanned vehicle, and the ground side charger is provided with a ground side positive / negative charging terminal. An automatic charging device for an unmanned vehicle that automatically charges the battery with the charger in a state where the ground side positive / negative charging terminal is connected to the unmanned vehicle side positive / negative charging terminal, wherein the ground side positive / negative charging terminal and the ground side positive / negative charging terminal Charging for measuring the voltage between the ground-side positive and negative charging terminals in the absence of output from the charger before charging after performing the connecting operation of the charger to the battery via the unmanned vehicle side positive and negative charging terminals The ground side positive / negative charging terminal and the unmanned vehicle based on the voltage between the ground side positive / negative charging terminal measured by the ground side positive / negative charging terminal voltage measuring unit and the ground side positive / negative charging terminal voltage measuring unit before charging. And whether the connection status is normal whether judges precharge terminal connection status checking means and the positive and negative charging terminals, and summarized in that with a.

  According to the first aspect of the present invention, the charger is connected to the battery via the ground-side positive / negative charging terminal and the unmanned vehicle-side positive / negative charging terminal by the voltage measuring means between the ground-side positive / negative charging terminals before charging. The voltage between the ground-side positive and negative charging terminals, that is, the voltage of the battery mounted on the unmanned vehicle is measured in a state where there is no output from the charger before the subsequent charging. And by the pre-charging terminal connection state checking means, based on the voltage between the ground-side positive and negative charging terminals measured by the voltage measuring means between the ground-side positive and negative charging terminals before charging, the ground-side positive and negative charging terminals and the unmanned vehicle side positive-negative charging terminals It is determined whether or not the connection state is normal. Therefore, it is possible to check the connection state between the ground-side positive / negative charging terminal and the unmanned vehicle-side positive / negative charging terminal without installing a dog for confirming coupling to the unmanned vehicle.

  According to a second aspect of the present invention, there is provided an automatic charging device for an unmanned vehicle according to the first aspect, wherein the charger is connected to the battery via the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal. The charger output voltage measuring means for measuring the output voltage of the charger before performing the charging, and the charger can be charged based on the output voltage of the charger measured by the charger output voltage measuring means. And a charger check means for judging whether or not.

  According to the second aspect of the present invention, the charger output voltage measuring means outputs the output of the charger before performing the connecting operation of the charger to the battery via the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal. The voltage is measured. Then, it is determined by the charger check means whether or not the charger can be charged based on the output voltage of the charger measured by the charger output voltage measuring means. Thus, the charger can be checked.

  According to a third aspect of the present invention, in the automatic charging device for an unmanned vehicle according to the first or second aspect, the voltage between the ground side positive and negative charging terminals is measured during the charging period. And the connection state between the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal is normal based on the voltage between the ground side positive / negative charging terminal measured by the voltage measuring means between the ground side positive / negative charging terminal And a charging period terminal connection state check means for determining whether or not the charging period is determined.

  According to the third aspect of the present invention, the voltage between the ground-side positive and negative charging terminals is measured during the charging period by the voltage measuring means between the ground-side positive and negative charging terminals during the charging period. And by the charging period terminal connection state check means, the ground period positive and negative charging terminals and the unmanned vehicle side positive and negative charging terminals based on the voltage between the ground side positive and negative charging terminals measured by the charging period ground side positive and negative charging terminal voltage measuring means. It is determined whether or not the connection state is normal. Therefore, it is possible to check the connection state between the ground positive / negative charging terminal and the unmanned vehicle positive / negative charging terminal during the charging period.

  ADVANTAGE OF THE INVENTION According to this invention, the connection state of a ground side positive / negative charging terminal and an unmanned vehicle side positive / negative charging terminal can be checked easily and reliably.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.
As shown in FIG. 1, a 24 volt specification battery 2 is mounted on the unmanned vehicle as the unmanned vehicle side device 1, and a driving motor is driven by the battery 2. The driving motor drives the unmanned vehicle so that it can perform a desired operation such as transporting luggage along a desired route. For example, a series of operations of loading a load at a first station, transporting the load along a desired route, and unloading the load at a second station is performed.

  Furthermore, in the unmanned vehicle side device 1, a charging terminal unit 3 is connected to the battery 2. The charging terminal unit 3 includes positive and negative charging terminals 4 and 5, a fuse 6, a backflow prevention diode 7, and a resistor 8. Unmanned vehicle side positive / negative charging terminals 4 and 5 provided in the unmanned vehicle are terminals for charging the battery 2 from the ground side. A positive charging terminal 4 is connected to the positive terminal of the battery 2 through a series circuit of a diode 7 and a fuse 6. The diode 7 has a cathode on the battery 2 side and an anode on the fuse 6 (positive charging terminal 4) side. A resistor 8 is connected to the diode 7 in parallel. Further, a negative charging terminal 5 is connected to the negative terminal of the battery 2. The positive and negative charging terminals 4 and 5 are arranged side by side so as to be exposed from the vehicle body.

  A controller 9, which is an unmanned vehicle side device 1, is connected to the positive terminal and the negative terminal of the battery 2. The controller 9 is connected to an optical communication unit 10 that is an unmanned vehicle-side device 1. The controller 9 sends an arrival signal from the optical communication unit 10 when the unmanned vehicle arrives in front of the ground side equipment 20 for charging.

  The ground-side equipment 20 for charging includes a standard charger 50 and a charge controller 60, and the ground-side charger 50 is provided with ground-side positive and negative charging terminals 31 and 32. Specifically, the charger 50 is provided with positive and negative charging terminals 31 and 32 via the unit main body 40. The electrode unit 30 is constituted by the positive and negative charging terminals 31 and 32, the unit main body 40, and the like. A charging controller 60 is connected to the charger 50.

  FIG. 2A is a schematic longitudinal sectional view of an installation portion of the positive and negative charging terminals 31 and 32. 2A, positive and negative charging terminals (electrodes) 31 and 32 are supported on the housing 33 so as to be slidable in the right and left directions. In addition, the ends of the two cables 34 and 35 are embedded in the housing 33. The positive charging terminal 31 and the cable 34 are electrically connected, and the negative charging terminal 32 and the cable 35 are electrically connected. The positive and negative charging terminals 31 and 32 are urged to the left in the figure by the compression coil springs 36 and 37 from the housing 33. The left end portions of the positive and negative charging terminals 31 and 32 protrude from the housing 33.

  A limit switch (micro switch) 38 is fixed to the housing 33. When the positive and negative charging terminals 31 and 32 move a predetermined amount to the right in the figure against the urging force F of the compression coil springs 36 and 37 (see FIG. 2B), the limit switch 38 is turned on. ing.

  In FIG. 1, the other ends of the cables 34 and 35 are connected to the unit main body 40. A standard charger 50 is connected to the unit body 40. The standard charger 50 is a commercially available charger. By using a commercially available charger (constant voltage constant current charger) 50, a dedicated automatic charging power supply device is not required. The charger 50 is connected to a commercial power supply via a charge controller 60. The charge controller 60 is provided with a power switch. When the power switch is turned on, an AC voltage is supplied from the commercial power source to the charger 50. The charger 50 inputs an AC voltage (primary voltage) of 200 volts and outputs a DC voltage (secondary voltage). The output voltage of the charger 50 is about 30 volts when opened before charging, and about 25 volts when charging.

  The unit main body 40 is provided with a slide mechanism for bringing the positive and negative charging terminals 31 and 32 into contact with the positive and negative charging terminals 4 and 5 of the unmanned vehicle. This slide mechanism includes a guide rail and an actuator, and can move the positive and negative charging terminals 31 and 32 in the horizontal direction. That is, when there is no unmanned vehicle, the positive and negative charging terminals 31 and 32 are positioned on the right side (shrinked), and if the unmanned vehicle stops in front of the ground facility 20 for charging, the positive and negative charging terminals 31 , 32 can be moved in the horizontal direction so that the positive and negative charging terminals 4, 5 of the unmanned vehicle come into contact with each other. The battery 2 can be automatically charged by the ground-side charger 50 in a state where the ground-side positive / negative charging terminals 31, 32 are connected to the unmanned vehicle-side positive / negative charging terminals 4, 5 of the unmanned vehicle (see FIG. 3). It is like that.

  The charge controller 60 is provided with a voltage detector S. The charge controller 60 uses the voltage detector S to perform the function of measuring the output voltage of the charger 50 before connecting the charger 50 to the battery 2 and the connecting operation of the charger 50 to the battery 2. The function of measuring the voltage between the ground-side positive and negative charging terminals 31 and 32 in a state where there is no output from the charger 50 before charging after being performed, and the voltage between the ground-side positive and negative charging terminals 31 and 32 during the charging period It has a function to do. A voltage is applied from the battery 2 to the ground side positive and negative charging terminals 31 and 32 using the resistor 8 connected in parallel to the diode 7 as the unmanned vehicle side device.

  The charge controller 60 is connected to an optical communication unit 61 that is the ground side equipment 20. An unmanned vehicle arrival signal is input from the optical communication unit 61 to the charge controller 60.

Next, the operation of the automatic charging device for unmanned vehicles will be described.
In each predetermined period (for example, before the start of work every morning in the factory), as shown in FIG. 1, the unmanned vehicle is transported to the ground-side facility 20 in order to charge the battery 2 of the unmanned vehicle. In addition, since it cannot drive | work when a battery voltage is less than 21 volts, it is necessary to convey an unmanned vehicle to the ground side equipment 20 in order to charge before it becomes less than 21 volts. When the unmanned vehicle arrives at the ground-side equipment 20 for charging, an arrival signal is output from the optical communication unit 10 of the unmanned vehicle, and the charge controller 60 receives the arrival signal via the optical communication unit 61 on the ground side.

  The charge controller 60 takes in the measurement result of the output voltage (secondary voltage: DC voltage) of the charger 50 before the connection operation of the charger 50 to the battery 2 is performed by the voltage detector S. The charge controller 60 determines whether or not the charger 50 can be charged based on the measured output voltage of the charger 50. Specifically, the charge controller 60 determines that the output voltage of the charger 50 is normal if the output voltage of the charger 50 is equal to or higher than a specified value of 16 volts. On the other hand, if the output voltage of the charger 50 is less than the specified value of 16 volts, the charge controller 60 determines that the charger 50 is not operating normally due to forgetting to turn on the power switch or the fuse of the charger 50 being blown. For example, forgetting to turn on the power switch occurs when the power switch is left off during maintenance. If the output voltage of the charger 50 is less than 16 volts, the charge controller 60 gives an alarm by lighting the lamp or the like and stops processing for subsequent charging.

  If the output voltage of the charger 50 is 16 volts or more (if normal), the charge controller 60 drives the slide mechanism of the unit body 40 to move the positive and negative charge terminals 31 and 32 in the horizontal direction as shown in FIG. Move toward the unmanned vehicle (stretch). As a result, as shown in FIG. 2 (b), the positive and negative charging terminals 31 and 32 come into contact with the positive and negative charging terminals 4 and 5 of the unmanned vehicle, and are further moved leftward in the figure, thereby positive and negative in the housing 33. The charging terminals 31 and 32 move relatively to the right side, and the limit switch 38 is turned on. This signal is sent to the charge controller 60 of FIG.

  After the limit switch 38 is turned on, the charge controller 60 uses the voltage detector S to measure the voltage between the ground-side positive and negative charge terminals 31 and 32 in a state where there is no output from the charger 50 before charging, that is, The measurement result of the voltage of the battery 2 mounted on the unmanned vehicle is captured. Then, the charge controller 60 determines whether or not the connection state between the ground side positive / negative charging terminals 31 and 32 and the unmanned vehicle side positive and negative charging terminals 4 and 5 is normal based on the measured voltage between the ground side positive and negative charging terminals 31 and 32. judge. Specifically, if the measured voltage between the ground-side positive and negative charging terminals 31 and 32 is equal to or higher than the specified value of 16 volts, the charging controller 60 is correctly in contact with the positive and negative charging terminals 31 and 32. Judge as normal. On the other hand, if the measured voltage between the ground-side positive and negative charging terminals 31 and 32 is less than the specified value of 16 volts, the charge controller 60 detects that the power-supply side terminals 31 and 32 and the power-receiving side terminals 4 and 5 are abnormally connected. Defective) or blown out of fuse.

  When the measured voltage between the positive and negative charging terminals 31 and 32 on the ground side is less than 16 volts (when the connection between the power supply side terminal and the power reception side terminal is abnormal or the fuse is blown), the charge controller 60 The charging of the battery 2 is prohibited (the charging current is not passed). At the same time, the charge controller 60 warns by lighting the lamp.

  Thus, since the connection state of the positive / negative charge terminals 31, 32, 4, and 5 is determined based on the measured voltage between the ground side positive / negative charge terminals 31, 32, the connection state of the terminals is not normal. In this case, it is possible to prevent the charging current accompanying the start of charging from flowing to other than the battery terminal.

  Here, in the case of using the coupling confirmation means in which only the contact-type sensor is provided on the ground side (power supply side), the contact-type sensor contacts the unmanned vehicle side even though the terminal electrodes are not correctly connected to each other. In this case, there is a case where the connection is confirmed. In this case, when charging is started, there is a possibility that a charging current flows in addition to the battery terminal. In order to solve this problem, it is common to install a dog for confirming the coupling in the unmanned vehicle body and position the terminal electrodes, but for this purpose, the unmanned vehicle and the ground side charger are used. The positioning accuracy is required to be high. On the other hand, in this embodiment, the ground-side positive / negative charging terminals 31, 32 and the unmanned vehicle-side positive / negative charging terminals 4, 5 are simply and reliably connected without installing a dog for coupling confirmation in the unmanned vehicle. Can be checked.

  On the other hand, a limit switch 38 which is a contact type sensor is provided on the ground side (power feeding side), and the movement of the positive and negative charging terminals 31 and 32 on the ground side by the sliding mechanism is stopped by confirming contact with the limit switch 38, so Charging is possible even if the position of the unmanned vehicle is different within the stroke.

  The charge controller 60 determines that the voltage between the ground side positive and negative charge terminals 31 and 32 measured after the limit switch 38 is turned on is 16 volts or more (the positive and negative charge terminals 31 and 32 and the positive and negative charge terminals 4 and 5 are correctly in contact with each other). If it is determined that the battery 2 is charged, charging of the battery 2 by the charger 50 is started. That is, the battery 2 of the unmanned vehicle is charged by flowing a charging current from the ground-side positive / negative charging terminals 31 and 32 as the power feeding electrodes to the unmanned vehicle positive / negative charging terminals 4 and 5 as the power receiving electrodes.

  And the charge controller 60 takes in the measurement result of the voltage between the ground side positive / negative charge terminals 31 and 32 in a charge period with the voltage detector S. FIG. The charge controller 60 determines whether or not the connection state between the ground side positive / negative charging terminals 31 and 32 and the unmanned vehicle side positive and negative charging terminals 4 and 5 is normal based on the measured voltage between the ground side positive and negative charging terminals 31 and 32. . Specifically, the charge controller 60 determines that the connection state of the positive and negative charge terminals 31, 32, 4, and 5 is normal if the measured voltage between the ground positive and negative charge terminals 31 and 32 is equal to or higher than the specified value of 16 volts. . On the other hand, if the measured voltage between the ground side positive and negative charging terminals 31 and 32 is less than the specified value of 16 volts, the charge controller 60 determines that there is a short circuit abnormality such as the positive and negative charging terminals 31, 32, 4 and 5 being disconnected. Then, the charging is stopped, the slide mechanism of the unit body 40 is driven to retract the ground side positive and negative charging terminals 31 and 32, and an alarm is given by lighting the lamp.

  In addition, the charge controller 60 determines the completion of charging from the voltage between the ground side positive and negative charging terminals 31 and 32 during the charging period. That is, in the charging controller 60, the voltage between the ground-side positive and negative charging terminals 31 and 32 during charging is 16 to 29.5 volts during charging, and the voltage between the ground-side positive and negative charging terminals 31 and 32 is 29.5. Charging is completed when the voltage exceeds volt.

When charging is completed, the charge controller 60 drives the slide mechanism of the unit main body 40 to retract the ground side positive and negative charge terminals 31 and 32 (returns from the state of FIG. 3 to the state of FIG. 1).
As described above, according to the present embodiment, the following effects can be obtained.

  (1) A charger before charging after the voltage detector S is connected to the battery 2 via the ground side positive / negative charging terminals 31 and 32 and the unmanned vehicle side positive / negative charging terminals 4 and 5. 50 is provided as a voltage measuring means between the ground-side positive and negative charging terminals before charging to measure the voltage between the ground-side positive and negative charging terminals 31 and 32 in the absence of an output from 50, and the charge controller 60 is connected between the ground-side positive and negative charging terminals before charging. Charging for determining whether or not the connection state between the ground side positive / negative charging terminals 31, 32 and the unmanned vehicle side positive / negative charging terminals 4, 5 is normal based on the voltage between the ground side positive / negative charging terminals 31, 32 measured by the voltage measuring means. Provided as means for checking the front terminal connection state. Therefore, the connection state between the ground side positive / negative charging terminals 31 and 32 and the unmanned vehicle side positive and negative charging terminals 4 and 5 can be easily and reliably checked.

  (2) The output voltage of the charger 50 before the voltage detector S is connected to the battery 2 via the ground positive / negative charging terminals 31 and 32 and the unmanned vehicle positive / negative charging terminals 4 and 5. The charger controller 60 determines whether the charger 50 is in a state where it can be charged based on the output voltage of the charger 50 measured by the charger output voltage measuring means. Provided as a charger check means. Therefore, the charger 50 can be checked.

  (3) The voltage detector S is provided as a voltage measuring means between the ground side positive and negative charging terminals for measuring the voltage between the ground side positive and negative charging terminals 31 and 32 during the charging period, and the charge controller 60 is connected to the ground side positive and negative during the charging period. Whether the connection state between the ground-side positive / negative charging terminals 31, 32 and the unmanned vehicle-side positive / negative charging terminals 4, 5 is normal based on the voltage between the ground-side positive / negative charging terminals 31, 32 measured by the voltage measuring means between the charging terminals It is provided as a charging period terminal connection state check means for determining. Therefore, it is possible to check the connection state between the ground side positive and negative charging terminals 31 and 32 and the unmanned vehicle side positive and negative charging terminals 4 and 5 during the charging period.

The schematic block diagram of the automatic charging device of the unmanned vehicle in this embodiment. (A), (b) is a schematic longitudinal cross-sectional view of the installation part of a ground side positive / negative charging terminal. The schematic block diagram of the automatic charging device of the unmanned vehicle for demonstrating an effect | action.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 2 ... Battery, 4, 5 ... Unmanned vehicle side positive / negative charge terminal, 31, 32 ... Ground side positive / negative charge terminal, 40 ... Unit main body, 50 ... Charger, 60 ... Charge controller, S ... Voltage detector.

Claims (3)

The unmanned vehicle is provided with an unmanned vehicle side positive / negative charging terminal for charging a battery mounted on the unmanned vehicle, the ground side charger is provided with a ground side positive / negative charging terminal, and the unmanned vehicle side positive / negative charging terminal An automatic charging device for an unmanned vehicle that automatically charges the battery with the charger in a state where the ground side positive / negative charging terminal is connected to the vehicle,
The ground-side positive / negative charge in a state where there is no output from the charger before charging after performing the connecting operation of the charger to the battery via the ground-side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal. Voltage measuring means between the positive and negative charge terminals before charging to measure the voltage between the terminals,
Whether or not the connection state between the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal is normal based on the voltage between the ground side positive / negative charging terminals measured by the voltage measuring means between the ground side positive / negative charging terminals before charging. A pre-charge terminal connection state check means for determining;
An automatic charging device for unmanned vehicles. Charger output voltage measuring means for measuring the output voltage of the charger before performing connection operation of the charger to the battery via the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal;
Charger check means for determining whether or not the charger is in a state where charging can be performed based on the output voltage of the charger measured by the charger output voltage measurement means;
The automatic charging device for an unmanned vehicle according to claim 1, further comprising: Charging period for measuring the voltage between the ground side positive and negative charging terminals in the charging period, voltage measuring means between the ground side positive and negative charging terminals, and
Whether or not the connection state between the ground side positive / negative charging terminal and the unmanned vehicle side positive / negative charging terminal is normal based on the voltage between the ground side positive / negative charging terminals measured by the voltage measuring means between the ground side positive / negative charging terminals A charging period terminal connection state check means for determining;
The automatic charging device for an unmanned vehicle according to claim 1, further comprising:

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