JP2014133431A - Drive system for unmanned carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive system for an unmanned carrier, which can suitably perform SOC control of a power storage device.SOLUTION: An on-vehicle computer 21 of an unmanned carrier 11 estimates an SOC variation of a power storage device 34 in a specific section on the basis of loading weight and a travel pattern, and performs the charge and discharge of the power storage device 34 so that SOC of the power storage device 34 can get close to a target value before the unmanned carrier 11 reaches the specific section, in such a manner that a value deviating by half of the estimated variation from a reference value is set as the target value.

Description

  The present invention relates to a drive system for an automated guided vehicle.

  Conventionally, in a manned hybrid vehicle, the SOC of a power storage device mounted on the hybrid vehicle has been controlled. For example, Patent Document 1 describes that the SOC is calculated based on the vehicle weight.

JP 2003-111209 A

  Here, the present inventors generate power with an engine and a driving force of the engine from an excellent environment and economy in an automated guided vehicle (AGV) that travels on a predetermined travel route without an operator driving. Attention was focused on a hybrid that has a power storage device that can supply power to the generator motor and the generator motor and that can be charged by regenerative power generated by the generator motor. In this case, unlike the manned hybrid vehicle, the automatic guided vehicle has a characteristic that a traveling pattern is predetermined and the fluctuation range of the loaded weight is wide. Such characteristics affect the control of the SOC of the power storage device.

  For example, in a large automatic guided vehicle, the vehicle weight may differ by about 3 to 4 times between loading and non-loading. Then, the fluctuation range of the regenerative power amount and the like is widened, and as a result, the fluctuation range of the SOC of the power storage device is likely to be widened. For this reason, inconveniences such as a shortened life may occur. However, mounting a power storage device with a large battery capacity corresponding to a wide fluctuation range is not preferable from the viewpoints of upsizing and cost. In addition, in a configuration in which charging / discharging of the power storage device is forcibly interrupted in order to narrow the fluctuation range, the load on the engine mounted on the automatic guided vehicle becomes large, or the power that can be acquired cannot be acquired. Inconvenience such as may occur.

  As described above, in spite of the fact that the above-mentioned characteristics peculiar to the automatic guided vehicle affect the control of the SOC of the power storage device, no actual attention is paid to the SOC control of the power storage device in the automatic guided vehicle. is there.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a drive system for an automatic guided vehicle capable of suitably controlling the SOC of a power storage device.

  A drive system for an automatic guided vehicle that achieves the above object is capable of generating electric power by using an engine, a driving force of the engine and used for traveling, and is capable of supplying electric power to the generator / motor unit. A power storage device that can be charged by regenerative power that can be generated by the generator motor unit; a SOC control unit that determines a SOC of the power storage device; and a weight control unit that determines a load weight of the automatic guided vehicle; A traveling pattern grasping unit that grasps a traveling pattern of the automatic guided vehicle; an estimation unit that estimates a variation amount of the SOC of the power storage device in a predetermined specific section based on the loaded weight and the traveling pattern; A calculation unit that calculates a deviation amount from a predetermined reference value in the SOC of the power storage device based on the variation amount estimated by the estimation unit; Before the transport vehicle reaches the specific section, the SOC of the power storage device is determined based on the grasp result of the SOC grasping unit so that the SOC of the power storage device approaches the target value shifted by the shift amount from the reference value. And an SOC adjusting unit to be adjusted.

  According to this configuration, the SOC fluctuation amount is estimated in advance based on the loaded weight and the running pattern, and the deviation amount from the reference value is calculated based on the estimated fluctuation amount. Then, by adjusting the SOC of the power storage device in advance so as to approach the target value shifted by the shift amount from the reference value, the fluctuation range from the reference value is narrowed even when the SOC fluctuates in a specific section. can do. Thereby, the SOC of the power storage device can be suitably controlled.

  In particular, as the parameter for estimating the amount of fluctuation of the SOC, the loading weight that tends to widen the fluctuation range in the automatic guided vehicle is included, so that the estimation accuracy by the estimation unit can be improved.

  In the drive system for the automatic guided vehicle, the calculation unit preferably calculates ½ of the fluctuation amount as the deviation amount. According to this configuration, the SOC variation in the specific section is symmetric with respect to the reference value. Thereby, the fluctuation range of SOC from a reference value can be made narrower.

  The driving system for the automatic guided vehicle includes an inclination grasping unit that grasps an inclination of a traveling route of the automatic guided vehicle, and the estimation unit is configured to determine whether the specific section is based on the loaded weight, the traveling pattern, and the inclination. It is preferable to estimate the variation amount of the SOC of the power storage device. According to such a configuration, it is possible to improve the estimation accuracy by the estimation unit more suitably by including the slope in the parameter for estimating the SOC fluctuation amount.

  The drive system for the automatic guided vehicle preferably includes a comparison unit that compares an estimation result by the estimation unit and a variation amount of the SOC of the power storage device in the specific section grasped by the SOC grasping unit. According to such a configuration, it is possible to determine whether or not the estimation result by the estimation unit is correct by comparing the estimation result by the estimation unit and the actually recognized variation amount of the SOC. Further, when the two are different, the estimation accuracy by the estimation unit can be further improved by correcting the estimation by the estimation unit based on the comparison result between the two.

  According to the present invention, the SOC of the power storage device can be suitably controlled.

The schematic diagram of the container terminal to which the drive system of an automatic guided vehicle is applied. The conceptual diagram which shows the drive system of an automatic guided vehicle. The block diagram which shows the structure of an automatic guided vehicle. The flowchart which shows the pre-deceleration process performed with a vehicle-mounted computer. The flowchart which shows the pre-acceleration process performed with a vehicle-mounted computer. (A) is a graph which shows the speed fluctuation | variation of an automatic guided vehicle, (b) is a graph which shows the fluctuation | variation of SOC when not charging / discharging in advance, (c) is a case where charging / discharging is performed in advance. The graph which shows the fluctuation | variation of SOC. The flowchart which shows the modification of the process before deceleration. The flowchart which shows the post-acceleration / deceleration processing.

Hereinafter, an embodiment in which a driving system for an automatic guided vehicle is applied to a container terminal in a harbor will be described.
First, an overview of the container terminal will be described. As shown in FIG. 1, the container terminal includes a gantry crane C1 disposed near the container ship S and loading / unloading containers, and a rubber tire crane C2 disposed at the container installation site and loading / unloading containers. Is provided.

  In the container terminal, the automatic guided vehicle (AGV) 11 circulates in a predetermined direction (for example, counterclockwise) on a travel route R defined by a guide portion such as a guide line. The automatic guided vehicle 11 is configured to be able to load containers, and carries containers near the container ship S and between container installation sites. For example, when a container is loaded on the automatic guided vehicle 11 by the gantry crane C1, the automatic guided vehicle 11 transports the container to the container installation site. When the automatic guided vehicle 11 arrives at the container installation site, the container is lowered by the rubber tire crane C2. After the container is lowered, the automatic guided vehicle 11 travels again toward the gantry crane C1. In the present embodiment, it is assumed that the travel route R is flat without an inclination.

  Next, the drive system 10 of the automatic guided vehicle 11 that goes around as described above will be described. As shown in FIG. 2, the drive system 10 of the automatic guided vehicle 11 includes an in-vehicle computer 21 mounted on the automatic guided vehicle 11 and an operation management computer 22 capable of wireless communication with the in-vehicle computer 21. The operation management computer 22 controls the traveling of the automatic guided vehicle 11 by transmitting various commands to the in-vehicle computer 21. Moreover, the operation management computer 22 performs drive control of the gantry crane C1 and the rubber tire crane C2.

  Next, a specific configuration of the automatic guided vehicle 11 will be described. The automatic guided vehicle 11 of this embodiment is a so-called series type hybrid vehicle. Specifically, as shown in FIG. 3, the automatic guided vehicle 11 includes an engine 31, a first generator motor (first motor generator) 32 that can generate power by the driving force of the engine 31, and the first generator motor 32. And a power generation inverter 33 connected thereto. Furthermore, the automatic guided vehicle 11 includes a power storage device 34 connected to the power generation inverter 33, a travel inverter 35 connected to the power storage device 34 and the power generation inverter 33, and a second generator motor (second motor) connected to the travel inverter 35. Motor generator) 36. In FIG. 3, only one traveling inverter 35 and two second generator motors 36 are illustrated, but actually, a plurality of them are provided according to the number of axles of the automatic guided vehicle 11. Each of the inverters 33 and 35 converts to DC power when DC power is input and outputs the AC power, and converts and outputs DC power when AC power is input.

  The first generator motor 32 has a rotor connected to the drive shaft of the engine 31, and generates AC power when the rotor rotates as the drive shaft of the engine 31 rotates. On the other hand, the first generator motor 32 can also operate as a load by rotating the engine 31 when AC power is input.

  The second generator motor 36 is used for traveling. Specifically, the rotor of the second generator motor 36 is coupled to the axle, and electric power is input from at least one of the generator inverter 33 (first generator motor 32) and the power storage device 34 via the travel inverter 35. If this happens, rotate the axle. On the other hand, the second generator motor 36 has a regenerative function for converting kinetic energy into electric energy, and generates power by performing regenerative braking when the automatic guided vehicle 11 is decelerated. The first generator motor 32 and the second generator motor 36 correspond to the generator motor unit.

  The power storage device 34 is composed of, for example, a nickel metal hydride battery or a lithium ion battery, can supply power to the first generator motor 32 via the power generation inverter 33, and supplies power to the second generator motor 36 via the travel inverter 35. Can be supplied. The power storage device 34 is charged by the electric power generated by the generator motors 32 and 36 being input via the inverters 33 and 35.

  Incidentally, the SOC (charged state, charging rate) of the power storage device 34 is set to an allowable range that includes a predetermined reference value SOC0 and is unlikely to deteriorate. The reference value SOC0 is a value set in advance based on the specifications of the power storage device 34, and is set to 60%, for example. The upper limit value and the lower limit value of the allowable range are set symmetrically with respect to the reference value SOC0. Specifically, the difference between the upper limit value and the reference value SOC0 is set to be the same as the difference between the reference value SOC0 and the lower limit value. Yes. The upper limit value and the lower limit value are determined in advance according to the specifications of the power storage device 34.

  The in-vehicle computer 21 is configured to favorably accelerate / decelerate the automatic guided vehicle 11 by controlling charging / discharging of the power storage device 34. For example, at the time of acceleration, the in-vehicle computer 21 generates power by the first generator motor 32 by driving the engine 31, supplies the generated power to the second generator motor 36, and discharges the power storage device 34. Discharge power is supplied to the second generator motor 36. The discharge power of the power storage device 34 supplied to the second generator motor 36 is referred to as assist power.

On the other hand, at the time of deceleration, the in-vehicle computer 21 supplies the regenerative power generated by the second generator motor 36 to the power storage device 34 and charges the power storage device 34.
The automatic guided vehicle 11 includes an SOC sensor 37 as an SOC grasping unit that measures the SOC of the power storage device 34 and transmits the measurement result to the in-vehicle computer 21. Furthermore, the automatic guided vehicle 11 includes a load sensor 38 as a weight grasping unit that measures the loaded weight (load) of the automatic guided vehicle 11 and transmits the measurement result to the in-vehicle computer 21. Thereby, the in-vehicle computer 21 can grasp the SOC and the loaded weight of the power storage device 34.

  Here, when driving the automatic guided vehicle 11, the operation management computer 22 transmits a travel pattern in which the acceleration / deceleration pattern of the automatic guided vehicle 11 is set to the in-vehicle computer 21 together with the travel command. When the in-vehicle computer 21 receives the travel command and the travel pattern from the operation management computer 22, the in-vehicle computer 21 causes the automatic guided vehicle 11 to travel according to the received travel pattern.

  In the travel pattern, the travel distance, travel speed, acceleration, and the like of the automatic guided vehicle 11 traveling on the travel route R are set, and the automatic guided vehicle 11 is set to travel while repeating acceleration and deceleration. For example, in the traveling route R, the traveling speed of the corner portion is set lower than the traveling speed of the straight portion. That is, in the travel route R, an acceleration section and a deceleration section are set as specific sections. And the vehicle-mounted computer 21 can grasp | ascertain an acceleration area and a deceleration area before the automatic guided vehicle 11 arrives at an acceleration area and a deceleration area by grasping | ascertaining a driving pattern.

  In such a configuration, the in-vehicle computer 21 performs pre-deceleration processing or pre-acceleration processing for performing SOC control of the power storage device 34 before acceleration / deceleration is performed so that the fluctuation range of the SOC of the power storage device 34 from the reference value SOC0 is narrowed. Execute. It is assumed that the automatic guided vehicle 11 is running at a constant speed or stopped before acceleration / deceleration is performed. In the constant speed section where the automated guided vehicle 11 travels at a constant speed, regenerative power is not generated, and the assist power amount is “0” or less than that during acceleration.

The pre-deceleration process is a process that is started before the automatic guided vehicle 11 reaches the deceleration zone, for example, a predetermined time (for example, 10 seconds) before the timing at which the automatic guided vehicle 11 reaches the deceleration zone.
As shown in FIG. 4, in the pre-deceleration process, first, in step S <b> 101, the load weight of the automatic guided vehicle 11 is grasped by the load sensor 38. Thereafter, in step S102, the traveling pattern is grasped, and the distance (or deceleration time) of the deceleration section, acceleration, and the like are grasped. In the subsequent step S103, the amount of regenerative electric power obtained in the deceleration zone is estimated based on the loaded weight and travel pattern obtained in steps S101 and S102. Thereafter, the process proceeds to step S104, and the SOC increase amount δSOC in the deceleration zone is estimated. In step S105, SOC0−δSOC / 2 is set as a target value. Note that δSOC / 2 corresponds to the amount of deviation from the reference value SOC0.

  After execution of step S105, the process proceeds to step S106, and the SOC is adjusted so that the SOC becomes the target value by the arrival timing of the deceleration section of the automatic guided vehicle 11. Specifically, the current SOC is grasped based on the measurement result of the SOC sensor 37, and the difference from the target value is calculated. Then, the power storage device 34 is charged / discharged by the calculated amount. For example, when the current SOC is in the vicinity of the reference value SOC0, the power storage device 34 is discharged until the target value is reached. In this case, the automatic guided vehicle 11 is driven by the electric power of the power storage device 34, and the amount of power generated by the first generator motor 32 is reduced. In other words, the SOC adjustment in the pre-deceleration process (adjustment for decreasing the SOC from the current SOC toward the target value) drives the second generator motor 36 using the electric power of the power storage device 34 and travels the automatic guided vehicle 11. The power storage device 34 is discharged.

  Note that the process of step S102 corresponds to the travel pattern grasping unit, the processes of step S103 and step S104 correspond to the estimation unit, the process of step S105 corresponds to the calculation unit, and the process of step S106 corresponds to the SOC adjustment unit. To do.

  Next, pre-acceleration processing will be described. The pre-acceleration process is a process that is started before the automatic guided vehicle 11 reaches the acceleration section, for example, a predetermined time (for example, 10 seconds) before the timing of reaching the acceleration section.

  As shown in FIG. 5, in the pre-acceleration process, first, in step S <b> 201, the load weight of the automatic guided vehicle 11 is grasped by the load sensor 38. Thereafter, in step S202, the traveling pattern is grasped, and the distance (or acceleration time) of the acceleration section, the acceleration, and the like are grasped. In the subsequent step S203, the assist power amount required in the acceleration section is estimated based on the loaded weight and the travel pattern grasped in the steps S201 and S202. Thereafter, the process proceeds to step S204, and the SOC reduction amount δSOC in the acceleration section is estimated.

  Thereafter, in step S205, SOC0 + δSOC / 2 is set as a target value. Then, in step S206, the SOC is adjusted so that the SOC reaches the target value by the arrival timing of the automatic guided vehicle 11 in the acceleration section. Specifically, the current SOC is grasped based on the measurement result of the SOC sensor 37, and the difference from the target value is calculated. Then, the power storage device 34 is charged / discharged by the calculated amount. For example, when the current SOC is in the vicinity of the reference value SOC0, the power storage device 34 is charged until the target value is reached. Incidentally, the electric power generated by the first generator motor 32 is used for charging the power storage device 34. That is, the adjustment of the SOC in the pre-acceleration process (adjustment for increasing the SOC from the current SOC toward the target value) is performed by charging the power storage device 34 using the electric power generated by the first generator motor 32. .

  Note that the process of step S202 corresponds to the travel pattern grasping unit, the processes of step S203 and step S204 correspond to the estimation unit, the process of step S205 corresponds to the calculation unit, and the process of step S206 corresponds to the SOC adjustment unit. To do.

  Next, the effect | action of this embodiment is demonstrated using FIG. FIG. 6A is a graph showing the speed fluctuation (travel pattern) of the automatic guided vehicle 11 traveling from the gantry crane C1 to the rubber tire crane C2, and FIG. It is a graph which shows the fluctuation | variation of SOC when not discharging, and FIG.6 (c) is a graph which shows the fluctuation | variation of SOC when charging / discharging in advance.

  As shown in FIG. 6A, the traveling pattern of the automatic guided vehicle 11 is switched to acceleration, constant speed, or deceleration at timings t1 to t12. Corresponding to this, the SOC fluctuates as shown in FIGS. 6B and 6C. In this case, as indicated by the broken lines in FIGS. 6B and 6C, when the container is not loaded on the automatic guided vehicle 11, the SOC includes the reference value SOC0 and the upper limit value and the lower limit value. Is within the set tolerance. However, when a container is loaded on the automatic guided vehicle 11, the fluctuation range of the SOC in the acceleration zone Ta and the deceleration zone Td becomes wide. For this reason, as shown in FIG. 6B, the SOC may be outside the allowable range.

  On the other hand, as shown in FIG. 6C, when the precharge section Tpc for precharging the power storage device 34 is provided before the acceleration section Ta, the automatic guided vehicle 11 is in the acceleration section Ta. At the timing of reaching, the SOC of the power storage device 34 is higher than the reference value SOC0. For this reason, the SOC is within the allowable range without falling below the lower limit value in the acceleration section Ta.

  Further, when the pre-discharge section Tpd for performing the pre-discharge of the power storage device 34 is provided before the deceleration section Td, the SOC of the power storage apparatus 34 is the reference before the automatic guided vehicle 11 reaches the deceleration section Td. It is lower than the value SOC0. For this reason, the SOC is within the allowable range without exceeding the upper limit value in the deceleration zone Td. That is, as shown in FIG. 6B and FIG. 6C, by charging / discharging the power storage device 34 before the automatic guided vehicle 11 reaches the specific section, the SOC of the SOC centered on the reference value SOC0 is obtained. The fluctuation range is narrow.

According to the embodiment described in detail above, the following excellent effects are obtained.
(1) The fluctuation amount δSOC of the SOC of the power storage device 34 in the specific section is estimated based on the loaded weight and the running pattern, the deviation amount from the reference value SOC0 is calculated based on the fluctuation amount δSOC, and from the reference value SOC0 A target value shifted by the above-described shift amount was set. And it was set as the structure which adjusts SOC of the electrical storage apparatus 34 so that SOC may approach target value before the automatic guided vehicle 11 reaches | attains a specific area. Specifically, when the specific section is the acceleration section Ta, the SOC reduction amount δSOC in the acceleration section Ta is estimated based on the loaded weight and the traveling pattern, and SOC0 + δSOC / 2 is set as the target value. . On the other hand, when the specific section is the deceleration section Td, the SOC increase amount δSOC in the deceleration section Td is estimated based on the loaded weight and the traveling pattern, and SOC0−δSOC / 2 is set as the target value. Thereby, the fluctuation range of the SOC from the reference value SOC0 can be narrowed. Therefore, deterioration of the power storage device 34 can be suppressed. Further, through the use of the power storage device 34 having a small battery capacity corresponding to a narrow fluctuation range, the power storage device 34 can be reduced in size, cost, and environmental load. And regenerative electric power can be collect | recovered suitably and the improvement of a fuel consumption can be aimed at through it.

  (2) In particular, the automatic guided vehicle 11 has a wider fluctuation range of the loaded weight than a normal vehicle such as an automobile because of loading containers and the like. For this reason, the fluctuation range of the SOC of the power storage device 34 mounted on the automatic guided vehicle 11 tends to be widened. In addition, the automatic guided vehicle 11 is different from a normal vehicle in that a traveling pattern is determined in advance.

  In this regard, according to the present embodiment, focusing on the characteristic characteristics of the automatic guided vehicle 11 described above, a configuration in which the load weight and the traveling pattern are taken into account when estimating the SOC variation δSOC of the power storage device 34. By adopting, an accurate fluctuation amount δSOC can be estimated. Thereby, the SOC of power storage device 34 can be controlled more suitably.

  (3) When determining the target value, 1/2 of the fluctuation amount δSOC was set as the deviation amount from the reference value SOC0. Thereby, before and after automatic guided vehicle 11 passes a specific section (SOC changes), SOC changes so that it may become symmetrical centering on standard value SOC0. Therefore, the fluctuation range from the reference value SOC0 can be made narrower.

In addition, you may change the said embodiment as follows.
The operation management computer 22 may be configured to store inclination information related to the inclination of the travel route R in a predetermined storage area. And the operation management computer 22 is good also as a structure which transmits the inclination information of the driving | running route R to the vehicle-mounted computer 21 in addition to a driving | running pattern. In this case, as shown in FIG. 7, the in-vehicle computer 21 grasps the traveling pattern and the inclination in the deceleration zone Td in step S302 between step S101 and step S103. The in-vehicle computer 21 may be configured to estimate the SOC fluctuation amount δSOC based on the loaded weight, the running pattern, and the inclination in steps S103 and S104. As a result, it is possible to further improve the estimation accuracy of the fluctuation amount δSOC. The process in step S302 corresponds to the inclination grasping unit. In the pre-acceleration processing, the inclination may be grasped, and the fluctuation amount δSOC may be estimated based on the grasp result.

  In the embodiment, the acceleration section Ta and the deceleration section Td are set as specific sections. However, the present invention is not limited to this, and the section in which the power storage device 34 is charged and the section in which the power storage device 34 is discharged are set. It only has to be done. For example, a downward section that is inclined downward may be set as a section where the power storage device 34 is charged, or an upward section that is inclined upward may be set as a section where the power storage device 34 is discharged. Good.

  The in-vehicle computer 21 may be configured to execute post-acceleration / deceleration processing after the automated guided vehicle 11 passes a specific section. In this case, as shown in FIG. 8, in the post-acceleration / deceleration processing, first, in step S401, the SOC variation δSOC estimated before reaching the specific section is measured by the SOC sensor 37. Thus, a comparison process for comparing the actual fluctuation amount δSOC of the SOC of the power storage device 34 in the specific section is executed. In step S402, it is determined whether or not the two match. If they match, the post-acceleration / deceleration processing is terminated as it is. If they are different, in step S403, they are used for estimating the fluctuation amount δSOC based on the comparison result. Is set, and the post-acceleration / deceleration processing is terminated. Then, in steps S103 and S104 of the next pre-deceleration process or steps S203 and S204 of the pre-acceleration process, the fluctuation amount δSOC is estimated using the correction value.

  According to such processing, it is possible to determine whether or not the estimated fluctuation amount δSOC is correct. Further, when the two are different, by setting a correction value, the difference between the two can be reduced in the next estimation of the fluctuation amount δSOC, and the estimation accuracy can be further improved. The comparison process in step S401 executed by the in-vehicle computer 21 corresponds to the comparison unit.

In the above configuration, when the difference between the two is outside the allowable range, it may be determined that some abnormality has occurred in the automatic guided vehicle 11 or the like, and the abnormality notification may be performed.
In the embodiment, the difference between the upper limit value and the reference value SOC0 and the difference between the reference value SOC0 and the lower limit value are set to be the same. However, the present invention is not limited to this, and for example, both may be different.

  In the embodiment, 1/2 of the estimated fluctuation amount δSOC is adopted as the deviation amount, but is not limited thereto, and may be other than 1/2, for example. For example, in a situation where the difference between the reference value SOC0 and the lower limit value is smaller than the difference between the reference value SOC0 and the upper limit value, a value larger than ½ of the estimated variation δSOC is set in the pre-acceleration process. The amount of deviation may be calculated, or in the pre-deceleration process, a value smaller than ½ of the estimated fluctuation amount δSOC may be calculated as the amount of deviation. Similarly, in a situation where the difference between the reference value SOC0 and the lower limit value is larger than the difference between the reference value SOC0 and the upper limit value, a value smaller than ½ of the estimated fluctuation amount δSOC in the pre-acceleration process. May be calculated as the deviation amount, or a value larger than ½ of the estimated fluctuation amount δSOC may be calculated as the deviation amount in the pre-deceleration process.

  That is, when the difference between the reference value SOC0 and the lower limit value is different from the difference between the reference value SOC0 and the upper limit value, the fluctuation range of the SOC from the reference value SOC0 is larger than the smaller difference side. The target value of the prior SOC may be set so as to be wide at.

  ○ The time for pre-charging and the time for pre-discharging may be different. For example, the time for performing the precharge may be set longer than the time for performing the predischarge. In this case, since the amount of increase in SOC per unit time can be reduced, a reduction in fuel consumption can be suppressed.

  In the embodiment, the load sensor 38 is used to measure the load weight, but the structure for determining the load weight is arbitrary. For example, it is good also as a structure which estimates load weight from the electric energy required at the time of acceleration, good also as a structure acquired by radio | wireless communication from the operation management computer 22, and the measurement measured by the gantry crane C1 or the rubber tire crane C2. The structure which acquires a result may be sufficient.

In the embodiment, the power storage device 34 is a nickel metal hydride battery or a lithium ion secondary battery, but is not limited thereto, and may be, for example, an electric double layer capacitor.
O While the automated guided vehicle 11 is stopped, the automated guided vehicle 11 may be configured to stop the engine 31 and stand by using only the electric power of the power storage device 34.

O When the front signal of the automatic guided vehicle 11 is a red signal, or when the automatic guided vehicle 11 in front is decelerating, the power storage device 34 may be discharged in advance.
In the embodiment, the SOC fluctuation amount δSOC in the specific section is estimated and the prior SOC target value is set. However, the present invention is not limited to this. Simply, the power storage device 34 may be charged or discharged from a timing that is a predetermined time before the timing at which the automatic guided vehicle 11 reaches the acceleration section Ta or the deceleration section Td.

  In embodiment, although the vehicle-mounted computer 21 was the structure which performs a series of control, it is not restricted to this, The structure which a some control part performs various control may be sufficient. That is, the control subject of the engine 31 and the generator motors 32 and 36 is arbitrary.

  In the embodiment, the operation management computer 22 is configured to perform drive control of the cranes C1 and C2. However, the present invention is not limited to this, and another management computer may be configured to perform drive control.

In the embodiment, two second generator motors 36 are provided. However, the second generator motor 36 is not limited thereto, and may be three or more, or may be one.
In the embodiment, the automatic guided vehicle 11 distinguishes between the first generator motor 32 that can generate power by the driving force of the engine 31 and the second generator motor 36 that can run the automatic guided vehicle 11 and generate regenerative power. Although it is a so-called series-type hybrid vehicle, it is not limited to this. For example, it may be a hybrid vehicle of another method such as a so-called parallel method in which both functions are executed by one generator motor. In short, the automatic guided vehicle 11 includes an engine 31, a power generation motor unit that can generate electric power by the driving force of the engine 31, can run the automatic guided vehicle 11, and can generate regenerative power, and a power storage device 34. If it is, the specific configuration is arbitrary.

Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.
(A) The target value is set lower than the reference value when the specific section is a section where the power storage device is charged, and the specific section is a section where the power storage device is discharged. In this case, the automatic guided vehicle drive system according to any one of claims 1 to 4, wherein the drive system is set higher than the reference value.

Note that the “section where the power storage device is charged” may be, for example, a deceleration section or a down section, and the “section where the power storage device is discharged” may be, for example, an acceleration section or an up section.
(B) The generator motor section includes a first generator motor that can generate power with the driving force of the engine, and a second generator motor that is used for traveling and can generate regenerative power. The drive system of the automatic guided vehicle according to any one of -4 and (A).

  DESCRIPTION OF SYMBOLS 10 ... Drive system of automatic guided vehicle, 11 ... Automatic guided vehicle, 21 ... In-vehicle computer, 22 ... Operation management computer, 31 ... Engine, 32 ... 1st generator motor, 34 ... Power storage device, 36 ... 2nd generator motor.

Claims (4)

An engine, a generator motor that can generate power with the driving force of the engine and used for traveling, and can supply power to the generator motor and can be charged by regenerative power that can be generated by the generator motor A drive system for an automated guided vehicle having a power storage device,
An SOC grasping unit for grasping the SOC of the power storage device;
A weight grasping unit for grasping a loading weight of the automatic guided vehicle;
A traveling pattern grasping unit for grasping a traveling pattern of the automatic guided vehicle;
An estimation unit for estimating the SOC variation amount of the power storage device in a predetermined specific section based on the loaded weight and the traveling pattern;
A calculation unit that calculates a deviation amount from a predetermined reference value in the SOC of the power storage device based on the variation amount estimated by the estimation unit;
Before the automatic guided vehicle reaches the specific section, the SOC of the power storage device is determined based on the grasp result of the SOC grasping unit so that the SOC of the power storage device approaches the target value that is shifted from the reference value by the shift amount. An SOC adjustment unit for adjusting
A drive system for an automated guided vehicle comprising:   2. The automatic guided vehicle drive system according to claim 1, wherein the calculation unit calculates ½ of the fluctuation amount as the shift amount. An inclination grasping part for grasping the inclination of the traveling route of the automatic guided vehicle;
3. The automatic guided vehicle drive system according to claim 1, wherein the estimation unit estimates a variation amount of SOC of the power storage device in the specific section based on the loaded weight, the traveling pattern, and the inclination. .   The comparison part which compares the estimation result by the said estimation part, and the variation | change_quantity of SOC of the said electrical storage apparatus in the said specific area grasped | ascertained by the said SOC grasping part is provided in any one of Claims 1-3 The drive system of the automatic guided vehicle described.