JP2017085770A - Radio power supply system and radio power supply method - Google Patents

Radio power supply system and radio power supply method Download PDF

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JP2017085770A
JP2017085770A JP2015211577A JP2015211577A JP2017085770A JP 2017085770 A JP2017085770 A JP 2017085770A JP 2015211577 A JP2015211577 A JP 2015211577A JP 2015211577 A JP2015211577 A JP 2015211577A JP 2017085770 A JP2017085770 A JP 2017085770A
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power supply
guided vehicle
automatic guided
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information
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JP6045004B1 (en
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絢介 甲斐
Kensuke Kai
絢介 甲斐
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Mitsubishi Logisnext Co Ltd
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Mitsubishi Nichiyu Forklift Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

PROBLEM TO BE SOLVED: To provide a radio power supply system and a radio power supply method that can increase the efficiency of power supply from a power supply device to a battery.SOLUTION: A radio power supply system comprises an unmanned carrier vehicle 10, a management device 20, and a power supply device 30. The unmanned carrier vehicle comprises a power supply request signal transmission unit for transmitting a power supply request signal when the quantity of stored electricity of a battery 11 is less than a prescribed quantity. The management device comprises: an information storage unit for storing information on a reception place (storage place Q1-Q4) of the power supply device; and a charging command unit for transmitting the information on the reception place when the power supply request signal is received. The unmanned carrier vehicle receives the power supply device by moving to the reception place on the basis of the information on the reception place, and then moves to a prescribed delivery place (storage place Q1-Q4) to deliver the power supply device. The power supply device supplies power to the battery by microwave while the unmanned carrier vehicle transporting the power supply device is moving from the reception place to the delivery place.SELECTED DRAWING: Figure 1

Description

本発明は、無人搬送車に対してマイクロ波で給電する無線給電システムおよび無線給電方法に関するものである。   The present invention relates to a wireless power feeding system and a wireless power feeding method for feeding power to an automatic guided vehicle with a microwave.

一般的に、無人搬送車の給電システムでは、無人搬送車が備えるバッテリの蓄電量が所定量未満となった場合に、所定の場所に設けられた充電ステーションに無人搬送車を移動させ、充電ステーションでの無人搬送車の待機中にバッテリへの給電が行われている。   In general, in a power supply system for an automatic guided vehicle, when the amount of stored battery of the automatic guided vehicle is less than a predetermined amount, the automatic guided vehicle is moved to a charging station provided at a predetermined location, Power is being supplied to the battery while the automatic guided vehicle is standing by.

ところで、無人搬送車の稼働効率を向上させるためには、走行中の無人搬送車のバッテリへの給電を行うことが求められており、特許文献１には、パレットに搭載されたパレット側バッテリの電力を、無人搬送車が備える車両側バッテリに供給するシステムが記載されている。   By the way, in order to improve the operation efficiency of the automatic guided vehicle, it is required to supply power to the battery of the automatic guided vehicle that is running. Patent Document 1 discloses a pallet-side battery mounted on a pallet. A system for supplying electric power to a vehicle-side battery included in an automatic guided vehicle is described.

特開２０１４−１１７０６７号公報JP 2014-117067 A

しかしながら、特許文献１の給電システムでは、車両側バッテリへの給電が必要な無人搬送車と、車両側バッテリへの給電が必要でない無人搬送車とを区別しておらず、しかも、使用される全てのパレットにパレット側バッテリが搭載されている場合には、給電が必要でない車両側バッテリに対しても、無駄に給電が行われるおそれがある。すなわち、無人搬送車が荷物を搬送する際は給電装置（パレット側バッテリ）からバッテリ（車両側バッテリ）への給電が常時行われるので、給電の効率性が低いという問題があった。   However, the power supply system of Patent Document 1 does not distinguish between an automatic guided vehicle that needs to supply power to the vehicle-side battery and an automatic guided vehicle that does not need to supply power to the vehicle-side battery. When the pallet side battery is mounted on the pallet, there is a possibility that power supply is performed wastefully even for the vehicle side battery that does not require power supply. That is, when the automated guided vehicle transports a load, since power is always supplied from the power supply device (pallet side battery) to the battery (vehicle side battery), there is a problem that the efficiency of power supply is low.

本発明は、上記事情に鑑みてなされたものであって、給電装置からバッテリへの給電の効率性を高めることが可能な無線給電システムおよび無線給電方法を提供することを課題とする。   This invention is made | formed in view of the said situation, Comprising: It aims at providing the radio | wireless electric power feeding system and radio | wireless electric power feeding method which can improve the efficiency of the electric power feeding from an electric power feeder to a battery.

上記課題を解決するため、請求項１に記載の発明は、
荷物を搬送する無人搬送車と、
前記無人搬送車を管理する管理装置と、
前記無人搬送車により搬送される給電装置と、を備え、
前記無人搬送車のバッテリに対して、前記給電装置により給電する無線給電システムであって、
前記無人搬送車は、前記バッテリの蓄電量が所定量未満であるときに、給電要求信号を前記管理装置に送信する給電要求信号送信部を備え、
前記管理装置は、
前記給電装置の受取場所の情報を格納する情報格納部と、
前記給電要求信号を受信した場合に、前記情報格納部に格納された前記受取場所の情報を前記無人搬送車に送信することで、前記バッテリの充電を指令する充電指令部と、を備え、
前記無人搬送車は、前記受取場所の情報に基づいて、当該受取場所に移動して前記給電装置を受け取った後、所定の引渡場所に移動して前記給電装置を引き渡し、
前記給電装置は、当該給電装置を搬送中の前記無人搬送車が前記受取場所から前記引渡場所まで移動する間に、前記バッテリに対してマイクロ波により給電する
ことを特徴とする。 In order to solve the above-mentioned problem, the invention described in claim 1
An automated guided vehicle that transports luggage,
A management device for managing the automatic guided vehicle;
A power feeding device conveyed by the automatic guided vehicle,
A wireless power feeding system that feeds power to the battery of the automatic guided vehicle by the power feeding device,
The automatic guided vehicle includes a power supply request signal transmission unit that transmits a power supply request signal to the management device when a storage amount of the battery is less than a predetermined amount.
The management device
An information storage unit for storing information on a receiving place of the power supply device;
A charging command unit that commands charging of the battery by transmitting the information on the receiving location stored in the information storage unit to the automatic guided vehicle when the power supply request signal is received;
Based on the information on the receiving location, the automatic guided vehicle moves to the receiving location and receives the power feeding device, then moves to a predetermined delivery location and delivers the power feeding device,
The power feeding device feeds power to the battery by microwaves while the automatic guided vehicle transporting the power feeding device moves from the receiving location to the delivery location.

請求項２に記載の発明は、請求項１に記載の発明において、
前記充電指令部は、前記給電装置の引渡場所の情報を前記無人搬送車に送信し、
前記無人搬送車は、前記引渡場所の情報に基づいて、当該引渡場所に移動して前記給電装置を引き渡す
ことを特徴とする。 The invention according to claim 2 is the invention according to claim 1,
The charging command unit transmits information on a delivery location of the power feeding device to the automatic guided vehicle,
The automatic guided vehicle moves to the delivery location based on the information on the delivery location and delivers the power feeding device.

請求項３に記載の発明は、請求項１または２に記載の発明において、
前記情報格納部は、前記無人搬送車による前記荷物の搬送作業に係る情報を格納し、
複数の前記給電装置が、それぞれ異なる受取場所で前記無人搬送車が受け取れるように配置され、
前記充電指令部は、前記搬送作業に係る情報に基づいて前記受取場所を選定し、選定した当該受取場所の情報を前記無人搬送車に送信する
ことを特徴とする。 The invention according to claim 3 is the invention according to claim 1 or 2,
The information storage unit stores information related to the work of transporting the luggage by the automatic guided vehicle,
A plurality of the power feeding devices are arranged so that the automatic guided vehicle can be received at different receiving places,
The charging command unit selects the receiving location based on information related to the transporting operation, and transmits information on the selected receiving location to the automatic guided vehicle.

請求項４に記載の発明は、請求項１〜３のいずれか一項に記載の発明において、
前記管理装置は、第１荷積場所から第１荷卸場所まで第１荷物を搬送する第１搬送作業と、第２荷積場所から第２荷卸場所まで第２荷物を搬送する第２搬送作業とを、前記無人搬送車に対して指令する作業指令部を備え、
前記無人搬送車は、前記作業指令部および前記充電指令部による指令に基づいて、前記第１荷物を前記第１荷卸場所で引き渡した後に前記受取場所で前記給電装置を受け取り、当該給電装置を前記引渡場所で引き渡した後に前記第２荷積場所で前記第２荷物を受け取る
ことを特徴とする。 The invention according to claim 4 is the invention according to any one of claims 1 to 3,
The management device includes a first transport operation for transporting the first cargo from the first loading location to the first unloading location, and a second transport operation for transporting the second cargo from the second loading location to the second unloading location. A work command unit that commands the automatic guided vehicle,
The automatic guided vehicle receives the power feeding device at the receiving place after delivering the first load at the first unloading place based on instructions from the work command unit and the charging command unit, and The second package is received at the second loading location after being delivered at the delivery location.

請求項５に記載の発明は、請求項１〜４のいずれか一項に記載の発明において、
前記給電装置は、当該給電装置の位置情報を前記管理装置に送信する位置情報送信部を備え、
前記管理装置は、前記給電装置から受信した当該給電装置の位置情報に基づいて、前記情報格納部に格納された前記受取場所の情報を更新する情報更新部を備える
ことを特徴とする。 The invention according to claim 5 is the invention according to any one of claims 1 to 4,
The power supply apparatus includes a position information transmission unit that transmits position information of the power supply apparatus to the management apparatus,
The management device includes an information update unit that updates information on the reception location stored in the information storage unit based on position information of the power supply device received from the power supply device.

請求項６に記載の発明は、
荷物を搬送する無人搬送車と、前記無人搬送車を管理する管理装置と、前記無人搬送車により搬送される給電装置とを備えた無線給電システムにおいて、前記無人搬送車のバッテリに対して、前記給電装置により給電する無線給電方法であって、
前記無人搬送車が、前記バッテリの蓄電量が所定量未満であるときに、給電要求信号を前記管理装置に送信する給電要求信号送信ステップと、
前記給電要求信号を受信した前記管理装置が、前記給電装置の受取場所の情報を前記無人搬送車に送信することで、前記バッテリの充電を指令する充電指令ステップと、
前記無人搬送車が、前記管理装置から受信した前記受取場所の情報に基づいて、当該受取場所に移動して前記給電装置を受け取る給電装置受取ステップと、
前記給電装置を受け取った前記無人搬送車が、所定の引渡場所に移動して前記給電装置を引き渡す給電装置引渡ステップと、
前記給電装置が、当該給電装置を搬送中の前記無人搬送車が前記受取場所から前記引渡場所まで移動する間に、前記バッテリに対してマイクロ波により給電する給電ステップと、を備える
ことを特徴とする。 The invention described in claim 6
In a wireless power feeding system including an automatic guided vehicle that transports a load, a management device that manages the automatic guided vehicle, and a power feeding device that is transported by the automatic guided vehicle, the battery of the automatic guided vehicle A wireless power feeding method for feeding power by a power feeding device,
When the automatic guided vehicle has a power storage amount of the battery less than a predetermined amount, a power supply request signal transmission step of transmitting a power supply request signal to the management device;
The management device that has received the power supply request signal transmits a charge command step for instructing charging of the battery by transmitting information on a receiving location of the power supply device to the automatic guided vehicle;
The automatic guided vehicle moves to the receiving location based on the information on the receiving location received from the management device, and receives the power feeding device.
The automatic guided vehicle that has received the power supply device moves to a predetermined delivery location and delivers the power supply device, and a power supply device delivery step,
The power feeding device includes a power feeding step of feeding power to the battery by microwave while the automatic guided vehicle transporting the power feeding device moves from the receiving location to the delivery location. To do.

本発明によれば、給電装置からバッテリへの給電の効率性を高めることが可能な無線給電システムおよび無線給電方法を提供することができる。   According to the present invention, it is possible to provide a wireless power feeding system and a wireless power feeding method capable of improving the efficiency of power feeding from a power feeding device to a battery.

本発明の一実施形態に係る無線給電システムの模式図である。1 is a schematic diagram of a wireless power feeding system according to an embodiment of the present invention. 同実施形態に係る無人搬送車の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the automatic guided vehicle which concerns on the embodiment. 同実施形態に係る管理装置の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the management apparatus which concerns on the same embodiment. 同実施形態に係る給電装置の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the electric power feeder which concerns on the same embodiment. 同実施形態に係る無人搬送車の動作の一例を示す模式図である。It is a schematic diagram which shows an example of operation | movement of the automatic guided vehicle which concerns on the embodiment. 同実施形態に係る無人搬送車の動作の一例を示す模式図である。It is a schematic diagram which shows an example of operation | movement of the automatic guided vehicle which concerns on the embodiment.

図面を参照して、本発明の一実施形態を説明する。
図１に示すように、無線給電システム１は、荷物Ｌを搬送する複数の無人搬送車１０と、無人搬送車１０を管理する管理装置２０と、無人搬送車１０により搬送される複数の給電装置３０とを備えている。無線給電システム１は、無人搬送車１０のバッテリ１１に対して、給電装置３０により給電する。 An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the wireless power feeding system 1 includes a plurality of automatic guided vehicles 10 that transport a load L, a management device 20 that manages the automatic guided vehicles 10, and a plurality of power feeding devices that are transported by the automatic guided vehicle 10. 30. The wireless power supply system 1 supplies power to the battery 11 of the automatic guided vehicle 10 by the power supply device 30.

複数の無人搬送車１０は、それぞれ、バッテリ式の無人フォークリフトである。無人搬送車１０は、管理装置２０から受信した作業指令信号に基づいて、荷物Ｌを搬送する。具体的には、無人搬送車１０は、荷積場所に移動して荷物Ｌを受け取り、荷卸場所に移動して荷物Ｌを引き渡す。こうして、無人搬送車１０は、荷積場所から荷卸場所へ移動した後、荷卸場所から次の荷積場所へ移動することを繰り返す。   Each of the plurality of automatic guided vehicles 10 is a battery-type unmanned forklift. The automatic guided vehicle 10 conveys the luggage L based on the work command signal received from the management device 20. Specifically, the automated guided vehicle 10 moves to the loading place to receive the luggage L, moves to the unloading place, and delivers the luggage L. Thus, the automatic guided vehicle 10 repeats moving from the loading place to the next loading place after moving from the loading place to the unloading place.

本実施形態においては、荷物Ｌの荷積場所および荷卸場所は、管理装置２０によって、入庫場所Ｐ１、保管場所Ｐ２，Ｐ３、および、出庫場所Ｐ４から選ばれる。荷積場所が入庫場所Ｐ１であるとき、荷卸場所は保管場所Ｐ２または保管場所Ｐ３である。また、荷積場所が保管場所Ｐ２または保管場所Ｐ３であるとき、荷卸場所は出庫場所Ｐ４である。   In the present embodiment, the loading place and the unloading place of the luggage L are selected by the management device 20 from the entry place P1, the storage places P2, P3, and the exit place P4. When the loading place is the receiving place P1, the unloading place is the storage place P2 or the storage place P3. Further, when the loading place is the storage place P2 or the storage place P3, the unloading place is the delivery place P4.

また、無人搬送車１０は、管理装置２０から受信した充電指令信号に基づいて、荷物Ｌを搬送していない時に給電装置３０を搬送する。具体的には、無人搬送車１０は、給電装置３０の受取場所に移動して給電装置３０を受け取り、給電装置３０の引渡場所に移動して給電装置３０を引き渡す。   Further, the automatic guided vehicle 10 conveys the power feeding device 30 based on the charge command signal received from the management device 20 when the luggage L is not being conveyed. Specifically, the automatic guided vehicle 10 moves to the receiving location of the power feeding device 30 to receive the power feeding device 30, moves to the delivery location of the power feeding device 30, and delivers the power feeding device 30.

本実施形態においては、給電装置３０の受取場所および引渡場所は、管理装置２０によって給電装置３０の保管場所Ｑ１〜Ｑ４から選ばれる。保管場所Ｑ１は入庫場所Ｐ１の近くに位置し、保管場所Ｑ２は保管場所Ｐ２の近くに位置し、保管場所Ｑ３は保管場所Ｐ３の近くに位置し、保管場所Ｑ４は出庫場所Ｐ４の近くに位置している。   In the present embodiment, the receiving location and delivery location of the power supply device 30 are selected from the storage locations Q1 to Q4 of the power supply device 30 by the management device 20. The storage location Q1 is located near the storage location P1, the storage location Q2 is located near the storage location P2, the storage location Q3 is located near the storage location P3, and the storage location Q4 is located near the delivery location P4. doing.

管理装置２０は、サーバー２０Ａと、無人搬送車１０とサーバー２０Ａとの通信を中継する複数のアクセスポイント２０Ｂとにより構成されている。サーバー２０Ａは、分散して配置された複数のアクセスポイント２０Ｂのいずれかを介して、無人搬送車１０に作業指令信号および充電指令信号を送信する。   The management apparatus 20 includes a server 20A and a plurality of access points 20B that relay communication between the automatic guided vehicle 10 and the server 20A. The server 20A transmits a work command signal and a charge command signal to the automatic guided vehicle 10 through any of a plurality of access points 20B arranged in a distributed manner.

複数の給電装置３０は、それぞれ異なる場所で無人搬送車１０が受け取れるように分散して配置されている。すなわち、少なくとも１つの給電装置３０が、保管場所Ｑ１〜Ｑ４の各々に設けられている。給電装置３０は、その給電装置３０を搬送中の無人搬送車１０のバッテリ１１に対してマイクロ波で給電する。   The plurality of power feeding devices 30 are distributed and arranged so that the automatic guided vehicle 10 can be received at different places. That is, at least one power supply device 30 is provided in each of the storage locations Q1 to Q4. The power feeding device 30 feeds power to the battery 11 of the automatic guided vehicle 10 that is transporting the power feeding device 30 with microwaves.

図２に示すように、無人搬送車１０は、バッテリ１１と、走行装置１２と、無線通信部１３と、記憶部１４と、走行制御部１５と、給電要求部１６と、受電部１７とを備えている。本実施形態では、給電要求部１６および無線通信部１３が、バッテリ１１の蓄電量が所定量未満であるときに、給電要求信号を管理装置２０に送信する給電要求信号送信部１０ａを構成している。   As shown in FIG. 2, the automatic guided vehicle 10 includes a battery 11, a travel device 12, a wireless communication unit 13, a storage unit 14, a travel control unit 15, a power supply request unit 16, and a power reception unit 17. I have. In the present embodiment, the power supply request unit 16 and the wireless communication unit 13 configure a power supply request signal transmission unit 10a that transmits a power supply request signal to the management device 20 when the storage amount of the battery 11 is less than a predetermined amount. Yes.

バッテリ１１は、充電可能な二次電池により構成されており、走行装置１２等に電力を供給する。バッテリ１１の蓄電量は、走行装置１２等へ電力を供給することにより減り、受電部１７から充電電力が供給されることにより増える。   The battery 11 is composed of a rechargeable secondary battery, and supplies power to the traveling device 12 and the like. The amount of electricity stored in the battery 11 decreases when power is supplied to the traveling device 12 and the like, and increases when charging power is supplied from the power receiving unit 17.

走行装置１２は、無人搬送車１０が走行するための走行モータ（図示略）や、無人搬送車１０が走行する方向を変える操舵モータ（図示略）等により構成されている。走行装置１２は、バッテリ１１から電力が供給されることにより動作する。   The traveling device 12 includes a traveling motor (not shown) for driving the automatic guided vehicle 10, a steering motor (not shown) for changing the direction in which the automatic guided vehicle 10 travels, and the like. The traveling device 12 operates when electric power is supplied from the battery 11.

無線通信部１３は、小型アンテナを備えた無線通信モジュールにより構成されており、管理装置２０および給電装置３０と通信する。無線通信部１３は、管理装置２０からの作業指令信号および充電指令信号を受信する。また、無線通信部１３は、給電要求部１６から受信した給電要求信号を管理装置２０に送信し、給電要求部１６から受信した給電指示信号を給電装置３０に送信する。   The wireless communication unit 13 includes a wireless communication module including a small antenna, and communicates with the management device 20 and the power feeding device 30. The wireless communication unit 13 receives a work command signal and a charge command signal from the management device 20. In addition, the wireless communication unit 13 transmits the power supply request signal received from the power supply request unit 16 to the management device 20 and transmits the power supply instruction signal received from the power supply request unit 16 to the power supply device 30.

記憶部１４は、無線通信部１３で受信する作業指令信号および充電指令信号に含まれる情報を記憶する記憶装置（例えば半導体メモリ）により構成されている。具体的には、記憶部１４は、作業指令信号に含まれる作業指令情報として、荷物Ｌの荷積場所の情報と、その荷物Ｌの荷卸場所の情報とを記憶する。また、記憶部１４は、充電指令信号に含まれる充電指令情報として、給電装置３０の受取場所の情報と、その給電装置３０の引渡場所の情報とを記憶する。   The storage unit 14 is configured by a storage device (for example, a semiconductor memory) that stores information included in the work command signal and the charge command signal received by the wireless communication unit 13. Specifically, the storage unit 14 stores information on the loading location of the luggage L and information on the unloading location of the luggage L as work command information included in the work command signal. In addition, the storage unit 14 stores information on a receiving location of the power feeding device 30 and information on a delivery location of the power feeding device 30 as charging command information included in the charging command signal.

走行制御部１５は、走行装置１２を制御する集積回路により構成されており、記憶部１４に記憶された作業指令情報および充電指令情報に基づいて、無人搬送車１０が荷物Ｌまたは給電装置３０を搬送するように走行装置１２を制御する。具体的には、走行制御部１５は、作業指令情報および充電指令情報の双方に基づいて、無人搬送車１０が、所定の荷物Ｌの荷卸場所の近くに位置する給電装置３０の受取場所から、他の荷物Ｌの荷積場所の近くに位置する給電装置３０の引渡場所に移動するように走行装置１２を制御する。   The traveling control unit 15 is configured by an integrated circuit that controls the traveling device 12, and the automatic guided vehicle 10 controls the load L or the power feeding device 30 based on the work command information and the charging command information stored in the storage unit 14. The traveling device 12 is controlled so as to be conveyed. Specifically, the traveling control unit 15 determines that the automatic guided vehicle 10 is based on both the work command information and the charging command information from the receiving place of the power feeding device 30 that is located near the unloading place of the predetermined luggage L. The traveling device 12 is controlled to move to the delivery location of the power feeding device 30 located near the loading location of the other luggage L.

給電要求部１６は、給電要求信号および給電指示信号を送信する集積回路により構成されている。給電要求部１６は、バッテリ１１の蓄電量が所定量未満であるときに、給電要求信号を送信する。また、給電要求部１６は、無人搬送車１０が、給電装置３０を受け取ったとき、または給電装置３０に近づいたときに給電指示信号を送信する。   The power supply request unit 16 includes an integrated circuit that transmits a power supply request signal and a power supply instruction signal. The power supply request unit 16 transmits a power supply request signal when the charged amount of the battery 11 is less than a predetermined amount. In addition, the power supply request unit 16 transmits a power supply instruction signal when the automatic guided vehicle 10 receives the power supply device 30 or approaches the power supply device 30.

受電部１７は、マイクロ波を受電するレクテナにより構成されている。受電部１７は、給電装置３０から受電したマイクロ波を充電電力に変換して、充電電力をバッテリ１１に供給する。こうして、バッテリ１１が充電される。   The power receiving unit 17 includes a rectenna that receives microwaves. The power receiving unit 17 converts the microwave received from the power feeding device 30 into charging power and supplies the charging power to the battery 11. Thus, the battery 11 is charged.

図３に示すように、管理装置２０は、サーバー２０Ａに設けられた情報格納部２１と、作業指令信号送信部２２と、充電指令信号送信部２３と、情報更新部２４とを備えるとともに、アクセスポイント２０Ｂに設けられた無線通信部２５を備えている。本実施形態では、作業指令信号送信部２２および無線通信部２５が、作業指令部２０ａを構成しており、充電指令信号送信部２３および無線通信部２５が、充電指令部２０ｂを構成している。作業指令部２０ａは、荷物Ｌの荷積場所および荷卸場所の情報を無人搬送車１０に送信することで、荷積場所から荷卸場所まで荷物Ｌを搬送することを指令する。また、充電指令部２０ｂは、給電装置３０の受取場所および引渡場所の情報を無人搬送車１０に送信することで、バッテリ１１の充電を指令する。   As shown in FIG. 3, the management device 20 includes an information storage unit 21, a work command signal transmission unit 22, a charge command signal transmission unit 23, and an information update unit 24 provided in the server 20A, and an access. The wireless communication part 25 provided in the point 20B is provided. In the present embodiment, the work command signal transmission unit 22 and the wireless communication unit 25 constitute a work command unit 20a, and the charge command signal transmission unit 23 and the wireless communication unit 25 constitute a charge command unit 20b. . The work command unit 20a sends information on the loading location and the unloading location of the luggage L to the automatic guided vehicle 10 to instruct to transport the luggage L from the loading location to the unloading location. In addition, the charging command unit 20 b instructs the charging of the battery 11 by transmitting information on the receiving location and the delivery location of the power feeding device 30 to the automatic guided vehicle 10.

情報格納部２１は、無人搬送車１０の搬送作業に係る情報と給電装置３０に係る情報とを記憶する記憶装置（例えばハードディスクドライブ）により構成されている。具体的には、情報格納部２１は、複数の無人搬送車１０の搬送作業に係る情報として、無人搬送車１０毎に、荷物Ｌの荷積場所の情報と、その荷物Ｌの荷卸場所の情報とを格納している。また、情報格納部２１は、複数の給電装置３０に係る情報として、各給電装置３０の位置情報、すなわち、給電装置３０を受け取ることが可能な受取場所の情報を格納している。荷物Ｌの荷積場所の情報、荷物Ｌの荷卸場所の情報、および、給電装置３０の位置情報は、管理用情報端末装置（図示略）から管理装置２０に入力されて、情報格納部２１に格納される。   The information storage unit 21 includes a storage device (for example, a hard disk drive) that stores information related to the transfer operation of the automatic guided vehicle 10 and information related to the power feeding device 30. Specifically, the information storage unit 21 includes information on the loading location of the luggage L and information on the unloading location of the luggage L for each automated guided vehicle 10 as information related to the conveyance work of the plurality of automated guided vehicles 10. And store. Further, the information storage unit 21 stores position information of each power supply device 30, that is, information on a receiving place where the power supply device 30 can be received as information related to the plurality of power supply devices 30. The information on the loading location of the luggage L, the information on the unloading location of the luggage L, and the position information of the power feeding device 30 are input from the management information terminal device (not shown) to the management device 20 and stored in the information storage unit 21. Stored.

作業指令信号送信部２２は、無線通信部２５に作業指令信号を送信する集積回路により構成されている。作業指令信号送信部２２は、情報格納部２１に格納された搬送作業に係る情報に基づき、荷積場所および荷卸場所の情報を含む作業指令信号を無線通信部２５に送信する。作業指令信号送信部２２は、順番に搬送されるべき複数の荷物Ｌについての作業指令信号を順次または一括して送信することにより、複数の作業指令を無人搬送車１０に対して行う。具体的には、例えば、作業指令信号送信部２２は、第１荷積場所から第１荷卸場所まで第１荷物を搬送する第１搬送作業に係る作業指令と、第２荷積場所から第２荷卸場所まで第２荷物を搬送する第２搬送作業に係る作業指令とを、無人搬送車１０に対して指令する。   The work command signal transmission unit 22 is configured by an integrated circuit that transmits a work command signal to the wireless communication unit 25. The work command signal transmission unit 22 transmits a work command signal including information on the loading place and the unloading place to the wireless communication unit 25 based on the information related to the transfer work stored in the information storage unit 21. The work command signal transmission unit 22 sends a plurality of work commands to the automatic guided vehicle 10 by sequentially or collectively transmitting work command signals for a plurality of packages L to be transported in order. Specifically, for example, the work command signal transmission unit 22 receives the work command related to the first transport work for transporting the first load from the first loading place to the first unloading place, and the second from the second loading place. A work command related to the second transport work for transporting the second cargo to the unloading place is commanded to the automatic guided vehicle 10.

充電指令信号送信部２３は、無人搬送車１０からの給電要求信号を受信したとき、その無人搬送車１０に対して充電指令信号を送信する集積回路により構成されている。充電指令信号送信部２３は、無人搬送車１０からの給電要求信号を受信すると、情報格納部２１に格納された無人搬送車１０による荷物Ｌの搬送作業に係る情報に基づいて、給電装置３０の受取場所および引渡場所を選定する。具体的には、充電指令信号送信部２３は、給電要求信号を送信した無人搬送車１０が荷物Ｌの搬送中でない場合には、その無人搬送車１０の最も近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを受取場所として選定し、その無人搬送車１０が次に搬送する荷物Ｌの荷積場所の最も近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを引渡場所として選定する。また、充電指令信号送信部２３は、給電要求信号を送信した無人搬送車１０が荷物Ｌの搬送中である場合には、その荷物Ｌの荷卸場所の最も近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを受取場所として選定し、その無人搬送車１０が次に搬送する荷物Ｌの荷積場所の最も近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを引渡場所として選定する。そして、充電指令信号送信部２３は、選定した受取場所および引渡場所の情報を含む充電指令信号を、無線通信部２５を介して無人搬送車１０に送信する。   The charge command signal transmission unit 23 is configured by an integrated circuit that transmits a charge command signal to the automatic guided vehicle 10 when receiving a power supply request signal from the automatic guided vehicle 10. When the charging command signal transmission unit 23 receives the power supply request signal from the automatic guided vehicle 10, the charging command signal transmission unit 23 determines the power supply device 30 based on the information related to the work of transporting the luggage L by the automatic guided vehicle 10 stored in the information storage unit 21. Select receiving location and delivery location. Specifically, when the automatic guided vehicle 10 that has transmitted the power supply request signal is not transporting the load L, the charging command signal transmission unit 23 stores the storage locations Q1 to Q4 that are closest to the automatic guided vehicle 10. Is selected as the receiving place, and any one of the storage places Q1 to Q4 located closest to the loading place of the luggage L to be transported next by the automatic guided vehicle 10 is selected as the delivery place. Further, when the automatic guided vehicle 10 that has transmitted the power supply request signal is transporting the load L, the charging command signal transmission unit 23 stores the storage locations Q1 to Q4 that are located closest to the unloading location of the load L. Either one is selected as a receiving place, and any one of the storage places Q1 to Q4 located closest to the loading place of the luggage L that the automatic guided vehicle 10 carries next is selected as a delivery place. Then, the charging command signal transmission unit 23 transmits a charging command signal including information on the selected receiving location and delivery location to the automatic guided vehicle 10 via the wireless communication unit 25.

情報更新部２４は、情報格納部２１に給電装置３０に係る情報を格納させることで、情報格納部２１に格納された給電装置３０に係る情報を適宜更新する集積回路により構成されている。具体的には、情報更新部２４は、無線通信部２５で受信した位置信号に含まれる給電装置３０の位置情報に基づいて、情報格納部２１に格納された給電装置３０の位置情報、すなわち、給電装置３０の受取場所の情報を更新する。   The information update unit 24 is configured by an integrated circuit that appropriately updates information on the power supply device 30 stored in the information storage unit 21 by causing the information storage unit 21 to store information on the power supply device 30. Specifically, the information update unit 24 is based on the position information of the power supply device 30 included in the position signal received by the wireless communication unit 25, and the position information of the power supply device 30 stored in the information storage unit 21, that is, The information on the receiving location of the power feeding device 30 is updated.

無線通信部２５は、小型アンテナを備えた無線通信モジュールにより構成されており、無人搬送車１０および給電装置３０と通信する。具体的には、無線通信部２５は、無人搬送車１０から受信した給電要求信号を充電指令信号送信部２３に送信する。また、無線通信部２５は、作業指令信号送信部２２から受信した作業指令信号、および充電指令信号送信部２３から受信した充電指令信号を無人搬送車１０に送信する。また、無線通信部２５は、給電装置３０から受信した位置信号を情報更新部２４に送信する。   The wireless communication unit 25 includes a wireless communication module including a small antenna, and communicates with the automatic guided vehicle 10 and the power feeding device 30. Specifically, the wireless communication unit 25 transmits the power supply request signal received from the automatic guided vehicle 10 to the charge command signal transmission unit 23. In addition, the wireless communication unit 25 transmits the work command signal received from the work command signal transmission unit 22 and the charge command signal received from the charge command signal transmission unit 23 to the automatic guided vehicle 10. In addition, the wireless communication unit 25 transmits the position signal received from the power supply device 30 to the information update unit 24.

図４に示すように、給電装置３０は、バッテリ３１と、送電部３２と、無線通信部３３と、現在地検出部３４とを備えている。本実施形態では、現在地検出部３４と無線通信部３３とが、給電装置３０の位置情報を管理装置２０に送信する位置情報送信部３０ａを構成している。   As illustrated in FIG. 4, the power feeding device 30 includes a battery 31, a power transmission unit 32, a wireless communication unit 33, and a current location detection unit 34. In the present embodiment, the current location detection unit 34 and the wireless communication unit 33 constitute a position information transmission unit 30 a that transmits the position information of the power feeding device 30 to the management device 20.

バッテリ３１は、充電可能な二次電池により構成されており、送電部３２に電力を供給する。バッテリ３１の蓄電量は、送電部３２に電力を供給することにより減る。バッテリ３１の蓄電量は、給電装置３０に接続される充電設備（図示略）を用いて回復することができる。なお、バッテリ３１の最大蓄電量は、無人搬送車１０のバッテリ１１の最大蓄電量よりもはるかに大きいので、満充電状態のバッテリ３１は、バッテリ１１の充電を複数回行うことができる。   The battery 31 is configured by a rechargeable secondary battery and supplies power to the power transmission unit 32. The amount of electricity stored in the battery 31 is reduced by supplying power to the power transmission unit 32. The amount of electricity stored in the battery 31 can be recovered using a charging facility (not shown) connected to the power supply device 30. In addition, since the maximum charged amount of the battery 31 is much larger than the maximum charged amount of the battery 11 of the automatic guided vehicle 10, the fully charged battery 31 can charge the battery 11 a plurality of times.

送電部３２は、送電アンテナにより構成され、無人搬送車１０に対してマイクロ波を送電する。送電部３２は、無人搬送車１０からの給電指示信号を受信したときに送電（マイクロ波による給電）を開始する。また、送電部３２は、充電中のバッテリ１１の蓄電量が所定量になったとき（例えば、バッテリ１１が満充電状態になったとき）、または、無人搬送車１０が給電装置３０を引き渡すときに送電を停止する。   The power transmission unit 32 includes a power transmission antenna, and transmits microwaves to the automatic guided vehicle 10. The power transmission unit 32 starts power transmission (power supply by microwaves) when receiving a power supply instruction signal from the automatic guided vehicle 10. In addition, the power transmission unit 32 is configured such that when the charged amount of the battery 11 being charged reaches a predetermined amount (for example, when the battery 11 is fully charged) or when the automatic guided vehicle 10 delivers the power feeding device 30. To stop power transmission.

無線通信部３３は、小型アンテナを備えた無線通信モジュールにより構成されており、無人搬送車１０および管理装置２０と通信する。無線通信部３３は、無人搬送車１０からの給電指示信号を受信する。また、無線通信部３３は、現在地検出部３４から受信した位置信号を管理装置２０に送信する。   The wireless communication unit 33 includes a wireless communication module including a small antenna, and communicates with the automatic guided vehicle 10 and the management device 20. The wireless communication unit 33 receives a power supply instruction signal from the automatic guided vehicle 10. In addition, the wireless communication unit 33 transmits the position signal received from the current location detection unit 34 to the management device 20.

現在地検出部３４は、例えば複数の航法衛星からの航法信号を受信するＧＰＳ受信機により構成されている。現在地検出部３４は、給電装置３０の現在地を検出し、その検出結果に基づき導出された給電装置３０の位置情報を含む位置信号を送信する。   The current location detection unit 34 is configured by a GPS receiver that receives navigation signals from a plurality of navigation satellites, for example. The current location detection unit 34 detects the current location of the power feeding device 30 and transmits a position signal including the position information of the power feeding device 30 derived based on the detection result.

図５（Ａ）〜図５（Ｄ）を参照して、作業指令信号送信部２２および無線通信部２５（作業指令部２０ａ）が下記の「作業指令Ａ」および「作業指令Ｂ」を無人搬送車１０に対して行った場合の、無人搬送車１０の動作の一例を説明する。
作業指令Ａ：入庫場所Ｐ１（第１荷積場所）から保管場所Ｐ２（第１荷卸場所）まで荷物Ｌ１（第１荷物）を搬送すること
作業指令Ｂ：入庫場所Ｐ１（第２荷積場所）から保管場所Ｐ３（第２荷卸場所）まで荷物Ｌ２（第２荷物）を搬送すること Referring to FIGS. 5A to 5D, work command signal transmission unit 22 and wireless communication unit 25 (work command unit 20a) carry the following “work command A” and “work command B” unattended. An example of the operation of the automatic guided vehicle 10 when performed on the vehicle 10 will be described.
Work command A: Carrying the load L1 (first load) from the storage location P1 (first loading location) to the storage location P2 (first unloading location) Work command B: Storage location P1 (second loading location) Carrying the luggage L2 (second luggage) from the storage location P3 (second unloading place)

無人搬送車１０は、作業指令Ａに係る作業指令信号に含まれる荷積場所の情報に基づいて、入庫場所Ｐ１に移動して、図５（Ａ）に示すように入庫場所Ｐ１で荷物Ｌ１を受け取る。次いで、無人搬送車１０は、作業指令Ａに係る作業指令信号に含まれる荷卸場所の情報に基づいて、保管場所Ｐ２に移動して、図５（Ｂ）に示すように保管場所Ｐ２で荷物Ｌ１を引き渡す。こうして、無人搬送車１０は、作業指令Ａに係る荷物Ｌ１の搬送作業を完了する。   The automatic guided vehicle 10 moves to the warehousing location P1 based on the loading location information included in the work command signal related to the work command A, and loads the luggage L1 at the warehousing location P1 as shown in FIG. receive. Next, the automatic guided vehicle 10 moves to the storage location P2 based on the information on the unloading location included in the work command signal related to the work command A, and the luggage L1 at the storage location P2 as shown in FIG. Hand over. Thus, the automatic guided vehicle 10 completes the work of transporting the luggage L1 according to the work command A.

次いで、無人搬送車１０は、作業指令Ｂに係る作業指令信号に含まれる荷積場所の情報に基づいて、入庫場所Ｐ１に移動して、図５（Ｃ）に示すように入庫場所Ｐ１で荷物Ｌ２を受け取る。次いで、無人搬送車１０は、作業指令Ｂに係る作業指令信号に含まれる荷卸場所の情報に基づいて、保管場所Ｐ３に移動して、図５（Ｄ）に示すように保管場所Ｐ３で荷物Ｌ２を引き渡す。こうして、無人搬送車１０は、作業指令Ｂに係る荷物Ｌ２の搬送作業を完了する。   Next, the automatic guided vehicle 10 moves to the loading location P1 based on the loading location information included in the work command signal related to the work command B, and loads the cargo at the loading location P1 as shown in FIG. L2 is received. Next, the automatic guided vehicle 10 moves to the storage place P3 based on the information on the unloading place included in the work command signal related to the work command B, and the luggage L2 at the storage place P3 as shown in FIG. Hand over. In this way, the automatic guided vehicle 10 completes the work of transporting the luggage L2 according to the work command B.

次に、図６を参照して、上記の作業指令Ａおよび作業指令Ｂを受けている無人搬送車１０が荷物Ｌ１の搬送中に、バッテリ１１の蓄電量が所定量未満になったときの無線給電システム１の動作の一例を説明する。   Next, referring to FIG. 6, the wireless when the power storage amount of the battery 11 becomes less than a predetermined amount while the automated guided vehicle 10 receiving the work command A and the work command B is transporting the load L1. An example of the operation of the power feeding system 1 will be described.

無人搬送車１０は、図６（Ａ）に示すように作業指令Ａに従い入庫場所Ｐ１から保管場所Ｐ２まで荷物Ｌ１を搬送している時、バッテリ１１の蓄電量が所定量未満になると、給電要求信号送信部１０ａが給電要求信号を管理装置２０に送信する。そして、管理装置２０の無線通信部２５および充電指令信号送信部２３が給電要求信号を受信する。   As shown in FIG. 6A, the automatic guided vehicle 10 requests a power supply when the stored amount of the battery 11 is less than a predetermined amount when the load L1 is being transported from the storage location P1 to the storage location P2 in accordance with the work instruction A. The signal transmission unit 10 a transmits a power supply request signal to the management device 20. Then, the wireless communication unit 25 and the charging command signal transmission unit 23 of the management device 20 receive the power supply request signal.

給電要求信号を受信した充電指令信号送信部２３は、情報格納部２１に格納された搬送作業に係る情報に基づいて、荷物Ｌ１の荷卸場所である保管場所Ｐ２に最も近い保管場所Ｑ２を給電装置３０の受取場所として選定する。さらに、充電指令信号送信部２３は、情報格納部２１に格納された搬送作業に係る情報に基づいて、荷物Ｌ２の荷積場所である入庫場所Ｐ１に最も近い保管場所Ｑ１を給電装置３０の引渡場所として選定する。そして、充電指令部２０ｂが、下記の「充電指令Ｃ」に係る充電指令信号を無人搬送車１０に送信する。すなわち、管理装置２０が下記の「充電指令Ｃ」を無人搬送車１０に対して行う。
充電指令Ｃ：給電装置３０の受取場所である保管場所Ｑ２から引渡場所である保管場所Ｑ１へ移動する間、給電装置３０から供給される電力でバッテリ１１を充電すること Upon receiving the power supply request signal, the charging command signal transmission unit 23 supplies the storage location Q2 closest to the storage location P2 that is the unloading location of the luggage L1 based on the information related to the transport operation stored in the information storage unit 21 to the power supply device. Select 30 receiving locations. Further, the charging command signal transmission unit 23 delivers the storage location Q1 closest to the warehousing location P1, which is the loading location of the load L2, based on the information related to the transport work stored in the information storage unit 21. Select as a place. Then, the charging command unit 20 b transmits a charging command signal related to the following “charging command C” to the automatic guided vehicle 10. That is, the management device 20 performs the following “charge command C” to the automatic guided vehicle 10.
Charging command C: charging the battery 11 with the power supplied from the power supply device 30 while moving from the storage location Q2 that is the receiving location of the power supply device 30 to the storage location Q1 that is the delivery location.

無線通信部１３は、入庫場所Ｐ１から保管場所Ｐ２に移動する間に、充電指令Ｃに係る充電指令信号を受信すると、記憶部１４には、給電装置３０の受取場所の情報および引渡場所の情報が記憶される。こうして、「充電指令Ｃ」を受けた無人搬送車１０は、給電装置３０の受取場所の情報に基づいて、保管場所Ｐ２で荷物Ｌ１を引き渡した後に保管場所Ｑ２に移動して、図６（Ｂ）に示すように給電装置３０を受け取る。無人搬送車１０が給電装置３０を受け取る際に、給電要求部１６および無線通信部１３は、給電指示信号を給電装置３０に送信し、送電部３２がマイクロ波の送電を開始する。そして、無人搬送車１０は、給電装置３０の引渡場所の情報に基づいて、図６（Ｃ）に示すように保管場所Ｑ２から保管場所Ｑ１に移動する。こうして、給電装置３０は、給電装置３０を搬送中の無人搬送車１０が保管場所Ｑ２から保管場所Ｑ１まで移動する間、バッテリ１１に対してマイクロ波により給電する。   When the wireless communication unit 13 receives the charging command signal related to the charging command C while moving from the storage location P1 to the storage location P2, the storage unit 14 stores the information on the receiving location and the delivery location information on the power supply device 30. Is memorized. In this way, the automatic guided vehicle 10 that has received the “charging instruction C” moves to the storage location Q2 after delivering the luggage L1 at the storage location P2, based on the information on the receiving location of the power feeding device 30, and FIG. The power supply device 30 is received as shown in FIG. When the automatic guided vehicle 10 receives the power supply device 30, the power supply request unit 16 and the wireless communication unit 13 transmit a power supply instruction signal to the power supply device 30, and the power transmission unit 32 starts microwave power transmission. Then, the automatic guided vehicle 10 moves from the storage location Q2 to the storage location Q1 as shown in FIG. 6C based on the information on the delivery location of the power feeding device 30. Thus, the power feeding device 30 feeds power to the battery 11 by the microwave while the automatic guided vehicle 10 that is transporting the power feeding device 30 moves from the storage location Q2 to the storage location Q1.

次いで、無人搬送車１０は、図６（Ｄ）に示すように保管場所Ｑ１で給電装置３０を引き渡す。そして、無人搬送車１０は、入庫場所Ｐ１で荷物Ｌ２を受け取り、入庫場所Ｐ１から保管場所Ｐ３に移動して荷物Ｌ２を引き渡す。こうして、バッテリ１１の充電後に、作業指令Ｂに係る荷物Ｌ２の搬送作業を完了する。このように、無人搬送車１０は、作業指令Ａの遂行中に充電指令Ｃに係る充電指令信号を受信した場合、作業指令Ａの遂行後、作業指令Ｂの遂行前に充電指令Ｃを遂行する。   Next, as shown in FIG. 6D, the automatic guided vehicle 10 delivers the power feeding device 30 at the storage location Q1. The automatic guided vehicle 10 receives the luggage L2 at the warehousing location P1, moves from the warehousing location P1 to the storage location P3, and delivers the luggage L2. Thus, after the battery 11 is charged, the work for transporting the load L2 according to the work command B is completed. As described above, when the automatic guided vehicle 10 receives the charge command signal related to the charge command C during the execution of the work command A, the automatic guided vehicle 10 executes the charge command C after the work command A is executed and before the work command B is executed. .

以上のように構成された無線給電システム１において、無人搬送車１０のバッテリ１１に対して、給電装置３０により給電する無線給電方法は、下記（Ｓ１）〜（Ｓ６）のステップを備える。
（Ｓ１）無人搬送車１０が、バッテリ１１の蓄電量が所定量未満であるときに、給電要求信号を管理装置２０に送信する給電要求信号送信ステップ
（Ｓ２）給電要求信号を受信した管理装置２０が、給電装置３０の受取場所および引渡場所の情報を無人搬送車１０に送信することで、バッテリ１１の充電を指令する充電指令ステップ
（Ｓ３）無人搬送車１０が、管理装置２０から受信した受取場所の情報に基づいて、その受取場所に移動して給電装置３０を受け取る給電装置受取ステップ
（Ｓ４）給電装置３０を受け取った無人搬送車１０が、管理装置２０から受信した引渡場所の情報に基づいて、その引渡場所に移動して給電装置３０を引き渡す給電装置引渡ステップ
（Ｓ５）給電装置３０が、その給電装置３０を搬送中の無人搬送車１０が受取場所から引渡場所まで移動する間に、バッテリ１１に対してマイクロ波により給電する給電ステップ In the wireless power feeding system 1 configured as described above, the wireless power feeding method for feeding power to the battery 11 of the automatic guided vehicle 10 by the power feeding device 30 includes the following steps (S1) to (S6).
(S1) The power supply request signal transmission step (S2) in which the automatic guided vehicle 10 transmits a power supply request signal to the management device 20 when the storage amount of the battery 11 is less than a predetermined amount (S2) The management device 20 that has received the power supply request signal However, by sending information on the receiving location and delivery location of the power feeding device 30 to the automatic guided vehicle 10, a charging command step for instructing charging of the battery 11 (S <b> 3). The reception received by the automatic guided vehicle 10 from the management device 20. Based on the information on the location, the power supply device receiving step (S4) for moving to the receiving location and receiving the power supply device 30 (S4) The automatic guided vehicle 10 that has received the power supply device 30 receives the information on the delivery location received from the management device 20 Then, the power supply device delivery step (S5) in which the power supply device 30 moves to the delivery location and delivers the power supply device 30. While moving from the receiving location to delivery location, feeding step of feeding the microwaves to the battery 11

本実施形態においては以下の効果が得られる。
（１）バッテリ１１への給電が必要でないとき、すなわちバッテリ１１の蓄電量が所定量以上であるときには、無人搬送車１０が給電装置３０を受け取らないことにより、荷物Ｌを無人搬送車１０に搬送させることができる。また、バッテリ１１への給電が必要なとき、すなわちバッテリ１１の蓄電量が所定量未満であるときには、無人搬送車１０が給電装置３０を受取場所で受け取ることにより、給電装置３０からバッテリ１１への給電を行わせることができる。したがって、給電装置３０からバッテリ１１への給電の効率性を高めることができる。 In the present embodiment, the following effects can be obtained.
(1) When power supply to the battery 11 is not necessary, that is, when the storage amount of the battery 11 is greater than or equal to a predetermined amount, the automatic guided vehicle 10 does not receive the power supply device 30, thereby transporting the luggage L to the automatic guided vehicle 10. Can be made. Further, when power supply to the battery 11 is necessary, that is, when the storage amount of the battery 11 is less than a predetermined amount, the automatic guided vehicle 10 receives the power supply device 30 at the receiving place, so that the power supply device 30 supplies the battery 11. Power can be supplied. Therefore, the efficiency of power feeding from the power feeding device 30 to the battery 11 can be improved.

（２）無人搬送車１０は、管理装置２０から受信した引渡場所の情報に基づいて、その引渡場所に移動して給電装置３０を引き渡すため、管理装置２０は、引渡場所で保管される給電装置３０の個数を管理することができる。   (2) Since the automatic guided vehicle 10 moves to the delivery location and delivers the power feeding device 30 based on the delivery location information received from the management device 20, the management device 20 stores the power feeding device stored in the delivery location. 30 pieces can be managed.

（３）充電指令部２０ｂは、搬送作業に係る情報に基づいて給電装置３０の受取場所を選定するため、複数の受取場所から荷卸場所に最も近い受取場所を選ぶことが可能であり、無人搬送車１０を速やかに受取場所まで移動させることが可能となる。   (3) Since the charging command unit 20b selects the receiving location of the power feeding device 30 based on the information related to the transporting operation, it is possible to select the receiving location closest to the unloading location from a plurality of receiving locations, and unmanned transport The vehicle 10 can be quickly moved to the receiving place.

（４）無人搬送車１０は、作業指令部２０ａおよび充電指令部２０ｂによる指令に基づいて、荷物Ｌ１を保管場所Ｐ２で引き渡した後に保管場所Ｑ２で給電装置３０を受け取り、その給電装置３０を保管場所Ｑ１で引き渡した後に入庫場所Ｐ１で荷物Ｌ２を受け取る。こうして荷物Ｌ１，Ｌ２の搬送作業の合間に給電装置３０による給電が行われるため、無人搬送車１０の稼働効率の低下を防ぎながら、給電装置３０からバッテリ１１への給電の効率性を高めることができる。また、荷物Ｌと給電装置３０とが同時に搬送されることがないため、無人搬送車１０は一回の搬送作業において多くの荷物Ｌを搬送することができる。   (4) The automatic guided vehicle 10 receives the power supply device 30 at the storage location Q2 after delivering the luggage L1 at the storage location P2 based on the instructions from the work command unit 20a and the charge command unit 20b, and stores the power supply device 30 After delivery at the place Q1, the package L2 is received at the warehousing place P1. In this way, since the power feeding device 30 performs power feeding between the transportation operations of the luggage L1 and L2, the efficiency of power feeding from the power feeding device 30 to the battery 11 can be improved while preventing the operation efficiency of the automatic guided vehicle 10 from being lowered. it can. Further, since the luggage L and the power feeding device 30 are not conveyed at the same time, the automatic guided vehicle 10 can convey a large amount of the luggage L in one conveyance operation.

（５）管理装置２０は、給電装置３０から受信した位置情報に基づいて、情報格納部２１に格納された受取場所の情報を更新するため、給電装置３０が任意の場所で無人搬送車１０から引き渡された場合であっても、給電装置３０の位置を管理することができる。   (5) Since the management apparatus 20 updates the information on the receiving location stored in the information storage unit 21 based on the position information received from the power supply apparatus 30, the power supply apparatus 30 can be moved from the automatic guided vehicle 10 at an arbitrary location. Even in the case of delivery, the position of the power feeding device 30 can be managed.

本発明は、上記実施形態に限定されるものではなく、上記構成を変更することもできる。例えば、以下のように変更して実施することもでき、以下の変更を組み合わせて実施することもできる。   The present invention is not limited to the above embodiment, and the above configuration can be changed. For example, the following modifications can be implemented, and the following modifications can be combined.

・充電指令信号送信部２３は、受取場所および引渡場所の選定方法を適宜変更することができ、無人搬送車１０が充電指令を遂行するタイミングを適宜変更することもできる。
例えば、受取場所および引渡場所の選定方法については、充電指令信号送信部２３は、受取場所から引渡場所までの距離が所定距離（バッテリ１１の充電時間をある程度確保できる距離）以上となるのであれば、受取場所および引渡場所を任意に選定することができる。また、無人搬送車１０が充電指令を遂行するタイミングについては、給電要求信号を送信した無人搬送車１０が第１の荷物Ｌの搬送中である場合であって、かつ、第１の荷物Ｌの荷卸場所と次に搬送する第２の荷物Ｌの荷積場所とが同じ、またはそれらの距離が近い場合は、無人搬送車１０は第２の荷物Ｌの搬送作業を完了した後に充電指令を遂行してもよい。この場合、充電指令信号送信部２３は、第２の荷物Ｌの荷卸場所の近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを受取場所として選定し、その次に搬送する第３の荷物Ｌの荷積場所の近くに位置する保管場所Ｑ１〜Ｑ４のいずれかを引渡場所として選定して、当該受取場所および引渡場所の情報と、第２の荷物Ｌの搬送作業の完了後に充電指令を遂行する旨の情報とを含む充電指令信号を、無人搬送車１０に送信することができる。 -The charge command signal transmission part 23 can change the selection method of a receiving place and a delivery place suitably, and can also change the timing which the automatic guided vehicle 10 performs a charge command suitably.
For example, regarding the method of selecting the receiving location and the delivery location, the charging command signal transmission unit 23 is provided that the distance from the receiving location to the delivery location is equal to or greater than a predetermined distance (a distance that can ensure the charging time of the battery 11 to some extent). The receiving place and the delivery place can be arbitrarily selected. The timing at which the automatic guided vehicle 10 performs the charging command is the case where the automatic guided vehicle 10 that has transmitted the power supply request signal is transporting the first load L and the first load L When the unloading place and the loading place of the second baggage L to be transported next are the same or close to each other, the automatic guided vehicle 10 issues a charge command after completing the transporting work of the second baggage L May be. In this case, the charging command signal transmission unit 23 selects any one of the storage locations Q1 to Q4 located near the unloading location of the second luggage L as the receiving location, and then the third cargo L to be transported next. Any one of the storage locations Q1 to Q4 located near the loading location is selected as the delivery location, and the charging instruction is executed after the information on the receiving location and delivery location and the transfer operation of the second luggage L are completed. The charging command signal including the information to that effect can be transmitted to the automatic guided vehicle 10.

・搬送の搬送システムの規模に応じて、無人搬送車１０、アクセスポイント２０Ｂ、給電装置３０の個数を適宜変更してもよく、無人搬送車１０、アクセスポイント２０Ｂ、給電装置３０は、それぞれ１つであってもよい。また、アクセスポイント２０Ｂを省略して、無人搬送車１０とサーバー２０Ａとが直接付芯を行う構成を採用することもできる。   The number of the automatic guided vehicle 10, the access point 20B, and the power feeding device 30 may be appropriately changed according to the scale of the transport system, and each of the automatic guided vehicle 10, the access point 20B, and the power feeding device 30 is one. It may be. In addition, it is possible to adopt a configuration in which the access point 20B is omitted and the automatic guided vehicle 10 and the server 20A directly core.

・無人搬送車１０と給電装置３０とが通信する構成に代えて、管理装置２０と給電装置３０とが通信する構成を採用してもよい。この場合、無人搬送車１０が給電装置３０を受け取ったときに、管理装置２０が給電指示信号を給電装置３０に送信する。   -Instead of the configuration in which the automatic guided vehicle 10 and the power feeding device 30 communicate with each other, a configuration in which the management device 20 and the power feeding device 30 communicate with each other may be employed. In this case, when the automatic guided vehicle 10 receives the power supply device 30, the management device 20 transmits a power supply instruction signal to the power supply device 30.

・管理装置２０が、給電装置３０の引渡場所の情報を無人搬送車１０に送信しない構成を採用してもよい。この場合、給電装置３０を受け取った無人搬送車１０が、常に所定の場所（例えば出庫場所Ｐ４）で給電装置３０を引き渡すように構成することができる。   A configuration may be adopted in which the management device 20 does not transmit information on the delivery location of the power feeding device 30 to the automatic guided vehicle 10. In this case, the automatic guided vehicle 10 that has received the power supply device 30 can be configured to always deliver the power supply device 30 at a predetermined location (for example, the delivery location P4).

・無人フォークリフト以外の無人搬送車（例えば、積載型の無人搬送車や牽引型の無人搬送車）に本発明を適用することもできる。   The present invention can also be applied to an automatic guided vehicle other than the automatic forklift (for example, a loading automatic guided vehicle or a towing automatic guided vehicle).

１ 無線給電システム
１０ 無人搬送車
１０ａ 給電要求信号送信部
１１ バッテリ
２０ 管理装置
２０Ａ サーバー
２０Ｂ アクセスポイント
２０ａ 作業指令部
２０ｂ 充電指令部
２１ 情報格納部
２４ 情報更新部
３０ 給電装置
３０ａ 位置情報送信部
Ｌ，Ｌ１，Ｌ２ 荷物
Ｐ１ 入庫場所（荷積場所）
Ｐ２，Ｐ３ 保管場所（荷積場所、荷卸場所）
Ｐ４ 出庫場所（荷卸場所）
Ｑ１，Ｑ２，Ｑ３，Ｑ４ 保管場所（受取場所、引渡場所） 1 wireless power supply system 10 automatic guided vehicle 10a power supply request signal transmission unit 11 battery 20 management device 20A server 20B access point 20a work command unit 20b charge command unit 21 information storage unit 24 information update unit 30 power supply device 30a position information transmission unit L, L1, L2 Luggage P1 Storage location (loading location)
P2, P3 Storage location (loading place, unloading place)
P4 shipping place (unloading place)
Q1, Q2, Q3, Q4 Storage location (receiving location, delivery location)

Claims (6)

荷物を搬送する無人搬送車と、
前記無人搬送車を管理する管理装置と、
前記無人搬送車により搬送される給電装置と、を備え、
前記無人搬送車のバッテリに対して、前記給電装置により給電する無線給電システムであって、
前記無人搬送車は、前記バッテリの蓄電量が所定量未満であるときに、給電要求信号を前記管理装置に送信する給電要求信号送信部を備え、
前記管理装置は、
前記給電装置の受取場所の情報を格納する情報格納部と、
前記給電要求信号を受信した場合に、前記情報格納部に格納された前記受取場所の情報を前記無人搬送車に送信することで、前記バッテリの充電を指令する充電指令部と、を備え、
前記無人搬送車は、前記受取場所の情報に基づいて、当該受取場所に移動して前記給電装置を受け取った後、所定の引渡場所に移動して前記給電装置を引き渡し、
前記給電装置は、当該給電装置を搬送中の前記無人搬送車が前記受取場所から前記引渡場所まで移動する間に、前記バッテリに対してマイクロ波により給電する
ことを特徴とする無線給電システム。 An automated guided vehicle that transports luggage,
A management device for managing the automatic guided vehicle;
A power feeding device conveyed by the automatic guided vehicle,
A wireless power feeding system that feeds power to the battery of the automatic guided vehicle by the power feeding device,
The automatic guided vehicle includes a power supply request signal transmission unit that transmits a power supply request signal to the management device when a storage amount of the battery is less than a predetermined amount.
The management device
An information storage unit for storing information on a receiving place of the power supply device;
A charging command unit that commands charging of the battery by transmitting the information on the receiving location stored in the information storage unit to the automatic guided vehicle when the power supply request signal is received;
Based on the information on the receiving location, the automatic guided vehicle moves to the receiving location and receives the power feeding device, then moves to a predetermined delivery location and delivers the power feeding device,
The power feeding device feeds power to the battery by microwaves while the automatic guided vehicle that is transporting the power feeding device moves from the receiving location to the delivery location. 前記充電指令部は、前記給電装置の引渡場所の情報を前記無人搬送車に送信し、
前記無人搬送車は、前記引渡場所の情報に基づいて、当該引渡場所に移動して前記給電装置を引き渡す
ことを特徴とする請求項１に記載の無線給電システム。 The charging command unit transmits information on a delivery location of the power feeding device to the automatic guided vehicle,
The wireless power feeding system according to claim 1, wherein the automatic guided vehicle moves to the delivery location and delivers the power feeding device based on the delivery location information. 前記情報格納部は、前記無人搬送車による前記荷物の搬送作業に係る情報を格納し、
複数の前記給電装置が、それぞれ異なる受取場所で前記無人搬送車が受け取れるように配置され、
前記充電指令部は、前記搬送作業に係る情報に基づいて前記受取場所を選定し、選定した当該受取場所の情報を前記無人搬送車に送信する
ことを特徴とする請求項１または２に記載の無線給電システム。 The information storage unit stores information related to the work of transporting the luggage by the automatic guided vehicle,
A plurality of the power feeding devices are arranged so that the automatic guided vehicle can be received at different receiving places,
The charging instruction unit selects the receiving location based on information related to the transport operation, and transmits information on the selected receiving location to the automatic guided vehicle. Wireless power supply system. 前記管理装置は、第１荷積場所から第１荷卸場所まで第１荷物を搬送する第１搬送作業と、第２荷積場所から第２荷卸場所まで第２荷物を搬送する第２搬送作業とを、前記無人搬送車に対して指令する作業指令部を備え、
前記無人搬送車は、前記作業指令部および前記充電指令部による指令に基づいて、前記第１荷物を前記第１荷卸場所で引き渡した後に前記受取場所で前記給電装置を受け取り、当該給電装置を前記引渡場所で引き渡した後に前記第２荷積場所で前記第２荷物を受け取る
ことを特徴とする請求項１〜３のいずれか一項に記載の無線給電システム。 The management device includes a first transport operation for transporting the first cargo from the first loading location to the first unloading location, and a second transport operation for transporting the second cargo from the second loading location to the second unloading location. A work command unit that commands the automatic guided vehicle,
The automatic guided vehicle receives the power feeding device at the receiving place after delivering the first load at the first unloading place based on instructions from the work command unit and the charging command unit, and The wireless power feeding system according to any one of claims 1 to 3, wherein the second load is received at the second loading location after being delivered at the delivery location. 前記給電装置は、当該給電装置の位置情報を前記管理装置に送信する位置情報送信部を備え、
前記管理装置は、前記給電装置から受信した当該給電装置の位置情報に基づいて、前記情報格納部に格納された前記受取場所の情報を更新する情報更新部を備える
ことを特徴とする請求項１〜４のいずれか一項に記載の無線給電システム。 The power supply apparatus includes a position information transmission unit that transmits position information of the power supply apparatus to the management apparatus,
The said management apparatus is provided with the information update part which updates the information of the said receiving place stored in the said information storage part based on the positional information on the said power supply apparatus received from the said power supply apparatus. The wireless power feeding system according to claim 1. 荷物を搬送する無人搬送車と、前記無人搬送車を管理する管理装置と、前記無人搬送車により搬送される給電装置とを備えた無線給電システムにおいて、前記無人搬送車のバッテリに対して、前記給電装置により給電する無線給電方法であって、
前記無人搬送車が、前記バッテリの蓄電量が所定量未満であるときに、給電要求信号を前記管理装置に送信する給電要求信号送信ステップと、
前記給電要求信号を受信した前記管理装置が、前記給電装置の受取場所の情報を前記無人搬送車に送信することで、前記バッテリの充電を指令する充電指令ステップと、
前記無人搬送車が、前記管理装置から受信した前記受取場所の情報に基づいて、当該受取場所に移動して前記給電装置を受け取る給電装置受取ステップと、
前記給電装置を受け取った前記無人搬送車が、所定の引渡場所に移動して前記給電装置を引き渡す給電装置引渡ステップと、
前記給電装置が、当該給電装置を搬送中の前記無人搬送車が前記受取場所から前記引渡場所まで移動する間に、前記バッテリに対してマイクロ波により給電する給電ステップと、を備える
ことを特徴とする無線給電方法。 In a wireless power feeding system including an automatic guided vehicle that transports a load, a management device that manages the automatic guided vehicle, and a power feeding device that is transported by the automatic guided vehicle, the battery of the automatic guided vehicle A wireless power feeding method for feeding power by a power feeding device,
When the automatic guided vehicle has a power storage amount of the battery less than a predetermined amount, a power supply request signal transmission step of transmitting a power supply request signal to the management device;
The management device that has received the power supply request signal transmits a charge command step for instructing charging of the battery by transmitting information on a receiving location of the power supply device to the automatic guided vehicle;
The automatic guided vehicle moves to the receiving location based on the information on the receiving location received from the management device, and receives the power feeding device.
The automatic guided vehicle that has received the power supply device moves to a predetermined delivery location and delivers the power supply device, and a power supply device delivery step,
The power feeding device includes a power feeding step of feeding power to the battery by microwave while the automatic guided vehicle transporting the power feeding device moves from the receiving location to the delivery location. Wireless power supply method.
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JP2020175738A (en) * 2019-04-17 2020-10-29 三菱ロジスネクスト株式会社 Power supply system for unmanned flight body and control device

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JP2020175737A (en) * 2019-04-17 2020-10-29 三菱ロジスネクスト株式会社 Power supply system for unmanned flight body and control device
JP2020175738A (en) * 2019-04-17 2020-10-29 三菱ロジスネクスト株式会社 Power supply system for unmanned flight body and control device

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