JP2017189014A - Power supply system and power supply method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power supply system and a power supply method, capable of improving power supply efficiency to an unmanned carrier from a power supply device.SOLUTION: A power supply system 1 comprises: an unmanned carrier 10; a management device 20; and a power supply device 30. The management device 20 comprises: a power supply schedule formation part that forms a power supply schedule for instructing a conveying of a power supply device 30 during a movement time of the unmanned carrier 10 when the movement time until to a loading place of the other luggage from an unloading place of the luggage is equal to a predetermined time or lager; and a power supply schedule transmission part that transmits the power supply schedule to the unmanned carrier 10 for instructing the conveying of the power supply device 30 to the unmanned carrier 10. The unmanned carrier 10 includes: a power supply schedule reception part that receives the power supply schedule; a control part that controls an operation of the unmanned carrier 10 so as to convey the power supply device 30 on the basis of the power supply schedule to be received; and a battery 11 that stores an electric power supplied from the power supply device 30 during the conveying of the power supply device 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a power supply system and a power supply method for supplying power to a traveling automatic guided vehicle.

  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 automated guided vehicle at standby.

  By the way, in order to improve the operation efficiency of the automatic guided vehicle, it is required to supply power to the automatic guided vehicle that is running. In Patent Document 1, the power of the pallet-side battery mounted on the pallet is A system for supplying a vehicle-side battery included in an automatic guided vehicle is described.

JP 2014-117067 A

  However, in the power supply system of Patent Document 1, there is no distinction between automatic guided vehicles that require power supply and automatic guided vehicles that do not need power supply, and when pallet-side batteries are mounted on all pallets used. Also, there is a possibility that power is wasted even for an automated guided vehicle that does not require power supply. That is, when the automatic guided vehicle transports the load, since the power supply from the power supply device (pallet side battery) is always performed to the automatic guided vehicle (vehicle side battery), there is a problem that the efficiency of power supply is low.

  This invention is made | formed in view of the said situation, Comprising: It aims at providing the electric power feeding system and electric power feeding method which can improve the efficiency of the electric power feeding from an electric power feeder to an automatic guided vehicle.

In order to solve the above-mentioned problem, the invention described in claim 1 is conveyed by the automatic guided vehicle that travels to transport the load, the management device that manages the operation of the automatic guided vehicle, and the automatic guided vehicle. And a power feeding system that feeds power to the automatic guided vehicle,
The power supply device during the movement time when the movement time of the automatic guided vehicle from the unloading place where the automatic guided vehicle delivers the load to the loading place where the other load is received becomes a predetermined time or more. A power supply schedule generating unit that generates a power supply schedule for instructing the automatic guided vehicle to convey the power supply, and a power supply schedule transmitting unit that transmits the power supply schedule to the automatic guided vehicle. A power supply schedule receiving unit that receives the power supply schedule transmitted from a management device, a control unit that controls the operation of the automatic guided vehicle so as to convey the power supply device based on the received power supply schedule, and the power supply device And a battery for storing electric power supplied from the power supply device during the conveyance of the battery.

  According to a second aspect of the present invention, in the power feeding system according to the first aspect, the power feeding schedule includes information on a receiving location where the automatic guided vehicle receives the power feeding device, and the automatic guided vehicle determines the power feeding device. At least information related to the delivery location, and the control unit controls the operation of the automatic guided vehicle to transport the power feeding device from the receiving location to the delivery location based on the power feeding schedule. Features.

  According to a third aspect of the present invention, in the power supply system according to the first or second aspect, the power supply schedule generation unit estimates a time when the charged amount of the battery is less than a predetermined amount, and the charged amount of the battery is When the movement time is equal to or longer than a predetermined time in a state of less than a predetermined amount, the power supply schedule for instructing conveyance of the power supply apparatus during the movement time is generated.

  Invention of Claim 4 is the electric power feeding system as described in any one of Claims 1-3, The said electric power feeder is further equipped with the wireless power transmission part which transmits electric power by transmission of a microwave, The said automatic guided vehicle is And a wireless power receiving unit that receives power by receiving microwaves.

  According to a fifth aspect of the present invention, in the power supply system according to any one of the first to fourth aspects, the management device generates the power supply schedule including information related to a receiving location of the power supply device. An information storage unit that stores position information of the power supply device, and an information update unit that updates the position information of the power supply device stored in the information storage unit based on the conveyance of the power supply device by the automatic guided vehicle. It is characterized by providing.

  A power supply system comprising: an automatic guided vehicle that travels to transport a load; a management device that manages operation of the automatic guided vehicle; and a power supply device that is transported by the automatic guided vehicle. The power supply method of supplying power to the automatic guided vehicle by the power supply device, wherein the automatic guided vehicle travels from the unloading place where the automatic guided vehicle delivers the load to the loading place where another load is received for a predetermined time. When this is the case, the management device generates a power supply schedule for generating a power supply schedule for instructing the automatic guided vehicle to convey the power supply device during the travel time, and the management device transmits the power supply schedule. A power supply schedule transmission step, a power supply schedule reception step in which the automatic guided vehicle receives the transmitted power supply schedule, and The automatic guided vehicle transports the power feeding device based on the received power feeding schedule, and the power feeding device includes a power feeding step of feeding power to a battery included in the automatic guided vehicle that is transporting the power feeding device. Features.

  ADVANTAGE OF THE INVENTION According to this invention, the electric power feeding system and electric power feeding method which can improve the efficiency of the electric power feeding from an electric power feeder to an automatic guided vehicle can be provided.

It is a schematic diagram of the electric power feeding system which concerns on one Embodiment of this invention. It is a block diagram which shows schematic structure of the automatic guided vehicle which concerns on the embodiment. It is a block diagram which shows schematic structure of the management apparatus which concerns on the same embodiment. It is a block diagram which shows schematic structure of the electric power feeder which concerns on the same embodiment. It is a figure which shows an example of the flow of operation | movement of the automatic guided vehicle which concerns on the embodiment. It is a figure which shows an example of the flow of operation | movement of the automatic guided vehicle which concerns on a comparative example.

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the power feeding system 1 includes an unmanned transport vehicle 10 that travels to transport loads, a management device 20 that manages the operation of the automatic guided vehicle 10, and an unmanned transport vehicle 10 that is unmanned. And a plurality of power supply devices 30 that supply power to the transport vehicle 10.

  The automatic guided vehicle 10 is an unmanned forklift provided with a cargo handling fork that can be moved up and down. The automatic guided vehicle 10 conveys the load from the loading place to the unloading place based on the cargo handling schedule received from the management device 20. After delivering the package at the unloading place and finishing the transportation, the automatic guided vehicle 10 moves to the loading place for receiving another package, receives the package at the loading place, and starts the transportation. In this way, the automatic guided vehicle 10 alternately repeats the load transfer operation for transferring the load and the move operation for not transferring the load.

  The loading place and the unloading place are, for example, a loading station P1 for loading a baggage into an automatic warehouse, a baggage storage location P2 provided with a rack for storing the baggage, and a baggage storage box from the automatic warehouse. One of the delivery stations P3. When the loading location is the receiving station P1, the unloading location is the luggage storage location P2, and when the loading location is the luggage storage location P2, the loading location is the delivery station P3.

  Further, based on the power supply schedule received from the management device 20, the automatic guided vehicle 10 transports the power supply device 30 after finishing the transport of the load and before starting the transport of other packages. That is, the automated guided vehicle 10 transports the power feeding device 30 from the receiving location to the delivery location during the movement time of the automated guided vehicle 10 from the unloading location to the loading location. That is, the automatic guided vehicle 10 receives the power feeding device 30 at the receiving location and delivers the power feeding device 30 at a delivery location away from the receiving location. The automatic guided vehicle 10 is supplied with electric power from the power feeding device 30 while the power feeding device 30 is being transported. Thus, the automatic guided vehicle 10 performs a power feeding device transport operation for transporting the power feeding device 30.

  The receiving place and the delivery place of the power supply device 30 are a power supply device storage place Q provided with a rack for storing the power supply device 30. The receiving place of the power feeding device 30 is provided in the vicinity of the unloading place so that the power feeding device 30 can be quickly received after the automated guided vehicle 10 delivers the package. In addition, the delivery location of the power supply device 30 is provided in the vicinity of the loading location so that the automatic guided vehicle 10 can quickly receive the package after delivering the power supply device 30.

  The management device 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 management device 20 is unmanned by transmitting a cargo handling schedule and a power supply schedule to the automatic guided vehicle 10. The operation of the transport vehicle 10 is managed. The server 20A generates a package schedule based on information input from the administrator, and generates a power supply schedule based on the transport schedule. The server 20A transmits the cargo handling schedule and the power supply schedule to the automated guided vehicle 10 through any of the plurality of access points 20B arranged in a distributed manner.

  The power feeding device 30 is distributed in a plurality of receiving places. That is, at least one power feeding device 30 is arranged at a receiving place of the power feeding device 30 located in the vicinity of the unloading place. The power feeding device 30 feeds power to the automatic guided vehicle 10 that is transporting the power feeding device 30.

  As shown in FIG. 2, the automatic guided vehicle 10 includes a battery 11, a traveling device 12, a wireless communication unit 13, a storage unit 14, a control unit 15, a power feeding control unit 16, and a wireless power receiving unit 17. I have. The automatic guided vehicle 10 receives power supply from the power supply device 30 when the amount of power stored in the battery 11 decreases.

  The battery 11 is composed of a rechargeable secondary battery and supplies power to the traveling device 12 and the like. The battery 11 stores electric power supplied from the power supply device 30 while the power supply device 30 is being transported. The amount of power stored in the battery 11 is reduced by supplying power to the traveling device 12 and the like, and is increased by storing the power supplied from the power feeding device 30.

  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.

  The wireless communication unit 13 is a power supply schedule receiving unit that receives a power supply schedule, and includes a wireless communication module including a small antenna for communicating with the management device 20 and the power supply device 30. The wireless communication unit 13 receives the cargo handling schedule and the power supply schedule transmitted from the management device 20. In addition, the wireless communication unit 13 transmits a power supply request signal and a power supply stop signal to the power supply device 30 in accordance with an instruction from the power supply control unit 16.

  The storage unit 14 includes a storage device (for example, a semiconductor memory) that stores information related to the cargo handling schedule and the power supply schedule received by the wireless communication unit 13. The storage unit 14 stores, as information related to the cargo handling schedule, information on the order of the cargo transportation work, information on the cargo loading location, and information on the cargo unloading location. In addition, the storage unit 14 stores, as information related to the power supply schedule, information on the time when the power supply device 30 is transported, information on a receiving location of the power supply device 30, and information on a delivery location of the power supply device 30.

  The control unit 15 is configured by an integrated circuit that controls the traveling device 12. Based on the cargo handling schedule stored in the storage unit 14, the control unit 15 controls the traveling device 12 so that the automatic guided vehicle 10 transports the load from the loading place to the unloading place. That is, the control unit 15 controls the operation of the automatic guided vehicle 10 so as to transport the package from the loading site to the unloading site based on the cargo handling schedule received from the management device 20. Further, the control unit 15 controls the traveling device 12 so that the automatic guided vehicle 10 transports the power feeding device 30 from the receiving location to the delivery location based on the power feeding schedule stored in the storage unit 14. That is, the control unit 15 controls the operation of the automatic guided vehicle 10 so as to transport the power feeding device 30 from the receiving location to the delivery location based on the power feeding schedule received from the management device 20.

  The power supply control unit 16 is configured by an integrated circuit that controls the wireless communication unit 13. Based on the power supply schedule stored in the storage unit 14, the power supply control unit 16 controls the wireless communication unit 13 to transmit a power supply request signal when the automatic guided vehicle 10 starts transporting the power supply device 30. . In addition, the power supply control unit 16 transmits a power supply stop signal when the charging of the battery 11 is completed during power reception from the power supply device 30 or when the automatic guided vehicle 10 ends the conveyance of the power supply device 30. The wireless communication unit 13 is controlled.

  The wireless power receiving unit 17 includes a rectenna that receives microwaves. The wireless power receiving unit 17 receives power from the power feeding device 30 by converting the microwave received from the power feeding device 30 into electric energy. Then, the wireless power receiving unit 17 supplies the power received from the power feeding device 30 to the battery 11. Thus, the battery 11 is charged.

  As shown in FIG. 3, the management device 20 includes an information storage unit 21, a cargo handling schedule generation unit 22, a power supply schedule generation unit 23, and an information update unit 24 provided in the server 20A, and an access point 20B. The wireless communication unit 25 is provided.

  The information storage unit 21 is configured by a storage device (for example, a hard disk drive) that stores information related to the luggage to be transported by the automated guided vehicle 10 and information related to the power feeding device 30. The information storage unit 21 includes, as information relating to the package, information on a loading place where the package is received, information on a loading place where the package is delivered, information on the weight of the package, Information on the storage position of the package in the rack of the location or the unloading location. In addition, the information storage unit 21 stores position information of the 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 power supply device 30 in order to generate a power supply schedule. Yes. Information relating to the luggage and information relating to 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.

  The cargo handling schedule generation unit 22 is configured by an integrated circuit that generates a cargo handling schedule of the automated guided vehicle 10 based on information related to the cargo stored in the information storage unit 21. The cargo handling schedule includes information on the order of transporting a plurality of packages, information on a loading location where the automated guided vehicle 10 receives the packages, and information on an unloading location where the automated guided vehicle 10 delivers the packages. . Therefore, the cargo handling schedule includes information for instructing the automatic guided vehicle 10 to perform a plurality of times of cargo transportation operation and a plurality of times of movement operation.

  The power supply schedule generation unit 23 is configured by an integrated circuit that generates a power supply schedule based on the information related to the power supply device 30 stored in the information storage unit 21 and the cargo handling schedule generated by the cargo handling schedule generation unit 22. ing. In the power supply schedule, information on when the automatic guided vehicle 10 conveys the power supply device 30, information on a receiving location where the automatic guided vehicle 10 receives the power supply device 30, and the automatic guided vehicle 10 delivers the power supply device 30. Information on the delivery location. Therefore, the power supply schedule includes information for instructing the automatic guided vehicle 10 to perform at least one power supply apparatus transport operation.

  The information update unit 24 is configured by an integrated circuit that appropriately updates information stored in the information storage unit 21. Based on the cargo handling schedule generated by the cargo handling schedule generation unit 22, the information update unit 24 updates information related to the package (for example, position information of the package) when the automated guided vehicle 10 finishes the package transport operation. The information updating unit 24 receives information related to the power feeding device 30 (for example, receiving the power feeding device 30) when the automatic guided vehicle 10 finishes the moving operation based on the power feeding schedule generated by the power feeding schedule generating unit 23. Update the information on the receiving location where the That is, the information update unit 24 updates information related to the position information of the power supply device 30 stored in the information storage unit 21 based on the conveyance of the power supply device 30 by the automatic guided vehicle 10.

  The wireless communication unit 25 is a power supply schedule transmission unit that transmits a power supply schedule, and includes a wireless communication module including a small antenna for communicating with the automatic guided vehicle 10. The radio communication unit 25 transmits the cargo handling schedule generated by the cargo handling schedule generation unit 22 to the automatic guided vehicle 10 in order to instruct the automated guided vehicle 10 to transport a plurality of packages. In addition, the wireless communication unit 25 transmits the power supply schedule generated by the power supply schedule generation unit 23 to the automatic guided vehicle 10 in order to instruct the automatic guided vehicle 10 to carry the power supply device 30 at least once.

  As illustrated in FIG. 4, the power feeding device 30 includes a battery 31, a wireless communication unit 32, and a wireless power transmission unit 33. The power feeding device 30 feeds power to the automatic guided vehicle 10 by transmitting power from the wireless power transmitting unit 33.

  The battery 31 is configured by a rechargeable secondary battery, and supplies power to the wireless power transmission unit 33. The amount of electricity stored in the battery 31 is reduced by supplying power to the wireless power transmission unit 33 and can be recovered using a charging facility (not shown) connected to the power supply device 30.

  The wireless communication unit 32 is configured by a wireless communication module including a small antenna for communicating with the automatic guided vehicle 10. The wireless communication unit 32 receives the power supply request signal and the power supply stop signal transmitted from the automatic guided vehicle 10.

  The wireless power transmission unit 33 is configured by a power transmission antenna that transmits a microwave, and transmits the microwave to the automatic guided vehicle 10 by transmitting the microwave with the power supplied from the battery 31. When the wireless communication unit 32 receives a wireless request signal, the wireless power transmission unit 33 starts power transmission using microwaves. In addition, when the wireless communication unit 32 receives a wireless stop signal, the wireless power transmission unit 33 stops power transmission by microwaves.

Next, an algorithm for generating a power supply schedule by the power supply schedule generating unit 23 will be described.
First, the power supply schedule generation unit 23 stores the amount of power stored in the battery 11 of the automated guided vehicle 10 based on the cargo handling schedule generated by the cargo handling schedule generation unit 22 and the information related to the cargo stored in the information storage unit 21. Is predicted to be less than the predetermined amount A. That is, the power supply schedule generation unit 23 calculates the distance traveled by the automated guided vehicle 10 calculated from the information on the loading place and the unloading place, the weight of the load to be transferred, the lift amount of the fork at the time of loading and unloading. Based on the above, the time when the power storage amount of the battery 11 becomes less than the predetermined amount A is predicted by estimating the change with time of the power consumption of the automatic guided vehicle 10.

  When the time when the stored amount of the battery 11 is less than the predetermined amount A is not predicted, that is, when the stored amount of the battery 11 is predicted not to be less than the predetermined amount A, the power supply schedule generation unit 23 performs unmanned conveyance. It is determined that it is not necessary to supply power to the car 10, and a power supply schedule is not generated.

  On the other hand, when the time when the charged amount of the battery 11 becomes less than the predetermined amount A is predicted, the power supply schedule generation unit 23 moves from the unloading place to the loading place when the charged amount of the battery 11 becomes less than the predetermined amount A. The section in which the travel time is equal to or longer than the predetermined time T is searched. That is, the power supply schedule generation unit 23 calculates the travel time from the unloading place to the loading place based on the distance traveled by the automated guided vehicle 10 calculated from the information on the unloading place and the loading place. A section in which the moving time is equal to or longer than the predetermined time T is searched.

  When the section where the moving time from the unloading place to the loading place is not more than the predetermined time T is not searched, that is, when the moving time of each section from the unloading place to the loading place is less than the predetermined time T, The power supply schedule generation unit 23 shortens the predetermined time T and searches again for a section in which the travel time from the unloading place to the loading place is equal to or longer than the predetermined time T.

  On the other hand, when a section in which the travel time from the unloading place to the loading place is searched for a predetermined time T or more is searched, the power supply schedule generation unit 23 instructs the automatic guided vehicle 10 to perform the power feeding device transport operation in the section. A power supply schedule including the information is generated. As described above, the power supply schedule generation unit 23, when the movement time of the automated guided vehicle 10 from the unloading place where the automated guided vehicle 10 delivers the package to the loading site where the other package is received is equal to or longer than the predetermined time T, A power supply schedule for instructing conveyance of the power supply apparatus 30 during the movement time is generated. Further, in the present embodiment, the power supply schedule generation unit 23 estimates the time when the charged amount of the battery 11 becomes less than the predetermined amount A, and the moving operation that does not carry the load when the charged amount of the battery 11 is less than the predetermined amount A. When the moving time related to the time is equal to or longer than the predetermined time T, a power supply schedule is generated.

Next, an example of the operation of the automatic guided vehicle 10 will be described with reference to FIG.
As shown in FIG. 5, the automatic guided vehicle 10 according to the embodiment is based on the cargo handling schedule generated by the management device 20, the package transport operation M <b> 1, the package transport operation M <b> 2, the package transport operation M <b> 3, and the package transport operation. M4 is performed in order. Further, the automatic guided vehicle 10 performs the moving operation N1 after the end of the load transport operation M1 and before the start of the load transport operation M2, based on the power supply schedule generated by the management device 20, and after the end of the load transport operation M2. Further, the moving operation N2 is sequentially performed before the start of the load carrying operation M3, and the moving operation N3 is sequentially performed after the end of the load carrying operation M3 and before the start of the load carrying operation M4. The travel time from the unloading place to the loading place related to the moving operation N1 and the moving time from the unloading place to the loading place related to the moving operation N2 are each less than a predetermined time T, and the unloading related to the moving action N3 is performed. The travel time from the place to the loading place is a predetermined time T or more.

  When it is estimated that the storage charge of the battery 11 is less than the predetermined amount A during the load transport operation M1 of the automatic guided vehicle 10, the travel time related to the travel operation N3 is equal to or longer than the predetermined time T. Then, a power supply schedule for instructing conveyance of the power supply apparatus 30 during the movement time related to the movement operation N3 is generated. Therefore, the automatic guided vehicle 10 receives the power feeding device 30 at the receiving place located near the unloading place after the load carrying operation M3 based on the power feeding schedule, and the power feeding device 30 during the moving time related to the moving operation N3. The power feeding device 30 is delivered at a delivery place located in the vicinity of the loading place before the load carrying operation M4 is started. That is, the automatic guided vehicle 10 performs the unloading operation E of the power feeding device 30 after the end of the load transport operation M3 and before the start of the travel operation N3, and after the end of the travel operation N3 and before the start of the load transport operation M4. And the feeding device transport operation is performed in the section related to the movement operation N3.

FIG. 6 shows an operation flow of the automatic guided vehicle according to the comparative example.
Similarly to the embodiment, the automatic guided vehicle 10 according to the comparative example performs the load transfer operation M1, the transfer operation N1, the load transfer operation M2, the transfer operation N2, the load transfer operation M3, the transfer operation N3, and the load transfer operation M4. Do in order.

  The automatic guided vehicle 10 of the comparative example receives the power supply device 30 after the end of the load transport operation M1, receives power from the power supply device 30 during the travel time related to the movement operation N1, and before the start of the load transport operation M2. Hand over. Furthermore, the automatic guided vehicle 10 of the comparative example receives the power supply device 30 after the end of the load transport operation M2 and does not perform the transfer operation N2 because the amount of power stored in the battery 11 does not sufficiently recover during the travel time related to the travel operation N1. Power is received from the power supply device 30 during the travel time, and the power supply device 30 is handed over before the start of the cargo transport operation M2. Accordingly, the automatic guided vehicle 10 of the comparative example has a longer total time for the unloading operation E of the power feeding device 30 and the operating time of the automatic guided vehicle 10 is longer than that of the above embodiment.

In the power feeding system 1 configured as described above, the power feeding method for feeding power to the automatic guided vehicle 10 by the power feeding device 30 includes the following steps (S1) to (S4).
(S1) When the movement time of the automated guided vehicle 10 from the unloading place to the loading place is equal to or longer than the predetermined time T, the management apparatus 20 sets a power supply schedule for instructing the transfer of the power supply apparatus 30 during the movement time. Generated power supply schedule generation step (S2) In order to instruct the automated guided vehicle 10 to convey the power supply device 30, the management device 20 transmits a power supply schedule. (S3) The power supply schedule transmission step (S3) The power supply schedule reception step (S4) received by 10 The automatic guided vehicle 10 transports the power supply device 30 based on the received power supply schedule, and the power supply device 30 includes the automatic guided vehicle 10 that is transporting the power supply device 30. Power supply step for supplying power to battery 11

In the present embodiment, the following effects can be obtained.
(1) The automatic guided vehicle 10 is for instructing the conveyance of the power feeding device 30 during the movement time when the movement time of the automatic guided vehicle 10 from the unloading place to the loading place is equal to or longer than the predetermined time T. The power feeding device 30 is transported based on the power feeding schedule. The power feeding device 30 feeds power to the automatic guided vehicle 10 that is transporting the power feeding device 30. For this reason, when the movement time of the automatic guided vehicle 10 from the unloading place to the loading place can be secured for a predetermined time T or more, the power supplied from the power supply device 30 can be stored in the battery 11 and the load can be transferred. In comparison with the configuration in which power is always supplied to the battery, the efficiency of power supply from the power supply device 30 to the battery 11 can be improved. Further, the number of times the automatic guided vehicle 10 conveys the power feeding device 30 can be reduced, and the operation time of the automatic guided vehicle 10 can be shortened by shortening the total time related to the unloading operation E of the power feeding device 30. Can do.

  (2) Since the automatic guided vehicle 10 transports the power feeding device 30 from the receiving location to the delivery location based on the information regarding the receiving location and delivery location of the power feeding device 30 received from the management device 20, the management device 20 The number of power supply devices 30 stored at the delivery location can be managed.

  (3) Since power feeding from the power feeding device 30 to the automatic guided vehicle 10 is performed by microwaves, the battery 11 supplies the power supplied from the power feeding device 30 without connecting the automatic guided vehicle 10 and the power feeding device 30 with a wire. Can be charged.

  (4) Since the information update unit 24 updates the position information of the power supply device 30 stored in the information storage unit 21 based on the conveyance of the power supply device 30 by the automatic guided vehicle 10, the position information of the power supply device 30 is automatically updated. It is updated with.

  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.

  -You may comprise so that electric power may be supplied to the automatic guided vehicle 10 from the electric power feeder 30 by means other than a microwave. For example, power may be supplied from the power feeding device 30 to the automatic guided vehicle 10 by an electromagnetic induction method or an electromagnetic resonance method. Further, power may be supplied from the power supply device 30 to the automatic guided vehicle 10 by wire.

  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. Further, 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 communicate with each other.

  -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, the management device 20 transmits a power supply request signal and a power supply stop signal to the power supply device 30 instead of the automatic guided vehicle 10. Moreover, you may employ | adopt the structure which the automatic guided vehicle 10 and the electric power feeder 30 communicate via the management apparatus 20. FIG.

  -You may comprise so that the information regarding the delivery place of the electric power feeder 30 may not be included in an electric power feeding schedule. 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.

  The rack that stores the luggage may also serve as the rack that stores the power supply device 30. In this way, the unloading place and the receiving place of the power feeding device 30 are preferably the same, and the loading place and the delivery place of the feeding device 30 are preferably the same. Further, the present invention can 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).

DESCRIPTION OF SYMBOLS 1 Power supply system 10 Automatic guided vehicle 11 Battery 13 Wireless communication part (Power supply schedule receiving part)
DESCRIPTION OF SYMBOLS 15 Control part 17 Wireless power receiving part 20 Management apparatus 21 Information storage part 23 Power supply schedule production | generation part 24 Information update part 25 Wireless communication part (power supply schedule transmission part)
30 Power feeding device 33 Wireless power transmission unit

Claims (6)

An automated guided vehicle that travels to transport luggage,
A management device for managing the operation of the automatic guided vehicle;
A power feeding system comprising a power feeding device that is transported by the automatic guided vehicle and feeds power to the automatic guided vehicle,
The management device
When the unmanned transport vehicle travels from the unloading place where the unmanned transport vehicle delivers the package to the loading site where another package is received, the unmanned transport vehicle transfers the unmanned transport device during the travel time. A power supply schedule generation unit that generates a power supply schedule for instructing the transport vehicle;
A power supply schedule transmission unit that transmits the power supply schedule to the automatic guided vehicle,
The automatic guided vehicle is
A power supply schedule receiving unit that receives the power supply schedule transmitted from the management device;
A control unit for controlling the operation of the automatic guided vehicle so as to transport the power feeding device based on the received power feeding schedule;
A battery that stores electric power supplied from the power supply apparatus during conveyance of the power supply apparatus. The power supply schedule includes at least information related to a receiving location where the automatic guided vehicle receives the power supply device, and information related to a delivery location where the automatic guided vehicle delivers the power supply device,
2. The power feeding system according to claim 1, wherein the control unit controls the operation of the automatic guided vehicle so as to transport the power feeding device from the receiving location to the delivery location based on the power feeding schedule. . The power supply schedule generation unit estimates a time when the storage amount of the battery is less than a predetermined amount, and when the movement time is equal to or longer than a predetermined time in a state where the storage amount of the battery is less than a predetermined amount, The power supply system according to claim 1, wherein the power supply schedule for instructing conveyance of the power supply apparatus is generated. The power supply apparatus further includes a wireless power transmission unit that transmits power by transmission of microwaves,
The power supply system according to any one of claims 1 to 3, wherein the automatic guided vehicle further includes a wireless power receiving unit that receives power by receiving microwaves. The management device
An information storage unit for storing position information of the power supply device in order to generate the power supply schedule including information relating to a receiving location of the power supply device;
The information update part which updates the positional information on the said electric power feeder stored in the said information storage part based on conveyance of the said electric power feeder by the said automatic guided vehicle is provided. The any one of Claims 1-4 characterized by the above-mentioned. The power feeding system according to claim 1. In a power supply system comprising: an automatic guided vehicle that travels to transport a load; a management device that manages operation of the automatic guided vehicle; and a power supply device that is transported by the automatic guided vehicle. A power supply method for supplying power to a car,
When the unmanned transport vehicle travels from the unloading place where the unmanned transport vehicle delivers the package to the loading site where another package is received, the unmanned transport vehicle is transported by the unmanned transport vehicle during the travel time. A power supply schedule generating step in which the management device generates a power supply schedule for instructing the transport vehicle;
A power supply schedule transmission step in which the management device transmits the power supply schedule; and
A power supply schedule receiving step in which the automatic guided vehicle receives the transmitted power supply schedule; and
A power feeding step in which the automatic guided vehicle transports the power feeding device based on the received power feeding schedule, and the power feeding device feeds power to a battery included in the automatic guided vehicle that is transporting the power feeding device. Characteristic power supply method.

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