JP2020075785A - Carrying vehicle system - Google Patents

Abstract

To provide a carrying vehicle system which can properly perform the charge processing for a carrying vehicle.SOLUTION: A carrying vehicle system 10 has a power storage amount acquisition unit 122, a predicted amount acquisition unit 124, a residual amount calculation unit 126, and a charge determination unit 128. The power storage amount acquisition unit 122 acquires a power storage amount of a power storage device 110. The predicted amount acquisition unit 124 acquires a predicted electric power consumption amount when the carrying vehicle 100 executes a transport command given to the carrying vehicle 100. The residual amount calculation unit 126 calculates a residual storage amount of the power storage device 110 after executing the transport command using the power storage amount acquired by the power storage amount acquisition unit 122 and the predicted consumption amount acquired by the predicted amount acquisition unit 124. When the calculated residual storage amount is less than or equal to a first threshold value, the charge determination unit 128 executes a charge processing for charging the power storage device 110.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transport vehicle system including a transport vehicle that transports luggage.

  2. Description of the Related Art Conventionally, there is a carrier vehicle that unmannedly carries a package by the electric power of a power storage device installed therein. The transport vehicle transports a package in response to a transport command from a host controller, for example. In such a carrier, how to charge the power storage device that is the power source is important.

  For example, Patent Document 1 discloses an energy replenishment control system that performs charging (energy replenishment) to an AGV (Automated guided vehicle). In this system, when the AGV arrives at a refueling necessity determination point provided near the energy refueling station, the host computer determines whether or not the energy replenishment is necessary, based on the remaining energy level of the AGV, and makes the determination. The AGV is given an energy supply command according to the result. As a result, it is possible to obtain an effect such as load distribution at the energy supply station.

JP, 2000-142953, A

  The transport vehicle can receive, for example, a transport command from the host controller at various positions on the traveling route, and if the transport command can be executed at that time, the transport work corresponding to the transport command is started. To do. Under such a condition, in the above-described conventional technique, whether or not charging is required is determined when the vehicle arrives at the supply necessity determination point, so there is no guarantee that the determination time is immediately before the start of the transportation operation. Therefore, the power storage device may be in the battery low state immediately after the transport vehicle starts the transport work. Even in this case, the transport vehicle can be charged only after the transport work is completed. Further, if some trouble occurs in the transport vehicle during the transport work and the recovery work takes a long time, the power storage device may fall into an over-discharged state due to the progress of consumption of the stored power. In this case, the carrier vehicle cannot run on its own, the power storage device needs to be replaced, and the like, which further extends the recovery time.

  The present invention has been made in consideration of the above-mentioned conventional problems, and an object of the present invention is to provide a guided vehicle system capable of appropriately executing a charging process for charging a guided vehicle.

  In order to solve the above-mentioned conventional problems, a carrier system according to an aspect of the present invention includes a carrier vehicle having a power storage device that supplies electric power for carrying luggage, and a controller that controls the operation of the carrier vehicle. A transport vehicle system comprising: the controller, wherein the controller is a power storage amount acquisition unit that acquires a power storage amount of the power storage device, and predictive consumption of electric power when the transport vehicle executes a transport command given to the transport vehicle. An estimated amount acquisition unit that obtains an amount, a remaining amount calculation unit that uses the stored amount of electricity and the estimated amount of consumption to calculate the remaining amount of electricity of the electricity storage device after executing the transfer command, and the remaining amount of electricity storage Is less than or equal to a first threshold value, a charging determination unit that executes a charging process for charging the power storage device.

  According to this configuration, the controller determines the remaining charge of the power storage device after the transfer command is executed before the transfer vehicle executes the transfer command, that is, the power storage device that is likely to remain in the power storage device after the transfer command is executed. Whether or not charging is required can be determined based on the amount. Specifically, if the remaining charge is less than or equal to the first threshold value, the charging process is executed. In other words, various processes related to charging (operation control for charging the transport vehicle, reservation of the charging station, etc.) are performed so that the transport vehicle can be charged quickly during or after the transport operation. As a result, the transport vehicle can appropriately complete the transport work without causing the charge to run out. It should be noted that the above controller can be realized by a controller mounted on a carrier vehicle, or can be realized by a controller arranged outside the carrier vehicle for managing the carrier vehicle.

  As described above, according to the carrier system according to the present aspect, it is possible to appropriately execute the charging process for charging the carrier.

  Further, the carrier system according to an aspect of the present invention is further a first charging device disposed at a charging point on a travel route used by the carrier for transporting luggage, wherein the carrier is the charging point. When a first charging device that can be charged and passed for a reference time when passing, the charge determination unit, when the transport vehicle passes the charging point during the execution of the transport command, As the charging process, the transport vehicle may be caused to charge the power storage device by the first charging device for a first time longer than the reference time.

  According to this configuration, the charging point is arranged on the travel route so that each time the vehicle passes, the charging point can be charged only for the reference time. Can be charged. Further, in the charging process when the remaining power storage amount is less than or equal to the first threshold value, the transport vehicle can be charged for a first time longer than the reference time which is the normal charging time. Therefore, the transport vehicle can perform the transport work in a state in which the power storage amount of the power storage device has a margin, for example.

  Further, in the transport vehicle system according to an aspect of the present invention, the charge determination unit, when the remaining charge is less than or equal to a second threshold that is smaller than a first threshold, the transport vehicle is in the middle of execution of the transport command. When passing the charging point, the transport vehicle may be caused to charge the power storage device by the first charging device for a second time longer than the first time as the charging process.

  According to this configuration, for example, when the transport vehicle receives a transport command and the remaining amount of power stored in the power storage device is small (for example, when the battery is in a low state), the charging point is the reference time that is the normal charging time. It can be charged for an even longer second time (> first time). Therefore, at the start of the transfer operation, the possibility of running out of charge in the transfer vehicle with a small remaining charge is reduced.

  Further, in the guided vehicle system according to an aspect of the present invention, the charging determination unit, when the guided vehicle performs charging at the charging point, acquires the status of the guided vehicle system, and depending on the acquired status, The charging time of the power storage device by the first charging device in the charging process may be further extended.

  According to this configuration, for example, when there is no other transport vehicle around the charging point or when there is a time margin in the current transport work, the time when the transport vehicle can be charged at the charging point is further extended. Can be made As a result, there is a further margin in the amount of electricity stored in the electricity storage device of the transport vehicle, and the possibility that charge shortage will occur thereafter is further reduced.

  Further, the carrier system according to an aspect of the present invention further includes a second charging device arranged at a position deviated from a traveling route for the carrier to carry the luggage, and the charge determination unit includes: As the charging process, the transportation vehicle may perform a reservation process for charging the power storage device by the second charging device after the transportation command is executed.

  According to this configuration, the charging determination unit can assign the usage right of the second charging device to the transport vehicle that is the target of the charging process by requesting charging to the host controller, for example, as the reservation process. Therefore, the transport vehicle can be quickly charged by the second charging device after the transport work is completed. Further, since the second charging device is located at a position off the traveling route, it is possible to secure a relatively long charging time. Therefore, the power storage device can be charged, for example, up to the upper limit of the state of charge (SOC), which is defined as a usage condition for keeping the power storage device in a good state. Sex is further reduced.

  According to the present invention, it is possible to provide a carrier system capable of appropriately executing a charging process for charging a carrier.

FIG. 1 is a diagram schematically showing a configuration outline of a guided vehicle system according to an embodiment. FIG. 2 is a block diagram showing a functional configuration of the carrier vehicle according to the embodiment. FIG. 3 is a diagram showing a data configuration example of consumption information according to the embodiment. FIG. 4 is a flowchart showing a specific example of processing and operations of the carrier system according to the embodiment. FIG. 5 is a flow chart showing the processing of the carrier system when the increment of the charging time at the charging point from the reference time is variable.

  Hereinafter, a carrier vehicle system according to an embodiment will be described with reference to the drawings. The embodiment described below shows one specific example of the present invention. Therefore, numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, contents and order of information processing, etc. shown in the following embodiments are examples and are not intended to limit the present invention. .. Therefore, among the constituent elements according to the following embodiments, the constituent elements that are not described in the independent claims showing the highest concept of the present invention are described as arbitrary constituent elements.

  It should be noted that each drawing is a schematic diagram and is not necessarily strictly illustrated. Further, in each drawing, the same reference numerals are given to substantially the same configurations, and overlapping description may be omitted or simplified.

(Embodiment)
[1. Outline of transport vehicle system configuration]
First, a configuration outline of a carrier system 10 according to an embodiment will be described with reference to FIG. FIG. 1 is a diagram schematically showing a configuration outline of a carrier system 10 according to an embodiment.

  As shown in FIG. 1, the transport vehicle system 10 is a system that transports a package 105 by a transport vehicle 100. In the present embodiment, the plurality of transport vehicles 100 transport the luggage 105 between the plurality of luggage stations 104 arranged along the travel route 50.

  In addition, in FIG. 1, five luggage stations 104, to which any one of the symbols A to E is attached, are arranged. In the following, when these are distinguished, a reference numeral such as “luggage station A” is used. Will be indicated with. Further, in FIG. 1, one circuit is illustrated as the travel route 50 for the sake of simplicity of description and illustration, but the layout of the travel route 50 is not particularly limited, and for example, a complicated circuit including a plurality of intersections is used. It may be a layout. Further, in the present embodiment, in order to clearly describe the various processes and operations performed by the carrier system 10, the travel route 50 is one-way clockwise.

  The guided vehicle 100 according to the embodiment is, for example, an unmanned guided vehicle called an AGV, and is a vehicle that travels on a road surface forming the travel route 50 by a driving force of an electric motor. Further, it has a transfer device such as a roller conveyor and can transfer the luggage 105 to and from each luggage station 104.

  In the guided vehicle system 10 according to the present embodiment, the charging point 200 having the first charging device 210 is arranged on the travel route 50. The transport vehicle passing through the charging point 200 can normally be charged by the first charging device 210 for a reference time (for example, several seconds to several tens of seconds). That is, when the transport vehicle 100 travels on the travel route 50, which is a circuit, it can get an opportunity to charge at the charging point 200 once per one cycle. Specifically, when passing the charging point 200, the transport vehicle 100 can temporarily stop at the charging point 200 and be charged by the first charging device 210 for a reference time.

  It is not essential to charge the transport vehicle 100 at the charging point 200 every time the vehicle 100 passes through the charging point 200. For example, if the SOC of a power storage device 110 (which will be described later with reference to FIG. 2) included in the transport vehicle 100 is equal to or higher than a predetermined value (for example, 80%), it may be allowed to pass through without being charged at the charging point 200. Further, the charging point 200 may charge the traveling transport vehicle 100 by a non-contact charging device, for example. In this case, the transport vehicle 100 does not stop at the charging point 200 (an area where contactless charging is possible), but passes through the area over a reference time or longer. Accordingly, the power storage device 110 included in the transport vehicle 100 can be charged for at least the normal amount (for the reference time).

  In addition to the charging point 200 that performs the charging (temporary charging) defined by the charging time as described above, the carrier system 10 charges the vehicle 100 or the management controller 300 in an amount corresponding to a request (main charging). ) Is available.

  As shown in FIG. 1, the charging station 220 has a second charging device 230 and is arranged at a position off the travel route 50. The transport vehicle 100 travels back and forth between the travel route 50 and the charging station 220 via the connection route 51. That is, unlike the charging point 200 in which the transport vehicle 100 needs to be stopped on the travel route 50, the charging station is located at a position where it does not interfere with the transport work by another transport vehicle 100 even if the transport vehicle 100 is stopped for a relatively long time. 220 is arranged. Therefore, the power storage device 110 included in the transport vehicle 100 can be charged up to, for example, the upper limit of the SOC specified as the usage condition of the power storage device 110.

  It should be noted that between the traveling route 50 and the charging station 220, two routes are provided, a first route for traveling from the traveling route 50 to the charging station 220 and a second route for returning from the charging station 220 to the traveling route 50. May be.

[2. Structure of carrier]
In the transport vehicle system 10 configured as described above, the transport vehicle 100 receives a transport command transmitted from, for example, a radio signal from the management controller 300, and executes the transport command. In the present embodiment, before the execution of this transportation instruction, the transportation vehicle system 10 determines the subsequent processing (charging processing) relating to the charging of the transportation vehicle 100. The basic configuration and processing contents for this purpose will be described below with reference to FIGS. 2 and 3.

  FIG. 2 is a block diagram showing a functional configuration of the carrier vehicle 100 according to the embodiment. FIG. 3 is a diagram showing a data configuration example of the consumption information 152 according to the embodiment.

  As shown in FIG. 2, the carrier vehicle 100 includes a power storage device 110 and a controller 120. Under the control of the controller 120, the carrier vehicle 100 operates by the electric power supplied from the power storage device 110. The power storage device 110 is, for example, a power supply device including a plurality of lithium ion batteries.

  Specifically, the transport vehicle 100 has a transfer device 180 and a travel drive unit 170, and the controller 120 receives a transport command transmitted from the management controller 300 and drives the travel drive according to the received transport command. The unit 170 and the transfer device 180 are controlled. For example, assume a case where the transportation instruction indicates that the luggage 105 at the luggage station C is to be transported to the luggage station E. In this case, the controller 120 controls the traveling drive unit 170 to direct the carrier 100 to the luggage station C and controls the transfer device 180 to receive the luggage 105 from the luggage station C. Further, the controller 120 controls the traveling drive unit 170 to direct the carrier 100 to the luggage station E, and controls the transfer device 180 to transfer the luggage 105 received at the luggage station C to the luggage station E. Hand over to.

  The transport vehicle 100 has a configuration for performing an appropriate charging process in addition to the basic configuration for performing the transport work as described above.

  Specifically, the controller 120 included in the transport vehicle 100 includes a power storage amount acquisition unit 122, a predicted amount acquisition unit 124, a remaining amount calculation unit 126, and a charge determination unit 128. The storage amount acquisition unit 122 acquires the storage amount of the storage device 110. The predicted amount acquisition unit 124 acquires the predicted consumption amount of electric power when the transport vehicle 100 executes the transport command given to the transport vehicle 100. The remaining amount calculation unit 126 uses the stored power amount acquired by the stored power amount acquisition unit 122 and the predicted consumption amount acquired by the predicted amount acquisition unit 124 to determine the remaining power storage amount of the power storage device 110 after executing the transfer command. calculate. The charge determination unit 128 executes a charging process for charging the power storage device 110 when the calculated remaining charge is less than or equal to the first threshold value.

  Specifically, the storage amount acquisition unit 122 acquires the storage amount of the storage device 110, for example, by converting the voltage value of the storage device 110 at that time into the storage amount. In addition, the storage amount acquisition unit 122 stores, for example, the amount of power consumption (consumption amount) after charging the power storage device 110, and subtracts the integrated value of the consumption amount from the initial value after charging, so that the storage amount at that time is stored. The amount of electricity stored in the device 110 may be acquired.

  The predicted amount acquisition unit 124 acquires the predicted power consumption amount when the transport vehicle 100 executes the transport command, for example, by referring to the consumption amount information 152 stored in the storage unit 150. In the consumption amount information 152, for example, as shown in FIG. 3, a predicted consumption amount when traveling between the luggage stations A to E is recorded. It should be noted that these predicted consumption amounts are values when the transport vehicle 100 travels in a state in which the luggage 105 is not loaded (during empty travel). Further, each value is a dimensionless number when the upper limit amount of charge (for example, SOC = 90%) defined as the usage condition of the power storage device 110 is set to 100, and is an example for representing the magnitude relationship of each value. Is the numerical value of. This applies to the following numerical values regarding the amount of electricity stored in the electricity storage device 110.

  For example, when the transport vehicle 100 moves from the baggage station A to the baggage station C, the predicted consumption amount required for traveling is “6.3”. Further, when the carrier 100 receives the luggage 105 at the luggage station C and delivers the luggage 105 to the luggage station E, the predicted consumption amount corresponding to traveling is “5.6” and the luggage 105 is loaded. Since the vehicle travels in this manner, a value obtained by multiplying this “5.6” by a coefficient (for example, a coefficient according to the weight of the luggage 105) becomes the predicted consumption amount required for traveling. Further, the transport vehicle 100 operates the transfer device 180 to transfer the luggage 105 at the luggage stations C and E. Therefore, the predicted amount acquisition unit 124 acquires the predicted consumption amount required for the operation of the transfer device 180, for example, by referring to information (not shown) in which the predicted consumption amount for each weight of the parcel 105 is recorded. can do. The predicted amount acquisition unit 124 can acquire the predicted consumption amount of the power storage device 110 by the transportation vehicle 100 executing the transportation command by adding up the acquired various predicted consumption amounts.

  In this way, the predicted amount acquisition unit 124 acquires the predicted consumption amount according to the movement route and the work content of the transfer operation of the transfer vehicle 100 by referring to the consumption information 152 and the like stored in the storage unit 150. can do.

  Note that the predicted amount acquisition unit 124 may update the consumption amount information 152 and the like stored in the storage unit 150 according to the operation record of the transport vehicle 100. For example, assume that the transport vehicle 100 travels from the luggage stations A to D with no load and the consumption amount measured at that time is “8.8”. In this case, the predicted amount acquisition unit 124 updates the corresponding value “9.0” in the consumption information 152 to “8.9” which is the average value of “8.8” and “9.0”. May be. As a result, the accuracy of the predicted consumption amount shown in the consumption amount information 152 is improved.

  Further, the predicted amount acquisition unit 124 does not refer to the table as shown in FIG. 3, but uses a mathematical expression whose variables are, for example, the planned traveling distance of the carrier vehicle 100 and the weight of the baggage 105. The predicted consumption amount may be acquired by calculating the predicted consumption amount each time it is given.

  The remaining amount calculation unit 126 calculates, for example, the remaining amount of stored electricity after the execution of the transfer instruction by subtracting the predicted consumption amount acquired by the predicted amount acquisition unit 124 from the stored amount of electric power acquired by the stored amount acquisition unit 122. The charge determination unit 128 executes a charging process for charging the power storage device 110 when the remaining power storage amount is less than or equal to the first threshold value. Specifically, as the charging process, the charge determination unit 128 controls the carrier vehicle 100 so that the carrier vehicle 100 is charged at the charging point 200 during the carrier work. In addition, as the charging process, the charging determination unit 128 reserves the charging station 220 and controls the transportation vehicle 100 so that the transportation vehicle 100 charges the charging station 220 after the completion of the transportation work.

  For example, when the power storage amount acquired by the power storage amount acquisition unit 122 is “28”, the predicted consumption amount acquired by the predicted amount acquisition unit 124 is “10”, and the first threshold value is “20”, Since the remaining power storage amount is “18”, the charge determination unit 128 executes the charging process.

  As described above, in the guided vehicle system 10 according to the present embodiment, before the guided vehicle 100 executes the carry command, the controller 120 causes the power storage device 110 to store the remaining amount of power after the carrying command is executed, that is, the carry command. Whether or not charging is necessary is determined based on the amount of electricity stored in the electricity storage device 110 (estimated remaining amount of electricity storage) after execution of. Specifically, if the remaining charge is less than or equal to the first threshold, the charging process is executed. That is, various kinds of processing regarding charging (reservation of the charging station 220, operation control for charging the transportation vehicle 100, etc.) are performed so that the transportation vehicle 100 can be quickly charged during or after the transportation work. As a result, the transport vehicle 100 can appropriately complete the transport work without causing the charge to run out.

  The controller 120 has, for example, a computer including a CPU (Central Processing Unit), a storage device such as a memory, and an interface for inputting / outputting information. The controller 120 is executed by each of the stored amount acquisition unit 122, the estimated amount acquisition unit 124, the remaining amount calculation unit 126, and the charge determination unit 128, for example, when the CPU executes a predetermined program stored in the storage device. The processing to be performed is realized.

  Further, in carrier vehicle system 10 according to the present embodiment, controller 120 further compares the remaining charge amount calculated by remaining amount calculation unit 126 with a second threshold value to charge carrier vehicle 100 for charging. The processing can be executed more appropriately. Hereinafter, a specific example of processing and operation of the carrier system 10 will be described with reference to the flowchart of FIG.

[Specific example of processing and operation of carrier]
FIG. 4 is a flowchart showing a specific example of processing and operation of the carrier system 10 according to the embodiment. As shown in FIG. 4, the controller 120 of the transport vehicle 100 receives a transport command from the management controller 300 (S10). The power storage amount acquisition unit 122 of the controller 120 acquires the power storage amount of the power storage device 110 (S13). The predicted amount acquisition unit 124 acquires the predicted consumption amount (S15). The remaining amount calculation unit 126 calculates the remaining amount R of electricity stored in the electricity storage device 110 after the conveyance instruction is executed (S17).

  The charge determination unit 128 compares the calculated remaining charge amount R with the first threshold value (S20). As a result of the comparison, when the remaining charge amount R is larger than the first threshold value (No in S20), the charge determination unit 128 does not perform the charging process, and the transport vehicle 100 starts the transport work according to the transport command. Further, as a result of the above comparison, when the remaining charge R is equal to or less than the first threshold (Yes in S20), the charge determination unit 128 further compares the remaining charge R with a second threshold smaller than the first threshold. (S30).

  Here, it is assumed that the first threshold is “30” and the second threshold is “20”. Further, the following description will be made assuming that the amount of electricity stored in the electricity storage device 110 is equal to or less than the second threshold “20”, that is, a so-called battery low state.

  When the remaining charge amount R after the execution of the transfer instruction is larger than “30” that is the first threshold value (No in S20), the charge determination unit 128 is sufficient for the normal operation of the transfer vehicle 100 even after the execution of the transfer instruction. Since a sufficient storage amount is secured, the transport vehicle 100 is made to start executing the transport command as it is (S25). In other words, when the charging urgency is represented by three levels of “low”, “medium”, and “high”, the charging urgency is “low” when the remaining charge level R is larger than the first threshold value, and the carrier vehicle 100. Reservation processing such as charging reservation is not performed.

  When the remaining charge level R of the power storage device 110 is equal to or less than “30” and greater than “20” (No in S30), the transport vehicle 100 can execute the transport command, but the transport command is executed. After that, it will be close to the battery low state. That is, in this case, the charging urgency level is "medium", and the charging determination unit 128 reports to the management controller 300 that charging is required after the completion of the carrying operation (charging required report) (S32). .. After that, the charging determination unit 128 causes the carrier vehicle 100 to start executing the carrier command (S34).

  When the charging point 200 is located at a position to be passed in the carrying work according to the carrying command, that is, when the charging point 200 is located in the middle of the carrying work (Yes in S40), the charging determination unit 128 sets the reference to the carrying vehicle 100. During the time + α (α> 0), charging is performed at the charging point 200 (S42).

  The reference time + α is an example of the first time longer than the reference time. That is, the charge determination unit 128 compares the position information of the charging point 200 stored in the storage unit 150 with the route that the transport vehicle 100 passes through, which is derived from the transport command, for example, during the transport work. It is determined whether or not there is the charging point 200 (S40). As a result of the determination, when the transport vehicle 100 has the charging point 200 in the middle of the transport work (Yes in S40), the standard time which is the normal charging time for the transport vehicle 100 having the charging urgency level of “medium”. The power storage device 110 is charged for a longer time (S42). Specifically, the charge determination unit 128 includes, for example, the power storage device 110, the traveling drive unit 170, and the like so that the transport vehicle 100 receives the charge by the first charging device 210 at the charging point 200 for the reference time + α. Control.

  After that, when the transportation work by the transportation vehicle 100 is completed (S45), the charging determination unit 128 directs the transportation vehicle 100 to the charging station 220, and the transportation vehicle 100 receives the charging by the second charging device 230 of the charging station 220. (S47). Specifically, for example, the charge determination unit 128 controls the power storage device 110 and the like so that the power storage device 110 has an upper limit power storage amount (for example, SOC = 90%).

  At the time of performing this charging, since the charging necessity report (S32) has already been made to the management controller 300, the charging station 220 is reserved by the management controller 300, for example. That is, the management controller 300 assigns the usage right of the charging station 220 (second charging device 230) to the carrier vehicle 100 that is the target of the charging process. Therefore, unless there is a circumstance such as the interruption of the transportation work due to a malfunction of the transportation vehicle 100, or the existence of another transportation vehicle 100 having a high charging priority, the transportation vehicle 100 immediately, after the completion of the transportation work, It is possible to move to the charging station 220 and receive charging by the second charging device 230.

  Also. When making a reservation for the charging station 220, the management controller 300 assigns the next transfer operation to the other transfer vehicle 100 (sends the next transfer instruction to the other transfer vehicle 100). As a result, it is possible to prevent the work efficiency of the carrier system 10 from being lowered.

  As described above, in the charging station 220, the transport vehicle 100 that has sufficiently increased the power storage amount of the power storage device 110 has already received power at that time, or has a power storage remaining amount in accordance with a transfer command (S10) received thereafter. After confirming the amount R (S15 to S20), the carrying work is executed (S25).

  In addition, as a result of the above-mentioned comparison between the remaining power storage amount R and the second threshold value “20” (S30), when the remaining power storage amount R is equal to or less than “20” (Yes in S30), the remaining power storage amount R is If it is larger than "20" (No in S30), the same processing is performed. That is, the charge determination unit 128 reports the charging request to the management controller 300 (S36), causes the transport vehicle 100 to start executing the transport command (S38), and further, the transport vehicle 100 charges during the transport operation. If the charging is possible at the point 200 (Yes in S50), the carrier 100 is charged at the charging point 200 (S52). In the charging in step S52, unlike the case where the remaining charge amount R is larger than “20”, the transport vehicle 100 is charged at the charging point 200 for the reference time + β (β> α) (S52). The reference time + β is an example of the second time longer than the first time. That is, since the charging urgency level of the transport vehicle 100 is “high”, the charge determination unit 128 uses a longer time than when the charging urgency level is “medium”, so that the transport vehicle 100 stores the power storage device 110. The battery is charged (S52).

  After that, when the transportation work by the transportation vehicle 100 is completed (S55), the charging determination unit 128 directs the transportation vehicle 100 to the charging station 220, and the transportation vehicle 100 receives the charging by the second charging device 230 of the charging station 220. (S57). At this time, since the charging request report (S36) has already been made to the management controller 300, the transport vehicle 100 can quickly move to the charging station 220 and be charged by the second charging device 230 in principle. it can. Specifically, the charge determination unit 128 controls the power storage device 110 and the like in the transport vehicle 100 so that the power storage device 110 has an upper limit power storage amount (for example, SOC = 90%). After that, the carrier vehicle 100 confirms the remaining power storage amount R (S15 to S20) according to the carrier command (S10) which has already been received at that time or is received thereafter, and then executes the carrier operation (S25). ..

  As described above, the guided vehicle system 10 according to the present embodiment includes the first charging device 210 arranged at the charging point 200 on the travel route 50 used by the guided vehicle 100 to carry the luggage 105. The first charging device 210 may charge and pass during the reference time when the transport vehicle 100 passes through the charging point 200. When the transport vehicle 100 passes through the charging point 200 during the execution of the transport command, the charge determination unit 128 causes the transport vehicle 100 to perform the charging process for the first time (reference time + α) longer than the reference time, as a charging process. The power storage device 110 is charged by the one charging device 210.

  As described above, in the present embodiment, the charging point 200 that can be charged for the reference time each time it passes is arranged on the travel route 50, and the transport vehicle 100 has the charging point 200 on the route that is used for transport work. If there is, it can be charged at the charging point 200. Further, in the charging process when the remaining power storage amount R is equal to or less than the first threshold value, the transport vehicle 100 can be charged for a first time (reference time + α) longer than a reference time which is a normal charging time. Therefore, the transport vehicle 100 can perform the transport work in a state in which the power storage amount of the power storage device 110 has a margin, for example.

  In addition, in the present embodiment, when charge remaining amount R is less than or equal to the second threshold value that is smaller than the first threshold value, charge determination unit 128 determines when transport vehicle 100 passes charging point 200 during the execution of the transport instruction. As the charging process, the transport vehicle 100 is caused to charge the power storage device 110 by the first charging device 210 for the second time (reference time + β) longer than the first time.

  According to this configuration, for example, when the transport vehicle 100 receives a transport command and the remaining amount of electricity stored in the power storage device 110 is low (for example, when the battery is in a low state), the charging point 200 is set to a normal charging time. It can be charged for a second time (> first time) longer than a certain reference time. Therefore, at the start of the transfer operation, the possibility that the vehicle 100, which has a small remaining amount R of stored electricity, may run out of charge is reduced.

  Further, the carrier system 10 according to the present embodiment includes the second charging device 230 arranged at a position deviated from the traveling route 50 for the carrier 100 to carry the luggage 105. The charge determination unit 128 performs, as a charging process, a reservation process for the transport vehicle 100 to charge the power storage device 110 by the second charging device 230 after executing the transport command. In the present embodiment, a charging station 220 connected to the traveling path 50 via the connection path 51 is provided, and the second charging device 230 is arranged in the charging station 220.

  In the present embodiment, the charging determination unit 128 reports to the management controller 300 that charging is required, as a reservation process. The management controller 300 that has received the charging request report allocates the usage right of the charging station 220 (second charging device 230) to the carrier vehicle 100 that is the target of the charging process. Therefore, the transport vehicle 100 can be quickly charged by the second charging device 230 after the transport work is completed. Further, since the charging station 220 including the second charging device 230 is located at a position off the traveling route 50, it is possible to secure a relatively long charging time. Therefore, power storage device 110 can be charged up to, for example, the upper limit of SOC suitable for power storage device 110, which further reduces the possibility of occurrence of charge shortage thereafter.

(Other embodiments)
The carrier system of the present invention has been described above based on the embodiments. However, the present invention is not limited to the above embodiment. Unless departing from the gist of the present invention, various modifications made by those skilled in the art to the present embodiment, or a configuration constructed by combining a plurality of components described above are also within the scope of the present invention. include.

  For example, in the embodiment, when the remaining charge amount R of the power storage device 110 is equal to or less than the first threshold value (Yes in S20) and the charging point 200 is in the middle of the carrying work (Yes in S40, Yes in S50). The carriage 100 can be charged at the charging point 200 for a time longer than the reference time (S42, S52). In this case, the increment from the reference time may be, for example, a variable value according to the situation of the carrier system 10. This process will be described with reference to FIG. FIG. 5 is a flow chart showing the processing of the carrier system 10 when the increment of the charging time at the charging point 200 from the reference time is variable. Note that FIG. 5 illustrates the flow of processing corresponding to the start of the transfer work (S38) to the end of the transfer work (S55) shown in FIG.

  As shown in FIG. 5, when the transfer vehicle 100 to be charged starts the transfer operation according to the transfer instruction (S38) and the charging point 200 is in the middle of the transfer operation (Yes in S50), the charging is performed. The determination unit 128 acquires the status of the guided vehicle system 10 (S51). For example, the charge determination unit 128 acquires status information indicating the status of the guided vehicle system 10 from the management controller 300 by communicating with the management controller 300. The status information is, for example, the number of vehicles 100 existing within a predetermined distance from the charging point 200, by what time the transportation work according to the transportation command should be completed, or at that time, the transportation vehicles to be charged. This is information indicating whether or not there is a next transfer operation to be assigned to 100.

  The charge determination unit 128 determines the additional time T (T> 0) according to the acquired status of the guided vehicle system 10 (S53). In the case of this example, the carrier vehicle 100 is charged at the charging point 200 for the reference time + β + T (S54). After that, the transport vehicle 100 restarts the suspended transport work and ends the transport work (S55).

  That is, when the transport vehicle 100 charges at the charging point 200, the charge determination unit 128 acquires the status of the transport vehicle system 10, and according to the status acquired, the power storage device by the first charging device 210 in the charging process. The charging time of 110 may be further extended.

  As a result, for example, when there is no other transport vehicle 100 around the charging point 200, or when there is a time margin in the current transport work, the transport vehicle 100 that is the target of the charging process is the charging point 200. The charging time can be further extended. Therefore, there is a further allowance in the amount of electricity stored in the electricity storage device 110 of the transport vehicle 100, and the possibility that charge shortage will occur thereafter is further reduced.

  The additional time T in this example may be a fixed value or may be a variable according to, for example, the number of transport vehicles 100 around the charging point 200. Further, in this example, the charging time at the charging point 200 is further extended for the guided vehicle 100 in which the urgency of charging is “high” (remaining power storage amount R ≦ second threshold value). However, the charging time (reference time + α) at the charging point 200 may be further extended in the same manner for the vehicle 100 in which the urgency level regarding charging is “medium” (remaining power storage amount R> second threshold value). ..

  In addition, when the transport vehicle 100 to be charged is charged at the charging point 200 (S42, S52), after the transport work is completed (S45, S55), the charge determination unit 128 causes the charging station 220 to perform charging. It may be determined whether or not the charging is required. For example, it is assumed that the SOC of power storage device 110 at the end of the transfer operation is equal to or greater than a predetermined value (for example, 70%) due to the extension of the charging time at charging point 200 as described above. In this case, the charge determination unit 128 may cancel the charge at the charging station 220 of the transport vehicle 100. As a result, it is possible to prevent the work efficiency of the carrier system 10 from being lowered.

  In addition, the assignment of the usage right of the charging station 220 to the carrier vehicle 100 that is the target of the charging process is from when the management controller 300 receives the charging request report (S32, S36) to when the carrying work ends (S45, S55). May be performed at any timing. Further, the “time point of ending the carrying operation” may be a time point when the management controller 300 confirms the ending (actual ending time point), or a ending time point of the carrying task estimated from the carrying instruction. Good.

  Further, the charging determination unit 128 may use only one threshold value to determine whether or not charging is necessary. For example, in FIG. 4, when the remaining charge amount R is equal to or less than the first threshold value (Yes in S20), the charge determination unit 128 does not compare the remaining charge amount R with the second threshold value (S30), and then, The process from the charge required report (S32 or S36) to the execution of charging at the charging station 220 (S47 or S57) may be performed. Even in this case, when the charging point 200 is in the middle of the carrying operation, the power storage device 110 can be charged for a time longer than the reference time by α or β (S42 or S52). Therefore, it is possible to reduce the possibility that the transport vehicle 100, which has the remaining power storage amount R equal to or less than the first threshold value before the start of work, runs out of charge during the transport work.

  Further, the carrier system 10 does not need to have two types of charging bases (charging point 200 and charging area 220). For example, at the charging point 200, both charging defined by the charging time (temporary charging) and charging according to a request from the vehicle 100 or the management controller 300 (main charging) may be performed. .. For example, the transport vehicle 100 may perform the main charging at the charging point 200 on the travel route 50 during a period when the transport work to be performed by the transport vehicle system 10 is small. As a result, the power consumption or traveling time for the transport vehicle 100 to move back and forth between the charging area 220 and the charging area 220 located off the travel route 50 is reduced.

  In addition, in the embodiment, the controller 120 mounted on the transport vehicle 100 performs calculation of the remaining charge amount R and determination as to whether charging processing is possible or not (charging processing determination before transportation work). The management controller 300 may perform processing such as calculation and determination. In other words, the management controller 300 may collectively perform the charging process determination before the transport work for each of the plurality of transport vehicles 100. In this case, the management controller 300 can grasp the charge state and the like of each transport vehicle 100 without receiving a report from each transport vehicle 100. Further, the management controller 300 can efficiently perform adjustment processing between the transport vehicles 100, such as priority determination processing when there are a plurality of transport vehicles 100 having a charging urgency level of “high”.

  Further, when the controller 120 mounted on the transport vehicle 100 performs the charging process determination before the transport work, various information such as the consumption amount information 152 used for this determination may be stored in the management controller 300. In this case, for example, in the management controller 300, by updating the consumption amount information 152 by using the results of a plurality of transport vehicles 100 of the same model, the accuracy of the calculation result of the remaining power storage amount R using the consumption amount information 152 is improved. improves.

  Further, although the guided vehicle 100 according to the present embodiment is an unmanned guided vehicle that travels on the road surface forming the travel route 50, the type of the guided vehicle 100 is not particularly limited. For example, a guided vehicle that travels along a track arranged on the floor or ceiling may be adopted as the transport vehicle 100.

  The transport vehicle system of the present invention is a transport vehicle system for transporting a plurality of packages, and is a transport vehicle system capable of appropriately executing a charging process for charging the transport vehicle. Therefore, it is useful as a transport vehicle system or the like for delivering packages in a distribution warehouse, a factory, or the like.

10 Transport Vehicle System 50 Traveling Route 51 Connection Route 100 Transport Vehicle 104 Luggage Station 105 Luggage 110 Electric Storage Device 120 Controller 122 Electric Storage Amount Acquisition Unit 124 Predicted Amount Acquisition Unit 126 Remaining Amount Calculation Unit 128 Charge Determination Unit 150 Storage Unit 152 Consumption Information 170 Traveling drive unit 180 Transfer device 200 Charging point 210 First charging device 220 Charging station 230 Second charging device 300 Management controller

Claims (5)

A transport vehicle system comprising: a transport vehicle having a power storage device for supplying electric power for transporting luggage; and a controller for controlling an operation of the transport vehicle.
The controller is
A storage amount acquisition unit that acquires the storage amount of the storage device;
A predictive amount acquisition unit that acquires a predicted consumption amount of electric power when the carrier vehicle executes a carrier command given to the carrier vehicle,
A remaining amount calculation unit that calculates the remaining amount of electricity stored in the electricity storage device after executing the transport command, using the amount of electricity stored and the predicted consumption amount;
A transport vehicle system, comprising: a charge determination unit that executes a charging process for charging the power storage device when the remaining power storage amount is equal to or less than a first threshold value. Further, the first charging device is arranged at a charging point on the traveling route used by the carrier for transporting luggage, and charges and passes for a reference time when the carrier passes the charge point. Equipped with a first charging device that can
When the transport vehicle passes through the charging point during the execution of the transport command, the charge determination unit causes the transport vehicle to perform the charging process on the first time during a first time longer than the reference time. The transport vehicle system according to claim 1, wherein the power storage device is charged by a charging device. The charge determination unit, when the charge remaining amount is less than or equal to a second threshold that is smaller than a first threshold, when the transport vehicle passes through the charge point during the execution of the transport command, the charging process includes: The transport vehicle system according to claim 2, wherein the transport vehicle is caused to charge the power storage device by the first charging device for a second time longer than the first time. When the transport vehicle charges at the charging point, the charge determination unit acquires the status of the transport vehicle system, and according to the acquired status, the power storage device by the first charging device in the charging process. The carrier system according to claim 2 or 3, further extending the charging time of the vehicle. Furthermore, the carrier includes a second charging device arranged at a position deviated from a traveling route for carrying the luggage,
The charging determination unit performs, as the charging process, a reservation process for the transport vehicle to charge the power storage device by the second charging device after execution of the transport command. The transport vehicle system according to one item.

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