JP2021181141A - 充電方法および充電システム - Google Patents
充電方法および充電システム Download PDFInfo
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Abstract
Description
第1実施形態にかかわる充電方法について説明する。図1に示すように、工場1は第1領域2、第2領域3、第3領域4に区分けされる。第1領域2について説明する。第2領域3及び第3領域4は、第1領域2と同様であるため、説明を省略する。第1領域2の形状は長方形である。第1領域2の長手方向をY方向とする。図中上側がY正方向である。水平面においてY方向と直交する方向をX方向とする。図中右側がX正方向である。X方向及びY方向と直交する方向をZ方向とする。
本実施形態が第1実施形態と異なるところは、第1充電車24が充電ステーション27にて第2バッテリー41を充電した後で、第1ロボット9の第1バッテリー35を充電する点にある。尚、第1実施形態と同一のステップについては同一の符号を付して、重複する説明を省略する。
本実施形態が第1実施形態と異なるところは、ステップS4において残電力が最も大きい充電車に第3通信制御部93が要請信号を送信する点にある。
第1実施形態では第1ロボット9の第1コネクター36と第1充電車24の第2コネクター43とが接触して第1バッテリー35と第2バッテリー41との間で充電が行われた。他にも、第1ロボット9が第1バッテリー35と電気的に接続する第1コイルを備え、第1充電車24が第2バッテリー41と電気的に接続する第2コイルを備えても良い。そして、第1コイルと第2コイルとの間で非接触に電力を伝送しても良い。第1ロボット9と第1充電車24とがワイヤレス電力伝送をしても良い。第1コネクター36及び第2コネクター43の端子の汚れによる電力損失が低減できる。
第1実施形態では第1ロボット9が送信する要請信号を制御装置29が受信した。そして、制御装置29が充電車を選択して要請信号を転送した。他にも、第1ロボット9が送信する要請信号を充電車が受信しても良い。第1充電車24〜第3充電車26の中で充電可能な充電車が第1ロボット9の第1バッテリー35を充電しても良い。制御装置29を用いないので充電システム94を容易に構築できる。
第1実施形態では要請信号を送信したロボットに近い充電車が充電を行った。第3実施形態では残電力が大きい充電車が充電を行った。他にも、第1充電車24〜第3充電車26の残電力が小さいときには、充電ステーション27に近い充電車が対応しても良い。
第1実施形態では第1ロボット9〜第10ロボット18の第1バッテリー監視部63が第1バッテリー35の残電力を監視した。他にも、第1ロボット9〜第10ロボット18の第1バッテリー35の残電力のデータを制御装置29に定期的に送信しても良い。そして、制御装置29が第1ロボット9〜第10ロボット18の第1バッテリー35の残電力を監視しても良い。第1ロボット9〜第10ロボット18の第1バッテリー35の残電力が少なくなるとき、制御装置29が第1充電車24〜第3充電車26に要請信号を送信しても良い。
第1実施形態では第1ロボット9〜第10ロボット18は自律移動しないロボットであった。第1ロボット9〜第10ロボット18は自律移動型のロボットでも良い。ロボットが充電ステーション27へ移動して充電するよりも短時間で第1充電車24〜第3充電車26がロボットのバッテリーを充電できる。
第1実施形態では床に第1通路線21、第2通路線22、第3通路線23が配置された。他にも、第1充電車24〜第3充電車26がマップ情報を備えても良い。そして、第1充電車24〜第3充電車26がマップ情報と位置マーク28とを用いて移動しても良い。このとき、第1ロボット9〜第10ロボット18の近くにも位置マーク28があるのが好ましい。
第1実施形態では第1ロボット9〜第10ロボット18、第1充電車24〜第3充電車26、充電ステーション27及び制御装置29が互いに無線通信を行った。工場1内の電磁ノイズが大きいときには光通信にしても良い。良好なデータ通信を行うことができる。
Claims (7)
- 第1バッテリーを有するロボットと、第2バッテリーを有する充電車とを含む充電システムにおいて、前記第1バッテリーを充電する充電方法であって、
前記ロボットは、前記第1バッテリーの残電力が第1判定値以下か否かを判定し、
前記第1バッテリーの残電力が前記第1判定値以下の場合、前記第1バッテリーの充電を要求する要請信号を送信し、
前記充電車は、前記要請信号を受信すると、前記ロボットの場所へ移動し、前記第2バッテリーにより、前記第1バッテリーを充電することを特徴とする充電方法。 - 請求項1に記載の充電方法であって、
前記ロボットの位置と複数の前記充電車との位置を制御装置が認識し、
前記制御装置は前記ロボットからの前記要請信号を受信し、前記要請信号を送信する前記ロボットに近い前記充電車に前記要請信号を送信することを特徴とする充電方法。 - 請求項1に記載の充電方法であって、
複数の前記充電車の前記第2バッテリーの残電力を制御装置が認識し、
前記制御装置は前記ロボットからの前記要請信号を受信し、残電力が最も大きい前記第2バッテリーを備える前記充電車に前記要請信号を送信することを特徴とする充電方法。 - 請求項1〜3のいずれか一項に記載の充電方法であって、
前記充電車が前記第1バッテリーを充電した後で、前記充電車は前記第2バッテリーの残電力が第2判定値以下か否かを判定し、
前記第2バッテリーの残電力が前記第2判定値以下のとき、前記充電車は充電ステーションへ移動して前記第2バッテリーを充電することを特徴とする充電方法。 - 請求項1〜3のいずれか一項に記載の充電方法であって、
前記充電車が前記要請信号を受信するとき、前記充電車は前記第2バッテリーの残電力が第3判定値以下か否かを判定し、
前記第2バッテリーの残電力が前記第3判定値以下のとき、前記充電車は充電ステーションへ移動して前記第2バッテリーを充電することを特徴とする充電方法。 - 請求項2または3に記載の充電方法であって、
複数の前記ロボットの前記第1バッテリーの残電力を前記制御装置が認識し、
前記充電車が前記要請信号を受信するとき、前記充電車は前記第2バッテリーの残電力が第3判定値以下か否かを判定し、
前記第2バッテリーの残電力が前記第3判定値以下のとき、前記充電車は前記第1バッテリーの残電力が大きな前記ロボットを問い合わせる問い合わせ信号を前記制御装置に送信し、
前記制御装置は前記第1バッテリーの残電力が第4判定値以上の前記ロボットを示す回答信号を前記充電車に送信し、
前記充電車は前記回答信号を受信して、前記回答信号に示される前記ロボットへ移動して前記第2バッテリーを充電することを特徴とする充電方法。 - 第1バッテリーと、前記第1バッテリーの残電力が第1判定値以下の場合、前記第1バッテリーの充電を要求する要請信号を送信する送信部と、を有するロボットと、
第2バッテリーと、前記要請信号を受信する受信部と、を有する充電車と、を備え、
前記充電車は前記ロボットの場所へ移動し、前記第2バッテリーにより前記第1バッテリーを充電することを特徴とする充電システム。
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