JP2023119632A - Self-traveling system, control method and control program - Google Patents

Abstract

To provide a technique capable of suppressing the degradation of a battery while suppressing the reduction in the work efficiency of a self-traveling device.SOLUTION: A self-traveling system comprises: a self-traveling device which self-travels by receiving supply of power from a built-in battery and can convey a conveyance object; a charging station which can charge the battery; and a control device which controls the self-traveling device. The control device executes the processes of: acquiring a residual power amount of the battery; determining a start timing of a next work on the basis of a work schedule of the self-traveling device; estimating a necessary power amount necessary for the self-traveling device to perform the next work; and deciding a charging speed of the battery such that the residual power amount becomes equal to or greater than the necessary power amount by the start timing.SELECTED DRAWING: Figure 3

Description

TECHNICAL FIELD The present disclosure relates to self-propelled systems, control methods, and control programs.

There is a demand for unmanned production systems in factories and the like. Self-propelled devices are being developed in order to realize unmanned operation. The self-propelled device transports pre-machined workpieces, tools, and the like to each machine tool, and collects workpieces and used tools that have been machined by each machine tool.

Japanese Patent Laying-Open No. 2021-87328 (Patent Document 1) discloses an automatic guided vehicle provided with a power receiving device. The power receiving device includes a battery that supplies driving power to the automatic guided vehicle. The power receiving device receives power by contactless power supply from a power feeding device provided in the factory, and stores the power in a battery.

Japanese Patent Application Laid-Open No. 2021-87328

If the battery is charged quickly, it will deteriorate faster. On the other hand, if the charging speed of the battery is slow, the charging time will be long, and the self-propelled device cannot efficiently carry out the transportation work. Therefore, there is a demand for a technology capable of suppressing deterioration of the battery while suppressing deterioration of the work efficiency of the self-propelled device. Note that Patent Literature 1 does not disclose such a technique.

In one example of the present disclosure, a self-propelled system is a self-propelled device capable of self-propelled by receiving power supply from a built-in battery and transporting an object, and capable of charging the battery. and a control device for controlling the self-propelled device. The control device performs a process of acquiring the remaining electric power of the battery, a process of specifying the start timing of the next work based on the work schedule of the self-propelled device, and the self-propelled device performing the next work. and a process of determining the charging speed of the battery so that the remaining amount of power becomes equal to or greater than the required amount of power by the start timing.

In one example of the present disclosure, the estimating process includes increasing the required power amount as the traveling distance of the self-propelled device in the next work is longer.

In one example of the present disclosure, the estimating process includes increasing the required power amount as the weight of the object to be transported by the self-propelled device in the next work is heavier.

In one example of the present disclosure, the estimating process includes reducing the required power amount as the traveling route of the self-propelled device in the next work is closer to a straight line.

In one example of the present disclosure, the determining process includes slowing down the charging speed as the time from the present to the start timing increases.

In one example of the present disclosure, operating modes at the charging station include a first charging mode that charges the battery at a first rate and a second charging mode that charges the battery at a second rate that is faster than the first rate. including. In the determining process, when the remaining power amount becomes equal to or greater than the required power amount by the start timing by charging the battery in the first charging mode, the charging station is set to the first charging mode. mode and charging the battery in the first charging mode. and processing to operate in charging mode.

In another example of the disclosure, a control method for a self-propelled system is provided. The above-mentioned self-propelled system comprises a self-propelled device capable of self-propelled by receiving power supply from a built-in battery to transport a transported object, and a charging station capable of charging the above-mentioned battery. Prepare. The control method includes the steps of acquiring the remaining electric power of the battery, the steps of specifying the start timing of the next work based on the work schedule of the self-propelled device, and the self-propelled device performing the next work. and determining the charging rate of the battery so that the remaining amount of power becomes equal to or greater than the required amount of power by the start timing.

In another example of the disclosure, a control program for a self-propelled system is provided. The above-mentioned self-propelled system comprises a self-propelled device capable of self-propelled by receiving power supply from a built-in battery to transport a transported object, and a charging station capable of charging the above-mentioned battery. Prepare. The control program provides the self-propelled system with a step of acquiring the remaining power amount of the battery, a step of specifying a start timing of the next work based on the work schedule of the self-propelled device, and A step of estimating a required amount of power required for the device to perform the next task; and a step of determining a charging rate of the battery so that the remaining amount of power becomes equal to or greater than the required amount of power by the start timing. and

The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention taken in conjunction with the accompanying drawings.

It is a figure which shows an example of the apparatus configuration of a self-propelled system. It is a figure which shows the external appearance of a self-propelled apparatus. FIG. 3 is a graph showing how a battery is being charged in a normal charging mode; FIG. 4 is a graph showing how a battery is being charged in a fast charge mode; 3 is a schematic diagram showing an example of the hardware configuration of a controller; FIG. It is a figure which shows an example of the hardware constitutions of a self-propelled apparatus. It is a figure which shows an example of the hardware constitutions of a charging station. It is a block diagram which shows the hardware constitutions of a machine tool. It is a figure which shows an example of the functional structure regarding the conveyance process of a conveyed article. FIG. 5 is a diagram showing an example of a data structure of processing settings; FIG. 4 is a diagram showing an example of the data structure of workpiece information; It is a figure which shows an example of the data structure of a work schedule. It is a figure which shows an example of a three-dimensional map. It is a figure which shows an example of the functional structure regarding the charging process of a self-propelled apparatus. FIG. 4 is a diagram showing a flow of charge control processing by a controller in a flowchart; It is a figure which shows the flow of the charge control process by a self-propelled apparatus with a flowchart.

Hereinafter, each embodiment according to the present invention will be described with reference to the drawings. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, detailed description of these will not be repeated. In addition, each embodiment and each modified example described below may be selectively combined as appropriate.

<A. Self-propelled system 10>
First, referring to FIG. 1, the device configuration of the self-propelled system 10 will be described. FIG. 1 is a diagram showing an example of the device configuration of a self-propelled system 10. As shown in FIG.

As shown in FIG. 1 , the self-propelled system 10 includes a controller 100 , a self-propelled device 200 , a charging station 300 and a machine tool 400 .

Although FIG. 1 shows an example in which the self-propelled system 10 is configured with one controller 100 , the self-propelled system 10 may be configured with two or more controllers 100 . Similarly, the self-propelled system 10 may be composed of two or more self-propelled devices 200 . Similarly, self-propelled system 10 may be configured with two or more charging stations 300 . Similarly, the self-propelled system 10 may be configured with two or more machine tools 400 .

Controller 100 functions as a control device for self-propelled device 200 . The controller 100 is, for example, a notebook PC (Personal Computer), a desktop PC, a tablet terminal, or other computer with a communication function. Controller 100 is configured to be connectable to network NW. EtherNet (registered trademark), for example, is adopted as the network NW.

Self-propelled device 200 is configured to be connectable to network NW. The self-propelled device 200 can communicate with the controller 100 via the network NW. The controller 100 transmits a control command to the self-propelled device 200 via the network NW to control the traveling of the self-propelled device 200 . The control commands include, for example, a transport command for workpieces and tools, a charge command for charging station 300, and the like.

Self-propelled device 200 , for example, according to a transport command from controller 100 , transports objects such as workpieces and tools to a designated location such as machine tool 400 . In addition, the self-propelled device 200 conveys an article from a predetermined location such as the machine tool 400 to a designated destination in accordance with a conveyance command from the controller 100 .

As another example, self-propelled device 200 travels to charging station 300 according to a charging command from controller 100 . When self-propelled device 200 reaches a chargeable position near charging station 300 , self-propelled device 200 transmits the charging command received from controller 100 to charging station 300 . Communication between self-propelled device 200 and charging station 300 may be realized by short-range wireless communication such as WiFi (registered trademark) and Bluetooth (registered trademark), or may be realized via network NW. The charging command includes, for example, a charging mode for instructing charging speed and charging time required for charging. The charging station 300 charges a below-described battery 209 (see FIG. 2) built in the self-propelled device 200 in a non-contact manner based on the reception of the charge command from the self-propelled device 200 .

In the example of FIG. 1, the charging command is indirectly transmitted from the controller 100 to the charging station 300 via the self-propelled device 200, but the charging command is transmitted directly from the controller 100 to the charging station 300. may be sent.

Further, in the above description, an example in which charging station 300 charges self-propelled device 200 in a non-contact manner has been described. You may

The machine tool 400 uses the tool conveyed by the self-propelled device 200 to machine the workpiece conveyed by the self-propelled device 200 . The machine tool 400 is a concept that includes various devices having a function of machining a work. The machine tool 400 may be a horizontal machining center or a vertical machining center. Alternatively, machine tool 400 may be a lathe, an additional processing machine, or other cutting or grinding machine.

<B. Self-propelled device 200>
Next, the self-propelled device 200 will be described with reference to FIG. FIG. 2 is a diagram showing the appearance of the self-propelled device 200. As shown in FIG.

As shown in FIG. 2 , the self-propelled device 200 includes a wheel-driven traveling body 20 and an arm robot 23 .

The arm robot 23 is provided on the traveling body 20, for example. The arm robot 23 is composed of arms AR 1 to AR 4 and an end effector 225 .

One end of arm AR1 is connected to traveling body 20 . The other end of arm AR1 is connected to one end of arm AR2. The other end of arm AR2 is connected to one end of arm AR3. The other end of arm AR3 is connected to one end of arm AR4. An end effector 225 is provided at the other end of the arm AR4. The end effector 225 is configured to be able to grip a workpiece or tool.

The arm AR2 is configured to be rotatable by a motor about the axis of rotation connected to the arm AR1. The arm AR3 is configured to be rotatable by a motor about the axis of rotation connected to the arm AR2. The arm AR4 is configured to be rotatable by a motor about the axis of rotation connected to the arm AR3.

Also, the arm robot 23 is provided with a camera 207 . In the example of FIG. 2 , the camera 207 is provided on an end effector 225 that is the tip of the arm robot 23 . The camera 207 may be a CCD (Charge Coupled Device) camera, an infrared camera (thermography), or other types of cameras.

Note that the camera 207 does not necessarily have to be provided on the arm robot 23 . Camera 207 may be provided on cover 210 of traveling body 20, for example.

A laser sensor 205 is provided inside the traveling body 20 . The laser sensor 205 is configured to irradiate laser light while rotating and to receive reflected light of the laser light. Thereby, the laser sensor 205 measures the distance to the surrounding object. The self-propelled device 200 controls the traveling of the traveling body 20 such as forward direction R, backward direction B, right-turn direction, and left-turn direction based on the measurement results of the laser sensor 205 .

A battery 209 is provided inside the traveling body 20 . A battery 209 supplies power to various devices in the controller 100 .

In addition, a temporary storage area 216 for conveyed articles is provided on the traveling body 20 . In the example of FIG. 2, a workpiece W is shown as the transported object. The arm robot 23 grips the work W on the temporary storage site 216 and carries the work W to the designated destination. Alternatively, the arm robot 23 unloads the work W from the specified location and places the work W in the temporary storage area 216 .

Although the arm robot 23 is provided on the traveling body 20 in the example of FIG. . As an example, the transport device may be an autoloader.

<C. Overview of charging process>
Next, with reference to FIGS. 3 and 4, an overview of the charging control process for the battery 209 (see FIG. 2) will be described.

When the battery 209 of the self-propelled device 200 is rapidly charged, the deterioration of the battery 209 is accelerated. On the other hand, if the charging speed of the battery 209 of the self-propelled device 200 is slow, the charging time will be long, and the self-propelled device 200 cannot efficiently carry out the transportation work. Therefore, the self-propelled system 10 charges the battery 209 so as to suppress deterioration of the battery 209 while suppressing the work efficiency of the self-propelled device 200 from deteriorating.

More specifically, first, the controller 100 acquires the remaining power amount of the battery 209 (hereinafter also referred to as “remaining power amount”) from the self-propelled device 200 . Next, controller 100 specifies the next work start timing based on the work schedule of self-propelled device 200 . The controller 100 also estimates the amount of electric power required for the self-propelled device 200 to perform the next task. Subsequently, the controller 100 determines the charging speed of the battery 209 so that the remaining power amount becomes equal to or greater than the required power amount by the next work start timing.

Preferably, the controller 100 sets a value obtained by adding a predetermined amount of power to the required amount of power as the target amount of power, and adjusts the charging speed of the battery 209 so that the remaining amount of power reaches the target amount of power by the next work start timing. decide. Controller 100 then sends a control command to charging station 300 to charge battery 209 at the determined charging rate.

In this way, the controller 100 can charge the battery 209 at a required charging rate by charging the required amount of power in time with the next work start timing. Thereby, the self-propelled device 200 can avoid rapidly charging the battery 209 each time, and can suppress deterioration of the battery 209 . On the other hand, the controller 100 controls the amount of electric power required for the self-propelled device 200 to perform the next work, so it is possible to prevent the work efficiency of the self-propelled device 200 from deteriorating.

The charging rate of battery 209 can be varied in a variety of ways. As an example, the charging rate of battery 209 can be varied by specifying the operating mode of charging station 300 . Operation modes in charging station 300 include, for example, a normal charging mode and a quick charging mode.

FIG. 3 is a graph showing how the battery 209 is charged in the normal charging mode. The horizontal axis of the graph shown in FIG. 3 indicates time. The vertical axis of the graph shown in FIG. 3 indicates the remaining power amount of the battery 209 .

The normal charge mode is an operation mode in which the battery 209 is charged at the charge rate "V1" (first rate). The rapid charge mode is an operation mode in which the battery 209 is charged at a charging rate "V2" (second rate) faster than the charging rate "V1". The charging speeds "V1" and "V2" indicate the amount of charge per unit time. The charging speeds "V1" and "V2" may be set in advance or may be changed by setting control parameters.

Referring to FIG. 3, assume that the remaining power of battery 209 is "P0" at current time "T0". Also, it is assumed that the next work start timing of the self-propelled device 200 is "T1". Further, it is assumed that the required power amount required for the self-propelled device 200 to perform the next work is "P1". That is, the controller 100 needs to make the remaining power amount of the battery 209 equal to or greater than the required power amount "P1" during the grace period "ΔTA" until the work start timing "T1".

At this time, the controller 100 charges the battery 209 in the normal charge mode, and if the remaining power amount of the battery 209 becomes equal to or greater than the required power amount "P1" by the start timing "T1", the charging station 300 is activated. Operate in normal charging mode. In the example of FIG. 3, the battery 209 is charged at the charging speed "V1", so that the remaining power amount of the battery 209 becomes equal to or greater than the required power amount "P1" by the work start timing "T1". In this case, the controller 100 operates the charging station 300 in the normal charging mode in which the charging speed is slower than the rapid charging mode.

FIG. 4 is a graph showing how the battery 209 is being charged in the fast charge mode. In the example of FIG. 4, it is assumed that the next work start timing of the self-propelled device 200 is "T2". That is, the controller 100 needs to make the remaining power amount of the battery 209 equal to or greater than the required power amount "P1" during the time "ΔTB" until the work start timing "T2".

At this time, the controller 100 charges the battery 209 in the normal charge mode, and if the remaining power of the battery 209 does not reach the required power "P1" or more by the start timing "T2", the controller 100 restarts the charging station 300. Operate in fast charge mode. In the example of FIG. 4, when the battery 209 is charged at the charging speed "V1", the remaining power amount of the battery 209 does not exceed the required power amount "P1" by the work start timing "T2". On the other hand, when the battery 209 is charged at the charging speed "V2", the remaining power amount of the battery 209 becomes equal to or greater than the required power amount "P1" by the work start timing "T2". Controller 100 operates charging station 300 in a fast charging mode.

In the above example, the charging speed of the battery 209 is specified as either the normal charging mode or the rapid charging mode. You may have the above charge modes. Also, the charging speed of the battery 209 does not necessarily have to be specified by the charging mode, and may be specified by a numerical value indicating the charging speed. Alternatively, the charging rate of battery 209 may be specified by a control parameter that correlates with the charging rate.

<D. Hardware Configuration of Controller 100>
A hardware configuration of the controller 100 will be described with reference to FIG. FIG. 5 is a schematic diagram showing an example of the hardware configuration of the controller 100. As shown in FIG.

Controller 100 includes control circuit 101 , ROM (Read Only Memory) 102 , RAM (Random Access Memory) 103 , communication interface 104 , display interface 105 , input interface 107 , and auxiliary storage device 120 . These components are connected to bus B1.

The control circuit 101 is composed of, for example, at least one integrated circuit. Integrated circuits include, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or It can be configured by a combination of

The control circuit 101 controls the operation of the controller 100 by executing various programs such as a control program 122 and an operating system. The control program 122 is a program related to control of the self-propelled device 200 (for example, charging control and transport control). The control circuit 101 reads the control program 122 from the auxiliary storage device 120 or the ROM 102 to the RAM 103 based on the reception of the execution command of the control program 122 . The RAM 103 functions as a working memory and temporarily stores various data necessary for executing the control program 122 .

A LAN (Local Area Network), an antenna, and the like are connected to the communication interface 104 . Controller 100 is connected to network NW (see FIG. 1) via communication interface 104 . Thereby, the controller 100 exchanges data with external devices connected to the network NW. The external device includes, for example, self-propelled device 200 and a server (not shown). The controller 100 may be configured so that the control program 122 can be downloaded from the external device.

A display 106 is connected to the display interface 105 . Display interface 105 sends an image signal for displaying an image to display 106 in accordance with a command from control circuit 101 or the like. The display 106 is, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or other display device. Note that the display 106 may be configured integrally with the controller 100 or may be configured separately from the controller 100 .

An input device 108 is connected to the input interface 107 . Input device 108 is, for example, a mouse, keyboard, touch panel, or other device capable of receiving user operations. Note that the input device 108 may be configured integrally with the controller 100 or may be configured separately from the controller 100 .

Auxiliary storage device 120 is, for example, a storage medium such as a hard disk or flash memory. The auxiliary storage device 120 stores a control program 122, machining settings 123, which will be described later, work information 124, which will be described later, and a work schedule 125, which will be described later. The storage location of various data stored in the auxiliary storage device 120 is not limited to the auxiliary storage device 120 . The various data may be stored in a storage area of the control circuit 101 (for example, cache memory), ROM 102, RAM 103, external equipment (for example, PLC 151 or external server), and the like.

It should be noted that the control program 122 may be provided as a part of an arbitrary program, not as a standalone program. In this case, control processing of the self-propelled device 200 by the control program 122 is realized in cooperation with an arbitrary program. Even a program that does not include such a part of modules does not deviate from the gist of control program 122 according to the present embodiment. Furthermore, some or all of the functions provided by control program 122 may be implemented by dedicated hardware. Furthermore, the controller 100 may be configured as a so-called cloud service in which at least one server executes part of the processing of the control program 122 .

<E. Hardware configuration of self-propelled device 200>
Next, the hardware configuration of the self-propelled device 200 will be described with reference to FIG. FIG. 6 is a diagram showing an example of the hardware configuration of the self-propelled device 200. As shown in FIG.

Self-propelled device 200 includes control circuit 201 , ROM 202 , RAM 203 , communication interface 204 , laser sensor 205 , motor drive devices 206 and 208 , and auxiliary storage device 220 . These components are connected to bus B2.

The control circuit 201 is composed of, for example, at least one integrated circuit. An integrated circuit may be comprised of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or combinations thereof. As an example, the control circuit 201 is a PLC (Programmable Logic Controller).

The control circuit 201 controls the operation of the self-propelled device 200 by executing various programs such as a control program 222 and an operating system. The control circuit 201 reads the control program 222 from the auxiliary storage device 220 or the ROM 202 to the RAM 203 based on the reception of the instruction to execute the control program 222 . The RAM 203 functions as a working memory and temporarily stores various data necessary for executing the control program 222 .

A LAN (Local Area Network), an antenna, and the like are connected to the communication interface 204 . Self-propelled device 200 realizes wireless communication or wired communication with an external device via communication interface 204 . The external device includes, for example, a server (not shown), a user terminal (not shown) for operating self-propelled device 200, and the like. The user terminal is, for example, a tablet terminal, a smartphone, or the like. The user can control the traveling of the self-propelled device 200 via the user terminal.

The laser sensor 205 is configured to irradiate laser light while rotating and to receive reflected light of the laser light. As a result, the laser sensor 205 outputs two-dimensional distance data representing the distance to the surrounding object for each angle.

More specifically, the laser sensor 205 is composed of an irradiation section, a mirror, and a light receiving section. The irradiation unit irradiates the mirror with a laser beam. The mirror is rotatable by a motor and reflects laser light in each direction. Accordingly, the laser sensor 205 emits laser light in each direction. If an object is around the laser sensor 205 , the laser light will be reflected by the object and return to the laser sensor 205 . The laser sensor 205 receives the reflected light at its light receiving portion.

A laser sensor 205 receives reflected light from an object and calculates the distance to the object. As an example, the laser sensor 205 calculates the distance from the laser sensor 205 to the object based on the time from the irradiation of the laser light to the reception of the reflected light of the laser light. Typically, the laser sensor 205 calculates the distance to the object by multiplying the speed of light by the time. The laser sensor 205 outputs two-dimensional distance data representing the distance for each angle by associating the distance with the irradiation angle of the laser light.

Motor driving device 206 controls motor M1 for rotationally driving driving wheels of self-propelled device 200 according to a control command from control circuit 201 . The control command includes, for example, a forward rotation command for the motor M1, a reverse rotation command for the motor M1, a rotational speed of the motor M1, and the like. A stepping motor, a servo motor, or the like is adopted as the motor M1, for example.

The motor driving device 208 controls the rotation of each motor M2 provided in the arm robot 23 (see FIG. 2) according to the control command from the control circuit 201. FIG. A motor M2 is provided at each joint of the arm robot 23 . Motor M2 is, for example, a servo motor. An encoder is provided on the rotating shaft of the servomotor. The encoder feeds back the position of the servomotor, the rotational speed of the servomotor, the cumulative number of rotations of the servomotor, and the like to the motor driver 208 . The motor driving device 208 controls the position and orientation of the arm robot 23 based on the output values of the encoder.

A battery 209 supplies power to various devices in the self-propelled device 200 . Battery 209 is electrically connected to power receiving coil 136 . Self-propelled device 200 sends a charging command to charging station 300 when power receiving coil 136 faces power transmitting coil 311 of charging station 300 . Thereby, the charging station 300 applies an alternating current to the power transmitting coil 311, causes the power receiving coil 136 to generate an induced electromotive force, and charges the battery 209 with the induced electromotive force. Thereby, the battery 209 is charged in a non-contact manner.

Auxiliary storage device 220 is, for example, a storage medium such as a hard disk or flash memory. Auxiliary storage device 220 stores control program 222 for controlling traveling of self-propelled device 200, three-dimensional map 224 that defines the traveling route of self-propelled device 200, control parameters 226 related to driving of self-propelled device 200, and the like. to store The storage location of the control program 222, the three-dimensional map 224, and the control parameter 226 is not limited to the auxiliary storage device 220, but may be storage areas of the control circuit 201 (eg, cache memory, etc.), ROM 202, RAM 203, external devices (eg, server) or the like.

Also, the control program 222 may be provided as a part of an arbitrary program, not as a standalone program. In this case, control processing of the self-propelled device 200 by the control program 222 is realized in cooperation with an arbitrary program. Even a program that does not include such a part of modules does not deviate from the gist of control program 222 according to the present embodiment. Furthermore, some or all of the functions provided by control program 222 may be implemented by dedicated hardware. Furthermore, self-propelled device 200 may be configured in a form such as a so-called cloud service in which at least one server executes part of the processing of control program 222 .

<F. Hardware Configuration of Charging Station 300>
Next, referring to FIG. 7, the hardware configuration of charging station 300 will be described. FIG. 7 is a diagram showing an example of a hardware configuration of charging station 300. As shown in FIG.

Charging station 300 includes control circuit 301 , ROM 302 , RAM 303 , communication interface 304 , AC power supply 310 , and auxiliary storage device 320 . These components are connected to bus B3.

The control circuit 301 is composed of, for example, at least one integrated circuit. An integrated circuit may be comprised of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or combinations thereof.

Control circuit 301 controls the operation of charging station 300 by executing various programs such as control program 322 and an operating system. The control circuit 301 reads the control program 322 from the auxiliary storage device 320 or the ROM 302 to the RAM 303 based on the reception of the instruction to execute the control program 322 . The RAM 303 functions as a working memory and temporarily stores various data necessary for executing the control program 322 .

A LAN (Local Area Network), an antenna, and the like are connected to the communication interface 304 . Charging station 300 implements wireless or wired communication with external devices via communication interface 304 . The external device includes, for example, self-propelled device 200 and a server (not shown).

A power transmission coil 311 is electrically connected to the AC power supply 310 . AC power supply 310 applies AC current to power transmission coil 311 when power transmission coil 311 faces power reception coil 211 of self-propelled device 200 . As a result, an induced electromotive force is generated in the power receiving coil 136, and the battery 209 of the self-propelled device 200 is charged by the induced electromotive force.

Auxiliary storage device 320 is, for example, a storage medium such as a hard disk or flash memory. Auxiliary storage device 320 stores a charging control program 322, charging control parameters 324, and the like. These storage locations are not limited to the auxiliary storage device 320, but may be stored in the storage area of the control circuit 301 (eg, cache memory, etc.), ROM 302, RAM 303, external equipment (eg, server), or the like.

Also, the control program 322 may be provided as a part of an arbitrary program, not as a standalone program. In this case, control processing of charging station 300 by control program 322 is realized in cooperation with an arbitrary program. Even a program that does not include such a part of modules does not deviate from the gist of control program 322 according to the present embodiment. Furthermore, some or all of the functions provided by control program 322 may be implemented by dedicated hardware. Furthermore, charging station 300 may be configured as a so-called cloud service in which at least one server executes part of the processing of control program 322 .

<G. Hardware Configuration of Machine Tool 400>
An example of the hardware configuration of machine tool 400 will be described with reference to FIG. FIG. 8 is a block diagram showing the hardware configuration of machine tool 400. As shown in FIG.

The machine tool 400 includes a CNC (Computer Numerical Control) 401, a ROM 402, a RAM 403, a display interface 405, an input interface 409, servo drivers 411A to 411D, servo motors 412A to 412D, encoders 413A to 413D, It includes ball screws 414A, 414B and a spindle 415 for mounting tools. These devices are connected via a bus (not shown).

CNC 401 is composed of at least one integrated circuit. An integrated circuit is composed of, for example, at least one CPU, at least one MPU, at least one ASIC, at least one FPGA, or a combination thereof.

The CNC 401 controls the operation of the CNC 400 by executing various programs such as a machining program 422 . CNC401 reads the machining program 422 from the auxiliary storage device 420 to ROM402 based on having received the execution instruction of the machining program 422. FIG. The RAM 403 functions as a working memory and temporarily stores various data necessary for executing the machining program 422 .

The display interface 405 is connected to a display device such as the display 430, and transmits an image signal for displaying an image on the display 430 according to a command from the CNC 401 or the like. Display 430 is, for example, a liquid crystal display, an organic EL display, or another display device.

Input interface 409 may be connected to input device 431 . The input device 431 is, for example, a mouse, keyboard, touch panel, or other input equipment capable of receiving user operations.

CNC 400 controls servo driver 411A according to machining program 422 . The servo driver 411A sequentially receives input of the target rotation speed (or target position) from the CNC 401, controls the servomotor 412A so that the servomotor 412A rotates at the target rotation speed, and moves the workpiece installation table (not shown). Drive in the X-axis direction. More specifically, the servo driver 411A calculates the actual rotation speed (or actual position) of the servomotor 412A from the feedback signal of the encoder 413A. The servo driver 411A increases the rotation speed of the servomotor 412A when the actual rotation speed is smaller than the target rotation speed, and decreases the rotation speed of the servomotor 412A when the actual rotation speed is higher than the target rotation speed. . In this way, the servo driver 411A brings the rotation speed of the servomotor 412A closer to the target rotation speed while sequentially receiving the feedback of the rotation speed of the servomotor 412A. The servo driver 411A moves the work mounting base connected to the ball screw 414A in the X-axis direction to move the work mounting base to any position in the X-axis direction.

By similar motor control, the servo driver 411B moves the workpiece mounting table connected to the ball screw 414B in the Y-axis direction according to the control command from the CNC 400, and moves the workpiece mounting table to any position in the Y-axis direction. By performing similar motor control, the servo driver 411C moves the main shaft 415 in the Z-axis direction according to the control command from the CNC 400, and moves the main shaft 415 to any position in the Z-axis direction. By performing similar motor control, the servo driver 411D controls the rotational speed of the main shaft 415 about the axial direction of the main shaft 415 according to the control command from the CNC 400 .

Auxiliary storage device 420 is, for example, a storage medium such as a hard disk or flash memory. The auxiliary storage device 420 stores a machining program 422 and the like. The storage location of the machining program 422 is not limited to the auxiliary storage device 420, and may be stored in a storage area of the CNC 401 (for example, cache area), ROM 402, RAM 403, external equipment (for example, server), or the like.

<H. Functional configuration related to transport control>
Next, with reference to FIGS. 9 to 13, a functional configuration relating to transport processing for transported objects will be described. FIG. 9 is a diagram illustrating an example of a functional configuration related to processing for transporting an object.

As shown in FIG. 9, the control circuit 101 of the controller 100 includes a schedule generator 152 and a transport instruction unit 154 as functional components related to transport processing. Some or all of these functional configurations may be implemented in the self-propelled device 200 or other devices.

Further, the control circuit 201 of the self-propelled device 200 includes a map generating section 252 and a traveling control section 254 as functional components related to the transport process. A part or all of these functional configurations may be implemented in the controller 100 or other devices.

The functions of the schedule generation unit 152, the transportation command unit 154, the map generation unit 252, and the travel control unit 254 will be described below in order.

(H1. Schedule generator 152)
First, the functions of the schedule generator 152 shown in FIG. 9 will be described with reference to FIGS. 10 to 12. FIG.

The schedule generator 152 generates a work schedule 125 shown in FIG. 12 based on the machining settings 123 shown in FIG. 10 and the work information 124 shown in FIG.

FIG. 10 is a diagram showing an example of the data structure of the processing settings 123. As shown in FIG. The operator registers the work to be processed in advance by registering the processing setting 123 . The processing settings 123 are registered by the operator, for example, at the above-described controller 100 or other terminal. The contents registered by the operator include, for example, identification information of the work to be processed (work name, work ID, etc.), the number of works to be processed, the order of processing the works, and the like.

In the example of FIG. 10, the machining setting 123 includes machining tasks for two workpieces W1, two machining tasks for workpieces W2, four machining tasks for workpieces W3, and six machining tasks for workpieces W4. .

FIG. 11 is a diagram showing an example of the data structure of work information 124. As shown in FIG. As an example, the work information 124 includes a machining program for machining the work, the weight of the work, the machining time required for machining the work, and other information related to machining the work (for example, tools used for machining). information) are defined for each workpiece identification information.

A machining program defined in work information 124 is registered by an operator, for example, in controller 100 described above or machine tool 400 described above. Any method can be used to generate the machining program. As an example, some machine tools 400 have a function of automatically generating a machining program in response to interactive questions from the operator. A machining program is generated by the function, for example. Alternatively, the machining program may be designed by an operator writing program code.

The weight defined in the workpiece information 124 may be preset by the user, or registered when the machining program is designed. By way of example, the weight is entered at controller 100 or other terminal. The weight indicates, for example, the weight of the workpiece before starting processing.

The machining time specified in the workpiece information 124 is input in advance by the operator, for example. Alternatively, the machining time may be calculated from the past machining performance of each workpiece.

The schedule generation unit 152 refers to the work information 124 and specifies the machining time for each work specified in the machining settings 123 . 12 based on the specified machining time, the number of workpieces defined in the machining settings 123, and the machining order of the workpieces defined in the machining settings 123. Generate a work schedule 125 that includes

FIG. 12 is a diagram showing an example of the data structure of the work schedule 125. As shown in FIG. The work schedule 125 defines the transport task of the transported object by the self-propelled device 200 . The work schedule 125 generated by the schedule generator 152 is stored, for example, in the storage device within the self-propelled system 10 .

As an example, in the work schedule 125, the date and time, the transport subject, the transport source, the transport destination, and the transported item are associated in chronological order.

The dates and times indicated in the work schedule 125 are, for example, information indicating work start timings by the self-propelled device 200 . The date and time is defined by, for example, date and time. The work schedule 125 may further define the work end timing of the self-propelled device 200 .

The transport subject indicated in the work schedule 125 is information for uniquely specifying the self-propelled device 200 . The transport entity is defined by, for example, the identification information of self-propelled device 200 . Examples of transporting subjects include “self-propelled device A” and “self-propelled device B”.

The delivery source indicated in the work schedule 125 is information for uniquely identifying the placement location of the delivery item. Examples of the transfer origin include the position of the machine tool 400 and the position of the place where the article is placed.

The transport destination indicated in the work schedule 125 is information for uniquely identifying the transport destination of the transported object. Examples of the transport destination include the machine tool 400 and a storage place for the transported goods.

The items to be transported shown in the work schedule 125 are information for uniquely identifying the objects to be transported. Examples of such conveyed objects include workpieces to be processed and tools used for processing.

The work schedule 125 may define not only the work schedule for the transported goods but also the charging schedule for the self-propelled device 200 .

(H2. Transport command unit 154)
Next, still referring to FIG. 12, the function of the transport command section 154 shown in FIG. 9 will be described.

The transportation command unit 154 controls transportation of the self-propelled device 200 according to the transportation task specified in the work schedule 125 . As an example, when the current time is "T1", the transport command unit 154 performs a command to transport the objects "work W1A, W1B" at "placement place R1" to "machine tool A". A transfer command is sent to "self-propelled device A". As another example, when the current date and time is "T2", the transport command unit 154 transports the objects "tools T1, T2" in the "placement place R2" to "machine tool B". A transfer command is sent to "self-propelled device B".

(H3. Map generator 252)
Next, referring to FIG. 13, functions of the map generator 252 shown in FIG. 9 will be described.

The map generator 252 generates a three-dimensional map 224 representing the space around the self-propelled device 200 based on the two-dimensional distance data D sequentially obtained from the laser sensor 205 while the self-propelled device 200 is being driven. .

The three-dimensional map 224 is generated by SLAM (Simultaneous Localization and Mapping) technology, for example. The three-dimensional map 224 is information generated to identify the current position of the self-propelled device 200 and information indicating the positions of stationary objects at the travel location of the self-propelled device 200 . Such stationary objects include, for example, floors, walls, shelves, machine tools, trays, and charging stations.

The three-dimensional map 224 is generated, for example, by the user manually operating the self-propelled device 200 using a user terminal. In this case, an operation signal corresponding to the user's operation is transmitted to the control circuit 201 via the communication interface 204, and the control circuit 201 outputs a command to the motor driving device 206 according to the operation signal, thereby 200 running is controlled. At this time, the control circuit 201 maps the positions of objects around the self-propelled device 200 to the three-dimensional map 224 based on the two-dimensional distance data D input from the laser sensor 205 and the position of the self-propelled device 200. map. The position of self-propelled device 200 is identified, for example, based on drive information from motor drive device 206 . Thus, in the three-dimensional map 224, information indicating the presence or absence of an object is associated with each of the three-dimensional coordinate values (x, y, z).

FIG. 13 is a diagram showing a three-dimensional map 224 as an example. For convenience of explanation, FIG. 7 shows the three-dimensional map 224 as a two-dimensional map.

The three-dimensional map 224 shows, for example, a map inside a factory. As an example, three-dimensional map 224 defines the position of workpiece tray 70, the position of charging station 300, the position of machine tool 400, and the positions of obstacles 430A and 430B. The types of objects defined on the three-dimensional map 224 may be specified by the user, or may be automatically recognized by image processing or the like.

(H4. Running control unit 254)
Next, with continued reference to FIG. 13, the function of travel control unit 254 shown in FIG. 6 will be described. The travel control unit 254 is a functional module for controlling travel of the self-propelled device 200 .

The travel control unit 254 controls the travel of the self-propelled device 200 according to the transport command from the controller 100 . As an example, the transport command includes information indicating the type of the item to be transported, information indicating the location of the item to be transported, and information indicating the destination of the item to be transported. The travel control unit 254 refers to the three-dimensional map 224 to set a travel route from the storage location of the article to the destination.

As an example, it is assumed that the position PA is designated as the place to put the goods and the position PB is designated as the destination of the goods. Based on this, travel control unit 254 sets travel route 240, which is the shortest route from position PA to position PB.

After that, the self-propelled device 200 picks up the work from the tray 70 to the self-propelled device 200 at the position PA, and starts conveying the work. After that, the travel control unit 254 periodically identifies the current position of the self-propelled device 200 by comparing the two-dimensional distance data D input from the laser sensor 205 and the three-dimensional map 224 . The travel control unit 254 causes the self-propelled device 200 to travel along the travel route 240 by specifying the current position.

Further, the travel control unit 254 detects obstacles around the self-propelled device 200 based on the two-dimensional distance data D sequentially acquired from the laser sensor 205 while the self-propelled device 200 is driven, and detects the obstacle. The traveling of the self-propelled device 200 is controlled so as to avoid collision with. The obstacles include, for example, moving bodies such as people and other self-propelled devices 200, and stationary bodies such as walls and shelves.

The travel control unit 254 controls travel of the self-propelled device 200 so as to travel along the travel route 240 while no obstacle is detected. On the other hand, when an obstacle is detected, the traveling control unit 254 controls traveling of the self-propelled device 200 so as to avoid collision with the obstacle.

As an example, when the distance to the obstacle is equal to or greater than a predetermined distance, the travel control unit 254 controls travel of the self-propelled device 200 so as to avoid the obstacle. On the other hand, when the distance to the obstacle is less than the predetermined distance, the travel control unit 254 stops the self-propelled device 200 from traveling.

The travel control unit 254 performs work supply work from the self-propelled device 200 to the machine tool 400 based on the fact that the self-propelled device 200 has reached the position PB. After that, the travel control unit 254 moves the self-propelled device 200 to a predetermined standby position. Alternatively, traveling control unit 254 moves self-propelled device 200 to charging station 300 when the remaining power amount of self-propelled device 200 is equal to or less than a predetermined amount.

In addition, although the example in which the self-propelled device 200 conveys the work from the position PA to the position PB has been described above, the article to be conveyed by the self-propelled device 200 is not particularly limited. As an example, self-propelled device 200 may convey a tool instead of a work.

Also, in the above description, an example in which the position of one tray 70 is defined by the three-dimensional map 224 has been described, but each position of a plurality of trays 70 may be defined by the three-dimensional map 224 .

Also, in the above description, an example in which the position of one charging station 300 is defined on the three-dimensional map 224 has been described, but each position of a plurality of charging stations 300 may be defined on the three-dimensional map 224 .

Similarly, in the above description, an example in which the position of one machine tool 400 is defined on the three-dimensional map 224 has been described, but each position of a plurality of machine tools 400 may be defined on the three-dimensional map 224. .

<I. Functional configuration related to charging control>
Next, with reference to FIG. 14, a functional configuration relating to charging processing of self-propelled device 200 will be described. FIG. 14 is a diagram showing an example of a functional configuration related to charging processing of the self-propelled device 200. As shown in FIG.

As shown in FIG. 14, the control circuit 101 of the controller 100 includes a specifying unit 162, an estimating unit 164, an acquiring unit 166, and a determining unit 170 as functional configurations related to charging processing. These functional configurations are implemented in the controller 100, for example. Alternatively, some or all of these functional configurations may be implemented in self-propelled device 200 or other devices.

Below, the function of the identifying unit 162, the function of the estimating unit 164, the function of the acquiring unit 166, and the function of the determining unit 170 will be described in order.

(I1. Identification unit 162)
First, the function of the identification unit 162 shown in FIG. 14 will be described with reference to FIG. 12 described above.

The identifying unit 162 identifies the start timing of the next work based on the work schedule 125 . As a more specific process, first, the identification unit 162 identifies the current time. The current time is acquired from a clock function (timer) that is standardly installed in the controller 100 . Alternatively, the current time may be obtained from an external device (eg, server) configured to communicate with controller 100 . Next, the specifying unit 162 refers to the date and time specified in the work schedule 125 to specify the start timing of the work scheduled next to the acquired current time. The identified work start timing is output to determination unit 170 .

Note that the process of specifying the work start timing can be executed at any timing. As an example, the identifying process is executed based on the arrival of the charging timing of self-propelled device 200 . The charging timing is predefined in the work schedule 125, for example.

As an example, assume that the current time is date and time "T3" and the timing for charging "self-propelled device A" has arrived. In this case, the specifying unit 162 refers to the work schedule 125 and specifies the start time "T4" of the next work to be performed by the "self-propelled device A" as the work start timing.

In the above example, the work start timing does not necessarily have to be indicated by time. As an example, the work start timing may be indicated by a grace period from the current time to the next work start time.

(I2. Estimation unit 164)
Next, the functions of the estimation unit 164 shown in FIG. 14 will be described with reference to FIG. 12 described above.

Based on the work schedule 125, the estimation unit 164 estimates the amount of electric power required for the self-propelled device 200 to perform the next work. The "next work" here means at least one work scheduled after the current time. As an example, the “next work” may be one work scheduled to be performed after the current time, a predetermined number of tasks scheduled to be performed after the current time, or the current work. It may be work that is scheduled to be performed within a predetermined time period.

The estimation unit 164 estimates the required power amount according to the amount of work related to the next work. For example, the greater the amount of work involved, the greater the amount of power required, and the smaller the amount of work involved, the smaller the amount of power required.

The required power amount is calculated, for example, based on a predetermined calculation formula. The calculation formula uses the required power amount as an objective variable and the physical quantity correlated with the required power amount as an explanatory variable. The number of explanatory variables may be one or plural.

In one aspect, the physical quantity includes the traveling distance of self-propelled device 200 in the next task. In this case, the estimation unit 164 estimates a larger amount of required electric energy as the travel distance increases. In other words, the estimation unit 164 estimates the required electric energy to be less as the travel distance is shorter.

As a more specific process, the estimating unit 164 performs the next work based on the three-dimensional map 224 described above, the transfer source specified in the work schedule 125, and the transfer destination specified in the work schedule 125. The travel route of the self-propelled device 200 at the time is specified. After that, the estimating unit 164 calculates the traveling distance of the self-propelled device 200 at the time of the next work by integrating the distances of the specified traveling routes. The estimation unit 164 multiplies the calculated travel distance by the required power amount per unit distance to calculate the required power amount for the next work. The required power amount per unit distance may be set in advance, or may be calculated from the past history or the like. Note that the estimating unit 164 may calculate the straight-line distance between the transportation source and the transportation destination as the traveling distance.

Another aspect WHEREIN: The said physical quantity contains the weight of the conveyed object which the self-propelled apparatus 200 conveys by the next operation|work. In this case, the estimating unit 164 estimates the required power amount more as the weight is heavier. In other words, the estimation unit 164 estimates the required amount of power to be less as the weight is lighter.

As a more specific process, the estimating unit 164 refers to the work schedule 125 and identifies the goods to be conveyed during the next work. After that, the estimation unit 164 refers to the work information 124 (see FIG. 11) described above and calculates the weight of the identified transported object. Note that when the conveyed object is a tool, the weight of the tool may be obtained from the catalog information of the tool, or from the tool information that defines the information of each tool.

In still another aspect, the physical quantity includes the degree of linearity of the traveling route of self-propelled device 200 in the next work. In this case, the estimating unit 164 estimates the required power amount to be less as the travel route is closer to a straight line. In other words, the estimating unit 164 estimates a larger amount of required power as the travel route meanders.

As an example, the estimating unit 164 determines the self-propelled vehicle for the next work based on the three-dimensional map 224 described above, the transfer source specified in the work schedule 125, and the transfer destination specified in the work schedule 125. Identify the travel route of the device 200 . After that, the estimating unit 164 expresses the approximate expression of the identified travel route by a straight line based on a predetermined algorithm (for example, the method of least squares). Next, the estimation unit 164 calculates the degree of similarity between the straight line and the travel route as the straightness degree of the travel route.

As another example, the estimation unit 164 counts the number of changes in the traveling direction of the self-propelled device 200 . The number of changes corresponds to, for example, the number of points on the travel route where the travel direction of self-propelled device 200 changes by a predetermined angle or more. The estimating unit 164 estimates the degree of straightness of the travel route smaller as the number of changes decreases, and estimates the degree of straightness of the travel route greater as the number of changes increases.

(I3. Acquisition unit 166)
Next, functions of the acquisition unit 166 shown in FIG. 14 will be described.

Acquisition unit 166 acquires the remaining power amount of battery 209 from self-propelled device 200 . The remaining power amount is detected by the self-propelled device 200 . Various methods are employed to detect the remaining power amount of the battery 209 .

As an example, the output voltage or output current of the battery 209 decreases as the remaining power of the battery 209 decreases. The output voltage or output current of battery 209 is detected, for example, by a detection circuit (not shown) electrically connected to battery 209 .

More specifically, the self-propelled device 200 detects the remaining power amount of the battery 209 so that the smaller the output current or output voltage of the battery 209 is, the smaller the remaining power amount of the battery 209 is. In other words, the remaining power amount of the battery 209 is detected such that the larger the output current or output voltage of the battery 209 is, the larger the remaining power amount of the battery 209 is.

(I4. Determination unit 170)
Next, the function of the determination unit 170 shown in FIG. 14 will be described.

The determination unit 170 determines whether the battery 209 is charged based on the next work start timing identified by the identification unit 162, the required power amount estimated by the estimation unit 164, and the remaining power amount obtained by the acquisition unit 166. Determine charging speed.

At this time, the determination unit 170 slows down the charging speed as the delay time from the present time to the next work start timing increases. In other words, the determining unit 170 increases the charging speed as the delay time from the present time to the timing of starting the next work is shorter. As a result, the controller 100 can charge the battery 209 at a charging speed corresponding to the grace period, and can suppress deterioration of the battery 209 due to rapid charging.

Further, the determining unit 170 slows down the charging speed as the difference value between the remaining power amount of the battery 209 and the required power amount for the next work is smaller. In other words, the larger the difference value, the faster the charging speed. As a result, the controller 100 can charge the battery 209 at a charging rate corresponding to the amount of power required for the next task, and can suppress deterioration of the battery 209 due to rapid charging.

Determining unit 170 transmits a charging command including the determined charging speed to self-propelled device 200 . Self-propelled device 200 travels to charging station 300 upon receiving a charging command from controller 100 . After that, self-propelled device 200 sends a charging command to charging station 300 when power receiving coil 136 in self-propelled device 200 and power transmitting coil 311 in charging station 300 face each other. Accordingly, charging station 300 charges battery 209 based on the specified charging rate.

<J. Control Flow of Controller 100>
Next, referring to FIG. 15, the control flow of the controller 100 will be described. FIG. 15 is a flowchart showing the flow of charging control processing by the controller 100. As shown in FIG.

The processing shown in FIG. 15 is implemented by controller 100 executing control program 122 described above. In other aspects, part or all of the processing may be performed by circuit elements or other hardware.

In step S110, the control circuit 101 determines whether or not the charging timing of the self-propelled device 200 has come. As an example, the control circuit 101 determines that the charging timing has arrived based on the execution of the charging task defined in the work schedule 125 described above. As another example, the control circuit 101 receives the remaining power amount of the battery 209 from the self-propelled device 200, and determines that the charging timing has come when the remaining power amount is equal to or less than a predetermined amount. As still another example, the control circuit 101 refers to the work schedule 125 described above and determines that the charging timing has arrived when the self-propelled device 200 is in the standby state.

When control circuit 101 determines that the timing for charging self-propelled device 200 has arrived (YES in step S110), control circuit 101 switches control to step S112. Otherwise (NO in step S110), control circuit 101 executes the process of step S110 again.

In step S112, the control circuit 101 functions as the identification unit 162 (see FIG. 14) and identifies the start timing of the next work based on the work schedule 125 (see FIG. 12). Since the method for identifying the work start timing is as described above, the description thereof will not be repeated.

In step S114, the control circuit 101 functions as the estimation unit 164 (see FIG. 14) described above, and based on the work schedule 125 (see FIG. 12), the power required for the self-propelled device 200 to perform the next work is calculated. Estimate quantity. Since the method of estimating the required power amount is as described above, the description thereof will not be repeated.

In step S<b>116 , the control circuit 101 functions as the acquisition unit 166 (see FIG. 14 ) described above and receives the remaining power amount of the battery 209 from the self-propelled device 200 . Since the method of obtaining the remaining power is as described above, the description thereof will not be repeated.

In step S120, the control circuit 101 functions as the determination unit 170 (see FIG. 14) described above, and the next work start timing specified in step S112, the required power amount estimated in step S114, and the The charging speed of the battery 209 is determined based on the acquired remaining power amount. Since the method of determining the charging rate is as described above, the description thereof will not be repeated.

In step S<b>122 , the control circuit 101 transmits a charging command to the self-propelled device 200 . The charging command includes the charging speed and the charging time required for charging.

<K. Control flow of self-propelled device 200>
Next, with reference to FIG. 16, the control flow of the self-propelled device 200 will be described. FIG. 16 is a flowchart showing the flow of charge control processing by the self-propelled device 200. As shown in FIG.

The processing shown in FIG. 16 is implemented by the self-propelled device 200 executing the control program 222 described above. In other aspects, part or all of the processing may be performed by circuit elements or other hardware.

In step S<b>150 , control circuit 201 determines whether or not a charge command has been received from controller 100 . When control circuit 201 determines that it has received a charge command from controller 100 (YES in step S150), it switches control to step S152. Otherwise (NO in step S150), control circuit 201 executes the process of step S150 again.

In step S<b>152 , the control circuit 201 functions as the traveling control section 254 (see FIG. 9 ) and causes the self-propelled device 200 to travel to the charging station 300 . The location of charging station 300 is defined, for example, in three-dimensional map 224 described above.

In step S<b>160 , control circuit 201 determines whether self-propelled device 200 has reached charging station 300 . When control circuit 201 determines that self-propelled device 200 has reached charging station 300 (YES in step S160), control circuit 201 switches control to step S162. Otherwise (NO in step S160), control circuit 201 executes the process of step S160 again.

In step S<b>162 , control circuit 201 transmits a charging command to charging station 300 . The charge command includes, for example, the same information as the charge command received from controller 100 in step S150. Upon receiving the charging command, charging station 300 drives AC power supply 310 according to the indicated charging speed. This causes an alternating current to be generated in the receiving coil 136 within the charging station 300 . As a result, an induced electromotive force is generated in the power receiving coil 136 within the self-propelled device 200, and the battery 209 is charged by the induced electromotive force.

In step S170, the control circuit 201 determines whether or not the remaining power amount of the battery 209 is greater than or equal to the required power amount. When control circuit 201 determines that the remaining power amount of battery 209 is greater than or equal to the required power amount (YES in step S170), the process shown in FIG. 16 ends. Otherwise (NO in step S170), control circuit 201 executes the process of step S170 again.

It should be noted that the control circuit 201 causes the self-propelled device 200 to execute the next work specified in the work schedule 125 after executing the process of step S170. Alternatively, the control circuit 201 may continue charging the battery 209 when there is time until the next task due to the change in the work schedule 125 .

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

10 self-propelled system, 20 running body, 23 arm robot, 70 tray, 100 controller, 101 control circuit, 102 ROM, 103 RAM, 104 communication interface, 105 display interface, 106 display, 107 input interface, 108 input device, 120 auxiliary Storage Device 122 Control Program 123 Machining Setting 124 Work Information 125 Work Schedule 136 Power Receiving Coil 152 Schedule Generation Unit 154 Transport Command Unit 162 Identification Unit 164 Estimation Unit 166 Acquisition Unit 170 Determination Unit 200 Self-propelled device, 201 control circuit, 202 ROM, 203 RAM, 204 communication interface, 205 laser sensor, 206 motor drive device, 207 camera, 208 motor drive device, 209 battery, 210 cover, 211 power receiving coil, 216 temporary storage site, 220 Auxiliary storage device, 222 control program, 224 three-dimensional map, 225 end effector, 226 control parameter, 240 travel route, 252 map generator, 254 travel control unit, 300 charging station, 301 control circuit, 302 ROM, 303 RAM, 304 Communication interface 310 AC power supply 311 Power transmission coil 320 Auxiliary storage device 322 Control program 324 Control parameter 400 Machine tool 402 ROM 403 RAM 405 Display interface 409 Input interface 411A Servo driver 411B Servo driver 411C servo driver, 411D servo driver, 412A servo motor, 412B servo motor, 412C servo motor, 412D servo motor, 413A encoder, 413B encoder, 413C encoder, 413D encoder, 414A ball screw, 414B ball screw, 415 spindle, 420 auxiliary memory Device, 422 Machining program, 430 Display, 430A Obstacle, 430B Obstacle, 431: Input device.

Claims (8)

A self-propelled system,
A self-propelled device capable of self-propelled by receiving power supply from a built-in battery and transporting a transported object;
a charging station capable of charging the battery;
A control device for controlling the self-propelled device,
The control device is
a process of obtaining the remaining power amount of the battery;
A process of identifying the start timing of the next work based on the work schedule of the self-propelled device;
A process of estimating the amount of power required for the self-propelled device to perform the next work;
and determining a charging speed of the battery so that the remaining power amount becomes equal to or greater than the required power amount by the start timing. 2. The self-propelled system according to claim 1, wherein said estimating process includes increasing said required power amount as the traveling distance of said self-propelled device in said next work is longer. The self-propelled system according to claim 1 or 2, wherein the process for estimating includes increasing the required power amount as the weight of the object to be conveyed by the self-propelled device in the next work is heavier. The self-propelled vehicle according to any one of claims 1 to 3, wherein the estimating process includes reducing the required power amount as the traveling route of the self-propelled device in the next work is closer to a straight line. system. The self-propelled system according to any one of claims 1 to 4, wherein the determining process includes slowing down the charging speed as the time from the present to the start timing increases. The mode of operation in the charging station is
a first charging mode charging the battery at a first rate;
a second charging mode charging the battery at a second rate that is faster than the first rate;
The process of determining
a process of operating the charging station in the first charging mode when the remaining power amount becomes equal to or greater than the required power amount by the start timing by charging the battery in the first charging mode; ,
a process of operating the charging station in the second charging mode when the remaining power amount does not exceed the required power amount by the start timing by charging the battery in the first charging mode; The self-propelled system according to any one of claims 1 to 5, comprising A control method for a self-propelled system, comprising:
The self-propelled system includes:
A self-propelled device capable of self-propelled by receiving power supply from a built-in battery and transporting a transported object;
a charging station capable of charging the battery;
The control method is
obtaining the amount of power remaining in the battery;
a step of identifying the start timing of the next work based on the work schedule of the self-propelled device;
estimating the amount of power required for the self-propelled device to perform the next task;
and determining a charging rate of the battery so that the remaining power amount becomes equal to or greater than the required power amount by the start timing. A control program for a self-propelled system, comprising:
The self-propelled system includes:
A self-propelled device capable of self-propelled by receiving power supply from a built-in battery and transporting a transported object;
a charging station capable of charging the battery;
The control program causes the self-propelled system to:
obtaining the amount of power remaining in the battery;
a step of identifying the start timing of the next work based on the work schedule of the self-propelled device;
estimating the amount of power required for the self-propelled device to perform the next task;
and determining a charging rate of the battery so that the remaining power amount becomes equal to or greater than the required power amount by the start timing.