JP3697768B2 - Automatic charging system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic charging system that automatically charges a battery of an unmanned vehicle that moves to a designated place by its own judgment.
[0002]
[Prior art]
In general, an unmanned vehicle obtains a travel route from a current position to a destination designated from the outside, and travels according to the travel route. Some unmanned vehicles of this type are equipped with a battery, which drives the motor to run. Conventionally, there have been the following systems for automatically charging such unmanned vehicle batteries.
[0003]
First, in an unmanned vehicle, the battery voltage is constantly monitored, and when the voltage is below a predetermined value and the state continues for a certain period of time, the charging means is requested by the communication means, and the ID number assigned to the self, Information such as the capacity of the installed battery is notified to the automatic charging device installed at the standby position of the unmanned vehicle, the travel route to the automatic charging device is calculated, and movement is started.
[0004]
On the other hand, in the automatic charging device, the above various information is received and stored by communication means, and when the unmanned vehicle arrives and transmits its own ID number again, the ID number and the previously stored ID number are collated, If they match, the unmanned vehicle is notified to that effect, and a charging pattern that matches the notified battery capacity is read from a plurality of charging patterns corresponding to various battery capacities stored in advance. Here, the above-described charging pattern defines the value of the charging current to be changed according to the battery voltage being charged and the charging time according to the battery capacity.
[0005]
When the ID number matches in the unmanned vehicle, the battery and the automatic charging device are electrically connected, and when the automatic charging device confirms that, the charging current is controlled according to the read charging pattern. The battery of the unmanned vehicle is charged.
[0006]
In such an automatic charging system, the automatic charging device stores in advance several types of charging patterns corresponding to various battery capacities, and reads out the charging pattern corresponding to the capacity of the battery that is actually charged from among them. Since charging is performed, even when a plurality of unmanned vehicles with different battery capacities are mixed, there is an advantage that charging can be performed without excess or deficiency by one automatic charging device.
[0007]
[Problems to be solved by the invention]
By the way, in the above-described unmanned vehicle, the battery power is consumed by various control units and communication means for controlling the motor and the steered wheels, the cooling fan provided in each unit even in the standby state. For this reason, after the completion of charging, if the unmanned vehicle is not used for a long time, there is a case where sufficient power is not left in the battery due to use.
In such a case, there is a problem that the user has to perform recharging manually, wasting time required for recharging, and cannot respond immediately even when it is necessary to use an unmanned vehicle. .
[0008]
The present invention has been made in view of such circumstances, and an object thereof is to provide an automatic charging system that automatically performs recharging when an unmanned vehicle is not used for a long time after completion of charging.
[0009]
[Means for Solving the Problems]
The invention according to claim 1 includes an unmanned vehicle mounted with a battery and moved by a travel motor driven by the battery, and a charging device that is installed at a standby position of the unmanned vehicle and charges the battery. In an automatic charging system in which when the vehicle determines that the battery needs to be charged, the vehicle travels to the installation location of the charging device, and when the unmanned vehicle reaches, the charging device automatically charges the battery of the unmanned vehicle The unmanned vehicle counts a predetermined time set in advance, and outputs a predetermined time elapse signal when the predetermined time elapses, and starts counting the timer when the charging device starts charging the battery. and timer control means for, when even the standby state after charging is completed immediately before is continuing at the installation location of the charging device, predetermined from the timer time after If a signal is output, it was and a recharge request means for requesting recharge for the said charging device, the charging device, the unmanned vehicle in response to a request from the recharge request means An automatic charging system is characterized by charging a battery.
[0010]
According to a second aspect of the present invention, in the automatic charging system according to the first aspect, the predetermined time set in advance in the timer is determined based on power consumed by the unmanned vehicle in a standby state. To do.
[0011]
According to a third aspect of the present invention, in the automatic charging system according to the first or second aspect, when the recharging of the unmanned vehicle is started by the charging device, the timer control unit resets the timer, and again It is characterized by starting the timing.
[0012]
According to a fourth aspect of the present invention, there is provided an automatic charging system comprising an unmanned vehicle mounted with a battery and moved by a traveling motor driven by the battery, and a charging device installed at a standby position of the unmanned vehicle and charging the battery. The unmanned vehicle outputs a current date and time , and obtains a date and time when the unmanned vehicle arrives at the standby position by the time measuring unit, and stores the date and time. and placing the storage means, the power of the unmanned vehicle during waiting at the standby position is temporarily OFF, the determined by the timing means the date and time at which the oN the power again, stored in said storage means date And from the date and time when the power is turned on again, the unmanned vehicle arrives at the standby position, the power is turned off once, and the power is turned on again. Obtains an elapsed time until, when the elapsed time determined exceeds the predetermined time set in advance, it comprises a charging request means for requesting charging of the battery for the charging device, the charging The apparatus is an automatic charging system that charges the battery of the unmanned vehicle in response to a request from the charging request means.
[0013]
According to a fifth aspect of the present invention, in the automatic charging system according to the fourth aspect, the predetermined time preset in the charging request means is determined based on the power consumed by the unmanned vehicle when the power is turned off. Features.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a block diagram showing a configuration of an automatic charging system according to a first embodiment of the present invention. In this figure, 10 is an unmanned vehicle that is driven by a traveling motor (not shown), and 30 is an automatic charging device installed in a standby place of the unmanned vehicle 10. In the unmanned vehicle 10, reference numeral 11 denotes a main control unit that controls each unit in the unmanned vehicle.
[0015]
A traveling control unit 12 controls the traveling motor and the steered wheels based on a command from the main control unit 11. A battery 13 supplies power to each part of the unmanned vehicle 10 and the traveling motor. Reference numeral 14 denotes a position detection unit, which includes a guide sensor for detecting a guide line laid in the traveling area of the unmanned vehicle 10 and a mark sensor for reading various marks arranged along the guide line. .
[0016]
15 is a voltage detector that detects the voltage of the battery 13, 16 is an unmanned vehicle communication unit for exchanging various information with the automatic charging device 30 by wireless communication, and 17 is electrically connected to the automatic charging device 30. The automatic charging connection unit 18 is an electromagnetic switch that opens and closes an electrical connection between the battery 13 and the automatic charging connection unit 17. Furthermore, 19 is a charge timer, and the maximum time required for charging the battery 13 is set in advance. When the time has been counted, a charge completion signal is output.
[0017]
Here, the charging timer 19 is set with a maximum time required for charging determined based on the capacity of the battery 13, and is assumed to be set to 10 hours here. Reference numeral 20 denotes a recharge timer, in which a time from the start of charging to recharging is set in advance, and when the time has been counted, a recharge start signal is output. Here, the recharge timer 20 is set in consideration of the power consumed by the unmanned vehicle 10 in the standby state, and a time during which sufficient power is secured in the battery 13 even when the unmanned vehicle 10 consumes power in the standby state. Here, it is assumed that 48 hours is set.
[0018]
In the automatic charging device 30, reference numeral 31 denotes a charging control unit that controls each part of the automatic charging device 30. In addition, the charging control unit 31 divides various battery capacities into several classes, temporarily stores various information in the course of performing automatic charging and the charging pattern storage unit 31a storing the charging pattern and charging time corresponding to each class. Has an information storage unit 31b for storing.
[0019]
A power switch 32 turns on / off power supplied from the outside. Reference numeral 33 denotes an inverter-type charger, which controls electric power supplied from the outside by PWM (pulse width modulation) and outputs a charging current to the battery 13. A battery voltage detector 34 detects the voltage of the battery 13 being charged. A charging current supply unit 35 contacts the automatic charging connection unit 17 of the unmanned vehicle 10 and supplies the charging current output from the inverter charger 33 to the unmanned vehicle 10.
[0020]
Reference numeral 36 denotes a connection detector. After the automatic charging connection portion 17 and the charging current supply portion 35 come into contact, the voltage of the battery 13 is applied when the electromagnetic switch 18 is closed, and the rise of the voltage is detected. Output a connection signal. A charging device communication unit 37 exchanges various information with the unmanned vehicle 10 by wireless communication.
[0021]
In the unmanned vehicle 10 described above, in the normal state, the main control unit 11 recognizes the current position of the unmanned vehicle 10 based on the output of the mark sensor of the position detection unit 14 and travels according to a travel route designated from the outside. In addition to issuing a command to the unit 12, the deviation from the guide wire is detected by the output of the guide sensor of the position detection unit 14, and a command is issued to the traveling control unit 12 to eliminate the deviation, whereby the traveling control unit 12 The motor and the steered wheels are controlled so that the unmanned vehicle 10 travels according to a travel route designated from the outside without departing from the guide line.
[0022]
The unmanned vehicle 10 monitors the voltage of the battery 13 by the main controller 11 by the voltage detector 15, and requests charging when the voltage of the battery 13 is equal to or lower than a predetermined value and the state continues for a predetermined time. After the charging information such as the fact and the self ID number and the capacity of the battery 13 is transmitted to the automatic charging device 30 via the unmanned vehicle communication unit 16, the travel route to the place where the automatic charging device 30 is installed is obtained.
[0023]
On the other hand, in the automatic charging device 30, when the charging device communication unit 37 receives various information transmitted from the unmanned vehicle communication unit 16, the charging control unit 31 stores the information in the information storage unit 31b. When the automatic charging device 30 is in a chargeable state, the fact is transmitted to the unmanned vehicle 10 via the charging device communication unit 37. Thereby, the unmanned vehicle 10 recognizes that the automatic charging device 30 is in a chargeable state, and moves to the automatic charging device 30 according to the obtained travel route.
[0024]
When the unmanned vehicle 10 arrives at the installation location of the automatic charging device 30 and the unmanned vehicle 10 stops at the regular stop position (the position where the automatic charging connection unit 17 and the charging current supply unit 35 contact), the main control unit 11 The mark sensor of the position detection unit 14 reads a mark indicating a normal stop position arranged along the guide line, and transmits the ID number again from the unmanned vehicle communication unit 16.
[0025]
When the charge control unit 31 recognizes the transmitted ID number, the ID number stored in the information storage unit 31b is checked, and if it matches, a match signal notifying that it matches is sent back to the unmanned vehicle 10. And the charge pattern of the class to which the battery capacity memorize | stored in the information storage part 31b belongs from the charge patterns memorize | stored in the charge pattern memory | storage part 31a, and its charge time are read.
[0026]
On the other hand, when the main control unit 11 of the unmanned vehicle 10 receives the coincidence signal described above, the main control unit 11 starts measuring the charge timer 19 and the recharge timer 20 and closes the electromagnetic switch 18. As a result, the connection detector 36 of the automatic charging device 30 senses the rise of the voltage by the battery 13 and outputs a connection signal indicating that it is electrically connected to the unmanned vehicle 10 to the charging control unit 31. When this connection signal is input, the charging control unit 31 closes the power switch 32 and starts supplying charging current to the battery 13.
[0027]
That is, the charging control unit 31 outputs a charging current command value to the inverter charger 33 according to the read charging pattern, and the inverter charger 33 performs PWM control so that the charging current matches the input charging current command value. . Further, the charging control unit 31 monitors the charging voltage of the battery 13 by the battery voltage detecting unit 34, and outputs a charging current command value determined by the charging pattern every time the charging voltage reaches a predetermined voltage. Furthermore, when the charging time read together with the charging pattern has elapsed, the charging control unit 31 opens the power switch 32 and terminates the charging.
[0028]
In the unmanned vehicle 10, when a predetermined time (10 hours) elapses, a charging completion signal is output from the charging timer 19, whereby the main control unit 11 opens the electromagnetic switch 18 and is electrically connected to the automatic charging device 30. Cut off. Further, when the unmanned vehicle 10 is instructed to move to the designated destination from the outside during charging or while the predetermined time is being measured by the charging timer 19 from completion of charging, the main control unit 11 Stops and resets the timing in the charge timer 19 and the recharge timer 20, opens the electromagnetic switch 18, and starts moving to the designated destination.
[0029]
On the other hand, when the unmanned vehicle 10 is placed in the automatic charging device 30 for a long time in the standby state after the charging is completed, the time measurement by the recharge timer 20 is continued and the predetermined time (48 hours) has elapsed. A recharge start signal is output. As a result, the main control unit 11 resets the charge timer 19 and the recharge timer 20, and then starts timing, closes the electromagnetic switch 18 again, and automatically charges the battery 13 according to the above-described procedure.
[0030]
In the automatic charging system described above, the unmanned vehicle 10 notifies the charging request together with its own ID number and the capacity of the battery 13. The unmanned vehicle 10 may be notified of only the charge request and its own ID number.
[0031]
As described above, in the present embodiment, the recharge timer automatically recharges the battery even when the unmanned vehicle is not used for a long time after the completion of charging, so that the battery has sufficient power when the unmanned vehicle is used. The situation of not remaining can be avoided. In addition, the recharge timer 20 is set with a time during which sufficient power is secured in the battery 13 even when the unmanned vehicle 10 consumes power in the standby state in consideration of the power consumed by the unmanned vehicle 10 in the standby state. Therefore, even when an unmanned vehicle is used before recharging the battery, sufficient power can be secured in the battery.
[0032]
[Second Embodiment]
In the first embodiment described above, the automatic charging system that automatically performs recharging when the unmanned vehicle is placed in a standby state for a long time after completion of charging has been described. Describes the automatic charging system that recognizes the time when the unmanned vehicle was turned off because it was not used, and when the unmanned vehicle was turned on again. To do.
[0033]
FIG. 2 is a block diagram showing the configuration of the automatic charging system in the present embodiment. 2, components corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted. 1 differs from FIG. 1 in that the main control unit 11 has a clock function and includes a time storage unit 21 instead of the recharge timer 20. The time storage unit 21 is a nonvolatile memory, and stores the date and time designated by the main control unit 11.
[0034]
Hereinafter, the operation of the automatic charging system in the second embodiment will be described.
When the unmanned vehicle 10 finishes the predetermined work and returns to the installation location of the automatic charging device 30 that is also a standby place, and stops at the normal stop position, the main control unit 11 uses the mark sensor of the position detection unit 14 along the guide line. Read the mark that informs the normal stop position. As a result, the main control unit 11 stores the date and time at that time in the nonvolatile memory 21.
[0035]
Further, when the main control unit 11 transmits its own ID number and the capacity of the battery 13 from the unmanned vehicle communication unit 16, the charge control unit 31 selects the capacity of the battery 13 from the charge patterns stored in the charge pattern storage unit 31a. Read the charging pattern of the class to which. Next, when the user turns off the power of the unmanned vehicle 10 and turns on the power of the unmanned vehicle 10 again after a while, the main control unit 11 first reads the date and time stored in the time storage unit 21.
[0036]
Then, when a predetermined time has elapsed compared to the current date and time, the electromagnetic switch 18 is closed and the charging timer 19 starts timing. Thereby, the battery 13 is charged in the same manner as in the first embodiment. Here, the predetermined time described above is determined in consideration of a slight amount of power consumption in the electromagnetic switch 18 and the like, a reduction in power due to spontaneous discharge of the battery 13, and the like. In addition, when the time when the unmanned vehicle 10 is turned on does not pass the above-described predetermined time, the unmanned vehicle 10 is in a standby state as it is.
[0037]
In the above-described embodiment, when the power of the unmanned vehicle 10 is turned on again, the date and time stored in the time storage unit 21 are compared with the date and time when the power is turned on, and a predetermined time has elapsed. However, the battery 13 may be charged at the same time as the unmanned vehicle 10 is turned on again.
In addition, the recharge timer 20 in the first embodiment is provided, and when the power is turned on again, a predetermined time has not elapsed. Therefore, when entering the standby state, the recharge timer 20 measures the recharge start time. Thereafter, the battery 13 may be automatically charged.
[0038]
【The invention's effect】
As described above, according to the first aspect of the present invention, the unmanned vehicle measures the predetermined time set in advance, and outputs the predetermined time elapse signal when the predetermined time elapses, and the charging device A timer control means for causing the timer to start timing when charging is started, and a predetermined time has elapsed from the timer when the standby state is continuing even after the last charging is completed at the place where the charging device is installed. If the signal is outputted, comprising a recharging request means for requesting recharge for the said charging device, the charging device, the battery of the unmanned vehicle in response to a request from the recharge request means Since charging is performed, after charging is completed, even if the unmanned vehicle is not used for a long time, it can be automatically recharged, and when the unmanned vehicle is used, there is not enough power remaining in the battery It can be avoided.
[0039]
According to the second aspect of the present invention, the predetermined time set in advance in the timer is determined based on the electric power consumed by the unmanned vehicle in the standby state. Even when an unmanned vehicle is used after entering the standby state and before recharging the battery, sufficient electric power can be secured in the battery.
[0040]
According to the third aspect of the present invention, when the recharging of the unmanned vehicle is started by the charging device, the timer control means resets the timer and starts counting again. Even if it enters the state, it can be recharged at appropriate time intervals.
[0041]
According to the invention of claim 4, the time measuring means for outputting the current date and time, and the time measuring means obtain the date and time when the unmanned vehicle arrived at the standby position. A storage means for storing time; and a date and time when the unmanned vehicle is temporarily turned off and turned on again while waiting at the standby position by the timing means, and the storage means From the date and time stored in the time and the date and time when the power is turned on again until the unmanned vehicle arrives at the standby position, the power is turned off, and the power is turned on again seek time, if the elapsed time determined exceeds the preset predetermined time, comprising a charge request means for requesting charging of the battery for the charging device, also, the charging device is the charging Since charging the unmanned vehicle battery in response to a request from the request means, after once OFF the unmanned vehicle, when ON again, it is possible to perform appropriate charging to the battery.
[0042]
Furthermore, according to the fifth aspect of the present invention, the predetermined time set in advance in the charging request means is determined based on the power consumed by the unmanned vehicle when the power is turned off. It can be performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an automatic charging system according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of an automatic charging system in a second embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Unmanned vehicle, 11 ... Main control part, 20 ... Recharge timer, 21 ... Time memory part, 30 ... Automatic charging device, 31 ... Charge control part

Claims (5)

An unmanned vehicle mounted with a battery and moved by a travel motor driven by the battery, and a charging device installed at a standby position of the unmanned vehicle and charging the battery, and the unmanned vehicle needs to charge the battery In the automatic charging system in which the charging device automatically charges the battery of the unmanned vehicle when the unmanned vehicle arrives,
The unmanned vehicle
A timer that counts a predetermined time set in advance and outputs a predetermined time elapse signal when the predetermined time elapses;
Timer control means for causing the timer to start timing when charging of the battery is started by the charging device;
When even a standby state after charging is completed immediately before is continuing at the installation location of the charging device, when a predetermined time elapse signal from the timer is output to request recharge for the said charging device Recharging request means, and
The said charging device charges the battery of the said unmanned vehicle according to the request | requirement from the said recharge request | requirement means, The automatic charging system characterized by the above-mentioned.   The automatic charging system according to claim 1, wherein the predetermined time set in advance in the timer is determined based on electric power consumed by the unmanned vehicle in a standby state.   3. The automatic charging system according to claim 1, wherein when the recharging of the unmanned vehicle is started by the charging device, the timer control unit resets the timer and starts timing again. 4. . In an automatic charging system comprising an unmanned vehicle mounted with a battery and moved by a travel motor driven by the battery, and a charging device installed at a standby position of the unmanned vehicle and charging the battery,
The unmanned vehicle
A timing means for outputting the current date and time;
Storage means for obtaining the date and time when the unmanned vehicle arrived at the standby position by the time measuring means, and storing the date and time ;
While waiting at the standby position, the power of the unmanned vehicle is turned off once, and the date and time when the power is turned on again is obtained by the time measuring means, and the date and time stored in the storage means and the power supply again. From the date and time when the vehicle is turned on, the elapsed time from when the unmanned vehicle arrives at the standby position, the power is once turned off, and the power is turned on again is obtained. if it exceeds the preset predetermined time, it comprises a charging request means for requesting charging of the battery for the charging device,
The automatic charging system, wherein the charging device charges the battery of the unmanned vehicle in response to a request from the charging request unit.   5. The automatic charging system according to claim 4, wherein the predetermined time set in advance in the charging request means is determined based on power consumed by the unmanned vehicle when the power is turned off.

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