JP6657533B2 - 無人搬送車システム - Google Patents
無人搬送車システム Download PDFInfo
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- JP6657533B2 JP6657533B2 JP2016096104A JP2016096104A JP6657533B2 JP 6657533 B2 JP6657533 B2 JP 6657533B2 JP 2016096104 A JP2016096104 A JP 2016096104A JP 2016096104 A JP2016096104 A JP 2016096104A JP 6657533 B2 JP6657533 B2 JP 6657533B2
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- power
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- guided vehicle
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/122—Circuits or methods for driving the primary coil, e.g. supplying electric power to the coil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/32—Constructional details of charging stations by charging in short intervals along the itinerary, e.g. during short stops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Mechanical Engineering (AREA)
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- Health & Medical Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Description
Dx≦X・α・Cc・(Vc22−Vc12)/(2・Id・Vd)
となるように設定されていることを特徴とする。この構成によると、無人搬送車が充電位置に停止している間に、充電位置に配置された送電装置から、無人搬送車が備える受電装置に、非接触で給電が行われる。蓄電手段としてキャパシタを用いているので、高周波の大電流で非接触給電を行うことで、短時間での充電が可能になる。また、距離Dxを、上記式に基づいて設定しているので、走行で消費される電気エネルギーが、停止中に充電された電気エネルギーより大きくなることはないので、キャパシタの蓄電量は所定以下に減少することはない。したがって、無人搬送車を循環経路での搬送作業から外して、蓄電手段を交換したり、蓄電手段を別途充電するなどの作業を行うことなく、連続使用することができる。
Dx≦X・{α・Cc・(Vc22−Vc12)−2・Vr・Ir・Tr}/(2・Id・Vd)
となるように設定されていることを特徴とする。この構成によると、無人搬送車が充電位置に停止している間に、充電位置に配置された送電装置から、無人搬送車が備える受電装置に、非接触で給電が行われる。蓄電手段としてキャパシタを用いているので、高周波の大電流で非接触給電を行うことで、短時間での充電が可能になる。また、距離Dxを、上記式に基づいて設定しているので、走行および停止時の荷物の積み下ろし作業で消費される電気エネルギーが、停止中に充電された電気エネルギーより大きくなることはないので、キャパシタの蓄電量は所定以下に減少することはない。したがって、無人搬送車を循環経路での搬送作業から外して、蓄電手段を交換したり、蓄電手段を別途充電するなどの作業を行うことなく、連続使用することができる。
E1=Cc・(Vc22−Vc12)/2 ・・・・ (9)
となる。
E2=Id・Vd・(Dx/X) ・・・・ (10)
となる。
Dx≦X・Cc・(Vc22−Vc12)/(2・Id・Vd) ・・・・ (11)
となる。つまり、無人搬送車Vの走行距離Dxが、上記(11)式を満たす場合、キャパシタ6の蓄電量は、所定以下に減少することがない。本実施形態においては、循環経路Rにおける停止位置H1から停止位置H2までの経路R1の距離、および、停止位置H2から停止位置H1までの経路R2の距離は、それぞれ、上記(11)式を満たすように設計されている。
Dx≦X・α・Cc・(Vc22−Vc12)/(2・Id・Vd) ・・・・ (12)
を満たすように設計すればよい。なお、αは、0.9(90%に減少)〜0.7(70%に減少)の値を、無人搬送車システムS1の運用期間に応じて適宜設定すればよい。
E3=Ir・Vr・Tr ・・・・ (13)
となる。
Dx≦X・{Cc・(Vc22−Vc12)−2・Vr・Ir・Tr}/(2・Id・Vd) ・・・・ (14)
となる。なお、駆動時間Trは、無人搬送車Vが停止している間、常にロボットアーム9が作業を行っているとすると、停止時間Tとしてもよい。
1,1’ 高周波電源装置
11 直流電源装置
12,12a,12b,12c,12d インバータ回路
C1,C2,C3,C4,C10 コンデンサ
L1,L2,L3 インダクタ
LC1 フィルタ
LC2 共振回路(第2の共振回路)
LC3 共振回路(第1の共振回路)
Qs スイッチング素子
D1 ダイオード
K 伝送線路
K’ 伝送線路部
K1 伝送線路(第1の伝送線路)
K2 伝送線路(第2の伝送線路)
2 送電ユニット
Lt 送電コイル
Ct 共振コンデンサ
B,B’ 受電装置
4,4’ 受電ユニット
Lr 受電コイル
Cr 共振コンデンサ
5 整流平滑回路
6 キャパシタ
7 DC−DCコンバータ回路
8 モータ
9 ロボットアーム(積み下ろし手段)
V,V1,V2,V3,V4,V’ 無人搬送車
H,H1,H2 停止位置(停止位置、充電位置)
H3 停止位置(停止位置)
R 循環経路
R1,R2 経路
W 荷物
S1,S2,S3,S4,S5 無人搬送車システム
10,10’ 電圧-電流変換回路
L11,L12 インダクタ
C11 コンデンサ
TL 伝送線路
Claims (6)
- 予め設定された循環経路と、
前記循環経路に沿って自動走行し、前記循環経路上の予め設定された複数の停止位置で停止し、前記停止位置間で搬送を行う無人搬送車と、
前記複数の停止位置のうちの少なくとも1つの充電位置に配置された送電装置と、
を備えており、
前記無人搬送車は、
前記充電位置での停止中に、前記送電装置から非接触で受電し、整流して出力する受電装置と、
前記受電装置が出力した電力を蓄積するキャパシタと、
前記キャパシタからの電力で駆動されるモータと、
前記キャパシタから出力される電圧を、前記モータを駆動する駆動電圧に変圧するDC−DCコンバータ回路と、
を備え、
前記充電位置での前記送電装置から前記受電装置への送電によって、前記キャパシタを第1電圧Vc1から第2電圧Vc2になるまで充電し、前記キャパシタの静電容量をCc、「1」以下の所定の係数をα、前記無人搬送車の速度をX、前記モータを駆動する駆動電圧をVd、駆動電流をIdとした場合、前記循環経路上のある充電位置から次の充電位置までの距離Dxは、
Dx≦X・α・Cc・(Vc22−Vc12)/(2・Id・Vd)
となり、前記第1電圧Vc1が前記駆動電圧Vd以上となるように設定されている、
ことを特徴とする無人搬送車システム。 - 予め設定された循環経路と、
前記循環経路に沿って自動走行し、前記循環経路上の予め設定された複数の停止位置で停止して荷物の積み下ろしを行い、前記停止位置間で前記荷物の搬送を行う無人搬送車と、
前記複数の停止位置のうちの少なくとも1つの充電位置に配置された送電装置と、
を備えており、
前記無人搬送車は、
前記充電位置での停止中に、前記送電装置から非接触で受電し整流して出力する受電装置と、
前記受電装置が出力した電力を蓄積するキャパシタと、
前記キャパシタからの電力で駆動されるモータと、
前記キャパシタから出力される電圧を、前記モータを駆動する駆動電圧に変圧するDC−DCコンバータ回路と、
前記停止位置での停止中に、荷物の積み下ろしを行う積み下ろし手段と、
を備え、
前記充電位置での前記送電装置から前記受電装置への送電によって、前記キャパシタを第1電圧Vc1から第2電圧Vc2になるまで充電し、前記キャパシタの静電容量をCc、「1」以下の所定の係数をα、前記無人搬送車の速度をX、前記モータを駆動する駆動電圧をVd、駆動電流をId、前記積み下ろし手段を駆動する駆動電圧をVr、駆動電流をIr、駆動時間をTrとした場合、前記循環経路上のある充電位置から次の充電位置までの距離Dxは、
Dx≦X・{α・Cc・(Vc22−Vc12)−2・Vr・Ir・Tr}/(2・Id・Vd)
となり、前記第1電圧Vc1が前記駆動電圧Vd以上となるように設定されている、
ことを特徴とする無人搬送車システム。 - 前記係数αは「1」である、請求項1または2に記載の無人搬送車システム。
- 前記係数αは0.7〜0.9である、請求項1または2に記載の無人搬送車システム。
- 前記複数の停止位置はすべて前記充電位置である、請求項1ないし4のいずれかに記載の無人搬送車システム。
- 前記充電位置は1つである、請求項1ないし4のいずれかに記載の無人搬送車システム。
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