JP7307120B2 - 保管容器を搬送するためのロボット - Google Patents
保管容器を搬送するためのロボット Download PDFInfo
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- JP7307120B2 JP7307120B2 JP2021072436A JP2021072436A JP7307120B2 JP 7307120 B2 JP7307120 B2 JP 7307120B2 JP 2021072436 A JP2021072436 A JP 2021072436A JP 2021072436 A JP2021072436 A JP 2021072436A JP 7307120 B2 JP7307120 B2 JP 7307120B2
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/64—Constructional details of batteries specially adapted for electric vehicles
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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
- B60L53/14—Conductive energy transfer
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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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
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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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
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
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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
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Description
特には、本発明は、保管システムから保管容器を取り上げるための遠隔操作車両組立体に関し、遠隔操作車両組立体は、保管システム内のどこかに位置する保管容器を受け入れるための空洞を有する車両本体と、車両本体に少なくとも間接的に接続され、空洞内へ保管容器を上昇させるための車両昇降装置と、車両本体に接続され、保管システム内の車両組立体の遠隔制御移動を可能にする駆動手段と、車両組立体とコンピュータなどの遠隔制御ユニットとの間の無線通信を提供するための無線通信手段と、駆動手段に電力を供給する1つまたは複数の主電源と、主電源の車両本体への動作的および解除可能な結合のための車両結合手段と、を備える。動作的な結合とは、電源と駆動手段との間での電力流れを保証する結合と定義される。
1つまたは複数の、上記に開示される車両に従った遠隔操作車両と、
1つまたは複数の充電ステーションと、
複数の支持レールを備える車両支持体と、
車両支持体を支持し、複数の保管柱を含む容器保管構造であって、各保管柱は、保管容器の垂直な積み重ねを収容するように構成される、容器保管構造と、を備える。容器保管構造の主要部分は、車両支持体上の支持レールが交差する位置に一致する。
(a)遠隔操作車両組立体を、第1の充電ステーションに隣接する充電位置へ移動するステップと、
(b)車両組立体の車両本体に接続された第1の主電源を、第1の充電ステーションへ移送するステップと、
(c)駆動手段に補助電力を供給する補助電源を使用して、車両組立体を第2の充電ステーションへ移動するステップと、
(d)第2の充電ステーションに接続された第2の主電源を車両本体へ移送するステップであって、第2の主電源は、第2の充電ステーションによってある期間の間充電されたものである、ステップと、を備える。
充電ステーションは、好適には、車両組立体がその上を移動する、下方に置かれた支持体上に配置される。
ステップ(b)の間およびステップ(d)の間に、車両本体を下方に置かれた車両支持体に向けて下降させ、それによって主電源を車両本体から分離するステップと、
ステップ(b)の後およびステップ(d)の後に、車両本体を下方に置かれた車両支持体から離れるように上昇させ、それによって主電源(6)の充電ステーションへの接続を可能にするステップと、を更に備える。
車両本体の下降および上昇は、駆動手段に接続されたまたは駆動手段の一体的な部分である伸長手段によって達成される。
方法において使用される車両組立体は、有利には、上記において開示された種類のものでよい。
まま、ロボット1が補助電源21によって充電ステーション20から後退したときの状態に対応する。
2 保管容器
3 保管システム
4 車両本体/フレームワーク
6 主電源/主電池
7 空洞
8 保管柱
9 車両昇降装置
10 第1組目の車両回転手段/第1組目の車輪/駆動手段
11 第2組目の車両回転手段/第2組目の車輪/駆動手段
13 支持レール
14 車両支持体
15 容器保管構造/容器保管グリッド
19 回路基板/管理システム/電池管理システム
20 充電ステーション/第1の充電ステーション
20’ 隣接する充電ステーション/第2の充電ステーション
21 補助電源/補助電池
22 車両接続手段/ロボットフック
23 受け入れ手段/ロボット開口部
24 主電池用空洞
25 充電ステーション接続手段/充電ステーションフック
50 容器昇降装置
60 配送ステーション/出入口
72 上蓋
73 閉鎖カバー
74 ハンドル
75 無線通信手段/制御パネル
Claims (13)
- 下方に置かれた保管システム(3)から保管容器(2)を取り上げるための遠隔操作車両組立体(1)であり、
前記保管システム(3)内の保管容器(2)を受け入れるための空洞(7)を有する車両本体(4)と、
前記車両本体(4)に少なくとも間接的に接続され、前記下方に置かれた保管システム(3)から前記空洞(7)内へ保管容器(2)を垂直方向に上昇させるための車両昇降装置(9)と、
前記車両本体(4)に接続され、前記保管システム(3)内の前記遠隔操作車両組立体(1)の遠隔制御移動を可能にする駆動手段(10、11)と、
前記遠隔操作車両組立体(1)と遠隔制御ユニットとの間の無線通信を提供するための無線通信手段(75)と、
前記駆動手段(10、11)に電力を供給する主電源(6)と、
前記駆動手段(10、11)に電力を供給するための補助電源(21)と、
前記主電源(6)を前記車両本体(4)に、解除可能に結合するための車両結合手段(22)であって、前記遠隔制御ユニットから少なくとも1つの通信信号を受信した後、静止した充電ステーション(20、20’)に対する前記主電源(6)の交換を可能にするように構成される車両結合手段(22)と、を備え、
前記主電源(6)は、充電ステーション(20、20’)に配置された対応する充電ステーション接続手段(25)との解除可能な接続を可能にする受け入れ手段(23)を備え、
前記充電ステーション(20、20’)は、対応する前記車両結合手段(22)との解除可能な接続を可能にする充電ステーション開口部を備えることを特徴とする、遠隔操作車両組立体(1)。 - 前記遠隔操作車両組立体(1)は、前記主電源及び前記補助電源(6、21)の少なくとも1つを管理する管理システム(19)を更に備え、
前記管理システム(19)は、
電圧、温度、充電状態(SOC)、放電深度(DOD)、劣化状態(SOH)、冷却剤流、および電流のうちの少なくとも1つを監視する手段と、
前記主電源及び前記補助電源(6、21)の少なくとも1つの再充電に関する少なくとも1つのパラメータを制御する再充電制御手段と
を備えることを特徴とする、請求項1に記載の遠隔操作車両組立体(1)。 - 前記遠隔操作車両組立体(1)の動作中に、前記補助電源(21)に蓄えられる電力の最小量は、1つの充電ステーション(20)から隣接する充電ステーション(20’)へ前記遠隔操作車両組立体(1)を移動させるために必要な電力と等しいことを特徴とする、請求項2に記載の遠隔操作車両組立体(1)。
- 前記補助電源(21)と前記主電源(6)とは、前記主電源(6)が前記遠隔操作車両組立体(1)に動作的に接続されたときに、前記主電源(6)が前記補助電源(21)を充電可能であるように互いに接続されることを特徴とする、請求項2または3に記載の遠隔操作車両組立体(1)。
- 前記主電源及び前記補助電源(6、21)の少なくとも1つは蓄電器であることを特徴とする、請求項1から4のいずれか1項に記載の遠隔操作車両組立体(1)。
- 前記主電源及び前記補助電源(6、21)の少なくとも1つは充電式電池であることを特徴とする、請求項1から5のいずれか1項に記載の遠隔操作車両組立体(1)。
- 前記遠隔操作車両組立体(1)は、前記主電源及び前記補助電源(6、21)の少なくとも1つを管理する電池管理システム(BMS)(19)を備えることを特徴とする、請求項6に記載の遠隔操作車両組立体(1)。
- 前記受け入れ手段(23)の少なくとも1つはフック受け入れ手段であることを特徴とする、請求項1に記載の遠隔操作車両組立体(1)。
- 前記車両結合手段(22)は、
前記車両本体(4)に枢動可能に接続され、前記主電源(6)と前記車両本体(4)との間の解除可能な接続を可能にする少なくとも1つの電池フック(22)、
を更に備えることを特徴とする、請求項1から8のいずれか1項に記載の遠隔操作車両組立体(1)。 - 容器(2)の保管のための保管システム(3)であって、
請求項1から9のいずれかに記載の遠隔操作車両組立体(1)と、
充電ステーション(20、20’)と、
車両支持体(14)と、
前記車両支持体(14)を支持する容器保管構造(15)であって、前記容器保管構造(15)は複数の保管柱(8、8a、8b)を備える、容器保管構造(15)と
を備え、
各保管柱(8、8a、8b)は、保管容器(2)の垂直な積み重ねを収容するように構成されることを特徴とする、保管システム(3)。 - 遠隔操作車両組立体(1)に配置される主電源(6、6’)を充電するための方法であって、前記方法は、以下の
(a)前記主電源(6)を収容する上昇位置の前記遠隔操作車両組立体(1)を充電ステーション(20、20’)に接近させるステップと、
(b)前記遠隔操作車両組立体(1)が前記充電ステーション(20、20’)に対して横方向移送位置にあるとき、充電ステーション接続手段(25)を、対応する前記主電源(6)の受け入れ手段(23)内へ誘導するステップと、
(c)前記遠隔操作車両組立体(1)を、下方に位置する車両支持体(14)に向かって所定の距離だけ下降させ、これにより、車両結合手段(22)を前記主電源(6)から解除するステップと、
(d)前記遠隔操作車両組立体(1)を、下降位置にあるまま、補助電源(22)を使用して前記充電ステーション(20、20’)から離れて後退させるステップと、
(e)前記遠隔操作車両組立体(1)を前記上昇位置に復帰させ、前記下方に位置する車両支持体(14)に沿って、十分に充電された主電源(6)を備えた充電ステーション(20’)へ移動させるステップと
を備え、
前記方法のステップは、制御ユニットと前記遠隔操作車両組立体(1)内の無線通信手段(75)との間で通信信号を伝達することで制御されることを特徴とする、方法。 - 前記遠隔操作車両組立体(1)の下降および上昇は、駆動手段(10、11)に接続されたまたは前記駆動手段(10、11)の一体的な部分である伸長手段によって達成されること
を特徴とする、請求項11に記載の方法。 - 前記遠隔操作車両組立体(1)は、請求項1から9のいずれかに記載されたものであることを特徴とする、請求項11または12に記載の方法。
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AU2015205653A1 (en) | 2016-07-07 |
MX2016008933A (es) | 2017-01-18 |
CN105899398B (zh) | 2018-10-23 |
EP3092187A2 (en) | 2016-11-16 |
JP2021119739A (ja) | 2021-08-12 |
CA2934020A1 (en) | 2015-07-16 |
US9821959B2 (en) | 2017-11-21 |
WO2015104263A3 (en) | 2015-10-01 |
US20160325932A1 (en) | 2016-11-10 |
CA2934020C (en) | 2021-11-16 |
NO340313B1 (no) | 2017-03-27 |
TW201529448A (zh) | 2015-08-01 |
NO20140015A1 (no) | 2015-07-09 |
DK3092187T3 (da) | 2021-08-23 |
CL2016001735A1 (es) | 2016-12-23 |
JP2017503731A (ja) | 2017-02-02 |
EA201691338A1 (ru) | 2016-12-30 |
WO2015104263A2 (en) | 2015-07-16 |
EP3092187B1 (en) | 2021-07-28 |
JP6978202B2 (ja) | 2021-12-08 |
HK1223888A1 (zh) | 2017-08-11 |
ES2883569T3 (es) | 2021-12-09 |
EP3882182A1 (en) | 2021-09-22 |
PL3092187T3 (pl) | 2021-11-22 |
SG11201605571YA (en) | 2016-08-30 |
CN105899398A (zh) | 2016-08-24 |
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