JPH027804A - Moving body control system - Google Patents
Moving body control systemInfo
- Publication number
- JPH027804A JPH027804A JP63157193A JP15719388A JPH027804A JP H027804 A JPH027804 A JP H027804A JP 63157193 A JP63157193 A JP 63157193A JP 15719388 A JP15719388 A JP 15719388A JP H027804 A JPH027804 A JP H027804A
- Authority
- JP
- Japan
- Prior art keywords
- battery
- distance
- moving
- moving body
- charging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 abstract description 12
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 238000012806 monitoring device Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
Classifications
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
-
- 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
Landscapes
- Battery Mounting, Suspending (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、例えばプラントの現場機器を遠隔で点検・
監視を行なう移動台車など、バッテリ“ｒ［源により駆
動される移動体の制御を行なう移動体制御システムに関
するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to, for example, remotely inspecting and inspecting plant field equipment.
The present invention relates to a mobile object control system that controls a mobile object, such as a movable trolley for monitoring, that is driven by a battery.
第６図は例えば特開昭６０−１５５９８４号公報に示さ
れた従来のバッテリ監視装置を示すブロック図である。FIG. 6 is a block diagram showing a conventional battery monitoring device disclosed in, for example, Japanese Unexamined Patent Publication No. 155984/1984.
図において、ｔｌｌｆ４バッテリ、（２）はバッチＩＪ
電圧検出回路、＋３１ＨｃＰＵである。バッテリ電圧
検出回路（２）において、（４）は基準電圧設定器、（
５）に比較器、＋６１ ｉ／Ｉ Ｒ−５７リツプ７０ツ
ブ、ｆ７）Ｈリセット回路、（８）はインタフェース回
路である。In the figure, tllf4 battery, (2) is batch IJ
The voltage detection circuit is +31HcPU. In the battery voltage detection circuit (2), (4) is a reference voltage setter, (
5) is a comparator, +61 i/I R-57 lip 70 tube, f7) is an H reset circuit, and (8) is an interface circuit.
次に動作について説明する。Next, the operation will be explained.
この監視装置は無人搬送車運転中のバッテリ（！の電圧
を監視しておき、基準？に圧より低下した場合、バッテ
リ電圧低下発生として信号ｆ Ｒ−５７１Ｊツブ７０ツ
ブ（６）にメモリしておく。無人搬送車が加速完了又は
停止し、一定時間経過するとバッチＩＪ 心圧監視のプ
ログラムが割り込まれＲ−Ｓフリップ７０ツブ（６）の
状態をインタフェース回路（８）ヲ通してＣＰＵ ＋３
１が読み取る。この時、バッチＩＪ ｔ［王の低下発生
が記憶されていればイ告全発生するとともにバッテリ交
換必要モードとなる。This monitoring device monitors the voltage of the battery (!) while the automatic guided vehicle is operating, and when the voltage drops below the reference level, it outputs a signal as a battery voltage drop and stores it in the R-571J knob 70 knob (6). When the automatic guided vehicle completes acceleration or stops and a certain period of time has elapsed, the batch IJ heart pressure monitoring program is interrupted and the status of the R-S flip 70 knob (6) is sent to the CPU +3 through the interface circuit (8).
1 reads. At this time, if the occurrence of a decrease in the batch IJt is stored, a full error will occur and the mode will be set to require battery replacement.
従来のバッテリ監視装＠は以上のように構成されている
ので、バッテリ交換必要モードとなった場合すぐにバッ
テリを交換および充電する必要があるが、特に移動台車
などの移動体がバッテリ電源により駆動されている場合
には、バッテリの交換および充電可能な位置まで移動体
が帰還できなくなるため、作業者の立入り困難な場所で
移動体を使用する場合は、交換および充電位置を多く設
置する必要があるなどの課題があった。Conventional battery monitoring devices are configured as described above, so if the battery needs to be replaced, the battery needs to be replaced and charged immediately. If the mobile unit is used in a place where it is difficult for workers to access, it is necessary to install many replacement and charging positions. There were some issues.
この発明は上記のような裸部を解消するためになされた
もので、作喚考の立入り困難な場所でも安心して移動体
を使用できるようにするとともに、バッテリの交換およ
び充電位置を極力少なくすることができる移動体制御シ
ステムを得ることを目的とする。This invention was made to eliminate the above-mentioned bare parts, and allows the mobile body to be used with peace of mind even in difficult-to-access areas, while minimizing the number of battery replacement and charging locations. The purpose is to obtain a mobile body control system that can perform the following tasks.
この発明に係る移動体制御システムは、バッチＩＪ Ｍ
Ｅ源により駆動され移動する移動体、この移動体が上記
バッテリを充電および交換する位置まで移動するのに必
要とする電力量を求める電力設定手段、この電力設定手
段で求められた電力量に上記バッテリの雑容量がなつ念
とき、上記移動体を上記バッテリの充電および交換を行
なう位置まで移動させる制御手段を設けたものである。A mobile body control system according to the present invention includes a batch IJM
A movable body driven by an E source, a power setting means for determining the amount of power required for the movable body to move to a position where the battery is charged and replaced; A control means is provided for moving the movable body to a position where the battery can be charged and replaced when the battery runs out of capacity.
この発明における移動体制御システムは、バッテリ電源
によシ駆動される移動体のバッテリの残容鼠が、上記移
動体をバッテリの充電および交換を行なう位置塘で移動
させるのに必要な電力量になったとき、制御手段により
上記移動体を上記バッテリの充電および交換を行なう位
置まで移動させる。In the mobile object control system of the present invention, the remaining battery power of a mobile object driven by a battery power supply is adjusted to the amount of power necessary to move the mobile object to a position where the battery is charged and replaced. When this happens, the control means moves the movable body to a position where the battery is charged and replaced.
以下、この発明の一実施例を図について説明するＯ
第１図及び第３図において、（１）は移動台車（イ）に
搭載されたバッチ！Ｊ ％ Ｉｌｌはバッテリ充電装置
、（１２１はバッテリ充電装置（１１）とバッテリ（１
）を接続する充電コネクタ、（１瞬はカメラ装置賄）及
びセンサ（３ｚなどの点検・監視機器、０４）は車輪（
鰭の駆動装置、００は、駆動装置Ｑ４に接続されている
移動距離検出装置、Ｈｉ点検ルートの距離データ等を有
している点検マツプ記憶装置、Ｑカは単位距離移動に要
するバッテリ容量を設定する定数設定器、（ｌ□□□は
演算器、α（至）（１ト）
置開閉器、署は点検・監視機器開閉器、叫）にカメラ装
置、？３２ぼセンサ、（３３１は移動台車−の移動を行
なう車輪、−ニ点検ルートである。Hereinafter, one embodiment of the present invention will be explained with reference to the drawings. In Figs. 1 and 3, (1) is a batch mounted on a moving trolley (A)! J % Ill is a battery charging device (121 is a battery charging device (11) and a battery (1)
), the charging connector (1 moment is for the camera device) and the sensor (inspection/monitoring equipment such as 3z, 04) is for the wheel (
The fin drive device, 00 is a moving distance detection device connected to the drive device Q4, the inspection map storage device that has distance data of Hi inspection route, etc., and Q is the battery capacity required for moving a unit distance. A constant setting device, (l□□□ is a calculation unit, α (to) (1t) position switch, station is an inspection/monitoring equipment switch, shout) is a camera device, ? 32 sensors, 331 wheels for moving the mobile cart, and 2 inspection routes.
第２図は制御フローチャートである。FIG. 2 is a control flowchart.
第４図はバッテリ電圧検出値を示したグラフであり、検
出点（ｉ−Ａ点とした。FIG. 4 is a graph showing the battery voltage detection value, and the detection point (point i-A) is shown.
また、図において、実線で示し之グラフは充゛成位置１
で帰還するに要する容ｉｔ？示し、−点鎖線で示したグ
ラフに移動台車のバッテリ消凌特性である。In addition, in the figure, the graph indicated by a solid line is filled position 1.
How long does it take to return? The graph shown by the - dotted chain line shows the battery consumption characteristics of the mobile cart.
第５図は各開閉器の動作状況を示すタイムチャート図で
ある。FIG. 5 is a time chart showing the operating status of each switch.
次にこの発明の動作について説明する。Next, the operation of this invention will be explained.
ルート設定器１２１） Ｋより指定され念点検ルート（
圓上をバッチ１Ｊｔｌ＋により移動及び点検・１溌視を
行なう停姻台車圀が燥作装置（図示せず）からのＪｌｌ
（転指令により光“ｒに位置より出発すると移動台’ｆ
５− （７，ｊの駆動側１４）に取付けられた移動距離
検出装置ＰＯ５１が桿勧距１１１１を検出する。バッチ
１月ｌ）容１抄についても光１に位１〃？出発すると常
時検出を行なっている。Route setting device 121) A confirmation route specified by K (
A parking trolley is moved on the platform by batch 1Jtl+ and inspected once.
(When the rotation command causes the light to start from the position 'r', the moving platform 'f'
5- The moving distance detecting device PO51 attached to the driving side 14 of 7,j detects the rod distance 1111. Batch January l) Is it 1st place in light 1 for Yong 1sho? After departure, constant detection is performed.
啓！ＩｌＱ台里（〃駆動に要するｍ位距離あたりのバッ
チ’ＪＡＭ）框あらかじめ定数設定器（１７Ｉで設定さ
れているので移動距離により、光″Ｙｌ！位置゛まで帰
還するに要するバッテリ容積を演算器０８１で鼻当する
。Kei! IlQ Tairi (〃Batch 'JAM per meter distance required for driving)' Constant setter (17I is set in advance, so depending on the travel distance, calculate the battery capacity required for the light to return to the ``Yl! position'') Use 081 to put on your nose.
この帰磁に要するバッテリ容量とバッテリ（１）の残′
尽清を比較器（１９１で監視しておき、同一レベル（Ａ
１が）に３［つ念時点で点検・監視装置Ｎ開閉器（２４
１ＶＣより切り離し、漬検・監視作業を中止させ、自１
肪的に充電位置まで帰還するよう処理回１ｉＳシ０１よ
り制御する。The battery capacity required for this return magnetization and the remaining capacity of battery (1)
Monitor Jinsei with a comparator (191) and check the same level (A
Inspection/monitoring device N switch (24)
Disconnect from 1VC, stop soak inspection and monitoring work, and self-1
The processing circuit 1iS is controlled to return to the charging position efficiently.
ＬＬ開閉ループ状設けられている点検ルート１３・＆ｌ
Ｖｃついてに移動距離により短距離の刃金１１択し、局
礒に要するバッテリ８ｖを求ぬるようにしている。Inspection route 13・&l provided in LL opening/closing loop shape
Regarding Vc, a short-distance blade 11 is selected depending on the travel distance, and the 8V battery required for localization is determined.
ｆ、ＫＦＥ、上ｄｉ′、’Ｓ施例では、バッテリ元尼に
ついて記載したが、バッテリ交換式の場合についても同
様の方法で行なうことができる。f, KFE, upper di', 'S In the embodiment, a battery type was described, but the same method can be used for a battery replaceable type.
また、点検・監視用の移動台車以外についてもバッテリ
で＠動される移動体であれば同様の方法で行なうことが
できる。Further, the same method can be applied to any mobile body other than a mobile trolley for inspection and monitoring as long as it is powered by a battery.
さらに、上記夫施例では移動体の位ｉ？求めるために移
動台車の移動距離を検出して行なう場合について説明し
九が、点検ルートに検出器ケ設けて移動体の位［１を検
出してもよく、また帰還に要するバッテリ容１（を力量
）ｒよ、当然のことながらある程度の余裕會含んだ値で
設定されるが、点検ルートの起伏やバッテリの充電およ
び交換をする位置までの最短距離等を考慮して最も少な
い値に設定するのが、より効果的である。また、バッテ
リ容ｔ、＝バッテリ）Ｗ圧がはソ比例することから、バ
ッチｌＪ’を王で設定し、監視するようにしても良いこ
とは言うまでもない。Furthermore, in the above example, the position of the moving object is i? We will explain the case in which the distance traveled by the mobile trolley is detected in order to calculate the distance traveled by the mobile trolley. Naturally, the value is set to include a certain amount of margin, but it is set to the smallest value taking into account the ups and downs of the inspection route and the shortest distance to the location where the battery is charged and replaced. is more effective. Furthermore, since the battery capacity t, = battery)W pressure is proportional to , it goes without saying that the batch lJ' may be set and monitored in a constant manner.
以上のようにこの発明によれば、バッテリ容鑓が移動途
中で無くなり、移動体が停止してしまうようなことがな
くなり、立入り困難な場所での使用が可能となるととも
に、バッテリ充を位！１Ｆｒ増やす必要をなくしたので
、システムとして安価にできるなどの効果がある。As described above, according to the present invention, the movable object does not stop because the battery container runs out during movement, and it is possible to use it in difficult-to-access places, and it is possible to keep the battery charged. Since there is no need to increase the amount by 1Fr, the system can be made cheaper.
第１図にこの発明の一実施例による移動体制−システム
の概略構成を示すブロック図、第２図はこの発明の一実
施例による制御７０−チャート図、第３図はこの発明の
一実施例による装着概要図、第４図はこの発明の一実施
例によるバッチＩＪ ｉ［圧検出特性図、第５図はこの
発明の一夾施（り１１によるタイムチャート図、９１１
６図は従来のバッテリ監視装！の概略構成を示すブロッ
ク図である。
図において、（ｌ）はバッテリ、（Ｉｌｌはバッテリ光
″成装置、（１５１に移動距離検出装置、（１ηは定数
設定器、（１８）は演算器、（Ｉ９）に比較器、（２０
１は処理回路、塁は移動台車である。
なお、図中、同一符号は同一、又は相当部分を示す。FIG. 1 is a block diagram showing a schematic configuration of a mobile system-system according to an embodiment of the present invention, FIG. 2 is a chart diagram of a control 70 according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a diagram showing the batch IJ pressure detection characteristics according to one embodiment of the present invention, and FIG. 5 is a time chart diagram according to one embodiment of the present invention.
Figure 6 shows a conventional battery monitoring system! FIG. 2 is a block diagram showing a schematic configuration of. In the figure, (l) is a battery, (Ill is a battery light generating device, (151 is a moving distance detection device, (1η is a constant setting device, (18) is a calculator, (I9) is a comparator, (20
1 is a processing circuit, and base is a moving cart. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.
Claims (1)
体が上記バッテリを充電および交換する位置まで移動す
るのに必要とする電力量を求める電力設定手段、この電
力設定手段で求められた電力量に上記バッテリの残容量
がなつたとき、上記移動体を上記バッテリの充電および
交換を行なう位置まで移動させる制御手段を備えた移動
体制御システム。A movable body that is driven by a battery power supply, a power setting means for determining the amount of power required for the movable body to move to a position where the battery is charged and replaced; A mobile object control system comprising: a control means for moving the mobile object to a position where the battery is charged and replaced when the battery runs out of remaining capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63157193A JPH027804A (en) | 1988-06-24 | 1988-06-24 | Moving body control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63157193A JPH027804A (en) | 1988-06-24 | 1988-06-24 | Moving body control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH027804A true JPH027804A (en) | 1990-01-11 |
Family
ID=15644234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63157193A Pending JPH027804A (en) | 1988-06-24 | 1988-06-24 | Moving body control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH027804A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011083613A1 (en) * | 2010-01-05 | 2011-07-14 | 三菱重工業株式会社 | Method for management of charging secondary batteries of work vehicles, and system for charging secondary batteries of work vehicles |
-
1988
- 1988-06-24 JP JP63157193A patent/JPH027804A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011083613A1 (en) * | 2010-01-05 | 2011-07-14 | 三菱重工業株式会社 | Method for management of charging secondary batteries of work vehicles, and system for charging secondary batteries of work vehicles |
| JP2011142704A (en) * | 2010-01-05 | 2011-07-21 | Mitsubishi Heavy Ind Ltd | Method for managing charging of secondary battery of work vehicle, and charging system |
| CN102474121A (en) * | 2010-01-05 | 2012-05-23 | 三菱重工业株式会社 | Method for management of charging secondary batteries of work vehicles, and system for charging secondary batteries of work vehicles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795521B (en) | Rail transit rolling stock inspection device and system | |
| CN211087326U (en) | Electric power utility tunnel patrols and examines robot system | |
| CN106873623B (en) | Unmanned aerial vehicle rapid autonomous endurance system and method thereof | |
| US7443124B2 (en) | Method and device for operating a machine, such as a multiaxial industrial robot | |
| CN103744425B (en) | Automatic working equipment and its control method | |
| CN107985946A (en) | A kind of double lifting AGV trolleies | |
| CN108910560A (en) | A kind of industry loading vehicles positioning device and method | |
| JP2012121338A (en) | Navigation apparatus | |
| CN106774318B (en) | Multi-agent interactive environment perception and path planning motion system | |
| JP2018052341A (en) | Flight robot control system and flight robot | |
| KR102359154B1 (en) | Autonomous robot for diagnosing an electric power facilities | |
| KR101812017B1 (en) | Robot system for inspecting transmission tower | |
| CN105098885A (en) | Intelligent charging method of mobile monitoring platform for facilities | |
| US11927964B2 (en) | Autonomous work machine, method of controlling the same, and storage medium | |
| JP2018167939A (en) | Controlling system of crane and controlling method of the same | |
| CN109591907A (en) | A kind of bridge pier detection walking mechanism and traveling method | |
| CN107985447A (en) | A kind of AGV cars and its control method with manipulator | |
| JP2018025856A (en) | Autonomous travel device and autonomous travel system | |
| CA1056076A (en) | Elevator control system | |
| CN108748087B (en) | Positioning system and method suitable for track robot | |
| CN208150334U (en) | A kind of double lifting AGV trolleies | |
| JPH027804A (en) | Moving body control system | |
| US20220236743A1 (en) | Power supply system and power supply device | |
| US20220255318A1 (en) | Power supply system and power supply device | |
| GB2270999A (en) | Automatic steering for non-railed transfer crane |