JPH0336903A - Automatic battery charge controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To operate an unmanned vehicle efficiently by making a computation how much charging current must be fed in order to bring the battery voltage to a gushing level within the working time at a work station then feeding charge current from a charging means to the battery based on the computation results. CONSTITUTION:Upon arrival of an unmanned vehicle 1 to a work station 31, residual capacity of battery 2 is computated then the current to be fed to the battery 2 is determined from the computated residual capacity and the working time of the unmanned vehicle 1 at the work station 31. Judgement is made that the battery is charged with 50% of nominal voltage when the battery voltages reaches the gushing level. A central controller 5 provides a command for feeding charge current to a charger 41 which then feeds charge current to the battery 2, and charging operation finishes when the battery voltage reaches the gushing level.

Description

[Detailed Description of the Invention] "Industrial Application Field 1 This invention relates to an automatic charging control device for a battery mounted on an unmanned vehicle that automatically travels on the floor, and particularly relates to an automatic charging control device for a battery installed in an unmanned vehicle that automatically travels on the floor. This invention relates to a control device for an automatic charging device in which a charging station is provided with a charging station 4, and the battery is charged during operation of an unmanned vehicle at a charging time of 47 m.

1. Prior Art] When a battery is used (discharged), its capacity decreases, and if it continues to be used, it will eventually become unable to discharge at the specified current. Similarly, batteries are charged after being used for a specified period of time.

From the viewpoint of work efficiency, this charging is often performed by installing an automatic battery charging device at a predetermined location.

In addition, it is common for manufacturing factories to operate continuously for 24 hours, and the operating rate of unmanned vehicles in such places is extremely high, and batteries need to be charged efficiently, so it is difficult to transfer cargo. For unmanned vehicles equipped with manipulators and manipulators, an automatic battery charging device is installed at the work station where the unmanned vehicle is stopped, such as handling work, to charge the battery during work.

[Problem to be solved by the invention]

However, the working time of an unmanned vehicle at each station varies greatly, and the battery charging time may take several times the unmanned vehicle's working time.In such cases, battery charging may be stopped at the end of the unmanned vehicle's work. If you move an unmanned vehicle after charging the battery, there will be inconveniences such as the unmanned vehicle stopping midway because the battery is barely charged, and the amount of charge that has been charged up to that point becoming unknown. It is necessary to keep the unmanned vehicle on standby until the end of the process, but during this time the unmanned vehicle must be left idle, which is not efficient.

This invention was made to solve the above-mentioned problems, and an object thereof is to provide an automatic battery charging control device that can efficiently operate an unmanned vehicle.

[Means to solve the problem]

In order to achieve the above object, the automatic battery charging control device for an unmanned vehicle according to the present invention includes a charging means that is provided at each workstation and can change the charging current, and a time period required for the unmanned vehicle to work at each workstation. and charging current control means for controlling the charging current of the charger based on the required time stored in the storage means so that charging is completed while the unmanned vehicle is performing work. It is equipped with the following.

It is most efficient to control the battery so that charging is finished at a straight voltage (hereinafter referred to as gassing voltage) at which gas is generated from the battery.

"Operation" In the above configuration, the unmanned vehicle arrives at a predetermined workstation to perform a predetermined work and starts the work. At this time, the charging current control means controls the work station stored in the storage means Calculate how much charging current should flow in order for the battery to reach the gassing voltage within the time required to work at the station,
Based on this result, the charging means supplies charging current to the battery, and when the battery reaches the gassing voltage, charging is terminated. Then, when the unmanned vehicle finishes its work and arrives at the next workstation, the battery will be charged again in the same way. Therefore, at any workstation where the time required for work is different, charging of the battery is completed within the working time, and the charging voltage at the end of the work is the gassing voltage.

[Embodiment 1] Next, an embodiment of the present invention will be described based on the drawings. In FIG. 1, reference numeral 1 denotes an unmanned vehicle equipped with a battery 2 as a power source, which moves between workstations 31 and 32 and performs predetermined work at each workstation 31 and 32. Reference numerals 41 and 42 are charging devices whose charging current can be changed, and are provided within each workstation 33 and 32.

The charging device 41, 42 is configured to automatically charge the battery 2 while the unmanned vehicle 1 is performing a predetermined work at each work station 31, 32. Reference numeral 5 denotes a central control unit, which not only sends and receives signals to the unmanned center 1 but also sends and receives signals to the charging devices 41 and 42. The central control device 5 also contains the required time for the work performed by the unmanned vehicle 1 at each workstation 31, 32, and the relationship between the charging current value, charging time, and charging capacity until reaching the gassing voltage as shown in FIG. is memorized.

Next, the operation of the above configuration will be explained. The nominal capacity of the battery 2 is 10 AH, and it is assumed that it is charged to 50% of the nominal capacity in the initial state, the load current of the unmanned vehicle 1 is 5 A, and the unmanned vehicle 1 equipped with the battery battery 2 in the initial state is Assume that it takes 3-0 minutes to arrive at workstation 31 and 6 minutes from workstation 31 to workstation 32. Further, the working time of the workstations 3Y and 32 inputted to the central control device 5 is assumed to be 1.5 minutes and 2 minutes, respectively.

When the unmanned vehicle 1 arrives at the work stage 31, the unmanned vehicle 1 starts the predetermined work, and at the same time, the central control device 5
The following judgment will be made:

First, the remaining capacity of the battery 2 when the unmanned vehicle 1 arrives at the work system controller 31 is calculated using equation (1).

(Battery capacity in initial state) - (Load current value of unmanned vehicle x Travel time of unmanned vehicle) = (IOAHXo, 5) - (5AXO, 5H) = 2.5
AH...Equation (1) Next, based on this value and the working time (1.5 minutes) of the unmanned vehicle 1 in this work system controller 31, the second
The charging current to be applied to the battery 2 can be determined from the diagram. In other words, since this battery 2 is charged to 25% of its nominal capacity from the remaining capacity of the battery 2 (as shown by the broken line in Figure 2), the battery 2 is charged at 25% of its nominal capacity (as shown by the broken line in Fig. 2), so the battery 2 is charged at 25% of its nominal capacity (as shown by the broken line in Figure 2). It was determined that to achieve this, it was necessary to flow a charging f4 current of 50A.

be done. It can be seen from the de line in FIG. 2 that when a charging current of 50 A is applied, the gashing voltage is reached in about 1 minute. Further, it can be determined from the placement of point C in FIG. 2 that the battery is charged to approximately 50% of its nominal capacity when the gassing voltage is reached. Then, the central control device 5 gives a command to the charging device 4 to flow a charging current of 50A, and a charging current of 50A flows from the charging device 41 to the battery 2. When the battery 2 reaches the gassing voltage, charging ends. After that (0.5 minutes later), the work was completed and unmanned vehicle 1
Heads to the next workstation 32.

Next, at the same time that the unmanned vehicle 1 arrives at the work system controller 32 and starts work, the central control device 5 makes the following determination.

First, the remaining capacity of the battery 2 when the unmanned vehicle 1 arrives at the workstation 32 is calculated using equation (2). ? jOh, I know that the battery was charged to 50% of its nominal capacity when it was last charged, as noted in -h.

(Capacity at last charge) - (Load current value of unmanned vehicle x Travel time of unmanned vehicle) = (10AH x 0.5) - (5AXO, IH) =
4.5AH This shows that battery 2 is charged to 45% of its nominal capacity. (Indicated by line C in Figure 2.) And,
Since the working time of the unmanned vehicle 1 at this workstation 32 is 2 minutes, from Fig. 2, 40A
It is determined that the battery is charged to about 60% of its nominal capacity at the end of charging. (
This can be determined from point g in Figure 2. ) It can be seen from the f-g line in FIG. 2 that when a 40 A charge current is applied, the gashing voltage is reached in a little over 1 minute. Therefore, the central control device 5 gives a command to the charging device 42 to flow a charging current of 40A,
A charging current of 40 A flows from this charging device 42 to the battery 2, and when the battery 2 reaches the gassing voltage, charging ends, and the operation ends after that (approximately 1 minute).

[Effects of the Invention] As explained above, according to the present invention, the charging current of the charging device is controlled so as to finish charging the battery while the unmanned vehicle is working. produces an effect like

■Since charging is completed within the working time of the unmanned vehicle at any workstation, there is no need for the unmanned vehicle to remain on standby until the battery is fully charged, allowing efficient operation during unmanned operation.

■If the battery voltage value at the end of charging is set to the gassing voltage value, the battery can be used more efficiently.

[Brief explanation of drawings]

1 and 2 are a plan view and a characteristic diagram of a battery, respectively, showing an embodiment of the present invention. ]...Unmanned 2...Battery 31.32...
・Workstation 41.42...Charging device 5...Central control unit

Claims (1)

[Scope of Claims] 1. In an automatic battery charging device that automatically charges a battery mounted on a workstation where an unmanned vehicle performs a predetermined work while the unmanned vehicle is working, a charging current provided at each workstation is provided. a charging device capable of changing the battery charge, a storage device that stores in advance the working time of the unmanned vehicle at each work station, and a charging device that stores in advance the working time of the unmanned vehicle at each work station, and a battery that is stored in the storage device so that charging of the battery is completed while the unmanned vehicle is performing the work. An automatic battery charging control device for an unmanned vehicle, comprising: a charging current control means for controlling a charging current of the charging means based on the working time of the charging means. 2. The automatic battery charging control device for an unmanned vehicle according to claim 1, wherein the voltage of the battery at the end of charging is set to a gassing voltage value immediately before gas is generated from the battery.