KR0127974Y1 - Overcharging protection circuit - Google Patents
Overcharging protection circuit Download PDFInfo
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- KR0127974Y1 KR0127974Y1 KR2019950022525U KR19950022525U KR0127974Y1 KR 0127974 Y1 KR0127974 Y1 KR 0127974Y1 KR 2019950022525 U KR2019950022525 U KR 2019950022525U KR 19950022525 U KR19950022525 U KR 19950022525U KR 0127974 Y1 KR0127974 Y1 KR 0127974Y1
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- charging
- voltage
- battery
- current
- vehicle
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- 230000000903 blocking effect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 abstract description 6
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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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
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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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
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
본 고안은 무인운반차의 과충전 보호회로에 관한 것으로, 자동충전장치(2)로부터 입력되는 충전전압과 충전전류를 검출하는 전압/전류 검출수단(16); 전류를 일측으로 흐르게 하는 다이오드(31)와 상기 다이오드(31)에 직렬 연결된 마그네틱 컨택터(33)로 구성되어, 제어신호에 따라 상기 자동충전장치(2)로부터 입력되는 충전전압/전류를 연결 혹은 차단시키는 보호수단(30); 및 상기 전압/전류 검출수단(16)으로부터 입력된 충전전압과 충전전류를 소정의 기준전압 및 기준전류와 비교하여 상기 기준전압과 기준전류를 초과하면 상기 보호수단(30)의 마그네틱 컨택터(33)를 차단시키기 위한 제어신호를 발생하는 무인차 제어부(12)가 구비되어 자동충전장치(2)로부터 인가되는 충전전압에 이상이 발생하면 충전전압을 차단하여 무인차의 밧데리(10)를 보호한다.The present invention relates to an overcharge protection circuit for an unmanned vehicle, comprising: voltage / current detecting means (16) for detecting a charging voltage and a charging current input from an automatic charging device (2); It consists of a diode 31 for flowing a current to one side and a magnetic contactor 33 connected in series with the diode 31, connecting or connecting the charging voltage / current input from the automatic charging device 2 in accordance with a control signal or Blocking means for blocking (30); And the magnetic contactor 33 of the protection means 30 when the charging voltage and the charging current input from the voltage / current detecting means 16 are compared with a predetermined reference voltage and the reference current to exceed the reference voltage and the reference current. Is provided with a driverless vehicle control unit 12 for generating a control signal to shut off. If an abnormality occurs in the charging voltage applied from the automatic charging device 2, the charging voltage is blocked to protect the battery 10 of the driverless vehicle. .
Description
제1도는 본 고안이 적용되는 무인운반차시스템의 구성도.1 is a block diagram of an unmanned vehicle system to which the present invention is applied.
제2도는 본 고안에 따른 무인 운반차의 자동충전시스템을 도시한 도면.2 is a view showing an automatic charging system of an unmanned truck according to the present invention.
제3도는 본 고안이 적용되는 무인운반차시스템의 자동 충전관련 동작흐름도.3 is a flow chart related to automatic charging of the unmanned vehicle system to which the present invention is applied.
제4도는 종래의 무인운반차 자동충전 시스템을 도시한 블록도이다.4 is a block diagram showing a conventional unmanned vehicle automatic charging system.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1, 1-1, 1-2 : 무인운반차 2 : 자동충전장치1, 1-1, 1-2: unmanned transportation vehicle 2: automatic charging device
3 : 유도선 4 : 주컴퓨터3: guide line 4: main computer
5 : PLC 6, 14 : 무선모뎀5: PLC 6, 14: Wireless modem
7, 8 : 컨넥터 9 : 위치센서7, 8: connector 9: position sensor
10, 40 : 밧데리 11 : 전원부10, 40: battery 11: power unit
12 : 무인차 제어부 13 : 무인차 구동부12: driverless vehicle control unit 13: driverless vehicle driving unit
15 : 전원단자 16 : 전압/전류 검출기15: power supply terminal 16: voltage / current detector
21 : 충전전압 발생부 30 : 과충전방지 및 단락보호회로21: charge voltage generator 30: overcharge protection and short circuit protection circuit
31 : 다이오드 32 : 저항31: diode 32: resistor
33 : 마그네틱 컨택터 42 : 충전장치33: magnetic contactor 42: charging device
45 : 충전단자45: charging terminal
본 고안은 밧데리 구동형 무인운반차(이하 무인차라고도 한다)의 밧데리를 자동으로 충전시켜주는 자동충전시스템에 관한 것으로 특히, 충전전압의 이상시나 단락으로부터 무인차를 보호하는 기능이 구비된 무인차의 과충전 보호회로에 관한 것이다.The present invention relates to an automatic charging system that automatically charges a battery of a battery driven driverless vehicle (hereinafter referred to as an unmanned vehicle), and in particular, an unmanned vehicle equipped with a function to protect the driverless vehicle from an abnormality or short circuit of the charging voltage. Of overcharge protection circuit.
일반적으로, 무인차시스템은 운전자가 없이 주컴퓨터의 제어에 의해 유도선을 따라 주행하면서 부품등과 같은 화물을 운반해 주는 무인운반시스템으로서, 인건비를 절감하고 작업효율을 향상시키기 위하여 물류시스템 및 자동생산 시스템등과 같은 자동화시스템에서 널리 사용되고 있는 바, 상기 밧데리 구동형 무인차는 운행중에 밧데리에 충전된 전력을 어느 정도 소진하게 되면 상기 방전된 밧데리를 재충전시켜주기 위한 무인차 충전시스템이 준비되어 있다.In general, the driverless vehicle system is an unmanned transportation system that carries cargo such as parts while driving along the guideline by the control of the main computer without a driver.It is a logistics system and automatic to reduce labor costs and improve work efficiency. As widely used in an automation system such as a production system, the battery-driven driverless vehicle is provided with an unmanned vehicle charging system for recharging the discharged battery when a certain amount of power consumed in the battery is exhausted during operation.
그런데 종래의 무인차 충전시스템은, 제4도에 도시된 바와 같이 무인차의 운행을 제어하는 주컴퓨터(4)와 상기 주컴퓨터의 제어에 따라 내장된 밧데리의 전원에 의해 유도선(3)을 주행하는 무인차(1)로 구성된 무인차 시스템에 있어서, 유도선(3)의 충전스테이션 근처에 위치하여 예비 밧데리를 충전시켜 주도록 되어 있다.However, in the conventional unmanned vehicle charging system, as shown in FIG. 4, the main line 4 which controls the operation of the unmanned vehicle and the induction line 3 by the power supply of the built-in battery under the control of the main computer 3 In an unmanned vehicle system composed of an unmanned vehicle 1 that runs, it is located near a charging station of the guide line 3 to charge a spare battery.
즉, 종래에는 무인차(1)가 내부의 전원단자로부터 연결된 밧데리로 운행하다가 일정 시간 밧데리를 사용하여 밧데리의 충전이 필요하게 되면 밧데리 다운(DOWN)신호(이를 충전요구신호라 한다)를 발생하여 주컴퓨터에 이를 알리고, 주컴퓨터는 상기 무인차를 유도하여 충전스테이션으로 이동하게 한다.That is, in the related art, when the unmanned vehicle 1 runs from the internal power terminal to a battery connected to the battery and needs to be charged using the battery for a predetermined time, a battery DOWN signal (this is called a charge request signal) is generated. The host computer is informed of this, and the host computer guides the driverless car to the charging station.
그리고, 재충전이 필요하게 된 무인차가 충전스테이션에 도달하면 작업자가 상기 무인차의 밧데리(10)를 떼어낸 후 종래의 충전장치(41)에 의해 미리 충전시킨 예비 밧데리(40)를 장착하여 밧데리를 수동으로 교환하고, 상기 떼어낸 후 밧데리를 충전장치의 단자(45)에 연결하여 방전된 밧데리를 충전시켰다.When the driverless vehicle that needs to be recharged reaches the charging station, the operator removes the battery 10 of the driverless vehicle and installs a spare battery 40 previously charged by the conventional charging device 41 to install the battery. After manual replacement and removal, the battery was connected to the terminal 45 of the charging device to charge the discharged battery.
이와 같이 종래에는 무인차의 밧데리가 방전되면 충전스테이션에서 작업자가 일일이 밧데리를 교환해 주고, 방전된 밧데리를 충전장치(41)에 연결하여 재충전시켜야 했기 때문에, 밧데리 교환을 위한 인력이 필요하게 되어 인건비가 상승하는 문제점이 있었다.As such, in the related art, when the battery of an unmanned vehicle is discharged, an operator needs to replace the battery at the charging station and recharge the battery by connecting the discharged battery to the charging device 41, thus requiring labor for battery replacement. There was an issue rising.
또한, 밧데리를 충전중에 충전전압 및 전류에 이상이 발생한 경우에 밧데리가 손상되는 문제점이 있었다.In addition, there is a problem that the battery is damaged when the charging voltage and current is abnormal while charging the battery.
이에 본 고안은 상기와 같은 문제점들을 해결하기 위하여 안출된 것으로, 무인차의 밧데리가 방전되어 충전스테이션으로 무인차가 이동된 후 밧데리를 충전시킬 때 충전전압 및 전류를 감시하여 이상시에 무인차를 보호할 수 있도록 된 무인차의 과충전 보호회로를 제공하는데 그 목적이 있다.The present invention has been devised to solve the above problems, the battery of the driverless car is discharged and the driverless car is moved to the charging station after charging the battery to monitor the charging voltage and current to protect the driverless vehicle in the event of an abnormality The purpose is to provide an overcharge protection circuit of a driverless vehicle.
상기와 같은 목적을 달성하기 위하여 본 고안의 보호회로는, 자동충전장치(2)로부터 인가되는 충전전압에 의해 무인차의 밧데리(10)를 충전시키도록 된 무인차 충전시스템에 있어서,In order to achieve the above object, the protection circuit of the present invention, in the unmanned vehicle charging system to charge the battery 10 of the unmanned vehicle by the charging voltage applied from the automatic charging device (2),
상기 자동충전장치(2)로부터 입력되는 충전전압과 충전전류를 검출하는 전압/전류 검출수단(16); 전류를 일측으로 흐르게 하는 다이오드(31)와 상기 다이오드(31)에 직렬 연결된 마그네틱 컨택터(33)로 구성되어, 제어신호에 따라 상기 자동충전장치(2)로부터 입력되는 충전전압/전류를 연결 혹은 차단시키는 보호수단(30); 및 상기 전압/전류 검출수단(16)으로부터 입력된 충전전압과 충전전류를 소정의 기준전압 및 기준전류와 비교하여 상기 기준전압과 기준전류를 초과하면 상기 보호수단(30)의 마그네틱 컨택터(33)를 차단시키기 위한 제어신호를 발생하는 무인차 제어부(12)가 구비된 것을 특징으로 한다.Voltage / current detection means (16) for detecting a charging voltage and a charging current input from the automatic charging device (2); It consists of a diode 31 for flowing a current to one side and a magnetic contactor 33 connected in series with the diode 31, connecting or connecting the charging voltage / current input from the automatic charging device 2 in accordance with a control signal or Blocking means for blocking (30); And the magnetic contactor 33 of the protection means 30 when the charging voltage and the charging current input from the voltage / current detecting means 16 are compared with a predetermined reference voltage and the reference current to exceed the reference voltage and the reference current. ) Is characterized in that the driverless vehicle control unit 12 for generating a control signal for blocking.
즉, 본 고안이 적용되는 무인차 자동 충전시스템은 운행중인 무인차의 밧데리가 방전되어 재충전이 요구되면, 상기 무인차가 충전요구신호를 주컴퓨터에 송신한 후 홈스테이션으로 이동하여 밧데리의 연결단자를 자동 충전장치의 연결단자와 연결한 후 밧데리를 충전시킴과 아울러 충전전압과 전류를 검출하여 충전전압과 전류가 이상시에는 즉시 보호회로의 스위치를 차단하여 무인차를 보호하도록 된 것이다.That is, in the unmanned vehicle automatic charging system to which the present invention is applied, when the battery of the driverless vehicle is discharged and is required to be recharged, the driverless vehicle transmits the charge request signal to the main computer and then moves to the home station to connect the battery terminal. After connecting with the connection terminal of the automatic charging device, the battery is charged and the charging voltage and current are detected. When the charging voltage and current are abnormal, the protection circuit is immediately switched off to protect the driverless vehicle.
이하, 첨부된 도면을 참조하여 본 고안을 자세히 설명하기로 한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
본 고안이 적용되는 무인차시스템은 제1도에 도시된 바와 같이, 무인차시스템의 전체 운행을 제어하는 주컴퓨터(4)와; 주컴퓨터의 제어에 따라 무선신호를 송수신하는 주펌퓨터의 무선모템(6); 유도선(3); 유도선상에 설치되어 무인차가 정지하여 소정의 작업을 수행하도록 된 복수개의 스테이션(S1∼S11); 충전작업을 위해 무인차가 정지하는 홈스테이션(HS: 충전스테이션이라고도 한다); 무인차의 밧데리에 전원을 공급하기 위한 자동충전장치(2); 및 밧데리에 의해 구동되는 무인차들(1-1, 1-2)로 구성되어 있다.The driverless vehicle system to which the present invention is applied includes a main computer 4 for controlling the overall operation of the driverless vehicle system, as shown in FIG. 1; A wireless module 6 of the main computer for transmitting and receiving wireless signals under the control of the main computer; Guide line 3; A plurality of stations (S1 to S11) installed on the guide line to stop the driverless vehicle to perform a predetermined task; A home station where the driverless vehicle stops for charging (also called a charging station); Automatic charging device (2) for supplying power to the battery of the driverless vehicle; And driverless cars 1-1 and 1-2 driven by the battery.
상기와 같이 구성된 무인차시스템에서 무인차가 운행되는 동작을 살펴보면, 각각의 무인차(1-1, 1-2)는 주컴퓨터(4)와 무선모템(6)을 통해 통신하면서 주컴퓨터(4)의 통제하여 유도선(3)을 따라 운행된다.Looking at the operation of the driverless car in the driverless vehicle system configured as described above, each driverless car (1-1, 1-2) is communicated through the main computer (4) and the wireless module (6) while the main computer (4) It runs along the guideline (3) by the control of.
또한, 상기 무인차(1-1, 1-2)에는 위치를 감지하기 위한 위치센서(예컨데, 홀센서)가 구비되어 있고, 각 스테이션에는 위치를 알려주기 위한 위치표시수단(예컨대, 자석)이 설치되어 주컴퓨터(4)의 지시에 따라 유도선을 주행하면서 위치센서에 의해 자신의 위치 및 스테이션을 판단한다.In addition, the driverless cars 1-1 and 1-2 are provided with a position sensor (for example, a hall sensor) for detecting a position, and each station has a position display means (for example, a magnet) for indicating a position. It is installed to determine its own position and station by the position sensor while driving the guide line according to the instruction of the main computer (4).
즉, 무인차에는 정위치 자기센서를 설치하고, 플로워에 정위치 자기 마그네트를 매설하여 상기 정위치 마그네트를 매설하여 상기 정위치 마그네트의 자계에 의해 무인운반차가 충전위치에 도달되게 된다. 그리고, 상기 자동 충전장치는 대한민국 특허출원 94-제11551호에 제안된 바와 같이, 자동 충전장치의 연결단자를 플로어의 상면보다 약간 아래러 위치시키되, 플러스(+)와 마이너스(-)의 전극단자를 시소 가능하게하여 배터리측 연결단자가 접촉되게 용이하게 되어 있다. 이때, 배터리측 연결단자는 모터에 의해 하강하여 자동충전장치의 연결단자에 접촉되고, 충전이 완료되면 주행을 할 수 있도록 상승한다.That is, a self-positioning magnetic sensor is installed in an unmanned vehicle, an exact position magnetic magnet is embedded in a floor, and the exact position magnet is buried so that the unmanned transport vehicle reaches the charging position by the magnetic field of the exact position magnet. And, the automatic charging device, as proposed in the Republic of Korea Patent Application No. 94-11551, position the connection terminal of the automatic charging device slightly lower than the upper surface of the floor, the positive (+) and negative (-) electrode terminal It is possible to seesaw so that the battery-side connection terminal is easily contacted. At this time, the battery-side connection terminal is lowered by the motor to be in contact with the connection terminal of the automatic charging device, and ascends to run when charging is completed.
또한, 상기 무인차는 주컴퓨터가 지시하는 스테이션에 도달하면 정지하여 소정의 작업을 수행한 후 다시 이동하는데, 만일 밧데리의 전원이 소정의 기준치까지 방전될 경우에 재충전을 위해 충전요구신호를 무선모뎀(14)을 통해 주컴퓨터에(4)에 요구하고, 충전을 위한 홈스테이션으로 이동한다. 무인차가 홈스테이션(HS)에 도착하면, 밧데리의 연결단자를 움직여 자동 충전장치의 연결단자에 접촉시킨 후, 밧데리를 재충전시키게 된다.In addition, the unmanned vehicle stops when it reaches a station indicated by the host computer, performs a predetermined task, and then moves again. 14), ask the host computer (4) to move to the home station for charging. When the driverless vehicle arrives at the home station (HS), the battery's connector is moved to contact the connector of the automatic charging device, and the battery is recharged.
이와 같이 본 고안에 따른 무인운반차시스템에서는 방전된 밧데리를 교환할 필요가 없을 뿐 아니라, 자동으로 충전되므로 충전작업을 위한 인원이 필요없게 된다.As described above, in the unmanned transportation system according to the present invention, it is not only necessary to replace the discharged battery, but also automatically charged, so that no personnel are required for the charging operation.
본 고안에 따른 자동 충전시스템은 제2도에 도시된 바와 같이, 주컴퓨터(4)의제어에 따라 밧데리가 장착된 무인차(1)가 유도선(3)을 주행하고, 상기 무인차의 밧데리가 방전되면 충전요구신호를 발생하여 상기 무인차가 상기 주컴퓨터(4)에 충전을 요구한 후 홈스테이션(HS)으로 이동하여 상기 방전된 밧데리의 연결단자(8)를 자동 충전장치의 연결단자(7)에 연결시켜 상기 밧데리(10)를 충전시키도록 된 무인차시스템에 있어서, 상기 무인운반차(1)가 상기 연결단자(7,8)를 통해 입력되는 충전전압과 전류를 검출하는 전압전류 검출수단(16); 홈스테이션의 충전위치를 감지하는 위치센서(9); 밧데리(10); 상기 밧데리 전원을 입력받아 무인차에서 요구되는 각종 전압을 제공하는 무인차 전원부(11); 상기 무인차 전원부(1)가 제공하는 전원에 의해 무인차를 구동하는 무인차 구동부(13); 무인차가 상기 주컴퓨터(4)와 통신하기 위한 무선모뎀(14); 제어신호에 따라 상기 자동 충전장치로부터 입력되는 충전전원을 차단하여 단락 및 과전압으로부터 무인차를 보호하기 위한 보호회로(30); 및 상기 전압전류 검출수단(16)으로부터 검출된 충전전압과 전류신호를 입력받고, 상기 위치센서에 의해 위치 정보를 입력받고, 상기 무선모뎀(14)을 통해 주컴퓨터와 통신하여 주컴퓨터의 통제하에 무선차의 운행을 제어하며, 상기 충전전압과 충전전류에 이상이 발생하면 제어신호를 발생하는 무인차 제어부(12)로 구성되어 있다.In the automatic charging system according to the present invention, as shown in FIG. 2, under the control of the main computer 4, an unmanned vehicle 1 equipped with a battery runs the guide line 3, and the battery of the unmanned vehicle Is discharged, a charge request signal is generated, and the driverless vehicle requests charging from the main computer 4, and then moves to a home station (HS), whereby the connection terminal 8 of the discharged battery is connected to the connection terminal of the automatic charging device ( In the unmanned vehicle system connected to 7) to charge the battery 10, the unmanned vehicle 1 is a voltage current for detecting the charging voltage and current input through the connection terminal (7, 8) Detection means 16; A position sensor 9 for detecting a charging position of the home station; Battery 10; An unmanned vehicle power supply unit 11 that receives the battery power and provides various voltages required by the driverless vehicle; A driverless vehicle driver 13 driving the driverless vehicle by the power provided by the driverless vehicle power supply unit 1; A wireless modem 14 for an unmanned vehicle to communicate with the main computer 4; A protection circuit 30 for protecting the driverless vehicle from short circuit and overvoltage by cutting off the charging power input from the automatic charging device according to a control signal; And receiving a charging voltage and a current signal detected from the voltage and current detecting means 16, receiving position information by the position sensor, and communicating with a main computer through the wireless modem 14, under the control of the main computer. A driverless vehicle control unit 12 controls the operation of the wireless vehicle and generates a control signal when an abnormality occurs in the charging voltage and the charging current.
또한, 상기보호회로(3)는 상기 자동충전장치(2)와 밧데리(10) 사이에 연결되는 다이오드(31)와, 상기 다이오드(31)에 병렬 연결되는 저항(32), 그리고 상기 다이오드(31)와 밧데리(10)사이에 연결되어 충전전압을 제어신호에 따라 연결 혹은 차단시키는 스위치(33)로 구성되고, 상기 스위치는 바람직하게는 마그네틱 컨택터로 구현된다.In addition, the protection circuit 3 includes a diode 31 connected between the automatic charging device 2 and the battery 10, a resistor 32 connected in parallel to the diode 31, and the diode 31. ) Is connected between the battery 10 and the battery 10 to connect or cut off the charging voltage according to a control signal, and the switch is preferably implemented as a magnetic contactor.
이어서 상기와 같이 구성되는 본 고안의 장치가 동작하는 것을 제3도의 흐름에 따라 설명한다.Next, the operation of the apparatus of the present invention configured as described above will be described according to the flow of FIG.
본 고안에 따른 무인차(1)가 주컴퓨터(4)의 제어에 따라 유도선(3)을 정상적으로 주행하면서 밧데리의 전압을 항시 모니터 하고 있다(100,101). 이때 모니터된 밧데리전압이 기준전압 이상이면 밧데리의 상태가 정상인 것으로 판정하여 계속 운행하다가 기준전압 이하가 되면 충전요구신호를 발생한다(102,103).The driverless vehicle 1 according to the present invention constantly monitors the voltage of the battery while driving the guide line 3 under the control of the main computer 4 (100, 101). At this time, if the monitored battery voltage is greater than or equal to the reference voltage, it is determined that the battery is in a normal state and continues to operate, and when it is less than the reference voltage, a charge request signal is generated (102 and 103).
이어서, 해당 무인차가 수행중인 동작을 완료한 후, 충전을 위해 홈스테이션으로 이동하고(104,105), 위치센서를 통해 충전위치를 결정한 후 밧데리의 연결단자를 움직여 자동 충전장치의 연결단자에 접촉시킨다(106).Subsequently, after the driverless vehicle completes the operation being performed, it moves to the home station for charging (104, 105), determines the charging position through the position sensor, and moves the connecting terminal of the battery to contact the connecting terminal of the automatic charging device ( 106).
충전중에도 무인차로부터 호출신호가 있는지를 판단하여(107), 없으면 충전이 완료되었는지를 판단한 후, 충전이 완료되지 않았면 계속 충전을 진행하고, 충전이 완료되거나 무인차로부터 호출이 있으면 무인차의 운전을 정지하고, 충전위치에서 대기한다(108,109). 이어서 주컴퓨터(4)로부터 운행지령이 수신되면, 해당 운행 루프를 따라 이동하여 정상 운행상태로 전환한다(110).It is determined whether there is a call signal from the driverless vehicle during charging (107). If not, it is determined whether the charging is completed. If the charging is not completed, the charging continues. If the charging is completed or there is a call from the driverless vehicle, Operation stops and waits at the charging position (108,109). Subsequently, when a driving command is received from the main computer 4, the driving command moves along the corresponding driving loop to switch to the normal driving state (110).
한편, 홈스테이션에서 무인차의 밧데리를 충전시킬 때, 무인차의 전압/전류 검출기(16)가 충전전압을 감시하여 이상이 발생하면 보호회로의 마그네틱 컨택터를 오픈하여 무인차를 보호한다.On the other hand, when charging the battery of the driverless vehicle at the home station, when the voltage / current detector 16 of the driverless vehicle monitors the charging voltage and an abnormality occurs, the magnetic contactor of the protection circuit is opened to protect the driverless vehicle.
이상에서 살펴본 바와 같이 본 고안이 적용된 무인차 자동충전시스템은 무인차가 운행중에 밧데리가 방전되면 홈스테이션으로 이동한 후 자동충전장치의 연결단자와 밧데리의 연결단자를 자동으로 연결하여 밧데리를 충전시킴과 동시에 충전전압과 전류를 모니터하여 이상발생시 보호회로를 작동시켜 무인차를 보호하므로 충전에 소요작업되는 인건비를 절감시킴과 동시에 충전중에 무인차를 보호할 수 있는 효과가 있다.As described above, the unmanned vehicle automatic charging system to which the present invention is applied charges the battery by automatically connecting the connector of the automatic charging device and the connector of the battery after moving to the home station when the battery is discharged while the driverless vehicle is running. At the same time, the charging circuit and current are monitored to protect the driverless vehicle by operating a protection circuit in the event of an abnormality, thereby reducing the labor cost required for charging and protecting the driverless vehicle during charging.
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| Application Number | Priority Date | Filing Date | Title |
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| KR2019950022525U KR0127974Y1 (en) | 1995-08-28 | 1995-08-28 | Overcharging protection circuit |
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| KR2019950022525U KR0127974Y1 (en) | 1995-08-28 | 1995-08-28 | Overcharging protection circuit |
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| KR0127974Y1 true KR0127974Y1 (en) | 1998-12-15 |
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