KR102059433B1 - A wireless charging system between a crane and a tractor - Google Patents

Abstract

According to the present invention, provided is a wireless charging system between a crane and a tractor. In the wireless charging system between a mobile crane and a tractor driven by a battery, the crane includes: an electricity feeding unit; and an inverter supplying power to the electricity feeding unit. The tractor includes: a current collection unit wirelessly receiving charging power from the electricity feeding unit; a battery management system (BMS) displaying a battery state; and a second communication unit. Accordingly, according to the present invention, the wireless charging system between the crane and the tractor has an advantage which does not require maintenance due to corrosion of a wired charger since there is no electrical, mechanical contact for power supply.

Description

Wireless charging system between crane and tractor {A WIRELESS CHARGING SYSTEM BETWEEN A CRANE AND A TRACTOR}

The present invention relates to a wireless charging system between a crane and a tractor used in a port, and more specifically, in the trend of converting a tractor using a conventional diesel fuel into an electric tractor using a battery due to problems such as environmental pollution. In order to improve the problems of the fast charging method and the battery replacement method relates to a charging method that the electric tractor is wirelessly charged during the loading and unloading operation by the crane.

Container terminal, which is provided on the land of the port for loading / unloading of containers, is a base for connecting sea transportation by ships and land transportation by trucks, trains, etc. In addition, the container logistics are smoothly established by organically constructing container yards and warehouse facilities, and are also organically linked with land transportation including roads and railways.

In order to smoothly carry out container logistics at the port, a system for efficiently managing the entire container terminal must be provided, and sufficient facilities such as ship berthing facilities, container unloading and transportation facilities, container yard and warehouse facilities, etc. It is important to secure.

In connection with landing / lifting of containers, cranes installed in container terminals, etc., are carried on yard tractors, yard trailers or unmanned automated vehicles (AGVs) (hereinafter collectively referred to as tractors). It is used to unload incoming containers or to unload unloaded containers onto a tractor.

In a container terminal, when a cargo ship carrying container cargo arrives at the port, the container is first unloaded by a quay-mounted crane installed in the port, and the unloaded container is loaded on a tractor, moved to a yard, and the yard crane loads the moved container. do. Conversely, loading the container carried by the tractor to the cargo ship is the same as above except that the working process is reversed.

Tractors used for port container transportation are being converted to electric tractors using batteries instead of conventional diesel fuel to reduce environmental pollution and energy costs. There are two types of charging methods: quick charging and battery replacement. The fast charging method requires a 20 to 30 minutes of charging and returning to a separate charging facility for charging, resulting in a loss of tractor working time and the need for an extra tractor to preserve it. In addition, since it needs to be charged and used for a long time, a large capacity battery has to be applied. In addition, since the charging terminal for rapid charging is easily corroded by the salt of the coast, there is a disadvantage that the maintenance of the charging terminal is required.

The battery exchange type requires 20 to 30 minutes to go to the battery exchange area and replace the battery with a charged battery, which also results in a loss of working time. In order to have a spare battery in order to have a disadvantage of a high initial investment.

The present invention has been made to solve the problems as described above, by reducing the working time of the tractor by frequently receiving the energy required for the operation of the tractor from the port crane in the working space of the tractor moving in a predetermined work path Its purpose is to provide a wireless charging system that can eliminate the large-capacity batteries and allow the tractor to use small-capacity batteries for operation, and significantly reduce the initial investment compared to quick charging or battery replacement.

Wireless charging system between the crane and the tractor according to the present invention in order to achieve the above object, in the wireless charging system between the mobile crane and the battery-powered tractor, the crane is a power supply; And an inverter for supplying electric power to the power feeding unit, wherein the inverter includes a first communication unit, and the tractor includes: a current collector receiving wireless charging power from the power feeding unit; A battery management system (BMS) indicating the battery status; And a second communication unit, wherein the current collecting unit includes a current collecting pad attached to a side of the tractor and including a current collecting coil; And a rectifier for rectifying the power delivered to the current collector pad, wherein the power supply unit includes: a position sensor to detect a position of the current collector pad; A feeding pad attached to a side of the crane and including a feeding coil; A first driver and a first controller to which the feed pad is fixed and extend the feed pad in the direction of the current collector pad; And a second drive unit and a second controller, wherein the first drive unit is fixed and moves the first drive unit in the traveling direction of the tractor. When the tractor enters the crane work area, the second controller includes the position sensor. The first controller extends the feed pad so as to detect the position of the current collector pad in real time so that the feed pad and the current collector pad are aligned. The first drive unit is controlled to maintain a constant distance, and within the control range of the second drive unit, the tractor wirelessly powers the power while the tractor is stopped for work in the predetermined work area or moved for fine positioning. It can be characterized in that for charging the battery by passing.

In addition, the second driving unit may be formed of a rack and a pinion.

In addition, the second driving unit may be configured in the form of a wheel.

Further, before the tractor enters the working area of the crane, the second controller receives the stopping position of the tractor from the port operating system in advance and moves the feeding pad to the position where the current collecting pad of the tractor is to stop. And when the tractor enters the work area of the crane and stops, the first controller extends the feeding pad to control the first driving unit to maintain a constant distance between the feeding pad and the current collecting pad. It may be characterized in that for charging the battery by transferring power.

In addition, before the tractor approaches the crane, the second controller may control the second driving unit to send the feed pad to the beginning of the entry direction of the tractor to stand by.

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The first controller may be configured to fold the feed pad toward the crane when the tractor moves out of the control range of the second drive unit.

In addition, the wireless charging system between the crane and the tractor according to the present invention in order to achieve the above object, in the wireless charging system between the mobile crane and the battery-powered tractor, the crane is a plurality of power supply; And an inverter for supplying electric power to the power feeding unit, wherein the inverter includes a first communication unit, and the tractor includes: a current collector receiving wireless charging power from the power feeding unit; A battery management system (BMS) indicating the battery status; And a second communication unit, wherein the current collector includes a current collector pad attached to a side of the tractor and including a current collector coil; And a rectifier for rectifying the power delivered to the current collector pad, wherein the power supply unit includes: a position sensor for detecting a position of the current collector; A feeding pad attached to a side of the crane and including a feeding coil; And a first drive unit and a first controller to which the feed pad is fixed and extend the feed pad in the tractor direction, wherein the first drive unit includes a motor or a hydraulic cylinder and a pressure sensor, each of the feed units being the tractor. Disposed at a side surface of the crane against the position of the current collecting pad determined according to a predetermined stop position, wherein each of the feeders senses the position of the current collector through the position sensor, and among the plurality of feeders The first controller of the power supply unit aligned with the current collector extends the power feeding pad until it reaches the current collecting pad, and controls the first drive unit to maintain the pressure of the pressure sensor at a specified value. Charging the battery by transmitting power wirelessly.

The inverter may include a plurality of switches between the inverter and the plurality of power supply pads to selectively drive the plurality of power supply pads.

In addition, the wireless charging system between the crane and the tractor according to the present invention in order to achieve the above object, in the wireless charging system between the mobile crane and the battery-powered tractor, the crane is a power supply; And an inverter for supplying electric power to the power feeding unit, wherein the inverter includes a first communication unit, and the tractor includes: a plurality of current collecting units receiving wireless charging power from the power feeding unit; A battery management system (BMS) indicating the battery status; And a second communication unit, wherein the power supply unit comprises: a position sensor for detecting a position of the current collector; A feeding pad attached to a side of the crane and including a feeding coil; And a first drive unit and a first controller to which the feed pad is fixed and extend the feed pad in the tractor direction, wherein the first drive unit includes a motor or a hydraulic cylinder and a pressure sensor, and the current collector unit includes: A current collecting pad attached to the side and including a current collecting coil; And a rectifier for rectifying the electric power transmitted to the current collecting pad, wherein each of the current collecting parts is disposed at a position of the tractor against the feed pad position when the tractor stops at a predetermined stop position, and the first controller The sensor senses the position of the current collecting pad that is aligned with the feeding pad among the plurality of current collecting pads through the position sensor, and extends the feeding pad to the current collecting pad until it reaches the current collecting pad. The battery may be charged by wirelessly transferring power to the tractor by controlling the first driving unit to be maintained at a specified value.

In addition, the feed pad or the current collector pad may be characterized in that it comprises a cooling fan on the opposite side of the surface facing the feed pad and the current collector pad.

In addition, the feed pad or the current collector pad may be characterized in that it comprises a water-cooled cooling device.

In addition, the current collecting pad may be attached to protrude more than the side of the tractor.

In addition, between the current collecting pad and the tractor body may be characterized in that it comprises a shielding plate having a width and length larger than the current collecting pad.

In addition, the material of the shielding plate may be characterized in that the non-ferrous metal.

In addition, the feed pad or the current collector pad may be characterized in that it comprises a protruding wheel to reduce the friction on the pad surface.

The first driving unit may include a motor or a hydraulic cylinder; And a distance sensor detecting a distance between the power feeding pad and the current collecting pad, wherein the first controller receives distance information from the distance sensor and maintains a distance between the power feeding pad and the current collecting pad. It can be characterized by controlling one drive.

The first driving unit may include a motor or a hydraulic cylinder and a pressure sensor, and the first controller extends the feeding pad until it reaches the current collecting pad, and controls the pressure of the pressure sensor to be maintained at a specified value. It can be characterized.

The first driving unit may include a motor or a hydraulic cylinder, and the structure for fixing the feeding pad is configured such that the feeding pad extends in the direction of the current collecting pad by gravity, so that the feeding pad is moved by gravity. The first controller may control the first driving unit when the feeding pad is extended and the feeding pad is folded.

In addition, the inverter receives the battery state information in the tractor through communication between the first communication unit and the second communication unit to adjust the current flowing in the feed pad so that the current required to charge the battery is supplied from the current collecting pad. It can be characterized.

The current collector may further include a regulator between the rectifier and the battery. The inverter may control the rectifier output voltage to be constant, and the regulator may supply a current required for the battery.

The first controller may automatically fold the feed pad toward the crane when the battery is fully charged.

The first controller may be configured to fold the feed pad in the direction of the crane when receiving a job completion signal indicating that the crane has completed the lifting or unloading operation.

The first controller may be configured to fold the feed pad toward the crane when the first communication unit receives information that an error has occurred in the current collector.

In addition, the position sensor may be characterized by consisting of an image sensor or an optical sensor.

The power feeding unit may include a resonance circuit resonating with the feeding coil.

The current collector may include a resonance circuit resonating with the current collector coil.

In addition, the feed pad may be characterized in that the horizontal width is wider than the current collector pad to overcome the stop position error of the tractor.

In addition, the current collecting pad may be characterized in that the vertical width is wider or narrower than the feed pad in order to overcome the difference in the height of the tractor when the container is mounted on the tractor and not loaded.

The wireless charging system between the crane and the tractor according to the present invention, eliminating the loss of the working time of the tractor by allowing the tractor moving in a predetermined work path to receive the energy necessary for the operation of the tractor from the port crane from time to time In order to provide a wireless charging system that enables the use of a small capacity battery for operation instead of a large capacity battery and spare tractor is unnecessary, the initial investment cost can be drastically reduced compared to the quick charging method or the battery replacement method. There is a purpose.

In addition, there is no electrical and mechanical contact for charging the battery mounted on the tractor to provide a wireless charging system that does not require maintenance due to corrosion of the wired charging terminal.

1 is a view schematically showing the configuration of a crane and a tractor of the present invention.
2 is a view showing a stop position of a tractor for each typical container size.
3A and 3B are diagrams schematically showing the configuration of a power supply unit and a current collector unit according to the first embodiment of the present invention.
4 is an exemplary view schematically showing a configuration of a second drive unit according to the first embodiment of the present invention.
5A and 5B are diagrams schematically showing the configuration of a feeder and a collector according to a second embodiment of the present invention.
6A and 6B are views schematically showing the configuration of a feeder and a collector according to a third embodiment of the present invention.
7A and 7B schematically illustrate the operation of the feeder and the collector according to an embodiment of the present invention.
8 is an exemplary view schematically showing a configuration of a first drive unit of the present invention.
9 is an exemplary view of a protrusion member of a current collecting pad or a feeding pad according to an embodiment of the present invention.

When described in detail with reference to the accompanying drawings a preferred embodiment of the present invention. The following detailed description is only illustrative, and merely illustrates preferred embodiments of the present invention.

1 is a view schematically showing the configuration of a crane and a tractor of the present invention. Referring to FIG. 1, the present invention includes a tractor 400 equipped with a crane 100 and a battery as a power storage device. The present invention is not limited to the crane structure shown in FIG. 1 and may include all cranes having various structures.

The crane includes a trolley, a spreader, a body part and a wheel part. The trolley 110 is installed to move in the longitudinal direction (horizontal direction) of the upper frame along the guide rail installed in the upper frame 130 of the crane. Spreader is connected to the trolley 110 through the rope in the ground direction, that is, the vertical direction. Spreader 120 is connected to the trolley through the rope as described above, and moves in the longitudinal direction of the upper frame 130 in conjunction with the trolley 110. In addition, the spreader 120 is moved vertically through the vertical movement of the rope connected to the trolley.

The body part forms a skeleton of the crane 100 and includes an upper frame 130 and a support frame 140. The guide frame is installed on the upper frame 130. The upper frame 130 may be integrally installed with the support frame 140 installed in the vertical direction or may be integrated by being fastened through a fastening member.

Crane 100 according to the present invention includes a feeder 200 for supplying power to the current collector 300 attached to the side of the tractor 400 in a self-induced manner, the high-frequency current to the feeder 200 Including an inverter 500 for supplying. In this embodiment, the feeder 200 is described as being installed in the side frame 150 itself, as shown in FIG. 1, but the present invention is not limited thereto and may be installed at regular intervals from the side of the crane. It may also be installed in other parts.

The current collector 300 attached to the tractor 400 includes a current collector pad 310 attached to the tractor side and including a current collector coil 320, and a rectifier 340 for rectifying the power transmitted to the current collector pad 310. The feeder 200 attached to the crane may include a feed pad 210 attached to the side of the crane 100 and including a feed coil 220.

When a high frequency current is supplied to the power feeding pad 210, power is supplied from the power feeding unit 200 to the current collecting unit 300 in a self-inducing manner to the current collecting pad 310. Here, the inverter 500 for supplying a high frequency current to the feed coil 220 of the feed pad 210 includes an electric power converting unit for converting external commercial power into a high frequency current or in an energy storage device separately provided in the crane 100. It may include a power conversion unit for receiving a power source to convert a high frequency current.

Although not shown in FIG. 1, the inverter 500 includes a first communication unit 510 for wirelessly receiving battery related information from the tractor 400, and the tractor 400 manages a battery to display a mounted battery state. The second communication unit 710 may wirelessly receive control-related information from the system BMS and the inverter 500.

Inverter 500 receives the battery state information in the tractor from the battery management system (BMS) mounted on the tractor through the communication between the first communication unit 510 and the second communication unit 710, the current required to charge the battery current collector pad 310 ) So that the current flowing through the feed pad 210 may be adjusted.

The inverter 500 may change the frequency of the high frequency current supplied to the feed pad 210 or control the magnitude of the voltage supplied to the feed pad to adjust the current flowing through the feed pad 210.

In the present invention, the current collector 300 may include a regulator (not shown) for supplying power required for the battery between the rectifier 340 and the battery 700. The inverter 500 may control the current supplied to the power supply pad 210 so that the output voltage of the rectifier 340 is constant, and the regulator may control to supply the current required for the battery 700.

The regulator may be configured as a booster converter or a buck converter to convert the output of the rectifier 340 into a battery voltage that requires charging.

The feeder 200 attached to the crane in the present invention includes a position sensor (not shown) for detecting the position of the current collector pad 210 attached to the side of the tractor 400, the position sensor is an image sensor or an optical sensor It can be configured as.

The position sensor may include transmitting an image or a shape of the moving tractor 400 in real time.

In addition, the position sensor may include comparing the real-time information and the image or shape information of the tractor 400 as a reference to compare whether the tractor is within the position alignment completion criteria.

In addition, the position sensor may include a step of determining whether the tractor 400, which came within the position alignment completion criteria is moved or stopped.

2 is a view showing the stop position of the tractor according to the size of the general container (C1, C2). As shown in Figure 2, the tractor stops the position depending on the size of the container to be loaded / unloaded. The stop position of the tractor 400 is determined by the crane 100 which is stopped for work. The harbor container terminal informs the tractor driver and the tractor of the location information of the tractor 400 to stop in the port operating system so that the container 400 can be smoothly loaded / unloaded on the tractor 400 stopped by the crane 100. .

The tractor receiving the information of the port operating system moves to the designated work area to access the crane that needs work, and the tractor 400 entered into the work area of the crane 100 is designated for work according to the size of the container to work. The speed is reduced to the position and the vehicle stops at the designated position.

Referring to FIG. 2, the stop position of the tractor on which 20-foot (C1) or 40-foot (C2) containers are loaded is shown. (A) of FIG. 2 shows the stop position of the tractor which loaded one 20 foot (C1) container in the back of a tractor, and FIG. 2 (b) shows the stop position of the tractor which loaded a 40 foot (C2) container. In FIG. 2 (c), the stop position of the tractor in which one 20 foot container is loaded on the front of the tractor is displayed. Since the container loaded on the tractor has a loading tolerance of about ± 10-25 cm before and after the container when the container is loaded, the tractor 400 of the tractor 400 may be used for the operation of the crane 100 even when the actual tractor is stopped at a predetermined position. Position fine adjustment occurs frequently.

In the wireless charging system according to the present invention, even when the tractor 400 stops for work in a predetermined work area or moves for fine-positioning, the energy required for driving the tractor is often collected at the feeder 200 from the current collector 300. ) Can be supplied wirelessly.

3A and 3B are diagrams schematically showing the configuration of the power feeding unit 200 and the current collecting unit 300 according to the first embodiment of the present invention. As shown in FIG. 3B, the crane in the wireless charging system according to the first embodiment of the present invention includes a power supply unit 200 and an inverter 500 for supplying power to the power supply unit 300, and the inverter 500. ) May include the first communication unit 510.

The tractor may include a current collector 300 that is wirelessly supplied with charging power from a power feeding unit, a battery 700, a battery management system (BMS) indicating a battery state, and a second communication unit 710.

Next, as illustrated in FIG. 3B, the current collector 300 is attached to the side of the tractor and rectifies the current collector pad 310 including the current collector coil 320 and the power transmitted to the current collector pad 310. 340 may be included.

In addition, the current collector 300 may include a resonance circuit 330 that resonates with the current collector coil 320.

The feeder 200 of the crane is a position sensor (not shown) for detecting the position of the current collecting pad 310, the feed pad 210 attached to the side of the crane, including the feed coil 220, the feed pad 210 Is fixed and the first driving unit 600, the first controller (not shown) and the first driving unit 600 which extend the feeding pad 210 in the direction of the current collecting pad 310 are fixed, and the first driving unit is moved in the traveling direction of the tractor. It may include a moving second driver 610 and a second controller (not shown).

In addition, the power supply unit 200 may include a resonance circuit 230 that resonates with the current collector coil 220.

Referring to Figure 3a, the wireless charging system according to the first embodiment of the present invention, when the tractor enters the crane work area, the second controller detects the position of the current collector pad 310 in real time with the position sensor feed pad The second driver 610 is controlled so that the 210 and the current collector pad 310 are aligned, and the first controller extends the power supply pad to maintain a constant distance between the power supply pad and the current collector pad. ) To charge the battery by wirelessly delivering power to the tractor's current collector pad.

Further, before the tractor enters the working area of the crane, the second controller receives the tractor's stop position from the port operating system in advance and moves the feed pad 210 to the position where the collector pad 310 of the tractor stops. When the tractor enters the work area of the crane and stops, the first controller extends the feed pad 210 to control the first drive unit 600 to maintain a constant distance between the feed pad and the current collection pad 310 to wirelessly connect the tractor. The battery 700 may be charged by transferring power.

Also, before the tractor approaches the crane, the second controller controls the second drive unit 610 to send the feed pad 210 to the beginning of the tractor's entry direction to wait, and the tractor enters the working area of the crane. In other words, the second controller detects the position of the current collecting pad 310 in real time with a position sensor and controls the second driving unit 610 so that the feeding pad 210 and the current collecting pad 310 are aligned. Extends the feeding pad to control the first driving unit 600 to maintain a constant distance between the feeding pad and the current collecting pad, and within the control range of the second driving unit, the tractor does not stop completely and wirelessly powers the tractor while moving. Can be charged to charge the battery.

The first controller according to the first embodiment of the present invention may fold the feed pad in the direction of the crane when the tractor 400 moves out of the control range of the second drive unit 610.

4 is an exemplary view schematically showing a configuration of a second drive unit according to a first embodiment of the present invention. Referring to FIGS. 3A and 4, the second controller detects the position of the current collecting pad 310 in real time with a position sensor so that the power feeding pad 210 and the current collecting pad 310 are aligned with each other. Can be controlled.

As shown in FIG. 4, the second driver 610 may be configured as a rack gear structure. The rack gear may include a pinion 630 to which the first drive unit 600 is attached and a rack 620 to change the rotational motion of the driving motor 640 connected to the pinion into a linear motion. In the rack gear, the cogwheel of one end of the rack 620 installed in the crane and the cogwheel of the pinion 630 are engaged so that the pinion 630 rotates so that one end of the rack 620 moves in a straight line. The second controller detects the position of the current collecting pad 310 in real time from the position sensor and moves the pinion 630 connected to the driving motor 640 to the pinion 630 while moving the pinion 630 to the left or right with respect to one end of the rack 620. The driving motor 640 may be controlled so that the connected feed pad 210 and the current collecting pad 310 are aligned.

In addition, the second driving unit according to the present invention may be configured in the form of a wheel.

5A and 5B are diagrams schematically illustrating configurations of a power supply unit and a current collector unit according to a second embodiment of the present invention. As shown in FIG. 5B, the wireless charging system according to the second embodiment of the present invention includes a plurality of power supply units 200, 201, and 202 and an inverter 500 for supplying power to the power supply unit. The inverter may include a first communication unit 510.

The tractor may include a current collector 300, a battery 700, a battery management system (BMS) indicating a battery state, and a second communication unit 710 wirelessly supplied with charging power from the power feeding units 200, 201 and 202.

The current collector 300 of the tractor may include a current collector pad 310 attached to a side of the tractor and a current collector pad 310 including a current collector coil 320, and a rectifier 340 to rectify the power transmitted to the current collector pad.

In addition, the current collector 300 may include a resonance circuit 330 that resonates with the current collector coil 320.

The feeder 200 of the crane is a position sensor (not shown) for detecting the position of the current collector pad, the feed pad 210 and the feed pad is fixed to the side of the crane and including the feed coil 220 is fixed to the feed pad It may include a first drive unit and a first controller extending in the tractor direction.

In addition, each of the power supply units 200, 201, and 202 may include resonant circuits 230, 231, and 232 that resonate with the power supply coils 220, 221, and 222.

Here, each of the feeders may be disposed at a side position of the crane against the position of the current collecting pad that is determined according to the predetermined stop position of the tractor.

The inverter 500 may include a plurality of switches 800 between the inverter 500 and the plurality of power pads to selectively drive the plurality of power pads 210, 211, and 212. Among the plurality of first controllers, the first controller of the feeding pad that is aligned with the current collecting pad 310 turns on the corresponding switch to supply the high frequency current of the inverter 500 to the feeding pad, and the first position of the feeding pad that is not aligned. Each controller can turn off the corresponding switch.

Referring to FIG. 5A, when the tractor enters the crane work area, the wireless charging system according to the second embodiment of the present invention senses the position of the current collector 300 through a position sensor. The first controller of the power supply unit, which is aligned with the current collector, of the plurality of power supply units, controls the first driving unit to extend the power supply pad to maintain a constant distance between the power supply pad and the current collection pad 310, and thus, the current collector pad of the tractor. The battery can be charged by transferring power wirelessly.

6A and 6B are diagrams schematically illustrating configurations of a power supply unit and a current collector unit according to a third embodiment of the present invention. Figure 6 shows an example of applying the present invention to the unmanned automatic transport device (AGV) in the port transport device. Unlike the yard tractor or yard trailer that requires the driver as shown in FIG. 3 or 5, the unmanned automatic transport device performs unloading and unloading of the container unattended while moving along the trajectory of the work area and the movement path designated by the port operating system. It is applied as a feeder for unmanned automated operation of tractors.

As shown in FIG. 6B, the wireless charging system according to the third embodiment of the present invention includes a power supply unit 200 and an inverter 500 for supplying power to the power supply unit 200 to a crane. 1 may include a communication unit 510.

 The tractor may include a plurality of current collectors 300, 301, and 302, which are wirelessly supplied with charging power from a power feeding unit, a battery 700, a battery management system (BMS) indicating a battery state, and a second communication unit 710. Can be.

The feeder includes a position sensor for detecting the position of the current collector, a feed pad 210 attached to a side of a crane, and a feed pad 210 including a feed coil and a feed pad fixed thereto and extending the feed pad toward the tractor. It may include a controller.

In addition, the power supply unit 200 may include a resonance circuit 230 that resonates with the power supply coil 220.

The current collectors 300, 301 and 302 of the tractor may include current collector pads 310, 311 and 312 attached to the side of the tractor and include current collector coils 320, 321 and 322 and rectifiers 340, 341 and 342 to rectify the power transmitted to the current collector pads.

In addition, each of the current collectors 300, 301, and 302 may include resonant circuits 330, 331, and 332 that resonate with the current collector coils 320, 321, and 322.

Each of the current collectors 300, 301, 302 may be disposed at a side position of the tractor against a feed pad disposed at the side of the crane when the tractor is stopped at a predetermined stop position.

Referring to FIG. 6A, in the wireless charging system according to the third embodiment of the present invention, when the tractor enters the crane work area, the first controller collects the current pads that are aligned with the feeding pads among the plurality of current collecting pads through position sensors. By sensing the position of the pad and extending the feeding pad to the current collecting pad, the first driving unit may be controlled to maintain a constant distance between the feeding pad and the current collecting pad to wirelessly transfer power to the current collecting pad of the tractor to charge the battery.

7A and 7B schematically illustrate operations of the power feeding unit 200 and the current collecting unit 300 according to an embodiment of the present invention. Although not shown in FIGS. 7A and 7B, the feed pad or the current collector pad is cooled to effectively cool the heat generated from the feed coil or the current collector coil by the high frequency current flowing through the feed pad 210 or the current collector pad 310. It may include a fan or a water-cooled cooling device.

The cooling fan or the water-cooled cooling device may be disposed on the opposite side of the surface where the feeding pad and the current collecting pad face each other.

Referring to FIG. 7A or 7B, the current collecting pad 310 may be attached to protrude more than the side of the body of the tractor 400. Protruding lengths beyond the sides of the tractor may be in a range that does not interfere with tractor operation.

The current collecting pad 310 receives electric power in a magnetic induction manner from a magnetic field due to a high frequency current supplied to the feeding pad 210. At this time, the high-frequency current is induced in the current collector pad 310, and the magnetic field thereby affects the outside. A shielding plate 350 having a non-ferrous metallic material having a width and a length larger than that of the current collector pad may be included between the current collector pad 310 and the tractor 400 body to suppress a magnetic field leaking around the current collector pad 310. Can be.

In addition, when the power feeding pad 210 and the current collecting pad 310 are in close proximity to each other to transmit power, the larger pad size among the feeding pad 210 or the current collecting pad 310 in consideration of the influence of the leakage magnetic field generated from the feeding pad. A larger width and length shield may be included.

The tractor stopped in the working area of the crane causes a change in the ground height of the tractor due to the weight of the container being loaded and unloaded, and the stopping position of the tractor is determined by the loading deviation of the container loaded on the tractor and the skill of the tractor operator. An error will occur. In the power transmission method for the magnetic induction method, the transfer power amount and the transfer efficiency are different according to the positional alignment of the feed pad and the current collector pad. Therefore, a pad structure design that is robust to misalignment between the feed pad and the current collector pad is required.

In the present invention, in consideration of this, the feed pad may have a horizontal width wider than the current collecting pad to overcome the stop position error of the tractor.

In addition, the current collecting pad may have a vertical width wider or narrower than that of the feeding pad to overcome the tractor height difference between when the container is mounted on the tractor and when the container is not loaded.

FIG. 7A illustrates the wireless charging preparation situation or the situation after the completion of the operation, and FIG. 7B illustrates the wireless charging situation. As shown in FIG. 7B, the first driving unit 600 of the power feeding unit 200 for wirelessly transmitting power to the tractor stopped at a designated position for container loading / unloading may include a motor or a hydraulic cylinder, a feeding pad, and a current collecting pad. It may include a distance sensor for detecting the distance between. The first controller may receive the distance information from the distance sensor and control the first driver 600 to maintain a constant distance between the power feeding pad 210 and the current collecting pad 310.

Referring to FIG. 7A, when the battery is fully charged, the first controller may automatically fold the feed pad 210 toward the crane 100.

In addition, when the first controller receives a work completion signal indicating that the loading / unloading work is completed in the crane, the first pad may fold the feed pad 210 in the crane direction.

In addition, when the first controller receives information that an error occurs in the current collector 300 from the first communication unit 510, the first controller may fold the feed pad toward the crane.

8 is an exemplary view schematically showing a configuration of a first drive unit of the present invention. As illustrated in FIG. 8, the first driving unit 600 extending the feed pad 210 in the direction of the current collecting pad 310 for wireless charging may include a motor or a hydraulic cylinder and a pressure sensor. The first controller extends the feeding pad 210 until it reaches the current collecting pad 310, and the motor or hydraulic cylinder connected to the feeding pad receives pressure sensor information for pushing the feeding pad toward the current collecting pad, so that the pressure of the pressure sensor is set to a specified value. Can be controlled to be maintained.

In addition, the first driving unit includes a motor or a hydraulic cylinder, and the structure for fixing the feed pad 210 is configured such that the feed pad extends in the direction of the current collecting pad 310 by gravity, so that the feed pad is collected by gravity. The first controller may control the first driver 600 when the power supply pad is folded and the feeding pad is folded.

In a structure in which the structure for fixing the feeding pad 210 is inclined toward the ground to extend the feeding pad, the feeding pad moves to the current collecting pad by gravity due to its own weight without the power of the first driving unit 600. can do.

In addition, the first driving unit 600 may include a first coupling member 650 fixed to the crane and a connection member 660 having one end coupled to the first coupling member and the other end connected to the feed pad. The first coupling member 650 may include a pair of guide members respectively disposed above and below one end of the connection member, and the pair of guide members may each include a plurality of rollers.

The first controller may extend the connection member 660 connected to the feeding pad 210 in the direction of the current collecting pad to control the first driving unit 600 so that the feeding pad contacts the current collecting pad.

In addition, the first driving unit may include a rope connecting the feeding pad and the crane and a rope reel driving unit for unwinding or winding the rope. The first controller may control the rope reel driving unit to fold the feeding pad extended by the current collecting pad toward the crane.

9 illustrates an example of a protrusion member of a current collecting pad or a power feeding pad according to an embodiment of the present invention. As shown in FIG. 9, the feeding pad 210 or the collecting pad 310 includes a protruding wheel 900 for reducing friction on the pad surface so as to slide together when the tractor or crane moves while being in contact with each other. It can be characterized by.

In the above, the present invention has been described and illustrated based on the preferred embodiments for illustrating the principles of the present invention, but the present invention is not limited to the configuration and operation as it is shown and described. Those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it is to be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is represented by the following claims, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof are included in the scope of the present invention.

100: crane,
110: trolley,
120: spreader
130: upper frame
140: support press,
150: side frame
200, 201, 202: feeding part
210, 211, 212: feeding pad
220, 221, 222: feeding coil
230, 231, 232: resonant circuit
300, 301, 302: current collector
310, 311, 312: current collector pad
320, 321, 322: current collector coil
330, 331, 332: resonant circuit
340, 341, 342: rectifier
350: shielding plate
400: Tractor
500: inverter
510: first communication unit
600: first drive unit
610: second drive unit
620: rack
630: pinion
640: motor
650: first coupling member
660: connecting member
700: battery
710: second communication unit
800: switch
900: protruding wheel
C, C1, C2: Container

Claims (30)

In the wireless charging system between a mobile crane and a battery powered tractor,
The crane feeds; And
Including an inverter for supplying power to the power supply,
The inverter includes a first communication unit,
The tractor may include a current collector that receives charging power wirelessly from the power feeding unit;
A battery management system (BMS) indicating the battery status; And
Including a second communication unit,
The current collector,
A current collecting pad attached to a side of the tractor and including a current collecting coil; And
Rectifying unit for rectifying the power delivered to the current collector pad,
The feed section,
A position sensor detecting a position of the current collecting pad;
A feeding pad attached to a side of the crane and including a feeding coil;
A first driver and a first controller to which the feed pad is fixed and extend the feed pad in the direction of the current collector pad; And
A second drive unit and a second controller, wherein the first drive unit is fixed and moves the first drive unit in the traveling direction of the tractor;
Before the tractor approaches the crane,
The second controller controls the second drive unit to send the feed pad to the beginning of the entry direction of the tractor to wait,
When the tractor enters the working area of the crane,
The second controller is configured to detect the position of the current collecting pad in real time with the position sensor and to control the second driving unit so that the power feeding pad and the current collecting pad are aligned with each other, while the first controller extends the feeding pad. Controlling the first driving unit to maintain a constant distance between a feeding pad and the current collecting pad,
Within the control range of the second drive unit, the crane to charge the battery by wirelessly transmitting power to the tractor even while the tractor is stopped for work in the predetermined work area or moving for fine positioning; Wireless charging system between tractors.
delete delete In a wireless charging system between a mobile crane and a tractor driven by parking at a plurality of designated stop positions within the working area of the crane,
The crane feeds; And
Including an inverter for supplying power to the power supply,
The inverter includes a first communication unit,
The tractor may include a current collector that receives charging power wirelessly from the power feeding unit;
A battery management system (BMS) indicating the battery status; And
Including a second communication unit,
The current collector,
A current collecting pad attached to a side of the tractor and including a current collecting coil; And
Rectifying unit for rectifying the power delivered to the current collector pad,
The feed section,
A position sensor detecting a position of the current collecting pad;
A feeding pad attached to a side of the crane and including a feeding coil;
A first driver and a first controller to which the feed pad is fixed and extend the feed pad in the direction of the current collector pad; And
A second drive unit and a second controller, wherein the first drive unit is fixed and moves the first drive unit in the traveling direction of the tractor;
Before the tractor enters the working area of the crane,
The second controller receives the stop position of the tractor from the port operating system to move the feed pad to a position to stop the current collector pad of the tractor,
When the tractor enters the working area of the crane,
The second controller is configured to detect the position of the current collecting pad in real time with the position sensor and to control the second driving unit so that the power feeding pad and the current collecting pad are aligned with each other, while the first controller extends the feeding pad. Controlling the first driving unit to maintain a constant distance between a feeding pad and the current collecting pad,
Within the control range of the second drive unit, the crane to charge the battery by wirelessly transmitting power to the tractor even while the tractor is stopped for work in the predetermined work area or moving for fine positioning; Wireless charging system between tractors.
delete According to claim 1,
The first controller is a wireless charging system between the crane and the tractor, characterized in that for folding the feed pad in the direction of the crane when the tractor moves out of the control range of the second drive unit.
The method according to claim 1 or 4,
The feeder is composed of a plurality,
The first driving unit,
Including motor or hydraulic cylinder and pressure sensor,
Each of the feeders is disposed at a side position of the crane against the position of the current collecting pad that is determined according to a predetermined stop position of the tractor,
Each of the feeders senses the position of the current collector through the position sensor,
The first controller of the power supply unit, which is aligned with the current collecting unit among the plurality of power supply units, extends until the power feeding pad reaches the current collecting pad, and the pressure of the pressure sensor is maintained at a specified value. Wireless charging system between the crane and the tractor, characterized in that for charging the battery by transmitting power wirelessly to the tractor by controlling the.
The method of claim 7, wherein
The inverter is a wireless charging system between the crane and the tractor, characterized in that it comprises a plurality of switches between the inverter and the plurality of feed pads to selectively drive the plurality of feed pads.
The method according to claim 1 or 4,
The current collector is composed of a plurality,
The first driving unit
Including motor or hydraulic cylinder and pressure sensor,
Each of the current collectors is disposed at a position of the tractor against the feed pad position when the tractor stops at a predetermined stop position;
The first controller senses a position of the current collecting pad that is aligned with the feeding pad among the plurality of current collecting pads through the position sensor, and extends the pressure feeding pad to the current collecting pad until the current pad reaches the current collecting pad. Wireless charging system between the crane and the tractor, characterized in that for charging the battery by wirelessly transmitting power to the tractor by controlling the first drive so that the pressure of the sensor is maintained at a specified value.
The method according to claim 1 or 4,
The feed pad or the current collecting pad is a wireless charging system between the crane and the tractor, characterized in that it comprises a cooling fan on the opposite side of the surface facing the feed pad and the current collecting pad.
The method according to claim 1 or 4,
The feed pad or the current collection pad is a wireless charging system between the crane and the tractor, characterized in that it comprises a water-cooled cooling device.
The method according to claim 1 or 4,
Wireless charging system between the tractor and the tractor, characterized in that attached to the collector pad sticks out more than the side of the tractor.
The method according to claim 1 or 4,
And a shield plate of a non-ferrous metal having a width and a length greater than that of the current collector pad between the current collector pad and the tractor body.
delete The method according to claim 1 or 4,
The feed pad or the current collection pad is a wireless charging system between the crane and the tractor, characterized in that it comprises a protruding wheel for reducing friction on the pad surface.
The method according to claim 1 or 4,
The first driving unit
Motor or hydraulic cylinder; And
A distance sensor detecting a distance between the power feeding pad and the current collecting pad,
The first controller receives the distance information from the distance sensor and controls the first drive unit to maintain a constant distance between the feed pad and the current collector pad, the wireless charging system between the crane and the tractor.
The method according to claim 1 or 4,
The first driving unit
Including motor or hydraulic cylinder and pressure sensor,
The first controller extends the feeding pad until it reaches the current collecting pad, and controls the pressure of the pressure sensor to be maintained at a specified value. Wireless charging system between the crane and the tractor.
delete The method according to claim 1 or 4,
The inverter receives the battery state information in the tractor through communication between the first communication unit and the second communication unit to adjust the current flowing in the feed pad so that the current required to charge the battery is supplied from the current collecting pad. Wireless charging system between the crane and the tractor.
The method according to claim 1 or 4,
The current collector further includes a regulator between the rectifier and the battery,
The inverter is controlled so that the rectifier output voltage is constant and the regulator is a wireless charging system between the crane and the tractor, characterized in that for supplying the current required for the battery.
The method according to claim 1 or 4,
The first controller is a wireless charging system between the crane and the tractor, characterized in that automatically folding the feed pad toward the crane when the battery is completed charging.
The method according to claim 1 or 4,
The first controller is a wireless charging system between the crane and the tractor, characterized in that for folding the feed pad in the direction of the crane when receiving the operation completion signal that the lifting or unloading operation is completed in the crane.
The method according to claim 1 or 4,
And the first controller folds the feed pad in the direction of the crane when receiving the information that an error has occurred in the current collector from the first communication unit.
The method according to claim 1 or 4,
The position sensor is a wireless charging system between the crane and the tractor, characterized in that consisting of an image sensor or an optical sensor.
delete delete The method according to claim 1 or 4,
The feed pad is a wireless charging system between the tractor and the tractor, characterized in that the horizontal width is wider than the current collecting pad to overcome the error of the stop position of the tractor.
The method according to claim 1 or 4,
The current collecting pad is a wireless charging system between the crane and the tractor, characterized in that the vertical width is wider or narrower than the feed pad to overcome the difference in the height of the tractor when the container is loaded on the tractor.
The method according to claim 1 or 4,
The second driving unit is a wireless charging system between the crane and the tractor, characterized in that consisting of a rack and pinion.
The method according to claim 1 or 4,
Wireless charging system between the crane and the tractor, characterized in that the second drive unit is configured in the form of a wheel.

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