KR20000008599A - Auto power shutdown device of unmanned carrier car - Google Patents

Auto power shutdown device of unmanned carrier car Download PDF

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Publication number
KR20000008599A
KR20000008599A KR1019980028478A KR19980028478A KR20000008599A KR 20000008599 A KR20000008599 A KR 20000008599A KR 1019980028478 A KR1019980028478 A KR 1019980028478A KR 19980028478 A KR19980028478 A KR 19980028478A KR 20000008599 A KR20000008599 A KR 20000008599A
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South Korea
Prior art keywords
battery
power
relay
cut
unmanned
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KR1019980028478A
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Korean (ko)
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KR100495626B1 (en
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송철호
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윤종용
삼성전자 주식회사
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Priority to KR10-1998-0028478A priority Critical patent/KR100495626B1/en
Publication of KR20000008599A publication Critical patent/KR20000008599A/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/00306—Overdischarge protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

PURPOSE: An auto power shutdown device of an unmanned carrier car is provided to prevent reduction of battery life resulting from overcharge of the battery by shutting down power supplied to each component of the car. CONSTITUTION: The device comprises a power detector measuring current value and voltage level of a battery, wherein the car is operated by the power; a switching device shutting down power supply of a battery; and a controller calculating the current value and voltage level measured by the power detector and operating the switching device to shut down the power supply when remaining amount of the battery is calculated to be less than a predetermined amount.

Description

무인반송차의 자동전원차단장치Automatic power cutoff device of unmanned carrier

본 발명은 무인반송차의 자동전원차단장치에 관한 것으로서, 보다 상세하게는 배터리의 과방전을 방지할 수 있는 무인반송차의 자동전원차단장치에 관한 것이다.The present invention relates to an automatic power shut-off device for an unmanned vehicle, and more particularly, to an automatic power cut-off device for an unmanned vehicle, which can prevent over discharge of a battery.

일반적으로, 무인반송차는 내장된 프로그램에 의해 소정의 이동경로를 따라 자동적으로 이동하면서 물품을 운송하는 무인물품이송수단이며, 이러한 무인반송차를 구동시키기 위한 구동장치는 도 1에 도시된 바와 같이, 소정레벨의 직류전원(Vcc)을 공급하는 배터리(10)와, 이 배터리로부터 공급되는 직류전원을 온/오프하는 메인전원릴레이(20)와, 이 메인전원릴레이(20)를 동작시키는 메인전원스위치(30)와, 메인전원릴레이(20)를 매개로 배터리(10)로부터 직류전원이 공급되면 외부로부터의 키입력 및 내장된 프로그램에 따라 소정의 이동경로로 무인반송차를 이동시키기 위한 제어신호를 출력하는 제어부(40) 및, 이 제어부(40)로부터의 제어신호에 따라 모터를 구동시켜 무인반송차를 이동시키는 모터구동부(50)로 구성된다.In general, an unmanned carrier is an unmanned article transport means for transporting an article while automatically moving along a predetermined movement path by a built-in program. A driving apparatus for driving such an unmanned carrier is shown in FIG. Battery 10 for supplying DC power (Vcc) at a predetermined level, main power relay 20 for turning on / off the DC power supplied from the battery, and main power switch for operating the main power relay 20 30 and DC signal supplied from the battery 10 via the main power relay 20 to control signals for moving the unmanned vehicle along a predetermined movement path according to a key input from the outside and a built-in program. And a motor driver 50 for driving the motor to move the unmanned vehicle in accordance with the control signal from the controller 40.

상기한 바와 같이 구성된 무인반송차의 구동장치에 대한 동작과정은 하기와 같다.The operation process for the driving device of the unmanned vehicle configured as described above is as follows.

먼저, 조작자가 메인전원스위치(30)를 온시키면 배터리(10)로부터의 직류전원이 메인전원릴레이(20)의 여자코일에 인가되어 메인전원릴레이(20)의 가동접점이 스위칭온된다.First, when the operator turns on the main power switch 30, DC power from the battery 10 is applied to the excitation coil of the main power relay 20, and the movable contact of the main power relay 20 is switched on.

상기 스위칭온된 메인전원릴레이(20)를 매개로 배터리(10)로부터의 직류전원이 제어부(40) 및 모터구동부(50)를 포함한 무인반송차의 각 구성부로 공급되고, 상기 배터리(10)로부터 공급된 직류전원에 의해 제어부(40)가 초기화된다.DC power from the battery 10 is supplied to each component of the driverless vehicle including the control unit 40 and the motor driving unit 50 via the switched on main power relay 20, and from the battery 10. The controller 40 is initialized by the supplied DC power.

이때, 조작자가 도시생략된 키입력부를 조작하여 동작개시를 지시하면 그에 상응하는 키신호가 상기 키입력부로부터 제어부(40)로 입력되고, 상기 키신호에 의해 제어부(40)는 내장된 프로그램에 따라 소정의 이동경로를 통해 무인반송차를 이동시키기 위한 제어신호를 모터구동부(50)로 인가한다.At this time, when the operator instructs operation start by operating the key input unit (not shown), a corresponding key signal is input from the key input unit to the control unit 40, and the control unit 40 according to the built-in program according to the built-in program. The control signal for moving the unmanned vehicle through a predetermined movement path is applied to the motor driver 50.

상기 제어부(40)로부터의 제어신호에 따라 배터리(10)로부터의 직류전원이 모터구동부(50)를 통해 복수개의 모터(예를 들면, 전진이동용 모터와 방향전환용 모터 등)로 인가되어 무인반송차가 소정의 이동경로를 따라 이동한다.According to the control signal from the control unit 40, the DC power from the battery 10 is applied to the plurality of motors (for example, the forward movement motor and the direction change motor, etc.) through the motor driving unit 50, and is unmanned conveyance. The car moves along a predetermined movement path.

그러나, 상술한 바와 같은 종래의 무인반송차는, 배터리의 전원이 부족하여 이동이 중단되는 경우에 제어부가 이를 감지하지 못해 모터의 구동을 중단시키지 못함으로써, 모터구동부를 통해 모터로 전원이 지속적으로 인가되어 배터리가 과방전되고 이로 인해 배터리의 사용수명이 단축되는 문제점이 있었다.However, in the conventional unmanned carrier as described above, when the movement of the battery is insufficient and the movement is stopped, the controller does not detect this and does not stop the driving of the motor, thereby continuously supplying power to the motor through the motor driving unit. There is a problem that the battery is over-discharged due to this shortening the service life of the battery.

따라서, 본 발명은 상기한 바와 같은 문제점을 해결하기 위해 안출한 것으로서, 배터리의 잔량을 체크하여 체크된 배터리의 잔량이 설정량 이하이면 자동으로 배터리의 전원공급을 차단시킴으로써, 배터리의 과방전을 방지하여 배터리의 사용수명을 연장시킬 수 있는 무인반송차의 자동전원차단장치를 제공하는 데에 그 목적이 있다.Accordingly, the present invention has been made in order to solve the above problems, by checking the remaining capacity of the battery to automatically cut off the power supply of the battery when the remaining amount of the checked battery is less than the set amount, thereby preventing over-discharge of the battery The purpose of the present invention is to provide an automatic power cut-off device for an unmanned carrier vehicle that can extend the service life of the battery.

상기 목적을 달성하기 위한 본 발명에 따른 무인반송차의 자동전원차단장치는, 메인전원스위치의 조작에 따라 배터리로부터 인가되는 전원에 의해 동작하는 무인반송차에 있어서, 상기 배터리의 전류치 및 전압레벨을 측정하는 전원검출부와, 상기 배터리의 전원공급을 차단시키도록 된 자동전원차단용 스위칭소자 및, 상기 전원검출부를 통해 측정되는 전류치 및 전압레벨에 따라 배터리의 잔량을 산출하여 산출된 배터리의 잔량이 소정량 이하이면 상기 자동전원차단용 스위칭소자를 동작시켜 배터리의 전원공급을 차단시킬 수 있도록 된 제어부로 구성된 것을 특징으로 한다.The automatic power cut device for an unmanned vehicle according to the present invention for achieving the above object, in the unmanned vehicle operating by the power applied from the battery according to the operation of the main power switch, the current value and voltage level of the battery The power detection unit for measuring, the switching device for automatic power cutoff to cut off the power supply of the battery, and the remaining amount of the battery calculated by calculating the remaining capacity of the battery according to the current value and voltage level measured by the power detection unit It is characterized in that the control unit configured to cut off the power supply of the battery by operating the switching device for automatic power cut off if less than the amount.

도 1은 종래예에 따른 무인반송차의 구동장치를 도시한 개략적인 블록구성도,1 is a schematic block diagram showing a driving device of an unmanned vehicle according to the prior art;

도 2는 본 발명의 바람직한 실시예에 따른 무인반송차의 자동전원차단장치를 도시한 개략적인 블록구성도.Figure 2 is a schematic block diagram showing an automatic power cut device for an unmanned carrier according to a preferred embodiment of the present invention.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>

10: 배터리 20: 메인전원릴레이10: Battery 20: Main Power Relay

50: 모터구동부 100: 자동전원차단릴레이50: motor drive unit 100: automatic power off relay

200: 전원검출부 210: 표시부200: power detection unit 210: display unit

300: 제어부300: control unit

이하, 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명의 바람직한 실시예에 따른 무인반송차의 자동전원차단장치를 도시한 개략적인 블록구성도로서, 동도면을 참조하면 알 수 있듯이, 본 발명에 따른 무인반송차의 자동전원차단장치는, 배터리(10)와 메인전원릴레이(20)와 모터구동부(50)와 자동전원차단릴레이(100)와 전원검출부(200)와 전원검출부의 표시부(210) 및 제어부(300)로 구성되며, 종래와 동일한 구성부에 대해서는 동일한 참조부호를 부여하고 중복된 설명은 생략하기로 한다.Figure 2 is a schematic block diagram showing an automatic power cut device of an unmanned vehicle according to a preferred embodiment of the present invention, as can be seen with reference to the same figure, automatic power cut device of an unmanned carrier according to the present invention The battery 10, the main power relay 20, the motor driving unit 50, the automatic power shut-off relay 100, the power detector 200, and the display unit 210 and the control unit 300 of the power detector, The same reference numerals are given to the same components as in the related art, and duplicate descriptions thereof will be omitted.

도 2에 있어서, 자동전원차단릴레이(100)는 제어부(300)의 제어에 따라 배터리(10)로부터 무인반송차의 각 구성부로 공급되는 직류전원을 차단하기 위한 것으로, 일단이 배터리의 일측단자에 연결되고 타단이 메인전원릴레이의 일단에 연결된 상시폐로형(常侍閉路形)의 가동접점(일명, "b접점" )과 일단이 배터리의 일측단자와 타단이 제어부(300)의 스위칭용 단자(Psw1)에 연결된 여자(勵磁)코일로 구성된다.In FIG. 2, the automatic power cutoff relay 100 cuts off the DC power supplied from the battery 10 to each component of the unmanned vehicle under the control of the controller 300, and one end of the automatic power cutoff relay 100 is connected to one terminal of the battery. A normally closed movable contact (also referred to as “b contact”) connected to one end of the main power relay and one end of the battery and one end of the battery terminal connected to the other end of the control unit 300. It consists of an excitation coil connected to Psw1).

또한, 전원검출부(200)는 배터리(10)로부터 출력되는 직류전원의 전류치와 전압레벨을 측정하여 그에 상응하는 각각의 측정신호를 제어부(300)의 각 신호입력단자(Pin1, Pin2)로 입력하는 한편, 표시부(210)를 통해 측정된 전류치와 전압레벨을 표시한다.In addition, the power detector 200 measures the current value and the voltage level of the DC power output from the battery 10 and inputs the corresponding measurement signals to the respective signal input terminals Pin1 and Pin2 of the controller 300. Meanwhile, the current value and the voltage level measured by the display unit 210 are displayed.

그리고, 제어부(300)는 배터리(10)로부터 전원자동차단릴레이(100) 및 메인전원릴레이(20)를 매개로 전원이 공급되면 외부로부터의 키입력 및 내장된 프로그램에 따라 소정의 이동경로로 무인반송차를 이동시키기 위한 제어신호를 모터구동부(50)로 인가한다.When the power is supplied from the battery 10 via the power vehicle relay 100 and the main power relay 20, the controller 300 is unmanned in a predetermined movement path according to a key input from the outside and a built-in program. The control signal for moving the carrier vehicle is applied to the motor driver 50.

이와 더불어, 제어부(300)는 전원검출부(200)로부터 인가된 전류측정신호 및 전압측정신호를 통해 배터리(100)의 전류치와 전압레벨을 판별하고 판별된 전류치와 전압레벨에 따라 배터리(100)의 잔량을 산출하여 산출된 배터리(100)의 잔량이 설정량의 이하이면 스위칭용단자(Psw1)와 스위칭용단자(Psw2)를 연결하여 전원자동차단릴레이(100)의 여자코일에 전류를 통전시킴으로써 전원자동차단릴레이(100)의 가동접점을 스위칭오프시킨다.In addition, the controller 300 determines the current value and the voltage level of the battery 100 through the current measurement signal and the voltage measurement signal applied from the power detector 200, and determines the current value and the voltage level of the battery 100 according to the determined current value and the voltage level. If the remaining amount of the battery 100 calculated by calculating the remaining amount is less than the set amount, the power is supplied by connecting a switching terminal Psw1 and a switching terminal Psw2 to energize the excitation coil of the power vehicle relay 100 to supply current. The movable contact of the automotive relay 100 is switched off.

또한, 제어부(300)는 상기한 바와 같이 전원자동차단릴레이(100)의 가동접점을 스위칭오프시킨 상태에서 메인전원스위치(30)가 오프된 다음 다시 온되어 배터리(10)로부터 자동전원차단릴레이(100) 및 메인전원릴레이(20)를 매개로 전원이 공급되면 리셋되어 스위칭용단자(Psw1)와 스위칭용단자(Psw2)의 연결을 차단하여 전원자동차단릴레이(100)를 스위칭온시키는 한편, 무인반송차를 정상적으로 이동시키기 위한 제어신호를 모터구동부(50)로 인가한다.In addition, as described above, the control unit 300 turns off the main power switch 30 in the state in which the movable contact of the power vehicle shutoff relay 100 is switched off, and then turns on again to turn off the automatic power cutoff relay from the battery 10 ( 100) and when the power is supplied through the main power relay 20, it is reset to cut off the connection of the switching terminal Psw1 and the switching terminal Psw2 to switch on the power vehicle relay 100, while unmanned. A control signal for normally moving the carrier vehicle is applied to the motor driver 50.

상기한 바와 같이 구성된 본 발명의 동작예를 도 2를 참조하여 상세히 설명하기로 한다.An operation example of the present invention configured as described above will be described in detail with reference to FIG.

초기상태에서, 자동전원차단릴레이(100)의 가동접점은 상시폐로형이므로 스위칭온상태이고, 메인전원릴레이(20)의 가동접점은 상기개로형(常侍開路形)이므로 스위칭오프상태이다.In the initial state, the movable contact of the automatic power cut-off relay 100 is in a switched-on state because it is normally closed, and the movable contact of the main power relay 20 is in the open state and thus is switched off.

이때, 조작자가 메인전원스위치(30)를 폐쇄 즉, 온시키면 배터리(110)로부터의 직류전류가 자동전원차단릴레이(100)를 매개로 메인전원릴레이(20)의 여자코일에 인가되어 이 여자코일이 여자(勵磁)됨에 따라 메인전원릴레이(20)의 상시개로형 가동접점이 스위칭온된다.At this time, when the operator closes, that is, turns on the main power switch 30, the DC current from the battery 110 is applied to the excitation coil of the main power relay 20 via the automatic power cutoff relay 100 to thereby excite the coil. As the excitation is performed, the normally open movable contact of the main power supply relay 20 is switched on.

상기 메인전원릴레이(20)가 스위칭온 됨으로써, 배터리(10)로부터의 직류전원이 자동전원차단릴레이(100) 및 메인전원릴레이(20)를 통해 제어부(300)와 모터구동부(50)를 포함한 무인반송차의 각 구성부로 인가된다.As the main power relay 20 is switched on, the DC power from the battery 10 is unmanned including the control unit 300 and the motor driving unit 50 through the auto power shutoff relay 100 and the main power relay 20. It is applied to each component part of a carrier vehicle.

상기 배터리(10)로부터의 전원공급에 의해 제어부(300)가 초기화되는데, 이때, 도시생략된 키입력부를 통해 동작을 지시하는 키신호가 제어부(300)로 입력되면 제어부(300)가 내장된 프로그램에 따라 무인반송차를 소정의 이동경로를 따라 이동시키기 위한 제어신호를 모터구동부(50)로 인가한다.The controller 300 is initialized by supplying power from the battery 10. At this time, when a key signal indicating an operation is input to the controller 300 through a key input unit, not illustrated, the controller 300 includes a program. As a result, a control signal for moving the unmanned vehicle along a predetermined movement path is applied to the motor driver 50.

상기 제어부(300)로부터의 제어신호에 의해 배터리(10)로부터의 직류전원이 모터구동부(50)를 통해 복수개의 모터(예를 들면, 전진이동용 모터와 방향전환용 모터 등)로 인가되어 무인반송차가 소정의 이동경로를 따라 이동한다.The DC signal from the battery 10 is applied to a plurality of motors (for example, a forward movement motor and a direction change motor, etc.) through the motor driving unit 50 by the control signal from the control unit 300, and then the unmanned transfer. The car moves along a predetermined movement path.

이때, 전원검출부(200)에 의해 배터리(10)로부터 출력되는 직류전원의 전류치 및 전압레벨이 측정되고, 이 측정된 전류치 및 전압레벨에 상응하는 전류측정신호와 전압측정신호가 전원검출부(200)로부터 제어부(300)의 각 입력단자(Pin1, Pin2)로 입력됨과 동시에, 상기 측정된 전류치 및 전압레벨이 전원검출부의 표시부(210)를 통해 표시된다.In this case, the current value and the voltage level of the DC power output from the battery 10 are measured by the power detector 200, and the current measurement signal and the voltage measurement signal corresponding to the measured current value and the voltage level are detected by the power detector 200. Input from the input terminal (Pin1, Pin2) of the control unit 300, and at the same time, the measured current value and voltage level is displayed through the display unit 210 of the power detector.

여기서, 제어부(300)는 전원검출부(200)로부터 입력된 전류측정신호와 전압측정신호를 통해 배터리(10)의 전류치와 전압레벨을 판별하고, 판별된 전류치와 전압레벨에 따라 배터리(10)의 잔량을 산출한다.Here, the controller 300 determines the current value and the voltage level of the battery 10 through the current measurement signal and the voltage measurement signal input from the power detector 200, and determines the current value and voltage level of the battery 10 according to the determined current value and the voltage level. Calculate the remaining amount.

그 다음, 제어부(300)는 상기 산출된 배터리(110)의 잔량을 설정량과 비교하여 배터리(110)의 잔량이 설정량보다 많으면 배터리(110)의 잔량이 충분한 것으로 판단하여 무인반송차의 이동상태를 유지시킨다.Next, the controller 300 compares the calculated remaining amount of the battery 110 with a set amount, and if the remaining amount of the battery 110 is greater than the set amount, the controller 300 determines that the remaining amount of the battery 110 is sufficient to move the unmanned carrier. Maintain state.

그러나, 상기 비교결과 배터리(110)의 잔량이 설정량의 이하이면 제어부(300)는 배터리(110)의 잔량이 부족한 것으로 판단하여 스위칭용 단자(Psw1)와 스위칭용 단자(Psw2)를 전기적으로 연결한다.However, as a result of the comparison, if the remaining amount of the battery 110 is less than the set amount, the controller 300 determines that the remaining amount of the battery 110 is insufficient and electrically connects the switching terminal Psw1 and the switching terminal Psw2. do.

상기 제어부(300)의 스위칭용 단자(Psw1)와 스위칭용 단자(Psw2)가 상호 연결됨에 따라 배터리(10)로부터의 직류전류가 자동전원차단릴레이(100)의 여자코일을 통해 상호 연결된 스위칭용 단자(Psw1)와 스위칭용 단자(Psw2)를 매개로 폐쇄상태 즉, 온상태의 메인전원스위치(30)의 접지단자로 흐른다.As the switching terminal Psw1 and the switching terminal Psw2 of the control unit 300 are connected to each other, a DC terminal from the battery 10 is connected to each other through an excitation coil of the automatic power cutoff relay 100. It flows to the ground terminal of the main power switch 30 in the closed state, that is, the on state, through Psw1 and the switching terminal Psw2.

상기한 바와 같이, 배터리(10)와 자동전원차단릴레이(100)의 여자코일 간에 전기적인 폐회로가 형성됨에 따라 배터리(10)로부터 상기 자동전원차단릴레이(100)의 여자코일로 전류가 흘러 이 자동전원차단릴레이(100)의 여자코일이 여자되며, 상기 자동전원차단릴레이(100)의 여자코일이 여자됨으로 인해 자동전원차단릴레이(100)의 상시폐로형 가동접접이 스위칭오프된다.As described above, as the electrical closed circuit is formed between the battery 10 and the excitation coil of the auto power off relay 100, a current flows from the battery 10 to the excitation coil of the auto power off relay 100. The excitation coil of the power cutoff relay 100 is excited, and the normally closed type movable contact of the automatic power cutoff relay 100 is switched off because the excitation coil of the automatic power cutoff relay 100 is excited.

상기 자동전원차단릴레이(100)가 스위칭오프됨에 따라 배터리(10)로부터 제어부(300)와 모터구동부(50)를 포함한 무인반송차의 각 구성부로 공급되던 전원이차단되고, 이로 인해 배터리(10)로부터 자동전원차단릴레이(100)를 매개로 메인전원릴레이(20)의 여자코일로 흐르던 전류가 차단되어 메인전원릴레이(20)의 상시개로형 가동접점이 스위칭오프된다.As the automatic power cutoff relay 100 is switched off, the power supplied from the battery 10 to each component of the driverless vehicle including the controller 300 and the motor driver 50 is cut off, and thus the battery 10 The current flowing to the excitation coil of the main power supply relay 20 is interrupted from the auto power supply relay 100 to switch off the normally open movable contact of the main power supply relay 20.

상기 배터리(10)로부터 공급되던 직류전원이 차단됨으로써, 무인반송차를 이동시키던 모터의 구동이 중단되어 무인반송차가 정지함과 더불어 전원의 공급이 차단된 제어부(300)의 제어동작이 중단된다.As the DC power supplied from the battery 10 is cut off, the driving of the motor for moving the unmanned vehicle is stopped, the unmanned vehicle is stopped, and the control operation of the controller 300 in which the power supply is cut off is stopped.

이때, 조작자가 정지상태의 무인반송차에 접근하여 메인전원스위치(30)를 조작하여 개방 즉, 오프시키면, 배터리(10)와 자동전원차단릴레이(100)의 여자코일 간의 전기적인 폐회로가 개로(開路)되어 자동전원차단릴레이(100)에 전류가 흐르지 않게 되고, 이로 인해 자동전원차단릴레이(100)의 상시폐로형 가동접점이 스위칭온상태로 복귀한다.At this time, when the operator approaches the unmanned transport vehicle in the stopped state and operates the main power switch 30 to open, that is, off, the electrical closed circuit between the excitation coil of the battery 10 and the automatic power cutoff relay 100 is opened ( As a result, current does not flow in the automatic power cutoff relay 100, and thus the normally closed movable contact of the automatic power cutoff relay 100 returns to the switching on state.

여기서, 조작자가 메인전원스위치(30)를 다시 조작하여 메인전원스위치(30)를 폐쇄 즉, 온시키면 배터리(110)로부터의 직류전원이 자동전원차단릴레이(100)를 매개로 메인전원릴레이(20)의 여자코일에 인가되어 이 메인전원릴레이(20)의 여자코일이 여자됨에 따라 메인전원릴레이(20)의 상시개로형 가동접점이 스위칭온된다.Here, when the operator operates the main power switch 30 again to close the main power switch 30, that is, turn on the DC power from the battery 110 through the automatic power cutoff relay 100, the main power relay 20 may operate. As the excitation coil of the main power supply relay 20 is applied to the excitation coil of), the normally open movable contact of the main power supply relay 20 is switched on.

이에 따라, 배터리(10)로부터 직류전원이 자동전원차단릴레이(100) 및 메인전원릴레이(20)를 매개로 제어부(300)와 모터구동부(50)를 포함한 무인반송차의 각 구성부로 인가된다.Accordingly, the DC power is applied from the battery 10 to the respective components of the unmanned vehicle including the controller 300 and the motor driver 50 via the auto power shutoff relay 100 and the main power relay 20.

이와 동시에, 상기 배터리(10)로부터 전원을 공급받은 제어부(300)가 리셋되어 제어부(300)의 스위칭용 단자(Psw1)와 스위칭용 단자(Psw2)의 연결이 해지된다.At the same time, the control unit 300 supplied with the power from the battery 10 is reset so that the connection between the switching terminal Psw1 and the switching terminal Psw2 of the control unit 300 is terminated.

이에 따라 자동전원차단릴레이(100)의 여자코일에는 배터리(10)로부터의 직류전류가 인가되지 않아 자동전원차단릴레이(100)의 상시폐로형 가동접점은 스위칭온상태를 유지한다.Accordingly, since the DC current from the battery 10 is not applied to the excitation coil of the automatic power cutoff relay 100, the normally closed movable contact of the automatic power cutoff relay 100 maintains the switching on state.

그리고, 조작자의 키조작에 의해 제어부(300)는 정상상태로의 복귀 및 내장된 프로그램에 따라 충전장소로 이동시키기 위한 제어신호를 모터구동부(50)로 인가한다.Then, by the operator's key operation, the control unit 300 applies a control signal to the motor driving unit 50 for returning to the normal state and moving to the charging place according to the built-in program.

상기 제어부(300)로부터의 제어신호에 의해 배터리(10)로부터의 직류전원이 모터구동부(50)를 통해 복수개의 모터(예를 들면, 전진이동용 모터와 방향전환용 모터 등)로 인가되어 무인반송차가 소정의 이동경로를 따라 충전장소로 이동한다.The DC signal from the battery 10 is applied to a plurality of motors (for example, a forward movement motor and a direction change motor, etc.) through the motor driving unit 50 by the control signal from the control unit 300, and then the unmanned transfer. The vehicle moves to the charging place along a predetermined movement route.

상술한 바와 같이 본 발명에 따르면, 배터리의 잔량을 체크하여 체크된 배터리의 잔량이 설정량의 이하이면 배터리의 전원공급을 자동으로 차단시킴으로써, 배터리의 과방전을 방지하여 배터리의 사용수명을 연장시킬 수 있는 효과가 있다.As described above, according to the present invention, by checking the remaining capacity of the battery to automatically cut off the power supply of the battery when the remaining amount of the checked battery is less than the set amount, to prevent over-discharge of the battery to extend the service life of the battery It can be effective.

Claims (3)

메인전원스위치의 조작에 따라 배터리로부터 인가되는 전원에 의해 동작하는 무인반송차에 있어서,In the unmanned carriage, which is operated by the power applied from the battery according to the operation of the main power switch, 상기 배터리의 전류치 및 전압레벨을 측정하는 전원검출부와,A power detector for measuring a current value and a voltage level of the battery; 상기 배터리의 전원공급을 차단시키도록 된 자동전원차단용 스위칭소자 및,Switching device for automatic power cut off to cut off the power supply of the battery, 상기 전원검출부를 통해 측정되는 전류치 및 전압레벨에 따라 배터리의 잔량을 산출하여 산출된 배터리의 잔량이 소정량 이하이면 상기 자동전원차단용 스위칭소자를 동작시켜 배터리의 전원공급을 차단시킬 수 있도록 된 제어부로 구성된 것을 특징으로 하는 무인반송차의 자동전원차단장치.The control unit is configured to cut off the power supply of the battery by operating the switching device for automatic power cutoff when the remaining amount of the battery calculated by calculating the remaining amount of the battery according to the current value and the voltage level measured by the power detector is less than a predetermined amount. Automatic power cut off device of an unmanned carrier, characterized in that consisting of. 제 1 항에 있어서, 상기 자동전원차단용 스위칭소자는,The switching device of claim 1, wherein 일단이 상기 배터리에 연결되고 타단이 부하측에 연결된 상시폐로형 가동접점과 일단이 상기 배터리에 연결되고 타단이 제어부를 통해 상기 메인전원스위치의 일측에 연결된 여자코일로 구성된 릴레이인 것을 특징으로 하는 무인반송차의 자동전원차단장치.Unmanned conveying, characterized in that the one end is connected to the battery and the other end is a normally closed type movable contact is connected to the load side and one end is connected to the battery and the other end is a relay consisting of an excitation coil connected to one side of the main power switch through a control unit Auto power cut off device. 제 1 항 또는 제 2 항에 있어서, 상기 제어부는,The method of claim 1 or 2, wherein the control unit, 상기 메인전원스위치가 오프된 다음, 다시 온되면 리셋되어 상기 자동전원차단용 스위칭소자의 스위칭상태를 원상복귀시키도록 된 것을 특징으로 하는 무인반송차의 자동전원차단장치.And when the main power switch is turned off and then turned on again, the main power switch is reset to return the switching state of the switching device for automatic power cut off.
KR10-1998-0028478A 1998-07-14 1998-07-14 Automatic power cutoff device of unmanned carrier KR100495626B1 (en)

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
KR101024868B1 (en) * 2009-03-31 2011-03-31 국방과학연구소 The wireless based power distribution apparatus and method complied with a mission type of unmanned vehicle
CN113386571A (en) * 2021-06-30 2021-09-14 北京百度网讯科技有限公司 Unmanned power supply system, power supply control method, power domain controller and vehicle

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* Cited by examiner, † Cited by third party
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KR101424251B1 (en) 2006-12-26 2014-08-04 엘지전자 주식회사 Apparatus and method for auto controlling of power supply for booting a portable electronic divice

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101024868B1 (en) * 2009-03-31 2011-03-31 국방과학연구소 The wireless based power distribution apparatus and method complied with a mission type of unmanned vehicle
CN113386571A (en) * 2021-06-30 2021-09-14 北京百度网讯科技有限公司 Unmanned power supply system, power supply control method, power domain controller and vehicle

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