KR20130075370A - Auto charging control method for auto guided vehicle - Google Patents

Auto charging control method for auto guided vehicle Download PDF

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Publication number
KR20130075370A
KR20130075370A KR1020110143720A KR20110143720A KR20130075370A KR 20130075370 A KR20130075370 A KR 20130075370A KR 1020110143720 A KR1020110143720 A KR 1020110143720A KR 20110143720 A KR20110143720 A KR 20110143720A KR 20130075370 A KR20130075370 A KR 20130075370A
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South Korea
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battery
unmanned vehicle
management system
charger
battery management
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KR1020110143720A
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Korean (ko)
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박찬휴
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넥스콘 테크놀러지 주식회사
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Priority to KR1020110143720A priority Critical patent/KR20130075370A/en
Publication of KR20130075370A publication Critical patent/KR20130075370A/en

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    • 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
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/06—Electricity, gas or water supply
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • 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
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

Abstract

PURPOSE: An automatic charging control method for an auto guided vehicle (AGV) is provided to move to a nearest charger by itself when becomes discharged, thereby increasing driving hours. CONSTITUTION: A state of the charge of a battery is calculated by a battery manage system of an AGV (10). Whether the state of the charge of the battery is below a preset reference value or not is determined. If the state of the charge of the battery is below the reference value, instructions to charge the battery are transmitted. The battery manage system transmits the instructions to charge the battery to a central control center server (20) through wireless communication. [Reference numerals] (10) Auto guided vehicle; (20) Central control center server; (A1,A2,A3) Charger

Description

무인운송차용 자가 충전 제어방법{auto charging control method for Auto Guided Vehicle}Auto charging control method for auto guided vehicles

본 발명은 무인운송차용 자가 충전 제어방법에 관한 것으로, 보다 상세하게는 무인운송차의 배터리 잔존용량을 계산하여 사용자가 지정한 값 이하로 떨어졌을 경우 스스로 가장 가까운 곳에 있는 충전기로 이동하여 배터리 충전을 할 수 있도록 한 무인운송차용 자가 충전 제어방법에 관한 것이다.
The present invention relates to a self-charging control method for an unmanned transportation vehicle, and more particularly, to calculate the battery remaining capacity of the unmanned transportation vehicle, when the user falls below the value specified by the user can move to the nearest charger to charge the battery by themselves. The present invention relates to a self charging control method for an unmanned vehicle.

일반적으로 무인운송차(AGV ; Auto Guided Vehicle)는 사용자의 직접적인 조작없이 물품 등을 이동시키는 차이다.
In general, an auto guided vehicle (AGV) is a vehicle that moves goods and the like without a user's direct manipulation.

그러나, 상기한 무인운송차는 배터리의 잔존용량에 상관없이 특정 주기로 지정된 장소의 충전기에서 배터리 충전을 하고 있는바,However, the above-mentioned unmanned transportation vehicle charges the battery in a charger at a specified place regardless of the remaining capacity of the battery.

주기가 짧으면 배터리를 충전하는데 많은 시간을 소비할 뿐만 아니라 배터리 충전시 배터리가 과충전될 위험이 있는 문제점이 있었다.If the cycle is short, there is a problem that not only consumes a lot of time to charge the battery, but also the battery is overcharged when the battery is charged.

반대로, 주기가 길면 무인운송차가 운행 중 정지되는 상황이 발생하는 심각한 문제점이 있었다.On the contrary, if the cycle is long, there is a serious problem that a situation in which the driverless vehicle is stopped during operation.

따라서, 능동적으로 대응할 수 없는 단점을 지니고 있다.
Therefore, there is a disadvantage that can not actively respond.

따라서, 본 발명은 상기한 종래 기술에 따른 제반 문제점을 해결하기 위하여 개량발명된 것으로서, 본 발명의 목적은 무인운송차의 배터리 잔존용량을 계산하여 사용자가 지정한 값 이하로 떨어졌을 경우 스스로 가장 가까운 곳에 있는 충전기로 이동하여 배터리 충전을 할 수 있도록 한 무인운송차용 자가 충전 제어방법을 제공함에 있다.
Accordingly, the present invention has been made in order to solve the above problems according to the prior art, the object of the present invention is to calculate the battery remaining capacity of the unmanned vehicle to be close to itself when the value falls below the value specified by the user The present invention provides a self-charging control method for an unmanned vehicle for moving a charger to charge a battery.

그러나 본 발명의 목적은 상기에 언급된 목적으로 제한되지 않으며, 언급되지 않은 다른 목적들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.
However, the object of the present invention is not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

상기한 목적을 달성하기 위한 본 발명에 따른 무인운송차용 자가 충전 제어방법은,Self-charging control method for an unmanned vehicle according to the present invention for achieving the above object,

무인운송차의 배터리 관리 시스템이 배터리의 잔존용량을 산출한 후, 잔존용량이 사용자가 지정한 기준값 이하 인가를 판단하는 단계와;After the battery management system of the unmanned vehicle calculates the remaining capacity of the battery, determining whether the remaining capacity is equal to or less than a reference value designated by the user;

상기 판단결과 잔존용량이 지정한 기준값 이하이면, 무인운송차의 배터리 관리 시스템이 배터리 충전이 필요하다고 하는 무선신호를 중앙제어센터서버로 전달하는 단계와;If the remaining capacity is less than or equal to the specified reference value, the battery management system of the unmanned vehicle delivers a radio signal indicating that the battery needs to be charged to the central control center server;

상기 중앙제어센터서버가 무선신호로부터 무인운송차의 위치를 파악함과 동시에 가장 가까운 충전기가 어디에 있는지를 파악한 후, 가장 가까운 충전기로 무인운송차가 이동할 수 있도록 무인운송차의 배터리 관리 시스템으로 이동명령을 무선신호로 전달하고, 충전기로 무인운송차의 이동이 완료되면 무인운송차의 배터리 관리 시스템으로 배터리 충전명령을 무선신호로 전달하는 단계와;The central control center server determines the location of the unmanned vehicle from the radio signal and at the same time determines where the nearest charger is located, and then sends a movement command to the battery management system of the unmanned vehicle so that the unmanned vehicle can be moved to the nearest charger. Transmitting a wireless charging signal and transmitting a battery charging command as a wireless signal to a battery management system of the unmanned vehicle when the movement of the unmanned vehicle to the charger is completed;

상기 무인운송차의 배터리 관리 시스템이 배터리의 충전이 완료되었는지를 판단하는 단계를 포함하여 이루어진다.
And determining, by the battery management system of the unmanned vehicle, whether the charging of the battery is completed.

이상에서 상술한 바와 같이 본 발명에 따른 무인운송차용 자가 충전 제어방법은 무인운송차의 배터리 잔존용량을 계산하여 사용자가 지정한 값 이하로 떨어졌을 경우 스스로 가장 가까운 곳에 있는 충전기로 이동하여 배터리 충전을 할 수 있도록 함으로써, 무인운송차의 운행 시간을 높일 수 있는 효과가 있다.As described above, the self-charging control method for an unmanned vehicle according to the present invention calculates the battery remaining capacity of the unmanned vehicle, and when it falls below a user-specified value, the battery can be charged by moving to the nearest charger by itself. By doing so, there is an effect that can increase the running time of the unmanned vehicle.

특히, 본 발명은 무인운송차의 배터리의 충전에 있어, 배터리를 과충전, 과방전으로부터 보호할 수 있는 효과가 있다.
In particular, the present invention has the effect of protecting the battery from overcharging and overdischarging in charging the battery of the driverless vehicle.

도 1은 본 발명에 적용되는 무인운송차용 자가 충전 제어시스템의 개략적인 도면,
도 2는 본 발명에 따른 무인운송차용 자가 충전 제어방법을 나타낸 도면이다.1 is a schematic diagram of a self-charging control system for an unmanned vehicle applied to the present invention,
2 is a view showing a self charging control method for an unmanned transport vehicle according to the present invention.

이하, 본 발명에 따른 무인운송차용 자가 충전 제어방법의 바람직한 실시 예를 설명하면 다음과 같다. 하기에서 본 발명을 설명함에 있어서, 관련된 공지 기능 또는 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략할 것이다.
Hereinafter, a preferred embodiment of the self charging control method for an unmanned vehicle according to the present invention will be described. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

먼저, 본 발명에 따른 무인운송차용 자가 충전 제어방법을 설명하기에 앞서, 도 1을 참조하여 본 발명에 적용되는 무인운송차용 자가 충전 제어시스템을 살펴보면,First, prior to describing the self-charging control method for an unmanned vehicle according to the present invention, referring to FIG. 1, a self-charging control system for an unmanned vehicle is applied.

배터리 관리 시스템(BMS : Battery Management System)을 구비하고 있는 무인운송차(10)와;An unmanned transportation vehicle 10 having a battery management system (BMS);

상기 무인운송차(10)의 배터리 관리 시스템으로부터 무선신호를 전달받고, 상기 무선신호로부터 무인운송차(10)의 위치를 파악하여 가장 가까운 충전기로 무인운송차(10)가 이동할 수 있도록 무인운송차(10)의 배터리 관리 시스템으로 이동 명령을 무선신호로 전달하는 중앙제어센터서버(20)로 구성된다.
The unmanned transport vehicle receives the radio signal from the battery management system of the unmanned transport vehicle 10, detects the position of the unmanned transport vehicle 10 from the radio signal, and moves the unmanned transport vehicle 10 to the nearest charger. (10) is composed of a central control center server 20 for transmitting a move command as a wireless signal to the battery management system.

상기와 같이 구성된 무인운송차용 자가 충전 제어시스템의 동작을 도 2를 참조하여 설명하면 다음과 같다.
The operation of the self-charging control system for an unmanned transportation vehicle configured as described above will be described with reference to FIG. 2.

먼저, 무인운송차(10)의 배터리 관리 시스템(BMS : Battery Management System)이 배터리의 잔존용량을 산출한 후(S1), 상기 잔존용량이 사용자가 지정한 기준값 이하 인가를 판단한다(S2).
First, after the battery management system (BMS) of the unmanned vehicle 10 calculates the remaining capacity of the battery (S1), it is determined whether the remaining capacity is equal to or less than a reference value designated by the user (S2).

그리고, 상기 S2의 판단결과 잔존용량이 지정한 기준값 이하이면, 무인운송차(10)의 배터리 관리 시스템이 배터리 충전이 필요하다고 하는 무선신호를 중앙제어센터서버(20)로 전달한다(S3).
When the remaining capacity is less than or equal to the specified reference value, the battery management system of the unmanned vehicle 10 transmits a wireless signal to the central control center server 20 that the battery needs to be charged (S3).

그리고, 상기 중앙제어센터서버(20)가 무선신호로부터 무인운송차(10)의 위치를 파악함과 동시에 가장 가까운 충전기가 어디에 있는지를 파악한 후(S4), 가장 가까운 충전기로 상기 무인운송차(10)가 이동할 수 있도록 무인운송차(10)의 배터리 관리 시스템으로 이동명령을 무선신호로 전달하고, 충전기로 무인운송차(10)의 이동이 완료되면 무인운송차(10)의 배터리 관리 시스템으로 배터리 충전명령을 무선신호로 전달한다(S5).In addition, the central control center server 20 detects the position of the unmanned vehicle 10 from the radio signal and at the same time determines where the nearest charger is located (S4), and then uses the unmanned vehicle 10 as the nearest charger. ) Transfers the movement command to the battery management system of the unmanned vehicle 10 as a wireless signal, and when the movement of the unmanned vehicle 10 to the charger is completed, the battery is managed by the battery management system of the unmanned vehicle 10. The charging command is transmitted as a wireless signal (S5).

이에 따라, 충전기는 무인운송차(10)의 배터리로 전기를 충전시킨다(S6).
Accordingly, the charger charges the electricity to the battery of the driverless vehicle 10 (S6).

그리고, 무인운송차(10)의 배터리 관리 시스템(BMS : Battery Management System)이 배터리의 충전이 완료되었는지를 판단한다(S7).
Then, the battery management system (BMS) of the unmanned vehicle 10 determines whether the charging of the battery is completed (S7).

그리고, 상기 S7의 판단결과 배터리의 충전이 완료되었으면, 무인운송차(10)의 배터리 관리 시스템이 배터리의 잔존용량을 산출한다.
When the battery is fully charged, the battery management system of the unmanned vehicle 10 calculates the remaining capacity of the battery.

따라서, 본 발명은 무인운송차의 배터리의 충전에 있어, 배터리를 과충전, 과방전으로부터 보호할 수 있고, 무인운송차의 운행 시간을 높일 수 있다.
Therefore, the present invention can protect the battery from overcharging and overdischarging in charging the battery of the unmanned vehicle, and can increase the running time of the unmanned vehicle.

상기 발명의 상세한 설명은 단지 본 발명의 예시적인 것으로서, 이는 단지 본 발명을 설명하기 위한 목적에서 사용된 것이지 의미 한정이나 특허청구범위에 기재된 본 발명의 범위를 제한하기 위하여 사용된 것은 아니다. 그러므로 본 기술 분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다. 따라서 본 발명의 진정한 기술적 보호 범위는 첨부된 특허청구범위의 기술적 사상에 의해 정해져야 할 것이다.
The foregoing description of the invention is merely exemplary of the invention and is used for the purpose of illustration only and is not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10 : 무인운송차
20 : 중앙제어센터서버10: Unmanned Transportation Vehicle
20: central control center server

Claims (1)

무인운송차의 배터리 관리 시스템이 배터리의 잔존용량을 산출한 후, 잔존용량이 사용자가 지정한 기준값 이하 인가를 판단하는 단계와;
상기 판단결과 잔존용량이 지정한 기준값 이하이면, 무인운송차의 배터리 관리 시스템이 배터리 충전이 필요하다고 하는 무선신호를 중앙제어센터서버로 전달하는 단계와;
상기 중앙제어센터서버가 무선신호로부터 무인운송차의 위치를 파악함과 동시에 가장 가까운 충전기가 어디에 있는지를 파악한 후, 가장 가까운 충전기로 무인운송차가 이동할 수 있도록 무인운송차의 배터리 관리 시스템으로 이동명령을 무선신호로 전달하고, 충전기로 무인운송차의 이동이 완료되면 무인운송차의 배터리 관리 시스템으로 배터리 충전명령을 무선신호로 전달하는 단계와;
상기 무인운송차의 배터리 관리 시스템이 배터리의 충전이 완료되었는지를 판단하는 단계를 포함하여 이루어지는 것을 특징으로 하는 무인운송차용 자가 충전 제어방법.




After the battery management system of the unmanned vehicle calculates the remaining capacity of the battery, determining whether the remaining capacity is equal to or less than a reference value designated by the user;
If the remaining capacity is less than or equal to the specified reference value, the battery management system of the unmanned vehicle delivers a radio signal indicating that the battery needs to be charged to the central control center server;
The central control center server determines the location of the unmanned vehicle from the radio signal and at the same time determines where the nearest charger is located, and then sends a movement command to the battery management system of the unmanned vehicle so that the unmanned vehicle can be moved to the nearest charger. Transmitting a wireless charging signal and transmitting a battery charging command as a wireless signal to a battery management system of the unmanned vehicle when the movement of the unmanned vehicle to the charger is completed;
And a step of determining, by the battery management system of the unmanned vehicle, whether the charging of the battery is completed.




KR1020110143720A 2011-12-27 2011-12-27 Auto charging control method for auto guided vehicle KR20130075370A (en)

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WO2017148436A1 (en) * 2016-03-04 2017-09-08 无锡市百宏传动电器有限公司 Charging device for automated guided vehicle
CN107380002A (en) * 2017-08-17 2017-11-24 陕西隆翔停车设备集团有限公司 A kind of AGV dollies wireless charging system and its charging method
CN108054454A (en) * 2017-12-27 2018-05-18 安徽嘉熠智能科技有限公司 A kind of battery preliminary filling control method and its system
CN109130939A (en) * 2018-09-17 2019-01-04 长沙开元仪器有限公司 A kind of small rail car charge control method and system
CN111284352A (en) * 2018-12-06 2020-06-16 北京京东尚科信息技术有限公司 Transport vehicle charging method and system
CN112636063A (en) * 2020-11-27 2021-04-09 广东嘉腾机器人自动化有限公司 Waterproof power connection mechanism, AGV charging butt joint system and AGV automatic charging method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017148436A1 (en) * 2016-03-04 2017-09-08 无锡市百宏传动电器有限公司 Charging device for automated guided vehicle
CN107380002A (en) * 2017-08-17 2017-11-24 陕西隆翔停车设备集团有限公司 A kind of AGV dollies wireless charging system and its charging method
CN108054454A (en) * 2017-12-27 2018-05-18 安徽嘉熠智能科技有限公司 A kind of battery preliminary filling control method and its system
CN109130939A (en) * 2018-09-17 2019-01-04 长沙开元仪器有限公司 A kind of small rail car charge control method and system
CN109130939B (en) * 2018-09-17 2021-02-26 长沙开元仪器有限公司 Rail trolley charging control method and system
CN111284352A (en) * 2018-12-06 2020-06-16 北京京东尚科信息技术有限公司 Transport vehicle charging method and system
CN112636063A (en) * 2020-11-27 2021-04-09 广东嘉腾机器人自动化有限公司 Waterproof power connection mechanism, AGV charging butt joint system and AGV automatic charging method

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