TW202134079A - Regenerative braking system capable of improving the recovery efficiency of energy generated by the regenerative braking when the vehicle is driving downhill - Google Patents

Regenerative braking system capable of improving the recovery efficiency of energy generated by the regenerative braking when the vehicle is driving downhill Download PDF

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TW202134079A
TW202134079A TW110100120A TW110100120A TW202134079A TW 202134079 A TW202134079 A TW 202134079A TW 110100120 A TW110100120 A TW 110100120A TW 110100120 A TW110100120 A TW 110100120A TW 202134079 A TW202134079 A TW 202134079A
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power
vehicle
regenerative braking
storage device
braking system
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TW110100120A
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TWI788751B (en
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松木孝憲
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日商豐田自動織機股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
    • 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
    • B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • 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
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • 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
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/12—Electric charging stations
    • 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
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Stopping Of Electric Motors (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The present invention provides a regenerative braking system capable of improving the recovery efficiency of energy generated by the regenerative braking when the vehicle is driving downhill. The regenerative braking system 1 utilizes the regenerative braking. The regenerative braking system uses the electric motor 8 of the industrial vehicle 3 running along the running road A as a generator to recover the kinetic energy of the industrial vehicle 3 in the form of electric energy so as to actuate the industrial vehicle 3. The regenerative braking system 1 comprises a battery 7 mounted on an industrial vehicle 3; a power transmission device 10 mounted on the industrial vehicle 3 for conveying the power generated from the electric motor 8 by the regenerative braking when the industrial vehicle 3 is driving downhill along the ramp 2a of the running road A; a current collector 20 installed on the ramp 2a for receiving the power transmitted from the power transmission device 10; and an electric power storage device 6 connected to the current collector 20 for storing the power received by the current collector 20. The regenerative braking system further comprises a roadside power transmission part installed on the running road and connected to the electric power storage device for transmitting the power stored in the electric power storage device; a vehicle-side power receiving part mounted on the vehicle for receiving the power transmitted from the roadside power transmission part; and a power supply control part for controlling the power stored in the electric power storage device to be supplied to the battery via the roadside power transmission part and the vehicle-side power receiving part. The regenerative braking system also comprises a charging station installed on the running road and connected to the electric power storage device for charging the battery by using the power stored in the electric power storage device.

Description

再生煞車系統Regenerative braking system

本發明係關於一種再生煞車系統。The present invention relates to a regenerative braking system.

例如專利文獻1中記載一種車輛用煞車裝置，其具備液壓煞車機構與再生煞車機構。專利文獻1記載之再生煞車機構具備：馬達，其使驅動輪旋轉驅動，並且基於旋轉之驅動輪之運動能量而進行再生電力之發電；變流器，其將蓄電池中儲存之電力供給至馬達，並且將於馬達產生之再生電力轉換為蓄電池能夠儲存之電力；及控制器，其限制液壓煞車機構之制動，並控制馬達，以此抑制藉由再生煞車能夠回收之能量之損耗。 [先前技術文獻] [專利文獻]For example, Patent Document 1 describes a vehicle brake device including a hydraulic brake mechanism and a regenerative brake mechanism. The regenerative braking mechanism described in Patent Document 1 includes: a motor that rotates the driving wheel and generates regenerative power based on the kinetic energy of the rotating driving wheel; a converter that supplies the electric power stored in the battery to the motor, And convert the regenerative power generated by the motor into the power that the battery can store; and the controller, which limits the braking of the hydraulic brake mechanism, and controls the motor, so as to suppress the loss of energy that can be recovered by the regenerative braking. [Prior Technical Literature] [Patent Literature]

[專利文獻1]日本專利特開2014-69786號公報[Patent Document 1] Japanese Patent Laid-Open No. 2014-69786

[發明所欲解決之問題][The problem to be solved by the invention]

此外，存在如下情形：當車輛刹著車沿長下坡行駛時，蓄電池不能全部接收藉由再生煞車而從馬達產生之電力(再生電力)，從而無法使再生煞車充分發揮效果。該情形下，藉由再生煞車所產生之能量並未被以電能形式加以回收，而係藉由機械煞車轉換成熱被浪費掉。In addition, there are situations where the battery cannot receive all the electric power (regenerative electric power) generated from the motor by the regenerative braking when the vehicle is braking along a long downhill, so that the regenerative braking cannot fully exert its effect. In this case, the energy generated by regenerative braking is not recovered in the form of electrical energy, but is converted into heat by mechanical braking and is wasted.

本發明之目的在於提供一種再生煞車系統，可提高車輛沿下坡行駛時回收之藉由再生煞車所產生之能量之回收效率。 [解決問題之技術手段]The object of the present invention is to provide a regenerative braking system that can improve the recovery efficiency of the energy generated by the regenerative braking that is recovered when the vehicle runs downhill. [Technical means to solve the problem]

本發明之一態樣係一種再生煞車系統，利用再生煞車，該再生煞車係藉由由使車輛沿行駛路行駛之電動馬達作為發電機動作來將車輛之運動能量以電能形式加以回收而使車輛制動，且該再生煞車系統具備：蓄電池，其搭載於車輛上；車輛側送電部，其搭載於車輛上，輸送車輛沿行駛路之坡道下坡時藉由再生煞車而從電動馬達產生之電力；行駛路側受電部，其設置於坡道上，接收從車輛側送電部輸送之電力；及蓄電裝置，其與行駛路側受電部連接，儲存由行駛路側受電部接收之電力。One aspect of the present invention is a regenerative braking system that utilizes regenerative braking. The regenerative braking system uses an electric motor that drives the vehicle along the road as a generator to recover the movement energy of the vehicle in the form of electrical energy to make the vehicle Braking, and the regenerative braking system is equipped with: a battery, which is mounted on the vehicle; a vehicle-side power transmission unit, which is mounted on the vehicle, transports the electric power generated from the electric motor by regenerative braking when the vehicle goes down the slope of the road ; The traveling roadside power receiving unit, which is installed on a ramp and receives power from the vehicle-side power transmitting section; and a power storage device, which is connected to the traveling roadside power receiving section, and stores the power received by the traveling roadside power receiving section.

該種再生煞車系統中，當車輛沿坡道下坡時電動馬達作為發電機動作，由此對車輛施加再生煞車，藉由再生煞車而從電動馬達產生之電力由車輛側送電部輸送。而且，來自車輛側送電部之電力由行駛路側受電部接收並被儲存到蓄電裝置中。儲存於蓄電裝置中之電力被供給至其他車輛。因此，藉由再生煞車所產生之能量中以熱之形式被浪費掉之那部分能量，將會以電力之形式被回收而用於其他車輛。由此，車輛沿下坡行駛時回收之藉由再生煞車所產生之能量之回收效率提高。In this regenerative braking system, when the vehicle is going down a slope, the electric motor acts as a generator, thereby applying regenerative braking to the vehicle, and the electric power generated from the electric motor through the regenerative braking is transmitted by the vehicle-side power transmission unit. In addition, the electric power from the vehicle-side power transmitting unit is received by the traveling road-side power receiving unit and stored in the power storage device. The electric power stored in the power storage device is supplied to other vehicles. Therefore, the part of the energy that is wasted in the form of heat from the energy generated by regenerative braking will be recovered in the form of electricity and used in other vehicles. As a result, the recovery efficiency of the energy generated by the regenerative braking that is recovered when the vehicle is traveling downhill is improved.

再生煞車系統亦可還具備：行駛路側送電部，其設置於行駛路上，並且與蓄電裝置連接，輸送儲存於蓄電裝置中之電力；車輛側受電部，其搭載於車輛上，接收從行駛路側送電部輸送之電力；及電力供給控制部，其進行將儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至蓄電池之控制。該種構成中，儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至車輛之蓄電池。因此，藉由再生煞車所產生之能量之回收效率確實得到提高。The regenerative braking system may also include: a road-side power transmission unit installed on the road and connected to a power storage device to transmit power stored in the power storage device; a vehicle-side power receiving unit mounted on the vehicle to receive power from the road side And a power supply control unit that performs control of supplying the power stored in the power storage device to the battery via the road-side power transmission unit and the vehicle-side power receiving unit. In this configuration, the electric power stored in the power storage device is supplied to the battery of the vehicle via the road-side power transmitting unit and the vehicle-side power receiving unit. Therefore, the recovery efficiency of energy generated by regenerative braking is indeed improved.

再生煞車系統亦可還具備上坡偵測部，該上坡偵測部偵測車輛是否為沿坡道上坡之狀態，行駛路側送電部設置於坡道上，當藉由上坡偵測部偵測到車輛為沿坡道上坡之狀態時，電力供給控制部進行將儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至蓄電池之控制。該種構成中，於車輛沿坡道上坡時，儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至該車輛之蓄電池中。與車輛沿平坦之行駛路行駛時相比，於車輛沿上坡行駛時，電動馬達需要較大之電力。因此，藉由於車輛沿上坡行駛時將儲存於蓄電裝置中之電力供給至該車輛之蓄電池中，可有效地利用藉由再生煞車而產生之電力。The regenerative braking system can also be equipped with an uphill detection unit that detects whether the vehicle is uphill along the slope. The driving roadside power transmission unit is installed on the slope. When the uphill detection unit detects When the vehicle is uphill on the slope, the power supply control unit performs control to supply the power stored in the power storage device to the battery via the road-side power transmitting unit and the vehicle-side power receiving unit. In this configuration, when the vehicle is going uphill on a slope, the electric power stored in the power storage device is supplied to the battery of the vehicle via the road-side power transmitting unit and the vehicle-side power receiving unit. Compared with when the vehicle is traveling on a flat road, when the vehicle is traveling on an uphill slope, the electric motor requires a larger amount of electricity. Therefore, by supplying the electric power stored in the power storage device to the battery of the vehicle when the vehicle is running uphill, the electric power generated by the regenerative braking can be effectively used.

再生煞車系統亦可還具備充電偵測部，該充電偵測部偵測蓄電池之充電量，於藉由充電偵測部偵測到之蓄電池之充電量為規定值以下時，電力供給控制部進行將儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至蓄電池之控制。該種構成中，於車輛之蓄電池之充電量為規定值以下時，將儲存於蓄電裝置中之電力經由行駛路側送電部及車輛側受電部供給至該車輛之蓄電池中。因此，將儲存於蓄電裝置中之電力供給至充電量較少之蓄電池中。因此，可有效利用藉由再生煞車而產生之電力。The regenerative braking system can also be equipped with a charging detection unit, which detects the charging capacity of the battery. When the charging capacity of the battery detected by the charging detection unit is below the specified value, the power supply control unit performs The power stored in the power storage device is supplied to the battery via the road-side power transmission unit and the vehicle-side power receiving unit. In this configuration, when the charge capacity of the battery of the vehicle is less than a predetermined value, the electric power stored in the power storage device is supplied to the battery of the vehicle via the road-side power transmitting unit and the vehicle-side power receiving unit. Therefore, the electric power stored in the power storage device is supplied to the storage battery with less charge. Therefore, the electricity generated by regenerative braking can be effectively used.

再生煞車系統亦可還具備充電場，該充電場設置於行駛路上，並且與蓄電裝置連接，使用儲存於蓄電裝置中之電力對蓄電池進行充電。該種構成中，藉由將儲存於蓄電裝置中之電力經由充電場供給至車輛之蓄電池中而對蓄電池進行充電。藉由將該種充電場設置於行駛路上，不再需要車輛側受電部及行駛路側送電部，因此可簡化再生煞車系統。 [發明之效果]The regenerative braking system may also be equipped with a charging field, which is installed on the road and connected to the power storage device, and uses the electric power stored in the power storage device to charge the battery. In this configuration, the storage battery is charged by supplying the electric power stored in the power storage device to the storage battery of the vehicle via the charging station. By installing this kind of charging station on the driving road, the vehicle-side power receiving unit and the driving road-side power transmitting unit are no longer needed, so the regenerative braking system can be simplified. [Effects of Invention]

根據本發明，可提高車輛沿下坡行駛時回收之藉由再生煞車而產生之能量之回收效率。According to the present invention, the recovery efficiency of the energy generated by regenerative braking that is recovered when the vehicle travels downhill can be improved.

以下，參照附圖對本發明之實施方式進行詳細說明。圖中，對同一或同等之要素附上相同符號，並省略重複說明。Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the figure, the same or equivalent elements are given the same symbols, and repeated descriptions are omitted.

圖1係表示本發明之第1實施方式之再生煞車系統之概略構成圖。圖2係圖1所示之再生煞車系統之方塊圖。圖1及圖2中，本實施方式之再生煞車系統1應用於例如機場、工廠等之用地內之存在地下道2之行駛路A中。此處，例如多台牽引車等工業車輛3沿行駛路A行駛。工業車輛3例如為蓄電池車或油電混合車。Fig. 1 is a schematic configuration diagram showing a regenerative braking system according to a first embodiment of the present invention. Figure 2 is a block diagram of the regenerative braking system shown in Figure 1. In FIGS. 1 and 2, the regenerative braking system 1 of this embodiment is applied to a driving path A where an underpass 2 exists in a land such as an airport or a factory. Here, for example, industrial vehicles 3 such as a plurality of tractors travel along the travel path A. The industrial vehicle 3 is, for example, a battery vehicle or a hybrid vehicle.

再生煞車系統1係利用再生煞車之系統，該再生煞車係於工業車輛3沿地下道2中之較長下坡行駛時，將工業車輛3之運動能量以電能形式加以回收而使工業車輛3制動。The regenerative braking system 1 is a system using regenerative braking. The regenerative braking system recovers the kinetic energy of the industrial vehicle 3 in the form of electric energy when the industrial vehicle 3 runs along a long downhill in the underpass 2 to make the industrial vehicle 3 brake.

再生煞車系統1具備：行駛單元4，其搭載於工業車輛3上；多個送受電裝置5，其等設置於地下道2之坡道2a上；及蓄電裝置6，其設置於用地內。The regenerative braking system 1 includes a traveling unit 4 mounted on an industrial vehicle 3; a plurality of power transmitting and receiving devices 5 installed on a ramp 2a of an underpass 2; and a power storage device 6 installed in the site.

行駛單元4具備蓄電池7、電動馬達8、馬達驅動器9、送電器10、受電器11、加速器感測器12、坡道偵測感測器14、ECU(Electronic Control Unit，電子控制單元)15。The travel unit 4 includes a battery 7, an electric motor 8, a motor driver 9, a power transmitter 10, a power receiver 11, an accelerator sensor 12, a slope detection sensor 14, and an ECU (Electronic Control Unit) 15.

蓄電池7係儲存工業車輛3行駛時使用之電力(電)之蓄電器。即，蓄電池7儲存供給至電動馬達8之電力。The storage battery 7 is a storage battery that stores electric power (electricity) used when the industrial vehicle 3 is running. That is, the storage battery 7 stores the electric power supplied to the electric motor 8.

電動馬達8係藉由儲存於蓄電池7中之電力使工業車輛3行駛之交流馬達。電動馬達8使工業車輛3之驅動輪3a旋轉驅動。又，電動馬達8亦作為發電機發揮功能。具體來說，於工業車輛3減速時，或工業車輛3沿下坡行駛時，藉由驅動輪3a之旋轉而使電動馬達8作為發電機動作。當電動馬達8作為發電機動作時，對驅動輪3a施加再生煞車而從電動馬達8產生電力。The electric motor 8 is an AC motor that drives the industrial vehicle 3 by using the electric power stored in the storage battery 7. The electric motor 8 drives the driving wheels 3a of the industrial vehicle 3 to rotate. In addition, the electric motor 8 also functions as a generator. Specifically, when the industrial vehicle 3 is decelerating, or when the industrial vehicle 3 is traveling downhill, the electric motor 8 is operated as a generator by the rotation of the driving wheel 3a. When the electric motor 8 operates as a generator, a regenerative brake is applied to the drive wheels 3a to generate electric power from the electric motor 8.

馬達驅動器9驅動電動馬達8，並且切換藉由再生煞車而從電動馬達8產生之電力之供給目的地。馬達驅動器9於藉由電動馬達8使驅動輪3a旋轉時，將儲存於蓄電池7中之直流電力轉換為交流電力而供給至電動馬達8。馬達驅動器9於電動馬達8作為發電機動作時，將從電動馬達8產生之交流電力轉換為直流電力而供給至蓄電池7中，或將從電動馬達8產生之交流電力供給至送電器10。又，馬達驅動器9進行利用送電器10之送電動作與利用受電器11之受電動作之間之切換。The motor driver 9 drives the electric motor 8 and switches the supply destination of the electric power generated from the electric motor 8 by regenerative braking. When the electric motor 8 rotates the driving wheel 3 a, the motor driver 9 converts the DC power stored in the battery 7 into AC power and supplies it to the electric motor 8. When the electric motor 8 operates as a generator, the motor driver 9 converts the AC power generated from the electric motor 8 into DC power and supplies it to the battery 7 or supplies the AC power generated from the electric motor 8 to the power transmitter 10. In addition, the motor driver 9 switches between the power transmission operation by the power transmitter 10 and the power reception operation by the power receiver 11.

送電器10係車輛側送電部，輸送工業車輛3沿地下道2之坡道2a下坡時藉由再生煞車而從電動馬達8產生之電力。送電器10例如係具有送電線圈之電磁感應式送電器。送電器10以非接觸方式輸送藉由再生煞車而從電動馬達8產生之電力。The power transmitter 10 is a power transmission unit on the vehicle side, and transmits the electric power generated from the electric motor 8 by regenerative braking when the industrial vehicle 3 descends along the ramp 2a of the underpass 2. The power transmitter 10 is, for example, an electromagnetic induction type power transmitter having a power transmission coil. The power transmitter 10 transmits the electric power generated from the electric motor 8 by regenerative braking in a non-contact manner.

受電器11係車輛側受電部，接收從送受電裝置5之送電器21(後述)輸送之電力。受電器11例如係具有受電線圈之電磁感應式受電器。受電器11以非接觸方式接收來自送電器21之電力。The power receiver 11 is a vehicle-side power receiving unit, and receives electric power transmitted from a power transmitter 21 (described later) of the power transmitting and receiving device 5. The power receiver 11 is, for example, an electromagnetic induction power receiver having a power receiving coil. The power receiver 11 receives power from the transmitter 21 in a non-contact manner.

加速器感測器12係檢測加速器之操作量之感測器。坡道偵測感測器14係偵測工業車輛3是否為沿地下道2之坡道2a行駛之狀態之感測器。作為坡道偵測感測器14，使用例如相機、傾斜感測器、車速感測器及加速度感測器等。坡道偵測感測器14構成偵測工業車輛3是否為沿坡道2a上坡之狀態之上坡偵測部。再者，作為偵測工業車輛3是否為沿坡道2a行駛之狀態之方法，亦可使用例如SLAM(simultaneous localization and mapping，同步定位與地圖構建)等自我位置推測技術來推測工業車輛3之當前位置。The accelerator sensor 12 is a sensor that detects the operation amount of the accelerator. The ramp detection sensor 14 is a sensor that detects whether the industrial vehicle 3 is running along the ramp 2a of the underpass 2 or not. As the slope detection sensor 14, for example, a camera, a tilt sensor, a vehicle speed sensor, an acceleration sensor, etc. are used. The slope detection sensor 14 constitutes an upward slope detection unit that detects whether the industrial vehicle 3 is uphill along the slope 2a. Furthermore, as a method of detecting whether the industrial vehicle 3 is driving along the ramp 2a, it is also possible to use self-position estimation techniques such as SLAM (simultaneous localization and mapping) to estimate the current state of the industrial vehicle 3 Location.

ECU15由CPU(Central Processing Unit，中央處理單元)、RAM (Random Access Memory，隨機存取記憶體)、ROM(Read Only Memory，唯讀記憶體)及輸入輸出介面等構成。ECU15獲取加速器感測器12及坡道偵測感測器14等之檢測值，並對該檢測值進行特定處理而控制電動馬達8及馬達驅動器9。ECU15具有電壓偵測部13、驅動控制部16、再生控制部17、充電控制部18、車輛資訊發送部19。The ECU 15 is composed of a CPU (Central Processing Unit, Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and input and output interfaces. The ECU 15 obtains the detection values of the accelerator sensor 12 and the slope detection sensor 14, etc., and performs specific processing on the detection values to control the electric motor 8 and the motor driver 9. The ECU 15 has a voltage detection unit 13, a drive control unit 16, a regeneration control unit 17, a charging control unit 18, and a vehicle information transmission unit 19.

電壓偵測部13偵測蓄電池7之電壓值。電壓偵測部13構成對蓄電池7之充電量進行偵測之充電偵測部。The voltage detecting unit 13 detects the voltage value of the battery 7. The voltage detection unit 13 constitutes a charge detection unit that detects the charge amount of the storage battery 7.

當藉由加速器感測器12檢測出加速器之操作(加速器開啟)時，驅動控制部16以根據加速器之操作量來使驅動輪3a旋轉之方式，藉由馬達驅動器9控制電動馬達8。When the operation of the accelerator (accelerator on) is detected by the accelerator sensor 12, the drive control unit 16 controls the electric motor 8 through the motor driver 9 by rotating the driving wheel 3a according to the operation amount of the accelerator.

當藉由加速器感測器12檢測出加速器之操作解除(加速器關閉)時，再生控制部17以供給藉由再生煞車而從電動馬達8產生之電力(再生電力)之方式控制馬達驅動器9。When the accelerator sensor 12 detects the release of the accelerator operation (accelerator off), the regeneration control unit 17 controls the motor driver 9 by supplying electric power (regenerative electric power) generated from the electric motor 8 by regenerative braking.

圖3係表示藉由再生控制部17執行之再生控制處理之步驟詳情之流程圖。圖3中，首先再生控制部17獲取加速器感測器12之檢測值(步驟S101)。然後，再生控制部17根據加速器感測器12之檢測值，判斷加速器之操作是否解除，即加速器是否關閉(步驟S102)。再生控制部17於判斷出加速器之操作未被解除時，再次執行上述步驟S101。FIG. 3 is a flowchart showing the details of the steps of the regeneration control process executed by the regeneration control unit 17. In FIG. 3, first, the regeneration control unit 17 acquires the detection value of the accelerator sensor 12 (step S101). Then, the regeneration control unit 17 judges whether the operation of the accelerator is released, that is, whether the accelerator is closed based on the detection value of the accelerator sensor 12 (step S102). When the regeneration control unit 17 determines that the operation of the accelerator has not been released, the above step S101 is executed again.

再生控制部17於判斷出加速器之操作已被解除時，獲取坡道偵測感測器14之檢測值(步驟S103)。然後，再生控制部17根據坡道偵測感測器14之檢測值，判斷工業車輛3是否為沿地下道2之坡道2a下坡之狀態，即工業車輛3是否為沿下坡行駛之狀態(步驟S104)。When the regeneration control unit 17 determines that the operation of the accelerator has been released, it acquires the detection value of the slope detection sensor 14 (step S103). Then, the regeneration control unit 17 judges whether the industrial vehicle 3 is downhill along the ramp 2a of the underpass 2, based on the detection value of the slope detection sensor 14, that is, whether the industrial vehicle 3 is running downhill ( Step S104).

再生控制部17於判斷出工業車輛3為沿坡道2a下坡之狀態時，獲取藉由電壓偵測部13偵測到之蓄電池7之電壓值(步驟S105)。然後，再生控制部17根據所獲取之蓄電池7之電壓值，判斷蓄電池7是否為充滿電之狀態(步驟S106)。When the regeneration control unit 17 determines that the industrial vehicle 3 is downhill along the ramp 2a, it acquires the voltage value of the storage battery 7 detected by the voltage detection unit 13 (step S105). Then, the regeneration control unit 17 determines whether the battery 7 is in a fully charged state based on the acquired voltage value of the battery 7 (step S106).

再生控制部17於判斷出蓄電池7並非充滿電之狀態時，以將藉由再生煞車而從電動馬達8產生之再生電力充電至蓄電池7中之方式控制馬達驅動器9(步驟S107)。然後，再生控制部17再次執行上述步驟S101。When the regenerative control unit 17 determines that the battery 7 is not fully charged, it controls the motor driver 9 to charge the regenerative power generated from the electric motor 8 by regenerative braking into the battery 7 (step S107). Then, the regeneration control unit 17 executes the above-mentioned step S101 again.

再生控制部17於判斷出蓄電池7為充滿電之狀態時，以將藉由再生煞車而從電動馬達8產生之再生電力輸送到送電器10之方式控制馬達驅動器9(步驟S108)。然後，再生控制部17再次執行上述步驟S101。When the regenerative control unit 17 determines that the battery 7 is fully charged, it controls the motor driver 9 to transmit the regenerative power generated from the electric motor 8 by regenerative braking to the power transmitter 10 (step S108). Then, the regeneration control unit 17 executes the above-mentioned step S101 again.

又，再生控制部17於步驟S104中判斷出工業車輛3並非沿坡道2a下坡之狀態時，以將藉由再生煞車而從電動馬達8產生之再生電力充電至蓄電池7中之方式控制馬達驅動器9(步驟S107)。然後，再生控制部17再次執行上述步驟S101。In addition, when the regeneration control unit 17 determines in step S104 that the industrial vehicle 3 is not downhill along the ramp 2a, it controls the motor by charging the regenerative power generated from the electric motor 8 by regenerative braking into the battery 7. Drive 9 (step S107). Then, the regeneration control unit 17 executes the above-mentioned step S101 again.

返回至圖2，充電控制部18當藉由坡道偵測感測器14檢測出工業車輛3為沿地下道2之坡道2a上坡之狀態時，以能夠將由受電器11接收之電力充電至蓄電池7之方式控制馬達驅動器9。Returning to FIG. 2, when the charging control unit 18 detects that the industrial vehicle 3 is uphill along the ramp 2a of the underpass 2 through the ramp detection sensor 14, it can charge the power received by the power receiver 11 to The battery 7 controls the motor driver 9.

車輛資訊發送部19獲取藉由電壓偵測部13偵測到之蓄電池7之電壓值及坡道偵測感測器14之檢測值，並將這些值作為車輛資訊以無線等方式發送到送受電裝置5之控制器23(後述)。The vehicle information transmission unit 19 obtains the voltage value of the battery 7 detected by the voltage detection unit 13 and the detection value of the slope detection sensor 14, and sends these values wirelessly as vehicle information to the power transmission and reception. The controller 23 of the device 5 (described later).

送受電裝置5具有受電器20、送電器21、切換部22、控制器23。The power transmitting and receiving device 5 includes a power receiver 20, a power transmitter 21, a switching unit 22, and a controller 23.

受電器20係行駛路側受電部，接收從工業車輛3之行駛單元4之送電器10輸送之電力。受電器20例如係具有受電線圈之電磁感應式受電器。受電器20以非接觸方式接收來自送電器10之電力。The power receiver 20 is a traveling roadside power receiver, and receives the power transmitted from the power transmitter 10 of the traveling unit 4 of the industrial vehicle 3. The power receiver 20 is, for example, an electromagnetic induction power receiver having a power receiving coil. The power receiver 20 receives power from the transmitter 10 in a non-contact manner.

送電器21係行駛路側送電部，輸送儲存於蓄電裝置6中之電力。送電器21例如係具有送電線圈之電磁感應式送電器。送電器21以非接觸方式輸送儲存於蓄電裝置6中之電力。The power transmitter 21 is a power transmission unit on the traveling road side, and transmits the electric power stored in the power storage device 6. The power transmitter 21 is, for example, an electromagnetic induction type power transmitter having a power transmission coil. The power transmitter 21 transmits the electric power stored in the power storage device 6 in a non-contact manner.

切換部22進行利用受電器20之受電動作與利用送電器21之送電動作之間之切換。The switching unit 22 switches between the power receiving operation using the power receiver 20 and the power transmitting operation using the power transmitter 21.

控制器23由CPU、RAM、ROM及輸入輸出介面等構成。控制器23藉由無線等方式接收獲取從行駛單元4之車輛資訊發送部19發送之車輛資訊，並對車輛資訊進行特定處理來控制切換部22。The controller 23 is composed of a CPU, RAM, ROM, an input/output interface, and the like. The controller 23 receives and acquires the vehicle information transmitted from the vehicle information transmission unit 19 of the traveling unit 4 by wireless or other means, and performs specific processing on the vehicle information to control the switching unit 22.

圖4係表示藉由控制器23執行之控制處理之步驟詳情之流程圖。圖4中，首先控制器23獲取來自車輛資訊發送部19之車輛資訊(步驟S111)。然後，控制器23根據車輛資訊，判斷工業車輛3是否為沿地下道2之坡道2a上坡之狀態，即工業車輛3是否為沿上坡行駛之狀態(步驟S112)。4 is a flowchart showing the details of the steps of the control process executed by the controller 23. In FIG. 4, first, the controller 23 acquires the vehicle information from the vehicle information transmitting unit 19 (step S111). Then, the controller 23 determines, based on the vehicle information, whether the industrial vehicle 3 is in the state of uphill along the ramp 2a of the underpass 2, that is, whether the industrial vehicle 3 is in the state of traveling uphill (step S112).

控制器23於判斷出工業車輛3為沿坡道2a上坡之狀態時，根據車輛資訊，判斷工業車輛3之蓄電池7之充電量是否為預先規定之規定值以下(步驟S113)。When the controller 23 determines that the industrial vehicle 3 is uphill along the ramp 2a, it determines whether the charging capacity of the battery 7 of the industrial vehicle 3 is less than a predetermined value based on the vehicle information (step S113).

控制器23於判斷出蓄電池7之充電量為規定值以下時，以藉由送電器21輸送儲存於蓄電裝置6中之電力之方式控制切換部22(步驟S114)。然後，控制器23再次執行上述步驟S111。When the controller 23 determines that the charge capacity of the storage battery 7 is less than or equal to the predetermined value, the controller 23 controls the switching unit 22 to transmit the electric power stored in the power storage device 6 through the transmitter 21 (step S114). Then, the controller 23 executes the above-mentioned step S111 again.

控制器23於步驟S112中判斷出工業車輛3並非沿坡道2a上坡之狀態時，或步驟S113中判斷出蓄電池7之充電量並非規定值以下時，以將由受電器20接收之電力供給至蓄電裝置6之方式控制切換部22(步驟S115)。然後，控制器23再次執行上述步驟S111。When the controller 23 determines in step S112 that the industrial vehicle 3 is not uphill along the ramp 2a, or when it determines in step S113 that the charging capacity of the battery 7 is not less than the specified value, it supplies the power received by the power receiver 20 to The mode control switching unit 22 of the power storage device 6 (step S115). Then, the controller 23 executes the above-mentioned step S111 again.

返回至圖2，蓄電裝置6與多個送受電裝置5之切換部22連接。蓄電裝置6儲存由送受電裝置5之受電器20接收之電力。Returning to FIG. 2, the power storage device 6 is connected to the switching unit 22 of the plurality of power transmission and reception devices 5. The power storage device 6 stores the power received by the power receiver 20 of the power transmitting and receiving device 5.

以上，馬達驅動器9、再生控制部17、充電控制部18、車輛資訊發送部19、切換部22及控制器23構成電力供給控制部，進行將儲存於蓄電裝置6中之電力經由送電器21及受電器11供給至蓄電池7之控制。As described above, the motor driver 9, the regeneration control unit 17, the charging control unit 18, the vehicle information transmission unit 19, the switching unit 22, and the controller 23 constitute the power supply control unit, which performs the transmission of the electric power stored in the power storage device 6 through the power transmitter 21 and The power receiver 11 is supplied to the control of the battery 7.

以上之再生煞車系統1中，於工業車輛3沿地下道2之坡道2a下坡時解除加速器之操作，由此藉由驅動輪3a之旋轉而使電動馬達8作為發電機動作。因此，對工業車輛3施加再生煞車，藉由再生煞車而從電動馬達8產生之再生電力經由馬達驅動器9充電至蓄電池7中。In the above regenerative braking system 1, the operation of the accelerator is released when the industrial vehicle 3 descends along the ramp 2a of the underpass 2, whereby the electric motor 8 is operated as a generator by the rotation of the driving wheel 3a. Therefore, regenerative braking is applied to the industrial vehicle 3, and the regenerative power generated from the electric motor 8 by the regenerative braking is charged into the battery 7 via the motor driver 9.

此時，當蓄電池7為充滿電之狀態時，蓄電池7不能全部接收再生電力。因此，再生電力經由設置於坡道2a上之送受電裝置5供給至蓄電裝置6中。具體來說，再生電力經由馬達驅動器9送到送電器10中，並由送電器10輸送出去。然後，來自送電器10之再生電力由送受電裝置5之受電器20接收，並經由切換部22儲存到蓄電裝置6中。At this time, when the battery 7 is in a fully charged state, the battery 7 cannot receive all the regenerative power. Therefore, the regenerative power is supplied to the power storage device 6 via the power transmission and reception device 5 installed on the ramp 2a. Specifically, the regenerative power is sent to the power transmitter 10 via the motor driver 9 and is sent out by the power transmitter 10. Then, the regenerative power from the power transmitter 10 is received by the power receiver 20 of the power transmitting and receiving device 5 and stored in the power storage device 6 via the switching unit 22.

儲存於蓄電裝置6中之電力經由送受電裝置5供給至沿地下道2之坡道2a上坡之其他工業車輛3。具體來說，儲存於蓄電裝置6中之電力於送受電裝置5中經由切換部22送到送電器21，並由送電器21輸送出去。然後，來自送電器21之電力由其他工業車輛3之受電器11受電，並經由馬達驅動器9充電至蓄電池7中。The electric power stored in the power storage device 6 is supplied via the power transmission and reception device 5 to other industrial vehicles 3 that are uphill along the ramp 2 a of the underpass 2. Specifically, the electric power stored in the power storage device 6 is sent to the power transmitter 21 via the switching unit 22 in the power transmission and reception device 5, and is sent out by the power transmitter 21. Then, the power from the power transmitter 21 is received by the power receiver 11 of the other industrial vehicle 3 and charged into the storage battery 7 via the motor driver 9.

如上所述，本實施方式中，於工業車輛3沿坡道2a下坡時電動馬達8作為發電機動作，以此對工業車輛3施加再生煞車，藉由再生煞車而從電動馬達8產生之電力被輸送到送電器10中。然後，來自送電器10之電力由送受電裝置5之受電器20接收並儲存於蓄電裝置6中。儲存於蓄電裝置6中之電力被供給至其他工業車輛3。因此，藉由再生煞車所產生之能量中以熱之形式浪費掉之那部分能量，被以電力之形式回收而用於其他工業車輛3。由此，工業車輛3沿下坡行駛時回收之藉由再生煞車所產生之能量之回收效率提高。其結果，可提高工業車輛3之運轉時間。又，可抑制用以對工業車輛3之蓄電池7進行充電之電力成本。As described above, in the present embodiment, when the industrial vehicle 3 descends the slope 2a, the electric motor 8 operates as a generator to apply regenerative braking to the industrial vehicle 3, and the electric power generated from the electric motor 8 is generated by the regenerative braking. It is delivered to the transmitter 10. Then, the power from the power transmitter 10 is received by the power receiver 20 of the power transmitting and receiving device 5 and stored in the power storage device 6. The electric power stored in the power storage device 6 is supplied to other industrial vehicles 3. Therefore, the part of the energy wasted in the form of heat from the energy generated by the regenerative braking is recovered in the form of electricity and used in other industrial vehicles 3. As a result, the recovery efficiency of the energy generated by the regenerative braking that is recovered when the industrial vehicle 3 travels downhill is improved. As a result, the operating time of the industrial vehicle 3 can be increased. In addition, the power cost for charging the storage battery 7 of the industrial vehicle 3 can be suppressed.

又，本實施方式中，儲存於蓄電裝置6中之電力經由送受電裝置5之送電器21及工業車輛3之受電器11供給至蓄電池7中。因此，藉由再生煞車所產生之能量之回收效率確實得到提高。Furthermore, in this embodiment, the electric power stored in the power storage device 6 is supplied to the storage battery 7 via the power transmitter 21 of the power transmission and reception device 5 and the power receiver 11 of the industrial vehicle 3. Therefore, the recovery efficiency of energy generated by regenerative braking is indeed improved.

又，本實施方式中，於工業車輛3沿坡道2a上坡時，將儲存於蓄電裝置6中之電力經由送電器21及受電器11供給至蓄電池7中。與工業車輛3沿平坦之行駛路行駛時相比，於工業車輛3沿上坡行駛時，電動馬達8需要較大之電力。因此，藉由於工業車輛3沿上坡行駛時，將儲存於蓄電裝置6中之電力供給至該工業車輛3之蓄電池7中，可有效利用藉由再生煞車而產生之電力。In addition, in this embodiment, when the industrial vehicle 3 is going uphill along the ramp 2 a, the electric power stored in the power storage device 6 is supplied to the storage battery 7 via the transmitter 21 and the receiver 11. Compared with when the industrial vehicle 3 travels along a flat road, when the industrial vehicle 3 travels on an uphill slope, the electric motor 8 requires a larger amount of power. Therefore, when the industrial vehicle 3 runs uphill, the electric power stored in the power storage device 6 is supplied to the battery 7 of the industrial vehicle 3, so that the electric power generated by regenerative braking can be effectively used.

又，本實施方式中，於蓄電池7之充電量為規定值以下時，將儲存於蓄電裝置6中之電力經由送電器21及受電器11充電至蓄電池7中。因此，將儲存於蓄電裝置6中之電力供給至充電量較少之蓄電池7中。因此，可更有效地利用藉由再生煞車而產生之電力。In addition, in this embodiment, when the charge capacity of the battery 7 is equal to or less than a predetermined value, the electric power stored in the power storage device 6 is charged to the battery 7 via the transmitter 21 and the receiver 11. Therefore, the electric power stored in the power storage device 6 is supplied to the storage battery 7 with a relatively small charge capacity. Therefore, the electricity generated by regenerative braking can be used more effectively.

圖5係表示本發明之第2實施方式之再生煞車系統之概略構成圖。圖6係圖5所示之再生煞車系統之方塊圖。圖5及圖6中，本實施方式之再生煞車系統1A具備：行駛單元4A，其搭載於工業車輛3上；多個受電裝置30，其等設置於地下道2之坡道2a上；上述蓄電裝置6；及充電站31。Fig. 5 is a schematic configuration diagram showing a regenerative braking system according to a second embodiment of the present invention. Fig. 6 is a block diagram of the regenerative braking system shown in Fig. 5. In FIGS. 5 and 6, the regenerative braking system 1A of this embodiment includes: a travel unit 4A, which is mounted on an industrial vehicle 3; a plurality of power receiving devices 30, which are installed on the ramp 2a of the underpass 2; and the above-mentioned power storage device 6; and charging station 31.

行駛單元4A具備蓄電池7、電動馬達8、馬達驅動器9、送電器10、加速器感測器12、坡道偵測感測器14、ECU15A。行駛單元4A不具備上述第1實施方式中之受電器11。The travel unit 4A includes a battery 7, an electric motor 8, a motor driver 9, a power transmitter 10, an accelerator sensor 12, a hill detection sensor 14, and an ECU 15A. The travel unit 4A does not include the power receiver 11 in the first embodiment described above.

ECU15A具有電壓偵測部13、驅動控制部16、再生控制部17。ECU15A不具有上述第1實施方式中之充電控制部18及車輛資訊發送部19。The ECU 15A has a voltage detection unit 13, a drive control unit 16, and a regeneration control unit 17. The ECU 15A does not include the charging control unit 18 and the vehicle information transmitting unit 19 in the first embodiment described above.

受電裝置30與蓄電裝置6連接。受電裝置30具有受電器20。受電裝置30不具有上述第1實施方式中之送電器21及切換部22。因此，於工業車輛3中藉由再生煞車而產生之再生電力經由受電裝置30供給至蓄電裝置6中。但，不會將儲存於蓄電裝置6中之電力經由受電裝置30供給至工業車輛3之蓄電池7中。再者，受電裝置30亦可具有控制器。The power receiving device 30 is connected to the power storage device 6. The power receiving device 30 has a power receiver 20. The power receiving device 30 does not have the power transmitter 21 and the switching unit 22 in the first embodiment described above. Therefore, the regenerative power generated by regenerative braking in the industrial vehicle 3 is supplied to the power storage device 6 via the power receiving device 30. However, the electric power stored in the power storage device 6 is not supplied to the storage battery 7 of the industrial vehicle 3 via the power receiving device 30. Furthermore, the power receiving device 30 may also have a controller.

充電站31係設置於工業車輛3行駛之行駛路A上之充電場。充電站31與蓄電裝置6連接。充電站31具有：充電器32，其使用儲存於蓄電裝置6中之電力對工業車輛3之蓄電池7進行充電；及充電按鈕33，其用以指示利用該充電器32對蓄電池7充電。The charging station 31 is a charging field set on the road A on which the industrial vehicle 3 travels. The charging station 31 is connected to the power storage device 6. The charging station 31 has a charger 32 that uses the electric power stored in the power storage device 6 to charge the battery 7 of the industrial vehicle 3 and a charging button 33 that is used to instruct the charger 32 to charge the battery 7.

當於充電站31中對工業車輛3之蓄電池7進行充電時，於以蓄電池纜線連接了蓄電池7與充電器32之狀態下，對充電按鈕33進行接通操作。如此一來，將儲存於蓄電裝置6中之電力經由充電器32供給至蓄電池7中，以此對蓄電池7進行充電。When the battery 7 of the industrial vehicle 3 is charged in the charging station 31, the charging button 33 is turned on in a state where the battery 7 and the charger 32 are connected by a battery cable. In this way, the electric power stored in the power storage device 6 is supplied to the storage battery 7 via the charger 32 to charge the storage battery 7.

如上所述，本實施方式中，將儲存於蓄電裝置6中之電力經由充電站31供給至工業車輛3之蓄電池7中，以此對蓄電池7進行充電。藉由設置該種充電站31，不再需要上述第1實施方式中之受電器11及送電器21，因此可簡化再生煞車系統1A。As described above, in this embodiment, the electric power stored in the power storage device 6 is supplied to the storage battery 7 of the industrial vehicle 3 via the charging station 31 to charge the storage battery 7. By providing this kind of charging station 31, the power receiver 11 and the power transmitter 21 in the first embodiment described above are no longer needed, so the regenerative braking system 1A can be simplified.

再者，本發明並不限定於上述實施方式。例如上述第1實施方式中，再生煞車系統1具備具有受電器20、送電器21、切換部22及控制器23之送受電裝置5，但並不特別限定於該種形態。再生煞車系統1亦可具備具有受電線圈之受電裝置、用於受電裝置之控制器、具有送電線圈之送電裝置、及用於送電裝置之控制器。In addition, the present invention is not limited to the above-mentioned embodiment. For example, in the first embodiment described above, the regenerative braking system 1 includes the power transmitting and receiving device 5 having the power receiver 20, the power transmitter 21, the switching unit 22, and the controller 23, but it is not particularly limited to this form. The regenerative braking system 1 may also include a power receiving device with a power receiving coil, a controller for the power receiving device, a power transmitting device with a power transmitting coil, and a controller for the power transmitting device.

又，上述第1實施方式中，於工業車輛3沿上坡行駛時，將儲存於蓄電裝置6中之電力供給至該工業車輛3之蓄電池7中，但並不特別限定於該種形態，於工業車輛3沿平坦之行駛路行駛時，亦可將儲存於蓄電裝置6中之電力供給至該工業車輛3。該情形下，於平坦之行駛路上設置有送受電裝置5。Furthermore, in the first embodiment described above, when the industrial vehicle 3 is traveling uphill, the electric power stored in the power storage device 6 is supplied to the battery 7 of the industrial vehicle 3. However, it is not particularly limited to this form. When the industrial vehicle 3 travels along a flat road, the electric power stored in the power storage device 6 can also be supplied to the industrial vehicle 3. In this case, a power transmitting and receiving device 5 is installed on a flat road.

又，上述實施方式中，工業車輛3之送電器10以非接觸方式輸送藉由再生煞車而產生之電力，送受電裝置5之受電器20以非接觸方式接收來自送電器10之電力，但作為送電器10及受電器20來說，並不特別限定於該種非接觸式，亦可為接觸式。接觸式之送電器10例如為安裝於工業車輛3下部之金屬滾輪。接觸式之受電器20例如為金屬軌道，設置於行駛路A上，與金屬滾輪接觸。In addition, in the above-mentioned embodiment, the transmitter 10 of the industrial vehicle 3 transmits the electric power generated by regenerative braking in a non-contact manner, and the receiver 20 of the power transmitting and receiving device 5 receives the electric power from the transmitter 10 in a non-contact manner, but as The transmitter 10 and the receiver 20 are not particularly limited to the non-contact type, and may be a contact type. The contact type power transmitter 10 is, for example, a metal roller mounted on the lower part of the industrial vehicle 3. The contact type power receiver 20 is, for example, a metal track, which is arranged on the travel road A and is in contact with the metal roller.

又，上述實施方式中，偵測工業車輛3是否為沿地下道2之坡道2a行駛之狀態之坡道偵測感測器14搭載於工業車輛3上，但並不特別限定於該種形態，坡道偵測感測器14亦可設置於坡道2a上。作為於該情形下使用之坡道偵測感測器，列舉例如接觸感測器、紅外線感測器等。Furthermore, in the above embodiment, the ramp detection sensor 14 for detecting whether the industrial vehicle 3 is running along the ramp 2a of the underpass 2 is mounted on the industrial vehicle 3, but it is not particularly limited to this form. The ramp detection sensor 14 can also be arranged on the ramp 2a. As the slope detection sensor used in this situation, for example, a touch sensor, an infrared sensor, etc. are mentioned.

又，上述實施方式係於工業車輛3沿下坡行駛時將工業車輛3之運動能量以電能之形式加以回收而利用再生煞車之系統，但本發明除應用於上述工業車輛3以外，亦能夠應用於如下情形，即例如於卡車等車輛沿下坡行駛時，將車輛之運動能量以電能之形式加以回收而利用再生煞車。In addition, the above-mentioned embodiment is a system that recovers the kinetic energy of the industrial vehicle 3 in the form of electric energy when the industrial vehicle 3 is running downhill to utilize regenerative braking. However, the present invention can also be applied in addition to the above-mentioned industrial vehicle 3 In the following situation, for example, when a vehicle such as a truck is driving down a slope, the vehicle's kinetic energy is recovered in the form of electrical energy to use regenerative braking.

1:再生煞車系統 1A:再生煞車系統 2:地下道 2a:坡道 3:工業車輛(車輛) 3a:驅動輪 4:行駛單元 4A:行駛單元 5:送受電裝置 6:蓄電裝置 7:蓄電池 8:電動馬達 9:馬達驅動器(電力供給控制部) 10:送電器(車輛側送電部) 11:受電器(車輛側受電部) 12:加速器感測器 13:電壓偵測部(充電偵測部) 14:坡道偵測感測器(上坡偵測部) 15:ECU 15A:ECU 16:驅動控制部 17:再生控制部(電力供給控制部) 18:充電控制部(電力供給控制部) 19:車輛資訊發送部(電力供給控制部) 20:受電器(行駛路側受電部) 21:送電器(行駛路側送電部) 22:切換部(電力供給控制部) 23:控制器(電力供給控制部) 30:受電裝置 31:充電站(充電場) 32:充電器 33:充電按鈕 A:行駛路1: Regenerative braking system 1A: Regenerative braking system 2: Underpass 2a: ramp 3: Industrial vehicles (vehicles) 3a: drive wheel 4: Driving unit 4A: Driving unit 5: Power transmitting and receiving device 6: Power storage device 7: battery 8: Electric motor 9: Motor driver (power supply control unit) 10: Power transmitter (power transmission department on the vehicle side) 11: Power receiver (vehicle side power receiver) 12: accelerator sensor 13: Voltage detection part (charge detection part) 14: Ramp detection sensor (uphill detection part) 15: ECU 15A: ECU 16: Drive control section 17: Regenerative control unit (power supply control unit) 18: Charging control unit (power supply control unit) 19: Vehicle Information Transmission Department (Power Supply Control Department) 20: Power receiver (power receiving part on the driving road side) 21: Power transmitter (power transmission department on the driving road side) 22: Switching section (power supply control section) 23: Controller (Power Supply Control Unit) 30: Power receiving device 31: Charging station (charging field) 32: Charger 33: charge button A: Driving road

圖1係表示本發明之第1實施方式之再生煞車系統之概略構成圖。 圖2係圖1所示之再生煞車系統之方塊圖。 圖3係表示藉由圖2所示之再生控制部執行之再生控制處理之步驟詳情之流程圖。 圖4係表示藉由圖2所示之控制器執行之控制處理之步驟詳情之流程圖。 圖5係表示本發明之第2實施方式之再生煞車系統之概略構成圖。 圖6係圖5所示之再生煞車系統之方塊圖。Fig. 1 is a schematic configuration diagram showing a regenerative braking system according to a first embodiment of the present invention. Figure 2 is a block diagram of the regenerative braking system shown in Figure 1. FIG. 3 is a flowchart showing the details of the steps of the regeneration control process executed by the regeneration control unit shown in FIG. 2. FIG. 4 is a flowchart showing the details of the steps of the control process executed by the controller shown in FIG. 2. Fig. 5 is a schematic configuration diagram showing a regenerative braking system according to a second embodiment of the present invention. Fig. 6 is a block diagram of the regenerative braking system shown in Fig. 5.

1:再生煞車系統 1: Regenerative braking system

2:地下道 2: Underpass

2a:坡道 2a: ramp

3:工業車輛(車輛) 3: Industrial vehicles (vehicles)

3a:驅動輪 3a: drive wheel

4:行駛單元 4: Driving unit

5:送受電裝置 5: Power transmitting and receiving device

6:蓄電裝置 6: Power storage device

7:蓄電池 7: battery

8:電動馬達 8: Electric motor

9:馬達驅動器(電力供給控制部) 9: Motor driver (power supply control unit)

10:送電器(車輛側送電部) 10: Power transmitter (power transmission department on the vehicle side)

11:受電器(車輛側受電部) 11: Power receiver (vehicle side power receiver)

12:加速器感測器 12: accelerator sensor

13:電壓偵測部(充電偵測部) 13: Voltage detection part (charge detection part)

14:坡道偵測感測器(上坡偵測部) 14: Ramp detection sensor (uphill detection part)

15:ECU 15: ECU

16:驅動控制部 16: Drive control section

17:再生控制部(電力供給控制部) 17: Regenerative control unit (power supply control unit)

18:充電控制部(電力供給控制部) 18: Charging control unit (power supply control unit)

19:車輛資訊發送部(電力供給控制部) 19: Vehicle Information Transmission Department (Power Supply Control Department)

20:受電器(行駛路側受電部) 20: Power receiver (power receiving part on the driving road side)

21:送電器(行駛路側送電部) 21: Power transmitter (power transmission department on the driving road side)

22:切換部(電力供給控制部) 22: Switching section (power supply control section)

23:控制器(電力供給控制部) 23: Controller (Power Supply Control Unit)

Claims (6)

一種再生煞車系統，其係利用再生煞車者，該再生煞車係藉由由使車輛沿行駛路行駛之電動馬達作為發電機動作而將上述車輛之運動能量以電能形式加以回收而使上述車輛制動，且該再生煞車系統具備： 蓄電池，其搭載於上述車輛上； 車輛側送電部，其搭載於上述車輛上，輸送上述車輛沿上述行駛路之坡道下坡時藉由上述再生煞車而從上述電動馬達產生之電力； 行駛路側受電部，其設置於上述坡道上，接收從上述車輛側送電部輸送之電力；及 蓄電裝置，其與上述行駛路側受電部連接，儲存由上述行駛路側受電部接收之電力。A regenerative braking system that utilizes regenerative braking. The regenerative braking system uses an electric motor running along a road as a generator to recover the movement energy of the vehicle in the form of electrical energy to brake the vehicle, And the regenerative braking system has: Storage battery, which is mounted on the above-mentioned vehicle; A vehicle-side power transmission unit, which is mounted on the vehicle, and transmits the electric power generated from the electric motor by the regenerative braking when the vehicle descends on the slope of the driving road; The power receiving unit on the road side, which is installed on the above-mentioned ramp, and receives the electric power transmitted from the power transmitting unit on the vehicle side; and The power storage device is connected to the traveling road-side power receiving unit, and stores electric power received by the traveling road-side power receiving unit. 如請求項1之再生煞車系統，其進而具備： 行駛路側送電部，其設置於上述行駛路上，並且與上述蓄電裝置連接，輸送儲存於上述蓄電裝置中之電力； 車輛側受電部，其搭載於上述車輛上，接收從上述行駛路側送電部輸送之電力；及 電力供給控制部，其進行將儲存於上述蓄電裝置中之電力經由上述行駛路側送電部及上述車輛側受電部供給至上述蓄電池之控制。For example, the regenerative braking system of claim 1, which further has: A power transmission unit on the traveling road side, which is installed on the traveling road and connected to the power storage device to transmit the electric power stored in the power storage device; The vehicle-side power receiving unit, which is mounted on the vehicle, and receives the power transmitted from the traveling road-side power transmission unit; and An electric power supply control unit that performs control of supplying the electric power stored in the power storage device to the storage battery via the traveling road-side power transmitting unit and the vehicle-side power receiving unit. 如請求項2之再生煞車系統，其進而具備： 上坡偵測部，其偵測上述車輛是否為沿上述坡道上坡之狀態； 上述行駛路側送電部設置於上述坡道上， 當藉由上述上坡偵測部偵測到上述車輛為沿上述坡道上坡之狀態時，上述電力供給控制部進行將儲存於上述蓄電裝置中之電力經由上述行駛路側送電部及上述車輛側受電部供給至上述蓄電池之上述控制。Such as the regenerative braking system of claim 2, which further has: Uphill detection unit, which detects whether the above-mentioned vehicle is uphill along the above-mentioned slope; The above-mentioned driving road side power transmission unit is installed on the above-mentioned ramp, When the uphill detection unit detects that the vehicle is uphill along the slope, the power supply control unit receives power stored in the power storage device through the road-side power transmission unit and the vehicle side. The part is supplied to the above-mentioned control of the above-mentioned battery. 如請求項2或3之再生煞車系統，其進而具備： 充電偵測部，其偵測上述蓄電池之充電量； 於藉由上述充電偵測部偵測到之上述蓄電池之充電量為規定值以下時，上述電力供給控制部進行將儲存於上述蓄電裝置中之電力經由上述行駛路側送電部及上述車輛側受電部供給至上述蓄電池中之上述控制。Such as the regenerative braking system of claim 2 or 3, which further has: The charging detection unit detects the charging capacity of the above-mentioned battery; When the charge amount of the storage battery detected by the charging detection unit is below a predetermined value, the power supply control unit performs the process of passing the electric power stored in the power storage device through the traveling road-side power transmitting unit and the vehicle-side power receiving unit The above-mentioned control supplied to the above-mentioned battery. 如請求項1至3中任一項之再生煞車系統，其進而具備： 充電場，其設置於上述行駛路上，並且與上述蓄電裝置連接，使用儲存於上述蓄電裝置中之電力對上述蓄電池進行充電。Such as the regenerative braking system of any one of claims 1 to 3, which further has: A charging field is installed on the traveling road and connected to the power storage device, and uses the electric power stored in the power storage device to charge the storage battery. 如請求項4之再生煞車系統，其進而具備： 充電場，其設置於上述行駛路上，並且與上述蓄電裝置連接，使用儲存於上述蓄電裝置中之電力對上述蓄電池進行充電。Such as the regenerative braking system of claim 4, which further has: A charging field is installed on the traveling road and connected to the power storage device, and uses the electric power stored in the power storage device to charge the storage battery.
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