JPH02269404A - Charging area supervisor for operatorless vehicle system - Google Patents

Abstract

PURPOSE:To easily uniformly charge operatorless vehicles by uniformly charging the vehicle which is required to be uniformly charged of the vehicles which reach a charging area, and normally charging the other vehicles. CONSTITUTION:When a reaches operatorless vehicle 2 is required to be uniformly charged, a charging are controller 25 outputs a start enabling signal for starting the vehicle 2 to a component mounting area through a charging optical communication unit 18 to start the vehicle 2, guides the vehicle 2 to a uniformly charging station, and uniformly charges it by a charger 11A for a predetermined period of time. In case that the vehicle 2 may be normally charged, an entrance enabling signal and a destination charging station information are output to the vehicle 2 through an inlet optical communication unit 19 to guide the vehicle 2 to a normal charging station and normally charges it by chargers 7A-11A. Thus, the vehicle 2 is easily uniformly charged.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a charging area management device for an unmanned vehicle system equipped with a battery as a driving power source. [Prior Art and Problems to be Solved by the Invention] Conventionally, as an unmanned vehicle system used in place of a belt conveyor in assembly lines in factories, there is a parts assembly line shown in FIG. 7, for example. The plurality of unmanned vehicles 2 on this parts assembly line 1 are equipped with batteries as a driving power source, and travel along a predetermined travel route. That is, each unmanned vehicle 2 detects a direction instruction signal and a speed instruction signal flowing through a guide wire 3 laid on the floor,
Based on the detection signal, a motor (not shown) is driven to travel in the direction of the arrow. Parts assembly line 1 has charging area 41 and parts loading area 5.
．． The areas 6 and the like with m are sequentially covered, and each unmanned vehicle 2 runs at a slow speed in the work areas such as the parts loading area 52 and the assembly area 6. As each unmanned vehicle 2 travels, parts loading area 5
Various parts are loaded onto the unmanned vehicle 2, and the various loaded parts are assembled in the assembly area 6, and the assembly of the parts is completed at the end point of the assembly area 6. and,
After the finished parts are unloaded between the assembly area 6 and the charging area 4, charging stations 7 to 1 in the charging area 4
At 0, the batteries of each unmanned vehicle 2 are normally charged for a short time. If the unmanned vehicle 2 is run a specified number of times on the assembly line 1 and only normal charging is performed in the charging area 4, the characteristics of the battery will become uneven and its lifespan will be shortened. An unmanned vehicle that requires this is removed from the assembly line 1 and uniformly charged by an equalizing charging device provided separately from the charging area 4. Therefore, in the conventional assembly line 1, there is a problem in that equal charging requires time and effort. This invention was made to solve the above problems, and its purpose is to provide a charging area management device for an unmanned vehicle system that can easily charge each unmanned vehicle equally. .

[Means to solve the problem]

In order to achieve the above object, a first invention includes a plurality of unmanned vehicles equipped with batteries as a driving power source and traveling along a predetermined travel route, a charging area provided in the middle of the travel route, A plurality of charging stations are installed in the charging area and are equipped with chargers that charge the batteries of each unmanned vehicle, and at least one of all the chargers is controlled for uniform charging while the other chargers are normally charged. The gist of the present invention is to provide a charging area management device for an unmanned vehicle system, which is equipped with a charging control means that performs normal charging or equal charging on unmanned vehicles that arrive at each charging station. Further, a second invention provides a plurality of unmanned vehicles equipped with a battery as a driving power source and traveling along a predetermined travel route, a charging area provided in the middle of the travel route, and a charging area provided in the charging area. and a plurality of charging stages equipped with chargers that charge the batteries of each unmanned vehicle, and at least one of all the chargers is controlled to switch between uniform charging and normal charging, and other chargers are controlled to switch between equal charging and normal charging. A charging area management device for an unmanned vehicle system, comprising a charging control means for controlling the unmanned vehicle for normal charging and causing the unmanned vehicles arriving at each charging station to perform normal charging or uniform charging. [Operation] Therefore, according to the first invention, among the unmanned vehicles that have arrived at the charging area, those unmanned vehicles that require uniform charging are uniformly charged, and the other unmanned vehicles are normally charged. Further, according to the second invention, only when the unmanned vehicle that has arrived at the charging area requires equal charging, the charger is switched to equal charging to perform equal charging, and in other cases, the charger is switched to equal charging. Since it is possible to perform normal charging by switching to normal charging, the charging area can be provided with a buffer function for unmanned vehicles, and it is possible to respond to changes in the workload of unmanned vehicles. Further, at the end of the workday, the chargers at all charging stations can be switched to uniform charging to uniformly charge all unmanned vehicles within the charging area.

[First Embodiment] Hereinafter, a first embodiment in which the first invention is embodied in a parts assembly line will be described in detail with reference to FIGS. 1 to 3. Note that the configuration of the parts assembly line is similar to the configuration of the conventional example shown in FIG. 7, so a description thereof will be omitted. As shown in FIG. 1, the charging area 4 is equipped with first to fourth normal charging stations 7 to 10 equipped with chargers 7A to IOA for normal charging, and a charger 11A for equal charging. One equalization charging station 11 is arranged. 1st. Between the third normal charging station 7.9 and the second.
Spin turn areas 1 are located between the fourth normal charging stations 8 and 10 and in front of the equal charging station 11, respectively.
2 is provided to cause the unmanned vehicle 2 to perform a spin turn in the spin turn area 12 when the unmanned vehicle 2 enters each charging station or departs from each charging station. 1st. A second charger? A control panel 13 is provided between A and 8A to collectively control chargers 7A to 11A of each charging station 7 to 11. Each charging station 7-1
Optical communication units l-14 to 18 for charging are arranged on one side of the charging station 1, and these optical communication units 14 to 18 detect the presence or absence of an unmanned vehicle 2 in each charging station 7 to 11, and
During the detection of charging station arrival detection signal SGI (
(see FIG. 2) is output to the control panel 13. Furthermore, an entrance optical communication unit 19 is provided on the entrance side of the charging area 4 (right side in FIG. 1), and the optical communication unit 19 communicates with the driver when the unmanned vehicle 2 arrives at the charging area 4 and enters the charging area 4. The charging area arrival detection signal SG2 is output to the control panel 13 while the arriving unmanned vehicle 2 is being detected. In addition, a reed switch 20 is provided on the exit side of the charging area 4 (on the left in FIG. 1), and detects the passage of an unmanned vehicle 2 that has finished charging and started from one of the charging stations. During detection, an unmanned vehicle passage detection signal SG3 is output to the control panel 13. FIG. 2 shows the electrical configuration of the charging area 4 management device and each unmanned vehicle 2 configured as described above. Each unmanned vehicle 2 includes a controller 2a and a communication unit 2b that communicates with the charging optical communication units 14 to 18 and the entrance optical communication unit 19. The controller 2a controls the guide wire 3 according to the built-in control program.
The running of the unmanned vehicle 2 is controlled based on the direction instruction signal and the speed instruction signal flowing through. In addition, when the unmanned vehicle 2 arrives at the charging area 4, the controller 2a receives machine number information of the unmanned vehicle 2 and information on the battery installed in the unmanned vehicle 2, such as battery voltage value, constant current discharge time, etc. The information such as the voltage value is transmitted to the entrance optical communication unit 19 via the communication unit 2b. The charging area controller 25 constitutes charging control means,
The controller 25 includes the charging optical communication unit 14.
~18. Entrance optical communication unit 19° reed switch 2
0 is connected. In addition, the charging area controller 25
The chargers 7A to 11A are connected to each of the chargers 7A to 11A. The charging area controller 25 needs to uniformly charge the battery of the unmanned vehicle 2 based on the battery information received by the entrance optical communication unit 19 when the unmanned vehicle 2 arrives at the charging area 4 according to the built-in control program. Determine whether or not. Furthermore, the charging area controller 25 determines the usage status of each station 7-11, that is, the unmanned vehicle 2, based on the charging station arrival detection signal S01 from the charging optical communication units 14-18 provided in each charging station 7-11. It is determined whether or not charging is in progress, and the charging time at the charging station in use is measured. Furthermore, the charging area controller 25 operates from the time when the unmanned vehicle 2 is no longer detected by each of the charging optical communication units 14 to 18 until the passage of the unmanned vehicle 2 is detected by the reed switch 20, or from the time when the unmanned vehicle 2 is detected by the optical communication unit 19 for entrance. During the period from when the unmanned vehicle 2 is no longer detected to when the arrival of the unmanned vehicle 2 to the charging stations 7 to 11 is detected by any of the charging optical communication units 14 to 18,
It is determined that there is a moving unmanned vehicle 2 in the charging area 4, and the start of another unmanned vehicle 2 from the charging stations 7 to 11 and the entry of the arriving unmanned vehicle 2 to the charging stations 7 to 11 are put on standby. When the unmanned vehicle 2 that has arrived at the charging area 4 requires equal charging, the charging area controller 25 sends an entry permission signal to the arriving unmanned vehicle 2 into the charging area 4 via the entrance optical communication unit 19. Information on the destination charging station (equal charging station 11) is output, the unmanned vehicle 2 is guided to the equal charging station 11, and the battery of the arriving unmanned vehicle 2 is uniformly charged for a predetermined time using the charger 11A. . Equal charging time is 4-8
The desired time is 4 hours in this example. Furthermore, when the arriving unmanned vehicle 2 requires equal charging, the charging area controller 25 determines whether the equalizing charging station 11 is in use and the charging time T is equal to or longer than the lower limit charging time To (in this embodiment, it is 3 hours). Sometimes,
A start permission signal for starting the unmanned vehicle 2 to the parts loading area 5 is outputted via the charging optical communication unit 18, and the unmanned vehicle 2 is started. Thereafter, the charging area controller 25 guides the arriving unmanned vehicle 2 to the uniform charging station 11 in the same manner as described above, and causes the charger 11A to uniformly charge it for a predetermined time. In addition, even if the arriving unmanned vehicle 2 requires equal charging, the charging area controller 25 does not charge the arriving unmanned vehicle 2 if the equalizing charging station 11 is in use and the charging time T is less than the lower limit charging time 'ro. If it is sufficient to perform normal charging for the vehicle, the entrance optical communication unit 19 sends the arriving unmanned vehicle 2 a permission signal to enter the charging area 4 and the destination charging station (normal charging station in an unused state). This information is output, and the arriving unmanned vehicle 2 is guided to the normal charging station and is caused to perform normal charging using the charger. Next, the process of entering the unmanned vehicle into the charging area 4 executed by the charging area controller 25 will be explained based on FIG. 3. This process is executed based on the arrival detection signal SG2 of the unmanned vehicle 2 at the charging area 4 by the entrance optical communication unit 19. First, in step 41, based on the battery information of the arriving unmanned vehicle 2, it is determined whether the battery of the unmanned vehicle 2 requires uniform charging. If it is determined in step 41 that uniform charging is necessary, the process proceeds to step 42, where the charging station arrival detection signal S of the optical communication unit 18 for charging is sent.
Based on the GI, it is determined whether the equalization charging station 11 is vacant or not. If it is determined in step 42 that the equalization charging station 11 is vacant, the process proceeds to step 43 and sends an entry permission signal to the arriving unmanned vehicle 2 via the entrance optical communication unit 19 and informing the equalization charging station 11 of the destination. Information is transmitted and the arriving unmanned vehicle 2 is allowed to enter the charging area 4. In the next step 44, when it is detected that the unmanned vehicle 2 has arrived at the uniform charging station 11 based on the charging station arrival detection signal SGI of the charging optical communication unit 18,
In the subsequent step 45, the charger 11A starts uniformly charging the battery of the arriving unmanned vehicle 2 for a predetermined time (4 hours). If it is determined in step 42 that the equal charging station 11 is not vacant, the process proceeds to step 46, where it is determined whether the charging time T is longer than the lower limit charging time TO. If it is determined in step 46 that the charging time T is equal to or greater than the lower limit charging time To, the process proceeds to step 47, where charging of the unmanned vehicle 2 that is being uniformly charged is terminated, and the unmanned vehicle 2
A start permission signal is output to the unmanned vehicle 2 via the charging optical communication unit 18, and the unmanned vehicle 2 is started. Then, when it is detected that the unmanned vehicle 2 that has started has passed outside the charging area 4 based on the unmanned vehicle passage detection signal SG3 of the reed switch 20, the processing from step 43 onward is performed. Further, in step 46, the charging time T is set to the lower limit charging time To.
If it is determined that it is less than 1, or if it is determined in step 41 that uniform charging is not necessary, the process proceeds to step 48. In this step 48, each charging optical communication unit 14 to 17
Based on the detection signal of , it is determined whether or not the normal charging stations 7 to 10 are vacant. If it is determined in step 48 that there is a vacancy at one of the normal charging stations, the process proceeds to step 49, and in step 49, an entry permission signal and a destination charging station signal are sent to the arriving unmanned vehicle 2 via the entrance optical communication unit 19. information is transmitted, and the arriving unmanned vehicle 2 is allowed to enter the charging area 4. In the next step 50, when it is detected that the arriving unmanned vehicle 2 has arrived at the specified normal charging station based on the detection signal of the charging optical communication unit installed at the specified normal charging station in step 49, In the following step 45, normal charging of the battery of the arriving unmanned vehicle 2 is started by the charger of the designated charging station. If it is determined in step 48 that all the normal charging stations are in use, the process proceeds to step 52, where the charging of the unmanned vehicle 2 that has been charged for the longest time is terminated, and the heavy duty light is switched off to the unmanned vehicle 2. A start permission signal is outputted via the communication unit, and the unmanned vehicle 2 is started. Then, when it is detected that the unmanned vehicle 2 that has started has passed outside the charging area 4 based on the unmanned vehicle passage detection signal SG3 of the reed switch 20, the processing from step 49 onward is performed. In this embodiment, the charging area 4 includes a plurality of normal charging stations 7 to 10 equipped with chargers 7A to 10A that perform normal charging, and a charger 11A that performs equal charging.
When an unmanned vehicle 2 arrives at the charging area 4, it is determined whether equal charging is required based on the battery information of the unmanned vehicle 2, and equal charging is required. In this case, the unmanned vehicle 2 is guided to the equalizing charging station 11 and charged uniformly for a predetermined time using the charger 11A. Charging can be performed easily and evenly without the need for additional effort. Furthermore, in this embodiment, when the unmanned vehicle 2 arrives at the charging area 4, the machine number information of the unmanned vehicle 2 and the battery information installed in the unmanned vehicle 2 are sent to the communication unit 2.
Since the information is outputted to the charging area controller 25 via the entrance optical communication unit 19 and the entrance optical communication unit 19, the battery status of each unmanned vehicle can be accurately grasped and appropriate measures can be taken. [Second Embodiment] Next, a second embodiment embodying the second invention will be described based on FIGS. 4 to 6. Note that the same components as those in the first embodiment are given the same reference numerals, and some explanations thereof will be omitted. As shown in FIG. 4, in this embodiment, there are three charging stations 3 equipped with chargers 31A to 33A in the charging area 4.
1 to 33 are installed. And each charger 31A~
33A is used that can be switched between equal charging and normal charging. 3'4 to 36 are optical communication units for charging. As shown in FIG. 5, the charging area controller 25 is an operation control device (illustrated route) that controls the entire assembly line 1.
When the end-of-work signal SG4 for ending the day's work is input from , an equal charge switching signal SG5 is output to each charger 31A to 33A, and each charger 31A to 33A is switched to equal charge and charged. Equal charging is performed at all charging stations 31 to 33 in area 4. Note that two types of end-of-work signals SG4 are input: a weekday end-of-work signal and a pre-holiday end-of-work signal. Furthermore, when the charging area controller 25 receives a starting signal SG6 based on the operation of the starting switch 37 provided on the control panel 13 at the start of the day's work, the charging area controller 25 starts each charger 31.
A normal charging switching signal SG7 is output for A to 33A,
Each of the chargers 31A to 33A is switched to normal charging, and normal charging is performed at all charging stations 31 to 33 in the charging area 4. Next, the end-of-work handling process executed by the charging area controller 25 will be described based on FIG. 6. In the normal operating state of the charging area 4, in step 61, the charging area arrival detection signal S of the entrance optical communication unit 19 is detected.
When the unmanned vehicle 2 arrives at the charging area 4 based on G2,
In the next step 62, an entry permission signal and information on the destination charging station (unused charging station) are transmitted to the arriving unmanned vehicle 2 via the entrance optical communication unit 19, and the arriving unmanned vehicle 2 is transferred to the charging area 4. enter inside. In the following step 63, when it is detected that the arriving unmanned vehicle 2 has arrived at the specified normal charging station based on the detection signal of the charging optical communication unit installed at the specified normal charging station in the step 62, the process proceeds to step 63. Proceed to step 64. In step 64, it is determined whether or not the workday is over, that is, whether the workday end signal SG4 has been input from the host control panel.If it is determined that the workday is not over, the process proceeds to step 65, where the battery of the arriving unmanned vehicle 2 is charged by the charger at the designated charging station. to perform normal charging. Also, if it is determined in step 64 that the work is over, step 6
6, and in this step 66 all chargers 31A to 33
An equal charging switching signal SG5 is output to A, and each charger 31A to 33A is switched to equal charging. In the following step 67, it is determined whether or not it is the end of the weekday. If it is determined that it is the end of the weekday, the process proceeds to step 68, where the weekday equal charging time is set to within 10 hours. When the equal weekday charging time is set, if the unmanned vehicle 2 is being charged at another charging station, that charging is stopped. In the following step 69, uniform charging is performed at all charging stations accommodating the unmanned vehicle 2. In addition, in the unused charging stage type, equal charging is performed after waiting for the arrival of another new unmanned vehicle 2. Then, in step 70, after the charging time has elapsed at each charging station, power supply to the unmanned vehicle 2 other than the communication unit 2b is stopped. This is so that each unmanned vehicle 2 can be powered on and started based on a wireless start signal from the operation control device (the route shown) at the start of the next day's work. If it is determined in step 67 that the work day ends before a holiday, the process proceeds to step 71, where the pre-holiday equal charging time is set to 10 hours. When setting the pre-holiday equal charging time, similarly to step 68, if the unmanned vehicle 2 is being charged at another charging station, that charging is stopped. In the following step 72, uniform charging is performed at all charging stations accommodating the unmanned vehicle 2. Then, in step 73, when the charging time elapses at each charging station,
All power of the unmanned vehicle 2 is turned off. This is to eliminate battery power consumption during holidays. At the start of work after this holiday, the worker starts up the unmanned vehicles 2 by turning on the power to all the unmanned vehicles 2. In this way, in this second embodiment, each charger 31A to 33
By making A switchable between equal charging and normal charging, each charger 31A to 3
By switching the 3A to equal charging, it is possible to uniformly charge the unmanned vehicles 2 accommodated in all charging stations. In addition, in the first embodiment, it is determined whether equal charging is necessary or not based on the battery information of the unmanned vehicle 2.
It is necessary to uniformly charge the unmanned vehicle 2 by determining whether the number of work cycles of the unmanned vehicle 2 has reached the prescribed number of times for equal charging based on the number of inputs of the machine number information of the unmanned vehicle 2. It may be determined whether or not. Further, in the first embodiment, the charger 11A of the charging station 11 was used for equal charging, but this charging station 1
The charger installed at 1 may be switchable between equal charging and normal charging. In this way, if the unmanned vehicle 2 that arrives at the charging area 4 does not require uniform charging, the charger can be switched to normal charging and normal charging can be performed. It can have a buffer function and can also respond to changes in the amount of work of the unmanned vehicle 2. [Effects of the Invention] As detailed above, according to the first invention, among the unmanned vehicles that arrive at the charging area, equal charging is performed on unmanned vehicles that require equal charging, and normal charging is performed on other unmanned vehicles. Since charging is performed, each unmanned vehicle can be easily charged equally. Further, according to the second invention, only when the unmanned vehicle that has arrived at the charging area requires equal charging, the charger is switched to equal charging to perform equal charging, and in other cases, the charger is switched to equal charging. Since it is possible to perform normal charging by switching to normal charging, the charging area can be provided with a buffer function for unmanned vehicles, and it is possible to respond to changes in the workload of unmanned vehicles. Further, at the end of the work day, the chargers of all charging stations can be switched to equal charging mode, and the batteries of all unmanned vehicles within the charging area can be charged equally.

[Brief explanation of drawings]

1 to 3 show a first embodiment embodying this invention,
FIG. 1 is a configuration diagram showing the charging area, FIG. 2 is a block diagram showing the electrical configuration of the charging area management device, and FIG. 3 is a flow chart showing the process of entering the charging area by an unmanned vehicle. 4 to 6 show the second embodiment, FIG. 4 is a configuration diagram showing the charging area, FIG. 5 is a block diagram showing the electrical configuration of the charging area management device, and FIG. 6 shows end-of-day handling processing. It is a flowchart. FIG. 7 is a schematic diagram showing a conventional example of an unmanned vehicle system. In the diagram, 2 is an unmanned vehicle, 4 is a charging area, 7~11°31~
33 is a charging station run, 7A to 11A. 31A to 33A are chargers, and 25 is a charging area controller as charging control means. Patent applicant Tamaki Toyota Industries MVA Manufacturing Co., Ltd. Patent attorney Hironobu Onda (and one other person) Figure 4, page 4 ? 5vA Figure 6

Claims (1)

[Claims] 1. A plurality of unmanned vehicles equipped with batteries as a driving power source and traveling along a predetermined travel route, a charging area provided in the middle of the travel route, and a charging area provided in the charging area. At least one of the chargers is controlled for uniform charging, and the other chargers are controlled for normal charging. A charging area management device for an unmanned vehicle system, comprising a charging control means for controlling unmanned vehicles arriving at each charging station to perform normal charging or uniform charging. 2. A plurality of unmanned vehicles each equipped with a battery as a driving power source and traveling along a predetermined travel route, a charging area provided in the middle of said travel route, and a plurality of unmanned vehicles installed in the charging area and each There are multiple charging stations equipped with chargers that charge the batteries of unmanned vehicles, and at least one of all the chargers is controlled to be switched between uniform charging and normal charging, and the other chargers are set to normal charging. A charging area management device for an unmanned vehicle system, comprising a charging control means for controlling unmanned vehicles arriving at each charging station to perform normal charging or uniform charging.