JP2009116634A - Charging control device, charging control system, and charging control method and program used therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a charging control device, capable of preventing an autonomous drive unit from being inoperative by battery run-out and smoothly performing charging operation in a charging station. <P>SOLUTION: The charging control device (1) includes a management means (a charging management part 111) which manages the battery state and power consumption of the autonomous drive unit; a prediction means (a battery run-out time prediction part 112) which predicts the occurrence time of battery run-out in the autonomous drive unit in advance; a forming means (a charging scheduling part 114) which forms a schedule of charging to the battery of the autonomous drive unit in the charging station; and means (a robot communication part 13 and a charging station communication part 14) which reports the schedule formed by the forming means to the autonomous drive unit and the charging station. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a charge control device, a charge control system, a charge control method used therefor, and a program therefor, and more particularly to a method for controlling charging to an autonomous drive device such as an autonomous robot capable of autonomous behavior.

  In the autonomous driving device related to the present invention, when the battery is exhausted and the remaining amount is exhausted, it stops on the spot. In addition, even in the system where the autonomous driving device automatically returns to the charging station, if there is an obstacle on the return path or the power consumption is large, etc., it stops when the battery is exhausted before reaching the charging station, etc. The autonomous driving device cannot perform autonomous actions and charging actions that are completely autonomous.

As a method of charging the autonomous driving device as described above, there are techniques described in the following patent documents.
JP 2000-047728 A JP-A-11-285109

  In the autonomous driving apparatus related to the present invention, the capacity of the battery used is deteriorated depending on the use frequency (number of times of charging), environmental temperature, and time. Further, in the autonomous driving device related to the present invention, the power consumption changes depending on the model difference, function, and operation content.

  For this reason, in the autonomous driving device related to the present invention, when a plurality of autonomous driving devices are operated in the same field, if the battery runs out simultaneously in those autonomous driving devices, the autonomous driving device On the other hand, there is a possibility that charging of the autonomous driving device may be batting at a charging station that performs charging.

  In the event of a charging batting of an autonomous driving device at the charging station, the autonomous driving device with less battery capacity is prioritized, and the charging is forced even if the currently charging autonomous driving device is not fully charged. Will be canceled. The techniques described in Patent Documents 1 and 2 cannot solve this problem.

  Therefore, the object of the present invention is to solve the above-mentioned problems, prevent the autonomous drive device from becoming inoperable due to running out of battery, and smoothly perform the charging operation at the charging station. An object of the present invention is to provide a charge control device, a charge control system, a charge control method used therefor, and a program thereof.

The charging control device according to the present invention performs charging control in a system including one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the battery of the autonomous driving device. A charge control device,
Management means for managing the battery status and power consumption of the autonomous drive device, prediction means for predicting in advance when the battery will run out in the autonomous drive device, information managed by the management means, and prediction of the prediction means Creating means for creating a schedule for charging the battery of the autonomous driving device in the charging station based on the result; and means for notifying the autonomous driving device and the charging station of the schedule created by the creating means; It has.

  A charge control system according to the present invention includes the charge control device described above.

The charge control method according to the present invention performs charge control in a system including one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the battery of the autonomous driving device. A charge control method comprising:
A management process for managing the battery status and power consumption of the autonomous drive apparatus, a prediction process for predicting in advance when the battery will run out in the autonomous drive apparatus, information managed in the management process, and the prediction process A creation process for creating a schedule for charging the battery of the autonomous driving device in the charging station based on a prediction result, and a notification for notifying the autonomous driving device and the charging station of the schedule created in the creation process Processing.

The program according to the present invention is a charge control for performing charge control in a system including one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the battery of the autonomous driving device. A program to be executed by a central processing unit in the device,
A management process for managing the battery status and power consumption of the autonomous drive apparatus, a prediction process for predicting in advance when the battery will run out in the autonomous drive apparatus, information managed in the management process, and the prediction process A creation process for creating a schedule for charging the battery of the autonomous driving device in the charging station based on a prediction result, and a notification for notifying the autonomous driving device and the charging station of the schedule created in the creation process Processing.

  By adopting the above-described configuration and operation, the present invention can prevent the autonomous drive device from becoming inoperable due to running out of battery, and can smoothly perform the charging operation at the charging station. The effect that it can be obtained.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration example of a charge control device according to an embodiment of the present invention. In FIG. 1, the charging control device 1 is installed in a charging station (not shown) for charging an autonomous driving device (in this example, an autonomous robot) equipped with a battery or independently. .

  In addition, the charging control device 1 includes a control unit [for example, a CPU (Central Processing Unit)] 11, a storage unit 12, a robot communication unit 13, and a charging station communication unit 14.

  The control unit 11 includes a charge management unit 111, a battery exhaustion time prediction unit 112, a charge time calculation unit 113, and a charge scheduling unit 114. The storage unit 12 includes a program storage unit 121, parameter information / And a location information shared storage unit (hereinafter referred to as a shared storage unit) 122. Each unit in the control unit 11 is realized by the control unit 11 executing a program in the program storage unit 121.

  The control unit 11 uses the robot communication unit 13 to acquire the power consumption of each autonomous robot, the total battery capacity, the remaining battery capacity, the charging parameter information, and the location information and store them in the shared storage unit 122. Since these pieces of information are also stored in each of the autonomous robots, they are shared between the charging control device 1 and each of the autonomous robots.

  Further, the control unit 11 uses the charging station communication unit 14 to acquire the presence / absence of charging at each charging station, the status of waiting for charging, and location information, and store them in the shared storage unit 122. Since these pieces of information are also stored in each charging station, they are shared between the charging control device 1 and each charging station.

  The charge management unit 111 centrally manages one or more autonomous robots and one or more charging stations, and the battery exhaustion time prediction unit 112 predicts the battery exhaustion time of all operating autonomous robots.

  The charging time calculation unit 113 calculates the charging time according to the battery parameters of each autonomous robot, and the charging scheduling unit 114 performs charging scheduling for creating a charging schedule at each charging station according to the estimated battery exhaustion time.

  FIG. 2 is a block diagram showing a configuration example of the autonomous robot according to the embodiment of the present invention. In FIG. 2, the autonomous robot 2 includes a power input / output control unit 21, a connection monitoring unit 22, a battery monitoring unit 23, a robot system 24, a battery 25, a communication unit 26, and an external power supply terminal 27. Has been. Since the other robot A4 has the same configuration as the internal configuration of the autonomous robot 2, illustration and description of the configuration are omitted.

  The external power supply terminal 27 serves as a contact point with the charging station 3 and another robot A4. The power input / output control unit 21 performs power input / output control. The connection monitoring unit 22 monitors the connection status of the charging station 3 and the other robot A4 to the external power supply terminal 27.

  The battery monitoring unit 23 monitors the remaining amount of the battery 25. The communication unit 26 communicates with the charging control device 1, the charging station 3, and another robot A 4, and performs power consumption, total battery capacity, remaining battery capacity, parameter information regarding charging, and location with respect to the charging control device 1. Information is transmitted, and an SOS signal and position information are transmitted to the charging station 3.

  The connection monitoring unit 21 obtains connection status and connection target from other robots A4 and the charging station 3 connected to the external power supply terminal 27. In the case of a robot, the connection monitoring unit 21 obtains ID information, mutual energy information, and the like. Such information is provided to the power input / output control unit 21.

  The communication unit 26 always shares position information and battery status information through communication with the other robot A4, the charging station 3, and the charging control device 1. Further, the battery monitoring unit 23 monitors the consumption state of the battery 25, and when the autonomous action becomes impossible due to a shortage of the remaining amount, an SOS signal is transmitted from the communication unit 26.

  Further, when the communication unit 26 receives the SOS signal from the other robot A4, the battery monitoring unit 23 determines the relief from the remaining amount of the battery 25, and performs the relief action to the other robot A4 by the control of the robot system 24. Start.

  The power input / output control unit 21 performs fine charge / discharge control of the power of the battery 25 to the outside based on information from the connection monitoring unit 22, the battery monitoring unit 23, and the communication unit 26.

  The power input / output control unit 21 stores a history of charge / discharge control of the battery 25 power to the outside, and based on the history, parameter information on power consumption, total battery capacity, remaining battery capacity, and charging is obtained. Created and sent to the communication unit 26. Further, the robot system 24 creates location information based on the autonomous behavior of the autonomous robot 2 and sends the location information to the communication unit 26.

  FIG. 3 is a block diagram showing a configuration example of an internal circuit of the power input / output control unit 21 of FIG. In FIG. 3, the power input / output control unit 21 includes a microcomputer (hereinafter referred to as a microcomputer) 211, a field effect transistor (FET) a 212, an FET b 213, an FET c 214, a booster circuit 215, a battery charge / discharge control circuit 216, and the like. It has.

  The microcomputer 211 determines whether or not the connection to the external power supply terminal 27 is the charging station 3, the robot A4, or the robot A4 that has transmitted SOS. Further, the microcomputer 211 obtains the remaining battery amount information of the other robot A4 from the connection monitoring unit 22 and obtains the remaining amount and consumption information of the battery 25 from the battery monitoring unit 23.

  Thus, the microcomputer 211 switches the FETa12 when supplying power to the other robot A4, the switch of FETb13 when receiving power from the charging station 3, and the FETc14 when receiving power from the other robot A4. The battery charge / discharge control circuit 216 controls the charge / discharge direction and the amount of current. Here, the booster circuit 215 is a circuit that boosts the power passing through the switch of the FET c14 to a voltage necessary for charging the battery 25.

  FIG. 4 is a block diagram showing a configuration example of the charging station 3 of FIG. In FIG. 4, the charging station 3 includes a power input / output control unit 31, a charging control device communication unit 32, a robot communication unit 33, a connection monitoring unit 34, and an external power supply terminal 35.

  The external power supply terminal 35 is a contact point with the autonomous robot 2 and another robot A4. The power input / output control unit 31 performs input / output control of electric power (power from a power supply device (not shown)). The connection monitoring unit 34 monitors the connection status of the autonomous robot 2 and another robot A4 to the external power supply terminal 35.

  The charging control device communication unit 32 communicates with the charging control device 1, transmits the presence / absence of charging at the charging station 3, status of waiting for charging and location information to the charging control device 1, and charges from the charging control device 1. Receive a schedule.

The robot communication unit 33 communicates with the autonomous robot 2 and the other robot A4, receives parameter information, location information, and SOS signals from the autonomous robot 2 and the other robot A4. The robot A4 is instructed to supply power to another robot.
The power input / output control unit 21 performs fine charge / discharge control of the power supply to the outside based on information from the connection monitoring unit 34, the charging control device communication unit 32, and the robot communication unit 33.

  FIG. 5 is a flowchart showing the charge control operation by the charge control device 1 of FIG. 1, and FIGS. 6 and 7 are sequence charts showing the operation of the charge control system according to the embodiment of the present invention. These are figures which show operation | movement of the charge control system by embodiment of this invention. The operation of the charging control system according to the embodiment of the present invention will be described with reference to FIGS.

  The processing operation of the charging control device 1 shown in FIGS. 5 to 7 is realized by the control unit 11 executing a program stored in the program storage unit 121 of the storage unit 12. Further, FIG. 8 shows that the charging station 3 manages the position information and the remaining battery level of all the robots 4a to 4c, and holds a robot suitable for supplying power to the robot C4c that has stopped when the battery is exhausted. In this example, the robot A4a is selected (selection condition 3a) from the remaining battery level and the distance from the robot C4c.

  FIG. 9 calculates the movement amount (vector 3c in the selection condition 3b) of the robot C4c in which the charging station 3 is stopped and the robot A4a that starts moving to supply power, and issues an instruction to the robot A4a. An example is shown. FIG. 10 shows a process of autonomous behavior until the robot A4a heading for power supply is found to be stopped and the robot C4c is detected and the position and orientation of the robot C4c are judged and connected to an interface for receiving and supplying power. FIG. 11 shows an example of a system in which a charging station 3e is added to the charging station 3d, and information can be shared even when there are a plurality of charging stations.

  The control unit 11 of the charging control apparatus 1 communicates with the autonomous robot 2 and other robots 4 using the robot communication unit 13 (step S1 in FIG. 5), and power consumption of each of the autonomous robots and other robots 4 is achieved. The amount, the total capacity of the battery 25, the remaining capacity of the battery 25, the parameter information related to charging, and the location information are acquired and stored in the shared storage unit 122 (step S2 in FIG. 5).

  Since these pieces of information are also stored in each of the autonomous robot 2 and other robots 4, they are shared between the charging control device 1 and each of the autonomous robot 2 and other robots 4. In addition, the control unit 11 repeatedly performs the above-described processing until acquiring this information from all of the autonomous robot 2 and other robots 4 (step S3 in FIG. 5).

  Next, the control unit 11 communicates with the charging stations 3, 3 d, 3 e using the charging station communication unit 14 (step S 4 in FIG. 5), and whether or not the charging stations 3, 3 d, 3 e are charged, Status and location information are acquired and stored in the shared storage unit 122 (step S5 in FIG. 5).

  Since these pieces of information are also stored in the charging stations 3, 3d, 3e, they are shared between the charging control device 1 and the charging stations 3, 3d, 3e. In addition, the control unit 11 repeatedly performs the above-described processing until the information is acquired from all the charging stations 3, 3d, and 3e (step S6 in FIG. 5).

  After this, the control unit 11 uses the information on all of the autonomous robots 2 and other robots 4 stored in the shared storage unit 122 at the battery exhaustion time prediction unit 112 to determine whether the autonomous robot 2 and other active robots are in operation. The battery exhaustion time of all the robots 4 is predicted (step S7 in FIG. 5). Further, the control unit 11 calculates the charging time according to the parameters of the batteries 25 of all of the autonomous robot 2 and other robots 4 in the charging time calculation unit 113 (step S8 in FIG. 5).

  Based on the above prediction and calculation results, and the presence / absence of charging at the charging stations 3, 3 d, 3 e, the charging scheduling unit 114 responds to the estimated battery exhaustion time based on the status and location information of the waiting state for charging. Further, the charging scheduling is performed at each of the charging stations 3, 3d, 3e (step S9 in FIG. 5). The control unit 11 notifies the schedule created by the charging scheduling unit 114 to all of the autonomous robot 2 and other robots 4 and the charging stations 3, 3d, and 3e (step S10 in FIG. 5).

  In the charging control device 1, one or more autonomous robots and one or more charging stations are centrally managed by the charge management unit 111, and it is necessary to adjust a preset predetermined time or schedule. Sometimes the above charge control process is executed. Thereby, in this Embodiment, when charging time overlaps in the same charging station, the other charging time is ensured by carrying out one charge and starting, and it aims at coexistence.

  The charging control device 1 notifies the charging schedule created by the above processing to all of the autonomous robot 2 and other robots 4 and the charging stations 3, 3d, 3e (a1 to a3 in FIG. 6).

  The autonomous robot 2 and other robots 4 move to the charging stations 3, 3d, 3e based on the notified charging schedule (a4 in FIG. 6), and charge the battery 25 at the charging stations 3, 3d, 3e. This is performed (a5 in FIG. 6).

  At this time, the charging stations 3, 3d, and 3e update the presence / absence of charging and the status of waiting for charging when charging the batteries of the autonomous robot 2 and other robots 4 (a6 in FIG. 6).

  Thereafter, when the charge control process is performed again in the charge control device 1 (a7 in FIG. 6), the above-described process is performed by the charge control device 1, the charging stations 3, 3d, 3e, the autonomous robot 2 and other robots. 4 (a8 to a12 in FIG. 6).

  On the other hand, when the other robot 4 is charged in the autonomous robot 2 (b1 in FIG. 7), the autonomous robot 2 changes the remaining amount of the battery 25 with the charge. Are updated (b2 in FIG. 7), and the updated parameters are transmitted to the charging control device 1 (b3, b4 in FIG. 7).

  The charging control device 1 updates the charging schedule based on parameters and the like sent from the autonomous robot 2 (b5 in FIG. 7), and updates the updated charging schedule to all the autonomous robot 2 and other robots 4 and the charging. The station 3, 3d, 3e is notified (b6 to b8 in FIG. 7). Hereinafter, the processing of b9 to b17 shown in FIG. 7 is the same as the processing of a4 to a12 shown in FIG.

  Next, the operation of the autonomous robot 2 with the battery exhausted will be described with reference to FIGS. In FIGS. 8 and 9, the autonomous robot 2 that has consumed the battery is illustrated as a robot C4c, and the robot A4 that supplies power is illustrated as a robot A4a.

  When the battery monitoring unit 23 determines that the battery 25 is depleted and autonomous action cannot be performed, the robot system 24 enters the power saving mode, and the communication unit 26 transmits the SOS signal together with the position information of the autonomous robot 2 and the remaining battery level. To do.

  The SOS signal is communicated to a plurality of robots A4 group and the charging station 3, as well as positional information for connecting the robot A4 to the external power terminal 27, for example, light, sound, electromagnetic waves, GPS (Global Positioning System), etc. send.

  When the robot A4 that supplies power is connected, the microcomputer 21 starts the switch operation of the FET c214 and the charge control of the battery charge / discharge control circuit 216. When the battery 25 is charged with power, the robot system 24 returns from the power saving mode.

  The operation of the autonomous robot 2 that supplies power to the robot A4 that has consumed the battery 25 will be described with reference to FIGS. 10 and 11, the autonomous robot 2 that supplies power is illustrated as a robot A4a, and the robot A4 that has consumed the battery is illustrated as a robot C4c.

  In the autonomous robot 2, an SOS signal is obtained from the communication unit 26, and when the connection is completed to the robot A <b> 4 that has stopped using the battery 25 under the control of the robot system 24, the SOS signal is transmitted by the connection monitoring unit 22. Verification of whether or not it is a robot is performed.

  Subsequently, in the autonomous robot 2, a suitable power supply amount is calculated by the microcomputer 211 from the remaining battery amount of the robot A 4 and the remaining battery 25 of the supply side, and the switch operation of the FETa 12 and the battery charge / discharge control circuit 216 are calculated. The discharge control is started. When the battery of the robot A4 is charged, the autonomous robot 2 turns off the FETa12, disconnects the robot A4 and the external power supply terminal 27, and returns to autonomous behavior.

  Thus, in this embodiment, the autonomous robot 2 and other robots 4 run out of battery by managing the remaining battery capacity of the autonomous robot 2 and other robots 4 not only for each individual but also in a unified manner. Can be prevented in advance.

  In the present embodiment, not only the battery capacity shortage alarm (SOS signal) is received from the autonomous robot 2 or another robot 4 but also the charging operation is started, and the autonomous robot 2 or other robot 4 is actively activated. The battery management is performed and a charging schedule (charging instruction) is issued to the autonomous robot or another robot 4, so that the charging work at the charging stations 3, 3d, 3e can be performed smoothly.

  In addition to the above, in the present embodiment, charging and discharging can be performed between the autonomous robot 2 and other robots 4, so that charging can be performed at other than charging stations. Further, in the present embodiment, the autonomous robot 2 and other robots 4 can search for the positions of the autonomous robot 2 and other robots 4 that have stopped due to battery exhaustion.

  Furthermore, in the present embodiment, the position and orientation of the autonomous robot 2 and other robots 4 where the autonomous robot 2 and other robots 4 are stopped can be grasped and connected (docked).

  Furthermore, in the present embodiment, even if it is not possible to return to the charging stations 3, 3 d, 3 e, power is supplied by the plurality of autonomous robots 2 and other robots 4, so that there is no need for human hands, The autonomous robot 2 and other robots 4 can perform completely autonomous behaviors, and a plurality of autonomous robots 2 and other robots 4 and charging stations 3, 3d, 3e can share power while communicating with each other. Therefore, the charging stations 3, 3 d, 3 e can be shared by a plurality of autonomous robots 2 and other robots 4.

  The autonomous robot 2 according to this embodiment can be an automatic cleaner by mounting the above system on a cleaner. In the present embodiment, in addition to battery information, the robot system 24 has garbage storage amount and maintenance information, so that the status of individual vacuum cleaners can be centrally managed by the charging control device 1 and the charging stations 3, 3d, 3e. Can do.

  In the present embodiment, it is possible to use the communication functions of the charging control device 1 and the charging stations 3, 3 d, 3 e to deliver the status of the vacuum cleaner to a mobile phone or personal computer.

  In the present embodiment, the above-described system can be mounted on a security robot (for example, a night security robot). In this case, it can be realized by having security information and maintenance information in the robot system 24 and incorporating the charging stations 3, 3 d, 3 e into the security system.

  In the present embodiment, by incorporating the above-described system into a device having moving means, an autonomous device that operates in places where humans cannot enter and exit can be realized.

  Furthermore, in the present embodiment, the battery monitoring unit 23 incorporates a program for determining not only battery consumption but also battery life (deterioration status) into the battery monitoring unit 23, so that the life of the battery of the battery drive device, the spare battery, and the emergency battery It is also possible to notify the user of the replacement time.

  That is, the present invention manages the battery status and power consumption of the autonomous robot 2 in the same field so as not to run out of battery by the charge control device 1 and predicts in advance when the battery runs out at the same time. When there is a possibility of causing the battery to run out, the charging timing of any of the autonomous driving devices that may cause the battery to run out at the same time is advanced and charging is started at the charging stations 3, 3d, 3e. Control can be performed.

  As a result, according to the present invention, it is possible to prevent the autonomous drive device from becoming inoperable due to running out of the battery, and it is possible to smoothly perform the charging operation at the charging stations 3, 3d, and 3e.

It is a block diagram which shows the structural example of the charge control apparatus by embodiment of this invention. It is a block diagram which shows the structural example of the autonomous robot by embodiment of this invention. It is a block diagram which shows the structural example of the internal circuit of the electric power input / output control part of FIG. It is a block diagram which shows the structural example of the charging station of FIG. It is a flowchart which shows the charge control operation | movement by the charge control apparatus of FIG. It is a sequence chart which shows operation | movement of the charge control system by embodiment of this invention. It is a sequence chart which shows operation | movement of the charge control system by embodiment of this invention. It is a figure which shows operation | movement of the charge control system by embodiment of this invention. It is a figure which shows operation | movement of the charge control system by embodiment of this invention. It is a figure which shows operation | movement of the charge control system by embodiment of this invention. It is a figure which shows operation | movement of the charge control system by embodiment of this invention.

Explanation of symbols

1 Charge control device
2 autonomous robots 3, 3d, 3e charging stations 3a, 3b,
3f, 3g selection conditions
3c vector
4 Other robot A
4a Robot A
4a Robot B
4c Robot C
11 Control unit
12 Storage unit
13 Robot Communication Department
14 Charging station communication unit 21, 31 Power input / output control unit 22, 34 Connection monitoring unit
23 Battery monitoring unit
24 Robot system
25 battery
26 Communication unit 27, 35 External power supply terminal
32 Charging controller communication unit
33 Autonomous Robot Communication Department
111 Charge Management Department
112 Battery dead time prediction unit
113 Charging time calculator
114 Charge Scheduling Unit
121 Program storage
122 Parameter information / location information shared storage unit
211 Microcomputer
212 FETa
213 FETb
214 FETc
215 Booster circuit
216 Battery charge / discharge control circuit

Claims (14)

A charge control device that performs charge control in a system that includes one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the battery of the autonomous driving device,
Management means for managing battery status and power consumption of the autonomous driving device, prediction means for predicting in advance when the battery runs out in the autonomous driving device, information managed by the management means, and prediction of the prediction means Creating means for creating a schedule for charging the battery of the autonomous driving device in the charging station based on the result; and means for notifying the autonomous driving device and the charging station of the schedule created by the creating means; A charge control device comprising:   The management means communicates with the autonomous driving device to acquire and store the power consumption of the autonomous driving device, the total capacity of the battery, the remaining capacity of the battery, parameter information relating to charging, and location information. 2. The information is stored in the storage unit, and communication with the charging station is performed to obtain the presence / absence of charging in the charging station, the status of waiting for charging, and location information, and store the acquired information in the storage unit. Charge control device.   3. The charging control apparatus according to claim 2, wherein the predicting unit predicts a time at which the battery runs out in the autonomous driving device based on information of the autonomous driving device stored in the storage unit. . Calculating means for calculating a charging time according to a parameter of the battery based on the information of the autonomous driving device stored in the storage means;
The creation unit creates a schedule for charging the battery based on the information on the charging station stored in the storage unit, the prediction result of the prediction unit, and the calculation result of the calculation unit. The charge control device according to claim 3.   The creating means creates a schedule so that when a plurality of autonomous driving devices may cause the battery to run out at the same time, the charging of the battery of the autonomous driving device is advanced and started. The charge control device according to any one of claims 1 to 4.   6. The battery status and power consumption of all the autonomous driving devices in the same field are managed so that the autonomous driving device does not cause the battery to run out. Charge control device.   A charge control system comprising the charge control device according to any one of claims 1 to 6. A charge control method for performing charge control in a system including one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the battery of the autonomous driving device,
A management process for managing the battery status and power consumption of the autonomous drive apparatus, a prediction process for predicting in advance when the battery will run out in the autonomous drive apparatus, information managed in the management process, and the prediction process A creation process for creating a schedule for charging the battery of the autonomous driving device in the charging station based on a prediction result, and a notification for notifying the autonomous driving device and the charging station of the schedule created in the creation process And a charge control method.   In the management process, communication with the autonomous driving device is performed to acquire and store the power consumption of the autonomous driving device, the total capacity of the battery, the remaining capacity of the battery, parameter information related to charging, and location information. 9. The information is stored in the storage unit, and communication with the charging station is performed to acquire presence / absence of charging in the charging station, status of waiting for charging, and location information, and store the acquired information in the storage unit. Charge control method.   The charging control method according to claim 9, wherein, in the prediction process, a time when the battery runs out in the autonomous driving device is predicted based on information of the autonomous driving device stored in the storage unit. . Including a calculation process for calculating a charging time according to a parameter of the battery based on the information of the autonomous driving device stored in the storage means,
In the creation process, a schedule for charging the battery is created based on the information on the charging station stored in the storage unit, a prediction result by the prediction process, and a calculation result by the calculation process. The charge control method according to claim 10.   In the creation process, when a plurality of autonomous driving devices may cause the battery to run out at the same time, a schedule is created so that charging of the battery of the autonomous driving device is advanced and started. The charge control method according to any one of claims 8 to 11.   The battery status and power consumption of all the autonomous driving devices in the same field are managed so that the autonomous driving device does not cause the battery to run out. Charge control method. Central processing unit in a charging control device that performs charging control in a system including one or more autonomous driving devices equipped with a battery and one or more charging stations capable of charging the batteries of the autonomous driving device A program to be executed
A management process for managing the battery status and power consumption of the autonomous drive apparatus, a prediction process for predicting in advance when the battery will run out in the autonomous drive apparatus, information managed in the management process, and the prediction process A creation process for creating a schedule for charging the battery of the autonomous driving device in the charging station based on a prediction result, and a notification for notifying the autonomous driving device and the charging station of the schedule created in the creation process The program characterized by including a process.

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