JPH11242522A - Control system for unmanned carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To change a battery while the battery is loaded on an unmanned carrier as it is and to efficiently run a system with an efficient charging system. SOLUTION: This control system is provided with a circulating charging station 41 which quickly charge in previously decided short time and with relief charging stations 42-46 to charge in a prescribed long time for supplementing the power consumed. It is judged whether charging is executed in the circulating charging station 41 or in the relief charging stations 42-46 based on the charged state of the unmanned carrier 10. The unmanned carrier 10 is instructed based on a judged result at which station to pit in. Charging to the battery of the vehicle 10 can be executed in running. Charging time is enough without reducing the running time of the system, the system can smoothly be operated and productivity can be improved without insufficient charging.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for an automatic guided vehicle, and more particularly to a technique for improving the operation efficiency of an automatic guided vehicle by improving a charging system for a storage battery mounted on the automatic guided vehicle. .

[0002]

2. Description of the Related Art Conventionally, a system for transporting a work by an automatic transport vehicle on a production line has been known (JP-A-7-33056, JP-A-6-33632).
6 and JP-A-7-36204). or,
2. Description of the Related Art In recent years, in a product production factory or the like, a transport system in which parts are transported by an unmanned guided vehicle (AGV) driven by an electric motor using a storage battery as a driving source has been adopted.

[0003]

However, the conventional AGV
In the system, the storage battery of the automatic guided vehicle is not charged during the operation of the system, and the storage battery dropped from the automatic guided vehicle after the operation of the system is stopped at night or the like is charged. . However, in such a charging system, since the automatic guided vehicle is operated for about one day without charging, the charging time is short, and the charging tends to be insufficient, which hinders the operation of the system.

[0004] For this reason, if the charging time is lengthened, the operation time of the system is reduced, and the productivity is reduced. Alternatively, it is conceivable to prepare a larger number of storage batteries to be replaced, but this is not the best solution due to cost problems and storage battery management problems. In the system described in the above-mentioned publication, a technique for storing power in the storage battery while the storage battery is mounted on the automatic transport vehicle is not disclosed.

Accordingly, the present invention has been made in view of the above-mentioned conventional problems, and it is possible to store electric power in a storage battery while the storage battery is mounted on an automatic guided vehicle. It is an object of the present invention to provide a charging system for a storage battery in an automatic guided vehicle that can efficiently perform the operation of the vehicle.

[0006]

According to a first aspect of the present invention, a driving electric motor is driven from a mounted storage battery to join a predetermined main traveling route and branch off from the main traveling route and then join again. A plurality of automatic guided vehicles traveling on a traveling route composed of a branch traveling route to be connected, a charger that is detachably connected to the storage battery and charges the storage battery, and performs operation control and charging control of the automatic guided vehicle. A control device, comprising: a control system for an automatic guided vehicle configured to include a circular charging station for performing rapid charging in a predetermined short time on the main traveling route; While providing a relief charging station for replenishing power consumed over a long period of time, the automatic guided vehicle is provided with charged state detecting means for detecting a charged state of a storage battery mounted on the automatic guided vehicle. A determination unit configured to determine whether to perform charging at the round charging station or to perform charging at the relief charging station based on a detection signal from the charging state detection unit; and a determination by the determination unit. And a travel command means for commanding the automatic guided vehicle to travel toward a charging station to be bit-in based on the result.

According to a second aspect of the present invention, the control device includes:
When one of the first condition after the charging time of the storage battery at the relief charging station has passed the predetermined time and the second condition that the charging current value of the storage battery has decreased to the predetermined value is satisfied, It is provided with start command means for commanding start of the automatic guided vehicle when charging is completed.

The operation of the present invention will be described. In the invention according to claim 1, charging of the storage battery of the automatic guided vehicle is performed during operation of the system. Therefore, the charging time can be sufficiently long without reducing the operation time of the system,
There is no shortage of charging, the operation of the system can proceed smoothly, and productivity can be increased.

According to the second aspect of the present invention, the command to start the automatic guided vehicle is smoothly given by the charging time or the charging current value, so that useless charging time is eliminated, the operation of the system can be more smoothly performed, and productivity can be improved. Is further enhanced.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the attached drawings. FIG. 1 shows an example of a layout of an engine assembly line configured using a plurality of (for example, 28) automatic guided vehicles. The engine assembly line, the automatic guided vehicle 10, the MRG1 process 20,
RG2 step 22, TOP1 step 24, TOP2 step 26, TOP3 step 28, final assembly step 30,
It comprises an NG lowering step 34 and a charging step 40.

As shown in FIG. 2, the automatic guided vehicle 10 includes a radio receiver 11 for receiving various control commands by radio, and a control unit 12 for controlling the driving of a traveling electric motor (not shown) in accordance with the received various control commands. A voltage sensor 13 (charging state detecting means) for detecting a voltage V between terminals of a battery (rechargeable battery) not shown, and an optical communication transmitter 14 for transmitting the detected voltage V between terminals of the battery to the outside by optical communication. , A toe pin elevating mechanism (not shown).

The control unit 12 includes at least a central processing unit (CPU) and a memory, and performs various controls of the automatic guided vehicle 10 according to a program on the memory. The automatic guided vehicle 10 transports the engine and its components to each process, and also functions as a work table in the final assembly process 30. MRG1 process 20 and MR
G2 step 22, TOP1 step 24, TOP2 step 2
6 and in a TOP3 step 28, the engine or components are lowered from the AGV 10 to another step (not shown) or assembled in another step and the engine is loaded on the AGV 10.

In the final assembly step 30, the automatic guided vehicle 10 is run at equal intervals by the conveyor system 31, and the final assembly of the engine is performed by the worker using the automatic guided vehicle 10 as a work table. The conveyor system 31 is configured to include a drive chain buried in the floor and a fitting portion to which a toe pin of the automatic guided vehicle 10 fits.

The mechanism for moving the automatic guided vehicle 10 is such that the towing pins project from the automatic guided vehicle 10 at a predetermined timing at the entrance of the conveyor system 31 at the entrance of the conveyor system 31. Then, the toe pins are fitted to the fitting portions of the conveyor system 31. Then, the automatic guided vehicle 10 is caused to travel by the tow pin that moves together with the drive chain.

When the automatic guided vehicle 10 travels to the exit of the conveyor system 31, the tow pins are stored at a predetermined timing, and the automatic guided vehicle 10 starts traveling by itself. ENG
In the unloading process 34, the assembled engine is unloaded from the automatic guided vehicle 10, and the engine is transported to another process, for example, by an overhead conveyor or the like, to the engine mounting process.

On the floor of the factory, MRG1 process 2
0, MRG2 step 22, TOP1 step 24, TO
P2 step 26, TOP3 step 28, and final assembly step 3
A main guideway 50 serving as a main traveling route of the automatic guided vehicle 10 is buried in a loop so as to connect the zero and the ENG unloading step 34. Also, the main taxiway 50 serving as the main traveling route
A plurality of branch guide paths 50A are buried as a branch traveling path that merges again after branching from the junction (merging point A).

As the guide paths 50 and 50A, there are a guide wire used in an electromagnetic induction system, a route tape used in an optical induction system, a magnetized body used in a magnetic tape induction system, and the like. In the present embodiment, the magnetic tape guiding system is adopted in consideration of the fact that the floor is contaminated with oil or the like, and that heavy objects are conveyed. In the charging step 40, the battery of the automatic guided vehicle 10 is charged.

In this charging step 40, a circulating charging station 41 for replenishing power consumed by traveling on the loop-shaped main taxiway 50 in a predetermined short time, and replenishing power consumed for a predetermined time. And the relief charging stations 42 to 46 to perform. The orbit charging station 41 is provided only for the main taxiway 50,
Rapid charging is performed in a relatively short time (for example, one minute).

Also, relief charging stations 42 to 46
Are provided in the branch guide paths 50A formed by branching the guide path 50 as described above, and perform quick charging for a relatively long time (for example, one hour). The circulating charger 41a is provided in the circulating charging station 41, and the first to fifth chargers 42a to 46 are provided in the relief charging stations 42 to 46.
a is installed respectively.

It should be noted that whether charging is performed at the circulating charging station 41 or charging at the relief charging stations 42 to 46 depends on the voltage V between terminals of the battery of the automatic guided vehicle 10, for example. If the voltage is not less than the predetermined value V1, charging is performed at the circulation charging station 41, and if the inter-terminal voltage V is less than the predetermined value V1, charging is performed at the relief charging stations 42 to 46.
0 operation is controlled (automatic charging pit-in control).

This will be described later in detail. In addition to the configuration described above, an MRG1 step 20 and an MRG2 step 22
, TOP1 step 24, TOP2 step 26, TOP
The 3 step 28, the final assembly step 30, the ENG unloading step 34, and the charging step 40 include a control panel 21, 23, 25, 27, 2 as a control device for performing control in each step.
9, 32, 35 and 48 are provided respectively.

Each control panel is composed of a control unit having a built-in microcomputer and an operation unit for starting each process. Further, a centralized control panel 60 (centralized control device) for centrally controlling the operation of the automatic guided vehicle 10 and the like.
Is provided. The central control panel 60 is used for the automatic guided vehicle 10
Transmitter 61 for transmitting various control commands to the transmitter
And a control unit 62 with a built-in microcomputer, and a monitor 63 for displaying the operating state of the automatic guided vehicle 10 and the like.

The control panel 21 for controlling each process and the centralized control panel 60 are connected via a PC link 70 so that data can be mutually exchanged. Final assembly step 30, ENG unloading step 34 and charging step 40
Each of the chargers is provided with an optical communication receiver 72 for receiving the voltage V between the terminals of the battery transmitted from the automatic guided vehicle 10. Then, the terminal-to-terminal voltage V transmitted from the automatic guided vehicle 10 is received by the optical communication receiver 72, and P
The information is transmitted to the central control panel 60 via the C link 70.

As described above, the control panel 35 performs charging at the circuit charging station 41 based on the voltage V between the terminals of the battery transmitted from the automatic guided vehicle 10, 42-46
Determination means for determining whether or not to perform charging, and travel command means for instructing the automatic guided vehicle 10 to travel toward a charging station to be bit-in based on the determination result by the determination means. Have been.

In the central control panel 60, the first condition after the charging time of the storage batteries at the relief charging stations 42 to 46 has passed for a predetermined time (for example, one hour) and the charging current value for the storage batteries are predetermined. When one of the second conditions that has decreased to the value (for example, decreased from 50 A to 10 A) is satisfied, the charging is determined to be completed, and the automatic guided vehicle 10 is started from the relief charging stations 42 to 46. The vehicle is provided with a start command means for commanding.

Next, the specific contents of the automatic charging pit-in control will be described in detail with reference to the flowcharts of FIGS. Step 1 (abbreviated as S1 in the figure; the same applies hereinafter)
Then, in the MRG1 process 20, the remaining battery level of the automatic guided vehicle 10 is reported (the number of the unmanned guided vehicle and the remaining battery level are reported).

In step 2, the automatic guided vehicle 10 having the lowest remaining level is selected (the automatic guided vehicle 1 having the lowest level).
The car No. 0 and the remaining level are written in the table. In this case, the number of times that the pits could not be entered because the charging stations 42 to 46 are full is also considered). In step 3, in the ENG unloading step 34, a charging request is issued from the automatic guided vehicle 10 (reporting the number of the automatic guided vehicle and the remaining amount level).

In step 4, it is determined whether or not the automatic guided vehicle 10 has the lowest remaining level, that is, whether or not the car and the remaining level match. If the automatic guided vehicle 10 has the lowest remaining level, the process proceeds to step 5; otherwise, the process proceeds to step 6. In step 6, it is determined whether or not the remaining level is equivalent to the AGV 10 having the lowest remaining level. If the remaining level is equal to the AGV 10 having the lowest remaining level, That is, even if the car number is different, if the remaining amount levels match, the process proceeds to step 7.

Otherwise, go to step 8. In this step 8, it is determined whether or not the remaining amount level is "3" (for example, the voltage is 24.3 V or less). If the remaining amount level is "3", the process proceeds to step 7; If
Proceed to step 9. In step 9, a command is issued to move the automatic guided vehicle 10 to the orbiting charging station 41.

In step 7, it is determined whether or not there are two or more free areas in the relief charging stations 42 to 46. If not, the process proceeds to step 9; In step 5, it is determined whether or not the relief charging station 46 (fifth charging) is empty, and if it is empty, the process proceeds to step 10 where the pit-instruction of the automatic guided vehicle 10 to the relief charging station 46 is issued. I do.

In step 11, it is determined whether or not the relief charging station 42 (first charging) is empty. If it is empty, the process proceeds to step 12, where the automatic guided vehicle 10 sends the information to the relief charging station 42. Command a pit stop. In step 13, the relief charging station 43
It is determined whether or not (second charge) is empty, and if it is empty, the process proceeds to step 14 where the automatic guided vehicle 10 is instructed to pit into the relief charging station 43.

In step 15, it is determined whether or not the relief charging station 44 (third charging) is empty. If it is empty, the flow advances to step 16 to transfer the automatic guided vehicle 10 to the relief charging station 44. Command a pit stop. In step 17, the relief charging station 45
It is determined whether or not (fourth charging) is empty, and if it is empty, the process proceeds to step 18, where the automatic guided vehicle 10 is instructed to pit into the relief charging station 45.

If it is determined in step 17 that the relief charging station 45 is not empty, the process proceeds to step 9 where a command is issued to move the automatic guided vehicle 10 to the orbiting charging station 41. As described above, the revolving charging station 41 for performing quick charging in a predetermined short time is provided, and the relief charging stations 42 to 46 for replenishing power consumed over a predetermined long time are provided. It is determined whether to charge at the round charging station 41 or to charge at the relief charging stations 42 to 46 based on the charging state of the vehicle. Since the vehicle is commanded to travel toward the charging station to be charged, the storage battery of the automatic guided vehicle 10 can be charged during the operation of the system, and the charging time is sufficient without reducing the operation time of the system. There is no shortage, the operation of the system can proceed smoothly, and the productivity can be increased.

In addition, there is no need to prepare more storage batteries to be replaced, and there is no cost problem or storage battery management problem, and it can be said that this is the best solution. In particular, in the present embodiment, the first condition after the charging time of the storage battery at the relief charging stations 42 to 46 elapses a predetermined time and the second condition under which the charging current value to the storage battery has decreased to the predetermined value When one of them is satisfied, charging is completed, and the command to start the automatic guided vehicle is issued.If the charging time or the charging current value is satisfied, the starting is performed immediately, which is wasteful. The charging time can be eliminated, the operation of the system can proceed more smoothly, and the productivity can be further improved.

[0035]

As described above, according to the first aspect of the present invention, the charging time for the storage battery of the automatic guided vehicle can be sufficiently long without reducing the operation time of the system, resulting in insufficient charging. Without the system running smoothly.
Productivity can be improved. According to the second aspect of the present invention, useless charging time is eliminated, the operation of the system can be performed more smoothly, and productivity can be further improved.

[Brief description of the drawings]

FIG. 1 is a view showing an example of a layout of an engine assembly line for explaining an embodiment of a control system for an automatic guided vehicle according to the present invention.

FIG. 2 is a configuration diagram showing an embodiment of the above system.

FIG. 3 is a flowchart for explaining control contents of the automatic guided vehicle.

FIG. 4 is a flowchart for explaining control contents of the automatic guided vehicle.

[Explanation of symbols]

Reference Signs List 10 automatic guided vehicle 13 electric motor 14 storage battery 15 control unit 50, 50A taxiway 40 charging process 41 lap charging station 42-46 relief charging station 21, 23, 25, 27, 29, 32, 35 and 48
Control panel 60 Central control panel (Central control unit)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masahiro Fukasawa 1-chome, Daiichi 1-chome, Ageo-shi, Saitama Prefecture (72) Inventor Toshio Nakajima 1-chome 1, 1-1-chome, Ageo-shi, Saitama Nissan Diesel Kogyo Inside the corporation

Claims (2)

[Claims] A plurality of unmanned vehicles traveling on a traveling route including a predetermined main traveling route and a branch traveling route that branches off from the main traveling route and merges again by driving a traveling electric motor from a mounted storage battery. Control of an automatic guided vehicle configured to include a carrier, a charger that is detachably connected to the storage battery and charges the storage battery, and a control device that controls the operation and charging of the automatic guided vehicle In the system, in the main traveling route, while providing a circulating charging station that performs rapid charging in a predetermined short time, the branch traveling route, a relief charging station that replenishes the power consumed over a predetermined long time. On the other hand, the automatic guided vehicle is provided with charging state detecting means for detecting a state of charge of a storage battery mounted on the automatic guided vehicle, Determining means for determining whether to perform charging at the revolving charging station or charging at the relief charging station based on the signal, and performing bit-in on the automatic guided vehicle based on the determination result by the determining means. Traveling instruction means for instructing traveling toward a charging station to be provided;
A control system for an automatic guided vehicle, comprising: 2. The control device according to claim 1, wherein the first condition after the charging time of the storage battery at the relief charging station has elapsed for a predetermined time and the second condition when the charging current value for the storage battery has decreased to the predetermined value.
2. A control system for an automatic guided vehicle according to claim 1, further comprising: start command means for instructing start of the automatic guided vehicle when charging is completed when one of the conditions is satisfied. .