Method for operating an automated guided, mobile assembly and/or material transport unit and automated guided, mobile assembly and/or material transport unit therefor

• US 9,037,335 B2
• Filed: 04/16/2010
• Issued: 05/19/2015
• Est. Priority Date: 04/17/2009
• Status: Active Grant

• Current Assignee: BÄR Automation GmbH
• Original Assignee: Ralf Bar
• Inventors: Br, Ralf
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): HEINLE, COURTNEY D
• Application Number:
  US13/264,316
• Publication Number:
  US 20120037440A1
• Time in Patent Office: 1,859 Days
• Field of Search: 701/23, 320/137, 320/149, 320/160, 320166-167, 191/4, 307/9.1, 307/10.1
• US Class Current: 701/23
• CPC Class Codes: B60L 15/38 with automatic control
• CPC Class Codes: B60L 2200/44 Industrial trucks or floor conveyors
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/40 using propulsion power supplied by capacitors
• CPC Class Codes: B60L 53/11 DC charging controlled by the charging station, e.g. mode 4
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/32 by charging in short intervals along the itinerary, e.g. during short stops
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

A method for operating a driverless, mobile assembly and/or material transport unit as a driverless transport system (DTS) with fixed assembly and/or warehousing stations. In this method, a system control device is used for the entire assembly process. The driverless, mobile assembly and/or material transport units comprises a travel device for the traveling movement of the unit, a drive device for the travel device, an energy storage device for providing the energy for the drive device and a control device for controlling the traveling movement in coordination with the system control device.

Claims

1. A method for operating a driverless, mobile assembly or material transport unit as a driverless transport system (DTS) for an assembly or warehousing facility comprising;

a travel device for providing traveling movement of the transport unit,

a drive device for causing movement of the travel device,

a first energy storage device which is in the form of a battery device,

a control device for controlling the traveling movement in coordination with a system control device,

a second energy storage device which is used in the mobile assembly or material transport unit, said second energy storage device being in the form of a device which can be charged quickly, in particular a double-layer capacitor device, and

a switching unit that is provided between the first energy storage device and the drive device, said method comprising the steps of;

solely charging the second energy storage device at an assembly or a charging station when the transport unit is at a standstill;

providing drive energy directly to the drive device from the second energy storage device during normal operation, while said second energy storage device simultaneously keeps the first energy storage device charged or recharged, said first energy storage device providing no drive energy to the drive device during the normal operation;

switching the system by using the switching unit to provide drive energy from the first energy storage device to the drive device when the second energy storage device is emptied or when a predetermined voltage value is undershot until the second energy storage device is recharged;

providing energy to the control device or a safety device with a scanner and sensors from the first energy storage device.

2. The method as claimed in claim 1, further comprising the step of:

automatically connecting a charging contact to the second energy storage device when a respective position at the charging station is reached, said charging contact being used for charging the second energy storage device.

3. The method as claimed in claim 1, further comprising the step of:

disposing a DC/DC converter between the first and the second energy storage devices.

4. The method as claimed in claim 1, further comprising the steps of:

operating the second storage device at a voltage of approximately 32 V (volts) or 48 V (volts), and

operating the first energy storage device at a voltage of approximately 27 V (volts).

5. The method as claimed in claim 1, wherein

when a voltage of 20 V (volts) at the second energy storage device is undershot, the system is switched over such that the first energy storage device supplies energy to the drive device.

6. The method as claimed in claim 1, wherein

the first energy storage device is used as a small backup battery.

7. The method as claimed in claim 1, wherein energy is provided to the safety device with a scanner and sensors from the first energy storage device.

8. The method as claimed in claim 1, wherein the switching unit is in a form of a relay.

9. A driverless, mobile assembly or material transport unit as a driverless transport system (DTS) for an assembly facility, comprising:

a travel device for providing traveling movement of the transport unit;

a drive device for causing movement of the travel device;

a first energy storage device which is in the form of a battery device;

a control device for controlling the traveling movement in coordination with a system control device;

a second energy storage device that provides energy directly to the drive device during normal operation, said second energy storage device being in the form of a device which can be charged quickly, in particular a double-layer capacitor device, said first energy storage device providing no energy to the drive device during the normal operation; and

a switching unit that is provided between the first energy storage device and the drive device, wherein,

when the second energy storage device is solely charged while the transport unit is at a standstill, the control device controls a supply of drive energy for the drive device from the second energy storage device and at the same time keeps the first energy storage device in a charged state, or recharges said first energy storage device via the second energy storage device,

when the second energy storage device is emptied or when a predetermined voltage value for the second energy storage device is undershot, the control device activates the first energy storage device by using the switching unit for supplying energy from the first energy storage device to the drive device until the second energy storage device has been recharged, and

the first energy storage device provides energy for operating the control device or a safety device with a scanner and sensors.

10. The assembly or material transport unit as claimed in claim 9, wherein

the drive device has at least one brushless servodrive motor.

11. The assembly or material transport unit as claimed in claim 9, wherein the first energy storage device provides energy for operating the safety device with a scanner and sensors.

12. The assembly or material transport unit as claimed in claim 9, wherein the switching unit is in a form of a relay.