Charging control method, program, and charging control system

Abstract

The purpose of the present disclosure is to reduce the possibility that the remaining amount of the power storage unit is insufficient and thus the work cannot be performed. The charging control method of the present disclosure includes a setting process and a charging control process. In the setting process, as thresholds for the remaining amount of the power storage unit of each of the plurality of working devices, at least a first threshold value (E1) and a second threshold value (E2) that is larger than the first threshold value (E1) are set. In the charging control process, in a first state where the remaining amount of the power storage unit of the working device of the controlled object is greater than the first threshold value (E1) and less than the second threshold value (E2), when a prescribed judgment condition is satisfied, a charging start instruction is output to the working device of the controlled object to indicate the start of charging. In the charging control process, in a second state where the remaining amount of the power storage unit of the working device of the controlled object is less than the first threshold value (E1), a charging start instruction is output to the working device of the controlled object regardless of the judgment condition.

Description

Technical Field

[0001] The present disclosure relates to a charging control method, a program, and a charging control system. More specifically, the present disclosure relates to a charging control method, a program, and a charging control system for controlling the charging of a work device that performs work. Background Art

[0002] Patent document 1 discloses a mobile robot charging system having a charger and a charging control device. The charger charges the batteries (storage units) of multiple mobile robots (working devices). The charging control device sets a priority corresponding to the remaining charge for each of the multiple mobile robots. When the charging control device is charging the maximum number of mobile robots that can be charged by the charger, if the priority of the mobile robot that needs to be charged is higher than the priority of the mobile robot currently being charged, the charging of the mobile robot with the lowest priority among the mobile robots currently being charged is stopped. Then, the charging control device automatically drives the mobile robot that needs to be charged to the charger and performs the charging operation.

[0003] In the above-mentioned mobile robot charging system, if the remaining battery power of multiple mobile robots drops to a level that requires charging at the same time, a mobile robot will be unable to perform charging operations, and there is a possibility that the remaining battery power of the mobile robot will drop to a level that makes it impossible to move.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2010-237924 Summary of the Invention

[0007] An object of the present disclosure is to provide a charging control method, a program, and a charging control system that can reduce the possibility of a power storage unit being insufficient and thus unable to perform a work.

[0008] A charging control method according to one aspect of the present disclosure includes a setting process and a charging control process. In the setting process, at least a first threshold value and a second threshold value greater than the first threshold value are set as thresholds for the remaining power of each of a plurality of working devices. In the charging control process, each of the plurality of working devices is set as a working device to be controlled, and charging of the power storage unit is controlled based on the remaining power of the power storage unit of the working device to be controlled. In the charging control process, in a first state where the remaining power of the power storage unit of the working device to be controlled is greater than the first threshold value and less than the second threshold value, a charging start instruction is output to the working device to be controlled to start charging if a predetermined judgment condition is satisfied. In the charging control process, in a second state where the remaining power of the power storage unit of the working device to be controlled is less than the first threshold value, the charging start instruction is output to the working device to be controlled, regardless of the judgment condition.

[0009] A program according to one aspect of the present disclosure is a program for causing a computer system to execute the above-described charging control method.

[0010] A charging control system according to one embodiment of the present disclosure includes a setting unit and a charging control unit. The setting unit sets at least a first threshold value and a second threshold value greater than the first threshold value as threshold values ​​for the remaining power of each of the plurality of working devices. The charging control unit sets each of the plurality of working devices as a working device to be controlled, and controls the charging of the power storage unit based on the remaining power of the power storage unit of the working device to be controlled. In a first state where the remaining power of the power storage unit of the working device to be controlled is greater than the first threshold value and less than the second threshold value, the charging control unit outputs a charging start instruction to the working device to be controlled, indicating the start of charging, when a predetermined judgment condition is satisfied. In a second state where the remaining power of the power storage unit of the working device to be controlled is less than the first threshold value, the charging control unit outputs the charging start instruction to the working device to be controlled, regardless of the judgment condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic plan view of a work area in which a work device, which is a control target of a charging control system according to an embodiment of the present disclosure, performs work.

[0012] Figure 2 2 is a block diagram showing a schematic configuration of the above-mentioned charging control system.

[0013] Figure 3 This is a state transition diagram for explaining the operation of the above-mentioned charging control system.

[0014] Figure 4 This is a flowchart for explaining the operation of the above-mentioned charging control system.

[0015] Figure 5 This is a graph showing temporal changes in the remaining amount of the power storage unit included in the working device, which is the control target of the charging control system according to Modification 1.

[0016] Figure 6 This is a graph showing temporal changes in the remaining amount of the power storage unit included in each working device when the number of working devices is three in the charging control system according to Modification 1.

[0017] Figure 7 This is a graph showing temporal changes in the remaining amount of the power storage unit included in the working device, which is the control target of the charging control system according to Modification 2.

[0018] Figure 8 This is a graph showing temporal changes in the remaining amount of the power storage unit included in the working device, which is the control target of the charging control system according to Modification 3.

[0019] Figure 9 This is a graph showing the temporal change in the number of tasks of work performed by the work device. DETAILED DESCRIPTION

[0020] (Implementation Method)

[0021] Below, refer to Figures 1 to 4 , a charging control system 1 according to this embodiment will be described.

[0022] (1) Summary

[0023] like Figure 1 As shown, the charging control system 1 according to the present embodiment is a system for controlling the charging of a plurality of working devices 2 that perform work in a predetermined work area A1.

[0024] The working device 2 includes a power storage unit 24 (see Figure 2), and uses the electric energy stored in the power storage unit 24 to perform operations. In the following embodiment, the working device 2 is a transporting device that receives instructions from the server device 3 and transports the objects to be transported within the working area A1. In other words, the "operation" performed by the working device 2 is a transporting operation to transport the objects to be transported. Such a transporting device can include an unmanned guided vehicle (AGV: Automated Guided Vehicle), a mobile robot, and a drone, etc. The so-called mobile robot in the present disclosure is, for example, a wheel-type, crawler-type, or leg-type (including a walking-type) robot. In addition, the operation performed by the working device 2 is not limited to the transporting operation to transport the objects to be transported. For example, it can also have the function of performing various operations such as picking, welding, installation, display, reception, security, assembly, and inspection.

[0025] A charger 4 for charging a work machine 2 is installed in work area A1. A charging area A2 is also set up in work area A1, where entry to work machines 2 other than those being charged by the charger 4 is prohibited. Furthermore, a charging standby area A3 is also set up adjacent to charging area A2 in work area A1, where other work machines 2 wait for the charger 4 while the charger 4 is charging the work machine 2.

[0026] Here, the number of chargers 4 is less than the number of working devices 2 used in the working area A1. Figure 1 In the example, one charger 4 is provided for two working devices 2. In other words, the number of working devices 2 used in the working area A1 is greater than the number of working devices 2 that can be charged simultaneously by the charger 4 (hereinafter referred to as the "rechargeable number"). Therefore, if the charging of the storage unit 24 is required in a larger number of working devices 2 than the rechargeable number, there will be a problem that the number of working devices 2 waiting for charging will be reduced because the charger 4 is in use, and the number of working devices 2 that can perform work (such as transport work) will be reduced. In addition, in the following description, when distinguishing between two working devices 2, they may also be recorded as working devices 2A and 2B. In the following description, the number of working devices 2 is 2, but the number of working devices 2 is not limited to 2, and may be 3 or more.

[0027] The charging control system 1 of this embodiment is as follows Figure 2 As shown, a setting unit 31 and a charging control unit 32 are provided.

[0028] The setting unit 31 sets at least a first threshold value E1 and a second threshold value E2 (see FIG. 1 ) which is larger than the first threshold value E1 as threshold values ​​for the remaining power of the power storage unit 24 included in the plurality of working devices 2. Figure 3 ).

[0029] The charging control unit 32 sets each of the plurality of working machines 2 as a working machine 2X to be controlled, and controls charging of the power storage unit 24 included in the working machine 2X to be controlled.

[0030] The charging control unit 32 is in the first state ( Figure 3 In S1), when the predetermined judgment conditions are satisfied, a charging start instruction is output to the working device 2X of the control object to instruct the start of charging.

[0031] Furthermore, the charging control unit 32 is in the second state ( Figure 3 In S2), regardless of the judgment conditions, a charging start instruction is output to the working device 2X of the control object.

[0032] Thus, the charging control unit 32 can output a charge start instruction to the working device 2X being controlled if the predetermined judgment condition is satisfied while the remaining amount of the power storage unit 24 is in the first state, where the remaining amount is reduced to a value greater than or equal to the first threshold value E1 and less than or equal to the second threshold value E2. The charging control unit 32 can output a charge start instruction to the working device 2X being controlled if the predetermined judgment condition is satisfied in the first state. This allows the power storage unit 24 to be charged before the remaining amount of the power storage unit 24 falls below the first threshold value E1. This reduces the likelihood that the remaining amount of the power storage units 24 of multiple working devices 2 will fall below the first threshold value E1 at the same time, and thus provides a charging control system 1 that reduces the likelihood that the remaining amount of the power storage unit 24 will be insufficient, making it impossible to perform work (e.g., transporting work).

[0033] (2) Details

[0034] (2.1) Structure

[0035] Below, refer to Figures 1 to 4 The structure of the charging control system 1 according to this embodiment will be described in detail. The numerical values, shapes, materials, positions of components, positional relationships between multiple components, and connection relationships shown below are examples and do not limit the scope of this disclosure. In addition, the drawings referenced below are schematic diagrams, and the sizes and thickness ratios of the components shown in the drawings do not necessarily reflect actual dimensional ratios.

[0036] The following description takes as an example a case where the working device 2 controlled by the charging control system 1 is an automated guided vehicle. The automated guided vehicle as the working device 2 moves within the working area A1 and performs a task of transporting an object.

[0037] The so-called "work area" in the present disclosure is a space equipped with multiple work devices 2, and the work devices 2, for example, receive instructions from the server device 3 and move within the work area A1. As an example, the work area A1 is a warehouse, a factory, a construction site, a store (including a shopping mall), a logistics center, an office, a park, a residence, a school, a hospital, a station, an airport, or a parking lot. Furthermore, for example, when the work devices 2 are equipped inside a vehicle such as a ship, a train, or an airplane, the interior of the vehicle is the work area A1. In this embodiment, the case where the work area A1 is a warehouse is used as an example for explanation.

[0038] (2.1.1) Overall structure

[0039] like Figure 1 as well as Figure 2 As shown, the charging control system 1 includes a server device 3 and a relay device 5 installed in a work area A1.

[0040] Figure 1 It is a schematic top view of the working area A1. In the present embodiment, the warehouse, that is, the space surrounded by the outer wall 81 is the working area A1. In the working area A1 assumed in the present embodiment, there are entrances and exits 82 and 83 for moving the transported objects into or out of the working area A1. The working area A1 is divided by a partition wall 84 arranged in the working area A1. In the working area A1, one of the above-mentioned chargers 4 is set. In addition, the number of chargers 4 is not limited to one, and the number of chargers 4 can be appropriately changed according to the number of working devices 2 used in the working area A1. In addition, in Figure 1 In the embodiment, the number of the working devices 2 is 2, but the number of the working devices 2 is not limited to 2, and may be 3 or more. Figure 1 In the figure, only one relay device 5 is shown, but a plurality of relay devices 5 may be arranged in the work area A1. Figure 1 This is merely an example of the work area A1 , and the arrangement of the work area A1 can be changed as appropriate.

[0041] The server device 3 is installed, for example, outside the work area A1 and is connected to a plurality of relay devices 5 via a communication network NT1 such as the Internet.

[0042] The server device 3 and the plurality of working devices 2 are configured to be able to communicate with each other. In the present disclosure, "communicable" means that information can be transferred directly or indirectly via the communication network NT1 or the relay device 5 through an appropriate communication method such as wired communication or wireless communication. That is, the server device 3 and the plurality of working devices 2 can transfer information with each other. In this embodiment, the plurality of working devices 2 communicate with any one of the plurality of relay devices 5 through wireless communication using radio waves as the medium. Therefore, the server device 3 and the plurality of working devices 2 communicate indirectly at least via the communication network NT1 and the relay device 5.

[0043] In short, each relay device 5 is a device (access point) that relays the communication between each working device 2 and the server device 3. The relay device 5 communicates with the server device 3 via the communication network NT1. In this embodiment, as an example, for the communication between the relay device 5 and the working device 2, wireless communication based on standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require communication approval is adopted. In addition, the communication network NT1 is not limited to the Internet. For example, a local communication network within the working area A1 or within the operating company of the working area A1 can also be applied.

[0044] Next, refer to Figure 1 as well as Figure 2 The work device 2 will now be described in more detail. The work device 2 autonomously travels on a flat moving surface 80, such as the ground surface, in the work area A1. The work device 2 includes a first control unit 20, a first communication unit 21, a travel device 22, a charge / discharge circuit 23, a power storage unit 24, and a detection unit 25. Furthermore, independent identification information is assigned to each of the multiple work devices 2 used in the work area A1.

[0045] The first communication unit 21 communicates with the server device 3 (the second communication unit 33 of the server device 3) via the relay device 5 and the communication network NT1. Here, the first communication unit 21 communicates with the relay device 5 using a wireless communication device.

[0046] The travel device 22 drives the work device 2 by driving at least some of the multiple wheels provided on the work device 2. At least some of the multiple wheels are drive wheels. The drive wheels are, for example, omnidirectional wheels such as omnidirectional wheels. The travel device 22 drives the drive wheels based on control commands input from the first control unit 20, thereby driving the work device 2.

[0047] Power storage unit 24 is, for example, a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery.

[0048] The charge-discharge circuit 23 controls charging and discharging of the power storage unit 24. When the working device 2 is connected to the charger 4, the charge-discharge circuit 23 stores the electrical energy supplied from the charger 4 in the power storage unit 24. Furthermore, the charge-discharge circuit 23 discharges the electrical energy from the power storage unit 24 to supply power to the first control unit 20, the first communication unit 21, and the travel device 22. In other words, the working device 2 performs work using the electrical energy stored in the power storage unit 24.

[0049] The detection unit 25 detects current position information related to the current position of the working device 2 in the working area A1. The detection unit 25 includes, for example, a receiver that receives beacon signals transmitted from a plurality of transmitters via radio waves. The plurality of transmitters are arranged at a plurality of positions within the working area A1. The detection unit 25 measures the current position of the working device 2 based on the positions of the plurality of transmitters and the received radio wave strength of the beacon signals in the receiver. In addition, the detection unit 25 can also be implemented using a satellite positioning system such as GPS (Global Positioning System). The working device 2 regularly sends the information of the current position detected by the detection unit 25 and the identification information of the working device 2 from the first communication unit 21 to the server device 3 at a predetermined transmission time interval (for example, 1 second interval). In addition, the working device 2 can also irregularly send the information of the current position detected by the detection unit 25 and the identification information of the working device 2 from the first communication unit 21 to the server device 3 based on a transmission request from the server device 3.

[0050] In addition, the detection unit 25 can also detect the operating state of the working device 2 and the surrounding conditions of the working device 2. The operating state of the working device 2 can include: the remaining amount of the power storage unit 24 of the working device 2, the state indicating whether the working device 2 is driving or stopped, the speed of the working device 2 (and speed changes), the acceleration acting on the working device 2, and the posture of the working device 2. The detection unit 25 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the operating state of the working device 2 through these sensors. In addition, the detection unit 25 includes sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the working device 2 through these sensors. The surrounding conditions of the working device 2 include, for example, the presence or absence of objects (obstacles, etc.) in front of the direction of travel of the working device 2, and the position (distance and direction) of the objects. Obstacles also include other working devices 2 and people. Furthermore, the working device 2 regularly transmits information on the remaining amount of the power storage unit 24 detected by the detection unit 25 and identification information of the working device 2 from the first communication unit 21 to the server device 3 at a predetermined transmission time interval (e.g., a time interval of about 1 second to several minutes).

[0051] The first control unit 20 is mainly structured, for example, with a computer system including a memory and a processor. That is, the functions of the first control unit 20 can be realized by the processor executing the program recorded in the memory of the computer system. The program can be pre-recorded in the memory, or provided through an electrical communication line such as the Internet, or recorded on a non-temporary recording medium such as a memory card. For example, if the first control unit 20 receives a transport instruction for a transported object from the server device 3, the first control unit 20 controls the travel device 22 and causes the work device 2 to travel autonomously based on the current position information detected by the detection unit 25, the operating status of the surrounding work device 2, and the detection results of the surrounding conditions. The first control unit 20 transports the transported object instructed by the server device 3 to the transport destination by controlling the travel of the work device 2.

[0052] Next, refer to Figure 1 as well as Figure 2 , the server device 3 will be described in more detail. The server device 3 includes a second control unit 30 and a second communication unit 33.

[0053] The second communication unit 33 communicates with the relay device 5 via the communication network NT1. The second communication unit 33 communicates with each of the plurality of (two in this embodiment) working devices 2 via the communication network NT1 and the relay device 5. As a communication method between the second communication unit 33 and the relay device 5, an appropriate communication method such as wireless communication or wired communication is adopted.

[0054] The second control unit 30 is primarily configured, for example, as a computer system including a memory and a processor. Specifically, the functions of the second control unit 30 (e.g., the functions of the setting unit 31 and the charging control unit 32) are realized by the processor executing a program stored in the computer system's memory. The program may be pre-stored in memory, provided via telecommunication lines such as the Internet, or stored on a non-transitory storage medium such as a memory card.

[0055] As a threshold value for the remaining amount of the power storage unit 24 included in the plurality of working devices 2, Figure 3 As shown, the setting unit 31 sets at least a first threshold E1 and a second threshold E2 that is greater than the first threshold E1. The first threshold E1 and the second threshold E2 are thresholds used to determine whether work requires charging of the power storage unit 24. The first threshold E1 is used to determine whether charging should be prioritized over work and whether the working device 2 should charge the power storage unit 24. When the power storage unit 24 is fully charged, the remaining capacity is set to 100%, for example, at a charge level of 10%. The second threshold E2 is set to a value greater than the first threshold E1, for example, at a charge level of 20%. If the remaining capacity of the power storage units 24 of two working devices 2 falls below the second threshold E2 at the same time, only the power storage unit 24 of one working device 2 can be charged simultaneously because only one charger 4 is installed in the work area A1. Therefore, while the charger 4 is charging the power storage unit 24 of the first working device 2, the remaining capacity of the power storage unit 24 of the other working device 2 continues to decrease. Therefore, the second threshold E2 is set to a value higher than the first threshold E1 in consideration of the charging time of the working device 2 so that the remaining amount of the power storage unit 24 of the other working device 2 will not be exhausted until the charger 4 completes charging of the power storage unit 24 of the first working device 2.

[0056] Here, the setting unit 31 may also provide hysteresis between the thresholds (first threshold E1 and second threshold E2) in the discharge state (when the storage unit 24 is discharging) and the thresholds (first threshold E1 and second threshold E2) in the charge state (when the storage unit 24 is charging). For example, the setting unit 31 may provide hysteresis for the first threshold by setting the first threshold E1a when the storage unit 24 is discharging and the first threshold E1b when the storage unit 24 is charging (E1b>E1a). In other words, the setting unit 31 may provide a difference (hysteresis) between the first threshold E1a and the first threshold E1b so that the first threshold E1b in the charge state (when the remaining amount of the storage unit 24 is increasing) is greater than the first threshold E1a in the discharge state (when the remaining amount of the storage unit 24 is decreasing). This reduces the possibility of the working mechanism 2 state fluctuating between the first and second states when the remaining amount of the storage unit 24 fluctuates around the first threshold. Furthermore, setting unit 31 may provide hysteresis for the second threshold value by setting the second threshold value to E2a when discharging power storage unit 24 and setting the second threshold value to E2b when charging power storage unit 24 (E2b>E2a). In other words, setting unit 31 may provide a difference (hysteresis) between second threshold values ​​E2a and E2b so that second threshold value E2b in the charging state, in which the remaining amount of power storage unit 24 increases, is greater than second threshold value E2a in the discharging state, in which the remaining amount of power storage unit 24 decreases. This reduces the likelihood that the state of working mechanism 2 will fluctuate between the second state and a state other than the first state or the second state when the remaining amount of power storage unit 24 fluctuates around the second threshold value.

[0057] Furthermore, the setting unit 31 further sets a third threshold value E3 as a threshold value. The third threshold value E3 is a threshold value for determining whether to terminate the charging of the working device 2 being charged, and is set to a charging level of 90%, for example.

[0058] The charging control unit 32 sets each of a plurality of (for example, two in the present embodiment) working machines 2 ( 2A, 2B) as a working machine 2X to be controlled.

[0059] When a predetermined judgment condition is satisfied in a first state where the remaining charge of the power storage unit 24 of the controlled working device 2X is greater than or equal to a first threshold value E1 and less than a second threshold value E2, the charging control unit 32 outputs a charging start instruction to the controlled working device 2X, instructing it to start charging. Specifically, the charging control unit 32 outputs the charging start instruction to the controlled working device 2X if the predetermined judgment condition is satisfied in the first state. This allows the charging start instruction to be output before the remaining charge of the power storage unit 24 falls below the first threshold value E1. Therefore, the charging control unit 32 can output the charging start instruction to the controlled working device 2X, thereby reducing the possibility of the remaining charge of the power storage unit 24 decreasing and the working device 2 becoming inoperable.

[0060] Here, the prescribed judgment condition may include, for example, a condition based on the number of tasks assigned to the work device 2. The so-called condition based on the number of tasks for the work is, for example, a condition that the number of tasks for the unexecuted work is less than the number of work devices 2 that can execute the work. The so-called work device 2 that can execute the work refers to a work device 2 that is not executing a work (such as a transport work) and is not being charged. In the first state, when the number of unexecuted tasks is greater than the number of work devices 2 that can execute the work, the charging control unit 32 does not charge the work device 2X of the control object, thereby reducing the possibility that the number of work devices 2 that can execute the work is reduced and the unexecuted work cannot be executed. On the other hand, in the first state, when the number of unexecuted tasks is less than the number of work devices 2 that can execute the work, the charging control unit 32 charges the work device 2X of the control object, thereby reducing the possibility that the unexecuted work cannot be executed and the work device 2X of the control object can be charged.

[0061] Furthermore, when the controlled working device 2X is being charged, the charging control unit 32 outputs a charging termination instruction to the controlled working device 2X, indicating the end of charging, if the remaining amount of the power storage unit 24 of the controlled working device 2X is equal to or greater than the third threshold value E3. Thus, the charging control unit 32 can cause the controlled working device 2X to continue charging until the remaining amount of the power storage unit 24 reaches or greater than the third threshold value E3.

[0062] (2.1.2) Action Description

[0063] based on Figure 4 The operation of the charging control system 1 according to this embodiment will be described.

[0064] The plurality of working devices 2 used in the working area A1 transmits information on the remaining amount of the power storage unit 24 and identification information of the working device 2 from the first communication unit 21 to the server device 3 via the relay device 5 and the communication network NT1 at predetermined transmission time intervals.

[0065] The charging control unit 32 of the server device 3 sequentially selects the plurality of working devices 2A and 2B as the working devices 2X to be controlled. Furthermore, after the charging control unit 32 obtains information on the remaining amount of the power storage unit 24 from the plurality of working devices 2A and 2B (ST1), it compares the remaining amount of the power storage unit 24 of the working device 2X to be controlled among the plurality of working devices 2A and 2B with the first threshold value E1 (ST2).

[0066] Here, if the remaining amount of the storage unit 24 of the control object working device 2X is less than the second state of the first threshold E1 (ST2: yes), the charging control unit 32 sends a charging start instruction to the control object working device 2X from the second communication unit 33 (ST3).

[0067] If the first communication unit 21 of the working device 2X being controlled receives a charge start instruction from the server device 3 while the working device 2X is not performing any work, the first control unit 20 controls the travel device 22 to move the working device 2X to the charge standby area A3. Furthermore, if the first communication unit 21 of the working device 2X being controlled receives a charge start instruction from the server device 3 while the working device 2X is performing any work, the first control unit 20 controls the travel device 22 to move the working device 2X to the charge standby area A3 after the work is completed. If another working device 2 is present in the charging area A2 while the working device 2X is moving to the charge standby area A3, the working device 2X waits in the charge standby area A3. If another working device 2 is not currently charging in the charging area A2 while the working device 2X is moving to the charge standby area A3, the first control unit 20 of the working device 2X moves the working device 2X to the charging area A2 and electrically connects the charge-discharge circuit 23 to the charger 4. At this time, the charge-discharge circuit 23 of the working device 2X charges the power storage unit 24 using the electric energy supplied from the charger 4. If the remaining amount of the power storage unit 24 detected by the detection unit 25 is less than the third threshold value E3 (ST4: No), the first control unit 20 of the working device 2X continues charging. If the remaining amount of the power storage unit 24 detected by the detection unit 25 is greater than or equal to the third threshold value E3 (ST4: Yes), the first control unit 20 of the working device 2X ends charging (ST5).

[0068] In addition, in the judgment of step ST2, if the remaining amount of the storage unit 24 of the working device 2X of the control object is greater than the first threshold value E1 (ST2: No), the charging control unit 32 compares the remaining amount of the storage unit 24 of the working device 2X of the control object with the size of the second threshold value E2 (ST6).

[0069] Here, if the remaining amount of the power storage unit 24 of the control target working device 2X is equal to or greater than the second threshold value E2 (ST6: NO), the charging control unit 32 determines that charging of the control target working device 2X is unnecessary and ends the process.

[0070] On the other hand, if the remaining charge of the power storage unit 24 of the control target working device 2X is less than the second threshold value E2 in the second state (ST6: YES), the charging control unit 32 determines whether a predetermined determination condition is satisfied (ST7). In the present embodiment, the predetermined determination condition is based on the number of tasks assigned to the working device 2, for example, the number of unexecuted tasks is less than the number of working devices 2 that can perform the work (e.g., transport work).

[0071] If the conditions specified in ST7 are not met (ST7: NO), the charging control unit 32 determines not to charge the controlled working device 2X and terminates the process. Specifically, if the number of unexecuted tasks exceeds the number of working devices 2 capable of performing work, the controlled working device 2X is prevented from outputting a charge start instruction, allowing the controlled working device 2X to perform work until the remaining charge in the power storage unit 24 falls below the first threshold value E1. Therefore, the charging control system 1 of this embodiment can reduce the possibility of unexecuted tasks remaining unexecuted.

[0072] If the specified determination condition is met in ST7 (ST7: YES), the charging control unit 32 outputs a charge start instruction to the controlled working machine 2X (ST3), causing the controlled working machine 2X to charge the power storage unit 24. When the above determination condition is met, the charging control unit 32 outputs a charge start instruction to the controlled working machine 2X. By instructing the charging start instruction at the time when the remaining charge in the power storage unit 24 falls below a second threshold value E2 that is greater than the first threshold value E1, the charging control unit 32 can preemptively charge the controlled working machine 2X.

[0073] (3) Modification

[0074] The above embodiment is merely one of the various embodiments of the present disclosure. Various modifications may be made to the above embodiment, depending on design, etc., as long as the objectives of the present disclosure are achieved. Furthermore, functions similar to those of the charging control system 1 may also be embodied in a charging control method, a computer program, or a non-transitory recording medium storing the program. A charging control method according to one embodiment includes a setting process and a charging control process. In the setting process, at least a first threshold value E1 and a second threshold value E2, which is greater than the first threshold value E1, are set as thresholds for the remaining charge of the power storage unit 24 of each of the plurality of working devices 2. In the charging control process, each of the plurality of working devices 2 is designated as a controlled working device 2X, and charging of the power storage unit 24 is controlled based on the remaining charge of the power storage unit 24 of the controlled working device 2X. In the charging control process, when the remaining charge of the power storage unit 24 of the controlled working device 2X is greater than the first threshold value E1 and less than the second threshold value E2, and a predetermined determination condition is satisfied, a charging start instruction is output to the controlled working device 2X to initiate charging. Furthermore, during the charging control process, in the second state where the remaining charge of the power storage unit 24 of the controlled working device 2X is less than the first threshold value E1, a charging start instruction is output to the controlled working device 2X regardless of the determination condition. A (computer) program according to one embodiment is a program for causing a computer system to execute a setting process and a charging control process.

[0075] Modifications of the above-described embodiment are listed below. The modifications described below can be combined as appropriate and applied.

[0076] The charging control system 1 (operating device 2 and server device 3) in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the charging control system 1 in the present disclosure are realized by the processor executing the program recorded in the memory of the computer system. The program can be pre-recorded in the memory of the computer system, or it can be provided through an electrical communication line, recorded and provided in a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI mentioned here are called differently according to the degree of integration, including integrated circuits called system LSI, VLSI (Very Large Scale Integration) or ULSI (Ultra Large Scale Integration). Furthermore, FPGA (Field-Programmable Gate Array) that can be programmed after the manufacture of LSI or logic devices that can reconfigure the connection relationship within LSI or the circuit division within LSI can also be used as processors. Multiple electronic circuits can be integrated into one chip or distributed across multiple chips. Multiple chips can be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, a microcontroller can also be composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

[0077] Furthermore, it is not essential for the charging control system 1 to integrate multiple functions within a single housing. The components of the charging control system 1 may be dispersed across multiple housings. Furthermore, at least a portion of the functions of the charging control system 1, such as the functions of the charging control unit 32, may be implemented via the cloud (cloud computing).

[0078] In the above-described embodiment, in a binary comparison of the remaining power level of power storage unit 24 with a threshold value or the like, the phrase "less than" may be used instead of "below." In other words, whether or not the binary comparison includes equality can be arbitrarily changed based on the setting of a reference value or the like. Therefore, there is no technical difference between "less than" and "below." Similarly, the phrase "above" may be used instead of "greater than."

[0079] In the above embodiment, the work device 2 is a transport device that travels within the work area A1. However, the work device 2 may also be a vessel (autonomous vessel) or an aircraft (drone). If the work device 2 is an autonomous vessel, the waters within which the autonomous vessel navigates constitute the work area A1. If the work device 2 is a drone, the space within which the drone flies constitutes the work area A1.

[0080] (3.1) Modification 1

[0081] Reference Figure 5 A charge control system 1 according to Modification 1 will be described. The configuration of the charge control system 1 is the same as that of the above-described embodiment, and therefore common components are denoted by the same reference numerals and their descriptions are omitted.

[0082] In the charging control system 1 of Modification 1, the aforementioned determination conditions include, for example, a condition based on the remaining power of the power storage unit 24 of one or more working devices 2 other than the controlled working device 2X, which differs from the aforementioned embodiment. Thus, in the first state, the charging control unit 32 can determine whether to output a charge start instruction to the controlled working device 2X based on the remaining power of the power storage unit 24 of one or more working devices 2 other than the controlled working device 2. For example, the predetermined determination condition includes the condition that the number of working devices 2 whose remaining power of the power storage unit 24 is less than the second threshold value E2 is greater than the number of working devices 2 that can be charged by the charger 4 (the chargeable number). If the predetermined determination condition is met, the charging control unit 32 outputs a charge start instruction to the chargeable number of working devices 2 among the plurality of working devices 2 whose remaining power of the power storage unit 24 is less than the second threshold value E2.

[0083] In this embodiment, since the number of working devices 2 that can be charged by the charger 4 is one, if, in the first state, the number of working devices 2 whose remaining battery capacity in the power storage unit 24 is less than the second threshold value E2 is two or more (in this embodiment, two), the charging control unit 32 determines that the determination condition has been met. If the determination condition has been met, the charging control unit 32 outputs a charge start instruction to the working device 2X to be controlled, one of the two working devices 2 whose remaining battery capacity in the power storage unit 24 is less than the second threshold value E2. Thus, in the first state, in which the remaining battery capacity in the power storage unit 24 of the working device 2X to be controlled is less than the second threshold value E2, if the number of working devices 2 whose remaining battery capacity in the power storage unit 24 is less than the second threshold value E2 is two or more, the charging control unit 32 outputs a charge start instruction to the working device 2X to be controlled. This allows the working device 2X to charge its battery capacity 24 first, reducing the possibility of the remaining battery capacity in the power storage unit 24 decreasing and rendering the working device 2 inoperable.

[0084] Furthermore, if the remaining charge of the power storage unit 24 of the control target working device 2X falls below the first threshold value E1, the server device 3 outputs a charge start instruction to the control target working device 2X. If the working device 2X receives the charge start instruction while not performing any work in the second state, it moves to the charging area A2 and performs a charging operation to charge the power storage unit 24. Furthermore, if the working device 2X receives the charge start instruction while performing any work in the second state, it moves to the charging area A2 after completing the currently executed work and performs a charging operation to charge the power storage unit 24. Furthermore, even if another work begins after completing the currently executed work, the working device 2X prioritizes charging over the work and moves to the charging area A2 to perform a charging operation to charge the power storage unit 24.

[0085] In the second state, when the remaining charge of the power storage unit 24 of the controlled working device 2X is less than the first threshold value E1, the charging control unit 32 outputs a charging start instruction from the second communication unit 33 to the controlled working device 2X, regardless of the judgment condition. Specifically, if the remaining charge of the power storage unit 24 of the controlled working device 2X falls below the first threshold value E1, the server device 3 outputs a charging start instruction to the controlled working device 2X. If the working device 2X receives the charging start instruction while not performing any work in the second state, it moves to the charging area A2 and performs a charging operation to charge the power storage unit 24. Furthermore, if the working device 2X receives the charging start instruction while performing any work in the second state, it moves to the charging area A2 after completing the currently performed work and performs a charging operation to charge the power storage unit 24. Furthermore, even if another work begins after completing the currently performed work, the working device 2X prioritizes charging over the work and moves to the charging area A2 to perform a charging operation to charge the power storage unit 24.

[0086] based on Figure 5 The operation of the charging control system 1 will be described. Figure 5 The following diagram schematically shows the time change of the remaining power of the power storage unit 24 included in each of the two working devices 2A and 2B. Figure 5 The line L1 in FIG. 1 represents the time variation of the remaining amount of the power storage unit 24 included in the working device 2A. Figure 5 The line L2 in FIG represents the temporal change of the power storage unit 24 of the working device 2B. Figure 5 In the embodiment, the remaining amount of the power storage unit 24 increases or decreases at a certain change ratio. However, the change ratio of the remaining amount of the power storage unit 24 may not be constant depending on the amount of work performed by the work device 2 and the like.

[0087] exist Figure 5In the example of , before time t1 , the remaining amount of the power storage unit 24 of the working machines 2A and 2B is equal to or greater than the second threshold value E2 , so the charging control unit 32 does not output a charge start instruction to the working machines 2A and 2B.

[0088] As time passes, the remaining charge in the power storage unit 24 of the working devices 2A and 2B decreases. At time t1, when the remaining charge in the power storage unit 24 of the working device 2A reaches a first state where it is less than the second threshold E2 and greater than the first threshold E1, the charging control unit 32 determines whether a determination condition has been met. From time t1 to time t2, the remaining charge in the power storage unit 24 of the working device 2B is greater than the second threshold E2. Therefore, the charging control unit 32 determines that the determination condition has not been met and does not issue a charge start instruction to the working device 2A. At time t2, the remaining charge in the power storage unit 24 of the working device 2B also falls below the second threshold E2. Therefore, the charging control unit 32 determines that the determination condition has been met and issues a charge start instruction to the working device 2A, which has a lower remaining charge. As a result, the working device 2A moves to the charging area A2 and begins charging. As a result, the remaining charge in the power storage unit 24 of the working device 2A increases. However, since the working device 2B is not performing any charging work, the remaining charge in the power storage unit 24 of the working device 2B continues to decrease. Then, at time t3, the remaining charge in the power storage unit 24 of the working device 2A exceeds the third threshold value E3, and the working device 2A terminates charging of the power storage unit 24, returning to a state ready for work (e.g., transporting). Furthermore, the remaining charge in the power storage unit 24 of the working device 2B continues to decrease, and at time t4, the remaining charge in the power storage unit 24 reaches the second state below the first threshold value E1. The charging control unit 32 then outputs a charge start instruction to the working device 2B. As a result, the working device 2B moves to the charging area A2 and begins charging. At time t5, the remaining charge in the power storage unit 24 of the working device 2B exceeds the third threshold value E3, and the working device 2B terminates charging of the power storage unit 24, returning to a state ready for work (e.g., transporting).

[0089] In this modification 1, the setting unit 31 may also be as follows Figure 6 As shown, a plurality of second threshold values ​​E2 are set as the above-mentioned threshold values.

[0090] For example, if the number of working devices 2 used in the working area A1 is 3 and the number of working devices that can be charged at one time by the charger 4 (the number of rechargeable devices) is 1, the number of working devices 2 in the first state (for example, a maximum of 3) may be greater than twice the number of rechargeable devices (for example, 1). In this case, the setting unit 31 may be configured as follows: Figure 6 As shown, a plurality of (eg, two) second thresholds E21 and E22 (E21 < E22) are set as the second threshold. In the following description, when three working devices 2 are specifically described, they are referred to as working devices 2A, 2B, and 2C. Figure 6The graph shows the time change of the remaining power of the power storage unit 24 included in each of the three working devices 2A, 2B, and 2C. Figure 6 The line L11 in FIG. 1 represents the time variation of the remaining amount of the power storage unit 24 included in the working device 2A. Figure 6 The line L12 in FIG. 1 represents the temporal change of the power storage unit 24 included in the working device 2B. Figure 6 Line L13 in FIG. 1 represents a temporal change in power storage unit 24 included in working device 2C.

[0091] exist Figure 6 In the example, before time t11, the remaining amount of the power storage unit 24 of the working devices 2A, 2B, and 2C is greater than the second threshold value E22, so the charging control unit 32 does not output a charging start instruction to the working devices 2A, 2B, and 2C.

[0092] As time passes, the remaining charge in the power storage unit 24 of the working devices 2A, 2B, and 2C decreases. At time t11, when the remaining charge in the power storage unit 24 of the working device 2A reaches a first state where the remaining charge is less than the second threshold value E22 and greater than the first threshold value E1, the charging control unit 32 determines whether a determination condition is satisfied. In Modification 1, the determination condition used by the charging control unit 32 can include two conditions: a first condition and a second condition. The first condition is that the number of working devices 2 for which the remaining charge in the power storage unit 24 is less than the second threshold value E22 is greater than twice the number of working devices 2 that can be charged by the charger 4 (the number of chargeable devices). The second condition is that the number of working devices 2 for which the remaining charge in the power storage unit 24 is less than the second threshold value E21 is greater than the number of working devices 2 that can be charged by the charger 4.

[0093] At time t12, working device 2B is also in the first state. However, during the period from time t11 to time t13, the remaining charge in power storage unit 24 of working device 2C was greater than or equal to the second threshold value E22. Therefore, the number of working devices 2 whose remaining charge in power storage unit 24 was less than the second threshold value E22 was two. Therefore, charging control unit 32 determines that the first and second conditions are not met and does not output a charge start instruction to working devices 2A to 2C.

[0094] After time t13, the remaining charge in the power storage unit 24 of the working device 2C also falls below the second threshold value E22. The number of working devices 2 with a remaining charge in the power storage unit 24 below the second threshold value E22 is three, which is twice the number of chargeable devices. At this point, the charging control unit 32 determines that the first condition has been met and outputs a charge start instruction to the working device 2A, which has the lower remaining charge. As a result, the working device 2A moves to the charging area A2 and begins charging, increasing the remaining charge in the power storage unit 24 of the working device 2A. However, the working devices 2B and 2C do not perform charging operations, so the remaining charge in the power storage units 24 of the working devices 2B and 2C continues to decrease. Then, at time t14, the remaining charge in the power storage unit 24 of the working device 2A exceeds the third threshold value E3, and the working device 2A terminates charging of the power storage unit 24, returning to a state where it can perform work (e.g., transporting operations).

[0095] Subsequently, the remaining charge in the power storage unit 24 of both working devices 2B and 2C decreases. At time t15, the remaining charge in the power storage unit 24 of working device 2B falls below the second threshold value E21. However, since the remaining charge in the power storage unit 24 of working device 2C is above the second threshold value E21, the charging control unit 32 determines that the second condition is not met. Then, at time t16, the remaining charge in the power storage unit 24 of working device 2C also falls below the second threshold value E21. The charging control unit 32 determines that the second condition is met and issues a charge start instruction to working device 2B, which has the lower remaining charge. As a result, working device 2B moves to charging area A2 and begins charging, increasing the remaining charge in the power storage unit 24 of working device 2B. However, working device 2C does not perform charging operations, and the remaining charge in the power storage unit 24 of working device 2C continues to decrease. Then, at time t17, the remaining amount of the power storage unit 24 of the working device 2B becomes equal to or greater than the third threshold value E3, and the working device 2B ends charging the power storage unit 24 and returns to a state where work (eg, transport work) can be performed.

[0096] Furthermore, if the remaining charge in the power storage unit 24 of the working device 2C continues to decrease, and at time t18, the remaining charge in the power storage unit 24 reaches the second state where it is less than the first threshold value E1, the charging control unit 32 outputs a charge start instruction to the working device 2C. Consequently, the working device 2C moves to the charging area A2 and begins charging. At time t19, if the remaining charge in the power storage unit 24 of the working device 2C reaches or exceeds the third threshold value E3, the working device 2C terminates charging of the power storage unit 24 and returns to a state where it can perform work (e.g., transporting work).

[0097] Thus, since the setting unit 31 sets the plurality of second threshold values ​​E21 and E22 as threshold values, the charging operation of the power storage units 24 of the plurality of working devices 2 can be controlled more finely based on the remaining power of the power storage units 24 of the plurality of working devices 2 .

[0098] (3.2) Modification 2

[0099] Reference Figure 7 Next, the charging control system 1 of Modification 2 will be described. This charging control system 1 of Modification 2 differs from the aforementioned embodiment and Modification 1 in that the setting unit 31 sets a first end determination threshold E31 and a second end determination threshold E32 as the third threshold. Furthermore, in the charging control system 1 of Modification 2, the number of working devices 2 used in work area A1 is two, and the number of chargeable devices is one. The setting unit 31 sets a first threshold E1 and a second threshold E2, respectively, as the third threshold, setting the first end determination threshold E31 and the second end determination threshold E32. Since the configuration of the charging control system 1 is the same as that of the aforementioned embodiment, common components are denoted by the same reference numerals, and their descriptions are omitted.

[0100] The first termination determination threshold E31 is a threshold value used when, during charging of the controlled working device 2X, no working device other than the controlled working device 2X has a remaining amount of power in the power storage unit 24 less than the second threshold value E2. In other words, the first termination determination threshold E31 is a threshold value used when, during charging of the controlled working device 2X, no working device 2 has a remaining amount of power in the power storage unit 24 lower than a level requiring charging (the first state or the second state), and is set to 90%, for example.

[0101] The second termination determination threshold E32 is set when, while charging is in progress on the control target working device 2X, a working device 2 other than the control target working device 2X has a remaining charge in the power storage unit 24 less than the second threshold E2. This second termination determination threshold E32 is lower than the first termination determination threshold E31. In other words, the second termination determination threshold E32 is set to a value (e.g., 50%) lower than the first termination determination threshold E31 when the remaining charge in the power storage unit 24 of a working device 2 has dropped to a level requiring charging (the first state or the second state).

[0102] Thus, the third threshold for determining the end of charging includes a first end determination threshold E31 for when no working device 2 is waiting for charging, and a second end determination threshold E32 for when a working device 2 is waiting for charging. The second end determination threshold E32 is set to a lower value than the first end determination threshold E31. Therefore, when a working device 2 is waiting for charging, charging of the working device 2X can be completed earlier than when no working device 2 is waiting for charging, reducing the possibility of the working device 2 waiting for charging being delayed and the battery being depleted. Furthermore, when no working device 2 is waiting for charging, the remaining charge in the power storage unit 24 is charged to the first end determination threshold E31, allowing the working device 2X to be fully charged.

[0103] Here, based on Figure 7 The operation of the charging control unit 32 according to the second modification will be described. Figure 7 The graph shows the time change of the remaining power of the power storage unit 24 included in each of the two working devices 2A and 2B. Figure 7 The line L1 in FIG. 1 represents the time variation of the remaining amount of the power storage unit 24 included in the working device 2A. Figure 7 Line L2 in FIG. 1 represents a temporal change in the power storage unit 24 included in the working device 2B.

[0104] exist Figure 7 In the example of , the remaining amount of the power storage unit 24 of the working machines 2A and 2B is equal to or greater than the second threshold value E2 before time t21, so the charging control unit 32 does not output a charging start instruction to the working machines 2A and 2B.

[0105] As time passes, the remaining charge in the power storage unit 24 of the working devices 2A and 2B decreases. At time t21, when the remaining charge in the power storage unit 24 of the working device 2A reaches the first state where the remaining charge is less than the second threshold value E2 and greater than the first threshold value E1, the charging control unit 32 determines whether the determination condition has been met. During the period from time t21 to time t22, the remaining charge in the power storage unit 24 of the working device 2B is greater than the second threshold value E2. Therefore, the charging control unit 32 determines that the determination condition has not been met and does not issue a charge start instruction to the working device 2A. At time t22, the remaining charge in the power storage unit 24 of the working device 2B falls below the second threshold value E2. Since the number of working devices 2 in the first state is two, the charging control unit 32 determines that the determination condition has been met and issues a charge start instruction to the working device 2A, which has the lower remaining charge. As a result, the working device 2A moves to the charging area A2 and starts charging, so the remaining amount of the power storage unit 24 of the working device 2A increases. However, the working device 2B does not perform the charging operation, so the remaining amount of the power storage unit 24 of the working device 2B continues to decrease.

[0106] Then, at time t23, while the remaining charge of the power storage unit 24 of the working device 2B is less than the second threshold value E2, the remaining charge of the power storage unit 24 of the working device 2A is greater than or equal to the second termination determination threshold value E32. The charging control unit 32 outputs a charging termination instruction to the working device 2A, indicating the termination of charging. Upon receiving the charging termination instruction, the working device 2A terminates charging of the power storage unit 24 and returns to a state where work (e.g., transporting work) can be performed.

[0107] Furthermore, if the remaining charge in the power storage unit 24 of the working device 2B continues to decrease, and at time t24, the remaining charge in the power storage unit 24 of the working device 2B enters the second state where the remaining charge in the power storage unit 24 of the working device 2B is less than the first threshold value E1, the charging control unit 32 outputs a charge start instruction to the working device 2B. As a result, the working device 2B moves to the charging area A2 and begins charging. From time t24 to time t25, the remaining charge in the power storage unit 24 of the working device 2A exceeds the second threshold value E2, and no working devices 2 are waiting to be charged. Therefore, the charging control unit 32 continues charging the working device 2B until the remaining charge in the power storage unit 24 reaches or exceeds the first end determination threshold value E31. Then, at time t25, if the remaining charge in the power storage unit 24 of the working device 2B reaches or exceeds the first end determination threshold value E31, the charging control unit 32 outputs a charge end instruction to the working device 2B, indicating the end of charging. When the working device 2B receives the charge completion instruction, the working device 2B completes charging of the power storage unit 24 and returns to a state where work (for example, transport work) can be performed.

[0108] (3.3) Modification 3

[0109] Reference Figure 8 Next, the charging control system 1 according to Modification 3 will be described. In the charging control system 1 according to Modification 3, the setting unit 31 sets multiple second thresholds (e.g., two second thresholds E21 and E22) as thresholds. Furthermore, the setting unit 31 further sets multiple second termination determination thresholds (e.g., two second termination determination thresholds E321 and E322) that correspond one-to-one to the multiple second thresholds (e.g., two second termination determination thresholds E321 and E322). The setting unit 31 sets the multiple second termination determination thresholds (e.g., two second termination determination thresholds E321 and E322) to larger values ​​as the corresponding second thresholds (e.g., E21 and E22) increase in value. For example, second threshold E21 is set to 20%, second threshold E22 is set to 30%, second termination determination threshold E321 corresponding to second threshold E21 is set to 50%, and second termination determination threshold E322 corresponding to second threshold E22 is set to 70%. In the charging control system 1 of Modification 3, the number of working devices 2 used in work area A1 is 3, and the number of rechargeable devices is 1. The configuration of the charging control system 1 is the same as that of the above-described embodiment, and therefore, common components are denoted by the same reference numerals, and their descriptions are omitted.

[0110] based on Figure 8 The operation of the charging control system 1 according to the third modification will be described. Figure 8 The graph shows the time change of the remaining power of the power storage unit 24 included in each of the three working devices 2A, 2B, and 2C. Figure 8 The line L11 in FIG. 1 represents the time variation of the remaining amount of the power storage unit 24 included in the working device 2A. Figure 8The line L12 in FIG. 1 represents the temporal change of the power storage unit 24 included in the working device 2B. Figure 8 Line L13 in FIG. 1 represents a temporal change in power storage unit 24 included in working device 2C.

[0111] exist Figure 8 In the example, before time t31, the remaining amount of the power storage unit 24 of the working device 2A, 2B, 2C is greater than the larger second threshold value E22, so the charging control unit 32 does not output a charging start instruction to the working device 2A, 2B, 2C.

[0112] As time passes, the remaining charge in the power storage unit 24 of the working devices 2A, 2B, and 2C decreases. At time t31, when the remaining charge in the power storage unit 24 of the working device 2A reaches a first state where the remaining charge is less than the second threshold value E22 and greater than the first threshold value E1, the charging control unit 32 determines whether a determination condition is satisfied. In Modification 3, the determination condition used by the charging control unit 32 can include two conditions: a first condition and a second condition. The first condition is that the number of working devices 2 for which the remaining charge in the power storage unit 24 is less than the second threshold value E22 is greater than twice the number of working devices 2 that can be charged by the charger 4 (the number of chargeable devices). The second condition is that the number of working devices 2 for which the remaining charge in the power storage unit 24 is less than the second threshold value E21 is greater than the number of working devices 2 that can be charged by the charger 4.

[0113] At time t32, working device 2B is also in the first state. However, during the period from time t31 to time t33, the remaining charge of power storage unit 24 of working device 2C was greater than or equal to second threshold value E22. Therefore, charging control unit 32 determines that both the first and second conditions are not met and does not output a charge start instruction to working devices 2A to 2C.

[0114] After time t33, the remaining charge in the power storage unit 24 of the working device 2C also falls below the second threshold value E22. The number of working devices 2 with a remaining charge in the power storage unit 24 below the second threshold value E22 is three, which is twice the number of chargeable devices. At this point, the charging control unit 32 determines that the first condition has been met and issues a charge start instruction to the working device 2A, which has the lower remaining charge. As a result, the working device 2A moves to the charging area A2 and begins charging, increasing the remaining charge in the power storage unit 24 of the working device 2A. However, since the working devices 2B and 2C are not charging, the remaining charge in the power storage units 24 of the working devices 2B and 2C continues to decrease. Then, at time t34, the remaining charge in the power storage unit 24 of the working device 2A exceeds the second end determination threshold value E322 corresponding to the second threshold value E22, and the charging control unit 32 issues a charge end instruction to the working device 2A, indicating the end of charging. When the working device 2A receives the charge completion instruction, it completes the charging of the power storage unit 24 and returns to a state where work (for example, transport work) can be performed.

[0115] The remaining charge in the power storage unit 24 of the working devices 2B and 2C then decreases. At time t35, the remaining charge in the power storage unit 24 of the working device 2B falls below the second threshold value E21, while the remaining charge in the power storage unit 24 of the working device 2C is above the second threshold value E21. Therefore, the charging control unit 32 determines that the second condition is not met. Then, at time t36, the remaining charge in the power storage unit 24 of the working device 2C also falls below the second threshold value E21. The charging control unit 32 determines that the second condition is met and outputs a charge start instruction to the working device 2B, which has the lower remaining charge. As a result, the working device 2B moves to the charging area A2 and begins charging. As a result, the remaining charge in the power storage unit 24 of the working device 2B increases. However, the working device 2C does not perform charging, and the remaining charge in the power storage unit 24 of the working device 2C continues to decrease. Then, at time t37, when the remaining charge of the power storage unit 24 of the working device 2B reaches the second termination determination threshold value E321 corresponding to the second threshold value E21, the charging control unit 32 outputs a charging termination instruction to the working device 2B, indicating the termination of charging. Upon receiving the charging termination instruction, the working device 2B terminates charging of the power storage unit 24 and returns to a state where it can perform work (e.g., transport work).

[0116] Furthermore, if the remaining charge in the power storage unit 24 of the working device 2C continues to decrease, reaching the second state at time t38 where the remaining charge in the power storage unit 24 falls below the first threshold value E1, the charging control unit 32 outputs a charge start instruction to the working device 2C. As a result, the working device 2C moves to the charging area A2 and begins charging. From time t38 to time t39, the remaining charge in the power storage unit 24 of the working devices 2A and 2B is above the second threshold value E22, and there are no working devices 2 waiting to be charged. Therefore, the charging control unit 32 continues charging the working device 2C until the remaining charge in the power storage unit 24 reaches above the first end determination threshold value E321. Then, at time t39, if the remaining charge in the power storage unit 24 of the working device 2C reaches above the first end determination threshold value E31, the charging control unit 32 outputs a charge end instruction to the working device 2C, indicating the end of charging. When the working device 2C receives the charge completion instruction, the working device 2C completes charging of the power storage unit 24 and returns to a state where work (for example, transport work) can be performed.

[0117] In Modification 3, setting unit 31 sets multiple second termination determination thresholds E321 and E322 in a one-to-one correspondence with multiple second thresholds E21 and E22. Setting unit 31 sets the multiple second termination determination thresholds (second termination determination thresholds E321 and E322) to larger values ​​as the corresponding second thresholds (second thresholds E21 and E22) increase in value. In other words, because second threshold E22 is larger than second threshold E21, second termination determination threshold E322 corresponding to second threshold E22 is set to a larger value than second termination determination threshold E321 corresponding to second threshold E21. Therefore, when charging is initiated when the remaining charge of power storage unit 24 drops below second threshold E22 (which is higher than second threshold E21), the battery is charged to a higher second termination determination threshold E322 than when charging is initiated when the remaining charge of power storage unit 24 drops below second threshold E21. Therefore, the working device 2 that starts charging at an earlier timing is charged to a higher charge level than the working device 2 that starts charging at a later timing, thereby extending the time until the remaining amount of the storage unit 24 decreases below the second threshold value E22 again after charging is completed.

[0118] In Modification 3, the setting unit 31 sets two second thresholds E21 and E22, and sets two second end determination thresholds E321 and E322 in a one-to-one correspondence with the two second thresholds E21 and E22. However, the number of second thresholds and second end determination thresholds is not limited to 2. The number of second thresholds and second end determination thresholds can be appropriately changed based on the number of work devices 2 used in the work area A1, the number of rechargeable devices that can be charged simultaneously by the charger 4, the amount of work performed by the work devices 2, and the like.

[0119] (3.4) Modification 4

[0120] The charging control system 1 of Modification 4 differs from the above-described embodiment and Modifications 1 to 3 in that the aforementioned judgment condition includes the condition that the current time is a low-task period, in which the number of tasks assigned to the plurality of working devices 2 is less than a predetermined reference level. Furthermore, the configuration of the charging control system 1 is the same as that of the above-described embodiment, and therefore, common components are assigned the same reference numerals, and their descriptions are omitted.

[0121] Figure 9 This is a graph showing the temporal change in the number of work tasks assigned to a plurality of work devices 2 . Figure 9 This is a graph showing the temporal changes in the number of tasks for work performed by a plurality of work devices 2 during a predetermined statistical period. The setting unit 31 estimates a low-task period T1 during a predetermined period (e.g., a day, a week, or a month) during which the number of tasks is less than a reference level W1 based on the temporal changes in the number of tasks actually performed during the predetermined statistical period, and sets the low-task period T1 within the predetermined period.

[0122] When the remaining charge of the power storage unit 24 of the controlled working device 2X is in the first state of being equal to or greater than the first threshold value E1 and less than the second threshold value E2, the charging control unit 32 determines whether the current time is within the low duty period T1. If the current time is outside the low duty period T1, the charging control unit 32 does not output a charge start instruction to the controlled working device 2X. If the current time is within the low duty period T1, the charging control unit 32 outputs a charge start instruction to the controlled working device 2X.

[0123] Thus, when the working device 2 is in the first state during the low-task period T1, the charging control unit 32 outputs a charge start instruction to the working device 2X to be controlled. Therefore, the working device 2 can be charged during the low-task period T1, when the number of tasks is relatively small. Therefore, charging of the working device 2 is difficult outside of the low-task period T1. This increases the number of working devices 2 that can perform work outside of the low-task period T1, allowing more work to be performed by multiple working devices 2.

[0124] In addition, in the above-mentioned embodiment and modifications 1 to 3, the charging control unit 32 may stop outputting the charging start instruction for the control target working device 2X except for the low task period T1 when the number of work tasks assigned to the plurality of working devices 2 is less than the predetermined reference level W1.

[0125] Thus, the charge control unit 32 outputs the charge start instruction only during the low task period T1 , and is therefore less likely to output the charge start instruction during a period when the number of tasks is equal to or greater than the reference level W1 , thereby enabling the plurality of work devices 2 to perform more work.

[0126] (Summarize)

[0127] As described above, the charging control method of the first embodiment includes a setting process and a charging control process. In the setting process, as threshold values ​​for the remaining amount of the power storage unit (24) respectively possessed by the plurality of working devices (2), at least a first threshold value (E1) and a second threshold value (E2) greater than the first threshold value (E1) are set. In the charging control process, the plurality of working devices (2) are respectively set as working devices (2X) to be controlled, and the charging of the power storage unit (24) is controlled based on the remaining amount of the power storage unit (24) possessed by the working device (2X) to be controlled. In the charging control process, in a first state (S1) in which the remaining amount of the power storage unit (24) possessed by the working device (2X) to be controlled is greater than the first threshold value (E1) and less than the second threshold value (E2), when a predetermined judgment condition is satisfied, a charging start instruction is output to the working device (2X) to be controlled to instruct the start of charging. In the charging control process, in the second state (S2) in which the remaining amount of the storage unit (24) of the working device (2X) of the control object is less than the first threshold value (E1), a charging start instruction is output to the working device (2X) of the control object regardless of the judgment condition.

[0128] In this manner, in the charging control process, if a predetermined judgment condition is satisfied in the first state (S1), a charging start instruction is output to the control target working device (2X). Therefore, the power storage unit (24) can be charged before the remaining amount of the power storage unit (24) decreases to less than the first threshold value (E1). Therefore, the possibility of the remaining amount of the power storage units (24) of a plurality of working devices (2) decreasing to less than the first threshold value (E1) at the same time can be reduced, and a charging control method can be provided that can reduce the possibility of insufficient remaining amount of the power storage unit (24) and inability to perform work.

[0129] In the charging control method of the second embodiment, in the first embodiment, the determination condition includes a condition based on the number of work tasks assigned to a plurality of work devices (2).

[0130] According to this aspect, in the first state, when the condition based on the number of tasks of the work is satisfied, a charge start instruction can be output.

[0131] In a third embodiment of the charging control method, in the first or second embodiment, a hysteresis is provided between threshold values ​​(E1a, E2a) in a discharge state in which the storage unit (24) is discharged and threshold values ​​(E1b, E2b) in a charge state in which the storage unit (24) is charged during setting processing.

[0132] This state can reduce the possibility of the state fluctuating between the first state and the second state when the remaining amount of the power storage unit (24) changes near the threshold values ​​(E1a, E1b, E2a, E2b).

[0133] In the charging control method of the fourth embodiment, in any one of the first to third embodiments, the judgment condition includes a condition based on the remaining amount of the storage unit (24) possessed by one or more working devices (2) other than the working device (2X) of the control object among multiple working devices (2).

[0134] Through this state, a charge start instruction can be output when a condition based on the remaining amount of the power storage unit (24) of one or more working devices (2) other than the working device (2X) to be controlled is satisfied.

[0135] In the charging control method of the fifth aspect, in any one of the first to fourth aspects, a plurality of second threshold values ​​( E21 , E22 ) are set as the threshold values ​​in the setting process.

[0136] In this manner, when the values ​​are lower than the plurality of second threshold values ​​( E21 , E22 ), it can be determined whether the determination condition is satisfied.

[0137] In a sixth embodiment of the charging control method, in any one of the first to fifth embodiments, a third threshold value (E3) is further set as a threshold value in the setting process. The charging control method further includes a charging termination process. In the charging termination process, when the working device (2X) to be controlled is being charged, if the remaining amount of the power storage unit (24) of the working device (2X) to be controlled is greater than or equal to the third threshold value (E3), a charging termination instruction is output to the working device (2X) to be controlled, indicating that charging is to be terminated.

[0138] In this manner, when the remaining amount of the power storage unit (24) is charged to a level equal to or higher than a third threshold value (E3), a charging end instruction indicating the end of charging can be output to the control target working device (2X).

[0139] In the charging control method of the seventh embodiment, in the sixth embodiment, the third threshold value (E3) includes a first end judgment threshold value (E31) and a second end judgment threshold value (E32). The first end judgment threshold value (E31) is a threshold value when the working device (2X) to be controlled is being charged, and there is no working device (2) other than the working device (2X) to be controlled, whose remaining amount of the power storage unit (24) is less than the second threshold value (E2). The second end judgment threshold value (E32) is a threshold value when the working device (2X) to be controlled is being charged, and there is a working device (2) other than the working device (2X) to be controlled, whose remaining amount of the power storage unit (24) is less than the second threshold value (E2). The second end judgment threshold value (E32) is lower than the first end judgment threshold value (E31).

[0140] In this manner, when there is a working device (2) waiting to be charged, the charging of the working device (2) being charged can be ended earlier than when there is no working device (2) waiting to be charged.

[0141] In the charging control method of the eighth aspect, in the seventh aspect, a plurality of second threshold values ​​(E21, E22) are set as thresholds in the setting process. Furthermore, a plurality of second termination determination threshold values ​​(E321, E322) are set in a one-to-one correspondence with the plurality of second threshold values ​​(E21, E22). In the setting process, the plurality of second termination determination threshold values ​​(E321, E322) are set to larger values ​​as the corresponding second threshold value (E21, E22) increases.

[0142] In this manner, when charging is started due to the remaining amount of the power storage unit (24) falling below the higher second threshold value (E22), charging can be performed to a higher second end judgment threshold value (E322) than when charging is started due to the remaining amount of the power storage unit (24) falling below the lower second threshold value (E21). Therefore, the working device (2) that starts charging at an earlier timing can be charged to a higher charge level than the working device (2) that starts charging at a later timing, thereby extending the time until the remaining amount of the power storage unit (24) falls below the second threshold value (E22) again after charging is completed.

[0143] In the charging control method of the ninth aspect, in any one of the first to eighth aspects, the judgment condition includes the condition that the current moment is a low task period (T1) in which the number of tasks assigned to the plurality of working devices (2) is less than a predetermined reference level (W1).

[0144] In this manner, when the condition that the current time is the low duty period ( T1 ) is satisfied, a charge start instruction can be output.

[0145] In a tenth embodiment of the charging control method, in any one of the first to ninth embodiments, during the charging control process, output of a charge start instruction to a control target working device (2X) is stopped except during a low duty period (T1). The low duty period (T1) is a period during which the number of tasks assigned to a plurality of working devices (2) is less than a predetermined reference level (W1).

[0146] By this method, the output of the charge start instruction is stopped except during the low duty period ( T1 ), so that the operation can be prioritized over the charging.

[0147] In the charging control method of the eleventh embodiment, in any one of the first to tenth embodiments, the operation performed by the operation device (2) is a transport operation of transporting an object.

[0148] This method can provide a charging control method that can reduce the possibility that a power storage unit (24) of a working device (2) performing a transporting operation will be insufficient in remaining power and thus unable to perform the operation.

[0149] The program according to the twelfth aspect is a program for causing a computer system to execute the charging control method according to any one of the first to eleventh aspects.

[0150] In this way, a program can be provided that can reduce the possibility that the remaining amount of the power storage unit (24) is insufficient and the operation cannot be performed.

[0151] The charging control system (1) of the 13th embodiment includes a setting unit (31) and a charging control unit (32). The setting unit (31) sets at least a first threshold value (E1) and a second threshold value (E2) larger than the first threshold value (E1) as threshold values ​​for the remaining amount of the storage unit (24) respectively possessed by a plurality of working devices (2). The charging control unit (32) sets the plurality of working devices (2) as the working devices (2X) to be controlled, and controls the charging of the storage unit (24) based on the remaining amount of the storage unit (24) possessed by the working device (2X) to be controlled. In the first state (S1), when a predetermined judgment condition is satisfied, the charging control unit (32) outputs a charging start instruction to the working device (2X) to be controlled, indicating the start of charging. The first state (S1) is a state in which the remaining amount of the storage unit (24) possessed by the working device (2X) to be controlled is greater than the first threshold value (E1) and less than the second threshold value (E2). The charging control unit (32) outputs a charging start instruction to the working device (2X) of the control object regardless of the judgment condition in a second state (S2) in which the remaining amount of the storage unit (24) of the working device (2X) of the control object is less than a first threshold value (E1).

[0152] In this manner, a charging control system (1) can be provided that can reduce the possibility of an operation being unable to be performed due to insufficient remaining power of the power storage unit (24).

[0153] The various configurations (including variations) of the charging control system (1) according to the embodiment are not limited to the above-described configurations and can be embodied in a charging control method, a (computer) program, or a non-transitory recording medium having the program recorded thereon.

[0154] The configurations according to the second to eleventh aspects are not essential to the charging control method and can be omitted as appropriate.

[0155] -Explanation of symbols-

[0156] 1Charging control system

[0157] 2 operating devices

[0158] 2X operating device of the control object

[0159] 24 Power storage unit

[0160] 31 Setting Department

[0161] 32 Charging control unit

[0162] E1, E1a, E1b first threshold

[0163] E2, E2a, E2b, E21, E22 second threshold

[0164] E3 3rd threshold

[0165] E31 1st end judgment threshold

[0166] E32, E321, E322 second end judgment threshold

[0167] S1 first state

[0168] S2 2nd state

[0169] T1 low task period

[0170] W1 benchmark level.

Claims

1. A charging control method, comprising: a setting process of setting at least a first threshold value and a second threshold value larger than the first threshold value as threshold values ​​for the remaining power of the power storage unit included in each of the plurality of working devices; and a charging control process for controlling the charging of the power storage unit based on the remaining power of the power storage unit of each of the plurality of working devices as a working device to be controlled; In the charging control process, in a first state where the remaining amount of the power storage unit of the working device of the control target is greater than or equal to the first threshold value and less than the second threshold value, a charging start instruction for instructing the starting of charging is output to the working device of the control target when a predetermined judgment condition is satisfied. In the charging control process, in the second state where the remaining amount of the power storage unit of the working device to be controlled is less than the first threshold value, the charging start instruction is output to the working device to be controlled regardless of the judgment condition. In the setting process, a third threshold is further set as the threshold. The charging control method further comprises: The charging end processing is to output a charging end instruction indicating the end of charging to the working device of the control object when the remaining amount of the power storage unit of the working device of the control object is greater than or equal to a third threshold value while the working device of the control object is being charged. The third threshold value includes a first end judgment threshold value and a second end judgment threshold value. The first termination determination threshold is a threshold when the working device to be controlled is being charged and there is no working device other than the working device to be controlled whose remaining power of the power storage unit is less than the second threshold. The second termination determination threshold is a threshold when, during charging of the control target working device, there is a working device other than the control target working device whose remaining power of the power storage unit is less than the second threshold. The second termination determination threshold is lower than the first termination determination threshold, In the setting process, a plurality of the second threshold values ​​are set as the threshold values. In the setting process, a plurality of second termination determination thresholds corresponding one-to-one to the plurality of second thresholds are further set. In the setting process, the values ​​of the plurality of second termination determination thresholds are set to larger values ​​as the corresponding second threshold value becomes larger.

2. The charging control method according to claim 1, wherein: The determination condition includes a condition based on the number of tasks assigned to the plurality of work devices.

3. The charging control method according to claim 1 or 2, wherein: In the setting process, a hysteresis is provided between the threshold value in a discharge state where the power storage unit is discharging and the threshold value in a charge state where the power storage unit is charging.

4. The charging control method according to claim 1 or 2, wherein: The determination condition includes a condition based on the remaining amount of the power storage unit included in one or more working devices other than the control target working device among the plurality of working devices.

5. The charging control method according to claim 1 or 2, wherein: The determination condition includes a condition that the current time is a low-duty period in which the number of work tasks assigned to the plurality of work devices is less than a predetermined reference level.

6. The charging control method according to claim 1 or 2, wherein: In the charging control process, output of the charging start instruction to the control target working device is stopped except for a low duty period in which the number of work tasks assigned to the plurality of working devices is less than a predetermined reference level.

7. The charging control method according to claim 1 or 2, wherein: The work performed by the work device is a transport work of transporting an object to be transported. 8 . A non-transitory recording medium having a program recorded thereon, the program causing a computer system to execute the charging control method according to claim 1 .

9. A charging control system comprising: a setting unit that sets at least a first threshold value and a second threshold value that is larger than the first threshold value as threshold values ​​for the remaining power of the power storage unit included in each of the plurality of working devices; and a charging control unit that sets each of the plurality of working devices as a working device to be controlled and controls charging of the power storage unit based on the remaining power of the power storage unit of the working device to be controlled; The charging control unit outputs a charging start instruction for instructing the start of charging to the working device of the control target in a first state where the remaining amount of the power storage unit of the working device of the control target is greater than or equal to the first threshold value and less than the second threshold value, if a predetermined judgment condition is satisfied. The charging control unit outputs the charging start instruction to the working device of the control target regardless of the determination condition in the second state in which the remaining amount of the power storage unit of the working device of the control target is less than the first threshold value. The setting unit further sets a third threshold as the threshold, The charging control unit outputs a charging end instruction indicating the end of charging to the working device of the control object if the remaining amount of the power storage unit of the working device of the control object is greater than or equal to a third threshold value while the working device of the control object is being charged. The third threshold value includes a first end judgment threshold value and a second end judgment threshold value. The first termination determination threshold is a threshold when the working device to be controlled is being charged and there is no working device other than the working device to be controlled whose remaining power of the power storage unit is less than the second threshold. The second termination determination threshold is a threshold when, during charging of the control target working device, there is a working device other than the control target working device whose remaining power of the power storage unit is less than the second threshold. The second termination determination threshold is lower than the first termination determination threshold, The setting unit sets a plurality of second thresholds as the thresholds, The setting unit further sets a plurality of second termination determination thresholds corresponding one-to-one to the plurality of second thresholds. The setting unit sets the values ​​of the plurality of second termination determination thresholds to larger values ​​as the corresponding second threshold value becomes larger.

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