Charging control method, program, charging control system, and work system

Abstract

The purpose of the present invention is to suppress a decrease in the working capability of a plurality of working devices. This charging work system (3) is provided with a setting unit (32) and a charging control unit (33). The setting unit (32) sets at least a first threshold value and a second threshold value. The charging control unit (33) controls the charging of an electricity storage unit (24) provided in a work device (2) to be controlled. The charging control unit (33) outputs a charging instruction to the work device (2) to be controlled, the charging instruction instructing the start of charging, if a charging start condition is satisfied when the work device (2) to be controlled is in a charging waiting state. The charge waiting state is a state in which the amount of remaining power of a power storage unit (24) provided in the work device (2) to be controlled is equal to or greater than a first threshold value and less than a second threshold value. The charging start condition includes a condition based on an idle state of one or more charging devices (4) less than the plurality of work devices (2).

Description

Technical Field

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

[0002] Patent Document 1 discloses a charging control system for controlling the charging of multiple work devices. The charging control system determines whether to instruct the work device to start charging the power storage unit based on the remaining power of the power storage unit provided in the work device and the presence or absence of unexecuted work to be performed by the work device.

[0003] In an emergency charging state where the remaining power of the power storage unit provided in the work device is equal to or less than a first threshold, the charging control system instructs the work device to start charging even if there is unexecuted work.

[0004] In a normal charging state where the remaining power of the power storage unit provided in the work device is greater than the first threshold and equal to or less than a second threshold, if the determination condition that there is no unexecuted work is satisfied, the charging control system instructs the work device to start charging. On the other hand, in the normal charging state, if the determination condition that there is no unexecuted work is not satisfied, that is, if there is unexecuted work, the charging control system does not instruct the work device to start charging and causes the work device to perform the unexecuted work.

[0005] In the above charging control system, when unexecuted work chronically exists, it is impossible to instruct multiple work devices to start charging, and multiple work devices may all become in an emergency charging state. When the number of charging devices is less than the number of work devices, since it may not be possible to charge multiple work devices in an emergency charging state at once, work devices waiting to be charged are generated, and thus the work ability of multiple work devices may decline.

[0006] Prior Art Documents

[0007] Patent Documents

[0008] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-50259 Summary of the Invention

[0009] An object of the present disclosure is to provide a charging control method, a program, a charging control system, and a work system that can suppress a decline in the work ability of multiple work devices.

[0010] One embodiment of the charging control method of the present disclosure includes a setting process and a charging control process. In the setting process, at least a first threshold and a second threshold are set as thresholds for the remaining power of the power storage units respectively provided in a plurality of working devices. In the charging control process, for each of the plurality of working devices to be controlled, the charging of the power storage unit provided in the working device to be controlled is controlled. In the charging control process, when the working device to be controlled is in a charging waiting state and the charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device to be controlled. The charging waiting state is a state in which the remaining power of the power storage unit provided in the working device to be controlled is equal to or greater than the first threshold and less than the second threshold. The charging start condition includes a condition based on the idle status of one or more charging devices. The number of the one or more charging devices is less than the number of the plurality of working devices.

[0011] A program according to one embodiment of the present disclosure is a program for causing a computer system to execute the charging control method.

[0012] One embodiment of the charging control system of the present disclosure includes a setting unit and a charging control unit. The setting unit sets at least a first threshold and a second threshold as thresholds for the remaining power of the power storage units respectively provided in a plurality of working devices. The charging control unit controls the charging of the power storage unit provided in each of the plurality of working devices to be controlled. In the charging control unit, when the working device to be controlled is in a charging waiting state and the charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device to be controlled. The charging waiting state is a state in which the remaining power of the power storage unit provided in the working device to be controlled is equal to or greater than the first threshold and less than the second threshold. The charging start condition includes a condition based on the idle status of one or more charging devices. The number of the one or more charging devices is less than the number of the plurality of working devices.

[0013] One embodiment of the working system of the present disclosure includes a plurality of working devices, one or more charging devices whose number is less than the number of the plurality of working devices, and the charging control system. The charging control system controls the charging of the plurality of working devices by the one or more charging devices. Description of the Drawings

[0014] Figure 1 is a block diagram showing a schematic configuration of a charging control system and a working system according to one embodiment of the present disclosure.

[0015] Figure 2 is a schematic diagram of a working area of the working system to which the same is applied.

[0016] Figure 3 It is an explanatory diagram of a threshold value set by the charging control system described above for the remaining battery level of the power storage unit of the work device.

[0017] Figure 4 It is a flowchart for explaining the charging start control of the charging control system described above.

[0018] Figure 5 It is a flowchart for explaining the charging end control of the charging control system described above. Detailed implementation mode

[0019] (Implementation mode)

[0020] Hereinafter, an implementation mode of a charging control method, a program, a charging control system, and a work system will be described. The following implementation mode is only an example of the implementation mode of the present disclosure. The present disclosure is not limited to the following implementation mode, and various changes can be made according to design and the like as long as the effects of the present disclosure can be exhibited.

[0021] (1) Outline

[0022] Figure 1 It is a block diagram showing a schematic configuration of a charging control system 3 according to the present embodiment and a work system 1 including the same.

[0023] As Figure 2 shown, the charging control system 3 controls the charging of a plurality of work devices 2 that perform work in a given work area A1.

[0024] As Figure 1 shown, the work device 2 includes a power storage unit 24 and performs work using the electric energy stored in the power storage unit 24. In the following implementation mode, in the present implementation mode, the work device 2 is a transport device that receives a work instruction from a work management system 6 and performs a transport operation of transporting a transported object within the work area A1. That is, the "work" performed by the work device 2 includes a transport operation of transporting a transported object. Such a transport device may include an automated guided vehicle (AGV), a mobile robot, a drone, and the like. The mobile robot referred to in the present disclosure is, for example, a wheel-type, crawler-type, or leg-type (including a walking type) robot. In addition, the work performed by the work device 2 is not limited to a transport operation of transporting a transported object. For example, it may also have functions of performing various operations such as picking, welding, installing, displaying, receiving, guarding, assembling, and inspecting.

[0025] A charging device 4 for charging the work device 2 is provided in the work area A1.

[0026] In the present embodiment, a plurality of working devices 2 perform operations in the operation area A1, and one or more charging devices 4, the number of which is less than that of the plurality of working devices 2, are provided in the operation area A1. That is, the number of charging devices 4 is less than the number of working devices 2 used in the operation area A1. In the example of Figure 2 two charging devices 4 are provided for six working devices 2. In addition, in the following description, when differentiating the six working devices 2, they may sometimes be labeled as working devices 2A, 2B, 2C, 2D, 2E, and 2F.

[0027] As Figure 1 shown, the operation system 1 of the present embodiment includes a setting unit 32 and a charging control unit 33.

[0028] The setting unit 32 sets at least a first threshold value L1 and a second threshold value L2 (refer to Figure 3 ) as threshold values for the remaining power of the power storage units 24 respectively provided in the plurality of working devices 2 (2A to 2F).

[0029] The charging control unit 33 controls the charging of the power storage unit 24 provided in each of the plurality of working devices 2 (2A to 2F) that is the operation device 2 to be controlled.

[0030] In the charging control unit 33, when the operation device 2 to be controlled is in a charging waiting state, if the charging start condition is satisfied, a charging instruction indicating the start of charging is output to the operation device 2 to be controlled. The charging waiting state is a state in which the remaining power of the power storage unit 24 provided in the operation device 2 to be controlled is equal to or greater than the first threshold value L1 and less than the second threshold value L2. The charging start condition is a condition based on the idle status of one or more charging devices 4. The number of one or more charging devices 4 is less than the number of the plurality of working devices 2.

[0031] Here, the control of the charging of the power storage unit 24 by the charging control unit 33 includes: indirectly controlling the charging of the power storage unit 24 by outputting a charging instruction to the operation device 2 to be controlled through the charging control unit 33, so that the operation device 2 to be controlled performs charging corresponding to the charging instruction. In addition, the control of the charging of the power storage unit 24 by the charging control unit 33 may also include: directly controlling the operation of the charging device 4 that charges the power storage unit 24.

[0032] In the operation system 1 of the present embodiment, when in the charging waiting state where the remaining power of the power storage unit 24 is equal to or greater than the first threshold L1 and less than the second threshold L2, if the charging start condition is satisfied, a charging instruction is output to the operation device 2 to be controlled. Here, the charging start condition includes a condition based on the idle status of one or more charging devices 4 regardless of the presence or absence of unexecuted operations. The charging control unit 33 controls whether to charge the operation device 2 to be controlled based on this charging start condition, thereby reducing the possibility that the charging of the operation device 2 to be controlled is delayed due to the presence of unexecuted operations. As a result, the possibility of an operation device 2 that cannot perform operations due to insufficient remaining power of the power storage unit 24 can be reduced, and the decline in the operation capabilities of multiple operation devices 2 can be suppressed. In addition, the charging control system 3 can shorten the time during which the multiple charging devices 4 are not charging, and thus can improve the charging capacity of the multiple charging devices 4 to actually charge the multiple operation devices 2.

[0033] (2) Details

[0034] (2.1) Overall structure

[0035] Hereinafter, for the structure of the charging control system 3 and the operation system 1 including the same according to the present embodiment, reference is made to Figure 1 and Figure 2 to describe in detail. The numerical values, shapes, materials, positions of the constituent elements, positional relationships and connection relationships between multiple constituent elements shown below are examples, and the gist is not intended to limit the present disclosure. In addition, the drawings referred to below are all schematic diagrams, and the ratios of the sizes and thicknesses of the constituent elements in the drawings do not necessarily reflect the actual dimensional ratios.

[0036] Hereinafter, an example will be described in which the operation device 2 to be controlled in the operation system 1 is an automated guided vehicle. The automated guided vehicle as the operation device 2 moves within the operation area A1 and performs an operation such as transporting a transported object.

[0037] The "operation area" referred to in the present disclosure is a space in which multiple operation devices 2 are provided, and the operation device 2 moves within the operation area A1, for example, in response to an instruction from the operation management system 6. As an example, the operation area A1 is a warehouse, factory, construction site, store (including shopping mall), logistics center, office, park, residence, school, hospital, station, airport or parking lot, etc. In addition, for example, when the operation device 2 is provided inside a moving body such as a ship, a railway vehicle or an aircraft, the inside of the moving body becomes the operation area A1. In the present embodiment, an example in which the operation area A1 is a warehouse will be described.

[0038] As Figure 1 andFigure 2 As shown, the operation system 1 includes a plurality of operation devices 2, one or more charging devices 4 having a quantity less than that of the plurality of operation devices 2, and a charging control system 3. The charging control system 3 controls the charging of the plurality of operation devices 2 by one or more charging devices 4. In addition, the operation system 1 further includes a relay device 5 disposed in the operation area A1. The relay device 5 relays the communication between the plurality of operation devices 2 operating in the operation area A1, the charging control system 3, and the operation management system 6. Additionally, the relay device 5 can also relay the communication between the charging device 4, the charging control system 3, and the operation management system 6.

[0039] Figure 2 is a schematic top view of the operation area A1. In the present embodiment, the space surrounded by the outer wall 81 of the warehouse serves as the operation area A1. Two of the above-mentioned charging devices 4 are provided in the operation area A1. Additionally, Figure 1 is merely an example of the operation area A1, and the shape, etc. of the operation area A1 can be appropriately changed.

[0040] The charging control system 3 and the operation management system 6 are provided outside the operation area A1, for example, and are connected to a plurality of relay devices 5 via a communication network NT1 such as the Internet.

[0041] Each of the charging control system 3, the operation management system 6, and the plurality of operation devices 2 is configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be directly or indirectly exchanged through an appropriate communication method such as wired communication or wireless communication, directly or via the communication network NT1 or the relay device 5, etc. That is, the charging control system 3 and the operation management system 6 can exchange information with each of the plurality of operation devices 2. In the present embodiment, the plurality of operation devices 2 respectively communicate with any one of the plurality of relay devices 5 through wireless communication using radio waves as the medium. Therefore, the charging control system 3, the operation management system 6, and each of the plurality of operation devices 2 communicate indirectly at least via the communication network NT1 and the relay device 5.

[0042] In summary, each relay device 5 is a device (access point) that relays communication between each of the plurality of work devices 2 and the charging control system 3 and the work management system 6. The relay device 5 communicates with the charging control system 3 and the work management system 6 via the communication network NT1, respectively. In the present embodiment, as an example, for the communication between the relay device 5 and the work device 2, wireless communication conforming to 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 permission is adopted. In addition, the communication network NT1 is not limited to the Internet. For example, a local communication network within the work area A1 or within the operating company of the work area A1 can also be applied.

[0043] (2.2) Work device

[0044] The work device 2 autonomously travels, for example, on a flat moving surface 80 formed by the floor or the like of the work area A1.

[0045] The work device 2 includes a first control unit 20, a first communication unit 21, a traveling device 22, a charge / discharge circuit 23, a power storage unit 24, and a detection unit 25. In addition, independent identification information is set for each of the plurality of work devices 2 used in the work area A1.

[0046] The first communication unit 21 communicates with the charging control system 3 and the work management system 6 via the relay device 5 and the communication network NT1. In addition, the first communication unit 21 communicates with the relay device 5 by a wireless communication method.

[0047] The traveling device 22 drives at least a part of the plurality of wheels provided on the work device 2 to cause the work device 2 to travel. At least a part of the plurality of wheels are drive wheels. The drive wheels are, for example, omnidirectional moving wheels such as omni wheels. The traveling device 22 drives the drive wheels based on a control command input from the first control unit 20, thereby causing the work device 2 to travel.

[0048] The power storage unit 24 is, for example, a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery.

[0049] The charge / discharge circuit 23 controls charging to and discharging from the power storage unit 24. The work device 2 has a power receiving connector that can be connected to the power supply connector of the charging device 4. The charge / discharge circuit 23 stores the electric energy supplied from the charging device 4 in the power storage unit 24 in a state where the power receiving connector of the work device 2 is connected to the power supply connector of the charging device 4. In addition, the charge / discharge circuit 23 supplies power to the first control unit 20, the first communication unit 21, and the traveling device 22 by discharging electric energy from the power storage unit 24. That is, the work device 2 performs work using the electric energy stored in the power storage unit 24.

[0050] As information related to the operation state of the work device 2, for example, the detection unit 25 detects the remaining power of the power storage unit 24 included in the work device 2. For example, according to a transmission request from the charging control system 3, the work device 2 transmits, from the first communication unit 21 to the charging control system 3, information on the remaining power of the power storage unit 24 detected by the detection unit 25 and identification information of the work device 2. In addition, the work device 2 may also periodically transmit, from the first communication unit 21 to the charging control system 3, information on the remaining power of the power storage unit 24 detected by the detection unit 25 and identification information of the work device 2.

[0051] As information related to the operation state of the work device 2, the detection unit 25 may further detect at least one of the traveling state (traveling or stopped) of the work device 2, the execution state of the work (whether the work is being executed), the speed of the work device 2 (and speed change), the acceleration acting on the work device 2, and the posture of the work device 2.

[0052] In addition, the detection unit 25 detects current position information and the like related to the current position where the work device 2 exists within the work area A1. The detection unit 25 includes, for example, a ranging sensor such as LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the work device 2 through the ranging sensor. The detection unit 25 detects current position information related to the current position of the work device 2 by comparing the surrounding conditions of the work device 2 detected by the ranging sensor with the electronic map information of the work area A1. For example, according to a transmission request from the work management system 6, the work device 2 transmits, from the first communication unit 21 to the work management system 6, the current position information and identification information of the work device 2. In addition, the work device 2 may also periodically transmit, from the first communication unit 21 to the work management system 6, the current position information and identification information of the work device 2.

[0053] In addition, the detection unit 25 may include a beacon receiving unit that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of positions within the work area A1. The detection unit 25 may also detect the current position of the work device 2 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signals in the beacon receiving unit. In addition, the detection unit 25 may also use a satellite positioning system such as GPS (Global Positioning System) to detect the current position of the work device 2.

[0054] The first control unit 20 is mainly configured by a computer system including a memory and a processor, for example. That is, the functions of the first control unit 20 are implemented by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via an electrical communication line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card. When receiving a transfer instruction of a transported object from the job management system 6, the first control unit 20 controls the traveling device 22 based on the detection results such as the current position information detected by the detection unit 25 and the surrounding conditions of the working device 2, so that the working device 2 travels autonomously. By performing the traveling control of the working device 2, the first control unit 20 transports the transported object indicated by the charging control system 3 to the transfer destination. In addition, when receiving a charging instruction for the power storage unit 24 from the charging control system 3, the first control unit 20 controls the traveling device 22 based on the detection results such as the current position information detected by the detection unit 25 and the surrounding conditions of the working device 2, so that the working device 2 moves to a position where it can be connected to the charging device 4. When the working device 2 reaches a position where it can be connected to the charging device 4 and the power receiving connector is connected to the power supply connector of the charging device 4, the first control unit 20 controls the charge and discharge circuit 23 to store the electric energy supplied from the charging device 4 in the power storage unit 24.

[0055] (2.3) Charging control system

[0056] The charging control system 3 includes a second control unit 30 and a second communication unit 34.

[0057] The second communication unit 34 communicates with the relay device 5 via the communication network NT1. The second communication unit 34 communicates with each of a plurality (six in this embodiment) of working devices 2 via the communication network NT1 and the relay device 5. As a communication method between the second communication unit 34 and the relay device 5, an appropriate communication method such as wireless communication or wired communication is adopted. In addition, the second communication unit 34 communicates with the job management system 6 via the communication network NT1.

[0058] The second control unit 30 is mainly configured by a computer system including a memory and a processor, for example. That is, the functions of the second control unit 30 (such as the functions of the acquisition unit 31, the setting unit 32, and the charging control unit 33, etc.) are implemented by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via an electrical communication line such as the Internet, or may be provided by being recorded on a memory card or other non-transitory recording medium.

[0059] The acquisition unit 31 acquires the remaining power of the power storage unit 24 from each of the plurality of working devices 2 via the second communication unit 34. For example, the acquisition unit 31 sends a transmission request for information requesting the remaining power of the power storage unit 24 from the second communication unit 34 to the working device 2 to be controlled, and acquires information related to the remaining power of the power storage unit 24 transmitted from the working device 2 to be controlled according to the transmission request.

[0060] As Figure 3 shown, the setting unit 32 sets at least a first threshold value L1 and a second threshold value L2 greater than the first threshold value L1 as threshold values for the remaining power of the power storage unit 24 provided in each of the plurality of working devices 2. In addition, in the present embodiment, the setting unit 32 further sets a third threshold value L3 greater than the second threshold value L2 as a threshold value for the remaining power of the power storage unit 24 provided in each of the plurality of working devices 2. The first threshold value L1, the second threshold value L2, and the third threshold value L3 are threshold values for determining the charging level of the working device 2 to be controlled as one of the four levels: an emergency charging waiting state WST1, a priority charging waiting state WST2, a normal charging waiting state WST3, and a full charging waiting state WST4.

[0061] The charging control unit 33 controls the charging of the power storage unit 24 provided in the working device 2 to be controlled, with each of the plurality of working devices 2A to 2F as the working device 2 to be controlled. If the working device 2 to be controlled is not charging, the charging control unit 33 controls whether to start charging based on the charging start condition described later. In addition, if the working device 2 to be controlled is charging, the charging control unit 33 controls whether to end charging based on the charging end condition described later.

[0062] More specifically, if the working device 2 to be controlled is not charging, the charging control unit 33 determines the charging level of the working device 2 to be controlled as one of the above four charging waiting states by comparing the remaining power of the power storage unit 24 provided in the working device 2 to be controlled with the first threshold value L1, the second threshold value L2, and the third threshold value L3.

[0063] Here, the charging start conditions differ for each of the multiple levels of charging levels (the above-mentioned four charging waiting states) of the power storage unit 24. The charging control unit 33 controls whether to start charging of the power storage unit 24 for the work device 2 that is the control target based on the charging start conditions set for each charging level of the work device 2 that is the control target. When the charging control unit 33 determines to start charging of the power storage unit 24 for the work device 2 that is the control target, it outputs a charging instruction from the second communication unit 34 to the work device 2 that is the control target, and causes the work device 2 that is the control target to charge the power storage unit 24 until a given charging time has elapsed. This charging time is a time determined by the charging control unit 33 based on the remaining power of the power storage unit 24 at the start of charging.

[0064] Hereinafter, the charging start conditions for each of the multiple levels of charging levels (the above-mentioned four charging waiting states) will be described.

[0065] When the work device 2 that is the control target is not being charged and the remaining power of the power storage unit 24 is less than the first threshold value L1, the charging control unit 33 determines the charging level of the work device 2 that is the control target as the emergency charging waiting state WST1 (refer to Figure 3 ). When the charging level of the work device 2 that is the control target is the emergency charging waiting state WST1, the charging control unit 33 unconditionally starts charging for the work device 2 that is the control target. That is, the charging control unit 33 outputs a charging instruction indicating the start of charging from the second communication unit 34 to the work device 2 that is the control target regardless of the presence or absence of unexecuted operations. That is, there is no special charging start condition for the emergency charging waiting state WST1, and the charging control unit 33 instructs the start of charging to the work device 2 that is the control target when it determines the emergency charging waiting state WST1. At this time, the charging control unit 33 causes the work device 2 that is the control target to perform charging until the first charging time CT1 (refer to Figure 3 ) determined based on the remaining power of the power storage unit 24 at the start of charging has elapsed. The first charging time CT1 is the time required to charge the power storage unit 24 to the first charging level L11 where the remaining power of the power storage unit 24 is higher than the first threshold value L1 and lower than the second threshold value L2. During the charging of the work device 2 that is determined to be in the emergency charging waiting state WST1 for the first charging time CT1 by the charging control unit 33, the charging state of the work device 2 is determined as the emergency charging state CST1.

[0066] In addition, when two charging devices 4 are in use simultaneously while the charging level of the working device 2 of the controlled object is determined to be the emergency charging waiting state WST1, the charging control unit 33 determines the charging states of the two working devices 2 being charged. If the charging states of the two working devices 2 being charged are charging states with a lower priority than the emergency charging state CST1, the charging control unit 33 ends the charging of the working device 2 in the charging state with a lower priority than the emergency charging state CST1, and causes the working device 2 of the controlled object to be charged. In addition, the charging states with a lower priority than the emergency charging state CST1 refer to the priority charging state CST2, the normal charging state CST3, and the full charging state CST4, and these charging states will be described below.

[0067] When the working device 2 of the controlled object is not being charged and the remaining power of the power storage unit 24 is equal to or greater than the first threshold L1 and less than the second threshold L2, the charging control unit 33 determines the charging level of the working device 2 of the controlled object to be the priority charging waiting state (also referred to as the first charging waiting state) WST2. When the charging level of the working device 2 of the controlled object is determined to be the priority charging waiting state WST2, if a charging start condition such as there being an idle charging device among the two charging devices 4 is satisfied, the charging control unit 33 outputs a charging instruction indicating the start of charging from the second communication unit 34 to the working device 2 of the controlled object. Moreover, the charging control unit 33 causes the working device 2 of the controlled object to execute charging until the second charging time CT2 determined based on the remaining power at the start of charging of the power storage unit 24 has elapsed. In other words, in the charging control process of the charging control unit 33, if a charging instruction indicating the start of charging is output for the working device 2 of the controlled object, the working device 2 of the controlled object is caused to charge for at least the charging time (the second charging time CT2) based on the remaining power at the start of charging of the power storage unit 24. This charging time is the time required to charge to a given level where the remaining power of the power storage unit 24 is equal to or greater than the second threshold L2. More specifically, the second charging time CT2 (refer to Figure 3 ) is the time required to charge the power storage unit 24 to the second charging level L12 where the remaining power of the power storage unit 24 is higher than the second threshold L2 and lower than the third threshold L3. The charging control unit 33 determines the charging state of the working device 2 in the priority charging waiting state WST2 to be the priority charging state CST2 (refer to Figure 3 ) during the charging of the second charging time CT2 for the working device 2 of the controlled object determined to be in the priority charging waiting state WST2.

[0068] Thus, the charging start condition (also referred to as the first charging start condition) in the priority charging waiting state WST2 is that the number of charging devices 4 that are not charging among one or more charging devices 4 is equal to or greater than the minimum idle number (for example, one). That is, the condition based on the idle status of the charging devices 4 includes: the condition that the number of charging devices 4 that are not charging among one or more charging devices 4 is equal to or greater than the minimum idle number. Furthermore, in the charging control process of the charging control unit 33, when the controlled work device 2 is in the priority charging waiting state WST2, regardless of the presence or absence of unexecuted operations, if the charging start condition is satisfied, a charging instruction indicating the start of charging is output to the controlled work device 2. The charging start condition in the priority charging waiting state WST2 does not include the condition that there are no unexecuted operations. If there is an idle charging device 4, the charging of the controlled work device 2 is started. Therefore, it is a charging waiting state in which charging is prioritized over the execution of unexecuted operations.

[0069] When the controlled work device 2 is not charging and the remaining power of the power storage unit 24 is equal to or greater than the second threshold value L2 and less than the third threshold value L3, the charging control unit 33 determines the charging level of the controlled work device 2 as the normal charging waiting state (also referred to as the second charging waiting state) WST3. When the charging level of the controlled work device 2 is determined as the normal charging waiting state WST3, if the charging start condition that there are no unexecuted operations and there are two idle charging devices 4 is satisfied, the charging control unit 33 outputs a charging instruction indicating the start of charging from the second communication unit 34 to the controlled work device 2. Moreover, the charging control unit 33 causes the charging of the controlled work device 2 to be executed until the third charging time CT3 (refer to Figure 3 ) determined based on the remaining power at the start of charging of the power storage unit 24 has elapsed. The third charging time CT3 is the time required to charge the power storage unit 24 until the remaining power of the power storage unit 24 is higher than the third threshold value L3 and lower than the full charge level (100%), that is, the third charge level L13. During the charging of the controlled work device 2 for which the charging control unit 33 has determined the normal charging waiting state WST3 and is in the third charging time CT3, the charging control unit 33 determines the charging state of the work device 2 as the normal charging state CST3.

[0070] Thus, the charging start condition (the second charging start condition) in the normal charging waiting state (the second charging waiting state) WST3 is that there are no unexecuted jobs and the number of charging devices 4 that are not charging among one or more charging devices 4 is one or more. In the charging control process based on the charging control unit 33, when the job device 2 to be controlled is in the second charging waiting state WST3, if the second charging start condition is satisfied, a charging instruction indicating the start of charging is output to the job device 2 to be controlled. That is, the charging control unit 33 does not cause the job device 2 to be controlled to start charging when there are unexecuted jobs. Therefore, the normal charging waiting state WST3 is a charging waiting state in which the execution of unexecuted jobs is prioritized over charging.

[0071] In addition, when the remaining power of the power storage unit 24 is equal to or greater than the third threshold value L3 and less than the full charge level (100%), the charging control unit 33 determines the charging level of the job device 2 to be controlled as the sufficient charge waiting state WST4. When the charging level of the job device 2 to be controlled is determined as the sufficient charge waiting state WST4, if there are no unexecuted jobs and the number of charging devices 4 that are not charging among one or more charging devices 4 is one or more, the charging control unit 33 instructs the start of charging for the job device 2 to be controlled. On the other hand, when the charging level of the job device 2 to be controlled is determined as the sufficient charge waiting state WST4, if there are unexecuted jobs or all charging devices 4 are not available, the charging control unit 33 does not instruct the start of charging for the job device 2 to be controlled.

[0072] In addition, after the job device 2 in the normal charging state CST3 has been charged for the third charging time CT3, if there are no unimplemented jobs and there is no job device 2 in a charging state with a higher priority, the charging control unit 33 may also cause the job device 2 in the normal charging state CST3 to continue charging. When the job device 2 in the normal charging state CST3 finishes charging for the third charging time CT3 and further continues to charge, the charging control unit 33 determines the charging state of the job device 2 as the full charge state CST4.

[0073] Here, regarding the priorities of the four charging waiting states, the priorities are, from highest to lowest, the emergency charging waiting state WST1, the priority charging waiting state WST2, the normal charging waiting state WST3, and the sufficient charge waiting state WST4. In addition, regarding the priorities of the four charging states, the priorities are, from highest to lowest, the emergency charging state CST1, the priority charging state CST2, the normal charging state CST3, and the full charge state CST4.

[0074] (2.4) Action description

[0075] Hereinafter, based on Figure 4 and Figure 5 the operation of the charging control system 3 of this embodiment will be described.

[0076] The charging control unit 33, for example, sets each of the plurality of work devices 2 to be controlled as the work device 2 to be controlled in a given order, and controls the charging of the power storage unit 24 provided in the work device 2 to be controlled. Specifically, if the work device 2 to be controlled is not charging, the charging control unit 33 performs charging start control to control whether to start charging. In addition, if the work device 2 to be controlled is charging, the charging control unit 33 performs charging end control to control whether to end charging. The charging start control performed by the charging control unit 33 is described in "(2.4.1 Action description of charging start control)", and the charging end control performed by the charging control unit 33 is described in "(2.4.2 Action description of charging end control)".

[0077] "(2.4.1) Action description of charging start control"

[0078] Regarding the charging start control performed by the charging control unit 33, it will be described based on Figure 4 the flowchart and the like. In addition, Figure 4 the flowchart shown is only an example of the charging control method of the charging control system 3, and the processing order can be appropriately changed, and processing can be appropriately added or omitted.

[0079] When the work device 2 to be controlled is not charging, the charging control unit 33 determines whether the work device 2 to be controlled is performing a job (step ST11).

[0080] If the work device 2 to be controlled is performing a job (step ST11: Yes), the charging control unit 33 ends the charging start control and does not cause the work device 2 to be controlled to start charging.

[0081] If the work device 2 to be controlled is not performing a job (step ST11: No), the charging control unit 33 determines the charging level of the work device 2 to be controlled based on the information on the remaining power of the power storage unit 24 obtained by the acquisition unit 31 from the work device 2 to be controlled.

[0082] Here, when the charging level of the working device 2 of the controlled object is in the emergency charging waiting state WST1 (step ST12: Yes), the charging control unit 33 extracts the working devices 2 in the charging waiting state with the same priority (in this case, the emergency charging waiting state WST1) based on the information of the remaining power of the power storage unit 24 obtained by the acquisition unit 31 from the multiple working devices 2. If there are two or more working devices 2 in the charging waiting state with the same priority, the charging control unit 33 determines whether the remaining power of the power storage unit 24 of the working device 2 of the controlled object among the two or more working devices 2 in the charging waiting state with the same priority is the lowest (step ST13).

[0083] When the remaining power of the power storage unit 24 of the working device 2 of the controlled object among the two or more working devices 2 in the charging waiting state with the same priority is not the lowest (step ST13: No), the charging control unit 33 ends the charging start control and does not cause the working device 2 of the controlled object to start charging.

[0084] When the remaining power of the power storage unit 24 of the working device 2 of the controlled object among the two or more working devices 2 in the charging waiting state with the same priority is the lowest (step ST13: Yes), the charging control unit 33 outputs a charging instruction from the second communication unit 34 to the working device 2 of the controlled object (step ST14) to cause the working device 2 of the controlled object to start charging.

[0085] In addition, in the determination of step ST12, when the charging level of the working device 2 of the controlled object is not in the emergency charging waiting state WST1 (step ST12: No), the charging control unit 33 determines whether the charging level of the working device 2 of the controlled object is in the priority charging waiting state WST2 (step ST15). Here, when the charging level of the working device 2 of the controlled object is in the priority charging waiting state WST2 (step ST15: Yes), the charging control unit 33 determines whether the idle number N1 of the two charging devices 4 is equal to or greater than the minimum idle number Nmin. Here, it is assumed that the minimum idle number Nmin is, for example, 1 for illustration.

[0086] In the determination of step ST16, when the number of idle charging devices 4, N1, is equal to or greater than the minimum number of idle devices Nmin (step ST16: YES), the charging control unit 33 determines whether there is a charging waiting state (here, the emergency charging waiting state WST1) of the working device 2 with a higher priority than the working device 2 to be controlled (step ST17). Here, when there is no working device 2 in a charging waiting state with a higher priority than the working device 2 to be controlled (step ST17: NO), the process proceeds to the process of step ST13 described above. Further, in the determination of step ST16, when the number of idle charging devices 4, N1, is less than the minimum number of idle devices Nmin (step ST16: NO), the charging control unit 33 determines whether there is an unexecuted job based on the information obtained from the job management system 6 (step ST20). If it is determined in the determination of step ST20 that there is no unexecuted job (step ST20: NO), the charging control unit 33 proceeds to the process of step ST17 described above.

[0087] Further, in the determination of step ST17, when there is a working device 2 in a charging waiting state with a higher priority than the working device 2 to be controlled (step ST17: YES), the charging control unit 33 ends the charging start control and does not cause the working device 2 to be controlled to start charging.

[0088] Further, in the determination of step ST15, when the charging level of the working device 2 to be controlled is not the priority charging waiting state WST2 (step ST15: NO), the charging control unit 33 determines whether the charging level of the working device 2 to be controlled is the normal charging waiting state WST3 (step ST18). In the determination of step ST18, when the charging level of the working device 2 to be controlled is not the normal charging waiting state (step ST18: NO), the charging control unit 33 determines whether the charging level of the working device 2 to be controlled is the full charging waiting state WST4 (step ST19). Here, when the charging level of the working device 2 to be controlled is the normal charging waiting state WST3 (step ST18: YES), or the full charging waiting state WST4 (step ST19: YES), the charging control unit 33 determines whether there is an unexecuted job based on the information obtained from the job management system 6 (step ST20). If it is determined in the determination of step ST20 that there is no unexecuted job (step ST20: NO), the charging control unit 33 proceeds to the process of step ST17 described above.

[0089] If it is determined in the determination of step ST19 that the charging level of the working device 2 of the control target is not the fully charged waiting state WST4 (step ST19: No), or if it is determined in the determination of step ST20 that there is an unexecuted job (step ST20: Yes), the charging control unit 33 ends the charging start control and does not cause the working device 2 of the control target to start charging.

[0090] The charging control unit 33 performs the charging start control as described above. When the charging level of the working device 2 of the control target is determined to be the priority charging waiting state WST2, if the idle quantity N1 of the charging device 4 is equal to or more than the minimum idle number Nmin, the working device 2 of the control target is caused to start charging regardless of the presence or absence of unexecuted jobs. Thus, even when unexecuted jobs chronically exist, if there is an idle charging device 4, the charging control unit 33 can cause the working device 2 of the control target to start charging, and the possibility of charging delay of the working device 2 of the control target can be reduced. Thus, the possibility of the working device 2 becoming unable to perform operations due to insufficient remaining power of the power storage unit 24 can be reduced, and the decline in the operation ability of multiple working devices 2 can be suppressed.

[0091] (2.4.2) Action description of charging end control

[0092] Next, for the charging end control performed by the charging control system 3, it will be described based on Figure 5 a flowchart or the like. In addition, Figure 5 the flowchart shown is only an example of the charging control method of the charging control system 3, and the processing order can be appropriately changed, and processing can be appropriately added or omitted.

[0093] When the working device 2 of the control target is in the charging state, the charging control unit 33 determines whether the power storage unit 24 of the working device 2 of the control target is fully charged (step ST31). In addition, the power storage unit 24 being fully charged is not limited to the case where the remaining power of the power storage unit 24 is 100%, and may include the case where the remaining power of the power storage unit 24 is equal to or more than a given full charge level. The full charge level is any value higher than the third threshold L3 and 100% or less.

[0094] When the power storage unit 24 provided in the working device 2 of the control target is fully charged (step ST31: Yes), the charging control unit 33 outputs a charging end instruction indicating the end of charging from the second communication unit 34 to the working device 2 of the control target (step ST32), and causes the working device 2 of the control target to end charging.

[0095] When the power storage unit 24 of the working device 2 of the controlled object is not fully charged (step ST31: No), the charging control unit 33 determines whether there is an unexecuted job based on the information obtained from the job management system 6 (step ST33).

[0096] When there is an unexecuted job (step ST33: Yes), the charging control unit 33 determines the charging state of the working device 2 of the controlled object. Here, when the working device 2 of the controlled object is in the fully charged state CST4 (step ST34: Yes), or in the normal charging state CST3 (step ST34: No, step ST35: Yes), the charging control unit 33 transfers to the process of step ST32 above to end the charging.

[0097] On the other hand, when there is no unexecuted job (step ST33: No), or even when there is an unexecuted job but the working device 2 of the controlled object is neither in the fully charged state CST4 nor in the normal charging state CST3 (step ST34: No, step ST35: No), the charging control unit 33 determines whether the idle quantity N1 of the two charging devices 4 is 0 (step ST36).

[0098] Here, when the idle quantity N1 of the two charging devices 4 is 0 (step ST36: Yes), the charging control unit 33 determines whether the working device 2 of the controlled object is in the fully charged state CST4 (step ST37).

[0099] When the working device 2 of the controlled object is in the fully charged state CST4 (step ST37: Yes), the charging control unit 33 determines whether there is a working device 2 in the normal charging waiting state WST3, priority charging waiting state WST2, or emergency charging waiting state WST1 with a priority higher than the fully charged waiting state WST4 (steps ST38, ST39, ST40). If there is a working device 2 in the normal charging waiting state WST3, priority charging waiting state WST2, or emergency charging waiting state WST1 (step ST38: Yes, or step ST39: Yes, or step ST40: Yes), the charging control unit 33 transfers to the process of step ST32 to end the charging.

[0100] When the working device 2 of the controlled object is in the fully charged state CST4 (step ST37: Yes), if there is no working device 2 in the normal charging waiting state WST3, priority charging waiting state WST2, and emergency charging waiting state WST1 (step ST38: No, and step ST39: No, and step ST40: No), the charging end control is ended, and the working device 2 of the controlled object continues to be charged.

[0101] In addition, when it is determined in step ST37 that the work device 2 that is the control target is not in the fully charged state CST4 (step ST37: No), the charging control unit 33 determines whether the work device 2 that is the control target is in the normal charging state CST3 (step ST41).

[0102] When it is determined in step ST41 that the work device 2 that is the control target is in the normal charging state CST3 (step ST41: No), the charging control unit 33 determines whether the work device 2 that is the control target is in the priority charging state CST2 (step ST42).

[0103] Here, when the work device 2 that is the control target is in the normal charging state CST3 (step ST41: Yes), or in the priority charging state CST2 (step ST42: Yes), the charging control unit 33 transfers to the process of step ST40 and determines whether there is a work device 2 in the emergency charging waiting state WST1. When there is a work device 2 in the emergency charging waiting state WST1 (step ST40: Yes), the charging control unit 33 transfers to the process of step ST32 to end the charging of the work device 2 that is the control target. When there is no work device 2 in the emergency charging waiting state WST1 (step ST40: No), the charging control unit 33 ends the charging end control and makes the work device 2 that is the control target continue charging.

[0104] In addition, when it is determined in step ST36 that the idle quantity N1 of the two charging devices 4 is not 0 (step ST36: No), or when it is determined in step ST42 that the work device 2 that is the control target is not in the priority charging state CST2 (step ST42: No), the charging control unit 33 ends the charging end control and makes the work device 2 that is the control target continue charging.

[0105] (3) Variation

[0106] The above-described embodiments are merely one of the various embodiments of the present disclosure. As long as the object of the present disclosure can be achieved, the above-described embodiments can be variously changed according to design and the like. In addition, the same functions as those of the charging control system 3 can also be embodied by a charging control method, a computer program, a non-transitory recording medium having the program recorded thereon, or the like. A charging control method according to one embodiment includes an acquisition process, a setting process, and a charging control process. In the acquisition process, the remaining power amounts of the power storage units 24 each provided in the plurality of work devices 2 are acquired. In the setting process, at least a first threshold value L1 and a second threshold value L2 are set as threshold values for the remaining power amounts of the power storage units 24 each provided in the plurality of work devices 2. In the charging control process, each of the plurality of work devices 2 to be a control target is controlled for charging of the power storage unit 24 provided in the work device 2 to be the control target. In the charging control process, when the work device 2 to be the control target is in a charging standby state and a charging start condition is satisfied, a charging instruction indicating the start of charging is output for the work device 2 to be the control target. The charging standby state is a state in which the remaining power amount of the power storage unit 24 provided in the work device 2 to be the control target is equal to or greater than the first threshold value L1 and less than the second threshold value L2. The charging start condition includes a condition based on the idle state of one or more charging devices 4. The number of one or more charging devices 4 is less than the number of the plurality of work devices 2. A (computer) program according to one embodiment is a program for causing a computer system to execute the above-described charging control method (the acquisition process, the setting process, and the charging control process).

[0107] Hereinafter, modified examples of the above-described embodiments will be listed. The modified examples described below can be appropriately combined and applied.

[0108] (3.1) Modified Example 1

[0109] In the above-described embodiment, the setting unit 32 sets the first threshold value L1 and the second threshold value L2. However, in the setting process based on the setting unit 32, when a setting condition for determining that the setting of the second threshold value L2 is unnecessary is satisfied, the second threshold value L2 may be set to the same value as the first threshold value L1. In addition, since the configuration of the charging control system 3 is the same as that of the above-described embodiment, its description will be omitted.

[0110] Here, the above setting conditions may include conditions based on a job plan related to multiple jobs performed by the multiple job devices 2. The above setting conditions are, for example: conditions such that even if the multiple job devices 2 do not charge, the remaining planned jobs can be completed according to the job plan before all of the multiple job devices 2 enter the emergency charging waiting state WST1. If, based on the remaining battery levels of the power storage units 24 of the multiple job devices 2 and, for example, the job plan obtained from the job management system 6, the setting condition that the remaining planned jobs can be completed according to the job plan before all of the multiple job devices 2 enter the emergency charging waiting state WST1 holds, the setting unit 32 sets the second threshold L2 to the same value as the first threshold L1.

[0111] In this case, when the job device 2 to be controlled is not charging, if the remaining battery level of the power storage unit 24 provided in the job device 2 to be controlled is equal to or greater than the first threshold L1 (=the second threshold L2) and less than the third threshold L3, the charging control unit 33 determines that the charging level of the job device 2 to be controlled is the normal charging waiting state WST3. That is, the charging control unit 33 determines the charging level of the job device 2 to be controlled to be one of the three levels: the emergency charging waiting state WST1, the normal charging waiting state WST3, and the full charging waiting state WST4. Further, when the charging level of the job device 2 to be controlled is the normal charging waiting state WST3, if there are unexecuted jobs, the charging control unit 33 does not cause the job device 2 to be controlled to start charging, and thus the execution of unexecuted jobs can be prioritized over charging.

[0112] In addition, the above setting conditions may also include conditions based on the time periods during which the multiple job devices 2 perform jobs. For example, if the setting condition that the remaining time until the end time when the multiple job devices 2 finish their jobs is shorter than the operable time of the multiple job devices 2 holds, the charging control unit 33 may also set the second threshold L2 to the same value as the first threshold L1. Here, the operable time of the multiple job devices 2 is a time determined based on the remaining battery levels of the power storage units 24 provided in the multiple job devices 2, and is the time during which the multiple job devices 2 can perform jobs until all of them enter the emergency charging waiting state WST1. In this case, the operable time is determined, for example, as the time during which jobs can be performed until the job device 2 with the most remaining charge enters the emergency charging waiting state WST1. In addition, the operable time of the multiple job devices 2 may also be the time during which jobs can be performed until a part of the multiple job devices 2 enter the emergency charging waiting state WST1. For example, the operable time may be determined based on the remaining charge of the job device 2 with the least remaining charge among a part of the job devices 2, or the average of the remaining charges of a part of the job devices 2.

[0113] (3.2) Variant Example 2

[0114] In the above-described embodiment, the setting unit 32 may also set the third threshold value L3 to the same value as the second threshold value L2. In addition, the configuration of the charging control system 3 is the same as that of the above-described embodiment, and thus its description is omitted.

[0115] In this case, the charging control unit 33 determines the charging level of the work device 2 to be controlled as one of three levels: the emergency charging waiting state WST1, the priority charging waiting state WST2, and the full charging waiting state WST4. Moreover, when the charging level of the work device 2 to be controlled is the priority charging waiting state WST2, the charging control unit 33 causes the work device 2 to be controlled to start charging as long as there is an available space in the two charging devices 4 regardless of the presence or absence of unexecuted work. As a result, even when there are chronically unexecuted tasks, as long as there is an available space in the two charging devices 4, the work device 2 in the priority charging waiting state WST2 can charge the power storage unit 24. Therefore, since multiple work devices 2 give priority to work over charging, the possibility of all of them simultaneously entering the emergency charging waiting state WST1 can be reduced, and the possibility of a decrease in the working ability of the multiple work devices 2 can be reduced.

[0116] (3.3)Other Variants

[0117] The operation system 1 (operation device 2 and charging control system 3) in the present disclosure includes a computer system. The computer system has a processor and a memory as its main structure in terms of hardware. The functions of the operation system 1 in the present disclosure are realized by the processor executing the programs recorded in the memory of the computer system. The programs can be pre-recorded in the memory of the computer system, provided through electrical communication lines, or provided by being recorded in non-transitory recording media such as memory cards, optical discs, and hard disk drives that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits such as the ICs or LSIs mentioned here have different names according to the degree of integration, including integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Further, for FPGAs (Field-Programmable Gate Arrays) that can be programmed after the manufacture of LSIs, or logic devices that can perform reconstruction of the bonding relationships inside LSIs or reconstruction of circuit partitioning inside LSIs, they can also be used as processors. The multiple electronic circuits can be integrated on one chip, or dispersed and arranged on multiple chips. The multiple chips can be integrated in one device, or dispersed and arranged in multiple devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, for the microcontroller, it can also be composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

[0118] In addition, it is not a necessary structure for the charging control system 3 that multiple functions in the charging control system 3 are integrated in one housing, and the components of the charging control system 3 can also be dispersed and arranged in multiple housings. Further, at least some of the functions of the charging control system 3, such as the function of the charging control unit 33, can also be realized through the cloud (cloud computing), etc.

[0119] In addition, in the above-described embodiment, the charging control system 3 and the operation management system 6 are independent systems, but the functions of the charging control system 3 and the functions of the operation management system 6 can also be integrated in one housing.

[0120] In the above-described embodiment, it is also possible to set, for example, two levels of priority (level 1, level 2) for each of the multiple operations performed by the multiple operation devices 2. In addition, the operations of level 1 are set to have a higher priority than the operations of level 2.

[0121] When the working device 2 of the controlled object is in the priority charging waiting state WST2, if there is an unexecuted task with a priority level of level 2, even if there are unexecuted tasks, as long as there is an idle charging device among the two charging devices 4, the charging control unit 33 outputs a charging instruction indicating the start of charging to the working device 2 of the controlled object. In this way, even if there are unexecuted tasks, as long as the unexecuted tasks are tasks of level 2 with a priority level lower than level 1, the charging control unit 33 can preferentially charge the power storage unit 24 of the working device 2 of the controlled object compared to the tasks.

[0122] On the other hand, when the working device 2 of the controlled object is in the priority charging waiting state WST2, if there is an unexecuted task with a priority level of level 1, the charging control unit 33 does not output a charging instruction indicating the start of charging to the working device 2 of the controlled object, but makes it execute the unexecuted task. Thus, when there is an unexecuted task of level 1 with a priority level higher than level 2, the charging control unit 33 can preferentially execute the task of level 1 with a relatively high priority by making the working device 2 of the controlled object in the priority charging waiting state WST2 preferentially execute the task compared to the charging of the power storage unit 24.

[0123] In addition, in the above embodiment, the charging control system 3 may also communicate with the charging device 4 via the communication network NT1 and the relay device 5. The charging control system 3 can pre-grasp the state of the charging device 4 (for example, the on / off state of the power supply of the charging device 4, the occurrence state of errors in the charging device 4, etc.) by communicating with the charging device 4, and reduce the possibility of charging failure of the working device 2 due to the charging device 4 being in an unavailable state.

[0124] In the above embodiment, the number of working devices 2 is 6, and the number of charging devices 4 is 2, but the numbers of the working devices 2 and the charging devices 4 are not limited to the numbers in the above embodiment. The number of working devices 2 can be appropriately changed according to, for example, the amount of work performed by the working devices 2 in the work area A1, the size of the work area A1, etc. In addition, the number of charging devices 4 can be appropriately changed according to the number of working devices 2 used in the work area A1, etc.

[0125] In the above embodiment, in the comparison of the remaining power of the power storage unit 24 and two values such as the thresholds (the first threshold L1 and the second threshold L2), the part set as "above" may also be "greater than". That is, in the comparison of two values, whether the case where the two values are equal is included can be arbitrarily changed according to the setting of the threshold, etc., so there is no technical difference between "above" and "greater than". Similarly, the part set as "less than" may also be "below".

[0126] In the above-described embodiment, the work device 2 is a transport device that travels in the work area A1. However, the work device 2 may also be a ship (autonomous ship) or an aircraft (drone). When the work device 2 is an autonomous ship, the water area in which the autonomous ship sails becomes the work area A1. When the work device 2 is a drone, the space in which the drone flies becomes the work area A1.

[0127] In addition, in the above-described embodiment, the work device 2 can also be used, for example, in a component mounting system of a component mounter including a substrate mounting component, for a transfer operation of transferring a component supply module that supplies components to the component mounter. The component mounting system has, for example, a component supply module that supplies components, and a component mounter that mounts the components supplied from the component supply module on a substrate. The component supply module can include, for example, a replacement cart that replaces a plurality of tape feeders that respectively supply components to the component mounter all at once. The component mounter is a machine (so-called mounter) that mounts components on an object such as a substrate, and includes a mounting head that mounts components on the substrate. In addition, the work device 2 is not limited to being applied in the component mounting system, and its application purpose can be appropriately changed.

[0128] (Summary)

[0129] According to the embodiments described above and the like, the following modes are disclosed.

[0130] The charging control method of the first mode includes a setting process and a charging control process. In the setting process, at least a first threshold (L1) and a second threshold (L2) are set as thresholds for the remaining power of the power storage unit (24) provided in each of the plurality of work devices (2). In the charging control process, each of the plurality of work devices (2) that is a control target work device (2) is controlled to charge the power storage unit (24) provided in the control target work device (2). In the charging control process, when the control target work device (2) is in a charging waiting state, if the charging start condition is satisfied, a charging instruction indicating the start of charging is output for the control target work device (2). The charging waiting state is a state in which the remaining power of the power storage unit (24) provided in the control target work device (2) is equal to or greater than the first threshold (L1) and less than the second threshold (L2). The charging start condition includes a condition based on the idle status of one or more charging devices (4). The number of one or more charging devices (4) is less than the number of the plurality of work devices (2).

[0131] According to this method, even when there are unexecuted operations, if the charging start condition including the condition of the idle state of one or more charging devices (4) is satisfied, the charging start will be instructed to the operation device (2) to be controlled. Thus, even when there are chronically unexecuted operations, the operation device (2) to be controlled can charge the power storage unit (24), and the possibility of the reduction in the operation capabilities of multiple operation devices (2) due to insufficient remaining power of the power storage unit (24) can be suppressed.

[0132] In the charging control method of the second method, in the first method, the condition based on the idle state of one or more charging devices (4) includes the following condition: the number of charging devices (4) among one or more charging devices (4) that are not charging is equal to or more than the minimum idle number.

[0133] According to this method, if the condition that the number of charging devices (4) among one or more charging devices (4) that are not charging is equal to or more than the minimum idle number is satisfied, the charging start can be instructed to the operation device (2) to be controlled. Thus, the number of charging devices (4) among one or more charging devices (4) that are not charging can be reduced, and even when there are chronically unexecuted operations, the operation device (2) to be controlled can charge the power storage unit (24).

[0134] In the charging control method of the third method, in the first or second method, in the charging control process, when the operation device (2) to be controlled is in the charging waiting state, regardless of the presence or absence of unexecuted operations, if the charging start condition is satisfied, a charging instruction indicating the charging start is output to the operation device (2) to be controlled.

[0135] According to this method, if the condition that the number of charging devices (4) among one or more charging devices (4) that are not charging is equal to or more than the minimum idle number is satisfied, the charging start can be instructed to the operation device (2) to be controlled regardless of the presence or absence of unexecuted operations.

[0136] In the charging control method of the fourth mode, in any of the first mode to the third mode, the above charging waiting state is the first charging waiting state, and the above charging start condition is the first charging start condition. In the charging control process, when the working device (2) to be controlled is in the second charging waiting state, if the second charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device (2) to be controlled. The second charging waiting state is a state in which the remaining power of the power storage unit (24) provided in the working device (2) to be controlled is equal to or greater than the second threshold value (L2) and less than the third threshold value (L3). The second charging start condition includes the following conditions: there is no unexecuted operation, and the number of charging devices (4) that are not charging among one or more charging devices (4) is one or more.

[0137] According to this mode, in the second charging waiting state, when there is an unexecuted operation, a charging instruction indicating the start of charging is not output to the working device (2) to be controlled, so that the working device (2) to be controlled can preferentially execute the unexecuted operation compared to the charging of the power storage unit (24).

[0138] In the charging control method of the fifth mode, in the fourth mode, in the setting process, when the setting condition for determining that the setting of the second threshold value (L2) is not required is satisfied, the second threshold value (L2) is set to the same value as the first threshold value (L1).

[0139] According to this mode, by setting the second threshold value (L2) to the same value as the first threshold value (L1) when the setting condition is satisfied, the working device (2) to be controlled can preferentially execute the unexecuted operation compared to the charging of the power storage unit (24).

[0140] In the charging control method of the sixth mode, in the fifth mode, the setting condition includes a condition based on a job plan related to multiple jobs executed by multiple working devices (2).

[0141] According to this mode, by setting the second threshold value (L2) to the same value as the first threshold value (L1) when the setting condition including the condition based on the job plan is satisfied, the working device (2) to be controlled can preferentially execute the unexecuted operation compared to the charging of the power storage unit (24).

[0142] In the charging control method of the seventh mode, in any of the first mode to the sixth mode, in the charging control process, if a charging instruction indicating the start of charging is output to the working device (2) to be controlled, the working device (2) to be controlled is charged for at least a charging time based on the remaining power at the start of charging of the power storage unit (24).

[0143] According to this method, when a charging instruction indicating the start of charging is output to the working device (2) of the controlled object, the working device (2) of the controlled object charges the power storage unit (24) at least until the charging time elapses.

[0144] In the charging control method of the eighth method, in the seventh method, the charging time is the time required to charge the remaining power of the power storage unit (24) to a given level equal to or higher than the second threshold value (L2).

[0145] According to this method, when a charging instruction indicating the start of charging is output to the working device (2) of the controlled object, the working device (2) of the controlled object can charge the power storage unit (24) to a given level.

[0146] In the charging control method of the ninth method, in any one of the first to eighth methods, the operation performed by the working device (2) includes a carrying operation for carrying a carried object.

[0147] According to this method, the possibility of a decrease in the operation ability of the working device (2) that performs a carrying operation for carrying a carried object can be suppressed.

[0148] The program of the tenth method is a program for causing a computer system to execute the charging control method of any one of the first to ninth methods.

[0149] According to this method, even when there are unexecuted operations, if the charging start condition including the condition of the idle state based on one or more charging devices (4) is satisfied, the charging start is indicated to the working device (2) of the controlled object. Thus, even in a situation where unexecuted operations exist chronically, the working device (2) of the controlled object can charge the power storage unit (24), and the possibility of a decrease in the operation ability of multiple working devices (2) due to insufficient remaining power of the power storage unit (24) can be suppressed.

[0150] The charging control system (3) of the 11th mode includes a setting unit (32) and a charging control unit (33). As thresholds for the remaining power of the power storage units (24) provided in each of the plurality of working devices (2), the setting unit (32) sets at least a first threshold (L1) and a second threshold (L2). The charging control unit (33) controls the charging of the power storage unit (24) provided in the working device (2) that is the control target among the plurality of working devices (2). In the charging control unit (33), when the working device (2) that is the control target is in a charging waiting state, if a charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device (2) that is the control target. The charging waiting state is a state in which the remaining power of the power storage unit (24) provided in the working device (2) that is the control target is equal to or greater than the first threshold (L1) and less than the second threshold (L2). The charging start condition includes a condition based on the idle state of one or more charging devices (4). The number of one or more charging devices (4) is less than the number of the plurality of working devices (2).

[0151] According to this mode, even when there are unexecuted operations, if the charging start condition including the condition based on the idle state of one or more charging devices (4) is satisfied, the charging control system (3) also instructs the working device (2) that is the control target to start charging. Thus, even in a situation where unexecuted operations chronically exist, the charging control system (3) can cause the working device (2) that is the control target to charge the power storage unit (24), and can suppress the possibility that the operating capabilities of multiple working devices (2) decrease due to insufficient remaining power of the power storage unit (24).

[0152] The operation system (1) of the 12th mode includes: a plurality of working devices (2); one or more charging devices (4) whose number is less than the number of the plurality of working devices (2); and the charging control system (3) of the 11th mode. The charging control system (3) controls the charging of the plurality of working devices (2) by one or more charging devices (4).

[0153] According to this mode, even when there are unexecuted operations, if the charging start condition including the condition based on the idle state of one or more charging devices (4) is satisfied, the charging control system (3) can also instruct the working device (2) that is the control target to start charging. Thus, even in a situation where unexecuted operations chronically exist, the charging control system (3) can cause the working device (2) that is the control target to charge the power storage unit (24), and can suppress the possibility that the operating capabilities of multiple working devices (2) decrease due to insufficient remaining power of the power storage unit (24).

[0154] Not limited to the above-described manner, various structures (including modified examples) of the charging control system (3) involved in the embodiment can be embodied by a charging control method, a (computer) program, or a non-transitory recording medium recording the program, etc.

[0155] Regarding the structures related to the second to ninth manners, structures that are not essential for the charging control method can be appropriately omitted.

[0156] Symbol Explanation

[0157] 1 Operating system

[0158] 2 Operating device

[0159] 3 Charging control system

[0160] 4 Charging device

[0161] 24 Power storage unit

[0162] 32 Setting unit

[0163] 33 Charging control unit

[0164] L1 First threshold

[0165] L2 Second threshold

[0166] L3 Third threshold.

Claims

1. A charging control method, comprising: Setting processing, setting at least a first threshold and a second threshold as thresholds for the remaining power of the power storage units respectively provided in a plurality of working devices; And Charging control processing, controlling the charging of the power storage unit provided in each of the working devices to be controlled among the plurality of working devices, In the charging control processing, When the working device to be controlled is in a charging waiting state, if a charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device to be controlled, The charging waiting state is a state where the remaining power of the power storage unit provided in the working device to be controlled is equal to or greater than the first threshold and less than the second threshold, The charging start condition includes: a condition based on the idle status of one or more charging devices that is less in number than the plurality of working devices.

2. The charging control method according to claim 1, wherein The condition based on the idle status of the one or more charging devices includes the following condition: the number of charging devices among the one or more charging devices that are not performing charging is equal to or greater than the minimum idle number of units.

3. The charging control method according to claim 1 or 2, wherein In the charging control processing, When the working device to be controlled is in the charging waiting state, regardless of the presence or absence of unexecuted operations, if the charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device to be controlled.

4. The charging control method according to any one of claims 1 to 3, wherein The charging waiting state is a first charging waiting state, The charging start condition is a first charging start condition, In the charging control processing, When the working device to be controlled is in a second charging waiting state, if a second charging start condition is satisfied, a charging instruction indicating the start of charging is output to the working device to be controlled, The second charging waiting state is a state where the remaining power of the power storage unit provided in the working device to be controlled is equal to or greater than the second threshold and less than a third threshold, The second charging start condition includes the following conditions: there are no unexecuted operations, and the number of charging devices among the one or more charging devices that are not performing charging is one or more.

5. The charging control method according to claim 4, wherein In the setting processing, When a setting condition for determining that the setting of the second threshold is not required is satisfied, the second threshold is set to the same value as the first threshold.

6. The charging control method according to claim 5, wherein The setting condition includes: a condition based on a job plan related to the plurality of jobs executed by the plurality of working devices.

7. The charging control method according to any one of claims 1 to 6, wherein In the charging control processing, if a charging instruction indicating the start of charging is output to the working device to be controlled, the working device to be controlled is charged for at least a charging time based on the remaining power at the start of charging of the power storage unit.

8. The charging control method according to claim 7, wherein the charging time is the time required to charge the remaining power of the power storage unit to a given level that is equal to or higher than the second threshold.

9. The charging control method according to any one of claims 1 to 8, wherein the operation performed by the work device includes a handling operation of handling a handled object.

10. A program for causing a computer system to execute the charging control method according to any one of claims 1 to 9.

11. A charging control system, comprising: a setting unit that sets at least a first threshold and a second threshold as thresholds for the remaining power of the power storage units respectively provided in a plurality of work devices; and a charging control unit that controls the charging of the power storage units provided in the work devices to be controlled, each of which is one of the plurality of work devices, in the charging control unit, when the work device to be controlled is in a charging standby state, if a charging start condition is satisfied, a charging instruction indicating the start of charging is output to the work device to be controlled, the charging standby state is a state in which the remaining power of the power storage unit provided in the work device to be controlled is equal to or higher than the first threshold and less than the second threshold, the charging start condition includes a condition based on the idle status of one or more charging devices whose number is less than that of the plurality of work devices.

12. A work system, comprising: a plurality of work devices; one or more charging devices whose number is less than that of the plurality of work devices; and the charging control system according to claim 11, wherein the charging control system controls the charging of the plurality of work devices by the one or more charging devices.

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