Mobile battery exchange system, control method thereof, and control program thereof

Abstract

To provide a mobile battery exchange system and program that increase the number of mobile units in operation and their operating hours and reduce waiting areas for the mobile units without increasing spare batteries, chargers, and battery exchange devices and personnel.SOLUTION: A mobile battery exchange system includes a plurality of mobile objects each having a battery and executing a predetermined task, a station having a spare battery, and a management server for instructing the mobile objects to execute the predetermined task, the predetermined task includes a battery exchange task for moving the mobile object to the station and exchanging the battery in the mobile object with the spare battery in the station. The management server transmits the battery exchange task to the mobile object on the basis of the time of the previous battery exchange and a predetermined battery exchange period Tt.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a mobile battery exchange system, and more particularly to a system for exchanging batteries of a mobile vehicle at a station. [Background technology]

[0002] In recent years, battery-powered mobile objects have been used in warehouses, factories, homes, etc. In such mobile objects, when the remaining battery charge decreases, the battery needs to be replaced. Patent Document 1 discloses that for a battery-powered work vehicle, the timing of battery replacement is determined based on the degree of decrease in the remaining battery charge. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-28196 A Summary of the Invention [Problem to be solved by the invention]

[0004] A plurality of mobile objects may be introduced in one work area to improve work efficiency. In a system in which battery exchange for a plurality of mobile objects is performed at a station, if the timing of battery exchange is determined based on the degree of decrease in the remaining battery charge as in Patent Document 1, the timing of battery exchange may be concentrated. In this case, there may be a shortage of spare batteries at the station, or mobile objects may be left waiting for battery exchange. As a result, the number of mobile objects in operation and the operating time may decrease, and the space for waiting for mobile objects may increase. The shortage of spare batteries and the waiting for battery exchange at the station may be resolved by increasing the number of spare batteries, chargers, and battery exchange equipment and personnel, but this leads to an increase in costs.

[0005] The present invention has been made in consideration of the above-mentioned technical background, and has an object to increase the number of operating mobile objects and their operating hours, and to reduce waiting areas for the mobile objects, without increasing the number of spare batteries, chargers, and battery replacement equipment and personnel. [Means for solving the problem]

[0006] The above-mentioned technical problems can be solved by a mobile battery exchange system, a control method thereof, a control program thereof, etc., having the following configuration.

[0007] In other words, the mobile body battery exchange system of the present invention comprises a plurality of mobile bodies each equipped with a battery and executing a specified task, a station equipped with a spare battery, and a management server that instructs the mobile bodies to perform the specified task, the specified task including a battery exchange task of moving the mobile body to the station and exchanging the battery provided in the mobile body with the spare battery provided in the station, and the management server instructs the mobile body to perform the battery exchange task based on the time of the previous battery exchange and a predetermined battery exchange period.

[0008] With this configuration, the timing of battery replacement for mobile objects is distributed within the range of the maximum battery operating time, and is not concentrated. Therefore, without increasing the number of spare batteries, chargers, and battery replacement equipment and personnel, the number of operating mobile objects and the operating time can be increased and standby space can be reduced.

[0009] The management server may instruct the mobile objects to perform the battery replacement task based on the number of the mobile objects and the time during which the mobile objects can operate with the batteries in a fully charged state.

[0010] According to such a configuration, the battery can be replaced at the longest battery replacement period that does not cause the battery to run out, thereby increasing the operating rate of the mobile object.

[0011] The battery exchange period may be constant during operation of the mobile battery exchange system.

[0012] According to this configuration, the timing of battery exchange for the mobile objects is dispersed at a certain interval during operation of the mobile object battery exchange system, so that the number of mobile objects in operation and the operation time can be more reliably increased, and the waiting space can be more reliably reduced.

[0013] The management server may instruct the mobile objects to perform the battery exchange task in the order of least remaining battery charge.

[0014] With this configuration, batteries are replaced in the order of the remaining battery power of the mobile units, so that it is possible to prevent batteries from running out even when a certain mobile unit is congested with tasks that consume a lot of power or when there are batteries with reduced capacity due to degradation.

[0015] The management server may instruct the mobile objects to perform the battery exchange task in ascending order of remaining battery power when the mobile object battery exchange system starts operating.

[0016] According to this configuration, after the mobile body battery exchange system starts operating, the batteries of the mobile bodies are exchanged in order of the remaining battery power, so that even if there is a variation in the remaining battery power when the mobile body battery exchange system starts operating, it is possible to prevent the batteries from running out.

[0017] The management server may instruct, at the time of battery replacement, the mobile object having the least remaining battery power among the mobile objects to perform the battery replacement task.

[0018] With this configuration, the battery of the mobile object with the lowest remaining battery power is replaced, and therefore it is possible to prevent the battery from running out even when a certain mobile object is congested with tasks that consume a lot of power or when there are batteries with reduced effective capacity due to degradation.

[0019] The management server may instruct the mobile object to perform the battery exchange task so that the time from the previous battery exchange time to the next scheduled battery exchange time is shorter than the battery exchange cycle by a predetermined time.

[0020] This configuration reduces the time lag caused by the moving object moving to the station and the time lag caused by the moving object continuing the task it is currently executing, thereby more reliably preventing the battery from running out.

[0021] The management server may calculate the predetermined time based on a travel time from a movement start point of the moving object to the station.

[0022] This configuration further reduces the time lag caused by the moving object moving to the station and the time lag caused by the moving object continuing the task it is currently executing, thereby more reliably preventing the battery from running out.

[0023] The specified tasks may further include other tasks other than the battery replacement task, and the management server may instruct the mobile body to perform the other tasks based on the time required for the mobile body to execute the other tasks and the time required for the mobile body to move to the station after completing the other tasks.

[0024] According to this configuration, the mobile unit can be made to arrive at the station reliably at the required time, and therefore the battery can be more reliably prevented from running out.

[0025] The specified tasks may further include other tasks other than the battery replacement task, and when the mobile body receives the battery replacement task while executing the other tasks, the mobile body may interrupt the other tasks being executed and execute the battery replacement task as a priority.

[0026] According to this configuration, battery replacement is performed on the moving object with priority over other work, and therefore battery replacement can be performed on the moving object 50 at a time closer to the scheduled battery replacement time.

[0027] The management server may instruct the next mobile object to be subjected to battery replacement to perform the battery replacement task on condition that the remaining charge of the battery of the next mobile object to be subjected to battery replacement is below a predetermined value.

[0028] According to this configuration, unless the remaining battery charge falls below a predetermined value, the battery is not replaced, and therefore the number of times the battery needs to be replaced can be reduced.

[0029] The battery and the spare battery may be fully charged when the mobile battery exchange system starts up.

[0030] According to this configuration, the batteries of the moving objects are replaced in order before they run out of power, thereby preventing the batteries from running out.

[0031] The station may be capable of charging the spare battery, and when the number of the mobile bodies is N, n is a natural number less than or equal to N, the remaining charge of the battery of the nth mobile body among the mobile bodies is Bn, m is a natural number less than or equal to the number of spare batteries, the remaining charge of the mth spare battery is Sm, the battery exchange period is Tt, and the longest time required for the spare battery to become fully charged at the station is Smax, then at the start of operation of the mobile body battery exchange system, Bn≧n / N and Sm≧1-(Tt×m) / Smax or Bn≧(n-1) / N and Sm≧1-{Tt×(m-1)} / Smax.

[0032] According to this configuration, the batteries of the moving objects are replaced in order before they run out of power, thereby preventing the batteries from running out.

[0033] The predetermined tasks may further include other tasks other than the battery replacement task, and the management server may instruct the mobile object to execute the other tasks based on estimated power consumption information of the other tasks.

[0034] With this configuration, the variation in power consumption in the mobile object is reduced, and therefore unnecessary battery replacement can be prevented, leading to improved efficiency.

[0035] Viewed from another aspect, the present invention is a method for moving a plurality of mobile objects to a station by executing a battery exchange task and exchanging batteries provided in the mobile objects with spare batteries provided in the station, instructing the mobile objects to perform the battery exchange task based on the time of the previous battery exchange and a predetermined battery exchange period.

[0036] Viewed from yet another aspect, the present invention is a program that moves multiple mobile objects to a station by executing a battery replacement task and replaces batteries installed in the mobile objects with spare batteries installed in the station, and instructs the mobile objects to perform the battery replacement task based on the time of the previous battery replacement and a predetermined battery replacement period.

[0037] With this configuration, the timing of battery replacement for mobile objects is distributed within the range of the maximum battery operating time, and is not concentrated. Therefore, without increasing the number of spare batteries, chargers, and battery replacement equipment and personnel, the number of operating mobile objects and the operating time can be increased and standby space can be reduced. Effect of the Invention

[0038] According to the present invention, the timing of battery replacement for multiple mobile objects is distributed within the range of the maximum battery operating time, and is not concentrated. Therefore, the number of mobile objects in operation and their operating time can be increased and standby space can be reduced without increasing the number of spare batteries, chargers, and battery replacement equipment and personnel. [Brief description of the drawings]

[0039] [Figure 1] FIG. 1 is a network configuration diagram of a mobile battery exchange system 100 according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a functional block diagram of the mobile battery exchange system shown in FIG. [Diagram 3] FIG. 3 is a graph of the remaining battery charge and the remaining charge of the spare battery, showing the results of a simulation in which a battery replacement is performed when the remaining battery charge falls below a certain value. [Figure 4] FIG. 4 is a graph showing the remaining charge of the battery and the remaining charge of the spare battery, and shows the results of a simulation performed under the condition that the batteries of the entire group of mobile objects are exchanged sequentially at a fixed cycle. [Diagram 5]FIG. 5 is a flowchart of a battery exchange task generation process performed by the task generation unit. [Figure 6] FIG. 6 is a flowchart of the task allocation process performed by the task allocation unit. [Figure 7] FIG. 7 is a flowchart of a battery exchange task generation process according to the second embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart of a battery exchange task generation process according to the third embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart of a task allocation process according to the fourth embodiment of the present invention, showing steps S61 to S67. [Figure 10] FIG. 10 is a flowchart of a task allocation process according to the fourth embodiment of the present invention, showing steps S101 to S105. [Figure 11A] FIG. 11A is a diagram showing an example of task selection taking into consideration the timing of battery replacement. [Figure 11B] FIG. 11B is a diagram showing another example of task selection taking into consideration the timing of battery replacement. [Figure 12] FIG. 12 is a diagram showing an example of task selection taking into consideration the battery replacement timing according to the first modification of the fourth embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of task selection taking into consideration the battery replacement timing according to the second modification of the fourth embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart of a task allocation process according to the fifth embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart of a task execution process according to the fifth embodiment of the present invention. [Figure 16] FIG. 16 is a functional block diagram of a mobile battery exchange system 600 according to a sixth embodiment of the present invention. [Figure 17] FIG. 17 is a flowchart of a battery exchange task generation process according to the sixth embodiment of the present invention. [Figure 18]FIG. 18 is a functional block diagram of a mobile battery exchange system 700 according to the seventh embodiment of the present invention. [Figure 19] FIG. 19 is a flowchart of the exchange schedule generating process performed by the exchange schedule generating unit. [Figure 20] FIG. 20 is a functional block diagram of a mobile battery exchange system 800 according to an eighth embodiment of the present invention. [Figure 21] FIG. 21 is a flowchart of a battery exchange task generation process according to the eighth embodiment of the present invention. [Figure 22] FIG. 22 is a graph showing the remaining charge of the battery and the remaining charge of the spare battery, and shows an example in which the battery does not run out even if the battery and the spare battery are not fully charged when the mobile battery exchange system starts operating. [Figure 23] FIG. 23 is a graph showing the remaining charge of the battery and the remaining charge of the spare battery, and shows another example in which the battery does not run out even if the battery and the spare battery are not fully charged when the mobile battery exchange system starts operating. [Figure 24] FIG. 24 is a flowchart of other task generation processing according to the tenth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0041] 1. First embodiment As a first embodiment, an example in which the present invention is applied to a mobile battery exchange system used in a warehouse or the like to perform a predetermined task will be described. Note that the application target is not limited to a system in a warehouse or the like, and can be changed in various ways.

[0042] (1.1 System Configuration) FIG. 1 is a network configuration diagram of a mobile body battery exchange system 100 according to this embodiment. As is clear from the diagram, the mobile body battery exchange system 100 includes a group management server 10, a station 30, and a plurality of mobile bodies 50, which are connected via a network. In this embodiment, the mobile body battery exchange system 100 is configured as a network system including a server, but the configuration can be freely changed. In addition, the mobile body battery exchange system 100 may include a plurality of stations 30.

[0043] Fig. 2 is a functional block diagram of the mobile body battery exchange system 100. Fig. 2 shows only one mobile body 50. As is clear from the figure, the mobile body 50 is equipped with a battery 51 and is driven by power supplied from the battery 51. The mobile body 50 is, for example, a robot equipped with a differential two-wheel mechanism, a robot equipped with an omnidirectional movement mechanism, a robot equipped with a leg mechanism, or a UAV (Unmanned Aerial Vehicle). The omnidirectional movement mechanism is, for example, an omniwheel, a mecanum wheel, or an independent steering mechanism. The UAV is, for example, a drone.

[0044] The group management server 10 is configured with an information processing device such as a PC (personal computer), and performs various information processing, such as generating tasks, which will be described later. The group management server 10 includes a status acquisition unit 11, a clock 12, an exchange schedule storage unit 13, a task generation unit 14, a task storage unit 15, a task allocation unit 16, and a task transmission unit 17.

[0045] The status acquisition unit 11 acquires the status of the mobile object 50 and the station 30. The clock 12 provides the current time. The exchange schedule storage unit 13 stores the order of the mobile objects 50 to be subjected to battery exchange, the time of the previous battery exchange, and the battery exchange period. The battery exchange period is preferably a value obtained by dividing the time during which a fully charged battery 51 can operate the mobile object 50 without battery exchange by the number of mobile objects 50. The task generation unit 14 generates tasks such as a "battery exchange task", a "transport task", and a "standby task". The battery exchange task is generated based on information in the exchange schedule storage unit 13. The task storage unit 15 stores the tasks generated by the task generation unit 14. The task allocation unit 16 assigns the tasks stored in the task storage unit 15 to the mobile object 50 waiting to receive the task. If the battery exchange task is stored in the task storage unit 15, the task allocation unit 16 assigns the battery exchange task to the mobile object 50 with priority. The task transmitting unit 17 transmits the task assigned to the moving entity 50 by the task assigning unit 16 to the moving entity 50 .

[0046] The station 30 is a device that is coupled (docked) with the moving body 50 and performs a battery exchange operation on the moving body 50. The station 30 includes a spare battery 31 that is formed so as to be replaceable with the battery 51 of the moving body 50. The station 30 also includes a charging unit 32, a battery exchange mechanism 33, a docking monitoring unit 34, a battery exchange control unit 35, and a status transmission unit 36. In FIG. 2, the station 30 includes a plurality of spare batteries 31 and a plurality of charging units 32, but there may be only one spare battery 31 and one charging unit 32.

[0047] The station 30 does not have to be a device, and may be a space where an operator waits. In this case, the operator manually performs the battery replacement operation on the mobile object 50.

[0048] The charging unit 32 charges the spare battery 31 housed in the station 30. The battery exchange mechanism 33 exchanges the spare battery 31 with the battery 51 of the mobile body 50 docked with the station 30. The docking monitoring unit 34 monitors whether the station 30 and the mobile body 50 have been docked. The battery exchange control unit 35 controls the operation of the battery exchange mechanism 33 based on the monitoring result by the docking monitoring unit 34. The status transmission unit 36 ​​transmits the status of the station 30 to the status acquisition unit 11 of the group management server 10.

[0049] The moving object 50 includes a moving mechanism 52, a task receiving unit 53, a task executing unit 54, a moving control unit 55, a battery remaining amount monitoring unit 56, and a status transmitting unit 57. In Fig. 2, the moving object 50 includes one battery 51 and one battery remaining amount monitoring unit 56, but may include a plurality of batteries 51 and a plurality of battery remaining amount monitoring units 56.

[0050] The moving mechanism 52 is configured to be capable of autonomous movement. The task receiving unit 53 receives a task transmitted from the task transmitting unit 17 of the group management server 10. The task executing unit 54 executes the task received by the task receiving unit 53. The movement control unit 55 controls the driving of the moving mechanism 52 based on the task executed by the task executing unit 54. The battery remaining amount monitoring unit 56 monitors the battery 51 mounted on the moving object 50 and acquires the remaining amount of the battery 51. The status transmitting unit 57 transmits information on the task executed by the task executing unit 54 and the remaining amount of the battery 51 acquired by the battery remaining amount monitoring unit 56 to the status acquiring unit 11 of the group management server 10.

[0051] (1.2 Timing of battery replacement) As the timing for battery replacement, it is considered to perform battery replacement when the remaining charge of the battery 51 falls below a certain value. However, in this case, the timing of battery replacement for multiple moving objects 50 overlaps, resulting in wasted waiting time and waiting space for the moving objects 50, and the number of operable moving objects 50 decreases, resulting in a decrease in the operating rate. The occurrence of waiting time and waiting space for the moving objects 50 and the decrease in the operating rate will be described with reference to FIG. 3.

[0052] FIG. 3 is a graph showing the remaining charge of the battery 51 and the remaining charge of the spare battery 31, and shows the results of a simulation performed under the condition that battery replacement is performed when the remaining charge of the battery 51 falls below a certain value Bl.

[0053] In the simulation shown in FIG. 3, there are nine moving bodies 50 and one station 30. The station 30 has three spare batteries 31 and three charging units 32, and the station 30 can charge the three spare batteries 31 in parallel. The batteries 51 included in each of the nine moving bodies 50 are referred to as "batteries 51a to 51i," and the three spare batteries 31 in the station 30 are referred to as "spare batteries 31a to 31c." In the station 30, battery replacement cannot be performed in parallel for two or more moving bodies 50, and when battery replacement is being performed for one moving body 50, battery replacement cannot be performed for another moving body 50. All the batteries 51 and spare batteries 31 are fully charged, and all the moving bodies 50 start operating. When the moving bodies 50 are operating, the power consumption per unit time of the batteries 51a to 51i is the same.

[0054] 3, the remaining charge of the batteries 51a to 51i reaches a constant value Bl at time Tt, which is a predetermined time T0 after the start of operation of the mobile object battery exchange system 100. Therefore, all the mobile objects 50 move to the station 30 for battery exchange.

[0055] However, the station 30 can only perform battery replacement on one of the nine moving bodies 50 at a time. Therefore, while the battery replacement work is performed on one of the nine moving bodies 50, the remaining eight moving bodies 50 are forced to wait near the station 30. Specifically, while the battery replacement is being performed on the moving body 50 including the battery 51a, the moving bodies 50 including the batteries 51b to 51i wait near the station 30. After the battery replacement of the moving body 50 including the battery 51a is completed, the battery replacement is performed on the moving body 50 including the battery 51b, but the moving bodies 50 including the batteries 51c to 51i continue to wait near the station 30.

[0056] In this way, when battery replacement is performed when the remaining charge of the battery 51 falls below a certain value, the timing of battery replacement for multiple moving objects 50 overlaps, and a waiting line for battery replacement occurs near the station 30. As a result, waiting time and waiting space for the moving objects 50 are wasted.

[0057] Also, the station 30 has three spare batteries 31, which is fewer than the number of moving objects 50. Therefore, when battery exchange is performed on three moving objects 50, there will be no fully charged spare batteries 31. The three batteries 51 removed from the moving objects 50 will be brought to the station 30 as new spare batteries 31, but these spare batteries 31 have insufficient remaining capacity (a fixed value Bl) to continue the operation of the moving object 50. Therefore, the moving object 50 in which the battery exchange is not completed is forced to wait near the station 30 until the spare batteries 31 are fully charged. Specifically, when battery exchange is performed on a moving object 50 equipped with batteries 51a to 51c, the spare batteries 31a to 31c are charged, but it takes time to fully charge them. Therefore, the moving object 50 equipped with batteries 51d to 51i will continue to wait near the station 30 until the spare batteries 31a to 31c are fully charged. Even after the battery exchange for the moving object 50 including the batteries 51d to 51f is completed, the moving object 50 including the batteries 51g to 51i will continue to wait near the station 30 until the spare batteries 31a to 31c are fully charged again.

[0058] In this way, when the battery 51 is replaced when the remaining charge falls below a certain value, the timing of battery replacement for multiple moving objects 50 overlaps, resulting in a waiting time for charging. As a result, the number of operable moving objects 50 decreases, and the operating rate drops.

[0059] 3, the power consumption per unit time of the batteries 51a-51i is the same when the moving object 50 is in operation, so the timing of battery replacement does not overlap from the second time onwards. In reality, the power consumption per unit time of the batteries 51a-51i is different, so the timing of battery replacement may overlap even from the second time onwards. As a result, the standby time and standby location of the moving object 50 and the operating rate are reduced.

[0060] Therefore, in this embodiment, battery exchange is performed on multiple moving bodies 50 based on the previous battery exchange times in the multiple moving bodies 50 and a predetermined battery exchange cycle. Specifically, a battery exchange task is generated and transmitted to the moving bodies 50 so that battery exchange is performed sequentially in a constant cycle across the entire group of moving bodies 50.

[0061] FIG. 4 is a graph of the remaining charge of the battery 51 and the remaining charge of the spare battery 31, and shows the results of a simulation performed under the condition that the battery exchange is performed sequentially at a fixed cycle in the entire group of moving objects 50. In the simulation shown in FIG. 4, as in the simulation shown in FIG. 3, there are nine moving objects 50 and one station 30. The station 30 has three spare batteries 31 and three charging units 32, and the three spare batteries 31 can be charged in parallel in the station 30. In the station 30, battery exchange cannot be performed in parallel for two or more moving objects 50, and when battery exchange is being performed for one moving object 50, battery exchange cannot be performed for another moving object 50. It is assumed that all the batteries 51 and spare batteries 31 are in a fully charged state and all the moving objects 50 start operating.

[0062] Then, the first battery exchange is performed on the mobile object 50 equipped with the battery 51b at time Tb when a predetermined battery exchange period Tt has elapsed since the mobile object battery exchange system 100 started operating. The battery exchange period Tt is set to be shorter than the time obtained by dividing the maximum battery operating time Tmax during which the battery 51 can drive the mobile object 50 until the remaining battery charge drops from a full charge to a certain value Bl by the number of mobile objects 50 (in this case, the time obtained by dividing the maximum battery operating time Tmax by 9), and longer than the time required for battery exchange at the station 30. The battery exchange period Tt is also set to be longer than the time required to fully charge the spare battery 31 from a certain value Bl divided by the number of spare batteries 31.

[0063] For the mobile object 50 equipped with the battery 51c, battery replacement is performed at time Tc when the battery replacement period Tt has elapsed since time Tb (the time of the previous battery replacement). Similarly, for the mobile objects 50 equipped with the batteries 51d to 51i, battery replacement is performed at times Td, Te, Tf, Tg, Th, and Ti when the battery replacement period Tt has elapsed since times Tc, Td, Te, Tf, Tg, and Th (the time of the previous battery replacement). For the mobile object 50 equipped with the battery 51a, battery replacement is performed at time Ta when the battery replacement period Tt has elapsed since time Ti (the time of the previous battery replacement).

[0064] As is clear from Fig. 4, the timing of battery exchange for multiple moving objects 50 is distributed within the range of the maximum battery operating time Tmax and is not concentrated. Therefore, without increasing the number of spare batteries, chargers, and battery exchange devices and personnel, the number of moving objects 50 in operation and the operating time can be increased and the waiting space can be reduced.

[0065] In the simulation shown in FIG. 4, even if the power consumption per unit time of the batteries 51a to 51i is different, the battery replacement is performed after the battery replacement period has elapsed from the time of the previous battery replacement, regardless of the remaining charge of the batteries 51a to 51i, so the timing of the battery replacement is not concentrated.

[0066] Considering the time cost required for battery replacement, the fewer the number of battery replacements, the better the operating rate. Therefore, it is better to have a battery replacement cycle Tt as long as possible. Therefore, if each moving object 50 replaces its battery at equal intervals, the longest battery replacement cycle can be obtained by the following formula: [Equation 1] (Maximum battery replacement cycle) = (Maximum battery operating time) / (Number of mobile units 50)

[0067] (1.3 System Operation) 5 is a flowchart of the battery exchange task generation process performed by task generation unit 14 (see FIG. 2). Task generation unit 14 also performs other task generation process to generate tasks other than the battery exchange task, but the description and flowchart of the other task generation process will be omitted here. Task generation unit 14 performs the battery exchange task generation process and other task generation process at regular intervals. The tasks generated by task generation unit 14 are stored in task storage unit 15 (see FIG. 2).

[0068] 5, when the battery exchange task generation process starts, the task generation unit 14 performs a process of acquiring the previous battery exchange time, the battery exchange cycle, and the next battery exchange vehicle ID from the exchange schedule storage unit 13 (S51). After that, the task generation unit 14 performs a process of calculating the next scheduled battery exchange time based on the acquired previous battery exchange time and battery exchange cycle (S52). Specifically, the task generation unit 14 calculates the next scheduled battery exchange time by the following formula. [Number 2] (Next battery replacement scheduled time) = (Last battery replacement time) + (Battery replacement cycle)

[0069] After calculating the next scheduled battery exchange time (S52), the task generation unit 14 performs a process of acquiring current time information from the clock 12 (see FIG. 2) (S53). Then, the task generation unit 14 performs a process of determining whether the current time is past the next scheduled battery exchange time (S54).

[0070] If the current time has passed the next scheduled battery exchange time (S54 YES), the task generation unit 14 issues a battery exchange task to the acquired next battery exchange vehicle ID and performs processing to write the task in the task storage unit 15 (S55). Thereafter, the task generation unit 14 ends the battery exchange task generation processing. If the current time has not passed the next scheduled battery exchange time (S54 NO), the task generation unit 14 ends the battery exchange task generation processing.

[0071] 6 is a flowchart of the task allocation process performed by the task allocation unit 16 (see FIG. 2). The task allocation process is triggered by the state acquisition unit 11 (see FIG. 2) acquiring the state of the moving object 50. Here, the description will be given on the assumption that the state acquisition unit 11 acquires the state of a moving object k (k is a variable).

[0072] 6, when the task allocation process starts, the task allocation unit 16 performs a process of acquiring the state of the moving object k from the state acquisition unit 11 (S61). After that, the task allocation unit 16 performs a process of determining whether the moving object k is executing a task (S62).

[0073] If the moving object k is not executing a task (S62 NO), the task allocation unit 16 performs a process of acquiring a task for the moving object k from the task storage unit 15 (S63). After that, the task allocation unit 16 performs a process of determining whether or not a battery exchange task is present in the acquired tasks (S64).

[0074] If the acquired tasks include a battery exchange task (S64 YES), the task allocation unit 16 performs a process of selecting the battery exchange task (S65).If the acquired tasks do not include a battery exchange task (S64 NO), the task allocation unit 16 performs a process of selecting a task other than the battery exchange task (S66).

[0075] After acquiring the battery exchange task or other task, the task allocation unit 16 performs a process of allocating the selected task to the moving object k (S67). After that, the task allocation unit 16 ends the task allocation process. In the process of determining whether the moving object k is executing a task (S62), if the moving object k is executing a task (S62 YES), the task allocation unit 16 also ends the task allocation process.

[0076] The tasks assigned by the task assignment process are transmitted to the moving body k by the task transmitting unit 17. When a battery exchange task is present among the tasks acquired from the task storage unit 15, the task assigning unit 16 preferentially selects the battery exchange task (S64, S65), and therefore the battery exchange task is preferentially transmitted to the moving body k.

[0077] The battery exchange task is generated by the task generation unit 14 based on the time of the previous battery exchange and the battery exchange cycle. Therefore, the timing of battery exchange for multiple moving objects 50 is distributed and not concentrated. Therefore, it is possible to increase the number of moving objects 50 in operation and their operating hours and reduce standby space without increasing spare batteries, chargers, and battery exchange equipment and personnel.

[0078] In the above embodiment, the task generation unit 14 performs the battery exchange task generation process and other task generation process at regular intervals, but the present invention is not limited to this. For example, the task generation unit 14 may perform the battery exchange task generation process and other task generation process in response to the appearance of a moving object 50 that has completed a task, and then the task allocation unit 16 may perform the task allocation process.

[0079] 2. Second Embodiment Next, a second embodiment of the present invention will be described below, in which the same components as those in the first embodiment are given the same reference numerals.

[0080] In the first embodiment, after the current time passes the scheduled battery exchange time calculated in S52, the battery exchange task is issued and transmitted to the mobile object 50. Therefore, a time lag occurs, such as the time until the mobile object 50 moves to the station 30 or the time until the mobile object 50 finishes the task being executed.

[0081] Therefore, in this embodiment, the battery exchange task is issued a predetermined time before the scheduled battery exchange time calculated in S52. This makes it possible to reduce the time lag caused by the moving object 50 moving to the station 30 and the time lag caused by the moving object 50 continuing the task being executed.

[0082] 7 is a flowchart of the battery exchange task generation process according to this embodiment. The battery exchange task generation process is executed by the task generation unit 14. As is clear from the figure, after the process of acquiring current time information from the clock 12 (see FIG. 2) (S53), the task generation unit 14 performs a process of determining whether the current time is a predetermined time before the next scheduled battery exchange time (S74).

[0083] If the current time is a predetermined time before the next scheduled battery exchange time (S74 YES), the task generation unit 14 issues a battery exchange task to the acquired next battery exchange vehicle ID and performs processing to write the task in the task storage unit 15 (S55). Thereafter, the task generation unit 14 ends the battery exchange task generation processing. If the current time is not past the next scheduled battery exchange time (S74 NO), the task generation unit 14 ends the battery exchange task generation processing.

[0084] The tasks generated by the task generation process are assigned by the task allocation process to a plurality of moving objects 50. The task allocation process is the same as that in the first embodiment, and therefore the details thereof will be omitted here.

[0085] 3. Third Embodiment Next, a third embodiment of the present invention will be described. In the following, the same components as those in the first and second embodiments are given the same reference numerals.

[0086] In this embodiment, the travel time required for the moving object 50 to move to the station 30 is calculated, and the battery exchange task is transmitted based on the calculated travel time. This makes it possible to further reduce the time lag until the moving object 50 moves to the station 30.

[0087] 8 is a flowchart of the battery exchange task generation process according to this embodiment. The battery exchange task generation process is executed by the task generation unit 14. As is clear from the figure, after the process of acquiring current time information from the clock 12 (see FIG. 2) (S53), the task generation unit 14 performs a process of acquiring the movement start point of the moving object 50 from the status acquisition unit 11 (see FIG. 2) (S84). Thereafter, the task generation unit 14 performs a process of acquiring the position of the station 30 and the movement speed of the moving object 50 from the exchange schedule storage unit 13 (see FIG. 2) (S85).

[0088] After acquiring the position of the station 30 and the moving speed of the moving object 50 (S85), the task generation unit 14 performs a process of calculating the moving time required for the moving object 50 to move from the movement start point to the station 30 (S86). Specifically, the task generation unit 14 calculates the moving time by the following formula. [Equation 3] (travel time)=(distance from the starting point of the moving object 50 to the station 30) / (travel speed) After the process of calculating the travel time (S86), the task generation unit 14 performs a process of determining whether or not the current time has passed the time obtained by subtracting the travel time from the next scheduled battery exchange time (S87).

[0089] If the current time has passed the time obtained by subtracting the travel time from the next scheduled battery exchange time (S87 YES), the task generation unit 14 issues a battery exchange task to the acquired next battery exchange mobile object ID and performs processing to write the task in the task storage unit 15 (S55). Thereafter, the task generation unit 14 ends the battery exchange task generation processing. If the current time has not passed the time obtained by subtracting the travel time from the next scheduled battery exchange time (S87 NO), the task generation unit 14 ends the battery exchange task generation processing.

[0090] The tasks generated by the task generation process are assigned by the task allocation process to a plurality of moving objects 50. The task allocation process is the same as that in the first embodiment, and therefore the details thereof will be omitted here.

[0091] 4. Fourth Embodiment Next, a fourth embodiment of the present invention will be described below, in which the same components as those in the first to third embodiments are given the same reference numerals.

[0092] In the first to third embodiments, when the battery exchange task does not exist among the tasks stored in the task storage unit 15 (NO in S64), the task allocation unit 16 selects another task other than the battery exchange task. Therefore, even when the time when the moving object 50 should arrive at the station 30 comes, the other task may not be completed or the moving object 50 may not have arrived at the station 30.

[0093] In this embodiment, when the task allocating unit 16 allocates the other task to the mobile unit 50, the task allocating unit 16 selects the task based on the time required for the other task and the travel time to the station 30. This makes it possible to ensure that the mobile unit 50 arrives at the station 30 at the time it is supposed to arrive at the station 30.

[0094] The battery exchange task and other tasks are executed by the task generation unit 14. The processes executed by the task generation unit 14 are the same as those in the first to third embodiments, and therefore details thereof will be omitted here.

[0095] 9 and 10 are flowcharts of the task allocation process according to this embodiment. As is clear from the figures, after the process of acquiring a task for a moving object k from the task storage unit 15 (S63), the task allocation unit 16 performs a process of determining whether or not the acquired tasks include a battery exchange task (S64). If the acquired tasks include a battery exchange task (S64 YES), the task allocation unit 16 performs a process of selecting the battery exchange task (S65).

[0096] If the acquired tasks do not include a battery exchange task (S64 NO), the task allocation unit 16 performs a process of acquiring the previous battery exchange time, the battery exchange cycle, and the exchange priority of the moving object k from the exchange schedule storage unit 13 (S101). After that, the task allocation unit 16 performs a process of calculating the next scheduled battery exchange time based on the acquired previous battery exchange time and battery exchange cycle (S102). Specifically, the task allocation unit 16 calculates the next scheduled battery exchange time by the following formula. [Equation 4] (Scheduled battery exchange time of mobile unit k)=(Last battery exchange time)+(Battery exchange period)×(Exchange order of mobile unit k)

[0097] After calculating the scheduled battery exchange time of the mobile unit k (S102), the task allocation unit 16 performs a process of acquiring current time information from the clock 12 (see FIG. 2) (S103). Then, the task allocation unit 16 performs a process of calculating the end time of each task, the travel time from the end point of each task to the station 30, and the shortest time to arrive at the station 30 after the end of each task (S104). Then, the task allocation unit 16 performs a process of selecting a task taking into account the battery exchange timing (S105).

[0098] Fig. 11A is a diagram showing an example of task selection taking into consideration the timing of battery replacement. In the example shown in Fig. 11A, there are three tasks A to C. The completion times of tasks A and B pass the scheduled battery replacement time. The completion time of task C does not pass the scheduled battery replacement time. Therefore, the task allocation unit 16 selects task C, the completion time of which does not pass the scheduled battery replacement time. This makes it possible to prevent battery replacement from being performed after the scheduled battery replacement time.

[0099] Fig. 11B is a diagram showing another example of task selection taking into consideration the battery replacement timing. In the example shown in Fig. 11B, there are three tasks A to C and a standby task. The completion times of tasks A to C all pass the scheduled battery replacement time. In other words, there is no task whose completion time does not pass the scheduled battery replacement time. In this case, the task allocation unit 16 selects the standby task. This makes it possible to prevent battery replacement from being performed after the scheduled battery replacement time.

[0100] 9 and 10, after the process of selecting a task taking into consideration the battery exchange timing (S105) or the process of selecting a battery exchange task (S65), the task allocation unit 16 performs a process of allocating the selected task to the moving object k (S67). After that, the task allocation unit 16 ends the task allocation process.

[0101] In this embodiment, when the other task is assigned to the moving object 50, the task is selected based on the required time for the other task and the travel time to the station 30. Therefore, the moving object 50 can arrive at the station 30 by the scheduled battery exchange time.

[0102] (4.1 Modification 1 of the fourth embodiment) Next, a first modified example of the fourth embodiment of the present invention will be described. In the following, the same components as those in the fourth embodiment are given the same reference numerals.

[0103] In the fourth embodiment, a task (task C in FIG. 11A) whose completion time does not exceed the scheduled battery exchange time is selected. In this case, the difference between the task completion time and the scheduled battery exchange time is too large, and the battery exchange may be performed earlier than expected.

[0104] Therefore, in this modified example, a task is selected in which the difference between the task completion time and the scheduled battery replacement time is within a predetermined range. FIG. 12 is a diagram showing an example of task selection taking into account the battery replacement timing according to this modified example. In the example shown in FIG. 12, there are three tasks A to C. For tasks A and B, the difference between the task completion time and the scheduled battery replacement time is not within a predetermined range. For task C, the difference between the task completion time and the scheduled battery replacement time is within a predetermined range. Therefore, the task allocation unit 16 selects task C. This makes it possible to execute the battery replacement task at a time closer to the scheduled battery replacement time.

[0105] Even if the difference between the task completion time and the scheduled battery exchange time is within the specified range, if the task completion time passes the battery exchange time, there is a risk of the battery running out. For this reason, it is more preferable to set the specified range only in the direction before the battery exchange time. This makes it possible to more reliably prevent the battery from running out.

[0106] If the difference between the task completion time and the scheduled battery exchange time for any of the tasks is not within a predetermined range, the task allocation unit 16 may select a standby task (see FIG. 11B).

[0107] (4.2 Modification 2 of the fourth embodiment) Next, a second modified example of the fourth embodiment of the present invention will be described. In the following, the same components as those in the fourth embodiment are given the same reference numerals.

[0108] In the fourth embodiment and its first modified example, if the completion time of any of the tasks is later than the scheduled battery exchange time, or if the difference between the completion time and the scheduled battery exchange time is not within a predetermined range, the task allocation unit 16 selects a standby task. As a result, the mobile object 50 waits, and the availability rate of the mobile object 50 decreases.

[0109] Therefore, in this modification, the task allocation unit 16 newly issues and selects a battery exchange task instead of the standby task. FIG. 13 is a diagram showing an example of task selection taking into consideration the battery exchange timing according to this modification. In the example shown in FIG. 13, there are three tasks A to C. For all of the tasks A to C, the difference between the completion time and the scheduled battery exchange time is not within a predetermined range. In this case, the task allocation unit 16 issues and selects the battery exchange task. This can reduce the standby time of the mobile object 50 and increase the availability rate of the mobile object 50.

[0110] 5. Fifth Embodiment Next, a fifth embodiment of the present invention will be described below, in which the same components as those in the first to fourth embodiments are given the same reference numerals.

[0111] In the first to fourth embodiments, if the moving object 50 is executing a task (S62 YES), the task allocation process (see FIGS. 6, 9, etc.) ends without allocating a new task to the moving object 50. That is, the task allocation unit 16 allocates a new task to the moving object 50 after the moving object 50 finishes the task.

[0112] In this embodiment, when a battery exchange task is issued, the mobile object 50 interrupts the task being executed and executes the battery exchange task with priority, thereby enabling the battery exchange in the mobile object 50 to be performed at a time closer to the scheduled battery exchange time.

[0113] The battery exchange task and other tasks are executed by the task generation unit 14. The processes executed by the task generation unit 14 are the same as those in the first to third embodiments, and therefore details thereof will be omitted here.

[0114] 14 is a flowchart of the task allocation process according to this embodiment. As is clear from the figure, when the task allocation process starts, the task allocation unit 16 performs a process of acquiring the state of the moving object k from the state acquisition unit 11 (S61). After that, the task allocation unit 16 performs a process of acquiring the task of the moving object k from the task storage unit 15 (S63).

[0115] After acquiring the tasks for the moving object k (S63), the task allocation unit 16 performs a process of determining whether or not the acquired tasks include a battery exchange task (S64). If the acquired tasks include a battery exchange task (YES in S64), the task allocation unit 16 performs a process of selecting the battery exchange task (S65).

[0116] If the acquired tasks do not include a battery exchange task (NO at S64), the task allocation unit 16 performs a process of determining whether or not the moving object k is executing a task (S62). If the moving object k is not executing a task (NO at S62), the task allocation unit 16 performs a process of selecting a task other than the battery exchange task (S66).

[0117] After acquiring the battery exchange task or other task, the task allocation unit 16 performs a process of allocating the selected task to the mobile unit k (S67). After that, the task allocation unit 16 ends the task allocation process. In the process of determining whether the mobile unit k is executing a task (S62), the task allocation unit 16 also ends the task allocation process if the mobile unit k is executing a task (S62 YES).

[0118] The tasks assigned by the task allocation process are executed by the task execution unit 54 (see FIG. 2) of the moving object 50. FIG. 15 is a flowchart of the task execution process performed by the task execution unit 54. The task execution process is triggered by the task receiving unit 53 (see FIG. 2) of the moving object 50 receiving a task. Here, the description will be given assuming that the task receiving unit 53 receives task i (i is a variable).

[0119] 15, when the task execution process starts, the task execution unit 54 performs a process of acquiring the task i from the task receiving unit 53 (S151). After that, the task execution unit 54 performs a process of determining whether or not a task being executed exists in the moving object 50 (S152). If no task being executed exists in the moving object 50 (NO in S152), the task execution unit 54 performs a process of executing the task i (S153), and then ends the task execution process.

[0120] If there is a task being executed in the moving object 50 (S152 YES), the task executing unit 54 performs a process of determining whether or not the task i is a battery exchange task (S154). If the task i is not a battery exchange task (S154 NO), the task executing unit 54 performs the process of determining again whether or not there is a task being executed in the moving object 50 (S152).

[0121] If task i is a battery exchange task (S154 YES), the task execution unit 54 performs a process to interrupt the task being executed (S155), and performs a process to execute the battery exchange task (S156). After that, the task execution unit 54 performs a process to resume the task interrupted in step S155 (S157), and then ends the task execution process.

[0122] (6. Sixth Embodiment) Next, a sixth embodiment of the present invention will be described below, in which the same components as those in the first to fifth embodiments are given the same reference numerals.

[0123] In the first to fifth embodiments, the battery is replaced regardless of the remaining battery charge. Therefore, even if the remaining battery charge is sufficient, the battery may be replaced, resulting in more battery replacements than necessary.

[0124] Therefore, in this embodiment, battery exchange is performed only when the remaining charge of the battery 51 of the moving object 50 that is the next target for battery exchange is below a predetermined value, thereby making it possible to reduce the number of times battery exchange is performed.

[0125] 16 is a functional block diagram of a mobile body battery exchange system 600 according to a sixth embodiment of the present invention. In the mobile body battery exchange system 600, the task generation unit 14 is configured to acquire the state of the mobile body k from the state acquisition unit 11, and in this respect, the mobile body battery exchange system 600 differs from the mobile body battery exchange system 100 (FIG. 2).

[0126] 17 is a flowchart of a battery exchange task generation process according to this embodiment. As is clear from the figure, after a process of acquiring current time information from the clock 12 (see FIG. 2) (S53), the task generation unit 14 performs a process of acquiring the remaining battery charge of the mobile object 50 to be battery exchanged from the status acquisition unit 11 (see FIG. 2) (S171). After that, the task generation unit 14 performs a process of determining whether the current time is past the next scheduled battery exchange time (S54).

[0127] If the current time has not passed the next scheduled battery exchange time (S54 NO), the task generation unit 14 ends the battery exchange task generation process. If the current time has passed the next scheduled battery exchange time (S54 YES), the task generation unit 14 performs a process of determining whether or not the remaining battery charge of the mobile object 50 to be battery exchanged is below a predetermined value (S172). If the remaining battery charge of the mobile object 50 to be battery exchanged is not below a predetermined value (S172 NO), the task generation unit 14 ends the battery exchange task generation process. If the remaining battery charge of the mobile object 50 to be battery exchanged is below a predetermined value (S172 YES), the task generation unit 14 issues a battery exchange task to the acquired next battery exchange mobile object ID and performs a process of writing it to the task storage unit 15 (S55). Thereafter, the task generation unit 14 ends the battery exchange task generation process.

[0128] The tasks generated by the task generation process are assigned by the task allocation process to a plurality of moving objects 50. The task allocation process is the same as in the first to fifth embodiments, and therefore the details thereof will be omitted here.

[0129] (7. Seventh Embodiment) Next, a seventh embodiment of the present invention will be described. In the following, the same components as those in the first to sixth embodiments are given the same reference numerals.

[0130] In the mobile object battery exchange systems 100 and 600 according to the first to sixth embodiments, battery exchange for a plurality of mobile objects 50 is performed in a predetermined order. Therefore, when a mobile object 50 with a low remaining battery power exists at the start of operation of the mobile object battery exchange systems 100 and 600, the battery may run out.

[0131] Therefore, in the mobile body battery exchange system 700 according to this embodiment, the order of battery exchange for the multiple mobile bodies 50 is set in ascending order of remaining battery power at the start of operation. This makes it possible to prevent the battery from running out even if there is a mobile body 50 that is not fully charged at the start of operation of the mobile body battery exchange system 700.

[0132] Fig. 18 is a functional block diagram of a mobile body battery exchange system 700. Fig. 18 shows only one mobile body 50. As is clear from the figure, the group management server 710 further includes an exchange schedule generation unit 718. The exchange schedule generation unit 718 sets the order of battery exchange for the multiple mobile bodies 50 when the mobile body battery exchange system 700 starts operating.

[0133] 19 is a flowchart of the exchange schedule generation process performed by the exchange schedule generation unit 718. The exchange schedule generation process is executed once after the mobile body battery exchange system 700 starts operation and the status acquisition unit 11 acquires the status of the mobile body 50 and the station 30.

[0134] As is clear from Fig. 19, when the replacement schedule generation process starts, the replacement schedule generation unit 718 performs a process of acquiring the remaining battery levels of the multiple moving bodies 50 from the status acquisition unit 11 (S191). After that, the replacement schedule generation unit 718 performs a process of setting the order of battery replacement for the multiple moving bodies 50 in ascending order of remaining battery levels (S192), and performs a process of writing the set replacement order in the replacement schedule storage unit 13 (S193). After that, the replacement schedule generation unit 718 ends the replacement schedule generation process.

[0135] (8. Eighth embodiment) Next, an eighth embodiment of the present invention will be described below, in which the same components as those in the first to seventh embodiments are given the same reference numerals.

[0136] In the first to seventh embodiments, battery exchange is performed for a plurality of moving objects 50 in a predetermined order or an order set at the start of operation of the moving object battery exchange system 100, 600, 700. In this case, when tasks that consume a lot of power are concentrated in a specific moving object 50, or when batteries 51 with reduced effective capacity due to degradation are present, the battery may run out.

[0137] Therefore, in this embodiment, the order of battery replacement for multiple moving objects 50 can be changed, and battery replacement is performed for the moving object 50 with the least remaining battery power. This makes it possible to prevent batteries from running out even when tasks that consume a lot of power are concentrated in a specific moving object 50 or when batteries 51 with reduced effective capacity due to degradation are present.

[0138] 20 is a functional block diagram of a mobile body battery exchange system 800 according to an eighth embodiment of the present invention. In the mobile body battery exchange system 800, the task generation unit 14 is configured to acquire the state of the mobile body k from the state acquisition unit 11, and in this respect, the mobile body battery exchange system 800 differs from the mobile body battery exchange system 700 (FIG. 19).

[0139] Fig. 21 is a flowchart of the battery exchange task generation process according to this embodiment. As is clear from the figure, when the battery exchange task generation process starts, the task generation unit 14 performs a process of acquiring the previous battery exchange time and battery exchange cycle from the exchange schedule storage unit 13 (S211). In the process S211, the task generation unit 14 does not need to acquire the next battery exchange vehicle ID. After that, the task generation unit 14 performs a process of calculating the next scheduled battery exchange time based on the acquired previous battery exchange time and battery exchange cycle (S52). A process of acquiring current time information from the clock 12 (see Fig. 2) is performed (S53).

[0140] After acquiring current time information from the clock 12 (S53), the task generation unit 14 performs a process of judging whether or not the current time has passed the next scheduled battery exchange time (S54). If the current time has passed the next scheduled battery exchange time (S54 YES), the task generation unit 14 performs a process of acquiring the remaining battery power of the multiple moving objects 50 from the status acquisition unit 11 (S212). Thereafter, the task generation unit 14 performs a process of issuing a battery exchange task to the moving object ID with the smallest remaining battery power and writing the task to the task storage unit 15 (S213). Thereafter, the task generation unit 14 ends the battery exchange task generation process. If the current time has not passed the next scheduled battery exchange time (S54 NO), the task generation unit 14 also ends the battery exchange task generation process.

[0141] The tasks generated by the task generation process are assigned by the task allocation process to a plurality of moving objects 50. The task allocation process is the same as that in the first embodiment, and therefore the details thereof will be omitted here.

[0142] (9. Ninth embodiment) Next, a ninth embodiment of the present invention will be described below, in which the same components as those in the first to eighth embodiments are given the same reference numerals.

[0143] If the battery 51 and the spare battery 31 are not fully charged when the mobile object battery exchange system 100, 600, 700, 800 starts operating, multiple mobile objects 50 may run out of battery power.

[0144] Therefore, in this embodiment, all the batteries 51 and all the spare batteries 31 are fully charged at the start of operation of the mobile object battery exchange systems 100, 600, 700, 800. This makes it possible to prevent the batteries in the multiple mobile objects 50 from running out.

[0145] (9.1 Modification of the ninth embodiment) Next, a modification of the ninth embodiment of the present invention will be described.

[0146] In the ninth embodiment, all the batteries 51 and all the spare batteries 31 are fully charged when the mobile battery exchange systems 100, 600, 700, and 800 start operating, but there are cases where the batteries 51 and the spare batteries 31 do not run out even if they are not fully charged. Such cases will be described with reference to Figs. 22 and 23.

[0147] Fig. 22 is a graph showing the remaining charge of the battery 51 and the remaining charge of the spare battery 31, and shows an example in which the battery does not run out even if the battery 51 and the spare battery 31 are not fully charged when the mobile battery exchange systems 100, 600, 700, and 800 start operating. In Fig. 22, the graph of the remaining charge of the battery 51 is arranged from top to bottom in order of the least remaining charge of the battery 51 when the mobile battery exchange systems 100, 600, 700, and 800 start operating. The graph of the remaining charge of the spare battery 31 is arranged from top to bottom in order of the most remaining charge of the battery 51 when the mobile battery exchange systems 100, 600, 700, and 800 start operating.

[0148] Consider the condition of the remaining battery power Bn of the nth mobile object 50 (n is a variable) in ascending order of remaining battery power. When the order of battery replacement of the mobile objects 50 is assigned in ascending order of remaining battery power, it is sufficient that the battery 51 of the mobile object 50 does not run out of battery power by the time of battery replacement (i.e., the remaining battery power Bn is equal to or less than an insufficient remaining power (a fixed value Bl) for the mobile object 50 to continue operating). In other words, if the following equation expressed using the remaining battery power Bn and the battery consumption power Bc is established, the nth mobile object 50 will not run out of battery power. [Number 5] Bn-Bc≧0

[0149] Here, the time Tn until the next battery exchange of the nth moving object 50 is a value obtained by multiplying the battery exchange cycle Tt by the variable n. That is, the following relationship is satisfied among the time Tn until the next battery exchange of the nth moving object 50, the battery exchange cycle Tt, and the variable n. [Number 6] Tn = Tt × n

[0150] Dividing the time Tn until the next battery exchange of the nth mobile object 50 by the maximum battery operating time Tmax gives the battery consumption Bc (where 1 is a fully charged battery) until the battery exchange of the nth mobile object 50. That is, the following relationship holds between the time Tn until the next battery exchange of the nth mobile object 50, the maximum battery operating time Tmax, and the battery consumption Bc until the battery exchange of the nth mobile object 50. [Math 7] Bc=Tn / Tmax

[0151] The battery replacement cycle Tt, the maximum battery operating time Tmax, and the number N of mobile objects 50 have the following relationship: [Number 8] Tt = Tmax / N

[0152] By substituting the formulas 6 to 8 into the formula 5, the following formula is obtained. [Number 9] Bn≧n / N

[0153] From equation 9, if the remaining battery charge Bn (where 1 is fully charged) of the nth moving object 50 is equal to or greater than the value obtained by dividing the variable n by the number N of moving objects 50, the battery will not run out.

[0154] Consider the condition for the remaining battery charge Sm (1 being fully charged) of the mth spare battery 31 (m is a variable) in descending order of remaining battery charge. When the order of replacement of the spare batteries 31 is assigned in descending order of remaining battery charge, each spare battery 31 should be fully charged (i.e., the remaining battery charge Sm should be 1) before the battery replacement. In other words, if the following equation, expressed using the remaining battery charge Sm and the battery charge amount Sc, is established, the mth spare battery 31 will be fully charged before the battery replacement. [Number 10] Sm―Sc≧1

[0155] Here, the time Tm until the next battery exchange of the m-th spare battery 31 is a value obtained by multiplying the battery exchange cycle Tt by the variable m. That is, the following relationship exists between the time Tm until the next battery exchange of the m-th spare battery 31, the battery exchange cycle Tt, and the variable m. [Formula 11] Tm = Tt × m

[0156] If the longest time required for the spare battery 31 in the station 30 to become fully charged (longest battery charging time) is Smax, then dividing the time Tm until the next battery exchange of the m-th spare battery 31 by the longest battery charging time Smax gives the battery charge amount Sc (where 1 is full charge) until battery exchange of the m-th spare battery 31. That is, the following relationship holds between the time Tm until the next battery exchange of the m-th spare battery 31, the longest battery charging time Smax, and the battery charge amount Sc until battery exchange of the m-th spare battery 31. [Equation 12] Sc=Tm / Smax

[0157] By substituting equations 11 and 12 into equation 10, we obtain the following equation. [Number 13] Sm≧1―(Tt×m) / Smax

[0158] From equation 13, if the remaining battery charge Sn (where 1 is fully charged) of the mth spare battery 31 is equal to or greater than the difference between 1 and the value obtained by multiplying the battery replacement cycle Tt by the variable m and dividing the result by the maximum battery charging time Smax, the spare battery 31 can be replaced in a fully charged state and will not run out of battery power.

[0159] Fig. 23 is a graph showing the remaining charge of the battery 51 and the remaining charge of the spare battery 31, and shows another example in which the battery does not run out even if the battery 51 and the spare battery 31 are not fully charged when the mobile battery exchange systems 100, 600, 700, and 800 start operating. In Fig. 23, the graph of the remaining charge of the battery 51 is arranged from top to bottom in order of the least remaining charge of the battery 51 when the mobile battery exchange systems 100, 600, 700, and 800 start operating. The graph of the remaining charge of the spare battery 31 is arranged from top to bottom in order of the most remaining charge of the battery 51 when the mobile battery exchange systems 100, 600, 700, and 800 start operating.

[0160] 23, battery exchange is performed on one moving object 50 at the start of operation of the moving object battery exchange systems 100, 600, 700, and 800. By doing so, the initial conditions that the battery 51 of the moving object 50 should satisfy are further relaxed. A specific description will be given below.

[0161] Consider the condition for the remaining battery charge Bn (1 being fully charged) of the nth moving object 50 (n is a variable) in ascending order of remaining battery charge. Since the condition for the battery 51 of the moving object 50 can be advanced by one variable n at a time, by modifying the formula (9) and satisfying the following condition, it is possible to prevent the battery from running out. [Number 14] Bn≧(n-1) / N

[0162] Consider the condition for the remaining battery charge Sm (where 1 is fully charged) of the mth spare battery 31 (m is a variable) in descending order of remaining battery charge. The condition for the spare battery 31 is similar to that for the battery 51, in that the variable m can be brought forward one by one, so by modifying equation 13 and satisfying the following condition, it is possible to prevent the battery from running out. [Math 15] Sm≧1―{Tt×(m-1)} / Smax

[0163] (10. Tenth Embodiment) Next, a tenth embodiment of the present invention will be described below, in which the same components as those in the first to ninth embodiments are given the same reference numerals.

[0164] The tasks performed by the mobile object 50 may include tasks with large loads and tasks with small loads. In this case, the power consumption of the mobile object 50 varies. As a method for preventing the battery from running out, it is possible to set the battery replacement period to match the mobile object 50 performing the task with the largest power consumption. In this case, the mobile object 50 performing the task with a relatively small power consumption will replace the battery even though there is still power remaining in the battery 51. In other words, the mobile object 50 performing the task with a relatively small power consumption will replace the battery more than necessary. As a result, the efficiency will deteriorate.

[0165] Therefore, in this embodiment, the task generation unit 14 (see FIG. 2) allocates tasks to average the power consumption of the multiple moving objects 50. This reduces the variation in power consumption among the multiple moving objects 50. This makes it possible to prevent unnecessary battery replacement and improve efficiency.

[0166] FIG. 24 is a flowchart of the other task generation process performed by the task generation unit 14. As is clear from the figure, when the other task generation process starts, the task generation unit 14 performs a process of issuing other tasks to each moving body 50 based on the expected power consumption information of each task so that the power consumption of the multiple moving bodies 50 is uniform (S241). For example, the task generation unit 14 arranges the other tasks in order of heaviest load or lightest load, and then performs a process of alternately repeating (process 1→2→1→2→...) allocating the other tasks to the first moving body 50 in the order of the Nth moving body 50 and allocating the other tasks to the Nth moving body 50 in the order of the first moving body 50. This makes it possible to prevent bias in power consumption. Next, the task generation unit 14 performs a process of writing the other tasks to the task storage unit 15 (S242). After that, the task generation unit 14 ends the battery exchange task generation process.

[0167] Although the embodiments of the present invention have been described above, the above embodiments merely show some of the application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. Moreover, the above embodiments can be appropriately combined within a range where no contradiction occurs. [Industrial Applicability]

[0168] The present invention can be used at least in industries that manufacture robots and the like. [Explanation of symbols]

[0169] 100, 600, 700, 800 Mobile Battery Swap System 10 Group Management Server 30 Stations 31 Spare Battery 50 Mobile 51 Battery Tt Battery replacement period

Claims

1. A plurality of mobile objects each having a battery and performing a predetermined task; a station having a spare battery; a management server that instructs the mobile object to execute the predetermined task; the predetermined task includes a battery exchange task of moving the mobile object to the station and exchanging the battery provided in the mobile object with the spare battery provided in the station; the management server instructs the mobile object to perform the battery replacement task based on a time of a previous battery replacement and a predetermined battery replacement period; Mobile battery swap system.

2. the management server instructs the mobile objects to execute the battery exchange task based on the number of the mobile objects and the time during which the mobile objects can operate with the fully charged batteries; 2. The mobile battery exchange system according to claim 1.

3. The battery exchange period is constant during operation of the mobile battery exchange system.

3. The mobile battery exchange system according to claim 2.

4. the management server instructs the mobile objects to execute the battery exchange task in ascending order of remaining battery charge; 2. The mobile battery exchange system according to claim 1.

5. the management server instructs the mobile objects to perform the battery exchange task in ascending order of remaining battery power when the mobile object battery exchange system starts operating; 5. The mobile battery exchange system according to claim 4.

6. the management server instructs, at the time of battery replacement, the mobile object having the least remaining battery charge among the mobile objects to perform the battery replacement task; 5. The mobile battery exchange system according to claim 4.

7. the management server instructs the mobile object to execute the battery exchange task so that a time from a previous battery exchange time to a next scheduled battery exchange time is shorter than the battery exchange cycle by a predetermined time.

2. The mobile battery exchange system according to claim 1.

8. The management server calculates the predetermined time based on a travel time from a travel start point of the moving object to the station.

8. The mobile battery exchange system according to claim 7.

9. The predetermined task further includes a task other than the battery replacement task, the management server instructs the mobile object to execute the other task based on a time required for the mobile object to execute the other task and a time required for the mobile object to move to the station after the other task is completed; 2. The mobile battery exchange system according to claim 1.

10. The predetermined task further includes a task other than the battery replacement task, When the mobile object receives the battery exchange task while executing the other task, the mobile object interrupts the other task being executed and executes the battery exchange task with priority.

2. The mobile battery exchange system according to claim 1.

11. the management server instructs the next mobile object to be subjected to battery replacement to perform the battery replacement task on condition that the remaining charge of the battery of the next mobile object to be subjected to battery replacement among the mobile objects is below a predetermined value; 2. The mobile battery exchange system according to claim 1.

12. the battery and the spare battery are fully charged when the mobile battery exchange system starts operating; 2. The mobile battery exchange system according to claim 1.

13. the station is capable of charging the spare battery; Let N be the number of the moving bodies, n be a natural number equal to or less than N, the remaining charge of the battery of the n-th moving body among the moving bodies be Bn, m be a natural number equal to or less than the number of the spare batteries, the remaining charge of the m-th spare battery be Sm, the battery replacement period be Tt, and the longest time required for the spare battery to become fully charged at the station be Smax, When the mobile battery swapping system begins operation, Bn ≧ n / N and Sm ≧ 1-(Tt × m) / Smax; or Bn≧(n-1) / N and Sm≧1-{Tt×(m-1)} / Smax Fulfilling 2. The mobile battery exchange system according to claim 1.

14. The predetermined task further includes a task other than the battery replacement task, the management server instructs the mobile object to execute the other tasks based on information on expected power consumption of the other tasks; 2. The mobile battery exchange system according to claim 1.

15. A method for moving a plurality of moving objects to a station by executing a battery exchange task, and exchanging batteries provided in the moving objects with spare batteries provided in the station, comprising: instructing the mobile object to perform the battery exchange task based on a time of the previous battery exchange and a predetermined battery exchange period; A method for replacing a mobile battery.

16. A program for executing a battery exchange task to move a plurality of moving objects to a station and exchange batteries provided in the moving objects with spare batteries provided in the station, the program comprising: instructing the mobile object to perform the battery exchange task based on a time of the previous battery exchange and a predetermined battery exchange period; Mobile Battery Replacement Program.

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