Charge control method, program, charge control system, and working system

Abstract

The purpose of the present disclosure is to suppress a reduction in the working capability of a plurality of working devices. A charging system (3) of the present disclosure comprises a setting unit (32) and a charge control unit (33). The setting unit (32) sets at least first and second threshold values. The charge control unit (33) controls charging of a power storage unit (24) included in a working device-to-be-controlled (2). In a case where the working device-to-be-controlled (2) is in a charging standby state, if a charging start condition is met, the charge control unit (33) outputs, to the working device-to-be-controlled (2), a charging instruction that instructs the start of charging. The charging standby state is a state in which the residual amount of the power storage unit (24) included in the working device-to-be-controlled (2) is equal to or greater than the first threshold value and is smaller than the second threshold value. The charging start condition includes a condition based on a state in which one or more charging devices (4), the number of which is smaller than the number of the plurality of working devices (2), are empty.

Description

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

[0001] The present disclosure relates to a charge control method, a program, a charge control system, and an operation system. More particularly, the present disclosure relates to a charge control method, a program, a charge control system, and an operation system that control charging of a plurality of operation devices.

[0002] Japanese Patent Laid-Open No. 2011-144999 discloses a charging control system for controlling the charging of a plurality of work implements. The charging control system determines whether to instruct the work implements to start charging their power storage units based on the remaining charge of the power storage units of the work implements and whether there is an unexecuted task to be performed by the work implements.

[0003] In an emergency charging state in which the remaining amount of the power storage unit included in the work device is equal to or less than the first threshold, the charge control system instructs the work device to start charging even if there is work that has not been performed.

[0004] When the remaining charge of the power storage unit of the work device is greater than a first threshold and less than a second threshold, and the determination condition that there is no unperformed work is met, the charging control system instructs the work device to start charging. On the other hand, when the determination condition that there is no unperformed work is not met in the normal charging state, that is, when there is unperformed work, the charging control system does not instruct the work device to start charging, but causes the work device to perform the unperformed work.

[0005] In the above-described charging control system, if there is a chronic presence of unexecuted work, it may not be possible to instruct multiple work devices to start charging, and multiple work devices may enter an emergency charging state all at once. If the number of charging devices is fewer than the number of work devices, it may not be possible to charge multiple work devices that have entered an emergency charging state at the same time, and the work devices may have to wait to be charged, which may reduce the work capacity of the multiple work devices.

[0006] Japanese Patent Application Laid-Open No. 2022-50259

[0007] An object of the present disclosure is to provide a charge control method, a program, a charge control system, and a work system that can suppress a decrease in the work capacity of a plurality of work devices.

[0008] A charge control method according to one aspect of the present disclosure includes a setting process and a charge control process. In the setting process, at least a first threshold and a second threshold are set as thresholds for the remaining charge of a power storage unit included in each of a plurality of implements. In the charge control process, each of the plurality of implements is treated as a control target implement, and charging of the power storage unit included in the control target implement is controlled. In the charge control process, when a charge start condition is met while the control target implement is in a charge waiting state, a charge instruction is output to the control target implement to start charging. The charge waiting state is a state in which the remaining charge of the power storage unit included in the control target implement is equal to or greater than the first threshold and less than the second threshold. The charge start condition includes a condition based on availability of one or more charging devices. The one or more charging devices are fewer in number than the plurality of implements.

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

[0010] A charging control system according to one aspect 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 capacity of a power storage unit included in each of a plurality of implements. The charging control unit controls charging of the power storage unit included in each of the plurality of implements, treating each of the plurality of implements as a control target implement. When a charge start condition is met while the target implement is in a charge waiting state, the charging control unit outputs a charging instruction to the target implement to start charging. The charge waiting state is a state in which the remaining capacity of the power storage unit included in the target implement is equal to or greater than the first threshold and less than the second threshold. The charge start condition includes a condition based on availability of one or more charging devices. The one or more charging devices are fewer in number than the plurality of implements.

[0011] According to one aspect of the present disclosure, there is provided a work system including a plurality of work devices, one or more charging devices the number of which is less than the number of the work devices, and the charging control system, wherein the charging control system controls charging of the plurality of work devices by the one or more charging devices.

[0012] Fig. 1 is a block diagram showing a schematic configuration of a charge control system and an operation system according to an embodiment of the present disclosure. Fig. 2 is a schematic diagram of a operation area to which the operation system is applied. Fig. 3 is an explanatory diagram of a threshold value set by the charge control system for the remaining capacity of a power storage unit of an operation device. Fig. 4 is a flowchart illustrating charge start control of the charge control system. Fig. 5 is a flowchart illustrating charge end control of the charge control system.

[0013] (Embodiments) Hereinafter, embodiments of a charge control method, a program, a charge control system, and an operation system will be described. The following embodiments are merely examples of embodiments of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0014] (1) Overview FIG. 1 is a block diagram showing a schematic configuration of a charge control system 3 according to this embodiment and a work system 1 including the same.

[0015] As shown in FIG. 2, the charge control system 3 controls the charging of a plurality of work devices 2 that perform work in a predetermined work area A1.

[0016] As shown in FIG. 1 , the operating device 2 includes a power storage unit 24 and performs work using the electrical energy stored in the power storage unit 24. In the following embodiment, the operating device 2 is a transport device that receives work instructions from the work management system 6 and performs transport work to transport objects within the work area A1. In other words, the "work" performed by the operating device 2 includes transport work to transport objects. This type of transport device may include an automated guided vehicle (AGV), a mobile robot, a drone, etc. The mobile robot referred to in this disclosure is, for example, a wheeled, crawler, or legged (including walking) robot. Note that the work performed by the operating device 2 is not limited to transport work to transport objects, and may also have the function of performing various other tasks, such as picking, welding, mounting, displaying, customer service, security, assembly, and inspection.

[0017] A charging device 4 for charging the work device 2 is installed in the work area A1.

[0018] In this embodiment, a plurality of work devices 2 are performing work in work area A1, and one or more charging devices 4 are installed in work area A1, the number of which is fewer than the number of work devices 2. In other words, the number of charging devices 4 is fewer than the number of work devices 2 used in work area A1, and in the example of Figure 2, two charging devices 4 are installed for six work devices 2. In the following description, when distinguishing between the six work devices 2, they may be referred to as work devices 2A, 2B, 2C, 2D, 2E, and 2F.

[0019] As shown in FIG. 1 , the work system 1 of this embodiment includes a setting unit 32 and a charge control unit 33 .

[0020] The setting unit 32 sets at least a first threshold L1 and a second threshold L2 (see FIG. 3) as thresholds for the remaining capacity of the power storage unit 24 provided in each of the plurality of work devices 2 (2A to 2F).

[0021] The charge control section 33 controls the charging of the power storage section 24 included in each of the plurality of work devices 2 (2A to 2F) as the work device 2 to be controlled.

[0022] When the target work device 2 is in a charging standby state and a charging start condition is met, the charging control unit 33 outputs a charging instruction to the target work device 2 to start charging. The charging standby state is a state in which the remaining charge of the power storage unit 24 included in the target work device 2 is equal to or greater than a first threshold L1 and less than a second threshold L2. The charging start condition includes a condition based on the availability of one or more charging devices 4. The one or more charging devices 4 are fewer in number than the plurality of work devices 2.

[0023] Here, the control of 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 the charging control unit 33 outputting a charging instruction to the work apparatus 2 to be controlled and causing the work apparatus 2 to be controlled to charge in accordance with the charging instruction. Note that the control of 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.

[0024] In the work system 1 of this embodiment, when the remaining charge of the power storage unit 24 is equal to or greater than the first threshold L1 and less than the second threshold L2, and the charge start condition is met, a charge instruction is output to the work device 2 to be controlled. Here, the charge start condition is a condition based on the availability of one or more charging devices 4, regardless of whether or not there is unperformed work. The charge control unit 33 controls whether or not to charge the work device 2 to be controlled based on the charge start condition, thereby reducing the possibility of a delay in charging the work device 2 to be controlled due to unperformed work. This reduces the possibility of a work device 2 becoming unable to work due to insufficient remaining charge of the power storage unit 24 and suppresses a decrease in the work capacity of multiple work devices 2. Furthermore, the charge control system 3 can shorten the time during which multiple charging devices 4 are not charging, thereby improving the charging capacity of the multiple charging devices 4 to actually charge multiple work devices 2.

[0025] (2) Details (2.1) Overall Configuration The configuration of the charging control system 3 according to this embodiment and the operation system 1 including the same will be described in detail below with reference to Figures 1 and 2. The numerical values, shapes, materials, positions of components, positional relationships and connection relationships between multiple components, etc. shown below are examples and are not intended to limit the present disclosure. In addition, all drawings referenced below are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0026] In the following, a case will be described where the working device 2, which is the control target of the working system 1, is an automated guided vehicle. The automated guided vehicle as the working device 2 performs the task of transporting an object while moving within the working area A1.

[0027] The "work area" referred to in the present disclosure is a space in which a plurality of work devices 2 are deployed, and the work devices 2 move within this work area A1 in response to instructions from, for example, the work management system 6. Examples of the work area A1 include warehouses, factories, construction sites, stores (including shopping malls), logistics centers, offices, parks, homes, schools, hospitals, train stations, airports, and parking lots. Furthermore, when work devices 2 are deployed inside a moving object, such as the inside of a ship, railroad car, or airplane, the inside of the moving object becomes the work area A1. In this embodiment, an example will be described in which the work area A1 is a warehouse.

[0028] 1 and 2 , the work system 1 includes a plurality of work devices 2, one or more charging devices 4, the number of which is smaller than the number of the work devices 2, and a charge control system 3. The charge control system 3 controls charging of the plurality of work devices 2 by the one or more charging devices 4. The work system 1 also includes a relay device 5 installed in the work area A1. The relay device 5 relays communication between the plurality of work devices 2 performing work in the work area A1 and the charge control system 3 and the work management system 6. Note that the relay device 5 may also relay communication between the charging devices 4 and the charge control system 3 and the work management system 6.

[0029] Fig. 2 is a schematic plan view of the work area A1. In this embodiment, the work area A1 is a warehouse space surrounded by an outer wall 81. Two of the above-described charging devices 4 are installed in this work area A1. Note that Fig. 1 is merely an example of the work area A1, and the shape of the work area A1 can be changed as appropriate.

[0030] The charging control system 3 and the work management system 6 are installed, for example, outside the work area A1, and are connected to a plurality of relay devices 5 via a communication network NT1 such as the Internet.

[0031] The charging control system 3, the work management system 6, and each of the multiple maintenance devices 2 are configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be exchanged directly or indirectly via the communication network NT1, a relay device 5, or the like, using an appropriate communication method such as wired communication or wireless communication. That is, the charging control system 3, the work management system 6, and each of the multiple maintenance devices 2 can exchange information with each other. In this embodiment, each of the multiple maintenance devices 2 communicates with one of the multiple relay devices 5 via wireless communication using radio waves as the medium. Therefore, the charging control system 3, the work management system 6, and each of the multiple maintenance devices 2 communicate indirectly at least via the communication network NT1 and the relay device 5.

[0032] In short, each relay device 5 is a device (access point) that relays communication between each of the multiple maintenance devices 2 and the charging control system 3 and the work management system 6. The relay device 5 communicates with each of the charging control system 3 and the work management system 6 via the communication network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a communication license is used for communication between the relay device 5 and the maintenance devices 2. Furthermore, the communication network NT1 is not limited to the Internet, and may be, for example, a local communication network within the work area A1 or within the operating company of the work area A1.

[0033] (2.2) Working Device The working device 2 autonomously travels on a flat moving surface 80 formed, for example, by the floor surface of the working area A1.

[0034] 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. Each of the multiple work devices 2 used in the work area A1 is set with individual identification information.

[0035] 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. The first communication unit 21 communicates with the relay device 5 by wireless communication.

[0036] The traveling device 22 drives at least some of the multiple wheels provided on the working device 2, thereby causing the working device 2 to travel. At least some of the multiple wheels are drive wheels. The drive wheels are, for example, omni-directional 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 working device 2 to travel.

[0037] The power storage unit 24 is, for example, a secondary battery such as a lithium ion battery or a nickel-metal hydride battery.

[0038] The charge / discharge circuit 23 controls charging to and discharging from the power storage unit 24. The working device 2 has a power receiving connector that can be connected to the power feeding connector of the charging device 4. The charge / discharge circuit 23 stores electrical energy supplied from the charging device 4 in the power storage unit 24 when the power receiving connector of the working device 2 is connected to the power feeding connector of the charging device 4. The charge / discharge circuit 23 also supplies power to the first control unit 20, the first communication unit 21, and the traveling device 22 by discharging electrical energy from the power storage unit 24. In other words, the working device 2 performs work using the electrical energy stored in the power storage unit 24.

[0039] The detection unit 25 detects, for example, the remaining charge of the power storage unit 24 of the maintenance device 2 as information related to the operating state of the maintenance device 2. In response to a transmission request from the charge control system 3, for example, the maintenance device 2 transmits information about the remaining charge of the power storage unit 24 detected by the detection unit 25 and identification information of the maintenance device 2 from the first communication unit 21 to the charge control system 3. Note that the maintenance device 2 may periodically transmit the information about the remaining charge of the power storage unit 24 detected by the detection unit 25 and the identification information of the maintenance device 2 from the first communication unit 21 to the charge control system 3.

[0040] The detection unit 25 may further detect at least one of the following information regarding the operating state of the work device 2: the running state of the work device 2 (running or stopped), the work execution state (whether work is being executed or not), the speed (and speed change) of the work device 2, the acceleration acting on the work device 2, and the attitude of the work device 2.

[0041] Furthermore, the detection unit 25 detects current position information and the like relating to the current position where the work apparatus 2 is located within the work area A1. The detection unit 25 includes a range sensor such as LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the work apparatus 2 using the range sensor. The detection unit 25 detects current position information relating to the current position of the work apparatus 2 by comparing the surrounding conditions of the work apparatus 2 detected by the range sensor with electronic map information of the work area A1. In response to a transmission request from the work management system 6, for example, the work apparatus 2 transmits current position information and identification information of the work apparatus 2 from the first communication unit 21 to the work management system 6. Note that the work apparatus 2 may periodically transmit the current position information and identification information of the work apparatus 2 from the first communication unit 21 to the work management system 6.

[0042] The detection unit 25 may include a beacon receiver that receives beacon signals transmitted by radio waves from multiple transmitters. The multiple transmitters are arranged at multiple locations within the work area A1. The detection unit 25 may detect the current position of the work device 2 based on the positions of the multiple transmitters and the radio wave intensity of the beacon signals received by the beacon receiver. The detection unit 25 may also detect the current position of the work device 2 using a satellite positioning system such as GPS (Global Positioning System).

[0043] The first control unit 20 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the first control unit 20 are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory, provided via a telecommunications line such as the Internet, or provided in a non-transitory recording medium such as a memory card. When the first control unit 20 receives a transport command for the transported object from the work management system 6, the first control unit 20 controls the traveling device 22 to autonomously travel the work apparatus 2 based on the current location information detected by the detection unit 25 and the surrounding conditions of the work apparatus 2. The first control unit 20 controls the traveling of the work apparatus 2 to transport the transported object to the destination instructed by the charging control system 3. Furthermore, when the first control unit 20 receives a charge command for the power storage unit 24 from the charging control system 3, the first control unit 20 controls the traveling device 22 to move the work apparatus 2 to a position where it can be connected to the charging device 4 based on the current location information detected by the detection unit 25 and the surrounding conditions of the work apparatus 2. When the working device 2 arrives at 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 charging / discharging circuit 23 to store the electrical energy supplied from the charging device 4 in the storage unit 24.

[0044] (2.3) Charging Control System The charging control system 3 includes a second control unit 30 and a second communication unit 34 .

[0045] 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 the multiple (six in this embodiment) operation devices 2 via the communication network NT1 and the relay device 5. An appropriate communication method such as wireless communication or wired communication is adopted as the communication method between the second communication unit 34 and the relay device 5. The second communication unit 34 also communicates with the operation management system 6 via the communication network NT1.

[0046] The second control unit 30 mainly comprises, for example, a computer system including a memory and a processor. That is, the functions of the second control unit 30 (for example, the functions of the acquisition unit 31, the setting unit 32, and the charging control unit 33) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0047] The acquisition unit 31 acquires the remaining capacity of the power storage unit 24 from each of the plurality of maintenance devices 2 via the second communication unit 34. For example, the acquisition unit 31 causes the second communication unit 34 to transmit a transmission request requesting information about the remaining capacity of the power storage unit 24 to the maintenance device 2 to be controlled, and acquires information about the remaining capacity of the power storage unit 24 transmitted from the maintenance device 2 to be controlled in response to the transmission request.

[0048] 3 , the setting unit 32 sets at least a first threshold L1 and a second threshold L2 greater than the first threshold L1 as thresholds for the remaining amounts of the power storage units 24 included in each of the plurality of maintenance devices 2. In the present embodiment, the setting unit 32 also sets a third threshold L3 greater than the second threshold L2 as a threshold for the remaining amounts of the power storage units 24 included in each of the plurality of maintenance devices 2. The first threshold L1, the second threshold L2, and the third threshold L3 are thresholds for determining the charge level of the maintenance device 2 to be controlled as one of four levels: an urgent charging wait state WST1, a priority charging wait state WST2, a normal charging wait state WST3, and a sufficient charging wait state WST4.

[0049] The charging control unit 33 treats each of the plurality of maintenance devices 2A to 2F as a maintenance device 2 to be controlled, and controls charging of the power storage unit 24 included in the maintenance device 2 to be controlled. If the maintenance device 2 to be controlled is not charging, the charging control unit 33 controls whether to start charging based on a charging start condition described below. If the maintenance device 2 to be controlled is charging, the charging control unit 33 controls whether to end charging based on a charging end condition described below.

[0050] More specifically, if the work device 2 to be controlled is not charging, the charging control unit 33 determines whether the charge level of the work device 2 to be controlled is one of the four charging waiting states described above by comparing the remaining charge of the power storage unit 24 provided in the work device 2 to be controlled with the first threshold value L1, the second threshold value L2, and the third threshold value L3.

[0051] Here, the charge start condition differs for each of the multiple charge levels (the four charge standby states described above) of the power storage unit 24, and the charge control unit 33 controls whether or not to cause the controlled maintenance device 2 to start charging the power storage unit 24, based on the charge start condition set for each charge level of the controlled maintenance device 2. When the charge control unit 33 determines that the controlled maintenance device 2 should start charging the power storage unit 24, it outputs a charge instruction to the controlled maintenance device 2 from the second communication unit 34, and causes the controlled maintenance device 2 to charge the power storage unit 24 until a predetermined charging time has elapsed. This charging time is determined by the charge control unit 33 based on the remaining amount of power in the power storage unit 24 at the time charging started.

[0052] The conditions for starting charging at each of the multiple charging levels (the above-mentioned four charging standby states) will be described below.

[0053] When the target maintenance apparatus 2 is not being charged and the remaining charge of the power storage unit 24 is less than the first threshold L1, the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in an emergency charge wait state WST1 (see FIG. 3 ). When the charge level of the target maintenance apparatus 2 is in the emergency charge wait state WST1, the charge control unit 33 unconditionally starts charging the target maintenance apparatus 2. That is, the charge control unit 33 outputs a charge instruction to the target maintenance apparatus 2 to start charging from the second communication unit 34, regardless of whether there is any work that has not been performed. That is, there are no particular conditions for starting charging in the emergency charge wait state WST1, and the charge control unit 33 instructs the target maintenance apparatus 2 to start charging when it determines that the target maintenance apparatus 2 is in the emergency charge wait state WST1. At this time, the charge control unit 33 charges the target maintenance apparatus 2 until a first charge time CT1 (see FIG. 3 ) has elapsed, the first charge time CT1 being determined based on the remaining charge of the power storage unit 24 at the start of charging. The first charging time CT1 is the time required to charge the power storage unit 24 until the remaining amount of the power storage unit 24 reaches a first charging level L11 that is higher than the first threshold L1 and lower than the second threshold L2. The charging control unit 33 determines the charging state of the work device 2 to be in the emergency charging state CST1 while the work device 2 to be controlled that has been determined to be in the emergency charging wait state WST1 is charging for the first charging time CT1.

[0054] If both charging devices 4 are in use when the charge level of the maintenance device 2 to be controlled is determined to be in the emergency charging wait state WST1, the charge control unit 33 determines the charging states of the two charging devices 2. If the charging states of the two charging devices 2 have a lower priority than the emergency charging state CST1, the charge control unit 33 terminates charging of the maintenance device 2 with a lower priority than the emergency charging state CST1, and causes the maintenance device 2 to be controlled to charge. Charging states with a lower priority than the emergency charging state CST1 include a priority charging state CST2, a normal charging state CST3, and a fully charged state CST4, which are described below.

[0055] When the target maintenance apparatus 2 is not charging and the remaining charge of the power storage unit 24 is equal to or greater than the first threshold L1 and less than the second threshold L2, the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in a priority charge wait state (also referred to as a first charge wait state) WST2. When the charge level of the target maintenance apparatus 2 is determined to be in the priority charge wait state WST2, the charge control unit 33 causes the second communication unit 34 to output a charge instruction to the target maintenance apparatus 2 to start charging when a charge start condition is met, that is, two chargers 4 are available. Then, the charge control unit 33 causes the target maintenance apparatus 2 to continue charging until a second charge time CT2 determined based on the remaining charge of the power storage unit 24 at the start of charging has elapsed. In other words, in the charge control process of the charge control unit 33, when a charge instruction to start charging is output to the target work device 2, the target work device 2 is charged for at least a charge time (second charge time CT2) based on the remaining amount of the power storage unit 24 at the start of charging. This charge time is the time required for the remaining amount of the power storage unit 24 to be charged to a predetermined level equal to or greater than the second threshold L2. More specifically, the second charge time CT2 (see FIG. 3 ) is the time required for the remaining amount of the power storage unit 24 to be charged to a second charge level L12, which is higher than the second threshold L2 and lower than the third threshold L3. The charge control unit 33 determines the charge state of the target work device 2, determined to be in the priority charge wait state WST2, to be in the priority charge state CST2 (see FIG. 3 ), while the target work device 2 is charging for the second charge time CT2.

[0056] Thus, the charge start condition in the priority charge wait state WST2 (also referred to as the first charge start condition) is that, among one or more chargers 4, the number of chargers 4 that are not charging is equal to or greater than the minimum number of available chargers (e.g., one). In other words, the condition based on the availability of chargers 4 includes the condition that, among one or more chargers 4, the number of chargers 4 that are not charging is equal to or greater than the minimum number of available chargers. Furthermore, in the charge control process by the charge control unit 33, when the target maintenance device 2 is in the priority charge wait state WST2, a charge instruction is output to the target maintenance device 2 to start charging if the charge start condition is met, regardless of whether there is any unperformed work. The charge start condition in the priority charge wait state WST2 does not include the condition that there is no unperformed work. If there is an available charger 4, the target maintenance device 2 is caused to start charging. This is a charge wait state in which charging is prioritized over the execution of unperformed work.

[0057] When the target maintenance apparatus 2 is not being charged and the remaining charge of the power storage unit 24 is equal to or greater than the second threshold L2 and less than the third threshold L3, the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in a normal charge wait state (also referred to as a second charge wait state) WST3. If the charge level of the target maintenance apparatus 2 is determined to be in the normal charge wait state WST3 and a charging start condition is met, that is, there is no unexecuted task and two chargers 4 are available, the charge control unit 33 causes the second communication unit 34 to output a charge instruction to the target maintenance apparatus 2 to start charging. Then, the charge control unit 33 causes the target maintenance apparatus 2 to be charged until a third charge time CT3 (see FIG. 3 ) determined based on the remaining charge of the power storage unit 24 at the start of charging has elapsed. The third charging time CT3 is the time required to charge the power storage unit 24 to a third charging level L13, which is higher than the third threshold L3 and lower than the fully charged level (100%). The charging control unit 33 determines the charging state of the work device 2 to be a normal charging state CST3 while the work device 2 to be controlled, which has been determined to be in a normal charging wait state WST3, is charging for the third charging time CT3.

[0058] Thus, the charge start condition (second charge start condition) in the normal charge wait state (second charge wait state) WST3 is that there is no unperformed work and that, of the one or more chargers 4, one or more chargers 4 are not currently charging. In the charge control process by the charge control unit 33, if the second charge start condition is met when the target device 2 to be controlled is in the second charge wait state WST3, the charge control unit 33 outputs a charge instruction to the target device 2 to start charging. In other words, if there is unperformed work, the charge control unit 33 does not cause the target device 2 to start charging. Therefore, the normal charge wait state WST3 is a charge wait state in which the execution of unperformed work is prioritized over charging.

[0059] Furthermore, if the remaining charge of the power storage unit 24 is equal to or greater than the third threshold L3 and less than the full charge level (100%), the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in a sufficient charge waiting state WST4. When the charge level of the target maintenance apparatus 2 is determined to be in a sufficient charge waiting state WST4, the charge control unit 33 instructs the target maintenance apparatus 2 to start charging if there is no unexecuted work and, of the one or more chargers 4, one or more chargers 4 are not charging. On the other hand, when the charge level of the target maintenance apparatus 2 is determined to be in a sufficient charge waiting state WST4, the charge control unit 33 does not instruct the target maintenance apparatus 2 to start charging if there is unexecuted work or if all chargers 4 are absent.

[0060] After the work device 2 in the normal charge state CST3 has been charged for the third charge time CT3, if there is no work that has not been performed and there is no work device 2 in a charge state with a higher priority, the charge control unit 33 may allow the work device 2 in the normal charge state CST3 to continue charging. If the work device 2 in the normal charge state CST3 has finished charging for the third charge time CT3 and continues charging, the charge control unit 33 determines the charge state of the work device 2 to be a fully charged state CST4.

[0061] Here, the priorities of the four charging wait states are, in descending order of priority, as follows: emergency charging wait state WST1, priority charging wait state WST2, normal charging wait state WST3, and sufficient charging wait state WST4. Also, the priorities of the four charging states are, in descending order of priority, emergency charging state CST1, priority charging state CST2, normal charging state CST3, and sufficient charging state CST4.

[0062] (2.4) Description of Operation The operation of the charge control system 3 of this embodiment will be described below with reference to FIGS.

[0063] The charging control unit 33, for example, sets each of the plurality of control-target maintenance apparatuses 2 as the control-target maintenance apparatuses 2 in a predetermined order, and controls charging of the power storage unit 24 included in the control-target maintenance apparatus 2. Specifically, the charging control unit 33 performs charging start control to control whether to start charging when the control-target maintenance apparatus 2 is not charging. Furthermore, the charging control unit 33 performs charging end control to control whether to end charging when the control-target maintenance apparatus 2 is charging. The charging start control performed by the charging control unit 33 will be described in "(2.4.1) Description of Operation of Charging Start Control," and the charging end control performed by the charging control unit 33 will be described in "(2.4.2) Description of Operation of Charging End Control."

[0064] (2.4.1) Description of Operation of Charge Start Control The charge start control performed by the charge control unit 33 will be described with reference to the flowchart in Fig. 4. Note that the flowchart shown in Fig. 4 is merely an example of a charge control method performed by the charge control system 3, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0065] When the work device 2 to be controlled is not being charged, the charging control unit 33 determines whether the work device 2 to be controlled is performing work (step ST11).

[0066] If the work device 2 to be controlled is currently performing work (step ST11: Yes), the charge control unit 33 ends the charge start control and does not allow the work device 2 to be controlled to start charging.

[0067] If the work device 2 to be controlled is not performing work (step ST11: No), the charging control unit 33 determines the charge level of the work device 2 to be controlled based on the information on the remaining capacity of the storage unit 24 acquired by the acquisition unit 31 from the work device 2 to be controlled.

[0068] If the charge level of the maintenance device 2 to be controlled is in the emergency charge waiting state WST1 (step ST12: Yes), the charge control unit 33 extracts maintenance devices 2 in the charge waiting state with the same priority (in this case, the emergency charge waiting state WST1) based on the information on the remaining amount of the power storage unit 24 acquired from the plurality of maintenance devices 2 by the acquisition unit 31. If there are one or more maintenance devices 2 in the charge waiting state with the same priority, the charge control unit 33 determines whether the remaining amount of the power storage unit 24 of the maintenance device 2 to be controlled is the smallest among the one or more maintenance devices 2 in the charge waiting state with the same priority (step ST13).

[0069] If the remaining charge of the power storage unit 24 of the work device 2 to be controlled is not the smallest among one or more work devices 2 that have the same priority and are waiting to be charged (step ST13: No), the charging control unit 33 terminates the charge start control and does not allow the work device 2 to be controlled to start charging.

[0070] If the remaining charge of the power storage unit 24 of the work device 2 to be controlled is the lowest among one or more work devices 2 that have the same priority and are waiting to be charged (step ST13: Yes), the charging control unit 33 outputs a charging instruction to the work device 2 to be controlled from the second communication unit 34 (step ST14), and causes the work device 2 to be controlled to start charging.

[0071] Furthermore, if it is determined in step ST12 that the charge level of the target maintenance device 2 is not in the emergency charge wait state WST1 (step ST12: No), the charge control unit 33 determines whether the charge level of the target maintenance device 2 is in the priority charge wait state WST2 (step ST15). If the charge level of the target maintenance device 2 is in the priority charge wait state WST2 (step ST15: Yes), the charge control unit 33 determines whether the number N1 of available chargers 4 is equal to or greater than the minimum number Nmin of available chargers (step ST16). Here, the description will be given assuming that the minimum number Nmin of available chargers is, for example, one.

[0072] If it is determined in step ST16 that the number N1 of available chargers 4 is equal to or greater than the minimum number Nmin of available chargers, the charging control unit 33 determines whether there is a service device 2 in a charging standby state (here, an emergency charging standby state WST1) with a higher priority than the service device 2 to be controlled (step ST17). If there is no service device 2 in a charging standby state with a higher priority than the service device 2 to be controlled (step ST17: No), the charging control unit 33 proceeds to the processing of step ST13 described above. Note that if it is determined in step ST16 that the number N1 of available chargers 4 is less than the minimum number Nmin of available chargers, the charging control unit 33 determines whether there is any pending work based on information acquired from the work management system 6 (step ST20). If it is determined in step ST20 that there is no pending work (step ST20: No), the charging control unit 33 proceeds to the processing of step ST17 described above.

[0073] Furthermore, if it is determined in step ST17 that there is a work device 2 in a charging waiting state that has a higher priority than the work device 2 to be controlled (step ST17: Yes), the charging control unit 33 terminates the charge start control and does not allow the work device 2 to be controlled to start charging.

[0074] Furthermore, if it is determined in step ST15 that the charge level of the target maintenance apparatus 2 is not in the priority charge wait state WST2 (step ST15: No), the charge control unit 33 determines whether the charge level of the target maintenance apparatus 2 is in the normal charge wait state WST3 (step ST18). If it is determined in step ST18 that the charge level of the target maintenance apparatus 2 is not in the normal charge wait state (step ST18: No), the charge control unit 33 determines whether the charge level of the target maintenance apparatus 2 is in the sufficient charge wait state WST4 (step ST19). Here, if the charge level of the target maintenance apparatus 2 is in the normal charge wait state WST3 (step ST18: Yes) or the sufficient charge wait state WST4 (step ST19: Yes), the charge control unit 33 determines whether there is any unexecuted work based on the information acquired from the work management system 6 (step ST20). If the charge control unit 33 determines in step ST20 that there is no unexecuted work (step ST20: No), the charge control unit 33 proceeds to the process of step ST17 described above.

[0075] If it is determined in step ST19 that the charge level of the work device 2 to be controlled is not in a sufficient charge waiting state WST4 (step ST19: No), or if it is determined in step ST20 that there is an unexecuted task (step ST20: Yes), the charge control unit 33 terminates the charge start control and does not allow the work device 2 to be controlled to start charging.

[0076] The charge control unit 33 performs the charge start control as described above, and when it determines that the charge level of the controlled maintenance device 2 is in the priority charge wait state WST2, it starts charging the controlled maintenance device 2 if the number N1 of available chargers 4 is equal to or greater than the minimum number Nmin of available chargers, regardless of whether there is any unperformed work. This allows the charge control unit 33 to start charging the controlled maintenance device 2 if there is available charger 4, even if there is chronically unperformed work, reducing the possibility of delays in charging the controlled maintenance device 2. This reduces the possibility of a maintenance device 2 becoming unable to perform work due to insufficient remaining power in the power storage unit 24, and prevents a decrease in the work capacity of multiple maintenance devices 2.

[0077] (2.4.2) Description of Operation of Charge End Control Next, the charge end control performed by the charge control system 3 will be described with reference to the flowchart in Fig. 5. Note that the flowchart shown in Fig. 5 is merely an example of a charge control method performed by the charge control system 3, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0078] When the target work device 2 is being charged, the charging control unit 33 determines whether the power storage unit 24 of the target work device 2 is fully charged (step ST31). Note that the power storage unit 24 being fully charged does not necessarily mean that the remaining charge of the power storage unit 24 is 100%, but may also mean that the remaining charge of the power storage unit 24 is equal to or greater than a predetermined full charge level. The full charge level is any value higher than the third threshold L3 and equal to or less than 100%.

[0079] If the power storage unit 24 provided in the work device 2 to be controlled is fully charged (step ST31: Yes), the charging control unit 33 outputs a charging end instruction from the second communication unit 34 to the work device 2 to be controlled to end charging (step ST32), and causes the work device 2 to be controlled to end charging.

[0080] If the storage unit 24 of the work device 2 to be controlled is not fully charged (step ST31: No), the charging control unit 33 determines whether there is any work that has not been performed based on the information obtained from the work management system 6 (step ST33).

[0081] If there is an unexecuted task (step ST33: Yes), the charge control unit 33 determines the charge state of the target work device 2. If the target work device 2 is in the fully charged state CST4 (step ST34: Yes) or the normal charged state CST3 (step ST34: No, step ST35: Yes), the charge control unit 33 proceeds to the process of step ST32 described above and ends charging.

[0082] On the other hand, if there is no unperformed work (step ST33: No), or even if there is unperformed work, if the work device 2 to be controlled is not in a fully charged state CST4 or a normal charged state CST3 (step ST34: No, step ST35: No), the charging control unit 33 determines whether the number of available spaces N1 of the two charging devices 4 is 0 (step ST36).

[0083] If the number N1 of available chargers 4 is 0 (step ST36: Yes), the charge control unit 33 determines whether the work device 2 to be controlled is in a sufficiently charged state CST4 (step ST37).

[0084] If the target device 2 is in the fully charged state CST4 (step ST37: Yes), the charging control unit 33 determines whether any device 2 is in a normal charging wait state WST3, a priority charging wait state WST2, or an emergency charging wait state WST1, which have higher priorities than the fully charged wait state WST4 (steps ST38, ST39, ST40). If any device 2 is in the normal charging wait state WST3, the priority charging wait state WST2, or the emergency charging wait state WST1 (step ST38: Yes, step ST39: Yes, or step ST40: Yes), the charging control unit 33 proceeds to the process of step ST32 and ends charging.

[0085] When the work device 2 to be controlled is in a fully charged state CST4 (step ST37: Yes), if there is no work device 2 in a normal charging wait state WST3, a priority charging wait state WST2, or an emergency charging wait state WST1 (step ST38: No, step ST39: No, and step ST40: No), the charging termination control is terminated and the work device 2 to be controlled is allowed to continue charging.

[0086] Furthermore, if it is determined in step ST37 that the work device 2 to be controlled is not in a sufficient charge state CST4 (step ST37: No), the charging control unit 33 determines whether the work device 2 to be controlled is in a normal charge state CST3 (step ST41).

[0087] If it is determined in step ST41 that the work device 2 to be controlled is not in the normal charging state CST3 (step ST41: No), the charging control unit 33 determines whether the work device 2 to be controlled is in the prioritized charging state CST2 (step ST42).

[0088] If the maintenance device 2 to be controlled is in the normal charging state CST3 (step ST41: Yes) or in the prioritized charging state CST2 (step ST42: Yes), the charging control unit 33 proceeds to the process of step ST40 and determines whether or not there is any maintenance device 2 in the emergency charging wait state WST1. If there is any maintenance device 2 in the emergency charging wait state WST1 (step ST40: Yes), the charging control unit 33 proceeds to the process of step ST32 and causes the maintenance device 2 to be controlled to end charging. If there is no maintenance device 2 in the emergency charging wait state WST1 (step ST40: No), the charging control unit 33 ends the charge end control and causes the maintenance device 2 to continue charging.

[0089] Furthermore, if it is determined in step ST36 that the number N1 of available charging devices 4 is not 0 (step ST36: No), or if it is determined in step ST42 that the work device 2 to be controlled is not in the priority charging state CST2 (step ST42: No), the charging control unit 33 terminates the charging termination control and allows the work device 2 to be controlled to continue charging.

[0090] (3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. Various modifications can be made to the above embodiment depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the charge control system 3 may be embodied as a charge control method, a computer program, a non-transitory recording medium on which a program is recorded, or the like. A charge control method according to one aspect includes an acquisition process, a setting process, and a charge control process. The acquisition process acquires the remaining charge of the power storage unit 24 included in each of the multiple maintenance devices 2. The setting process sets at least a first threshold L1 and a second threshold L2 as thresholds for the remaining charge of the power storage unit 24 included in each of the multiple maintenance devices 2. The charge control process controls charging of the power storage unit 24 included in each of the multiple maintenance devices 2 as a maintenance device 2 to be controlled. In the charge control process, when a maintenance device 2 to be controlled is in a charge waiting state and a charge start condition is met, a charge instruction is output to the maintenance device 2 to be controlled. The charge waiting state is a state in which the remaining charge of the power storage unit 24 included in the target maintenance device 2 is equal to or greater than a first threshold L1 and less than a second threshold L2. The charge start condition includes a condition based on the availability of one or more charging devices 4. The one or more charging devices 4 are fewer in number than the plurality of maintenance devices 2. A (computer) program according to one aspect is a program for causing a computer system to execute the above-described charge control method (acquisition process, setting process, and charge control process).

[0091] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0092] (3.1) Modification 1 In the above embodiment, the setting unit 32 sets the first threshold value L1 and the second threshold value L2, but in the setting process by the setting unit 32, if a setting condition is met that determines that setting of the second threshold value L2 is unnecessary, the second threshold value L2 may be set to the same value as the first threshold value L1. Note that the configuration of the charge control system 3 is the same as in the above embodiment, and therefore a description thereof will be omitted.

[0093] Here, the setting condition may include a condition based on a work plan for multiple tasks performed by the multiple maintenance devices 2. For example, the setting condition is a condition that the remaining tasks planned in the work plan can be completed before all of the multiple maintenance devices 2 enter the emergency charge wait state WST1 even if the multiple maintenance devices 2 do not charge. When the setting condition that the remaining tasks planned in the work plan can be completed before all of the multiple maintenance devices 2 enter the emergency charge wait state WST1 is met based on the remaining amounts of the power storage units 24 of the multiple maintenance devices 2 and the work plan acquired from the work management system 6, for example, the setting unit 32 sets the second threshold L2 to the same value as the first threshold L1.

[0094] In this case, when the target maintenance apparatus 2 is not being charged, the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in a normal charging wait state WST3 if the remaining charge of the power storage unit 24 included in the target maintenance apparatus 2 is equal to or greater than the first threshold L1 (= the second threshold L2) and less than the third threshold L3. That is, the charge control unit 33 determines that the charge level of the target maintenance apparatus 2 is in one of three states: an emergency charging wait state WST1, a normal charging wait state WST3, or a sufficient charging wait state WST4. When the target maintenance apparatus 2 is in the normal charging wait state WST3, the charge control unit 33 does not start charging the target maintenance apparatus 2 if there is unexecuted work, thereby prioritizing the execution of the unexecuted work over charging.

[0095] The above-described setting condition may include a condition based on a time period during which the multiple maintenance devices 2 are performing their work. For example, when a setting condition is met that the remaining time until the end time at which the multiple maintenance devices 2 finish their work is shorter than the available work time of the multiple maintenance devices 2, the charge control unit 33 may set the second threshold L2 to the same value as the first threshold L1. Here, the available work time of the multiple maintenance devices 2 is determined based on the remaining charge of the power storage unit 24 of each of the multiple maintenance devices 2, and is the available work time before all of the multiple maintenance devices 2 enter the emergency charge wait state WST1. In this case, the available work time is determined, for example, as the available work time before the maintenance device 2 with the highest remaining charge enters the emergency charge wait state WST1. The available work time of the multiple maintenance devices 2 may also be the available work time before some of the multiple maintenance devices 2 enter the emergency charge wait state WST1. For example, the available work time may be determined based on the remaining charge of the maintenance device 2 with the lowest remaining charge among the multiple maintenance devices 2, or the average remaining charge of the multiple maintenance devices 2.

[0096] (3.2) Modification 2 In the above embodiment, the setting unit 32 may set the third threshold value L3 to the same value as the second threshold value L2. Note that the configuration of the charge control system 3 is the same as that of the above embodiment, and therefore a description thereof will be omitted.

[0097] In this case, the charge control unit 33 determines the charge level of the target maintenance device 2 to be one of three stages: an emergency charge wait state WST1, a priority charge wait state WST2, or a sufficient charge wait state WST4. When the charge level of the target maintenance device 2 is in the priority charge wait state WST2, the charge control unit 33 starts charging the target maintenance device 2 if two chargers 4 are available, regardless of whether there is unperformed work. This allows the power storage unit 24 of the maintenance device 2 in the priority charge wait state WST2 to be charged if two chargers 4 are available, even if there is chronic unperformed work. This reduces the possibility that multiple maintenance devices 2 simultaneously enter the emergency charge wait state WST1 due to prioritizing work over charging, thereby reducing the possibility of a decline in the work capacity of the multiple maintenance devices 2.

[0098] (3.3) Other Modifications The work system 1 (work device 2 and charge control system 3) in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the work system 1 in the present disclosure. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided by being stored on a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0099] Furthermore, it is not essential for the charging control system 3 that multiple functions are integrated into one housing, and the components of the charging control system 3 may be distributed across multiple housings. Furthermore, at least some of the functions of the charging control system 3, for example, the function of the charging control unit 33, may be realized by the cloud (cloud computing) or the like.

[0100] In addition, in the above embodiment, the charging control system 3 and the work management system 6 were separate systems, but the functions of the charging control system 3 and the work management system 6 may be integrated into a single housing.

[0101] In the above embodiment, for example, two priority levels (level 1 and level 2) may be set for each of the multiple tasks performed by the multiple task devices 2. Note that level 1 tasks have a higher priority level than level 2 tasks.

[0102] When the maintenance device 2 to be controlled is in the priority charge waiting state WST2 and there is unexecuted work with a priority level of level 2, the charging control unit 33 outputs a charging instruction to the maintenance device 2 to be controlled to start charging if there is free space among the two charging devices 4, even if there is unexecuted work. In this way, even if there is unexecuted work, if the unexecuted work has a priority level of level 2, which is lower than level 1, the charging control unit 33 can cause the maintenance device 2 to be controlled to charge the power storage unit 24 with priority over the work.

[0103] On the other hand, when the maintenance device 2 to be controlled is in the priority charge wait state WST2 and there is unexecuted work with a priority level of level 1, the charge control unit 33 does not output a charge instruction to the maintenance device 2 to be controlled to start charging, but causes the maintenance device 2 to execute the unexecuted work. As a result, when there is unexecuted work with a priority level of level 1, which is higher than level 2, the charge control unit 33 causes the maintenance device 2 to be controlled and in the priority charge wait state WST2 to prioritize execution of the work over charging of the power storage unit 24, thereby allowing the maintenance device 2 to prioritize execution of the work with a relatively high priority of level 1.

[0104] Furthermore, in the above embodiment, the charge control system 3 may communicate with the charging device 4 via the communication network NT1 and the relay device 5. By communicating with the charging device 4, the charge control system 3 can grasp the status of the charging device 4 in advance (for example, whether the power of the charging device 4 is on or off, whether an error has occurred in the charging device 4, etc.), and can reduce the possibility that the charging of the work device 2 will fail due to the charging device 4 being unavailable.

[0105] In the above embodiment, there are six work devices 2 and two charging devices 4, but the numbers of work devices 2 and charging devices 4 are not limited to those in the above embodiment. The number of work devices 2 can be changed as appropriate depending on, for example, the amount of work performed by the work devices 2 in work area A1, the size of work area A1, etc. Furthermore, the number of charging devices 4 can be changed as appropriate depending on the number of work devices 2 used in work area A1, etc.

[0106] In the above embodiment, in the binary comparison between the remaining charge of the power storage unit 24 and thresholds (first threshold L1 and second threshold L2), etc., "greater than" may be used instead of "greater than." In other words, whether or not the binary comparison includes cases where the two values ​​are equal can be arbitrarily changed depending on the settings of the thresholds, etc., so there is no technical difference between "greater than" and "greater than." Similarly, "less than" may be used instead of "less than."

[0107] In the above embodiment, the work device 2 is a transport device that travels in the work area A1, but the work device 2 may also be a ship (autonomous ship) or an aircraft (drone). If the work device 2 is an autonomous ship, the water area in which the autonomous ship navigates becomes the work area A1. If the work device 2 is a drone, the space in which the drone flies becomes the work area A1.

[0108] In the above embodiment, the working device 2 may be used, for example, in a component mounting system including a component mounter that mounts components on a board, for transporting a component supply module that supplies components to the component mounter. The component mounting system may include, for example, a component supply module that supplies components and a component mounter that mounts the components supplied from the component supply module onto a board. The component supply module may include, for example, a batch exchange cart that collectively exchanges multiple tape feeders that respectively supply components to the component mounter. The component mounter is, for example, a machine (a so-called mounter) that mounts components on an object such as a board, and includes a mounting head that mounts the components on the board. Note that the working device 2 is not limited to being used in a component mounting system, and its application can be changed as appropriate.

[0109] (Summary) The above-described embodiments and the like disclose the following aspects.

[0110] The charge control method of the first aspect includes a setting process and a charge control process. In the setting process, at least a first threshold (L1) and a second threshold (L2) are set as thresholds for the remaining charge of a power storage unit (24) included in each of a plurality of maintenance devices (2). In the charge control process, each of the plurality of maintenance devices (2) is set as a control target maintenance device (2), and charging of the power storage unit (24) included in the control target maintenance device (2) is controlled. In the charge control process, when a charge start condition is met while the control target maintenance device (2) is in a charge waiting state, a charge instruction is output to the control target maintenance device (2) to start charging. The charge waiting state is a state in which the remaining charge of the power storage unit (24) included in the control target maintenance device (2) is equal to or greater than a first threshold (L1) and less than a second threshold (L2). The charge start condition includes a condition based on the availability of one or more charging devices (4). The one or more charging devices (4) are fewer in number than the plurality of maintenance devices (2).

[0111] According to this aspect, even when there is unexecuted work, if a charging start condition is met, including a condition based on the availability of one or more charging devices 4, the controlled work device 2 is instructed to start charging. Therefore, even in a situation where there is chronically unexecuted work, the controlled work device 2 can be caused to charge the power storage unit 24, and the possibility of a decrease in the work capacity of multiple work devices 2 due to a lack of remaining power in the power storage unit 24 can be reduced.

[0112] In the charging control method of the second aspect, in the first aspect, the condition based on the availability of one or more charging devices (4) includes a condition that the number of charging devices (4) that are not charging among the one or more charging devices (4) is equal to or greater than a minimum number of available devices.

[0113] According to this aspect, when the condition that the number of charging devices (4) not charging among the one or more charging devices (4) is equal to or greater than the minimum number of available devices is met, it is possible to instruct the work device (2) to be controlled to start charging. Thus, it is possible to reduce the number of charging devices (4) not charging among the one or more charging devices (4), and it is possible to charge the power storage unit (24) of the work device (2) to be controlled even in a situation where there is a chronic presence of unexecuted work.

[0114] In the third aspect of the charge control method, in the first or second aspect, in the charge control process, when the work device (2) to be controlled is in a charging waiting state, a charge instruction to start charging is output to the work device (2) to be controlled, regardless of whether there is any work that has not been performed, when a charging start condition is met.

[0115] According to this aspect, when 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 number of available devices is met, the work device (2) to be controlled can be instructed to start charging, regardless of whether there is any work that has not been performed.

[0116] In a fourth aspect of the charge control method, in any one of the first to third aspects, the charge waiting state is a first charge waiting state, and the charge start condition is a first charge start condition. In the charge control process, when the controlled work device (2) is in a second charge waiting state and the second charge start condition is met, a charge instruction is output to the controlled work device (2) to start charging. The second charge waiting state is a state in which the remaining charge of the power storage unit (24) included in the controlled work device (2) is equal to or greater than a second threshold (L2) and less than a third threshold (L3). The second charge start condition includes a condition that there is no unexecuted work, and the number of charging devices (4) that are not charging is one or more of the one or more charging devices (4).

[0117] According to this aspect, in the second charge waiting state, if there is unexecuted work, a charge instruction to instruct the work device (2) to be controlled to start charging is not output, so that the work device (2) to be controlled can be made to give priority to executing the unexecuted work over charging the power storage unit (24).

[0118] In the charging control method of the fifth aspect, in the fourth aspect, in the setting process, if a setting condition is met that determines that setting of the second threshold (L2) is unnecessary, the second threshold (L2) is set to the same value as the first threshold (L1).

[0119] According to this aspect, when the set condition is met, the second threshold (L2) is set to the same value as the first threshold (L1), so that the work device (2) to be controlled can be made to prioritize the execution of unexecuted work over charging the storage unit (24).

[0120] In a charge control method of a sixth aspect, in the fifth aspect, the set conditions include conditions based on a work plan relating to a plurality of works to be performed by a plurality of work devices (2).

[0121] According to this aspect, when the set conditions including the conditions based on the work plan are met, the second threshold (L2) is set to the same value as the first threshold (L1), so that the work device (2) to be controlled can be made to prioritize the execution of unexecuted work over charging the power storage unit (24).

[0122] In the seventh aspect of the charge control method, in any of the first to sixth aspects, when a charge instruction to start charging is output to the work device (2) to be controlled, the work device (2) to be controlled is charged for at least a charging time based on the remaining amount of the power storage unit (24) at the time of starting charging, in the charge control process.

[0123] According to this aspect, when a charging instruction is output to the work device (2) to be controlled to instruct it to start charging, the work device (2) to be controlled can be made to charge the storage unit (24) at least until the charging time has elapsed.

[0124] In the charge control method of the eighth aspect, in the seventh aspect, the charging time is a time required for the remaining amount of the power storage unit (24) to be charged to a predetermined level equal to or greater than a second threshold (L2).

[0125] According to this aspect, when a charging instruction is output to the work device (2) to be controlled to instruct the work device (2) to start charging, the work device (2) to be controlled can be made to charge the power storage unit (24) up to a predetermined level.

[0126] In a charge control method of a ninth aspect, in any one of the first to eighth aspects, the work performed by the work device (2) includes a transport work of transporting an object to be transported.

[0127] According to this aspect, it is possible to suppress the possibility of a decrease in the work capacity of the work device (2) that performs the transport work of transporting the transported object.

[0128] A program according to a tenth aspect is a program for causing a computer system to execute the charge control method according to any one of the first to ninth aspects.

[0129] According to this aspect, even when there is unexecuted work, if a charging start condition is met, including a condition based on the availability of one or more charging devices 4, the controlled work device 2 is instructed to start charging. Therefore, even in a situation where there is chronically unexecuted work, the controlled work device 2 can be caused to charge the power storage unit 24, and the possibility of a decrease in the work capacity of multiple work devices 2 due to a lack of remaining power in the power storage unit 24 can be reduced.

[0130] A charging control system (3) of an eleventh aspect includes a setting unit (32) and a charging control unit (33). The setting unit (32) sets at least a first threshold (L1) and a second threshold (L2) as thresholds for the remaining charge of a power storage unit (24) included in each of a plurality of maintenance devices (2). The charging control unit (33) treats each of the plurality of maintenance devices (2) as a control target maintenance device (2) and controls charging of the power storage unit (24) included in the control target maintenance device (2). When the control target maintenance device (2) is in a charge waiting state and a charge start condition is met, the charging control unit (33) outputs a charge instruction to the control target maintenance device (2) to start charging. The charge waiting state is a state in which the remaining charge of the power storage unit (24) included in the control target maintenance device (2) is equal to or greater than the first threshold (L1) and less than a second threshold (L2). The charge start condition includes a condition based on the availability of one or more charging devices (4). The number of the one or more charging devices (4) is less than the number of the working devices (2).

[0131] According to this aspect, even when there is unexecuted work, the charge control system (3) can instruct the controlled work device (2) to start charging when a charge start condition is met, including a condition based on the availability of one or more charging devices (4). Thus, even in a situation where there is chronically unexecuted work, the charge control system (3) can charge the power storage unit (24) of the controlled work device (2), thereby reducing the possibility of a decrease in the work capacity of multiple work devices (2) due to a lack of remaining power in the power storage unit (24).

[0132] A work system (1) of a twelfth aspect includes a plurality of work devices (2), one or more charging devices (4) the number of which is smaller than the number of the work devices (2), and the charge control system (3) of the eleventh aspect. The charge control system (3) controls charging of the plurality of work devices (2) by the one or more charging devices (4).

[0133] According to this aspect, even when there is unexecuted work, the charge control system (3) can instruct the controlled work device (2) to start charging when a charge start condition is met, including a condition based on the availability of one or more charging devices (4). Thus, even in a situation where there is chronically unexecuted work, the charge control system (3) can charge the power storage unit (24) of the controlled work device (2), thereby reducing the possibility of a decrease in the work capacity of multiple work devices (2) due to a lack of remaining power in the power storage unit (24).

[0134] Not limited to the above aspects, various configurations (including modified examples) of the charging control system (3) according to the embodiment can be embodied as a charging control method, a (computer) program, or a non-transitory recording medium on which a program is recorded, etc.

[0135] The configurations according to the second to ninth aspects are not essential for the charge control method and may be omitted as appropriate.

[0136] REFERENCE SIGNS LIST 1 Work system 2 Work device 3 Charging control system 4 Charging device 24 Power storage unit 32 Setting unit 33 Charging control unit L1 First threshold L2 Second threshold L3 Third threshold

Claims

1. a setting process for setting at least a first threshold value and a second threshold value as threshold values for the remaining amounts of the power storage units included in each of the plurality of operation devices; a charge control process for controlling charging of the power storage unit included in each of the plurality of operational devices as a control target operational device, In the charging control process, When the working device to be controlled is in a charging standby state and a charging start condition is met, a charging instruction is output to the working device to be controlled to instruct it to start charging; the charging waiting state is a state in which the remaining amount of the power storage unit included in the work 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 availability of one or more charging devices, the number of which is smaller than the number of the plurality of operation devices; Charging control method.

2. the condition based on the availability of the one or more charging devices includes a condition that the number of charging devices that are not performing charging among the one or more charging devices is equal to or greater than a minimum available number; The charge control method according to claim 1 .

3. In the charging control process, When the work device to be controlled is in the charge waiting state, if the charge start condition is met, regardless of whether or not there is an unexecuted work, a charge instruction is output to the work device to be controlled to start charging. The charge control method according to claim 1 .

4. the charging standby state is a first charging standby state, the charge start condition is a first charge start condition, In the charging control process, When the working device to be controlled is in a second charge waiting state, if a second charge start condition is satisfied, a charge instruction is output to the working device to be controlled to instruct it to start charging; the second charge waiting state is a state in which the remaining amount of the power storage unit included in the work 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 a condition that there is no unexecuted work and the number of charging devices that is not performing charging among the one or more charging devices is one or more. The charge control method according to claim 1 .

5. In the setting process, When a setting condition for determining that setting of the second threshold is unnecessary is satisfied, the second threshold is set to the same value as the first threshold. The charge control method according to claim 4.

6. the set conditions include conditions based on a work plan related to a plurality of works to be performed by the plurality of work devices; The charge control method according to claim 5 .

7. In the charging control process, when a charging instruction for instructing the work device to be controlled to start charging is output, the work device to be controlled is charged for at least a charging time based on a remaining amount of the power storage unit at the time of starting charging. The charge control method according to claim 1 .

8. the charging time is a time required for the remaining amount of the power storage unit to be charged to a predetermined level equal to or greater than the second threshold value; The charge control method according to claim 7.

9. The work performed by the work device includes a transport work of transporting an object. The charge control method according to claim 1 .

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

11. a setting unit that sets at least a first threshold and a second threshold as thresholds for the remaining amounts of the power storage units included in each of the plurality of operation devices; a charge control unit that controls charging of the power storage unit included in each of the plurality of operational devices as a control target operational device, In the charging control unit, When the working device to be controlled is in a charging standby state and a charging start condition is met, a charging instruction is output to the working device to be controlled to instruct it to start charging; the charging waiting state is a state in which the remaining amount of the power storage unit included in the work 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 availability of one or more charging devices, the number of which is smaller than the number of the plurality of operation devices; Charging control system.

12. A plurality of work devices; one or more charging devices, the number of which is less than the number of the working devices; The charging control system according to claim 11, The charging control system controls charging of the plurality of working devices by the one or more charging devices. Working system.