CN106100046A - The charging device of a kind of AGV dolly and charging method thereof - Google Patents
The charging device of a kind of AGV dolly and charging method thereof Download PDFInfo
- Publication number
- CN106100046A CN106100046A CN201610555368.3A CN201610555368A CN106100046A CN 106100046 A CN106100046 A CN 106100046A CN 201610555368 A CN201610555368 A CN 201610555368A CN 106100046 A CN106100046 A CN 106100046A
- Authority
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- China
- Prior art keywords
- charging
- agv
- lithium
- agv dolly
- dolly
- Prior art date
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- 238000007600 charging Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 10
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 40
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 39
- 239000003990 capacitor Substances 0.000 claims abstract description 32
- 230000001105 regulatory effect Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 229910052793 cadmium Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003446 memory effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/11—DC charging controlled by the charging station, e.g. mode 4
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- H02J7/0086—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses the charging device of a kind of AGV dolly, including supply unit (2) and AGV system (3), its described supply unit (2) includes the power supply closed-loop path providing voltage of voltage regulation for AGV system (3), and this power supply closed-loop path is formed in parallel with regulated power supply (24) after being connected by lithium-ion capacitor module (22) and battery management system (23) again；Described lithium-ion capacitor module (22) and battery management system (23) also can form charging closed-loop path with charging terminal (21)；This charging device also includes can be with the reception device (1) of charging terminal (21) formation closed-loop path, and it being layed in the wireless launcher in AGV dolly predetermined trajectory, described wireless launcher is connected by wireless power mode between device (1) with receiving.The invention also discloses its charging method.The present invention makes the AGV dolly can quick charge on the premise of not parking, it is achieved dolly continuous print production process.
Description
Technical field
The present invention relates to a kind of charging device, a kind of charging device for AGV dolly and charging method thereof.
Background technology
AGV (Automated Guided Vehicles) dolly is a kind of to be equipped with homing guidance device, it is possible to according to
The transport vehicle that the guide path of regulation travels.At present, the power unit of AGV dolly is charging accumulator.When AGV runs, electric power storage
The electric energy in pond is gradually lowered, and therefore needs to be charged AGV battery during circular flow.
Tradition AGV dolly power unit has lead-acid battery, nickel-cadmium cell or lithium ion battery.
Lead-acid battery and lithium ion battery internal resistance are big, long using it as the charging interval needed for the power unit of AGV dolly, this
Dolly will be caused long for dead time in charging zone, promote to produce and interrupt, reduce work efficiency；Nickel-cadmium cell moves as AGV dolly
Although power unit meets high current charge-discharge requirement, can the most quickly supplement electricity, but nickel-cadmium cell is by " memory effect
Should " impact, working service is cumbersome.Additionally, nickel-cadmium cell is due to cadmium pollution, it is not suitable with environmental requirement.
Secondly, using accumulator as AGV dolly many employings bay contact charging of power unit, charging in prior art
During need to rest on charged area and be charged.When bay contact charging refers to AGV dolly electricity deficiency, system can be temporarily
Business ceasing to hold office, AGV dolly departs from working track, enters charging bay and is charged.The defect that bay contact is powered is that AGV is little
Car inefficiency, and during many AGV dolly chargings, need AGV dolly to be stuck in bay mouth wait；Stopping contact charging can
To ensure that AGV dolly is not to move out production line and completes charging, but stop charging in orbit and cause AGV dolly to be in discrete
Business ring, breaks the integrity of AGV dolly work equally.Additionally, be easily generated spark in line contact type charging, security reliability is low.
In addition to contact line is powered, AGV dolly can also be charged by contactless.This electric power system can at AGV dolly not
There is provided for dolly in the case of charged pool and drive and control power supply, but owing to not having energy storage device, whole service track needs paving
If service cable, this not only increases construction cost, and route flexible variety reduces.
Summary of the invention
The technical problem to be solved is to provide a kind of novel AGV dolly charging device and wireless charging thereof
Mode, it is ensured that AGV dolly, in wireless charging area quick charge, realizes under conditions of uninterrupted supply of electric power simultaneously
The flexible operation of AGV dolly.
Lithium-ion capacitor uses lithium ion battery and supercapacitor technologies mixed structure, and positive pole uses ultracapacitor
Positive electrode, negative pole uses lithium ion battery negative material.Lithium-ion capacitor power density is high, close to ultracapacitor,
Therefore possesses large current charge ability to accept；Energy density is 2.5 times of ultracapacitor, and cycle life is up to more than million times.
Additionally, lithium-ion capacitor self-discharge rate is low, room temperature 25 DEG C is placed 3 months, and electricity reduces≤5%.Therefore, by lithium-ion capacitance
Device possesses more advantage as the energy storage device of AGV dolly than traditional accumulator and ultracapacitor.
Based on this, for solving above technical problem, the invention discloses the charging device of a kind of AGV dolly, including power supply
Device and AGV system, described supply unit includes the power supply closed-loop path providing voltage of voltage regulation for AGV system, and this power supply closes
Loop is formed in parallel with regulated power supply after being connected by lithium-ion capacitor module and battery management system again；Described lithium-ion capacitance
Device module and battery management system also can form charging closed-loop path with charging terminal；This charging device also includes can be with charging end
Son forms the reception device of closed-loop path, and is layed in AGV dolly predetermined trajectory (the trolley travelling track i.e. preset)
Wireless launcher, described wireless launcher is connected by wireless power mode between device with receiving.
Further, described regulated power supply connects AGV system by electric discharge interface.
Further, described supply unit also includes keep plate, and the input of this keep plate is connected with regulated power supply, output
End is connected with the braking resistor of AGV system by signal terminal.
Further, the RS485 communication signal interface of described battery management system connection AGV system.
Further, described reception device is arranged at the bottom of AGV dolly, it is simple to and the channel radio of wireless launcher
Letter.
The invention also discloses a kind of aforesaid charging device charging method to AGV dolly, the method includes walking as follows
Rapid:
(1), AGV dolly enters the wireless transmit region below predetermined trajectory, wireless launcher and connecing on AGV dolly
Receiving apparatus sets up wireless power communication；
(2), battery management system detect the voltage of current lithium-ion capacitor module, and judge whether current voltage is less than
Receive the voltage in device；
(3) if lithium-ion capacitor module voltage is less than the voltage received in device, battery management system is according to current pressure
After the setting area scope of difference and wireless launcher regulates electric current, receive device by charging terminal to lithium-ion capacitance
Device carries out constant-current charge；
(4), when battery management system detects that lithium-ion capacitor module is consistent with receiving device voltage, device is received
By charging terminal, lithium-ion capacitor module is carried out constant-voltage charge, until the electric current of lithium-ion capacitor module is 0, lithium from
The full electricity of sub-capacitor module；
(5), when AGV dolly leave the wireless transmit region below track, dolly receives device no longer with wireless transmit
Device is set up and is connected, and the charging of AGV dolly terminates.
Detect lithium-ion capacitance module voltage status by the battery management system in AGV dolly supply unit, pass through
Regulation wireless charging electric current, makes AGV dolly be rapidly filled with electricity in narrow wireless transmit region, finds through experiment,
The charging of 200A electric current can complete within 50 seconds, therefore can realize dolly continuous print production process；Owing to AGV dolly is permissible
Carry out big electric current quick charge, therefore without all lay in running track at AGV wireless launchers service cable (as long as
The predetermined trajectory of finite region is laid), this not only reduces the construction cost of wireless charging, meets between not simultaneously
The flexible operation of AGV dolly is realized under conditions of disconnected supply of electric power.
Accompanying drawing explanation
Fig. 1 is the line circuit schematic diagram that AGV dolly uses charging device of the present invention.
In figure: 1-receives device；2-supply unit；21-charging terminal；22-lithium-ion capacitor module；23-cell tube
Reason system；24-regulated power supply；25-keep plate；26-discharges interface；3-AGV system；31-braking resistor.
Detailed description of the invention
Below in conjunction with embodiment, more specifically illustrate present disclosure.The enforcement of the present invention is not limited to following reality
Executing example, any pro forma accommodation or the change of being made the present invention all should be within the scope of the present invention.
Embodiment 1
As it is shown in figure 1, this charging device mainly includes receiving device 1, supply unit 2 and AGV system 3, and not at figure
Shown in wireless launcher.
Wherein, supply unit 2 mainly includes charging terminal 21, lithium-ion capacitor module 22 (i.e. LIC module), cell tube
Reason system (BMS) 23, regulated power supply 24 and keep plate 25.Lithium-ion capacitor module 22 is by several lithium-ion capacitor monomers
The most in series, the positive pole of lithium-ion capacitor module 22 is connected with the positive pole of charging terminal 21, lithium-ion capacitor module
The negative pole of 22 passes sequentially through 300A electric fuse and battery management system 23 and is connected with the negative pole of charging terminal 21, constitutes charging Guan Bi
Loop.Battery management system 23 is for monitoring the voltage of lithium-ion capacitance module 22, and electric current, temperature and residual capacity etc. are believed
Number, and signal is passed to the RS485 communication signal interface of AGV system 3.The input VIN+ of regulated power supply 24 and lithium-ion electric
Molar group 22 connects, and VIN-is connected with battery management system 23.This regulated power supply 24 is by electric discharge interface 26 with AGV system 3 even
Connect, provide 24V or 48V burning voltage for AGV dolly.The input of keep plate 25 is connected with regulated power supply 24, and outfan passes through
Signal output terminal is connected with the braking resistor 31 being arranged in AGV system 3, and this braking resistor 31 is used for consuming AGV dolly and exists
The electric energy produced in braking procedure.
The positive pole of charging terminal 21 is also connected with reception device 1 positive pole, and negative pole is connected formation with the negative pole receiving device 1 and closes
Close loop.Receive device 1 to be installed on bottom AGV dolly.
In the wherein stretch footpath of AGV dolly predetermined trajectory, it is equipped with wireless launcher, is filled by this wireless transmit
Service cable in putting, realizes radio communication with the reception device of AGV dolly and couples, connect to AGV dolly in wireless power mode
Receiving apparatus is powered.
The wireless automatic charging process of the present invention is achieved by the steps of:
(1), AGV dolly enters the wireless transmit region below predetermined trajectory, wireless launcher and connecing on AGV dolly
Receiving apparatus 1 sets up wireless power communication；
(2), battery management system 23 system detects the voltage of current lithium-ion capacitor module 22, and whether judges current voltage
Less than the voltage received in device 1；
(3) if lithium-ion capacitor module 22 voltage is less than the voltage received in device, battery management system 23 is according to working as
The setting area scope of front pressure reduction and wireless launcher regulates electric current, receive device 1 by charging terminal 21 to lithium from
Sub-capacitor module 22 carries out constant-current charge；
(4), when battery management system 23 detects that lithium-ion capacitor module 22 is consistent with receiving device 1 voltage, connect
Receiving apparatus 1 carries out constant-voltage charge by charging terminal 21 lithium-ion capacitor module 22, until lithium-ion capacitor module 22
Electric current is 0, now the full electricity of lithium-ion capacitor module 22；
(5), when AGV dolly leave the wireless transmit region below track, dolly receives device 1 no longer with wireless transmit
Device is set up and is connected, and the charging of AGV dolly terminates.
Claims (6)
1. a charging device for AGV dolly, including supply unit (2) and AGV system (3), it is characterised in that: described power supply fills
Putting (2) and include providing for AGV system (3) the power supply closed-loop path of voltage of voltage regulation, this power supply closed-loop path is by lithium-ion capacitor
It is formed in parallel with regulated power supply (24) again after module (22) and battery management system (23) series connection；Described lithium-ion capacitor module
(22) and battery management system (23) also can with charging terminal (21) formed charging closed-loop path；This charging device also includes can be with
Charging terminal (21) forms the reception device (1) of closed-loop path, and the wireless transmit dress being layed in AGV dolly predetermined trajectory
Putting, described wireless launcher is connected by wireless power mode between device (1) with receiving.
The charging device of AGV dolly the most according to claim 1, it is characterised in that: described regulated power supply (24) is by electric discharge
Interface (26) connects AGV system (3).
The charging device of AGV dolly the most according to claim 1, it is characterised in that: described supply unit (2) also includes braking
Plate (25), the input of this keep plate (25) is connected with regulated power supply (24), and outfan is by signal terminal and AGV system (3)
Braking resistor (31) connect.
The charging device of AGV dolly the most according to claim 1, it is characterised in that: described battery management system (23) connects
The RS485 communication signal interface of AGV system (3).
The charging device of AGV dolly the most according to claim 1, it is characterised in that: described reception device (1) is arranged at AGV
The bottom of dolly.
6. the charging method to AGV dolly of the charging device as described in claim 1-5 any one claim, it is special
Levy and be: the method comprises the steps:
(1), AGV dolly enters the wireless transmit region below predetermined trajectory, wireless launcher and the reception dress on AGV dolly
Put (1) and set up wireless power communication；
(2), battery management system (23) unites and detects the voltage of current lithium-ion capacitor module (22), and whether judges current voltage
Less than the voltage received in device (1)；
(3) if lithium-ion capacitor module (22) voltage is less than the voltage received in device (1), battery management system (23) root
After regulating electric current according to the setting area scope of current differential pressure and wireless launcher, receive device (1) and pass through charging terminal
(21) lithium-ion capacitor module (22) is carried out constant-current charge；
(4), when battery management system (23) detects that lithium-ion capacitor module (22) is consistent with receiving device (1) voltage,
Receive device (1), by charging terminal (21), lithium-ion capacitor module (22) is carried out constant-voltage charge, until electric current is 0, lithium
The full electricity of ionistor module (22)；
(5), when AGV dolly leaves the wireless transmit region below track, dolly receives device (1) and no longer fills with wireless transmit
Setting up vertical connection, the charging of AGV dolly terminates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555368.3A CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555368.3A CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106100046A true CN106100046A (en) | 2016-11-09 |
| CN106100046B CN106100046B (en) | 2019-02-01 |
Family
ID=57221213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610555368.3A Expired - Fee Related CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
Country Status (1)
| Country | Link |
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| CN (1) | CN106100046B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107040017A (en) * | 2017-01-09 | 2017-08-11 | 上海展枭新能源科技有限公司 | A kind of N-free diet method intelligent charging system and its charging method based on lithium-ion capacitor |
| CN110957544A (en) * | 2018-09-26 | 2020-04-03 | 本田技研工业株式会社 | Control device for lithium ion battery, control method for lithium ion battery, and storage medium |
| CN114475306A (en) * | 2021-12-29 | 2022-05-13 | 北京昊瑞昌科技有限公司 | Charging method of AGV trolley |
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| CN101425705A (en) * | 2008-11-14 | 2009-05-06 | 南京航空航天大学 | Non-contact electricity supply and navigation apparatus for automatically guiding trolley |
| US20090277705A1 (en) * | 2008-05-12 | 2009-11-12 | Toyota Jidosha Kabushiki Kaisha | Hybrid vehicle and method of controlling the same |
| CN102195333A (en) * | 2010-03-17 | 2011-09-21 | 新神户电机株式会社 | Direct-current power source apparatus |
| CN205829233U (en) * | 2016-07-14 | 2016-12-21 | 上海展枭新能源科技有限公司 | A kind of charging device of AGV dolly |
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2016
- 2016-07-14 CN CN201610555368.3A patent/CN106100046B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090277705A1 (en) * | 2008-05-12 | 2009-11-12 | Toyota Jidosha Kabushiki Kaisha | Hybrid vehicle and method of controlling the same |
| CN101425705A (en) * | 2008-11-14 | 2009-05-06 | 南京航空航天大学 | Non-contact electricity supply and navigation apparatus for automatically guiding trolley |
| CN102195333A (en) * | 2010-03-17 | 2011-09-21 | 新神户电机株式会社 | Direct-current power source apparatus |
| CN205829233U (en) * | 2016-07-14 | 2016-12-21 | 上海展枭新能源科技有限公司 | A kind of charging device of AGV dolly |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107040017A (en) * | 2017-01-09 | 2017-08-11 | 上海展枭新能源科技有限公司 | A kind of N-free diet method intelligent charging system and its charging method based on lithium-ion capacitor |
| CN110957544A (en) * | 2018-09-26 | 2020-04-03 | 本田技研工业株式会社 | Control device for lithium ion battery, control method for lithium ion battery, and storage medium |
| CN110957544B (en) * | 2018-09-26 | 2023-07-28 | 本田技研工业株式会社 | Control device for lithium ion battery, control method for lithium ion battery and storage medium |
| CN114475306A (en) * | 2021-12-29 | 2022-05-13 | 北京昊瑞昌科技有限公司 | Charging method of AGV trolley |
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| Publication number | Publication date |
|---|---|
| CN106100046B (en) | 2019-02-01 |
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