CN108528229A - A kind of AGV trolleies charge control system and method based on electricity monitoring - Google Patents
A kind of AGV trolleies charge control system and method based on electricity monitoring Download PDFInfo
- Publication number
- CN108528229A CN108528229A CN201810142234.8A CN201810142234A CN108528229A CN 108528229 A CN108528229 A CN 108528229A CN 201810142234 A CN201810142234 A CN 201810142234A CN 108528229 A CN108528229 A CN 108528229A
- Authority
- CN
- China
- Prior art keywords
- agv
- route planning
- backstage
- module
- wireless communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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]
-
- 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
-
- 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
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of AGV trolleies charge control systems and method based on electricity monitoring, and the system comprises vehicle-mounted charge control devices and route planning backstage；Vehicle-mounted charge control device includes accumulator group, electric power detection module, in-vehicle processor, AGV general purpose controllers, locating module and wireless communication module；In-vehicle processor, in accumulator group low battery, acquisition real-time positioning information to be sent to route planning backstage, and the programme path received is transferred to AGV general purpose controllers, and control AGV trolleies go to charging station to charge；Route planning server, for the real-time positioning information according to AGV trolleies, the nearest AGV charging stations of chosen distance go to the traffic route of target charging station as target charging station, planning AGV trolleies.The present invention can carry out electricity monitoring in the AGV trolley courses of work, when electricity is less than given threshold, carries out path planning, go to and charge apart from nearest AGV charging stations, ensure that AGV trolleies are continued for transport.
Description
Technical field
The present invention relates to AGV trolleies, more particularly to a kind of AGV trolleies charge control system based on electricity monitoring and side
Method.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), also commonly referred to as AGV trolleies, refer to equipment
There is electricity magnetically or optically to wait homing guidances device, can be travelled along defined guide path, there is safeguard protection and various transfers
The transport vehicle of function, ACV trolleies do not need driver in commercial Application, using rechargeable storage battery as its power resources.
AGV trolleies compared with walking, are creeped or other non-wheeled mobile robots have that action is quick, work characterized by wheel type mobile
Make the advantages such as efficient, simple in structure, controllability is strong, safety is good, compared with common other equipment in material conveying, AGV
Zone of action without being laid with the fixing devices such as track, support saddle frame, do not limited by place, road and space；Therefore, automatic
In compound streaming system, its automaticity and flexibility can be fully embodied, realizes efficient, economic, flexible manless production.
AGV trolleies during the work time, are powered by accumulator group most of the time, if accumulator group electricity
Amount will be unable to work on, and can hinder the transport routes of AGV trolleies when using up, therefore, the electricity monitoring of AGV trolleies and
Charging controller is extremely important.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of AGV trolleies chargings based on electricity monitoring
Control system and method can be monitored the electricity of accumulator group in the AGV trolley courses of work, and are less than in electricity and set
When determining threshold value, path planning is carried out, goes to and charges apart from nearest AGV charging stations, to ensure that AGV trolleies are continued for
Transport improves the automatization level of AGV trolleies transport.
The purpose of the present invention is achieved through the following technical solutions：A kind of AGV trolleies charging based on electricity monitoring
Control system, including vehicle-mounted charge control device and route planning backstage；
The vehicle-mounted charge control device includes accumulator group, electric power detection module, in-vehicle processor, AGV general purpose controllers, determines
Position module and wireless communication module, electricity of the electric power detection module for acquiring accumulator group in AGV trolleies in real time, electricity
The output end of detection module is connect with in-vehicle processor, the in-vehicle processor respectively with locating module, AGV general purpose controllers and
Onboard wireless communication module connects；The route planning backstage includes backstage wireless communication module and route planning server, institute
It states route planning server to connect with backstage wireless communication module, the onboard wireless communication module and backstage wireless communication module
By wireless network connection, so that realizing communication interconnection between vehicle-mounted charge control device and route planning backstage；
The in-vehicle processor, in accumulator group low battery, the collected real-time positioning information of locating module to be led to
It crosses onboard wireless communication module and is sent to route planning backstage, request carries out route planning, and will be from route planning backstage
Programme path is transferred to AGV general purpose controllers, and control AGV trolleies go to AGV charging stations to charge；
The location information that each AGV charging stations are preserved in the route planning server, for asking receiving route planning
After asking, according to the real-time positioning information of AGV trolleies, the nearest AGV charging stations of chosen distance plan AGV as target charging station
Trolley goes to the traffic route of target charging station, is sent to the vehicle-mounted charge control device of AGV trolleies.
Wherein, the in-vehicle processor includes：Threshold setting module goes to AGV charging stations for presetting AGV trolleies
Power threshold；Threshold value comparison module, the information about power for acquiring electric power detection module in real time is compared with power threshold；Road
Line gauge draws request module, is used in power threshold of the accumulator electric-quantity less than setting, and locating module is collected fixed in real time
Position information sends a route planning backstage by onboard wireless communication module, and request carries out route planning；The route that charges transmits mould
Block controls AGV for the programme path from route planning backstage to be transferred to AGV general purpose controllers by AGV general purpose controllers
Trolley goes to AGV charging stations to charge.
Wherein, the route planning server includes：Memory module, the positioning for preserving each AGV charging stations are believed
Breath；AGV charging station selecting modules, for the real-time positioning information according to AGV trolleies, the nearest AGV charging stations of chosen distance are made
For target charging station；Route planning module passes through backstage nothing for planning that AGV trolleies go to the traffic route of target charging station
Line communication module is sent to the vehicle-mounted charge control device of AGV trolleies.
A kind of charge control method of AGV trolley charge control systems based on electricity monitoring, including following step
Suddenly：
In S1.AGV trolley transportational processes, electric power detection module acquires the information about power of accumulator group in real time, is transferred to vehicle-mounted place
Manage device；
S2. the real time electrical quantity information of accumulator group is compared by in-vehicle processor with preset power threshold, judges electricity in real time
Measure whether information is less than predetermined threshold value：
If so, entering step S3；
If it is not, return to step S1 continues to be detected the information about power of accumulator group；
S3. in-vehicle processor sends out the collected AGV trolley real-time positionings information of locating module by onboard wireless communication module
Route planning backstage is given, request carries out route planning；
S4. the real-time positioning information of route planning request and AGV trolleies is transferred to route planning clothes by backstage wireless communication module
Business device；Route planning server is according to the real-time positioning information of AGV trolleies, and from the AGV charge station informations of preservation, chosen distance is most
Close AGV charging stations are as target charging station；
S5. route planning servers' layout AGV trolleies go to the traffic route of target charging station, pass through backstage wireless communication module
It is sent to the vehicle-mounted charge control device of AGV trolleies；
S6. in-vehicle processor receives the traffic route of planning by onboard wireless communication module, and is transferred to AGV general controls
Device goes to AGV charging stations to charge by AGV general purpose controllers control AGV trolleies.
The beneficial effects of the invention are as follows：The electricity of accumulator group can be monitored in the AGV trolley courses of work, and
When electricity is less than given threshold, path planning is carried out, goes to and charges apart from nearest AGV charging stations, to ensure that AGV is small
Vehicle is continued for transport, improves the automatization level of AGV trolleies transport.
Description of the drawings
Fig. 1 is the system principle diagram of the present invention；
Fig. 2 is flow chart of the method for the present invention.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of AGV trolley charge control systems based on electricity monitoring, including vehicle-mounted charge control device
With route planning backstage；
The vehicle-mounted charge control device includes accumulator group, electric power detection module, in-vehicle processor, AGV general purpose controllers, determines
Position module and wireless communication module, electricity of the electric power detection module for acquiring accumulator group in AGV trolleies in real time, electricity
The output end of detection module is connect with in-vehicle processor, the in-vehicle processor respectively with locating module, AGV general purpose controllers and
Onboard wireless communication module connects；The route planning backstage includes backstage wireless communication module and route planning server, institute
It states route planning server to connect with backstage wireless communication module, the onboard wireless communication module and backstage wireless communication module
By wireless network connection, so that realizing communication interconnection between vehicle-mounted charge control device and route planning backstage；
The in-vehicle processor, in accumulator group low battery, the collected real-time positioning information of locating module to be led to
It crosses onboard wireless communication module and is sent to route planning backstage, request carries out route planning, and will be from route planning backstage
Programme path is transferred to AGV general purpose controllers, and control AGV trolleies go to AGV charging stations to charge；
The location information that each AGV charging stations are preserved in the route planning server, for asking receiving route planning
After asking, according to the real-time positioning information of AGV trolleies, the nearest AGV charging stations of chosen distance plan AGV as target charging station
Trolley goes to the traffic route of target charging station, is sent to the vehicle-mounted charge control device of AGV trolleies.
Wherein, the in-vehicle processor includes：Threshold setting module goes to AGV charging stations for presetting AGV trolleies
Power threshold；Threshold value comparison module, the information about power for acquiring electric power detection module in real time is compared with power threshold；Road
Line gauge draws request module, is used in power threshold of the accumulator electric-quantity less than setting, and locating module is collected fixed in real time
Position information sends a route planning backstage by onboard wireless communication module, and request carries out route planning；The route that charges transmits mould
Block controls AGV for the programme path from route planning backstage to be transferred to AGV general purpose controllers by AGV general purpose controllers
Trolley goes to AGV charging stations to charge.
Wherein, the route planning server includes：Memory module, the positioning for preserving each AGV charging stations are believed
Breath；AGV charging station selecting modules, for the real-time positioning information according to AGV trolleies, the nearest AGV charging stations of chosen distance are made
For target charging station；Route planning module passes through backstage nothing for planning that AGV trolleies go to the traffic route of target charging station
Line communication module is sent to the vehicle-mounted charge control device of AGV trolleies.
As shown in Fig. 2, a kind of charge control method of AGV trolley charge control systems based on electricity monitoring,
Include the following steps：
In S1.AGV trolley transportational processes, electric power detection module acquires the information about power of accumulator group in real time, is transferred to vehicle-mounted place
Manage device；
S2. the real time electrical quantity information of accumulator group is compared by in-vehicle processor with preset power threshold, judges electricity in real time
Measure whether information is less than predetermined threshold value：
If so, entering step S3；
If it is not, return to step S1 continues to be detected the information about power of accumulator group；
S3. in-vehicle processor sends out the collected AGV trolley real-time positionings information of locating module by onboard wireless communication module
Route planning backstage is given, request carries out route planning；
S4. the real-time positioning information of route planning request and AGV trolleies is transferred to route planning clothes by backstage wireless communication module
Business device；Route planning server is according to the real-time positioning information of AGV trolleies, and from the AGV charge station informations of preservation, chosen distance is most
Close AGV charging stations are as target charging station；
S5. route planning servers' layout AGV trolleies go to the traffic route of target charging station, pass through backstage wireless communication module
It is sent to the vehicle-mounted charge control device of AGV trolleies；
S6. in-vehicle processor receives the traffic route of planning by onboard wireless communication module, and is transferred to AGV general controls
Device goes to AGV charging stations to charge by AGV general purpose controllers control AGV trolleies.
In embodiments herein, AGV charging stations use battery charging of the intelligent charging machine to AGV trolleies,
Charging process is divided into following three phases：First stage：Constant-current charge, when the voltage of accumulator group is relatively low, in order to avoid filling
The excessive damage accumulator group of electric current, it should which limiting charging current cannot be excessive, and in order to shorten the charging time, and should use allows
Maximum current charging, so using constant current（The maximum current of permission）Charging；Second stage：Constant-voltage charge, when constant current is filled
After electricity, charger output voltage is just constant, and the voltage for keeping this constant is to battery charging；Phase III：It is floating
Charging, is also named trickle charge, by trickle charge, the electricity of accumulator group is charged to close to 100%；This charging modes tool
Have charging rate is fast, charging reduction efficiency is high, it is unattended, can ultra-long time charging, without overcharging danger, service lifetime of accumulator
The features such as long.
To sum up, the present invention can be monitored the electricity of accumulator group in the AGV trolley courses of work, and low in electricity
When given threshold, path planning is carried out, goes to and charges apart from nearest AGV charging stations, to ensure AGV trolleies constantly
Transport is carried out, the automatization level of AGV trolleies transport is improved.
Claims (4)
1. a kind of AGV trolley charge control systems based on electricity monitoring, it is characterised in that：Including vehicle-mounted charge control device and
Route planning backstage；
The vehicle-mounted charge control device includes accumulator group, electric power detection module, in-vehicle processor, AGV general purpose controllers, determines
Position module and wireless communication module, electricity of the electric power detection module for acquiring accumulator group in AGV trolleies in real time, electricity
The output end of detection module is connect with in-vehicle processor, the in-vehicle processor respectively with locating module, AGV general purpose controllers and
Onboard wireless communication module connects；The route planning backstage includes backstage wireless communication module and route planning server, institute
It states route planning server to connect with backstage wireless communication module, the onboard wireless communication module and backstage wireless communication module
By wireless network connection, so that realizing communication interconnection between vehicle-mounted charge control device and route planning backstage；
The in-vehicle processor, in accumulator group low battery, the collected real-time positioning information of locating module to be led to
It crosses onboard wireless communication module and is sent to route planning backstage, request carries out route planning, and will be from route planning backstage
Programme path is transferred to AGV general purpose controllers, and control AGV trolleies go to AGV charging stations to charge；
The location information that each AGV charging stations are preserved in the route planning server, for asking receiving route planning
After asking, according to the real-time positioning information of AGV trolleies, the nearest AGV charging stations of chosen distance plan AGV as target charging station
Trolley goes to the traffic route of target charging station, is sent to the vehicle-mounted charge control device of AGV trolleies.
2. a kind of AGV trolley charge control systems based on electricity monitoring according to claim 1, it is characterised in that：Institute
Stating in-vehicle processor includes：
Threshold setting module goes to the power threshold of AGV charging stations for presetting AGV trolleies；
Threshold value comparison module, the information about power for acquiring electric power detection module in real time is compared with power threshold；
Route planning request module is used in power threshold of the accumulator electric-quantity less than setting, and locating module is collected
Real-time positioning information sends a route planning backstage by onboard wireless communication module, and request carries out route planning；
Charge route transmission module, for the programme path from route planning backstage to be transferred to AGV general purpose controllers, by
AGV general purpose controllers control AGV trolleies go to AGV charging stations to charge.
3. a kind of AGV trolley charge control systems based on electricity monitoring according to claim 1, it is characterised in that：Institute
Stating route planning server includes：
Memory module, the location information for preserving each AGV charging stations；
AGV charging station selecting modules, for the real-time positioning information according to AGV trolleies, the nearest AGV charging stations of chosen distance are made
For target charging station；
Route planning module passes through backstage wireless communication module for planning that AGV trolleies go to the traffic route of target charging station
It is sent to the vehicle-mounted charge control device of AGV trolleies.
4. a kind of AGV trolley charge control systems based on electricity monitoring according to any one of claim 1 ~ 3
Charge control method, it is characterised in that：Include the following steps：
In S1.AGV trolley transportational processes, electric power detection module acquires the information about power of accumulator group in real time, is transferred to vehicle-mounted place
Manage device；
S2. the real time electrical quantity information of accumulator group is compared by in-vehicle processor with preset power threshold, judges electricity in real time
Measure whether information is less than predetermined threshold value：
If so, entering step S3；
If it is not, return to step S1 continues to be detected the information about power of accumulator group；
S3. in-vehicle processor sends out the collected AGV trolley real-time positionings information of locating module by onboard wireless communication module
Route planning backstage is given, request carries out route planning；
S4. the real-time positioning information of route planning request and AGV trolleies is transferred to route planning clothes by backstage wireless communication module
Business device；Route planning server is according to the real-time positioning information of AGV trolleies, and from the AGV charge station informations of preservation, chosen distance is most
Close AGV charging stations are as target charging station；
S5. route planning servers' layout AGV trolleies go to the traffic route of target charging station, pass through backstage wireless communication module
It is sent to the vehicle-mounted charge control device of AGV trolleies；
S6. in-vehicle processor receives the traffic route of planning by onboard wireless communication module, and is transferred to AGV general controls
Device goes to AGV charging stations to charge by AGV general purpose controllers control AGV trolleies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142234.8A CN108528229A (en) | 2018-02-11 | 2018-02-11 | A kind of AGV trolleies charge control system and method based on electricity monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142234.8A CN108528229A (en) | 2018-02-11 | 2018-02-11 | A kind of AGV trolleies charge control system and method based on electricity monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108528229A true CN108528229A (en) | 2018-09-14 |
Family
ID=63485992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810142234.8A Pending CN108528229A (en) | 2018-02-11 | 2018-02-11 | A kind of AGV trolleies charge control system and method based on electricity monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108528229A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795366A (en) * | 2018-12-11 | 2019-05-24 | 芜湖智久机器人有限公司 | A kind of battery change system and its control method |
| CN109855642A (en) * | 2019-02-26 | 2019-06-07 | 广州信沃达电子科技有限公司 | A kind of new-energy automobile automobile charging pile finding system |
| CN109895651A (en) * | 2019-01-16 | 2019-06-18 | 芜湖智久机器人有限公司 | A kind of AGV cluster management system and method |
| CN109927589A (en) * | 2019-04-18 | 2019-06-25 | 珠海广通汽车有限公司 | A kind of battery mends method for electrically, device and automobile |
| CN110388074A (en) * | 2019-07-29 | 2019-10-29 | 广东博智林机器人有限公司 | A kind of metope maintenance process, control system and spray robot |
| CN110435448A (en) * | 2019-08-08 | 2019-11-12 | 浙江大华机器人技术有限公司 | Charging method, device and system, storage medium and the electronic device of vehicle |
| CN112124148A (en) * | 2020-09-27 | 2020-12-25 | 劢微机器人科技(深圳)有限公司 | AGV trolley charging method, device, equipment and storage medium |
| JP2022503434A (en) * | 2018-11-07 | 2022-01-12 | 青▲島▼港国▲際▼股▲分▼有限公司 | AGV charging method and system for automated container terminals |
| CN116199059A (en) * | 2023-03-08 | 2023-06-02 | 宜科(天津)电子有限公司 | Elevator running state monitoring system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016063699A (en) * | 2014-09-19 | 2016-04-25 | 株式会社日本自動車部品総合研究所 | Wireless power supply device |
| CN106218427A (en) * | 2016-07-28 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | The charging method of unmanned vehicle and device |
| CN107379994A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of automatic guided vehicle power supply management method |
| CN107677287A (en) * | 2017-09-22 | 2018-02-09 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly based on convolutional neural networks follow line method |
-
2018
- 2018-02-11 CN CN201810142234.8A patent/CN108528229A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016063699A (en) * | 2014-09-19 | 2016-04-25 | 株式会社日本自動車部品総合研究所 | Wireless power supply device |
| CN106218427A (en) * | 2016-07-28 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | The charging method of unmanned vehicle and device |
| CN107379994A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of automatic guided vehicle power supply management method |
| CN107677287A (en) * | 2017-09-22 | 2018-02-09 | 南京轻力舟智能科技有限公司 | Automatic Guided Vehicle system and dolly based on convolutional neural networks follow line method |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022503434A (en) * | 2018-11-07 | 2022-01-12 | 青▲島▼港国▲際▼股▲分▼有限公司 | AGV charging method and system for automated container terminals |
| JP7212075B2 (en) | 2018-11-07 | 2023-01-24 | 青▲島▼港国▲際▼股▲分▼有限公司 | AGV charging method and system for automated container terminal |
| CN109795366A (en) * | 2018-12-11 | 2019-05-24 | 芜湖智久机器人有限公司 | A kind of battery change system and its control method |
| CN109895651A (en) * | 2019-01-16 | 2019-06-18 | 芜湖智久机器人有限公司 | A kind of AGV cluster management system and method |
| CN109855642A (en) * | 2019-02-26 | 2019-06-07 | 广州信沃达电子科技有限公司 | A kind of new-energy automobile automobile charging pile finding system |
| CN109855642B (en) * | 2019-02-26 | 2023-06-27 | 蜂鸟智超新能源技术(上海)有限公司 | Automobile charging pile searching system for new energy automobile |
| CN109927589A (en) * | 2019-04-18 | 2019-06-25 | 珠海广通汽车有限公司 | A kind of battery mends method for electrically, device and automobile |
| CN110388074A (en) * | 2019-07-29 | 2019-10-29 | 广东博智林机器人有限公司 | A kind of metope maintenance process, control system and spray robot |
| CN110435448A (en) * | 2019-08-08 | 2019-11-12 | 浙江大华机器人技术有限公司 | Charging method, device and system, storage medium and the electronic device of vehicle |
| CN112124148A (en) * | 2020-09-27 | 2020-12-25 | 劢微机器人科技(深圳)有限公司 | AGV trolley charging method, device, equipment and storage medium |
| CN116199059A (en) * | 2023-03-08 | 2023-06-02 | 宜科(天津)电子有限公司 | Elevator running state monitoring system |
| CN116199059B (en) * | 2023-03-08 | 2023-11-14 | 天津宜科自动化股份有限公司 | Elevator running state monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108528229A (en) | A kind of AGV trolleies charge control system and method based on electricity monitoring | |
| CN108237942B (en) | Electric automobile rescue system and electric automobile rescue method | |
| CN104836293B (en) | Automatical pilot transportation vehicle（AGV）Charging method and mobile charging stake, charging system | |
| CN104578328B (en) | Intelligent mobile charging automobile system and method | |
| US20170174092A1 (en) | Mobile energy storage and method for providing energy to a consumer | |
| CN103346599B (en) | Electromobile charging method and system | |
| CN107390694B (en) | AGV dispatching system based on butt joint power supply | |
| CN102859324B (en) | Information provider unit and information providing method | |
| US20120053742A1 (en) | Information processing apparatus, information processing method, information processing system, and transportation means | |
| CN109747470B (en) | Movable body rescue system, server and movable body rescue method | |
| CN204809906U (en) | Remove energy storage charging device and remove energy storage charging system | |
| US20170043671A1 (en) | Control system for electric vehicle service network | |
| CN107627879A (en) | A kind of mobile charging system and method to be charged in order for more static electric automobiles | |
| CN104935038A (en) | Mobile energy-storage charging device and system | |
| KR102301302B1 (en) | Method for driving electric scooter, electric scooter and storage medium | |
| CN109878354A (en) | A kind of automatic charge device and its operation method | |
| CN111768155A (en) | Scheduling control method, intelligent mobile device, server and storage medium | |
| CN112078687A (en) | Charging vehicle and control method thereof | |
| US20230241992A1 (en) | Systems And Methods For Electric Autonomous Vehicle Charging Assistance On The Road | |
| CN106257368A (en) | Automatic running servo charging platform and servo charging delivery system for electric carrier | |
| CN109733240B (en) | AGV charging method based on RFID communication and internet technology | |
| US11794605B2 (en) | Power calculation apparatus and power calculation method | |
| CN110979031A (en) | Intelligent energy management method for double-source trackless vehicle | |
| CN109774501B (en) | Charging method of electric scooter and electric scooter | |
| CN206481459U (en) | A kind of many application scenario carrier loaders based on GPS RTK and wireless telecommunications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |