JPH03273830A - Charging controller of battery - Google Patents
Charging controller of batteryInfo
- Publication number
- JPH03273830A JPH03273830A JP2071966A JP7196690A JPH03273830A JP H03273830 A JPH03273830 A JP H03273830A JP 2071966 A JP2071966 A JP 2071966A JP 7196690 A JP7196690 A JP 7196690A JP H03273830 A JPH03273830 A JP H03273830A
- Authority
- JP
- Japan
- Prior art keywords
- charging
- battery
- voltage
- current
- time
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野″］
本発明はたとえば、床面上の所定のルート上を自動走行
する無人搬送車に搭載される駆動電源として使用される
バッテリーの充電制御装置の改良に関する。[Detailed Description of the Invention] [Industrial Application Field''] The present invention relates to, for example, a battery charging control device used as a drive power source mounted on an automatic guided vehicle that automatically travels on a predetermined route on a floor surface. Regarding improvements.
［従来の技術」
無人搬送車に搭載されたバッテリーは、使用（放電）に
よってその容量が低下し、そのまま使用し続けると最後
には所定の電流で放電できなくなるので、それ以前に充
電を行って満充電状態に回復させることにより、その性
能を維持させている。[Conventional technology] The capacity of the battery installed in an automatic guided vehicle decreases as it is used (discharged), and if it continues to be used as it is, eventually it will no longer be able to discharge at the specified current, so it is necessary to charge it before then. By restoring the battery to a fully charged state, its performance is maintained.
この充電に適用されている従来のバッテリーの充電方式
としては、常にバッテリーを空の状態となるまで使用（
放電）し切ってしまったものを画一的な充電時間を定め
て充電を行う制御方式によって行われていた。The conventional battery charging method applied to this charging method is to always use the battery until it is empty (
This was done using a control method that set a uniform charging time and charged the battery that had been completely discharged (discharged).
［発明が解決しようとする課題］
ところで、従来の無人搬送車のバッテリーの充電制御方
式のものでは、バッテリーの放電深度が一定の場合には
適しているが、１回の充電時間が長くなるから、無人搬
送車の移載作業中に充電を並行して行う場合には、移載
作業時間に比して充電時間が非常に長くなって無人搬送
車および移載ステーションが充電作業のために占有され
てしまい、システムの稼働に支障をきたすという問題が
あった・
また、バッテリーの放電深度が一定でない場合に、充電
を打ち切るタイミングを画一的に定めるようにすると、
過充電によりガスが発生して無人搬送車が配置されてい
るクリーンルームの空気を汚染したり、一定容量前に充
電が終了した場合には充電が不十分となる恐れがあった
。[Problem to be solved by the invention] By the way, the conventional automatic guided vehicle battery charging control method is suitable when the depth of discharge of the battery is constant, but it takes a long time to charge one time. If charging is performed in parallel during the transfer operation of the automatic guided vehicle, the charging time will be much longer than the transfer operation time, and the automatic guided vehicle and transfer station will be occupied by the charging operation. There was a problem that this caused problems with the operation of the system.In addition, if the timing to stop charging was set uniformly when the depth of discharge of the battery was not constant,
There was a risk that gas would be generated due to overcharging and pollute the air in the clean room where the automatic guided vehicle is located, or that charging would be insufficient if charging ended before a certain capacity was reached.
本発明は従来のものの上記課題（問題点）を解決するよ
うにした無人搬送車のバッテリー充電制御装置を提供す
ることを目的とする。An object of the present invention is to provide a battery charging control device for an automatic guided vehicle that solves the above-mentioned problems (problems) of the conventional device.
［課題を解決するための手段］
本発明は当該バッテリーの端子電圧があらかじめ設定さ
れた規定電圧値に達したことを検出する電圧検出手段と
上記電圧検出手段の信号により。[Means for Solving the Problems] The present invention uses voltage detection means for detecting that the terminal voltage of the battery reaches a preset specified voltage value, and a signal from the voltage detection means.
バッテリーに対する充電電流または充電電圧を制御する
電流制御手段または電圧制御手段とを備え。Current control means or voltage control means for controlling charging current or charging voltage for the battery.
充電開始から所定電流でバッテリーを充電し、バッテリ
ーの端子電圧が規定電圧に到達するまでの時間を計測し
、その後は充電電流または充電電圧を変えて充電を行う
が、前記到達時間を基準に充電を打ち切る時間を算出し
、バッテリーの充電を打ち切るようにしたバッテリーの
充電制御装置に関する。Charge the battery with a specified current from the start of charging, measure the time until the terminal voltage of the battery reaches the specified voltage, and then charge by changing the charging current or charging voltage, but charge based on the reaching time. The present invention relates to a battery charging control device that calculates the time to terminate battery charging and terminates battery charging.
この場合、バッテリーを所定の同一電圧で充電して所定
の回数、規定電圧に到達するまでの累計の時間を計測し
、その後は充電電流または充を電圧を変えて充電を行う
が、前記到達時間を基準に充電を打ち切る時間を算出し
、バッテリーの充電を打ち切るようにしたバッテリーの
充電制御装置としても良い。In this case, the battery is charged at the same predetermined voltage and the cumulative time required to reach the specified voltage is measured a predetermined number of times.After that, charging is performed by changing the charging current or charge voltage, but the time required to reach the specified number of times is measured. It is also possible to use a battery charging control device that calculates the time to stop charging based on the reference value and stops charging the battery.
また、バッテリーに対する充電開始から規定電圧到達ま
での充電は、上記電流制御手段によりバッテリーの充電
電流を一定値の大電流に設定することにより行い、規定
電圧到達を電圧検出手段で検出したときは、その検出信
号に基づいてバッテリの充電電圧を定電圧に切り換える
か、または上記電流制御手段を小電流に切り換えて、上
記演算で算出された充電打ち切り時間まで充電を行うよ
うにしたバッテリーの充電制御装置とすることができる
。Further, charging of the battery from the start of charging until reaching the specified voltage is performed by setting the charging current of the battery to a constant value of large current by the current control means, and when the reaching of the specified voltage is detected by the voltage detection means, A battery charging control device that switches the charging voltage of the battery to a constant voltage based on the detection signal, or switches the current control means to a small current, and charges until the charging cutoff time calculated by the above calculation. It can be done.
［実施例］
以下第１図〜第２図に示す一実施例により本発明を具体
的に説明する。[Example] The present invention will be specifically described below with reference to an example shown in FIGS. 1 and 2.
第１図において、１は無人搬送車に搭載された駆動電源
としてのバッテリー、２は無人搬送車側に配置される受
電用カブラと充電ステーションに配置される給電用カブ
ラより成る給電装置で、バッテリーｌに対する充電電力
を供給する。In Figure 1, 1 is a battery as a driving power source mounted on the automatic guided vehicle, 2 is a power supply device consisting of a power receiving cover placed on the automatic guided vehicle side and a power feeding cover placed at the charging station. Supplies charging power for l.
３は交流電源、４は充電電源装置で、インバタ、整流器
等より成り、バッテリー１への供給電力が充電電力とし
て適正なレベルの直流電力となるように調整している。3 is an AC power source, and 4 is a charging power supply device, which includes an inverter, a rectifier, etc., and adjusts the power supplied to the battery 1 to be DC power at an appropriate level as charging power.
５は電流制御手段で、たとえば、充電電源装置４中のイ
ンバータの位相信号を制御することにより充電電流の値
を増減できるようになっており。Reference numeral 5 denotes a current control means, which can increase or decrease the value of the charging current by controlling, for example, the phase signal of the inverter in the charging power supply device 4.
後述の電圧検出手段６がちの検出信号によって所定の低
電流へと電流値を切り換えるための位相制御を行うよう
になっている。A voltage detection means 6, which will be described later, performs phase control to switch the current value to a predetermined low current based on a detection signal.
６は電圧検出手段で、バッテリー１の端子電圧を監視し
、この電圧がバッテリーのガツシング電圧■。（バッテ
リーが過充電となってガスを発生する直前の電圧、以下
規定電圧と称する）に到達したことを検出し、この検出
信号を電流制御手段５と第１のタイマ７に供給する。6 is a voltage detection means that monitors the terminal voltage of battery 1, and this voltage is the battery gassing voltage ■. (The voltage immediately before the battery becomes overcharged and generates gas, hereinafter referred to as a specified voltage) is detected, and this detection signal is supplied to the current control means 5 and the first timer 7.
８はマイクロコンピュータまたはマイクロプロセッサ等
の演算処理装置（以下ＣＰＵと略記する）９は第２のタ
イマである。8 is an arithmetic processing unit (hereinafter abbreviated as CPU) such as a microcomputer or microprocessor, and 9 is a second timer.
第１のタイマ７はｃｐｕｓからの起動指令に基づいて時
間計測を開始し、電圧検出手段６からのバッテリーの端
子電圧が規定電圧■。に到達した時の検出信号を受けて
計測を終了し、規定電圧への到達時間Ｔ１をｃｐｕｓに
伝える（第２図（イ））。The first timer 7 starts measuring time based on the activation command from the CPU, and the terminal voltage of the battery from the voltage detection means 6 reaches the specified voltage ■. The measurement is completed upon receiving a detection signal when the voltage reaches the specified voltage, and the time T1 for reaching the specified voltage is transmitted to the CPU (FIG. 2 (a)).
なお、このように規定電圧■。に１回の充電で到達する
時間Ｔ、を基準の計測時間に使用する代わりに、第２図
（ロ）に示すようにバッテリーを所定の同一電圧で充電
して所定の回数、規定電圧■。に到達するまでの累計の
時間Ｔ１′を計測の基準時間に使用するようにしても良
い。In addition, as shown above, the specified voltage ■. Instead of using the time T reached by one charge as the standard measurement time, the battery is charged at the same predetermined voltage a predetermined number of times, as shown in FIG. The cumulative time T1' until reaching the point may be used as the measurement reference time.
即ち、ＣＰＩＪ８はこれらの時間Ｔ１およびＴに基づい
て１次の小電流のレベルで充電を打ち切るべき時間Ｔ２
をタイマ９に与えて、タイマ９がこの時間Ｔ２を検知し
たとき、この検知指令を受けて充電電源装置４に充電打
切指令を出すようになっている。That is, CPIJ8 determines the time T2 at which charging should be terminated at the level of the primary small current based on these times T1 and T.
is given to the timer 9, and when the timer 9 detects this time T2, it receives this detection command and issues a charge termination command to the charging power supply device 4.
なお、電流制御手段５の代わりに、電圧制御手段を設け
、バッテリーの充電電圧を定電圧へと切り換えるように
しても良い。Note that instead of the current control means 5, a voltage control means may be provided to switch the charging voltage of the battery to a constant voltage.
［作用］
次に、第２図（イ）および（ロ）に示すタイムチャート
を用いて１本発明装置の動作を説明する。[Operation] Next, the operation of the apparatus of the present invention will be explained using the time charts shown in FIGS. 2(a) and 2(b).
なお、第２図（イ）および（ロ）は夫々バッテリーの端
子電圧■の時間経過を示すものである。Note that FIGS. 2(a) and 2(b) each show the time course of the battery terminal voltage (2).
無人搬送車のバッテリー１を充電する場合は。When charging battery 1 of an automatic guided vehicle.
同車を充電ステーションに停止させ、給電装置２を連結
状態とし、ＣＰＵ８および充電電源装置４をＯＮとする
。The vehicle is stopped at a charging station, the power supply device 2 is connected, and the CPU 8 and charging power supply device 4 are turned on.
したがって、バッテリー１は、充電電源装置４から給電
装置２を介して電流制御手段５の初めの設定によって第
２図（イ）の充電制御では同図の区間ｔ０→ｔ１で示す
充電特性によって充電電力が供給され、バッテリー１は
急速に充電を開始し時点ｔ１において充電電圧は規定電
圧■。に到達する６
一方、第２図（ロ）の充電制御の場合には１時点ｔ ｌ
＋ｊ 、°、ｔ、”の３回の規定電圧Ｖ。への到達時点
を含む区間ｔ。−ｔ１°′で示す充電特性でバッテリー
が充電されることになる。Therefore, in the charging control shown in FIG. 2(A), the charging power is supplied to the battery 1 from the charging power supply device 4 via the power supply device 2 according to the charging characteristics shown in the section t0→t1 in the same figure, depending on the initial setting of the current control means 5. is supplied, the battery 1 starts charging rapidly, and at time t1, the charging voltage reaches the specified voltage ■. 6 On the other hand, in the case of the charging control shown in Fig. 2 (b), at one point t l
The battery is charged in an interval t including the time point when the specified voltage V. +j, °, t,'' is reached three times.The battery is charged with the charging characteristic shown by -t1°'.
よって、電圧検出手段６はこれらの各場合での端子電圧
■。への到達を検出して、検出信号を電流検出手段５と
タイマ７とに与える。Therefore, the voltage detection means 6 detects the terminal voltage ■ in each of these cases. The arrival of the current is detected and a detection signal is given to the current detection means 5 and the timer 7.
したがって１タイマ７はこれらの計測時間ＴまたはＴ１
をＣＰＵ８に与えて、ｃｐｕｓにおいて充電打ち切り時
間Ｔ２を演算してタイマ９に与えると共に、を流制御手
段５は前記検出信号によって充電電流を小電流に切り換
えるような位相信号に切り換える。Therefore, one timer 7 measures these measurement times T or T1.
is given to the CPU 8, and the CPU calculates the charge termination time T2 and gives it to the timer 9, and the current control means 5 switches the charging current to a phase signal that switches the charging current to a small current based on the detection signal.
このため、充電電源装置４が時点ｔ１または時点ｔ、ｌ
以降は第２図に示すようにバッテリー１に供給する充電
電流を低下させて補充の充電を行い。For this reason, the charging power supply device 4 is activated at time t1 or at time t, l.
Thereafter, as shown in FIG. 2, the charging current supplied to the battery 1 is reduced to perform supplementary charging.
タイマ９から前記時間Ｔ２が計測されたときはＣＰＵ８
を介して充電打切指令が充電電源装置４に与えられる。When the time T2 is measured by the timer 9, the CPU 8
A charging termination command is given to charging power supply device 4 via.
したがって、同装置４からの充を電力の供給は打ち切ら
れ、バッテリー１の充電は終了する。Therefore, the supply of electric power from the device 4 is terminated, and charging of the battery 1 is terminated.
なお、この場合、バッテリー１はｃｐｕｓにおいて、規
定電圧■。に到達するまでの時間Ｔ１またはＴ１゛によ
って１充電開始前の放電深度が計測され この放電深度
に応じて、当該バッテリーに対して最適の充電容量とな
るまで１打切時間Ｔ２を演算により決定して急速充電を
行うものであるから、その充電は適正なものである。In this case, the battery 1 is at the specified voltage ■ in CPU. The depth of discharge before the start of one charge is measured by the time T1 or T1゛ taken to reach this point, and according to this depth of discharge, the one-time cut-off time T2 is determined by calculation until the optimal charging capacity is reached for the battery. Since it performs rapid charging, the charging is appropriate.
［発明の効果］
本発明は上記のように充電対象となる無人搬送車のバッ
テリーの充電を行う場合、２段階の充電特性によって充
電を行うようにしたため９次のような優れた効果を有す
る。[Effects of the Invention] When the battery of an automatic guided vehicle to be charged is charged as described above, the present invention performs charging using a two-stage charging characteristic, and thus has the following excellent effects.
■本発明では充電対象のバッテリーの充電開始前の放電
深度を考慮しすることなく充電が行えるので、無人搬送
車の移載作業中にバッテリーの充電を並行して行う場合
では、バッテリーの放電深度の浅いうちから充電を行え
る。■With the present invention, charging can be performed without considering the depth of discharge of the battery to be charged before the start of charging. Charging can be done from a young age.
このため、１回の充電時間が短くなり、無人搬送車およ
び充電ステーションが充電作業のために占有されてしま
うことはなくシステムの効率的運用が可能である。Therefore, the time required for one charging is shortened, and the automatic guided vehicle and charging station are not occupied for charging work, allowing efficient operation of the system.
■無人搬送車に消費電力積算計等の放電深度を検出する
ための手段を備えなくても、過充電によりガスが発生し
て、無人搬送車が配置されているクリーンルームの空気
を汚染したり、一定の充電容量の手前の充電で充電が終
了してしまい。■Even if the automatic guided vehicle is not equipped with a means to detect the depth of discharge such as a power consumption totalizer, overcharging will generate gas and contaminate the air in the clean room where the automatic guided vehicle is located. Charging ends before a certain charging capacity is reached.
充電が不十分となるということは防止され、充電作業は
常に効率良く、適正に行える。Insufficient charging is prevented, and charging work can always be performed efficiently and properly.
第１図および第２図は本発明の一実施例を示すもので、
その内、第１図は接続図、第２図（イ）および（ロ）は
夫々タイムチャートである。
５ 電流制御手段
６：を圧検出手段
７．９：タイマ
８：マイクロコンピュータ（ＣＰＵ）1 and 2 show an embodiment of the present invention,
Of these, FIG. 1 is a connection diagram, and FIGS. 2 (a) and (b) are time charts, respectively. 5 Current control means 6: Pressure detection means 7.9: Timer 8: Microcomputer (CPU)
Claims (1)
規定電圧値に達したことを検出する電圧検出手段と上記
電圧検出手段の信号により、バッテリーに対する充電電
流または充電電圧を制御する電流制御手段または電圧制
御手段とを備え、充電開始から所定電流でバッテリーを
充電し、バッテリーの端子電圧が規定電圧に到達するま
での時間を計測し、その後は充電電流または充電電圧を
変えて充電を行うが、前記到達時間を基準に充電を打ち
切る時間を算出し、バッテリーの充電を打ち切るように
したことを特徴とするバッテリーの充電制御装置。 ２、バッテリーを所定の同一電圧で充電して所定の回数
、規定電圧に到達するまでの累計の時間を計測し、その
後は充電電流または充電電圧を変えて充電を行うが、前
記到達時間を基準に充電を打ち切る時間を算出し、バッ
テリーの充電を打ち切るようにした請求項１記載のバッ
テリーの充電制御装置。 ３、バッテリーに対する充電開始から規定電圧到達まで
の充電は、上記電流制御手段によりバッテリーの充電電
流を一定値の大電流に設定することにより行い、規定電
圧到達を電圧検出手段で検出したときは、その検出信号
に基づいてバッテリーの充電電圧を定電圧に切り換える
か、または、上記電流制御手段を小電流に切り換えて、
上記演算で算出された充電打ち切り時間まで充電を行う
ようにした請求項１記載のバッテリーの充電制御装置。[Claims] 1. Voltage detection means for detecting that the terminal voltage of the battery has reached a preset specified voltage value, and a signal from the voltage detection means to control the charging current or charging voltage for the battery. The battery is equipped with current control means or voltage control means, charges the battery with a predetermined current from the start of charging, measures the time until the terminal voltage of the battery reaches the specified voltage, and then charges by changing the charging current or charging voltage. A battery charging control device characterized in that the charging control device calculates a time to stop charging based on the arrival time and stops charging the battery. 2. Charge the battery at the same predetermined voltage a predetermined number of times and measure the cumulative time until the specified voltage is reached.After that, charge the battery by changing the charging current or charging voltage, but do not use the above-mentioned reaching time as the reference. 2. The battery charging control device according to claim 1, wherein the battery charging control device calculates a time at which charging is to be terminated and terminates charging of the battery. 3. Charging the battery from the start of charging until reaching the specified voltage is performed by setting the battery charging current to a constant large current value using the current control means, and when the reaching of the specified voltage is detected by the voltage detection means, Based on the detection signal, the battery charging voltage is switched to a constant voltage, or the current control means is switched to a small current,
2. The battery charging control device according to claim 1, wherein charging is performed until the charging termination time calculated by the above calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2071966A JP2513339B2 (en) | 1990-03-23 | 1990-03-23 | Battery charge control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2071966A JP2513339B2 (en) | 1990-03-23 | 1990-03-23 | Battery charge control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03273830A true JPH03273830A (en) | 1991-12-05 |
| JP2513339B2 JP2513339B2 (en) | 1996-07-03 |
Family
ID=13475724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2071966A Expired - Fee Related JP2513339B2 (en) | 1990-03-23 | 1990-03-23 | Battery charge control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2513339B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0575964U (en) * | 1992-03-17 | 1993-10-15 | 神鋼電機株式会社 | Charge control device |
| JPH0764638A (en) * | 1993-08-24 | 1995-03-10 | Matsushita Electric Ind Co Ltd | Mobile robot |
| KR100388417B1 (en) * | 1997-05-28 | 2003-08-19 | 기아자동차주식회사 | Apparatus for controlling charging time of electric vehicle and controlling method thereof |
| JP2005006461A (en) * | 2003-06-13 | 2005-01-06 | Panasonic Ev Energy Co Ltd | Method for controlling charging/discharging of secondary battery for automated guided vehicle |
| JP2009254055A (en) * | 2008-04-03 | 2009-10-29 | Lecip Corp | Charger device and charging method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5284632U (en) * | 1975-12-19 | 1977-06-24 | ||
| JPS5963638U (en) * | 1982-10-18 | 1984-04-26 | 小松フオ−クリフト株式会社 | charging device |
| JPH01321828A (en) * | 1988-06-24 | 1989-12-27 | Canon Inc | Charger |
-
1990
- 1990-03-23 JP JP2071966A patent/JP2513339B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5284632U (en) * | 1975-12-19 | 1977-06-24 | ||
| JPS5963638U (en) * | 1982-10-18 | 1984-04-26 | 小松フオ−クリフト株式会社 | charging device |
| JPH01321828A (en) * | 1988-06-24 | 1989-12-27 | Canon Inc | Charger |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0575964U (en) * | 1992-03-17 | 1993-10-15 | 神鋼電機株式会社 | Charge control device |
| JPH0764638A (en) * | 1993-08-24 | 1995-03-10 | Matsushita Electric Ind Co Ltd | Mobile robot |
| KR100388417B1 (en) * | 1997-05-28 | 2003-08-19 | 기아자동차주식회사 | Apparatus for controlling charging time of electric vehicle and controlling method thereof |
| JP2005006461A (en) * | 2003-06-13 | 2005-01-06 | Panasonic Ev Energy Co Ltd | Method for controlling charging/discharging of secondary battery for automated guided vehicle |
| US7193394B2 (en) | 2003-06-13 | 2007-03-20 | Panasonic Ev Energy Co., Ltd. | Method of controlling charge and discharge of secondary battery for automatic guided vehicle |
| JP2009254055A (en) * | 2008-04-03 | 2009-10-29 | Lecip Corp | Charger device and charging method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2513339B2 (en) | 1996-07-03 |
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