JPH0591604A - Power supply for automatically guided vehicle - Google Patents
Power supply for automatically guided vehicleInfo
- Publication number
- JPH0591604A JPH0591604A JP3082014A JP8201491A JPH0591604A JP H0591604 A JPH0591604 A JP H0591604A JP 3082014 A JP3082014 A JP 3082014A JP 8201491 A JP8201491 A JP 8201491A JP H0591604 A JPH0591604 A JP H0591604A
- Authority
- JP
- Japan
- Prior art keywords
- power supply
- guided vehicle
- contactor
- movable
- positive
- 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
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229910005580 NiCd Inorganic materials 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method 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
- 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
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は無人搬送車がステーショ
ンに停止中にバッテリに充電する無人搬送車の給電装置
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power supply device for an automated guided vehicle that charges a battery while the automated guided vehicle is stopped at a station.
【0002】[0002]
【従来の技術】従来の無人搬送車について図面を参照し
て説明する。図3は無人搬送車の外観斜視図、図4は給
電装置の構成説明図である。無人搬送車10は走行部11と
走行部11に搭載されたロボット部12と図外のマイコンな
どよりなる制御部70を含んでいる。走行部11は操舵走行
手段と、位置検出手段を備えており、走行路に沿って配
置された複数箇所のステーション20から被搬送物21を予
め設定された他のステーションまで搬送する機能を持っ
ている。すなわち、操舵走行手段によって床面に配設さ
れた光学テープ31を検知しながら走行し無人搬送車10に
搭載した磁気センサにより床面に設けた磁気テープ32の
検知によって所定位置に停止するようになっている。2. Description of the Related Art A conventional automatic guided vehicle will be described with reference to the drawings. FIG. 3 is an external perspective view of the automatic guided vehicle, and FIG. 4 is a configuration explanatory view of the power feeding device. The automated guided vehicle 10 includes a traveling unit 11, a robot unit 12 mounted on the traveling unit 11, and a control unit 70 including a microcomputer (not shown). The traveling unit 11 includes a steering traveling unit and a position detecting unit, and has a function of conveying the transported object 21 from a plurality of stations 20 arranged along the traveling path to another preset station. There is. That is, the vehicle travels while detecting the optical tape 31 disposed on the floor by the steering traveling means, and stops at a predetermined position by detecting the magnetic tape 32 provided on the floor by the magnetic sensor mounted on the automatic guided vehicle 10. Is becoming
【0003】ロボット部12は前記ステーション20におい
て、被搬送物21を相手側より受取り、または相手側に引
き渡すなどの機能をもっている。無人搬送車10の電力は
これに内蔵されたバッテリ41より供給されており、適宜
バッテリを充電するためステーション20の近傍に給電装
置を備えておき、無人搬送車10が停止中にロボット部12
に交流電力を供給するとともにバッテリ41に充電するよ
うになっている。給電装置は無人搬送車10に設けた集電
ユニット50とステーション20に設けた給電ユニット60か
らなっている。In the station 20, the robot section 12 has a function of receiving an object to be transported 21 from the other party or delivering it to the other party. The electric power of the automatic guided vehicle 10 is supplied from a battery 41 incorporated therein, and a power supply device is provided near the station 20 to appropriately charge the battery, and the robot unit 12 is provided while the automatic guided vehicle 10 is stopped.
The AC power is supplied to and the battery 41 is charged. The power feeding device includes a power collection unit 50 provided in the automatic guided vehicle 10 and a power feeding unit 60 provided in the station 20.
【0004】集電ユニット50は図4に示すように可動接
触子51と可動接触子51をステーション20に向かって移動
させる移動手段52を含んでいる。可動接触子51は単相交
流電源用である1対の可動接触子511 と、直流電源用で
ある正負1対の可動接触子512 からなっている。The current collecting unit 50 includes a movable contactor 51 and a moving means 52 for moving the movable contactor 51 toward the station 20, as shown in FIG. The movable contactor 51 includes a pair of movable contactors 511 for a single-phase AC power supply and a pair of positive and negative movable contacts 512 for a DC power supply.
【0005】給電ユニット60は固定接触子61と充電器62
と給電コンタクタ63を含んでいる。固定接触子61は単相
交流電源用である1対の固定接触子611 と直流電源用で
ある1対の固定接触子612 からなっており、前記移動手
段52によって可動接触子51と固定接触子61が電気的に接
触するようになっている。54は可動接触子51とバッテリ
41の間に接続された充電コンタクタである。The power supply unit 60 includes a fixed contact 61 and a charger 62.
And a power supply contactor 63. The fixed contact 61 includes a pair of fixed contacts 611 for a single-phase AC power supply and a pair of fixed contacts 612 for a DC power supply, and the moving means 52 moves the movable contact 51 and the fixed contactor. 61 is in electrical contact. 54 is a movable contactor 51 and a battery
It is a charging contactor connected between 41.
【0006】制御部70は充電時電圧調整器701 とビーク
ルコントローラ702 とロボットコントローラ703 を含ん
でいる。71はモータを含む無人搬送車10の動力部、72は
モータを含むロボットの動力部である。充電時電圧調整
器701 は自動電圧調整機能を有しており、例えばバッテ
リ電圧が24Vの場合充電供給電圧を24V標準値に調整す
るものである。The control unit 70 includes a charging voltage regulator 701, a vehicle controller 702, and a robot controller 703. Reference numeral 71 is a power unit of the automated guided vehicle 10 including a motor, and 72 is a power unit of a robot including a motor. The voltage regulator during charging 701 has an automatic voltage adjusting function, and adjusts the charging supply voltage to a standard value of 24V when the battery voltage is 24V, for example.
【0007】[0007]
【発明が解決しようとする課題】前記のように従来の無
人搬送車の給電装置においては、充電時電圧調整器701
が常時無人搬送車10に内蔵されている。しかしながら前
記充電時電圧調整器701は容積が大きく重量も大である
ため車体の小型軽量化ができないほか、発熱源となる等
の難点があった。本発明は上記事情に鑑みて創案された
もので、車体の重量と容積を少なくし小型軽量化を図っ
た無人搬送車の給電装置を提供することを目的としてい
る。As described above, in the conventional power feeding apparatus for the automatic guided vehicle, the charging voltage regulator 701 is used.
Is always built into the automated guided vehicle 10. However, since the voltage regulator during charging 701 has a large volume and a large weight, it is not possible to reduce the size and weight of the vehicle body, and there are drawbacks such as a heat source. The present invention has been made in view of the above circumstances, and an object thereof is to provide a power supply device for an automatic guided vehicle, which reduces the weight and volume of the vehicle body and reduces the size and weight.
【0008】[0008]
【課題を解決するための手段】本発明に係る無人搬送車
の給電装置は走行路に沿って設置された複数箇所のステ
ーションの間を走行し所定のステーションで停止中にバ
ッテリに充電する無人搬送車の給電装置であって、無人
搬送車に設けた集電ユニットとステーションに設けた給
電ユニットよりなり、前記集電ユニットは直流入力側正
負極の可動接触子と直流出力側正極の1個の可動接触子
と、前記各可動接触子をステーション側に向かって移動
させる移動手段と、前記各正極の可動接触子間に電気的
に接続された充電コンタクタを具備しており、一方、給
電ユニットは集電ユニットに対向して配置されており、
前記各可動接触子の移動した先端で前記可動接触子が電
気的に接触する各固定接触子と、充電器と、バッテリの
充電電圧を調整する充電時電圧調整器を具備しており、
かつ、充電器は直流入力側を正負極の固定接触子に、ま
た、充電時電圧調整器は直流入力側正負極と直流出力側
正極の各固定接触子にそれぞれ電気的に接続されている
ことを特徴としている。SUMMARY OF THE INVENTION An electric power feeding apparatus for an automatic guided vehicle according to the present invention travels between a plurality of stations installed along a traveling path and charges a battery while stopped at a predetermined station. A power supply device for a vehicle, which comprises a power collection unit provided in an unmanned guided vehicle and a power supply unit provided in a station, wherein the current collection unit includes one of a DC input side positive / negative movable contact and a DC output side positive electrode. The power supply unit includes a movable contactor, a moving unit that moves each movable contactor toward the station, and a charging contactor electrically connected between the movable contacts of each positive electrode. It is arranged facing the current collection unit,
Each movable contact has a fixed tip to which the movable contact electrically contacts at the moved tip of the movable contact, a charger, and a charging voltage regulator for adjusting the charging voltage of the battery,
Moreover, the DC input side of the charger shall be electrically connected to the positive and negative fixed contacts, and the charging voltage regulator shall be electrically connected to the DC input side positive and negative fixed contacts and the DC output side positive fixed contacts, respectively. Is characterized by.
【0009】[0009]
【実施例】以下、図面を参照して本発明に係る実施例を
説明する。図1は給電装置の要部構成説明図、図2は給
電装置の動作を示すフローチャートである。なお、図1
に於いてロボット部12に係る部分の図示を省略してい
る。本発明の給電装置は無人搬送車に設けた集電ユニッ
ト80とステーション20に設けた給電ユニット90からなっ
ている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory view of a main configuration of a power feeding device, and FIG. 2 is a flowchart showing an operation of the power feeding device. Note that FIG.
In the figure, the illustration of the part related to the robot section 12 is omitted. The power supply device of the present invention comprises a power collection unit 80 provided in the automatic guided vehicle and a power supply unit 90 provided in the station 20.
【0010】無人搬送車10は走行部11とロボット部12と
バッテリ41と集電ユニット80と制御部100 を含んでい
る。バッテリ41は例えばニッカドバッテリで本実施例に
おいては容量が24V10AHのものを用いている。集電ユニ
ット80は可動接触子81と、可動接触子81をステーション
20に向かって矢符方向に移動させ固定接触子91に電気的
に接触させる移動手段82と、充電コンタクタ83を含んで
いる。The automated guided vehicle 10 includes a traveling unit 11, a robot unit 12, a battery 41, a current collecting unit 80, and a control unit 100. The battery 41 is, for example, a NiCd battery and has a capacity of 24V10AH in this embodiment. The current collecting unit 80 is a movable contactor 81 and the movable contactor 81 is a station.
It includes a moving means 82 for moving in the arrow direction toward 20 and for electrically contacting the fixed contact 91, and a charging contactor 83.
【0011】可動接触子81は直流入力側正負極の可動接
触子811、812 と、直流出力側正極の1個の可動接触子8
13 からなっている。前記直流入力側の可動接触子811
、812 はバッテリ41に、また直流入力側及び直流出力
側の各可動接触子811 、813 は充電コンタクタ82の両端
子に、さらに前記可動接触子813 、812 はビークルコン
トローラ702 にそれぞれ電気的に接続されている。制御
部100 はビークルコントローラ702 とロボットコントロ
ーラ703 と無人搬送車の動力部71とロボットの動力部72
を含んでいる。The movable contact 81 includes positive and negative movable contacts 811 and 812 on the DC input side and one movable contact 8 on the positive side of the DC output.
It consists of 13. Movable contactor 811 on the DC input side
, 812 are electrically connected to the battery 41, the movable contacts 811 and 813 on the DC input side and the DC output side are electrically connected to both terminals of the charging contactor 82, and the movable contacts 813 and 812 are electrically connected to the vehicle controller 702. Has been done. The control unit 100 includes a vehicle controller 702, a robot controller 703, an automatic guided vehicle power unit 71, and a robot power unit 72.
Is included.
【0012】次に給電ユニット90について説明する。給
電ユニット90は固定接触子91と充電器62と給電コンタク
タ63と充電時電圧調整器701 を含んでいる。固定接触子
91は前記可動接触子81に対向して設けられ、直流入力側
正負極の固定接触子911 、912 と、直流出力側正極1個
の固定接触子913 からなっている。前記直流入力側の正
負極固定接触子911 、912 は給電コンタクタ63を介して
充電器62及び充電時電圧調整器701 に、また直流出力側
の正極固定接触子913 は充電時電圧調整器701 の出力用
端子にそれぞれ電気的に接続されている。充電時電圧調
整器701 はいわゆる3端子レギュレータである。通常電
圧が24Vのバッテリ41を充電する場合、31V程度の電圧
を印加する必要がある。これに対しバッテリ41から制御
部100 に給電するときは概略28〜20Vで供給している。
このため制御部100 に31Vの電圧を印加するのではな
く、標準電圧値である24Vに下降させるものである。な
お、無人搬送車10とステーション20の間には、例えば光
通信器等を用いた図外の通信手段が設けられており、両
接触子81、91の接触動作や充電の開始、停止等の情報を
両者間で授受するように構成されている。Next, the power supply unit 90 will be described. The power feeding unit 90 includes a fixed contactor 91, a charger 62, a power feeding contactor 63, and a charging voltage regulator 701. Fixed contact
91 is provided to face the movable contact 81, and is composed of fixed contacts 911 and 912 of positive and negative electrodes on the DC input side and one fixed contact 913 of one positive electrode on the DC output side. The positive and negative fixed contacts 911 and 912 on the DC input side are connected to the charger 62 and the charging voltage regulator 701 via the power contactor 63, and the positive output fixed contact 913 on the DC output side is connected to the charging voltage regulator 701. Each is electrically connected to the output terminals. The charging voltage regulator 701 is a so-called three-terminal regulator. When charging the battery 41 having a normal voltage of 24V, it is necessary to apply a voltage of about 31V. On the other hand, when power is supplied from the battery 41 to the control unit 100, it is supplied at approximately 28 to 20V.
Therefore, the voltage of 31V is not applied to the control unit 100, but is lowered to the standard voltage value of 24V. A communication means (not shown) using, for example, an optical communication device is provided between the unmanned guided vehicle 10 and the station 20, and the contact operation of both contacts 81 and 91 and the start and stop of charging are performed. It is configured to exchange information between the two parties.
【0013】次に本発明に係る給電方法について説明す
る。 無人搬送車10がステーション20に到着し定位置に停止
する(図2のS1、S2参照)。 図外の位置検出手段の出力により、ビークルコントロ
ーラ702 を介して移動手段82が動作し可動接触子81が所
定位置まで移動し固定接触子91に電気的に接触する(S
3、S4参照)。 前記可動接触子81の移動を図外の検知手段で検知す
る。充電コンタクタ83はオンされたままであるが、給電
コンタクタ63がオフされているので、電流は流れない。
無人搬送車10より前記通信手段によってステーション20
側に充電開始信号が伝達され(S6参照)、両接触子81、
91の接触状態が適宜手段によって確認される。接触不良
の場合には別途エラー処理がなされる(S7参照)。Next, the power feeding method according to the present invention will be described. The automated guided vehicle 10 arrives at the station 20 and stops at a fixed position (see S1 and S2 in FIG. 2). By the output of the position detecting means (not shown), the moving means 82 operates via the vehicle controller 702, the movable contact 81 moves to a predetermined position and electrically contacts the fixed contact 91 (S
3, see S4). The movement of the movable contact 81 is detected by a detection means (not shown). The charging contactor 83 remains turned on, but no current flows because the power feeding contactor 63 is turned off.
Station 20 from the automated guided vehicle 10 by the communication means
The charging start signal is transmitted to the side (see S6), and both contacts 81,
The contact state of 91 is confirmed by appropriate means. In the case of poor contact, error processing is performed separately (see S7).
【0014】充電器62及び給電コンタクタ63がオンさ
れた後、充電コンタクタ83がオフされ、バッテリ41の充
電が開始されるとともに、制御部100 には充電時電圧調
整器701 により調整された電圧が印加される。なお充電
器62は給電コンタクタ63がオンされた時には24V 電圧を
印加し、徐々に31V まで電圧を上げる仕組みを有してい
る(S8 、S9参照) 。充電時電圧調整器701 は充電開始時
においてバッテリ電圧24Vが出力されており、充電電圧
の上昇に伴い自動電圧調整機能により出力電圧が最大値
26.4Vに制御される。 ステーション20に於ける動作が完了するとビークルコ
ントローラ702 を介して充電停止信号が出力され(S10
参照)、充電時間と予め設定された時間とのチエック後
充電停止指令が発せられ(S11 、S12 参照)充電コンタ
クタ83がオンされ、給電コンタクタ63がオフし充電が停
止する(S13 、S14 参照)。なお充電時電圧調整器701
は充電電圧がなくなると同時に自動電圧制御機能が解除
され、バッテリ電圧24Vを出力する。なお、充電中に於
いては充電電圧が26.4Vを超過せず、また、充電開始、
充電完了時の過渡期においても出力電圧が24V±10%の
範囲に制御されている。After the charger 62 and the power supply contactor 63 are turned on, the charging contactor 83 is turned off, the charging of the battery 41 is started, and the control unit 100 receives the voltage adjusted by the charging voltage regulator 701. Is applied. The charger 62 has a mechanism for applying a voltage of 24V when the power supply contactor 63 is turned on and gradually increasing the voltage to 31V (see S8 and S9). The charging voltage regulator 701 outputs a battery voltage of 24 V at the start of charging, and the output voltage reaches the maximum value by the automatic voltage adjustment function as the charging voltage rises.
Controlled to 26.4V. When the operation in the station 20 is completed, a charge stop signal is output via the vehicle controller 702 (S10
A charge stop command is issued after the check between the charging time and a preset time (see S11 and S12), the charging contactor 83 is turned on, the power supply contactor 63 is turned off and charging is stopped (see S13 and S14). .. Charger voltage regulator 701
The automatic voltage control function is released at the same time when the charging voltage is exhausted, and the battery voltage of 24V is output. During charging, the charging voltage does not exceed 26.4V, and charging starts,
The output voltage is controlled within the range of 24V ± 10% even in the transitional period after completion of charging.
【0015】前記充電停止信号は予め設定されたタイ
ムアップ後(S15 参照)、ビークルコントローラ702 を
介して充電コンタクタ82がオフされる(S16 参照)。 ビークルコントローラ702 の出力により、可動集電子
81が元の位置に移動復帰し復帰位置を検知後(S17 、S1
8 参照)、無人搬送車10が発進する(S19 参照)。After the preset time-up of the charge stop signal (see S15), the charge contactor 82 is turned off via the vehicle controller 702 (see S16). The output of the vehicle controller 702 enables the movable current collector.
81 moves to the original position and returns, and after detecting the return position (S17, S1
8), and the automated guided vehicle 10 starts (see S19).
【0016】[0016]
【発明の効果】以上説明したように、本発明に係る無人
搬送車の給電装置は、無人搬送車に設けた集電ユニット
とステーションに設けた給電ユニットよりなっている。
そして集電ユニットは3極の可動接触子と移動手段と充
電コンタクタを具備しており、給電ユニットは可動接触
子に対向しこれに電気的に接触する3極の固定接触子と
充電器と3端子を有する充電時電圧調整器を具備してい
る。そして充電時電圧調整器の3端子はそれぞれ固定接
触子に電気的に接続されている。従って無人搬送車は容
積及び重量が大きい充電時電圧調整器を常に内蔵するこ
とがないので、小型軽量化することが可能となるほか、
発熱源がなくなるので車体内部の温度上昇が少なくなる
ので、内蔵する電子部品の維持保全面においても都合が
よい。As described above, the power feeding device for the automatic guided vehicle according to the present invention comprises the power collection unit provided in the automatic guided vehicle and the power feeding unit provided in the station.
The current collecting unit includes a three-pole movable contactor, a moving means, and a charging contactor. The power feeding unit faces the movable contactor and electrically contacts the three-pole fixed contactor and a charger. A charging voltage regulator having a terminal is provided. The three terminals of the voltage regulator during charging are electrically connected to the fixed contacts. Therefore, since the automated guided vehicle does not always have a built-in voltage regulator for charging, which has a large volume and weight, it is possible to reduce the size and weight.
Since the heat source is eliminated, the temperature rise inside the vehicle body is reduced, which is convenient in terms of maintenance and maintenance of the built-in electronic components.
【図1】本発明に係る図面であって、給電装置の要部構
成説明図である。FIG. 1 is a diagram according to the present invention, and is an explanatory diagram of a main part configuration of a power feeding device.
【図2】本発明に係る図面であって、給電装置の動作を
示すフローチャートである。FIG. 2 is a flowchart according to the present invention, showing the operation of the power supply device.
【図3】本発明に係る図面であって、無人搬送車の外観
斜視図である。FIG. 3 is a perspective view showing the appearance of an automated guided vehicle according to the present invention.
【図4】本発明に係る図面であって、給電装置の構成説
明図である。FIG. 4 is a diagram according to the present invention, and is a configuration explanatory view of a power feeding device.
10 無人搬送車 20 ステーション 62 充電器 63 給電コンタクタ 701 充電時電圧調整器 702 ビークルコントローラ 80 集電ユニット 81 可動接触子 811 、812 正極可動接触子 813 負極可動接触子 82 移動手段 83 充電コンタクタ 90 給電ユニット 91 固定接触子 911 、912 正極固定接触子 913 負極固定接触子 100 制御部 10 Automated guided vehicle 20 Station 62 Charger 63 Feeding contactor 701 Voltage regulator during charging 702 Vehicle controller 80 Current collecting unit 81 Moving contact 811, 812 Positive moving contact 813 Negative moving contact 82 Moving means 83 Charging contactor 90 Power feeding unit 91 Fixed contact 911, 912 Positive fixed contact 913 Negative fixed contact 100 Controller
Claims (1)
テーションの間を走行し所定のステーションで停止中に
バッテリに充電する無人搬送車の給電装置であって、無
人搬送車に設けた集電ユニットとステーションに設けた
給電ユニットよりなり、前記集電ユニットは直流入力側
正負極の可動接触子と直流出力側正極の1個の可動接触
子と、前記各可動接触子をステーション側に向かって移
動させる移動手段と、前記各正極の可動接触子間に電気
的に接続された充電コンタクタを具備しており、一方、
給電ユニットは集電ユニットに対向して配置されてお
り、前記各可動接触子の移動した先端で前記可動接触子
が電気的に接触する各固定接触子と、充電器と、バッテ
リの充電電圧を調整する充電時電圧調整器を具備してお
り、かつ、充電器は直流入力側正負極の固定接触子に、
また、充電時電圧調整器は直流入力側正負極と直流出力
側正極の各固定接触子にそれぞれ電気的に接続されてい
ることを特徴とする無人搬送車の給電装置。1. A power supply device for an automatic guided vehicle, which runs between a plurality of stations installed along a travel route and charges a battery while stopped at a predetermined station, the power supply device being provided in the automatic guided vehicle. And a power supply unit provided in the station, wherein the current collecting unit has one movable contact for positive and negative electrodes on the DC input side and one movable contact for the positive electrode on the DC output side, and each of the movable contacts facing the station. And a charging contactor electrically connected between the movable contacts of the respective positive electrodes.
The power feeding unit is arranged so as to face the current collecting unit, and each fixed contact to which the movable contact makes electrical contact with the moved tip of each movable contact, the charger, and the charging voltage of the battery It is equipped with a charging voltage regulator to be adjusted, and the charger is a DC input side positive and negative fixed contact,
Further, the charging voltage regulator is electrically connected to each of the fixed contacts of the positive and negative electrodes on the DC input side and the positive electrode on the DC output side.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP08201491A JP3148270B2 (en) | 1991-03-20 | 1991-03-20 | Automatic guided vehicle power supply device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP08201491A JP3148270B2 (en) | 1991-03-20 | 1991-03-20 | Automatic guided vehicle power supply device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0591604A true JPH0591604A (en) | 1993-04-09 |
JP3148270B2 JP3148270B2 (en) | 2001-03-19 |
Family
ID=13762667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP08201491A Expired - Lifetime JP3148270B2 (en) | 1991-03-20 | 1991-03-20 | Automatic guided vehicle power supply device |
Country Status (1)
Country | Link |
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JP (1) | JP3148270B2 (en) |
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JPH0678410A (en) * | 1992-06-23 | 1994-03-18 | Mitsubishi Electric Corp | Automated guided vehicle equipment |
US6524057B1 (en) | 1996-03-26 | 2003-02-25 | Samsung Electronics Co., Ltd. | Manual guide vehicle and method for supplying power thereto |
JP2008508572A (en) * | 2004-06-24 | 2008-03-21 | アイロボット コーポレーション | Portable robot programming and diagnostic tools |
CN103683345A (en) * | 2012-09-07 | 2014-03-26 | 苏州宝时得电动工具有限公司 | Charging system and charging method |
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Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0678410A (en) * | 1992-06-23 | 1994-03-18 | Mitsubishi Electric Corp | Automated guided vehicle equipment |
US6524057B1 (en) | 1996-03-26 | 2003-02-25 | Samsung Electronics Co., Ltd. | Manual guide vehicle and method for supplying power thereto |
US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
US8838274B2 (en) | 2001-06-12 | 2014-09-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
US8854001B2 (en) | 2004-01-21 | 2014-10-07 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
JP2008508572A (en) * | 2004-06-24 | 2008-03-21 | アイロボット コーポレーション | Portable robot programming and diagnostic tools |
US8855813B2 (en) | 2005-02-18 | 2014-10-07 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US9955841B2 (en) | 2006-05-19 | 2018-05-01 | Irobot Corporation | Removing debris from cleaning robots |
US10244915B2 (en) | 2006-05-19 | 2019-04-02 | Irobot Corporation | Coverage robots and associated cleaning bins |
US8839477B2 (en) | 2007-05-09 | 2014-09-23 | Irobot Corporation | Compact autonomous coverage robot |
US10070764B2 (en) | 2007-05-09 | 2018-09-11 | Irobot Corporation | Compact autonomous coverage robot |
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US11072250B2 (en) | 2007-05-09 | 2021-07-27 | Irobot Corporation | Autonomous coverage robot sensing |
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CN103683345A (en) * | 2012-09-07 | 2014-03-26 | 苏州宝时得电动工具有限公司 | Charging system and charging method |
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