JPS6135103A - Battery exchanger of automatic traveling vehicle - Google Patents
Battery exchanger of automatic traveling vehicleInfo
- Publication number
- JPS6135103A JPS6135103A JP15490884A JP15490884A JPS6135103A JP S6135103 A JPS6135103 A JP S6135103A JP 15490884 A JP15490884 A JP 15490884A JP 15490884 A JP15490884 A JP 15490884A JP S6135103 A JPS6135103 A JP S6135103A
- Authority
- JP
- Japan
- Prior art keywords
- battery
- information
- charging
- batteries
- mobile vehicle
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- 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
- B60L53/80—Exchanging energy storage elements, e.g. removable 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は１．駆動用バッテリーを備えた移動車を作業指
令情報に基づいて作業用ステーションに、及びバッテリ
ー交換情報に基づいてバッテリー充電装置に自動走行さ
せる制御手段を設けると共に、前記バッテリー充電装置
からの充電済バッテリーを移動車側に、且つ、前記移動
車からの放電バッテリーを充電装置側に移載するバッテ
リー移載装置を設けた自動走行移動ＦＡｊ、のバッテリ
ー交換装置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention comprises 1. A control means is provided for automatically driving a mobile vehicle equipped with a drive battery to a work station based on work command information and to a battery charging device based on battery replacement information, and a control means is provided to automatically drive a mobile vehicle equipped with a driving battery to a work station based on work command information and to a battery charging device based on battery replacement information, and to charge a charged battery from the battery charging device. The present invention relates to a battery exchange device for an automatic traveling mobile FAj, which is provided with a battery transfer device on the mobile vehicle side and for transferring a discharged battery from the mobile vehicle to the charging device side.
従来では、バッテリー充電装置にバッテリーが収納され
ると、直ちにバッテリー充電装置を作動させるようにし
ていた。Conventionally, when a battery is stored in a battery charging device, the battery charging device is immediately activated.
しかしながら、残作業量が少ない時にバッテリー充電を
行うと、夜間の安い電力で充電を行うことができるにも
かかわらず昼間の高い電力にて不必要に充電を行ってし
まう不利があった。However, if the battery is charged when the amount of remaining work is small, there is a disadvantage that charging is performed unnecessarily using high power during the daytime, even though charging can be performed using cheap power during the night.
本発明は、上記実情に鑑みて為されたものであって、そ
の目的は、バッテリー充電を経済性の良い４犬態でおこ
なうことができるようにする点にある。The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable battery charging to be carried out economically in four-way mode.
本発明による自動走行移動車のバッテリー交換装置の特
徴構成は、前記移動車の運行台数情報、充電完了法バッ
テリー数情報、運行移動車夫々における前回のバッテリ
ー交換時刻情報、一充電当たりの移動車稼動時間情報、
残作業量情報に基づいて、作業完了までに要する充電完
了済バッテリー数を判別する手段、及び、それの情報に
基づいて作業完了までの必要バッテリー数が不足する場
合にはバッテリー充電を行い、必要バッテリー数がある
場合にはバッテリー充電を中断するバッテリー充電規制
手段の夫々を備えさせた点にあり、その作用、効果は次
の通りである。The characteristic configuration of the battery exchange device for an autonomous mobile vehicle according to the present invention includes information on the number of mobile vehicles in operation, information on the number of batteries by charging completion method, information on the previous battery replacement time for each mobile vehicle in operation, and information on the number of vehicles in operation per charge. time information,
A means for determining the number of fully charged batteries required to complete the work based on remaining work amount information, and a means for charging the batteries and charging the batteries if the number of batteries required to complete the work is insufficient based on the information. The present invention is provided with battery charging regulating means for interrupting battery charging when there are enough batteries, and their functions and effects are as follows.
すなわち、バッテリーが充電装置に収納されても、充電
済バッテリー数が不足したときのめバッテリーの充電を
行なわせて、その他の時にはバッテリー充電を行わない
ようにしである。That is, even if the batteries are stored in the charging device, the batteries are charged only when the number of charged batteries is insufficient, and the batteries are not charged at other times.
従って、充電バッテリー数が足りているときには、充電
を行なわないようにして、昼間の高い電力の使用を極力
抑制しながら、夜間の安い電力をできるかぎり使用して
経済性の良い状態でバッテリー全ての充電を行うことが
できるのであり、もって、多数の移動車を運転しながら
作業するような設備に好適な自動走行移動車のバッテリ
ー交換装置を得るに至った。Therefore, when the number of charged batteries is sufficient, charging is not performed, and while minimizing the use of high power consumption during the day, it is possible to use cheap power at night as much as possible to efficiently charge all batteries. Thus, we have obtained a battery exchange device for an autonomous mobile vehicle that is suitable for equipment in which work is performed while driving a large number of mobile vehicles.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.
第４図乃至第６図に示すように、荷役作業用等のステー
ション（ＳＴ）及びバッテリー充電装置（Ａ）に亘って
４′＃運搬用移動車（Ｂ）を自動走行させるための誘導
路形成用光反射テープ（１）を設けると共に、そのテー
プ（１）に対する移動車（Ｂ）の横偏位量を検出する光
センサ−（２）を、移動車側に設り、そして、移動車推
進用左右車輌（３） 、 （３）を各別駆動する電動モ
ーフ（３八）、 （３Ａ）夫りを、前記光センサー（２
）の検出情報に基づいて変速操作して、移動車（Ｂ）を
自動走行させるように構成しである。 又、各移動車（
Ｂ）夫々に駆動用バッテリー（４）を備えさせると共に
、バッテリー充電装置（Ａ）からの充電済バッテリーを
移動車側に、且つ、移動車（Ｂ）からの放電バッテリー
を充電装置側に移載するバッテリー移載装置（Ｃ）を設
りて、バッテリー交換作業を自動的に行わせるようにし
である。As shown in Figures 4 to 6, a taxiway is formed for automatically traveling a 4' transport vehicle (B) across a station for cargo handling work (ST) and a battery charging device (A). A light reflecting tape (1) is provided on the moving vehicle side, and an optical sensor (2) for detecting the amount of lateral deviation of the moving vehicle (B) with respect to the tape (1) is provided on the moving vehicle side. The electric morph (38), (3A) that separately drives the left and right vehicles (3), (3) is connected to the optical sensor (2).
) The mobile vehicle (B) is configured to automatically travel by performing a speed change operation based on the detected information. Also, each moving vehicle (
B) Each vehicle is equipped with a drive battery (4), and the charged battery from the battery charging device (A) is transferred to the mobile vehicle side, and the discharged battery from the mobile vehicle (B) is transferred to the charging device side. A battery transfer device (C) is installed to automatically perform battery replacement work.
移動車（Ｂ）を自動走行させる手段について説明を加え
れば、第１図に示すように、作稟情報人力部（５）を備
えたホストコントローラ（１１）にて、作業に使用する
複数移動車（Ｂ）夫々の情報、各ステーション（ＳＴ）
の情報、及び、充電装置（Ａ）の情報夫々を集中管理さ
一已、各移動車夫々に錨えさせたコントローラ（１）か
らの情報１、ポストコントローラ（Ｈ）からの情報、及
び、バッテリー交換・充電管理用コントローラ（Ｊ）か
らの情報が入力される移動車運行管理用コントローラ（
Ｋ）にて、各移動車夫々のコントローラ（１）に対して
行先データ等の情報を出力させること、及び、バッテリ
ー交換・充電管理用コントローラ（Ｊ）に移載作業指令
や充電開始指令等の情報を出力させることを行わせるよ
うにしである。To explain the means for automatically driving the mobile vehicle (B), as shown in FIG. (B) Each information, each station (ST)
information from the controller (1) anchored in each moving vehicle, information from the post controller (H), and information about the battery. The mobile vehicle operation management controller (J) into which information is input from the exchange/charging management controller (J)
K) outputs information such as destination data to the controller (1) of each mobile vehicle, and sends transfer work commands, charging start commands, etc. to the battery exchange/charging management controller (J). The purpose is to output information.
但し、移動車運行管理用コン日コーラ（Ｋ）と移動車側
コントローラ（１） との情報交換を、各移動車（Ｂ）
、及び、ステーション等の地上側適宜箇所に設けた光通
信装置（６）及び（７）を用いて行わせるようにしてあ
り、又、例示ばしないが、移動車（Ｂ）をステーション
位置やバッテリー交換用位置に停止させるための停止位
置を表示するマークを、光反射テープ」二に設けると共
に、そのマークを前記光センサ−（２）の検出情報に暴
づいて判別させるようにしである。However, information exchange between the mobile vehicle operation management controller (K) and the mobile vehicle side controller (1) is required for each mobile vehicle (B).
, and optical communication devices (6) and (7) installed at appropriate locations on the ground side of the station, etc.Also, although not illustrated, the mobile vehicle (B) is connected to the station location and the battery. A mark indicating a stop position for stopping at the replacement position is provided on the light-reflecting tape 2, and the mark is identified by detecting information from the optical sensor (2).
バッテリー交換設備について説明を加えれば、前記充電
装置（Ａ）を構成するに、充電用棚部（ａ）の複数個を
、上下方向に並べて設けると共に、各棚部（ａ）の夫々
に、バッテリー収納ケース（４＾）に備えさせた電気端
子（Ｓ、）が嵌合する充電用端子（Ｓ２）を備えさせ、
さらに、各充電用端子（Ｓ２）への通電を各別に断続自
在な充電用操作回路（８）を設けである。To explain the battery exchange equipment, the charging device (A) includes a plurality of charging shelves (a) arranged in the vertical direction, and each shelf (a) is equipped with a battery. The storage case (4^) is provided with a charging terminal (S2) that fits into the electrical terminal (S,) provided therein,
Furthermore, a charging operation circuit (8) is provided which can freely turn on and off the power supply to each charging terminal (S2).
そして、バッテリー移載装置ｉ （Ｃ）を構成するに、
縦姿勢のガイド枠（９）に沿って駆動昇降自在なデ降枠
（１０）を設け、ノ＼・ノテリー受は台（１１）を、縦
軸芯（Ｘ）周りで駆動回転自在に昇降枠（１０）に取付
け、バッテリー収納ケース（４Ａ）を押引操作する係止
部（１２）を、ハ・ノテリー受は台（１１）に駆動出退
自在に取付けである。Then, to configure the battery transfer device i (C),
A de-lowering frame (10) that can be driven up and down is provided along the guide frame (9) in a vertical position, and the platform (11) can be driven up and down around the vertical axis (X). (10), and a locking part (12) for pushing and pulling the battery storage case (4A) is attached to the stand (11) so that the locking part (12) can be driven in and out.
従って、移動車（Ｂ）がノ＼ノテリー交換用位置に停止
されると、それに搭載されているツマ・ノテリー（４）
を収納ケース（４Ａ）と共に取出し、取出したバッテリ
ー（４）を充電用棚部（ａ）に収納させ、次に、充電済
バッテリー（４）のうちの最も先に充電が完了したもの
を移動車（Ｂ）に装填する順序でバッテリー移載作業を
行わせるように、バッテリー移載装置（Ｃ）を自動作動
させるのである。Therefore, when the moving vehicle (B) is stopped at the notary exchange position, the knob notary (4) mounted on it is
and storage case (4A), store the removed battery (4) in the charging shelf (a), and then place the battery (4) that has been charged first among the charged batteries (4) into the moving vehicle. The battery transfer device (C) is automatically activated so that the battery transfer work is carried out in the order in which the batteries are loaded in (B).
成心こ、バッテリー自動交換料？ｆｌについて詳述する
。Seishinko, automatic battery replacement fee? fl will be explained in detail.
移動車（Ｂ）に搭載のバッテリー（４）の充電量が設定
値以下になったことが検出されるに伴い、バッテリー交
換情報が出力されて、移動車（Ｂ）がバッテリー交換用
位置に自動走行されることになる。 次に、バッテリー
移載装置（Ｃ）が作動されてバッテリー交換が行われ、
充電済ハツチＩＪ−（４）が供給された移動車（Ｂ）が
ストレージ用のホームステーション等に向ｉＪて自動走
行される。When it is detected that the charge level of the battery (4) mounted on the mobile vehicle (B) has become less than the set value, battery replacement information is output and the mobile vehicle (B) automatically moves to the battery replacement position. It will be driven. Next, the battery transfer device (C) is activated and the battery is replaced.
The mobile vehicle (B) supplied with the charged hatch IJ-(4) automatically travels toward a storage home station or the like.
又、バッテリー充電装置（Ａ）では、バッテリー（４）
が収納された充電用棚部（ａ）の操作回路（８）を入操
作し、バッテリー（４）の充電を行うことになり、バッ
テリー（４）の電圧が設定値以上になると操作回路（８
）を切操作して、充電を完γすることになる。In addition, in the battery charging device (A), the battery (4)
The operation circuit (8) of the charging shelf (a) in which the battery is stored is turned on to charge the battery (4), and when the voltage of the battery (4) exceeds the set value, the operation circuit (8) is turned on.
) to complete charging.
そして、第２図のフローチャートに示すように、バッテ
リー交換・充電管理用コントローラ（Ｊ）からホストコ
ントローラ（ＩＩ）及び移動車運行管理用コントローラ
（Ｋ）に対して、充電装置（＾）にバッテリーを収納さ
せた情報や充電を完了した情報が通知されることになり
、且つ、充電処理は、移動車運行管理用コントローラ（
Ｋ）から充電開始指令が通知された時にのみ行われるこ
とになる。Then, as shown in the flowchart in Fig. 2, the battery exchange/charging management controller (J) sends the battery to the charging device (^) to the host controller (II) and mobile vehicle operation management controller (K). Information on stored information and information on completion of charging will be notified, and the charging process will be performed by the mobile vehicle operation management controller (
This will be performed only when a charge start command is notified from K).
移動車運行管理用コントローラ（Ｋ）における充電開始
指令通知について説明すれば、第３図のフローチャート
に示すように、バッテリー収納通知を受けるに伴い、作
業に要する移動車（Ｂ）の運行台数情報、充電装置（＾
）における充電済バッテリー数情報、運行移動車夫々の
残稼動時間情報（世し、この情報は移動車夫々における
前回のバッテリー交換時刻情報、及び、一充電当りの移
動車稼動時間情報にて演算判別される）、及び、残作業
量情報に基づいて、作業完了までに要する充電済バッテ
リー数を判別させ、それの情報に基づいて、作業完了ま
での必要バッテリー数が不足する場合には充電開始指令
通知を行い、且つ、必要バッテリー数がある場合にはバ
ッテリー充電を中断するように、バッテリー充電を規制
することになる。To explain the charging start command notification in the mobile vehicle operation management controller (K), as shown in the flowchart of FIG. Charging device (＾
), information on the remaining operating time of each moving vehicle (in general, this information is calculated and determined based on the information on the last battery replacement time of each moving vehicle, and information on the operating time of the moving vehicle per charge). Based on the remaining work amount information, the number of charged batteries required to complete the work is determined, and based on that information, if the number of batteries required to complete the work is insufficient, a charging start command is issued. Battery charging is regulated so that notification is given and battery charging is interrupted if there is a required number of batteries.
従って、充電を中断させた収納バッテリ−（４）に対す
る充電処理を夜間の安い電力にて行わせるように、夜間
時において自動あるいは手動で操作回路（８）を入操作
させることにより、バッテリー（４）の充電を経済性の
良い状態で行わせることができる。Therefore, in order to charge the storage battery (4) whose charging has been interrupted using cheap electricity at night, the operation circuit (8) is turned on automatically or manually at night. ) can be charged economically.
移動車（Ｂ）の具体構成、バッテリー充電装置（Ａ）の
具体構成、及び、バッテリー移載装置（Ｃ）の具体構成
夫々は、各種変更できる。The specific configuration of the mobile vehicle (B), the specific configuration of the battery charging device (A), and the specific configuration of the battery transfer device (C) can be changed in various ways.
又、移動車（Ｂ）を自動走行させる制御手段を構成する
に、光反射テープ（１）に代えて電磁誘導用のトウパス
ワイヤを設けるようにしたり、移動車（Ｂ）と移動車運
行管理用コントローラ（Ｋ）との信号授受を誘導無線方
式で行わせるようにする等、各部の具体的手段は使用対
象箇所等に応して各種変更できる。In addition, to configure the control means for automatically driving the mobile vehicle (B), a towpath wire for electromagnetic induction may be provided in place of the light reflective tape (1), and a controller for managing the operation of the mobile vehicle (B) and the mobile vehicle may be provided. (K) The specific means of each part can be changed in various ways depending on the intended use, such as making the signal transmission and reception with (K) performed by guided radio method.
第１図は制御用コントローラ間の情報交換の系統を示す
ブロック図、第２図はバッテリー交換・充電管理用コン
トローラの制御動作を示すフローチャート、第３図は移
動車運行管理用コントローラのバッテリー充電のための
制御動作を示すフローチャート、第４図は走行経路の概
略平面図、第５図はバッテリー交換設備の一部展開正面
図、第６図は同設備の平面図である。
（４）・・・・・・バッテリー、（Ａ）・・・・・・バ
ッテリー充電装置、（Ｂ）・・・・・・移動車、（Ｃ）
・・・・・・バッテリー移載装置。
代理人 弁理士 北 村 修
第４図 ７
第２図 第３＠Figure 1 is a block diagram showing the system of information exchange between control controllers, Figure 2 is a flowchart showing the control operation of the controller for battery replacement/charging management, and Figure 3 is a flowchart showing the control operation of the controller for managing vehicle operation management. FIG. 4 is a schematic plan view of the travel route, FIG. 5 is a partially exploded front view of the battery exchange equipment, and FIG. 6 is a plan view of the equipment. (4)...Battery, (A)...Battery charging device, (B)...Moving vehicle, (C)
...Battery transfer device. Agent Patent Attorney Osamu Kitamura Figure 4 7 Figure 2 Figure 3 @
Claims (1)
令情報に基づいて作業用ステーション（ＳＴ）に、及び
バッテリー交換情報に基づいてバッテリー充電装置（Ａ
）に自動走行させる制御手段を設けると共に、前記バッ
テリー充電装置（Ａ）からの充電済バッテリーを移動車
側に且つ前記移動車（Ｂ）からの放電バッテリーを充電
装置側に移載するバッテリー移載装置（Ｃ）を設けた自
動走行移動車のバッテリー交換装置であって、前記移動
車（Ｂ）の運行台数情報、充電完了済バッテリー数情報
、移動車夫々における前回のバッテリー交換時刻情報、
一充電当りの移動車稼動時間情報、残作業量情報に基づ
いて、作業完了までに要する充電完了済バッテリー数を
判別する手段、及び、それの情報に基づいて作業完了ま
での必要バッテリー数が不足する場合にはバッテリー充
電を行い、必要バッテリー数がある場合にはバッテリー
充電を中断するバッテリー充電規制手段の夫々を備えさ
せてある自動走行移動車のバッテリー交換装置。A mobile vehicle (B) equipped with a drive battery (4) is sent to a work station (ST) based on work command information, and a battery charging device (A) is sent to a work station (ST) based on battery replacement information.
) is provided with a control means for automatically driving the battery, and also transfers the charged battery from the battery charging device (A) to the mobile vehicle side and the discharged battery from the mobile vehicle (B) to the charging device side. A battery replacement device for an autonomous mobile vehicle equipped with the device (C), comprising information on the number of mobile vehicles in operation, information on the number of fully charged batteries, information on the previous battery replacement time for each mobile vehicle,
A means for determining the number of fully charged batteries required to complete a task based on vehicle operating time information per charge and remaining work amount information, and a method for determining the number of batteries required to complete a task based on that information. A battery exchange device for an autonomous mobile vehicle is provided with a battery charging regulating means for charging the battery when the battery is to be used, and suspending battery charging when there is a required number of batteries.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15490884A JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15490884A JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6135103A true JPS6135103A (en) | 1986-02-19 |
| JPH031882B2 JPH031882B2 (en) | 1991-01-11 |
Family
ID=15594587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15490884A Granted JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6135103A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011091714A1 (en) * | 2010-01-26 | 2011-08-04 | 汉能电动车有限公司 | Operation management system and method thereof |
-
1984
- 1984-07-24 JP JP15490884A patent/JPS6135103A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011091714A1 (en) * | 2010-01-26 | 2011-08-04 | 汉能电动车有限公司 | Operation management system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH031882B2 (en) | 1991-01-11 |
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