CN106100046B - A kind of charging unit and its charging method of AGV trolley - Google Patents
A kind of charging unit and its charging method of AGV trolley Download PDFInfo
- Publication number
- CN106100046B CN106100046B CN201610555368.3A CN201610555368A CN106100046B CN 106100046 B CN106100046 B CN 106100046B CN 201610555368 A CN201610555368 A CN 201610555368A CN 106100046 B CN106100046 B CN 106100046B
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- Prior art keywords
- agv
- charging
- power supply
- lithium
- agv trolley
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- 238000007600 charging Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 14
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 40
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 39
- 239000003990 capacitor Substances 0.000 claims abstract description 32
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 230000033228 biological regulation Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000010924 continuous production Methods 0.000 abstract description 2
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 229910052793 cadmium Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/11—DC charging controlled by the charging station, e.g. mode 4
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- H02J7/0086—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Secondary Cells (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of charging units of AGV trolley, including power supply device (2) and AGV system (3), its described power supply device (2) includes that the power supply closed circuit of voltage of voltage regulation is provided for AGV system (3), which is formed in parallel with regulated power supply (24) again after being connected by lithium-ion capacitor mould group (22) and battery management system (23)；The lithium-ion capacitor mould group (22) and battery management system (23) can also form charging closed circuit with charging terminal (21)；The charging unit further includes the reception device (1) that closed circuit can be formed with charging terminal (21), and it is layed in the wireless launcher in AGV trolley predetermined trajectory, it is connect between the wireless launcher and reception device (1) by wireless power mode.The invention also discloses its charging methods.The present invention make AGV trolley can quick charge under the premise of not parking, realize the continuous production process of trolley.
Description
Technical field
The present invention relates to a kind of charging unit, especially a kind of charging unit and its charging method for AGV trolley.
Background technique
AGV (Automated Guided Vehicles) trolley is a kind of equipped with homing guidance device, can be according to
The transport vehicle of defined guide path traveling.Currently, the power unit of AGV trolley is charging accumulator.When AGV is run, electric power storage
The electric energy in pond gradually decreases, therefore needs to charge to AGV battery during circular flow.
Traditional AGV trolley power unit has lead-acid battery, nickel-cadmium cell or lithium ion battery.
Lead-acid battery and lithium ion battery internal resistance are big, long using the charging time needed for its power unit as AGV trolley, this
It is long in charging zone dead time to will lead to trolley, promotes production disruption, reduces working efficiency；Nickel-cadmium cell is dynamic as AGV trolley
Although power unit meets high current charge-discharge requirement, can quickly supplement electricity in a short time, but nickel-cadmium cell is by " memory is imitated
Answer " influence, working service is more troublesome.In addition, nickel-cadmium cell is not suitable with environmental requirement due to cadmium pollution.
Secondly, the AGV trolley using battery as power unit mostly uses bay contact to charge in the prior art, charging
It needs to rest on charged area in the process and charge.When contact charging in bay refers to AGV trolley not enough power supply, system can be temporary
Business ceasing to hold office, AGV trolley are detached from working track, charge into charging bay.The defect of bay contact power supply is that AGV is small
Low efficiency is made in turner, and needs AGV trolley to be stuck in bay mouthful when more AGV trolley chargings and wait；Stopping contact charging can
Charging is completed to guarantee that AGV trolley is not to move out production line, but stopping charging in orbit causes AGV trolley to be in discrete
Business ring, equally breaks the integrality of AGV trolley work.In addition, being also easy to produce spark in line contact type charging, security reliability is low.
In addition to contact line power supply, AGV trolley can also be charged by contactless.This power supply system can AGV trolley not
Driving and control power supply are provided for trolley in the case where charged pool, but due to not having energy storage device, whole service track needs to spread
If service cable, this not only increases construction cost, and route flexible variety reduces.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of novel AGV trolley charging units and its wireless charging
Mode, it is ensured that AGV trolley is realized in wireless charging area quick charge, while under conditions of uninterrupted power supply
The flexible operation of AGV trolley.
Lithium-ion capacitor uses lithium ion battery and supercapacitor technologies mixed structure, and anode uses supercapacitor
Positive electrode, cathode use lithium ion battery negative material.Lithium-ion capacitor power density is high, close to supercapacitor,
Therefore has large current charge ability to accept；Energy density is 2.5 times of supercapacitor, and cycle life is up to more than million times.
In addition, lithium-ion capacitor self-discharge rate is low, 25 DEG C of room temperature are placed 3 months, and electricity reduces≤5%.Therefore, by lithium-ion capacitance
Device has more advantages than traditional battery and supercapacitor as the energy storage device of AGV trolley.
Based on this, in order to solve the above technical problems, the invention discloses a kind of charging units of AGV trolley, including power supply
Device and AGV system, the power supply device include that the power supply closed circuit of voltage of voltage regulation is provided for AGV system, power supply closure
Circuit with regulated power supply by being formed in parallel again after lithium-ion capacitor mould group and battery management system series connection；The lithium-ion capacitance
Device mould group and battery management system can also form charging closed circuit with charging terminal；The charging unit further includes can be with charging end
Son forms the reception device of closed circuit, and is layed in AGV trolley predetermined trajectory (i.e. preset trolley travelling track)
Wireless launcher is connected between the wireless launcher and reception device by wireless power mode.
Further, the regulated power supply connects AGV system by electric discharge interface.
Further, the power supply device further includes brake plate, and the input terminal of the brake plate is connect with regulated power supply, output
End is connected by the braking resistor of signal terminal and AGV system.
Further, the RS485 communication signal interface of the battery management system connection AGV system.
Further, the reception device is set to the bottom of AGV trolley, convenient for the channel radio with wireless launcher
Letter.
The invention also discloses a kind of charging units above-mentioned to the charging method of AGV trolley, and this method includes following step
It is rapid:
(1), AGV trolley enters the wireless transmission region below predetermined trajectory, wireless launcher and connecing on AGV trolley
Receiving apparatus establishes wireless power communication；
(2), battery management system detects the voltage of current lithium-ion capacitor mould group, and judges whether current voltage is lower than
Voltage in reception device；
(3) if, lithium-ion capacitor mould group voltage be less than reception device in voltage, battery management system according to currently press
Difference and the setting area range of wireless launcher are come after adjusting electric current, reception device is by charging terminal to lithium-ion capacitance
Device carries out constant-current charge；
(4), when battery management system detects that lithium-ion capacitor mould group is consistent with reception device voltage, reception device
By charging terminal to lithium-ion capacitor mould group carry out constant-voltage charge, until lithium-ion capacitor mould group electric current be 0, lithium from
The full electricity of sub-capacitor mould group；
(5), when AGV trolley leaves the wireless transmission region below track, on trolley reception device no longer with wireless transmission
Device establishes connection, and the charging of AGV trolley terminates.
Lithium-ion electric molar group voltage status is detected by the battery management system in AGV trolley power supply device, is passed through
Wireless charging electric current is adjusted, AGV trolley is made to be rapidly filled with electricity in the wireless transmission region of limited range, through experiments, it was found that,
The charging of 200A electric current can be completed within 50 seconds, therefore can realize the continuous production process of trolley；Since AGV trolley can be with
Carry out high current quick charge, there is no need to be all laid in AGV running track wireless launcher service cable (as long as
It is laid in the predetermined trajectory of finite region), this not only reduces the construction cost of wireless charging, while meeting between not
The flexible operation of AGV trolley is realized under conditions of disconnected power supply.
Detailed description of the invention
Fig. 1 is line circuit schematic diagram of the AGV trolley using charging unit of the present invention.
In figure: 1- reception device；2- power supply device；21- charging terminal；22- lithium-ion capacitor mould group；23- cell tube
Reason system；24- regulated power supply；25- brake plate；26- electric discharge interface；3-AGV system；31- braking resistor.
Specific embodiment
Below with reference to embodiment, more specifically the elaboration contents of the present invention.Implementation of the invention is not limited to following reality
Example is applied, the accommodation in any form made to the present invention or changed all should be within the scope of the present invention.
Embodiment 1
As shown in Figure 1, the charging unit mainly includes reception device 1, power supply device 2 and AGV system 3, and do not scheming
Shown in wireless launcher.
Wherein, power supply device 2 mainly includes charging terminal 21, lithium-ion capacitor mould group 22 (i.e. LIC mould group), cell tube
Reason system (BMS) 23, regulated power supply 24 and brake plate 25.Lithium-ion capacitor mould group 22 is by several lithium-ion capacitor monomers
In series from beginning to end, the anode of lithium-ion capacitor mould group 22 is connect with the anode of charging terminal 21, lithium-ion capacitor mould group
22 cathode passes sequentially through 300A fuse and battery management system 23 is connect with the cathode of charging terminal 21, constitutes charging closure
Circuit.Battery management system 23 is used to monitor the voltage of lithium-ion electric molar group 22, electric current, the letter such as temperature and residual capacity
Number, and signal is passed to the RS485 communication signal interface of AGV system 3.The input terminal VIN+ and lithium-ion electric of regulated power supply 24
Molar group 22 connects, and VIN- is connect with battery management system 23.The regulated power supply 24 is connected by electric discharge interface 26 and AGV system 3
It connects, provides 24V or 48V burning voltage for AGV trolley.The input terminal of brake plate 25 is connect with regulated power supply 24, and output end passes through
Signal output terminal is connect with the braking resistor 31 being set in AGV system 3, which exists for consuming AGV trolley
The electric energy generated in braking process.
The anode of charging terminal 21 is also connect with 1 anode of reception device, and cathode connect to be formed and close with the cathode of reception device 1
Close circuit.Reception device 1 is installed on AGV trolley bottom.
It is equipped with wireless launcher in the wherein stretch diameter of AGV trolley predetermined trajectory, is filled by the wireless transmission
Service cable in setting is realized that wireless communication couples with the reception device of AGV trolley, is connect in a manner of wireless power to AGV trolley
Receiving apparatus power supply.
Wireless automatic charging process of the invention is achieved by the steps of:
(1), AGV trolley enters the wireless transmission region below predetermined trajectory, wireless launcher and connecing on AGV trolley
Receiving apparatus 1 establishes wireless power communication；
(2), 23 system of battery management system detects the voltage of current lithium-ion capacitor mould group 22, and whether judges current voltage
Lower than the voltage in reception device 1；
(3) if, 22 voltage of lithium-ion capacitor mould group be less than the voltage in reception device, battery management system 23 is according to working as
The setting area range of preceding pressure difference and wireless launcher adjusts electric current, reception device 1 by charging terminal 21 to lithium from
Sub-capacitor mould group 22 carries out constant-current charge；
(4), it when battery management system 23 detects that lithium-ion capacitor mould group 22 is consistent with 1 voltage of reception device, connects
Receiving apparatus 1 carries out constant-voltage charge by 21 lithium-ion capacitor mould group 22 of charging terminal, until lithium-ion capacitor mould group 22
Electric current is 0, at this time the full electricity of lithium-ion capacitor mould group 22；
(5), when AGV trolley leaves the wireless transmission region below track, on trolley reception device 1 no longer with wireless transmission
Device establishes connection, and the charging of AGV trolley terminates.
Claims (5)
1. a kind of charging unit of AGV trolley, including power supply device (2) and AGV system (3), it is characterised in that: the power supply dress
Setting (2) includes providing the power supply closed circuit of voltage of voltage regulation for AGV system (3), and the power supply closed circuit is by lithium-ion capacitor
It is formed in parallel again with regulated power supply (24) after mould group (22) and battery management system (23) series connection；The lithium-ion capacitor mould group
(22) and battery management system (23) also forms charging closed circuit with charging terminal (21)；The charging unit further include can with fill
Electric terminal (21) forms the reception device (1) of closed circuit, and the wireless transmission dress being layed in AGV trolley predetermined trajectory
It sets, is connect between the wireless launcher and reception device (1) by wireless power mode, the battery management system (23)
It is connected to the RS485 communication signal interface of AGV system (3).
2. the charging unit of AGV trolley according to claim 1, it is characterised in that: the regulated power supply (24) passes through electric discharge
Interface (26) connects AGV system (3).
3. the charging unit of AGV trolley according to claim 1, it is characterised in that: the power supply device (2) further includes braking
The input terminal of plate (25), the brake plate (25) is connect with regulated power supply (24), and output end passes through signal terminal and AGV system (3)
Braking resistor (31) connection.
4. the charging unit of AGV trolley according to claim 1, it is characterised in that: the reception device (1) is set to AGV
The bottom of trolley.
5. a kind of charging unit as described in claim 1-4 any one claim is to the charging method of AGV trolley, special
Sign is: this method comprises the following steps:
(1), AGV trolley enters the wireless transmission region below predetermined trajectory, and the reception on wireless launcher and AGV trolley fills
It sets (1) and establishes wireless power communication；
(2), battery management system (23) detects the voltage of current lithium-ion capacitor mould group (22), and whether judges current voltage
Lower than the voltage in reception device (1)；
(3) if, lithium-ion capacitor mould group (22) voltage be less than reception device (1) in voltage, battery management system (23) root
After adjusting electric current according to current differential pressure and the setting area range of wireless launcher, reception device (1) passes through charging terminal
(21) constant-current charge is carried out to lithium-ion capacitor mould group (22)；
(4), when battery management system (23) detects that lithium-ion capacitor mould group (22) is consistent with reception device (1) voltage,
Reception device (1) carries out constant-voltage charge to lithium-ion capacitor mould group (22) by charging terminal (21), until electric current is 0, lithium
The full electricity of ionistor mould group (22)；
(5), when AGV trolley leaves the wireless transmission region below track, reception device (1) is no longer filled with wireless transmission on trolley
Vertical connection is set up, the charging of AGV trolley terminates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555368.3A CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555368.3A CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106100046A CN106100046A (en) | 2016-11-09 |
| CN106100046B true CN106100046B (en) | 2019-02-01 |
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| CN201610555368.3A Expired - Fee Related CN106100046B (en) | 2016-07-14 | 2016-07-14 | A kind of charging unit and its charging method of AGV trolley |
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| CN (1) | CN106100046B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107040017A (en) * | 2017-01-09 | 2017-08-11 | 上海展枭新能源科技有限公司 | A kind of N-free diet method intelligent charging system and its charging method based on lithium-ion capacitor |
| JP6968774B2 (en) * | 2018-09-26 | 2021-11-17 | 本田技研工業株式会社 | Lithium-ion battery control device, lithium-ion battery control method, and program |
| CN114475306B (en) * | 2021-12-29 | 2024-06-18 | 北京昊瑞昌科技有限公司 | Charging method of AGV trolley |
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| JP4483976B2 (en) * | 2008-05-12 | 2010-06-16 | トヨタ自動車株式会社 | Hybrid vehicle and control method of hybrid vehicle |
| CN101425705A (en) * | 2008-11-14 | 2009-05-06 | 南京航空航天大学 | Non-contact electricity supply and navigation apparatus for automatically guiding trolley |
| CN102195333A (en) * | 2010-03-17 | 2011-09-21 | 新神户电机株式会社 | Direct-current power source apparatus |
| CN205829233U (en) * | 2016-07-14 | 2016-12-21 | 上海展枭新能源科技有限公司 | A kind of charging device of AGV dolly |
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| Publication number | Publication date |
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| CN106100046A (en) | 2016-11-09 |
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