为了分析各种AGV充电方式的特点，我们对AGV的充电方式按以下四种分类讨论：
In order to analyze the characteristics of various AGV charging methods, we discuss the AGV charging methods according to the following four categories:
(一)、可按充电时间分为随机充电和全周期充电
如果在 AGV 过程中有更多的充电点保证电能的及时损耗，电池的浅层充电和浅层放电将大大延长电池的使用寿命，降低所需电池的容量。全循环充电需要 AGV 从服务中退出，进入指定的充电区域，当电池电量减少到指定范围时可以充电。
1. It can be divided into random charging and full-cycle charging according to the charging time
If there are more charging points in the AGV process to ensure the timely loss of electric energy, the shallow charging and shallow discharging of the battery will greatly extend the service life of the battery and reduce the required battery capacity. Full-cycle charging requires the AGV to withdraw from service and enter a designated charging area, where it can be charged when the battery power is reduced to the designated range.
（二）、根据充电区域可分为在线充电和离线充电
在线充电意味着 AGV 不需要离开工作岗位，也不需要特别的时间来充电。相反，它利用了工作过程中短暂的停止时间来进行充电。这种充电模式，充分利用了碎片的时间，不占用工作时间，实际上是对随机电荷的延伸。将充电站嵌入 AGV 的工作流程中，进一步提高 AGV 的效率。离线充电是 AGV 退出服务，它被充电到充电区域或一个特殊的充电站。
2. According to the charging area, it can be divided into online charging and offline charging
Online charging means that the AGV does not need to leave the workplace and does not require special time to recharge. Instead, it takes advantage of brief stoppages during operation to recharge. This charging mode makes full use of the time of the debris and does not occupy the working time, and is actually an extension of the random charge. Embed charging stations into the AGV's workflow to further improve the efficiency of the AGV. Offline charging is when the AGV is taken out of service and it is charged to a charging area or a special charging station.
（三）、按操作方法分类可分为 : 手动、电池和自动充电
当 AGV 功率不足时，地面控制中心定向到指定的充电区域或平台。AGV 和充电器之间的电气连接由专职人员手动完成，然后进行充电。在完成后，还可以从连接电路断开连接以恢复工作状态。手动充电 AGV 的特点是安全可靠，简单易行，设备成本低。自动化的要求不是很高，更少的汽车，以及标准的工作系统。并确保 AGV 的耐力需要配备大容量电池。无法每天 24 小时连续工作。
当电池充电时，当 AGV 电量不足时，由专职人员手动更换电池，AGV 可以投入使用。充电后使用更换的电池组。其特点是简单快捷，可实现 24 小时连续工作的 AGV。但它需要加倍电池组，成本高，而且方法新颖。它经常用于高时效性和缺乏车辆响应工作的情况。以上两种方法都需要一个特殊的人来监督，浪费人力，降低自动化程度。一旦失去，它将导致 AGV 无法工作。
自动充电，即当 AGV 需要补充能量时，它会自动报告和请求自动充电，由地面控制中心指挥，前往指定的充电区域或平台。车辆充电连接器自动连接到地面充电系统并充电。在充电完成后，自动将 AGV 小车从充电系统中分离出来，并运行到工作区域或备用区域。自动充电 AGV 适用于长时间的工作，更少的汽车和自动化。
3. According to the operation method, it can be divided into: manual, battery and automatic charging
When the AGV power is insufficient, the ground control center is directed to the designated charging area or platform. The electrical connection between the AGV and the charger is done manually by a dedicated person, and then charging. After completion, it can also be disconnected from the connecting circuit to resume working condition. The characteristics of manual charging AGV are safe and reliable, simple and easy to operate, and low equipment cost. Automation is less demanding, fewer cars, and standard work systems. And to ensure the endurance of the AGV needs to be equipped with a large-capacity battery. Unable to work 24 hours a day.
When the battery is charging, when the AGV power is insufficient, the battery is manually replaced by a full-time person, and the AGV can be put into use. Use a replacement battery pack after charging. It is characterized by a simple and fast AGV that can work continuously for 24 hours. But it requires doubling the battery pack, is expensive, and has a novel approach. It is often used in situations of high timeliness and lack of vehicle response work. Both of the above methods require a special person to supervise, waste manpower and reduce the degree of automation. Once lost, it will cause the AGV to not work.
Automatic charging, that is, when the AGV needs to replenish energy, it will automatically report and request automatic charging, commanded by the ground control center, and go to the designated charging area or platform. The vehicle charging connector automatically connects to the ground charging system and charges. After the charging is completed, the AGV trolley is automatically separated from the charging system and runs to the work area or standby area. Self-charging AGVs for long work hours, fewer cars and automation.
（四）、根据充电器的电气连接方式，分为接触式充电和无线充电
接触式充电意味着所有充电电路都需要通过电缆和充电触点连接，以将车辆连接到电源系统，这样就可以直接充电。接触充电可以为快速充电提供一个大的充电电流。目前，它是离线充电的首选。但它不适合频繁的随机充电，有一个电荷接触磨损，需要定期更换。在充电过程中可能产生火花，存在安全隐患。此外，由于充电触点是裸露的部分，在低温冷凝、潮湿、易燃、易爆的情况下无法正常工作。
无线充电是一种非接触充电装置。它不需要用电缆将车辆连接到供电系统。它放弃充电触点，充电器和电子设备可以实现非导电接触曝光。无线充电技术使充电端与 AGV 能量存储系统之间的电隔离，从根本上消除了直接插电式充电的缺点。它更安全，也更适用。在 AGV 无线充电产品的现阶段，充电效率与接触充电系统的充电效率相当。由于其无接触磨损和高智能，非常适合于在线充电。完全做了那是要被填补，那是停止。进一步提高了 AGV 使用过程的自动化程度。但其技术复杂，成本高昂。
4. According to the electrical connection method of the charger, it is divided into contact charging and wireless charging
Contact charging means that all charging circuits need to be connected via cables and charging contacts to connect the vehicle to the power system so it can be charged directly. Contact charging can provide a large charging current for fast charging. Currently, it's the go-to for offline charging. But it is not suitable for frequent random charging, there is a charge contact wear and need to be replaced regularly. Sparks may be generated during charging, posing a safety hazard. In addition, since the charging contacts are exposed parts, they cannot work properly in the case of low temperature condensation, humidity, flammability, and explosion.
Wireless charging is a non-contact charging device. It does not require cables to connect the vehicle to the power supply system. It forgoes charging contacts, allowing non-conductive contact exposure for chargers and electronics. Wireless charging technology provides electrical isolation between the charging end and the AGV energy storage system, fundamentally eliminating the disadvantages of direct plug-in charging. It is safer and more applicable. At the current stage of AGV wireless charging products, the charging efficiency is comparable to that of the contact charging system. Due to its non-contact wear and high intelligence, it is very suitable for online charging. Completely done that is to be filled, that is to stop. It further improves the automation of the AGV use process. But its technology is complicated and the cost is high.
铽罗机器人推出的AGV自动快速充电，当AGV需要充电时,会自动报告并请求充电,由地面控制中心指挥,驶向指定充电区或台位,车载充电连接器与地面充电系统自动连接并实施充电。成功开始快速充电，充电完成，AGV又继续开始搬运。其特点是整个充电过程全部实现自动化、智能化,无需专人看管。
The AGV launched by RJS Robot can automatically and quickly charges. When the AGV needs to be charged, it will automatically report and request charging. It will be commanded by the ground control center and drive to the designated charging area or station. The on-board charging connector is automatically connected to the ground charging system and implemented. Charge. The fast charging is successfully started, the charging is completed, and the AGV continues to move. Its characteristic is that the whole charging process is fully automated and intelligent, and no special person is required to take care of it.
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