CN107380002A - A kind of AGV dollies wireless charging system and its charging method - Google Patents
A kind of AGV dollies wireless charging system and its charging method Download PDFInfo
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- CN107380002A CN107380002A CN201710706739.8A CN201710706739A CN107380002A CN 107380002 A CN107380002 A CN 107380002A CN 201710706739 A CN201710706739 A CN 201710706739A CN 107380002 A CN107380002 A CN 107380002A
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- 238000001514 detection method Methods 0.000 claims description 25
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Classifications
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- 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
- 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
- B60L53/12—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
- 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
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- 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]
-
- 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
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- 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)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to intelligent charge technique field, in order to overcome existing AGV dollies charging modes automaticity low, it is difficult to the deficiency that dolly works automatically for a long time, there is provided a kind of AGV dollies wireless charging system and its method, including dolly charging device and ground charging device；Dolly charging device includes guider, charging module and master controller；Guider is used for the positional information and attitude information for obtaining dolly；Charging module is used for the information about power for detecting dolly battery, and earthward charging device sends charging or stops the command information of charging；Master controller reception, processing position information, attitude information and information about power, control dolly to reach the charge position of ground charging device according to information or return to operating position, controlling charging module according to information, earthward charging device sends command information；Ground charging device is used to receive command information, according to the outside transmission power of command information.
Description
Technical field
The present invention relates to intelligent charge technique field, and in particular to a kind of AGV dollies wireless charging system and its charging side
Method.
Background technology
AGV dollies (Automated Guided Vehicle, abbreviation AGV), refer to be equipped with homing guidance device, can
The guide path traveling as defined in, there is the transport vehicle of safeguard protection and various transfer functions, it is possible to achieve 24 hours nobody
Operation on duty.AGV dollies are usually using charging accumulator as its power resources, and battery is using a period of time later, it is necessary to electricity
Pond is charged, and supplements energy.
The wired or wireless artificial charging modes of generally use charge to battery at present, i.e., are placed in ground fixed bit
Charger, agv controller find not enough power supply, then automatic running is filled to charging station under the intervention of duty personnel
Electricity, charge after terminating, then allow dolly to return to operating position by manually sending instruction.This charging modes need special messenger to guard,
Automaticity is low, it is difficult to realizes that dolly works automatically for a long time.
The content of the invention
The purpose of the present invention is to overcome existing AGV dollies charging modes automaticity low, it is difficult to realizes dolly for a long time certainly
Start building the deficiency made, and provide a kind of AGV dollies wireless charging system and its charging method.
To achieve the above object, technical scheme provided by the invention is：A kind of AGV dollies wireless charging system, its is special
Part is：Including dolly charging device and ground charging device；Above-mentioned dolly charging device includes guider, charging module
And master controller；Above-mentioned guider is used for the positional information and attitude information for obtaining AGV dollies；Above-mentioned charging module and master control
Device processed is arranged on AGV dollies；Above-mentioned charging module is used for the information about power for detecting dolly battery, and earthward charging device
Send charging or stop the command information of charging；Above-mentioned master controller receives, handles above-mentioned positional information, attitude information and electricity
Information, the charge position of AGV dollies arrival ground charging device is controlled according to above-mentioned information about power, positional information and attitude information
Or operating position is returned to, while above-mentioned charging module is controlled to above-mentioned according to above-mentioned positional information, attitude information and information about power
Ground charging device sends above-mentioned command information；Above-mentioned ground charging device is used to receive above-mentioned command information, and according to above-mentioned
The outside transmission power of command information.The present invention substantially increases the automaticity of AGV dollies so that AGV dollies can be long-term
Automatic work, significantly improve the operating efficiency of AGV dollies.
Further, in order that the receiving coil of the transmitting coil of energy emission power and energy acceptance unit can be strict
Alignment, avoids larger power loss in transmittance process；Above-mentioned guider includes inertial navigation unit, code reader and more
Individual positional information code；Above-mentioned inertial navigation unit and code reader are arranged on AGV dollies, above-mentioned multiple positional information code intervals one
Set a distance is laid on place；Above-mentioned inertial navigation unit transmits the AGV dollies positional information and attitude information that continuously obtain
To master controller；Above-mentioned code reader will be sent to master controller after the positional information collection on above-mentioned positional information code；Above-mentioned master
The positional information and attitude information that controller is measured by the positional information that code reader is read to inertial navigation unit are repaiied
Just, navigated so as to obtain the accurate positional information of AGV dollies and attitude information for dolly, enable AGV dollies accurate
Arrival target location.
Further, above-mentioned charging module includes detection unit, dolly battery and dolly communication unit；Above-mentioned detection unit
Electrically connected with above-mentioned dolly battery, for detecting the information about power of above-mentioned dolly battery；Above-mentioned dolly communication unit is used for ground
Face charging device sends above-mentioned command information.
Further, in order to improve the security of AGV dollies battery charging, above-mentioned charging module also includes switch element
With energy acceptance unit；Above-mentioned switch element is used to be switched on or switched off being electrically connected for above-mentioned dolly battery and above-mentioned energy acceptance unit
Connect；Above-mentioned master controller controls above-mentioned switch element and above-mentioned dolly according to above-mentioned positional information, attitude information and information about power
Communication unit works.
Further, above-mentioned ground charging device includes ground communications unit, ground charging control unit and energy transmitting
Unit；Above-mentioned ground communications unit is used to receive above-mentioned command information；Above-mentioned ground charging control unit is used for according to above-mentioned finger
Information is made to control the above-mentioned outside transmission power of energy emitting element.
Further, in order to it is automatic, efficiently complete charging valve to multiple AGV dollies and multiple ground charging devices
Reason；When above-mentioned ground charging device has multiple, in addition to it is arranged on the dispatch server on ground and the nothing on AGV dollies
Line communication device；Above-mentioned wireless communication apparatus is connected with master controller and dispatch server respectively；Above-mentioned dispatch server passes through
The charge position that wireless communication apparatus scheduling AGV dollies reach ground charging device is charged.
Further, above-mentioned positional information code is Quick Response Code or bar code or Quick Response Code battle array.
Further, in order to save the space hold of AGV dollies and charging module be played a protective role, the mould that charges is avoided
Block such as collides damage because of other reasonses；Above-mentioned charging module also includes draw off gear, and above-mentioned energy acceptance unit is arranged on AGV
The side of dolly；Above-mentioned draw off gear is connected with above-mentioned energy acceptance unit；Under AGV dolly working conditions, above-mentioned folding and unfolding dress
Put and pack up above-mentioned charging module；Under AGV dolly charged states, above-mentioned draw off gear opens above-mentioned charging module, is allowed to
It is parallel with ground launch unit.
A kind of charging method for one of above-mentioned AGV dollies wireless charging system, it is particular in that, comprising following
Step：
Step 1：The dolly positional information and attitude information that continuously obtain are sent to master controller by inertial navigation unit；
Code reader will be sent to master controller after the positional information collection on positional information code；Detection unit assay intervals certain time is examined
Survey dolly battery electric quantity；
Detection unit detects dolly battery electric quantity deficiency, and not enough power supply information is sent to master controller；
Step 2：The positional information that master controller is measured by the positional information that code reader is read to inertial navigation unit
It is modified with attitude information, is navigated so as to obtain the accurate location information of AGV dollies and attitude information for dolly, control
AGV dollies accurately reach the charge position of ground charging device；
Step 3：After the charge position for reaching ground charging device, main controller controls switch element makes energy acceptance list
Member is led to dolly battery conductance；Earthward communication unit sends the instruction letter to charge to main controller controls dolly communication unit simultaneously
Breath；
Step 4：Ground charging control unit controls the outside transmission power of energy emitting element according to above-mentioned command information,
Energy acceptance unit receiving power；
Step 5：AGV dollies enter charged state, detection unit detection dolly battery electric quantity；Master controller is according to battery
Charge condition, the transmission power of energy unit is controlled by dolly communication unit；
Step 6：After detection unit detection dolly battery electric quantity is full of, sends electricity to master controller and be full of information；
Step 7：Main controller controls switch element disconnects the electrical connection of energy receiving unit and dolly battery, simultaneously
Earthward communication unit sends the command information for stopping charging to main controller controls dolly communication unit；
Step 8：Ground charging control unit controls energy emitting element to stop outwards transmitting work(according to above-mentioned command information
Rate；
Step 9：The charging of AGV dollies terminates, and AGV dollies return to operating position under the guiding of guider and put into again
Work.
According to above-mentioned charging method, it is particular in that：Also include step a and step b scheduling steps：
Step a, also comprised the steps of before above-mentioned steps two；
1) master controller of AGV dollies to be charged sends application charging to dispatch server by its wireless communication apparatus and referred to
Order, dispatch server inquire about the service condition of ground charging device；
1.1) when inquiring available free ground charging device, wireless communication apparatus is by the position of idle ground charging device
Information is sent to the master controller of AGV dollies to be charged, and main controller controls AGV dollies reach filling for idle ground charging device
Electric position is charged；
1.2) when inquiring leisureless ground charging device, main control of the wireless communication apparatus to AGV dollies to be charged
Device dispatcher queue waiting instruction, main controller controls AGV dollies reach appointed place waiting, treat available free ground charging device
When, AGV dollies to be charged are according to above-mentioned steps 1.1) operation；
Step b, also comprised the steps of after above-mentioned steps nine；
2) after the charging complete of AGV dollies, the master controller of AGV dollies passes through nothing while leaving ground charging device position
Line communication device sends leave message to dispatch server, and dispatch server marks the use state of ground charging device.
Compared with prior art, it is an advantage of the invention that：
1st, wireless charging system provided by the invention is using guider, charging module, master controller and ground charging dress
Putting can realize and automatically carry out Charge Management to AGV dollies power supply, substantially increase the automaticities of AGV dollies so that
AGV dollies can work automatically for a long time, significantly improve the operating efficiency of AGV dollies.
2nd, the present invention uses positional information code, code reader and inertial navigation unit to operation of the AGV dollies in whole place
Navigation and charging navigator fix, simple in construction, positional information code is easy to laying so that Ground arrangement is flexible；And it ensure that
The positional precision that AGV dollies are stopped on charging device so that the transmitting coil of energy emission power and energy acceptance unit
Receiving coil can be strictly aligned, and larger power loss is avoided in transmittance process.
3rd, the present invention is switched on or switched off using switch element to AGV dollies battery and energy acceptance unit, is improved
The security of AGV dollies battery charging.
4th, the draw off gear that the present invention uses can pack up charging module when AGV dollies work, and save AGV dollies
Space hold simultaneously plays a protective role to charging module, avoids charging module because other reasonses such as collide damage.
5th, the dispatch server and wireless communication apparatus that the present invention uses can realize the charging process to more AGV dollies
It is scheduled, automatically, efficiently completes the Charge Management to multiple AGV dollies and multiple ground charging devices.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the schematic diagram of a specific embodiment of the invention.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and examples.
A kind of AGV dollies wireless charging system as depicted in figs. 1 and 2, including dolly charging device, ground charging dress
Put, wireless communication apparatus and dispatch server；Wireless communication apparatus is set on the ground, and dispatch server is arranged on AGV dollies
On；
Dolly charging device includes guider, charging module and master controller；Charging module and master controller are arranged on
On AGV dollies.Guider includes inertial navigation unit, code reader and multiple positional information codes；Inertial navigation unit and reading code
Device is arranged on AGV dollies；Positional information code is Quick Response Code or bar code or Quick Response Code battle array, and multiple positional information code intervals are certain
Distance is laid on place, and can be laid on ground can also be laid on the positions such as step, column that code reader is readily detected；
Positional information code includes the coordinate information of absolute coordinate information, i.e. dolly centroid distance zero point.All absolute coordinate informations are deposited
Storage is in the memory of master controller.
The AGV dollies positional information and attitude information that continuously obtain are sent to master controller by inertial navigation unit；Reading code
Device will be sent to master controller after the positional information collection on positional information code.
Charging module includes detection unit, dolly battery, dolly communication unit, switch element, energy acceptance unit and receipts
Put device；Detection unit electrically connects with dolly battery, for detecting the information about power of dolly battery；Dolly communication unit be used for
Ground charging device sends charging or stops the command information of charging；Switch element is used to be switched on or switched off dolly battery and energy
The electrical connection of receiving unit.
Energy acceptance unit is receiving coil, and it is arranged on the side of AGV dollies；Draw off gear and energy acceptance unit phase
Even；Under AGV dolly working conditions, draw off gear packs up charging module；Under AGV dolly charged states, draw off gear will
Charging module is opened, and is allowed to parallel with ground launch unit.Draw off gear can also be not provided with, directly pacifies energy acceptance unit
Mounted in the bottom of the small surveys of AGV, as long as making energy receiving unit be in suitable charge position relative to ground charging device.
The positional information and posture that master controller is measured by the positional information that code reader is read to inertial navigation unit
Information is modified, so as to obtain the accurate positional information of AGV dollies and attitude information.Master controller receives, processing position letter
Breath, attitude information and information about power, AGV dollies are controlled accurately to arrive according to positional information, attitude information and information about power
Up to ground charging device charge position or return to operating position；Simultaneously according to positional information, attitude information and information about power control
Switch element and dolly communication unit work processed.
Ground charging device have it is multiple, each charging device include ground communications unit, ground charging control unit and
Energy emitting element；Energy emitting element is transmitting coil；Ground communications unit is used to receive command information；Ground charge control
Unit is used to control the outside transmission power of energy emitting element according to command information.The transmitting coil and energy of energy emission power
The receiving coil of receiving unit is strictly aligned, and larger power loss is avoided in transmittance process, can be obtained and preferably be filled
Electric effect.
Wireless communication apparatus is electrically connected and is connected with dispatch server by wireless telecommunications, dispatch server with master controller
The charge position of some ground charging device in the multiple ground charging devices of AGV dollies arrival is dispatched by wireless communication apparatus
Charged.
A kind of charging method of above-mentioned wireless charging system, is comprised the steps of：
Step 1：The dolly positional information and attitude information that continuously obtain are sent to master controller by inertial navigation unit；
Code reader will be sent to master controller after the positional information collection on positional information code；Detection unit assay intervals certain time is examined
Survey dolly battery electric quantity；
Detection unit detects dolly battery electric quantity deficiency, and not enough power supply information is sent to master controller；
Step 2：The master controller of AGV dollies to be charged sends application by its wireless communication apparatus to dispatch server
Charging instruction, dispatch server inquire about the service condition of ground charging device；
1.1) when inquiring available free ground charging device, wireless communication apparatus is by the position of idle ground charging device
Information is sent to the master controller of AGV dollies to be charged, and main controller controls AGV dollies reach filling for idle ground charging device
Electric position is charged；
1.2) when inquiring leisureless ground charging device, main control of the wireless communication apparatus to AGV dollies to be charged
Device dispatcher queue waiting instruction, main controller controls AGV dollies reach appointed place waiting, treat available free ground charging device
When, AGV dollies to be charged are according to above-mentioned steps 1.1) operation；
Step 3：The positional information that master controller is measured by the positional information that code reader is read to inertial navigation unit
It is modified with attitude information, is navigated so as to obtain the accurate location information of AGV dollies and attitude information for dolly, control
AGV dollies accurately reach the charge position of ground charging device；
Step 4：After the charge position for reaching ground charging device, main controller controls switch element makes energy acceptance list
Member is led to dolly battery conductance；Earthward communication unit sends the instruction letter to charge to main controller controls dolly communication unit simultaneously
Breath；
Step 5：Ground charging control unit controls the outside transmission power of energy emitting element according to above-mentioned command information,
Energy acceptance unit receiving power；
Step 6：AGV dollies enter charged state, detection unit detection dolly battery electric quantity；Master controller is according to battery
Charge condition, the transmission power of energy unit is controlled by dolly communication unit；
Step 7：After detection unit detection dolly battery electric quantity is full of, sends electricity to master controller and be full of information；
Step 8：Main controller controls switch element disconnects the electrical connection of energy receiving unit and dolly battery, simultaneously
Earthward communication unit sends the command information for stopping charging to main controller controls dolly communication unit；
Step 9：Ground charging control unit controls energy emitting element to stop outwards transmitting work(according to above-mentioned command information
Rate；
Step 10：The charging of AGV dollies terminates, and AGV dollies return to operating position under the guiding of guider and put into again
Work.
Step 11：After AGV dolly charging completes, the charge position of ground charging device is left；The master of AGV dollies simultaneously
Controller sends leave message by wireless communication apparatus to dispatch server, and dispatch server mark ground charging device makes
Use state.
Claims (10)
- A kind of 1. AGV dollies wireless charging system, it is characterised in that：Including dolly charging device and ground charging device；The dolly charging device includes guider, charging module and master controller；The guider is used for the positional information and attitude information for obtaining AGV dollies；The charging module and master controller are arranged on AGV dollies；The charging module is used for the electricity for detecting dolly battery Information, and earthward charging device sends charging or stops the command information of charging；The master controller receives, handles the positional information, attitude information and information about power, according to the information about power, position Confidence ceases and attitude information control AGV dollies reach the charge position of ground charging device or return to operating position, while basis The positional information, attitude information and information about power control the charging module to send the instruction to the ground charging device Information；The ground charging device is used to receive the command information, and according to the outside transmission power of the command information.
- A kind of 2. AGV dollies wireless charging system according to claim 1, it is characterised in that：The guider includes inertial navigation unit, code reader and multiple positional information codes；The inertial navigation unit and reading Code device is arranged on AGV dollies, and the multiple positional information intersymbol is laid on place at a certain distance；The AGV dollies positional information and attitude information that continuously obtain are sent to master controller by the inertial navigation unit；It is described Code reader will be sent to master controller after the positional information collection on the positional information code；The positional information and posture that the master controller is measured by the positional information that code reader is read to inertial navigation unit Information is modified, and is navigated so as to obtain the accurate positional information of AGV dollies and attitude information for dolly, is enable AGV dollies It is enough accurately to reach target location.
- A kind of 3. AGV dollies wireless charging system according to claim 2, it is characterised in that：The charging module includes Detection unit, dolly battery and dolly communication unit；The detection unit electrically connects with the dolly battery, for detecting the information about power of the dolly battery；The dolly Communication unit is used for earthward charging device and sends the command information.
- A kind of 4. AGV dollies wireless charging system according to claim 3, it is characterised in that：The charging module also wraps Include switch element and energy acceptance unit；The switch element is used to be switched on or switched off the dolly battery and the energy acceptance The electrical connection of unit；The master controller controls the switch element and the dolly according to the positional information, attitude information and information about power Communication unit works.
- A kind of 5. AGV dollies wireless charging system according to any one of Claims 1-4, it is characterised in that：The ground Charging device includes ground communications unit, ground charging control unit and energy emitting element；The ground communications unit is used to receive the command information；The ground charging control unit is used for according to the instruction Information controls the outside transmission power of energy emitting element.
- A kind of 6. AGV dollies wireless charging system according to claim 5, it is characterised in that：The ground charging device When having multiple, in addition to it is arranged on the dispatch server on ground and the wireless communication apparatus on AGV dollies；It is described wireless Communication device is connected with master controller and dispatch server respectively；The charge position that the dispatch server dispatches AGV dollies arrival ground charging device by wireless communication apparatus is filled Electricity.
- A kind of 7. AGV dollies wireless charging system according to claim 6, it is characterised in that：The positional information code is Quick Response Code or bar code or Quick Response Code battle array.
- A kind of 8. AGV dollies wireless charging system according to claim 7, it is characterised in that：The charging module also wraps Draw off gear is included, the energy acceptance unit is arranged on the side of AGV dollies；The draw off gear and the energy acceptance unit It is connected；Under AGV dolly working conditions, the draw off gear packs up the charging module；Under AGV dolly charged states, the draw off gear opens the charging module, is allowed to put down with ground launch unit OK.
- 9. a kind of charging method for claim 5 to 8 any AGV dollies wireless charging system, its feature exists In comprising the steps of：Step 1：The dolly positional information and attitude information that continuously obtain are sent to master controller by inertial navigation unit；Reading code Device will be sent to master controller after the positional information collection on positional information code；The detection of detection unit assay intervals certain time is small Car battery electric quantity；Detection unit detects dolly battery electric quantity deficiency, and not enough power supply information is sent to master controller；Step 2：The positional information and appearance that master controller is measured by the positional information that code reader is read to inertial navigation unit State information is modified, and is navigated so as to obtain the accurate location information of AGV dollies and attitude information for dolly, control AGV is small Car accurately reaches the charge position of ground charging device；Step 3：Reach ground charging device charge position after, main controller controls switch element make energy receiving unit with Dolly battery conductance leads to；Earthward communication unit sends the command information to charge to main controller controls dolly communication unit simultaneously；Step 4：Ground charging control unit controls the outside transmission power of energy emitting element, energy according to above-mentioned command information Receiving unit receiving power；Step 5：AGV dollies enter charged state, detection unit detection dolly battery electric quantity；Master controller is according to battery electric quantity Situation, the transmission power of energy unit is controlled by dolly communication unit；Step 6：After detection unit detection dolly battery electric quantity is full of, sends electricity to master controller and be full of information；Step 7：Main controller controls switch element disconnects the electrical connection of energy receiving unit and dolly battery, while master control Earthward communication unit sends the command information for stopping charging to device control dolly communication unit processed；Step 8：Ground charging control unit controls energy emitting element to stop outside transmission power according to above-mentioned command information；Step 9：The charging of AGV dollies terminates, and AGV dollies return to operating position under the guiding of guider and devoted oneself to work again.
- 10. charging method according to claim 9, it is characterised in that：Also include step a and step b scheduling steps：Step a, also comprised the steps of before the step 2；1) master controller of AGV dollies to be charged sends application charging instruction by its wireless communication apparatus to dispatch server, Dispatch server inquires about the service condition of ground charging device；1.1) when inquiring available free ground charging device, wireless communication apparatus is by the positional information of idle ground charging device The master controller of AGV dollies to be charged is sent to, main controller controls AGV dollies reach the charge position of idle ground charging device Put and charged；1.2) when inquiring leisureless ground charging device, wireless communication apparatus is sent out to the master controller of AGV dollies to be charged Send and wait in line to instruct, main controller controls AGV dollies reach appointed place waiting, when available free ground charging device, treat Charging AGV dollies are run according to the step 1.1)；Step b, also comprised the steps of after the step 9；2) after the charging complete of AGV dollies, the master controller of AGV dollies passes through channel radio while leaving ground charging device position Interrogate device and send leave message to dispatch server, dispatch server marks the use state of ground charging device.
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