CN101714828B - Electricity picking-up device with function of location deviation detection - Google Patents
Electricity picking-up device with function of location deviation detection Download PDFInfo
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- CN101714828B CN101714828B CN2009102586628A CN200910258662A CN101714828B CN 101714828 B CN101714828 B CN 101714828B CN 2009102586628 A CN2009102586628 A CN 2009102586628A CN 200910258662 A CN200910258662 A CN 200910258662A CN 101714828 B CN101714828 B CN 101714828B
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Abstract
The invention provides a technical scheme, which relates to an electricity picking-up device with function of location deviation detection. The electricity picking-up device which comprises a resonant capacitor, a magnetic core coil winding on a magnetic core, a rectifier bridge and a voltage booster circuit, wherein the resonant capacitor is connected with the magnetic core coil in series and then connected to the input of the rectifier bridge; and the output of the rectifier bridge is connected with the voltage booster circuit. The electricity picking-up device also comprises a deviation detection circuit and a voltage reduction circuit for supplying electricity for the deviation detection circuit, and the voltage reduction circuit is connected with the output of the rectifier bridge. The magnetic core coil comprises a left induction coil and a right induction coil connected in series. The invention has the advantages that a non-contact electricity supply primary cable is utilized as a route guidance line, because an AC current signal existing on the primary cable produces a magnetic signal, the function of location detection to the primary cable is added to the electricity picking-up device so as to determine the deviation of relative location of the electricity picking-up device and the primary cable, thereby navigating an AGV. The invention can substitute other navigation modes, the system cost is reduced, and the system reliability is enhanced.
Description
Technical field
The present invention relates to a kind of non-contact power electricity pickup, especially a kind of electricity pickup with position deviation measuring ability.
Background technology
Self-navigation dolly (AGV) is one of key equipment in the modern industry automatic material flow system; generally be power with the battery; be equipped with autopilots such as electromagnetism, optics or vision, can travel, have safeguard protection and various transfer function along the guide path of regulation.Some run along the leading path, move without any confusion under the traffic control of computer, and are integrated in by logistics system software and constitute Automatic Guided Vehicle system (AGVS) in logistics system, the production system.AGVS is widely used in the logistics system of flexible manufacturing system (FMS), flexible handling system and Automatic Warehouse and other industry.
Traditional AGV is to be power with the battery, and the unmanned motor dolly of noncontact guider and independent addressing system is housed.Because adopt powered battery, therefore, the power of traditional AGV and operating range are subjected to great restriction, the utilance of AGV is not high yet.In order to improve the utilance of AGV, just must carry out regular charging to the battery of AGV.In order to guarantee that AGV need not shift out production process and just can finish charging on production line, must in the whole process of production system is installed, Battery Charging Station be set.For battery in seconds carries out quick charge, make AGV on production line, need not shift out production process and just can finish charging.The general adapted of AGV car electrical source of power be traditional " high magnification opening ickel-cadmium cell ", to adapt to its quick charge and than the requirement of heavy-current discharge.But be subjected to the influence of " ickel-cadmium cell " memory effect, use, safeguard cumbersome.While is owing to the pollution of cadmium in " ickel-cadmium cell ", incompatibility environmental protection requirement.In addition, increasing of charging station quantity also increased total construction cost of AGV transportation system.
The non-contact power technology is utilized electromagnetic coupling theory and transformer theory, and in conjunction with current up-to-date power electronic technology and the real-time control technology of microprocessor, realizes the contactless transmission of electric energy.By primary cable being set, electricity pickup is set, on AGV for AGV provides power on ground.This electric power system can AGV not under the situation of charged pool for dolly provides driving power and control power supply, also can under the situation of not establishing charging station, carry out charging continuously or regularly for the battery of AGV.Adopt non-contact power to power, overcome the power bottleneck of AGV to AGV.
In order to allow AGV travel, also need to be equipped with the parts of navigation feature to AGV along the guide path of regulation.Tradition has modes such as laser navigation, magnetic navigation, and laser navigation is provided with laser probe and realizes on AGV; The permanent magnet magnetic stripe is sticked in magnetic navigation on the route that AGV travels, Magnetic Sensor is installed on AGV is detected the magnetic stripe position, realizes the guiding of AGV is controlled by position deviation.Adopt which kind of navigate mode all to need extra transducer to realize.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of electricity pickup with position deviation measuring ability is provided, as the contactlessly powered guider of self-navigation dolly.
According to technical scheme provided by the invention, described electricity pickup with position deviation measuring ability, comprise resonant capacitance, be wrapped in magnetic core coil, rectifier bridge, a booster circuit on the magnetic core, after resonant capacitance and the magnetic core coil series connection, be connected to the input of rectifier bridge, the output of rectifier bridge is connected to booster circuit, also comprises deviation detection circuit and the reduction voltage circuit of powering to deviation detection circuit, and described reduction voltage circuit is connected with the output of rectifier bridge; Described magnetic core coil comprises the left induction coil and the right induction coil of series connection;
Described deviation detection circuit comprises left voltage conversion circuit, right voltage conversion circuit, single-chip microcomputer and output voltage translation circuit, left side induction coil and corresponding respectively left voltage conversion circuit and the right voltage conversion circuit of being connected of right induction coil, send into the AD sampling interface of single-chip microcomputer after over commutation and step-down, the DA output of single-chip microcomputer connects output voltage translation circuit output voltage signal.
Described deviation detection circuit also comprises the communication output interface, by digital form outgoing position deviation processing result.
Described communication output interface adopts the RS232 communication interface.
Described magnetic core is an E type magnetic core, and left induction coil is the same with the right induction coil number of turns, be symmetrically distributed in the left and right sides groove of E type magnetic core, and the distance between the distance of the two primary cable that equals to power.
Described single-chip microcomputer also is connected with the charactron display circuit of real-time demonstration offset distance.
Advantage of the present invention is: the present invention is cleverly by contactlessly powered characteristics, utilize contactlessly powered primary cable as the route guidance line, because the ac current signal that exists on the primary cable produces magnetic signal, additional position detecting function on electricity pickup to primary cable, judge the relative position deviation of electricity pickup and primary cable, thereby navigate to AGV.Can substitute other navigate modes, reduce system cost, improve system reliability.
Description of drawings
The circuit structure diagram of Fig. 1 electricity pickup of the present invention;
Fig. 2 electricity pickup coil structures of the present invention figure;
Fig. 3 booster circuit schematic diagram;
Fig. 4 reduction voltage circuit schematic diagram.
Wherein, resonant capacitance 1, magnetic core coil 2, rectifier bridge 3, booster circuit 4, deviation detection circuit 6, reduction voltage circuit 5, left induction coil 21, right induction coil 22, left voltage conversion circuit 61, right voltage conversion circuit 62, single-chip microcomputer 63, output voltage translation circuit 64, the RS232 output interface 65 of communicating by letter;
E type magnetic core 23, primary cable 24;
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 2, in contactlessly powered AGV dolly, the primary cable of non-contact power is set along the travel route of AGV.Be connected with the big current signal of high frequency in the cable.Electricity pickup on the AGV is near primary cable, the coil of electricity pickup in can induction cable electric current and obtain higher coefficient of mutual inductance by capacitor resonance.Induced voltage can offer AGV power by rectification and amplification.
As shown in Figure 1, the present invention is a kind of non-contact power electricity pickup with position deviation measuring ability, comprising: resonant capacitance 1, magnetic core coil 2, rectifier bridge 3, booster circuit 4, reduction voltage circuit 5, deviation detection circuit 6.Electric capacity 1 and magnetic core coil 2 series connection constitute resonant circuit, improve power supplying efficiency, its output is connected to rectifier bridge 3, convert the alternating current of responding in the magnetic core coil to direct current output by rectifier bridge 3, the output of rectifier bridge 3 is connected to booster circuit 4 and realizes voltage transformation, obtain the high pressure of realistic industrial requirement, drive and the control section power supply to AGV.The output of rectifier bridge 3 is also connected to reduction voltage circuit 5, and reduction voltage circuit 5 gives deviation detection circuit 6 power supplies.
Two coils about magnetic core coil 2 is divided into, two wire circles are the same, and the position is symmetrically distributed on two arms of E type electricity pickup.The distance of the distance between two coils and two leads of primary cable 24 is the same.After E type electricity pickup and primary cable centering, the induced voltage of two coils equates.Electric capacity 1 and magnetic core coil 2 series connection constitute resonant circuit, and induced voltage boosts to DC560V by booster circuit then by rectifier bridge 3 rectifications, supply with the AC servo control system of AGV and use.The busbar voltage of AC servo is DC400 ~ 600V.So can be directly the direct voltage incoming transport servo system of DC560V.
The deviation detection circuit 6 of present embodiment comprises left voltage conversion circuit 61, right voltage conversion circuit 62, single-chip microcomputer 63, output voltage translation circuit 64, the RS232 output interface 64 of communicating by letter.Left side induction coil 21 and corresponding respectively left voltage conversion circuit 61 and the right voltage conversion circuit 62 of being connected of right induction coil 22, the ac voltage signal that the left and right sides is coil-induced is handled through over commutation and step-down, send into the AD sampling interface of single-chip microcomputer 63 then, voltage conversion circuit is realized rectification and step-down by the LM356 amplifier.
Single-chip microcomputer 63 is a Philip LPC2114 model single-chip microcomputer, has AD and DA interface, can be directly used in native system.Its operating voltage is 3.3V, and reduction voltage circuit is depressured to low pressure supply amplifier and single-chip microcomputer use with the electric energy of induction.
Left and right sides voltage conversion circuit, the AD sampling interface of connection single-chip microcomputer, the DA output of single-chip microcomputer 63 connects output voltage translation circuit 64, exports satisfactory voltage signal.
The voltage swing that the program of single-chip microcomputer 63 is at first gathered left and right sides coil subtracts each other voltage then, is left avertence or right avertence according to result's positive negative judgement, in conjunction with the demarcation of tabling look-up of the size of left voltage, judges actual position deviation distance then; Position deviation distance with reality converts corresponding voltage signal output again at last.The control system of AGV just can realize the control corresponding adjustment according to the voltage signal size.
In order to adapt to different control system demands, deviation signal is also sent simultaneously by interface shapes such as RS232, by digital form outgoing position deviation processing result, to adapt to different control system.And can dispose display unit to single-chip microcomputer,, show the size of offset distance in real time, be used for showing in real time the distance size of deviation, conveniently to check and system debug such as the charactron display circuit.
As shown in Figure 3, the boost circuit structure of the embodiment of the invention comprises: first inductance, 41 1 ends connect the positive pole output of rectifier bridge 3 as input, the other end connects the positive pole of first diode 42, be connected to the source class of first field effect transistor 43 simultaneously, the drain electrode of first field effect transistor 43 is connected to the negative pole output of rectifier bridge 3, and a pwm control circuit 44 connects negative pole and the negative pole of rectifier bridge 3 and the grid of first field effect transistor 43 of first diode 42.First filter capacitor 45 is connected between the negative pole of the negative pole of first diode 42 and rectifier bridge 3.
As shown in Figure 4, the reduction voltage circuit structure of the embodiment of the invention comprises: the source class of second field effect transistor 53 connects the positive pole output of rectifier bridge 3, the drain electrode of second field effect transistor 53 connects second inductance 51, the other end of second inductance 51 is output cathodes of low pressure, the negative pole of second diode 52 connects the drain electrode of field effect transistor 53, the anodal negative pole output that connects rectifier bridge 3, the negative pole of anodal output of the 2nd pwm control circuit 54 low pressure and rectifier bridge 3 and the grid of field effect transistor 53 are realized the FEEDBACK CONTROL pressure regulation.Second filter capacitor 55 is connected between the negative pole of the low pressure output cathode end of second inductance 51 and rectifier bridge 3.
The present invention is by transforming the loop construction of electricity pickup magnetic core, and the design deviation testing circuit can carry out position deviation and detect by the primary cable of non-contact power when making the electricity pickup of contactlessly powered system have the electric energy transmitting function.After being used for the AGV system, replace traditional magnetic navigation or laser navigation parts, disposablely solved the power supply of system and navigated two difficult problems.Reduce cost, improved reliability.
Claims (5)
1. the electricity pickup that has the position deviation measuring ability, comprise resonant capacitance (1), be wrapped in magnetic core coil (2), rectifier bridge (3), a booster circuit (4) on the magnetic core, after resonant capacitance (1) and magnetic core coil (2) series connection, be connected to the input of rectifier bridge (3), the output of rectifier bridge (3) is connected to booster circuit (4), it is characterized in that: also comprise deviation detection circuit (6) and give the reduction voltage circuit (5) of deviation detection circuit (6) power supply, described reduction voltage circuit (5) is connected with the output of rectifier bridge (3);
Described magnetic core coil (2) comprises the left induction coil (21) and the right induction coil (22) of series connection;
Described deviation detection circuit (6) comprises left voltage conversion circuit (61), right voltage conversion circuit (62), single-chip microcomputer (63) and output voltage translation circuit (64), left side induction coil (21) and corresponding respectively left voltage conversion circuit (61) and the right voltage conversion circuit (62) of being connected of right induction coil (22), the ac voltage signal of left induction coil (21) and right induction coil (22) induction is handled through over commutation and step-down, send into the AD sampling interface of single-chip microcomputer (63) then, the DA output of single-chip microcomputer (63) connects output voltage translation circuit (64) output voltage signal.
2. the electricity pickup with position deviation measuring ability as claimed in claim 1 is characterized in that described deviation detection circuit (6) also comprises communication output interface (65), by digital form outgoing position deviation processing result.
3. the electricity pickup with position deviation measuring ability as claimed in claim 2 is characterized in that described communication output interface (65) adopts the RS232 communication interface.
4. the electricity pickup with position deviation measuring ability as claimed in claim 1, it is characterized in that described magnetic core is an E type magnetic core (23), left side induction coil (21) is the same with right induction coil (22) number of turns, be symmetrically distributed in the left and right sides groove of E type magnetic core (23), and the distance between the distance of the two primary cable (24) that equals to power.
5. the electricity pickup with position deviation measuring ability as claimed in claim 1 is characterized in that described single-chip microcomputer (63) also is connected with the charactron display circuit of real-time demonstration offset distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102586628A CN101714828B (en) | 2009-12-07 | 2009-12-07 | Electricity picking-up device with function of location deviation detection |
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| CN2009102586628A CN101714828B (en) | 2009-12-07 | 2009-12-07 | Electricity picking-up device with function of location deviation detection |
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| CN101714828A CN101714828A (en) | 2010-05-26 |
| CN101714828B true CN101714828B (en) | 2011-11-30 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106169679A (en) * | 2016-05-12 | 2016-11-30 | 东莞市美谷电子科技有限公司 | A kind of Multiple-protection socket |
| CN105824316A (en) * | 2016-05-27 | 2016-08-03 | 无锡中鼎物流设备有限公司 | Contactless power supply base paper transmission system |
| CN106527430B (en) * | 2016-11-04 | 2019-08-23 | 南京理工大学 | Universal automated guided vehicle control system |
| US10855117B2 (en) * | 2018-05-22 | 2020-12-01 | WitTricity Corporation | Extended foreign object detection signal processing |
| CN112744523A (en) * | 2020-09-30 | 2021-05-04 | 乐金显示光电科技(中国)有限公司 | Flat head conveyor |
| CN113867372A (en) * | 2021-12-03 | 2021-12-31 | 深圳赫兹创新技术有限公司 | Navigation device and navigation method for wireless non-contact power supply AGV |
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