CN108215922A - AGV charging systems - Google Patents

AGV charging systems Download PDF

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Publication number
CN108215922A
CN108215922A CN201810119932.6A CN201810119932A CN108215922A CN 108215922 A CN108215922 A CN 108215922A CN 201810119932 A CN201810119932 A CN 201810119932A CN 108215922 A CN108215922 A CN 108215922A
Authority
CN
China
Prior art keywords
agv
charging pile
charging
feedback information
reflecting strips
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810119932.6A
Other languages
Chinese (zh)
Inventor
黄鸣柳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Aizhi Intelligent Technology Co ltd
Original Assignee
Shanghai Wisdom Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Wisdom Intelligent Equipment Co Ltd filed Critical Shanghai Wisdom Intelligent Equipment Co Ltd
Priority to CN201810119932.6A priority Critical patent/CN108215922A/en
Publication of CN108215922A publication Critical patent/CN108215922A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • H02J7/025—
    • 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
    • Y02T90/14—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

A kind of AGV charging systems have laser radar in AGV foreparts, and AGV charging interfaces are located at AGV rear portions, and the charging system includes the charging pile for AGV chargings, and charging pile is arranged in AGV moving regions.Charging pile is provided with reflecting strips on position.After AGV is reached near charging pile, the laser radar of AGV scans and recognizes the reflecting strips of charging pile, and the position of AGV is adjusted according to the position of the reflecting strips of charging pile.AGV sends out charging instruction by the wireless radio frequency modules of itself to charging pile, and to AGV, AGV starts to retreat charging pile feedback information after receiving feedback information.The instruction that subsequent AGV is formally charged by wireless radio frequency modules hair, charging pile meeting feedback information is to AGV, and charging pile starts to discharge according to the transmission of this feedback information, and AGV is started to charge up at this time.

Description

AGV charging systems
Technical field
The invention belongs to AGV technical fields, more particularly to a kind of AGV charging systems.
Background technology
The application documents CN107450554A of same applicant disclose " a kind of submarine AGV, the AGV be used at one Transport cargo rack in preset space, the AGV have laser radar, and AGV obtains the position of barrier, institute by the laser radar It states AGV and includes memory；And it is coupled to the processor of the memory, which, which is configured as performing, is stored in described deposit Program in reservoir, the processor perform following operate：
Using the starting point of the AGV as origin in the pre-set space, pass through the laser radar scanning AGV on AGV Operation area, obtain in the operation area location informations of whole barriers, and by these location informations formed one it is quiet State map is stored in memory, as the characteristic matching map needed for AGV operation navigation；
When the AGV performs carrying task, operating system includes the operation of starting point, transit point and terminal for AGV planning Path, at runtime, laser radar thereon continually scans for ambient enviroment to the AGV, by the real-time surrounding features point of acquisition with The static map to prestore is compared, and combines AGV mileages and angle change, determines the real-time location coordinates of AGV ".Due to The movement of AGV needs sufficient electric drive, to AGV charging when essential sport technique segment, but this application file The solution to charge about AGV is not provided.
Invention content
The embodiment of the present invention provides a kind of AGV charging systems, it is therefore an objective to solve existing AGV and be aligned when charging pile charges The problem of.
AGV charging systems have laser radar in AGV foreparts, and AGV charging interfaces are located at AGV rear portions, the charging system Including the charging pile to charge for AGV, charging pile is arranged in AGV moving regions, and charging pile is provided with reflecting strips on position,
After AGV is reached near charging pile, the laser radar of AGV scans and recognizes the reflecting strips of charging pile, and root According to the position of the position adjustment AGV of the reflecting strips of charging pile；
AGV sends out charging instruction by the wireless radio frequency modules of itself to charging pile, and charging pile feedback information connects to AGV, AGV Feedback information is received to start to retreat later；
The high level output of charging pile is read in fallback procedures simultaneously, when AGV reads the letter of the high level output of charging pile After number, AGV stops the action retreating；
The instruction that subsequent AGV is formally charged by wireless radio frequency modules hair, charging pile meeting feedback information to AGV, charging pile Start to discharge according to the transmission of this feedback information, AGV is started to charge up at this time.
By the embodiment of the present invention, reflecting strips are set on the charging pile position in AGV moving regions, when AGV is reached Charging pile nearby after, the laser radar of AGV scans and recognizes the reflecting strips of charging pile, and according to the reflecting strips of charging pile Position adjusts the position of AGV, and the Automatic-searching charging pile that the present invention solves submarine AGV trolleies in the prior art completes charging The problem of.
Specific embodiment
The embodiment of the present invention one.
In AGV charging systems, operation AGV positions charging pile by reflecting strips close to charging pile.In charging pile just Face can set a fixed website, and before AGV chargings, AGV can rest on about tens cm distance before charging pile Site location, facing to charging pile.After AGV reaches the website near charging pile, laser radar can dissipate light particle to surrounding, Since the reflected intensity of reflecting strips and the reflected intensity of general object are different, laser radar is reading the light particle of feedback When, AGV can read the specific relative position of reflecting strips, and calculate AGV in itself between reflecting strips according to this distance Distance, so as to adjust the position of AGV.
The embodiment of the present invention two.
In AGV charging systems, position, AGV rear ends are determined since AGV reads charging pile reflecting strips by the radar of front end Equipped with the charging interface being connect with charging pile, therefore at this moment AGV rotates 180 degree, and AGV is referred to by radio frequency to charging pile hair charging It enables, to AGV, AGV starts to retreat charging pile feedback information after receiving feedback information.This is because, the initially forepart of AGV Laser radar reads the adjustment of the reflecting strips progress position of charging pile, and AGV can rotate in place 180 degree later, and AGV connects with charging pile The charging interface connect is located at the dead astern of AGV, and AGV can be retreated until AGV charging positions and charging pile completely attach at this time.
The high level output of charging pile is read in fallback procedures simultaneously, when AGV reads the letter of the high level output of charging pile After number, AGV stops the action retreating.Due to the charger in charging pile, power itself is big, need first with the high level of 24v to AGV is switched to high-power charging again after being confirmed.
The instruction that subsequent AGV is formally charged by radio frequency hair, charging pile meeting feedback information to AGV, charging pile are anti-according to this The transmission of feedforward information starts to discharge, and starts to charge up at this time.Here feedback information is exactly the high level from charging pile, it is meant that The charging interface and charging pile of AGV docks successfully, and then charging pile starts to charge up.
What deserves to be explained is although foregoing teachings describe the essence of the invention by reference to several specific embodiments God and principle, it should be appreciated that, the present invention is not limited to disclosed specific embodiment, the division also unawareness to various aspects The feature that taste in these aspects cannot combine, this to divide merely to the convenience of statement.The present invention is directed to cover appended power Included various modifications and equivalent arrangements in the spirit and scope of profit requirement.

Claims (2)

1. a kind of AGV charging systems have laser radar in AGV foreparts, AGV charging interfaces are located at AGV rear portions, the Charging System includes the charging pile for AGV chargings, and charging pile is arranged in AGV moving regions, which is characterized in that charging pile is set on position There are reflecting strips,
After AGV is reached near charging pile, the laser radar of AGV scans and recognizes the reflecting strips of charging pile, and according to filling The position of the position adjustment AGV of the reflecting strips of electric stake；
AGV sends out charging instruction by the wireless radio frequency modules of itself to charging pile, and charging pile feedback information is received to AGV, AGV Start to retreat after feedback information；
The high level output of charging pile is read in fallback procedures simultaneously, when AGV read the high level output of charging pile signal it Afterwards, AGV stops the action retreating；
The instruction that subsequent AGV is formally charged by wireless radio frequency modules hair, charging pile can feedback information to AGV, charging pile according to The transmission of this feedback information starts to discharge, and AGV is started to charge up at this time.
2. AGV charging systems as described in claim 1, which is characterized in that the AGV is submarine AGV.
CN201810119932.6A 2018-02-06 2018-02-06 AGV charging systems Pending CN108215922A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810119932.6A CN108215922A (en) 2018-02-06 2018-02-06 AGV charging systems

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810119932.6A CN108215922A (en) 2018-02-06 2018-02-06 AGV charging systems

Publications (1)

Publication Number Publication Date
CN108215922A true CN108215922A (en) 2018-06-29

Family

ID=62670988

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810119932.6A Pending CN108215922A (en) 2018-02-06 2018-02-06 AGV charging systems

Country Status (1)

Country Link
CN (1) CN108215922A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782770A (en) * 2019-02-02 2019-05-21 南京航空航天大学 A kind of method of grass trimmer recharging
CN110530399A (en) * 2019-09-06 2019-12-03 苏州寻迹智行机器人技术有限公司 The wheel spacing modification method of two-wheel differential mobile robot odometer calibration
CN111142513A (en) * 2019-12-02 2020-05-12 深圳优地科技有限公司 Method for acquiring and scheduling initialization coordinates, electronic device and storage medium
CN113189980A (en) * 2021-04-07 2021-07-30 惠州拓邦电气技术有限公司 Charging pile reflection intensity filtering method and device and charging robot
CN113917926A (en) * 2021-10-25 2022-01-11 北京京东乾石科技有限公司 Pile return guide device, pile driving guide device, system, method and medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008066052A1 (en) * 2006-11-30 2008-06-05 Toyota Jidosha Kabushiki Kaisha Automatic charging method and device of automated guided vehicle
CN104836293A (en) * 2015-05-08 2015-08-12 杭州南江机器人股份有限公司 Charging method of automatic guided vehicle (AGV), movable charging pile and charging system
CN107508359A (en) * 2017-09-25 2017-12-22 上海木爷机器人技术有限公司 The automatic charging system and method for a kind of robot
CN107577236A (en) * 2017-09-27 2018-01-12 上海有个机器人有限公司 Robot automatic homing charging method, robot, system and storage medium

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008066052A1 (en) * 2006-11-30 2008-06-05 Toyota Jidosha Kabushiki Kaisha Automatic charging method and device of automated guided vehicle
CN104836293A (en) * 2015-05-08 2015-08-12 杭州南江机器人股份有限公司 Charging method of automatic guided vehicle (AGV), movable charging pile and charging system
CN107508359A (en) * 2017-09-25 2017-12-22 上海木爷机器人技术有限公司 The automatic charging system and method for a kind of robot
CN107577236A (en) * 2017-09-27 2018-01-12 上海有个机器人有限公司 Robot automatic homing charging method, robot, system and storage medium

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109782770A (en) * 2019-02-02 2019-05-21 南京航空航天大学 A kind of method of grass trimmer recharging
CN110530399A (en) * 2019-09-06 2019-12-03 苏州寻迹智行机器人技术有限公司 The wheel spacing modification method of two-wheel differential mobile robot odometer calibration
CN111142513A (en) * 2019-12-02 2020-05-12 深圳优地科技有限公司 Method for acquiring and scheduling initialization coordinates, electronic device and storage medium
CN111142513B (en) * 2019-12-02 2024-01-26 深圳优地科技有限公司 Method for acquiring initialization coordinates, scheduling method, electronic device and storage medium
CN113189980A (en) * 2021-04-07 2021-07-30 惠州拓邦电气技术有限公司 Charging pile reflection intensity filtering method and device and charging robot
CN113189980B (en) * 2021-04-07 2024-04-16 惠州拓邦电气技术有限公司 Charging pile reverse light intensity filtering method and device and charging robot
CN113917926A (en) * 2021-10-25 2022-01-11 北京京东乾石科技有限公司 Pile return guide device, pile driving guide device, system, method and medium

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PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20190926

Address after: 215505 No. 40, Suzhou Road, High-tech Industrial Park, Changshu Economic Development Zone, Suzhou City, Jiangsu Province

Applicant after: Jiangsu Aizhi Intelligent Technology Co.,Ltd.

Address before: No. 316, room 137, Central Road, Xin Bang Town, Songjiang District, Shanghai

Applicant before: SHANGHAI AILUOSI INTELLIGENT EQUIPMENT CO.,LTD.

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20180629