CN108448693A - Radio energy transmission system and its control method for AGV - Google Patents
Radio energy transmission system and its control method for AGV Download PDFInfo
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- CN108448693A CN108448693A CN201810203048.0A CN201810203048A CN108448693A CN 108448693 A CN108448693 A CN 108448693A CN 201810203048 A CN201810203048 A CN 201810203048A CN 108448693 A CN108448693 A CN 108448693A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 13
- 239000003990 capacitor Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 2
- 229910052573 porcelain Inorganic materials 0.000 claims 1
- 230000003245 working effect Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- UGAJKWZVPNVCIO-UHFFFAOYSA-N Terminalin Chemical compound O1C(=O)C(C2=3)=C(C4=C(O)C(O)=C(O)C=C4C(=O)O4)C4=C(O)C=3OC(=O)C3=C2C1=C(O)C(OC1=O)=C3C2=C1C=C(O)C(O)=C2O UGAJKWZVPNVCIO-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H02J7/025—
-
- 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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- 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
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- 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
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
- H02J7/04—Regulation of charging current or voltage
- H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
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- H02J2007/10—
Abstract
The invention discloses a kind of radio energy transmission systems and its control method for AGV, the system includes that terrestrial wireless electric energy emission system and AGV radio energies receive system, the present invention replaces wired charging using wireless charging, improves the safety of AGV charging systems；Using electromagnetic resonance wireless power transmission method, increase transmission range；The charging strategy being combined using fast charge and trickle charge improves the working efficiency of AGV while ensureing battery, realizes AGV fully automatic workings.
Description
Technical field
The present invention relates to wireless power transmission technical field, in particular to be related to a kind of electromagnetic resonance for AGV without
Line electric energy transmission system and method.
Background technology
AGV is a kind of mobile robot that having guiding device and Control System of Microcomputer, can accurately be travelled along guide path.
AGV's is adaptable, and work efficiency is high, unattended operation in 24 hours may be implemented, in mechanical processing, automobile assembling, cigarette
The multiple fields such as grass cultivation, logistics storage and transportation, smelting iron and steel have played important function.AGV is usually with charging accumulator for its power
Source, when operation, accumulator battery voltage can continuously decrease, and the electric energy of battery storage is gradually reduced, therefore, in circular flow process
In need timing electric energy supplement.
Traditional AGV mostly uses trolley, drag chain power supply, and the flexibility of equipment is insufficient, and has certain power supply safety hidden
Suffer from.With the increase of charging times, the failure rate of charger contacts significantly increases, and increases management and operating cost.
Because accumulator capacity is limited, continuous working period, power, travel speed of AGV etc. are affected, thus
It is difficult to improve the utilization rate and working efficiency of AGV.
Currently used two kinds of wireless charging technologies：Electromagnetic induction manifold type and EMR electromagnetic resonance manifold type.Relative to sense
It is to have tuning network, energy in circuit topological structure to answer manifold type wireless charging technology, the distinguishing feature of EMR electromagnetic resonance manifold type
Enough realize leakage inductance compensation and frequency tuning, improve transmission range, and when the barrier in charge path farther out from coil distance when,
Wireless charging will not be made a significant impact.
Stop is charged AGV using wireless fast-pulse in the process of running, under the premise of ensureing AGV continuous works,
The stored energy capacitance that accumulator can suitably be reduced, need not occupy the other charging time, improve work efficiency.
Invention content
The present invention is to solve the problems of the prior art, and a kind of AGV radio energies Charging is proposed in conjunction with AGV own characteristics
System, can make AGV be automatically performed wireless charging, be charged using the intermittent time, improve logistic efficiency.
Realize the object of the invention the technical solution adopted is that：A kind of radio energy transmission system for AGV, the system packet
It includes terrestrial wireless electric energy emission system and AGV radio energies receives system；
The terrestrial wireless electric energy emission system includes full-bridge rectification module, boost modules, inverter module, radio energy
Transmitting module, transmitting side controller and terrestrial wireless communication module；The external single-phase alternating current of full-bridge rectification module input,
The boost module inputs are connected with full-bridge rectification module output end, and the inverter module input terminal is exported with boost modules
End is connected, and the inverter module output end is connected with radio energy transmitting module input terminal；The radio energy transmitting module packet
Include transmitting terminal LCC compensation circuits and wireless transmission coil；The terrestrial wireless communication module is connected with transmitting side controller；
It includes battery electric energy detection module, radio energy transmission system reception dress that the AGV radio energies, which receive system,
It sets, receive side controller and AGV wireless communication modules；The radio energy transmission system reception device includes that radio energy receives
Module, full-wave rectification block and filter circuit；The radio energy receiving module output end and full-wave rectification block input terminal phase
Even, the full-wave rectification block output end is connected with filter circuit input terminal, and the filter circuit output end is to charge the battery；
The radio energy receiving module includes receiving terminal LCC compensation circuits and wireless receiving coil；AGV wireless communication modules and reception
Side controller connects.
Further, the transmitting terminal LCC compensation circuits include resonant inductance Lf1, parallel resonance capacitance Cf1It is mended with series connection
Repay capacitance Cp1；Receiving terminal LCC compensation circuits include resonant inductance Lf2, parallel resonance capacitance Cf2With series compensation capacitance Cp2。
Further, the inverter module is made of switch mosfet pipe and its anti-paralleled diode, and effect is will be straight
Galvanic electricity is converted into high-frequency alternating current, passes through rational parameter configuration so that its output impedance allows for resonance electricity in this way at perception
Stream phase lags behind resonance potential phase to ensure that the realization of its zero voltage switch, to reduce power attenuation.
Further, the capacitance in the filter circuit uses multiple electrolytic capacitor parallel connections to reduce equiva lent impedance, improves
Working efficiency；It is in parallel by using several monolithic capacitor and ceramic condenser, improve the high frequency characteristics of filter circuit.
Further, the wireless transmission coil is laid under road surface, and wireless receiving coil is installed to the bottom surface of AGV.
Further, material handling transportation point of the system on AGV guidance paths is equipped with charging anchor point, utilizes object
Expect that accumulator electric energy supplement according to accumulator charging requirement, is given in the gap of handling.
The system provides the rest area of charging for AGV, when AGV maintenance or the serious power shortage of battery, provides for a long time
Charging.
In addition, the present invention also provides a kind of control method of the above-mentioned radio energy transmission system for AGV, the AGV
Radio energy transmission system include two kinds of charge modes of fast charge and trickle charge, when AGV is in routine work state use fast charge
Pattern uses trickle charge pattern when AGV is in original state or inspecting state；
For the system in routine work state, AGV reaches charging anchor point, and battery electric energy detection module is by AGV works
The operating voltage of accumulator when making is less than certain threshold value by the operating voltage detected, judges that accumulator needs charging and life
It is required at fast charge.Meanwhile electric energy detection module detection AGV charging when accumulator charging voltage and charging current be transferred to reception
Side controller judges whether battery is full of.When battery charging complete, receives side controller and generate and terminate charge request；
For the system in original state or inspecting state, AGV is in rest area, by artificially opening receiving terminal control
Charging start button on device generates trickle charge charging requirement.Accumulator charging when battery electric energy detection module charges AGV
Voltage and charging current are transferred to reception side controller, judge whether battery is full of.When battery charging complete, side controller is received
It generates and terminates charge request；
The respective request of generation is sent to AGV wireless communication modules by the reception side controller of the system, by AGV without
Different charge requests is sent to transmitting side controller by the data exchange of line communication module and terrestrial wireless communication module；
The transmitting side controller judges whether to charge and using different according to the charging requirement for receiving side controller transmitting
Charge mode.
Further, the transmitting side controller uses boost double-closed-loop controls circuit, and system is made to be operated in different fill
Power mode, Boost circuit control system is by changing the output voltage of boost circuits to the output power of control system.
The transmitting side controller detects boost output voltage V and boost input current I, control by sample circuit
Outer shroud is boost circuit inductance current controlled circuits, exports and is given as what boost circuit input voltage inner ring controlled.It will
The duty ratio output for controlling inner ring controls switching tube to control system output power by PWM modulation.
It is an advantage of the invention that：Wired charging is replaced using wireless charging, improves the safety of AGV charging systems；Using
Electromagnetic resonance wireless power transmission method increases transmission range；The charging strategy being combined using fast charge and trickle charge is being ensured
While battery, the working efficiency of AGV is improved, realizes AGV fully automatic workings.
Description of the drawings
Fig. 1 is topology diagram of the embodiment for the radio energy transmission system of AGV.
Fig. 2 is boost circuit double-closed-loop control schematic diagrames used in embodiment.
Fig. 3 is that wireless charging system emits side controller work flow diagram in embodiment.
Fig. 4 is that wireless charging system receives side controller work flow diagram in embodiment.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, the present invention for AGV radio energy transmission system include terrestrial wireless electric energy emission system and
AGV radio energies receive system；
Wherein, terrestrial wireless electric energy emission system includes radio energy transmission system emitter.The radio energy passes
Defeated system transmitting unit, including full-bridge rectification module, boost modules, inverter module, radio energy transmitting module and transmitting terminal control
Device processed；Full-bridge rectification module D1-D4The external single-phase alternating current U of input terminalin, boost module inputs and full-bridge rectification module are defeated
Outlet is connected, the inverter module S1-S4Input terminal is connected with boost module output ends, inverter module output end and radio energy
Transmitting module input terminal is connected.Radio energy transmitting module includes transmitting terminal LCC compensation circuits and wireless transmission coil.Transmitting terminal
LCC compensation circuits include resonant inductance Lf1, parallel resonance capacitance Cf1With series compensation capacitance Cp1；
AGV radio energy transmission systems include radio energy receiving module, full-wave rectification block and filter circuit.The nothing
Line electric energy receiving module output end is connected with full-wave rectification block input terminal, and full-wave rectification block output end is inputted with filter circuit
End is connected, and the filter circuit output end is to charge the battery.The radio energy receiving module includes receiving terminal LCC compensation electricity
Road and wireless receiving coil.The receiving terminal LCC compensation circuits include resonant inductance Lf2, parallel resonance capacitance Cf2It is mended with series connection
Repay capacitance Cp2。
The LCC compensation circuits need to meet following formula,
Wherein ω0For inverter working frequency, L1And L2For the sensibility reciprocal of transmitting coil and receiving coil, Cf1And Cf2Respectively
Transmitting terminal and receiving terminal parallel resonance capacitance, Cp1And Cp2Respectively transmitting terminal and receiving terminal series compensation capacitance value, Lf1And Lf2
For the sensibility reciprocal of transmitting terminal and receiving terminal resonance coil.
Such as Fig. 2, charging system of the present invention uses the PI controllers of two close cycles, and outer shroud controls boost input current sizes, interior
Ring controls boost output voltages.So that transmitting side controller is generated the PWM of corresponding duty ratio, obtains corresponding boost outputs electricity
Pressure, to obtain corresponding charge power.Charging system charge power is：
Mutual induction amounts of the wherein M between transmitting coil and receiving coil, UABSquare-wave voltage fundamental wave is inputted for transmitting terminal LCC
Virtual value, UabThe virtual value of square-wave voltage fundamental wave is exported for receiving terminal LCC.
The control method such as Fig. 3 and Fig. 4 of the present invention for the radio energy transmission system of AGV, system is in routine work shape
When state, AGV reaches charging anchor point, receives the data that side controller is detected by battery electric energy detection module, judges
It needs to charge, receives side controller and generate charge request and terrestrial wireless communication module is sent to by AGV wireless communication modules.
Mission controller selects fast charge control algolithm after receiving the charge request of communication module, automatically turns on transmitting terminal inverter, makes
System is operated in fast charge mode.When battery charging complete, receives side controller and sent to transmitting side controller and terminate to fill
Electricity request stops charging at this point, transmitting side controller closes transmitting terminal inverter, and AGV drives towards next material handling point.
For system in original state or inspecting state, AGV is in rest area, is received on side controller by artificially opening
Charging start button, generate trickle charge charging requirement.Side controller is received to generate charge request and pass through AGV wireless communication modules
It is sent to terrestrial wireless communication module.Mission controller selects trickle charge control algolithm after receiving the charge request of communication module,
Transmitting terminal inverter is automatically turned on, system is made to be operated in trickle charge pattern.Electric power storage when battery electric energy detection module charges AGV
Pond charging voltage and charging current are transferred to reception side controller, judge whether battery is full of.When battery charging complete, receiving terminal
Controller, which generates, terminates charge request.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme all belong to the scope of protection of the present invention.
Claims (8)
1. a kind of radio energy transmission system for AGV, it is characterised in that：Including terrestrial wireless electric energy emission system and AGV
Radio energy receives system；
The terrestrial wireless electric energy emission system includes full-bridge rectification module, boost modules, inverter module, radio energy transmitting
Module, transmitting side controller and terrestrial wireless communication module；The external single-phase alternating current of full-bridge rectification module input, it is described
Boost module inputs are connected with full-bridge rectification module output end, the inverter module input terminal and boost module output end phases
Even, the inverter module output end is connected with radio energy transmitting module input terminal；The radio energy transmitting module includes hair
Penetrate end LCC compensation circuits and wireless transmission coil；The terrestrial wireless communication module is connected with transmitting side controller；
The AGV radio energies receive system and include battery electric energy detection module, radio energy transmission system reception device, connect
Receiving end controller and AGV wireless communication modules；The radio energy transmission system reception device include radio energy receiving module,
Full-wave rectification block and filter circuit；The radio energy receiving module output end is connected with full-wave rectification block input terminal, institute
It states full-wave rectification block output end with filter circuit input terminal to be connected, the filter circuit output end is to charge the battery；It is described
Radio energy receiving module includes receiving terminal LCC compensation circuits and wireless receiving coil；AGV wireless communication modules and receiving terminal control
Device connection processed.
2. being used for the radio energy transmission system of AGV according to claim 1, it is characterised in that：The transmitting terminal LCC compensation
Circuit includes resonant inductance Lf1, parallel resonance capacitance Cf1With series compensation capacitance Cp1；Receiving terminal LCC compensation circuits include resonance
Inductance Lf2, parallel resonance capacitance Cf2With series compensation capacitance Cp2。
3. being used for the radio energy transmission system of AGV according to claim 1, it is characterised in that：The inverter module by
Switch mosfet pipe and its anti-paralleled diode form.
4. being used for the radio energy transmission system of AGV according to claim 1, it is characterised in that：In the filter circuit
Capacitance uses multiple electrolytic capacitor parallel connections to reduce equiva lent impedance, improves working efficiency；By using several monolithic capacitor and pottery
Porcelain capacitance is in parallel, improves the high frequency characteristics of filter circuit.
5. being used for the radio energy transmission system of AGV according to claim 1, it is characterised in that：The wireless transmission coil
It is laid under road surface, wireless receiving coil is installed to the bottom surface of AGV.
6. being used for the radio energy transmission system of AGV according to claim 1, it is characterised in that：The system is navigated in AGV
Material handling transportation point on path is equipped with charging anchor point and is given using the gap of material handling according to accumulator charging requirement
Accumulator electric energy supplement.
The system provides the rest area of charging for AGV, when AGV maintenance or the serious power shortage of battery, provides and charges for a long time.
7. a kind of control method for for the radio energy transmission system of AGV described in claim 1, it is characterised in that：Institute
The radio energy transmission system for stating AGV includes two kinds of charge modes of fast charge and trickle charge, is used when AGV is in routine work state
Fast charge pattern uses trickle charge pattern when AGV is in original state or inspecting state；
For the system in routine work state, AGV reaches charging anchor point, when battery electric energy detection module works AGV
The operating voltage of accumulator is less than certain threshold value by the operating voltage detected, and it is fast to judge that accumulator needs to charge and generate
Fill requirement；Meanwhile electric energy detection module detection AGV charging when accumulator charging voltage and charging current be transferred to receiving terminal control
Device processed judges whether battery is full of.When battery charging complete, receives side controller and generate and terminate charge request；
For the system in original state or inspecting state, AGV is in rest area, is received on side controller by artificially opening
Charging start button, generate trickle charge charging requirement.Accumulator charging voltage when battery electric energy detection module charges AGV
It is transferred to reception side controller with charging current, judges whether battery is full of；When battery charging complete, receives side controller and generate
Terminate charge request；
The respective request of generation is sent to AGV wireless communication modules by the reception side controller of the system, passes through AGV channel radios
The data exchange for believing module and terrestrial wireless communication module, transmitting side controller is sent to by different charge requests；
The transmitting side controller is judged whether to charge and be filled using different according to the charging requirement for receiving side controller transmitting
Power mode.
8. control method according to claim 7, it is characterised in that：The transmitting side controller uses boost two close cycles
Control loop makes system be operated in different charge modes, the output that Boost circuit control system passes through change boost circuits
Voltage to control system output power；
The transmitting side controller passes through sample circuit, detection boost output voltage V and boost input currents I.Control outer shroud
For boost circuit inductance current controlled circuits, exports and given as what boost circuit input voltage inner ring controlled.It will control
The duty ratio output of inner ring is by PWM modulation control switching tube to control system output power.
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| CN201810203048.0A CN108448693B (en) | 2018-03-13 | 2018-03-13 | Wireless power transmission system for AGV and control method thereof |
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Cited By (11)
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| CN109130903A (en) * | 2018-08-29 | 2019-01-04 | 昆明理工大学 | A kind of low-pressure high-power wireless charging system of bilateral LCCL-T topology |
| CN109149736A (en) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | A kind of wireless charge-discharge system of electric car |
| CN109193973A (en) * | 2018-10-24 | 2019-01-11 | 中尔（深圳）电能科技有限公司 | Radio transition equipment and charging method |
| CN109217496A (en) * | 2018-10-10 | 2019-01-15 | 武汉理工大学 | The parameters analysis method of bilateral LCC compensation circuit in radio energy transmission system |
| CN110901421A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Intelligent bidirectional dynamic wireless charging system and method |
| CN110962633A (en) * | 2019-12-13 | 2020-04-07 | 武汉理工大学 | Low-voltage high-current wireless charging system and method |
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| CN111697799A (en) * | 2020-07-29 | 2020-09-22 | 中惠创智无线供电技术有限公司 | Wireless charging system and zero-voltage switch control method of inverter of wireless charging system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109149736A (en) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | A kind of wireless charge-discharge system of electric car |
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| CN109217496B (en) * | 2018-10-10 | 2021-12-07 | 武汉理工大学 | Parameter analysis method for bilateral LCC compensation circuit in wireless electric energy transmission system |
| CN109193973A (en) * | 2018-10-24 | 2019-01-11 | 中尔（深圳）电能科技有限公司 | Radio transition equipment and charging method |
| CN111064498A (en) * | 2019-11-14 | 2020-04-24 | 镓能半导体（佛山）有限公司 | Wireless power transmission system |
| CN110962633A (en) * | 2019-12-13 | 2020-04-07 | 武汉理工大学 | Low-voltage high-current wireless charging system and method |
| CN110901421A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Intelligent bidirectional dynamic wireless charging system and method |
| WO2021135751A1 (en) * | 2019-12-31 | 2021-07-08 | 华为技术有限公司 | Electronic device, wireless charging receiving apparatus, wireless charging control method and wireless charging system |
| CN111917165A (en) * | 2020-07-09 | 2020-11-10 | 中国电力科学研究院有限公司 | Crawler-type inspection robot for transformer substation, charging device, charging system and method |
| CN111697799A (en) * | 2020-07-29 | 2020-09-22 | 中惠创智无线供电技术有限公司 | Wireless charging system and zero-voltage switch control method of inverter of wireless charging system |
| CN113242531A (en) * | 2021-05-07 | 2021-08-10 | 上海振华重工(集团)股份有限公司 | AGV remote controller, AGV vehicle matching method and AGV matching system |
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