CN109591649B - AGV power supply system based on RFID communication and internet technology - Google Patents
AGV power supply system based on RFID communication and internet technology Download PDFInfo
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/545—Temperature
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/549—Current
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
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- 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
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- 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
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- 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
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- 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
Abstract
The invention particularly discloses an AGV power supply system based on RFID communication and internet technology, which comprises a background server and a plurality of AGV systems, wherein each AGV system comprises a charging station management computer, a plurality of charging stations for charging the AGV and a plurality of AGV needing to be charged; the battery management system of AGV that will charge transmits the parameter of AGV's battery to corresponding charging station through RFID in real time, the charging station passes through the charging station management computer with the parameter of battery and transmits background server, background server judges and revises the battery charging curve according to the parameter of battery, and send this curve to the charging station, the charging station carries out reasonable charging according to the charging curve after the revision, thereby the safety of charging of AGV's battery has been ensured, the life of AGV's battery has been prolonged and the reliable collection and the transmission that can satisfy every scene hundreds of AGV's group battery data.
Description
Technical Field
The invention relates to the field of power supply systems, in particular to an AGV power supply system based on RFID communication and internet technology.
Background
AGVs are english acronyms of Automated Guided vehicles (Automated Guided vehicles), which refer to wheeled mobile equipment having magnetic strips, rails, or laser Automated guidance devices, traveling along a planned path, powered by batteries, equipped with safety protection and various auxiliary mechanisms. Such as unmanned automated vehicles for transfer and assembly facilities, and are also used in automated parking systems and courier sortation systems.
With the application of technologies such as internet technology, cloud technology and intelligent control in the AGV system, the intelligent level of the AGV is higher and higher. The popularization of AGV technique in fields such as automatic parking system and express delivery letter sorting system makes the on-the-spot scale of single AGV more and more big, and the quantity of group battery and charging station is more and more, and the requirement of AGV system development will not be satisfied to the power supply system of each part mutual independence originally, consequently, urgent needs a novel power supply system based on internet technology at present.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an AGV power supply system based on RFID communication and internet technology. When the field scale of the AGV is gradually enlarged, the mutually independent power supply systems are interconnected through the network, the AGV is effectively and reasonably charged, and the service life of the battery is effectively prolonged.
The technical scheme of the invention is as follows: the AGV power supply system based on the RFID communication and the Internet technology comprises a background server and a plurality of AGV systems;
the AGV system comprises a charging station management computer, a plurality of AGVs and a plurality of charging stations for charging the AGVs;
the AGV comprises a vehicle body and a vehicle-mounted battery management system, wherein the vehicle body provides a traveling function of the AGV, and the vehicle-mounted battery management system provides a function of interaction and management of a battery of the AGV and a charging station; the vehicle-mounted battery management device collects battery voltage data, battery current data and battery temperature data in real time through a voltage sensor and a current sensor respectively and sends the data to the microprocessor, the microprocessor corrects the battery residual capacity data in real time through an ampere-hour integration method according to the battery voltage data and the battery current data, and meanwhile, the microprocessor sends the battery number, the battery temperature data, the battery voltage data, the battery current data and the battery residual capacity data to a charging station through a radio communication module of the RFID in real time;
the charging station is used for recognizing the battery number through the RFID communication module, reading the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data in real time, correcting the charging curve according to a correction method of the charging curve, simultaneously sending the number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the charging station to a charging station management computer in real time through an MODBUS field bus protocol, and simultaneously receiving the battery capacity data of the BMS sent by the charging station management computer; the method for correcting the charge curve includes correcting remaining battery capacity data by comparing the remaining battery capacity data with battery capacity data of the BMS, correcting the remaining battery capacity data to be equal to a minimum value of the BMS data when the remaining battery capacity data is less than the minimum value of the BMS battery capacity data, correcting the remaining battery capacity data to be equal to a maximum value of the BMS battery capacity data when the remaining battery capacity data is greater than the maximum value of the BMS battery capacity data, and determining the charge curve according to the corrected remaining battery capacity data;
the charging station management computer is used for receiving the battery numbers, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data which are sent by each charging station in real time, storing the received battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of all the AGVs in a list, and simultaneously transmitting the battery numbers, the battery voltage data, the battery current data, the battery temperature data, the battery residual capacity data, the numbers of the charging stations and the numbers of the charging station management computer to the background server in real time through a TCP/IP protocol; for transmitting the received battery capacity data of the BMS to the corresponding charging station according to the number of the charging station;
the background server stores the received battery voltage data, battery current data, battery temperature data and battery remaining capacity data of the AGV in a list, calculates the median value of the battery remaining capacity data with the same battery voltage data and battery current data in the list by adopting a median method, obtains the minimum set multiple of the median value of the battery remaining capacity data as the minimum value of the battery capacity data of the BMS, obtains the maximum set multiple of the median value of the battery remaining capacity data as the maximum value of the battery capacity data of the BMS, obtains the battery capacity data of the BMS as the range interval of the data, and simultaneously sends the battery capacity data of the BMS after battery correction to the charging station management computer in real time according to the serial number of the charging station management computer through a TCP/IP protocol.
Preferably, the AGV includes a plurality of single batteries, and the main control unit collects voltage data of each single battery, current data of each single battery, and remaining capacity data of each single battery in real time through the voltage sensor, the current sensor, and the battery capacity sensor, and integrates the voltage data of each single battery, the current data of each single battery, and the remaining capacity data of each single battery, so as to obtain charging voltage data of the battery, charging current data of the battery, a charging cutoff condition, and remaining capacity data of the battery.
Preferably, the specific model of the microprocessor of the AGV master control unit is STM32F 407.
Preferably, in the background server, the minimum setting multiple is 0.975, and the maximum setting multiple is 1.025.
The invention has the beneficial effects that: the embodiment of the invention provides an AGV power supply system based on RFID communication and Internet technology, which enables an AGV to be charged to transmit battery voltage data, battery current data, battery temperature data and battery residual capacity data of the AGV to a charging station in real time through an RFID, the charging station transmits the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data to a background server through a charging station management computer layer by layer, the background server judges a proper charging curve according to the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data and transmits the corrected charging curve data to the charging station layer by layer, the charging station carries out reasonable charging according to the corrected charging curve data, therefore, the charging safety of the battery of the AGV is ensured, the service life of the battery of the AGV is prolonged, and the environment protection benefit is better; meanwhile, reliable collection and transmission of battery pack data of hundreds of AGVs on each site can be met; and meanwhile, the SOC estimation precision is improved.
Drawings
FIG. 1 is a block diagram of an AGV power system based on RFID communication and Internet technologies according to the present invention;
FIG. 2 is a system operation flow chart of an AGV power supply system based on RFID communication and Internet technology provided by the present invention.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
Referring to fig. 1, the AGV power supply system based on the RFID communication and the internet technology includes a background server and a plurality of AGV systems;
the AGV system comprises a charging station management computer, a plurality of AGVs and a plurality of charging stations for charging the AGVs;
the AGV comprises a vehicle body and a vehicle-mounted battery management system, wherein the vehicle body provides a traveling function of the AGV, and the vehicle-mounted battery management system provides a function of interaction and management of a battery of the AGV and a charging station; the vehicle-mounted battery management device collects battery voltage data, battery current data and battery temperature data in real time through a voltage sensor and a current sensor respectively and sends the data to the microprocessor, the microprocessor corrects the battery residual capacity data in real time through an ampere-hour integration method according to the battery voltage data and the battery current data, and meanwhile, the microprocessor sends the battery number, the battery temperature data, the battery voltage data, the battery current data and the battery residual capacity data to a charging station through a radio communication module of the RFID in real time;
the charging station is used for recognizing the battery number through the RFID communication module, reading the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data in real time, correcting the charging curve according to a correction method of the charging curve, simultaneously sending the number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the charging station to a charging station management computer in real time through an MODBUS field bus protocol, and simultaneously receiving the battery capacity data of the BMS sent by the charging station management computer; the method for correcting the charge curve includes correcting remaining battery capacity data by comparing the remaining battery capacity data with battery capacity data of the BMS, correcting the remaining battery capacity data to be equal to a minimum value of the BMS data when the remaining battery capacity data is less than the minimum value of the BMS battery capacity data, correcting the remaining battery capacity data to be equal to a maximum value of the BMS battery capacity data when the remaining battery capacity data is greater than the maximum value of the BMS battery capacity data, and determining the charge curve according to the corrected remaining battery capacity data;
the charging station management computer is used for receiving the battery numbers, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data which are sent by each charging station in real time, storing the received battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of all the AGVs in a list, and simultaneously transmitting the battery numbers, the battery voltage data, the battery current data, the battery temperature data, the battery residual capacity data, the numbers of the charging stations and the numbers of the charging station management computer to the background server in real time through a TCP/IP protocol; for transmitting the received battery capacity data of the BMS to the corresponding charging station according to the number of the charging station;
the background server stores the received battery voltage data, battery current data, battery temperature data and battery remaining capacity data of the AGV in a list, calculates the median value of the battery remaining capacity data with the same battery voltage data and battery current data in the list by adopting a median method, obtains the minimum set multiple of the median value of the battery remaining capacity data as the minimum value of the battery capacity data of the BMS, obtains the maximum set multiple of the median value of the battery remaining capacity data as the maximum value of the battery capacity data of the BMS, obtains the battery capacity data of the BMS as the range interval of the data, and simultaneously sends the battery capacity data of the BMS after battery correction to the charging station management computer in real time according to the serial number of the charging station management computer through a TCP/IP protocol.
Furthermore, the AGV battery comprises a plurality of single batteries, the main control unit collects voltage data of each single battery, current data of each single battery and residual capacity data of each single battery in real time through the voltage sensor, the current sensor and the battery capacity sensor respectively, and integrates the voltage data of each single battery, the current data of each single battery and the residual capacity data of each single battery, so that charging voltage data of the battery, charging current data of the battery, a charging cut-off condition and the residual capacity data of the battery are obtained.
Further, the specific model of the microprocessor of the AGV master control unit is STM32F 407.
Further, in the background server, the minimum setting multiple is 0.975, and the maximum setting multiple is 1.025.
For the system, a perfect method is needed to realize the charging of the AGV by the system, and for this inventor, an AGV charging method based on RFID communication and internet technology is proposed, which includes the following steps:
s1: correcting the battery residual capacity data according to the battery voltage data and the battery current data of each AGV to be charged by an ampere-hour integration method, and transmitting the battery number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the AGV to a charging station in real time through an RFID;
s2: the serial number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the charging station are sent to a charging station management computer in real time through the charging station;
s3: the charging station management computer receives battery voltage data, battery current data, battery temperature data and battery residual capacity data of all the AGVs for list storage, and transmits battery numbers, battery voltage data, battery current data, battery temperature data, battery residual capacity data and charging station numbers of the AGVs to the background server in real time;
s4: the background server carries out list storage on the received battery voltage data, battery current data, battery temperature data and battery remaining capacity data of the AGV, calculates the median value of the battery remaining capacity data of all batteries with the same battery voltage data and the same battery current data in the list storage of the background server by adopting a median method, takes 0.975 times of the median value of the battery remaining capacity data as the minimum value of the battery capacity data of the BMS, takes 1.025 times of the median value of the battery remaining capacity data as the maximum value of the battery capacity data of the BMS, and simultaneously sends the battery capacity data of the BMS to the charging station management computer with the corresponding number in real time according to the number of the charging station management computer;
s5: the charging station management computer transmits the received battery capacity data of the BMS to the charging stations of the corresponding numbers;
s6: the charging station that receives the battery capacity data of the BMS corrects the charging curve according to the correction method of the charging curve.
Further, in step S6, the method for correcting the charging curve includes the following steps:
2.1: comparing the residual battery capacity data of the AGV with the battery capacity data of the BMS;
2.2: if the battery residual capacity data of the AGV is smaller than the minimum value of the battery capacity data of the BMS, the battery residual capacity data of the AGV is equal to the minimum value of the battery capacity data of the BMS; if the battery residual capacity data of the AGV is larger than the maximum value of the battery capacity data of the BMS, taking the maximum value of the battery capacity data of the BMS as the battery residual capacity data;
2.3: and determining a charging curve according to the battery residual capacity data of the AGV.
Further, in step 2 and step 5, the charging station and charging station management computer determines the location of the AGV by detecting the location tag, and forwards the voltage data of the BMS and the current data of the BMS to the corresponding charging station and charging station management computer according to the location tag.
Further, in step 2, the charging station management computer communicates with the charging station through the MODBUS bus protocol.
Further, in step 5, the background server communicates with the charging station management computer through a TCP/IP protocol.
In conclusion, the invention specifically discloses an AGV power supply system based on RFID communication and internet technology, which comprises a background server and a plurality of AGV systems, wherein each AGV system comprises a charging station management computer, a plurality of charging stations for charging the AGV and a plurality of AGV needing to be charged; the AGV to be charged transmits battery voltage data, battery current data, battery temperature data and battery residual capacity data of the battery of the AGV to a charging station through the RFID in real time, the charging station transmits the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data to a background server through a charging station management computer layer by layer, the background server judges a proper charging curve according to the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data, and transmits the charging curve data to the charging station layer by layer, the charging station carries out reasonable charging on the corrected charging curve, therefore, the charging safety of the battery of the AGV is ensured, the service life of the battery of the AGV is prolonged, and the environment protection benefit is better; meanwhile, reliable collection and transmission of battery pack data of hundreds of AGVs on each site can be met; and meanwhile, the SOC estimation precision is improved.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (2)
1. The AGV power supply system based on the RFID communication and the Internet technology is characterized by comprising a background server and a plurality of AGV systems;
the AGV system comprises a charging station management computer, a plurality of AGVs and a plurality of charging stations for charging the AGVs;
the AGV comprises a vehicle body and a vehicle-mounted battery management system, wherein the vehicle body provides an advancing function of the AGV, and the vehicle-mounted battery management system provides a function of interaction and management of a battery of the AGV and a charging station; the vehicle-mounted battery management system collects battery voltage data, battery current data and battery temperature data in real time through a voltage sensor and a current sensor respectively and sends the data to the microprocessor, the microprocessor corrects the battery residual capacity data in real time through an ampere-hour integration method according to the battery voltage data and the battery current data, and meanwhile, the microprocessor sends the battery number, the battery temperature data, the battery voltage data, the battery current data and the battery residual capacity data to a charging station through a radio communication module of the RFID in real time;
the charging station is used for recognizing the battery number through the RFID communication module, reading the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data in real time, correcting the charging curve according to a correction method of the charging curve, simultaneously sending the number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the charging station to a charging station management computer in real time through an MODBUS field bus protocol, and simultaneously receiving the battery capacity data of the BMS sent by the charging station management computer; the method for correcting the charge curve includes correcting remaining battery capacity data by comparing the remaining battery capacity data with battery capacity data of the BMS, correcting the remaining battery capacity data to be equal to a minimum value of the BMS data when the remaining battery capacity data is less than the minimum value of the BMS battery capacity data, correcting the remaining battery capacity data to be equal to a maximum value of the BMS battery capacity data when the remaining battery capacity data is greater than the maximum value of the BMS battery capacity data, and determining the charge curve according to the corrected remaining battery capacity data;
the charging station management computer is used for receiving the battery numbers, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data which are sent by each charging station in real time, storing the received battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of all the AGVs in a list, and simultaneously transmitting the battery numbers, the battery voltage data, the battery current data, the battery temperature data, the battery residual capacity data, the numbers of the charging stations and the numbers of the charging station management computer to the background server in real time through a TCP/IP protocol; for transmitting the received battery capacity data of the BMS to the corresponding charging station according to the number of the charging station;
the background server stores the received battery voltage data, battery current data, battery temperature data and battery remaining capacity data of the AGV in a list, calculates a median value of the battery remaining capacity data with the same battery voltage data and battery current data in the list by adopting a median method, obtains the minimum set multiple of the median value of the battery remaining capacity data as the minimum value of the battery capacity data of the BMS, obtains the maximum set multiple of the median value of the battery remaining capacity data as the maximum value of the battery capacity data of the BMS, obtains the battery capacity data of the BMS as a range interval of the data, and simultaneously sends the battery capacity data of the BMS after battery correction to the charging station management computer in real time according to the serial number of the charging station management computer through a TCP/IP protocol;
the method comprises the steps that a battery of the AGV comprises a plurality of single batteries, a main control unit collects voltage data of each single battery, current data of each single battery and residual capacity data of each single battery in real time through a voltage sensor, a current sensor and a battery capacity sensor respectively, and integrates the voltage data of each single battery, the current data of each single battery and the residual capacity data of each single battery, so that charging voltage data of the battery, charging flow data of the battery, a charging cut-off condition and the residual capacity data of the battery are obtained;
the charging method based on the power supply system comprises the following steps:
s1: correcting the battery residual capacity data according to the battery voltage data and the battery current data of each AGV to be charged by an ampere-hour integration method, and transmitting the battery number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the AGV to a charging station in real time through an RFID;
s2: the serial number, the battery voltage data, the battery current data, the battery temperature data and the battery residual capacity data of the charging station are sent to a charging station management computer in real time through the charging station;
s3: the charging station management computer receives battery voltage data, battery current data, battery temperature data and battery residual capacity data of all the AGVs for list storage, and transmits battery numbers, battery voltage data, battery current data, battery temperature data, battery residual capacity data and charging station numbers of the AGVs to the background server in real time;
s4: the background server carries out list storage on the received battery voltage data, battery current data, battery temperature data and battery remaining capacity data of the AGV, calculates the median value of the battery remaining capacity data of all batteries with the same battery voltage data and the same battery current data in the list storage of the background server by adopting a median method, takes 0.975 times of the median value of the battery remaining capacity data as the minimum value of the battery capacity data of the BMS, takes 1.025 times of the median value of the battery remaining capacity data as the maximum value of the battery capacity data of the BMS, and simultaneously sends the battery capacity data of the BMS to the charging station management computer with the corresponding number in real time according to the number of the charging station management computer;
s5: the charging station management computer transmits the received battery capacity data of the BMS to the charging stations of the corresponding numbers;
s6: the charging station receiving the battery capacity data of the BMS corrects the charging curve according to the correction method of the charging curve;
in step S6, the method for correcting the charging curve includes the following steps:
1: comparing the residual battery capacity data of the AGV with the battery capacity data of the BMS;
2: if the battery residual capacity data of the AGV is smaller than the minimum value of the battery capacity data of the BMS, the battery residual capacity data of the AGV is equal to the minimum value of the battery capacity data of the BMS; if the battery residual capacity data of the AGV is larger than the maximum value of the battery capacity data of the BMS, taking the maximum value of the battery capacity data of the BMS as the battery residual capacity data;
3: determining a charging curve according to the battery residual capacity data of the AGV;
in the step 2 and the step 5, the charging station and charging station management computer judges the position of the AGV by detecting the position tag, and forwards voltage data of the BMS and current data of the BMS to the corresponding charging station and charging station management computer according to the position tag;
in step 2, the charging station management computer communicates with the charging station through an MODBUS bus protocol;
and step 5, the background server communicates with the charging station management computer through a TCP/IP protocol.
2. An AGV power supply system based on RFID communication and Internet technology as claimed in claim 1 wherein the specific model of the microprocessor of the AGV master control unit is STM32F 407.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910013163.6A CN109591649B (en) | 2019-01-07 | 2019-01-07 | AGV power supply system based on RFID communication and internet technology |
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| CN201910013163.6A CN109591649B (en) | 2019-01-07 | 2019-01-07 | AGV power supply system based on RFID communication and internet technology |
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| CN112339581B (en) * | 2019-08-07 | 2024-04-09 | 北京京东乾石科技有限公司 | Charging calibration method and device for transport vehicle |
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| CN102928790B (en) * | 2012-11-09 | 2016-02-03 | 重庆长安汽车股份有限公司 | Battery status method for supervising and watch-dog |
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| CN103010040A (en) * | 2011-09-22 | 2013-04-03 | 株式会社电装 | Charge control system for electric motor vehicle |
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| JP6108142B1 (en) * | 2017-01-19 | 2017-04-05 | 富士電機株式会社 | Charge / discharge control device, charge / discharge control method, and power storage system for power storage device |
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