CN110303933A - A kind of battery automatic recharging method of automatic guided vehicle - Google Patents
A kind of battery automatic recharging method of automatic guided vehicle Download PDFInfo
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- CN110303933A CN110303933A CN201811330772.6A CN201811330772A CN110303933A CN 110303933 A CN110303933 A CN 110303933A CN 201811330772 A CN201811330772 A CN 201811330772A CN 110303933 A CN110303933 A CN 110303933A
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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
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of battery automatic recharging methods of automatic guided vehicle, comprising: AGV to be charged and target charger are established one-to-one wireless communication and connected；The AGV to be charged is carried out wireless communication with the target charger, to complete the automatic charging to the AGV battery to be charged.A kind of battery automatic recharging method of automatic guided vehicle of the present invention, it can be realized one-to-one wireless communication connection between AGV to be charged and target charger, charging process is safe and reliable, and data transmission efficiency is high, the AGV automatic charging especially suitable for large capacity fast charge lithium ion battery.
Description
Technical field
The present invention relates to battery boosting technology field, the battery automatic recharging method of especially a kind of automatic guided vehicle.
Background technique
Traditional automatic guided vehicle (AGV) uses manual powered or replacement battery system.It is set when the cell voltage of AGV is lower than
Determine threshold value, AGV can send charge request to AGV control system, and under the order of AGV control system automatic running to default mesh
Ground (usually charging station), wait operator it is manual powered or replacement battery.
Simple automatic charging function may be implemented in part underloading AGV (such as submarine AGV, KIVA AGV) at present, still
Most of battery that these AGV are used is nickel-cadmium cell, lead-acid battery or low capacity lithium battery.Nickel-cadmium cell and lead-acid battery exist
It not needing to be communicated with charger in charging process, the charging current of low capacity lithium battery is smaller, and security risk is relatively low,
Therefore most of AGV automatic charging system does not account for communication function.
With the development of lithium ion battery and universal, more and more large capacity fast charge lithium ion batteries are used in big load
On the AGV (such as fork-lift type AGV) of weight.The charging current of large capacity fast charge lithium ion battery is larger, temperature, voltage, electric current etc.
Exception, which is be easy to cause, leads to security risk, therefore battery and charger must be communicated to ensure charging process in charging process
Safety.Current automatic charging system is unable to satisfy the automatic charging demand of high capacity lithium ion battery AGV.
The Chinese invention of application number 201210562573.4, denomination of invention " a kind of AGV automatic recharging method and system " is special
Benefit, discloses a kind of method of AGV automatic charging, and the automatic recharging method proposed is logical without reference to battery and charger
News, and be not suitable for the charging of large capacity fast charge lithium ion battery.Application number 201711029785.5, denomination of invention " industrial AGV intelligence
Can charging system " Chinese invention patent, disclose a kind of industry AGV intelligent charging system, by the way of unicast polls into
Row communication, the communication modes of the battery and charger that are proposed need industrial personal computer to relay between battery and charger as host
Data, when charger and AGV quantity increase, the communication efficiency decline of unicast polls, therefore suitable to the operating condition of extensive AGV
It is poor with property.
Summary of the invention
It is a primary object of the present invention to overcome drawbacks described above in the prior art, a kind of battery of automatic guided vehicle is proposed
Automatic recharging method can be realized one-to-one wireless communication connection, charging process peace between AGV to be charged and target charger
Complete reliable, data transmission efficiency is high.
The present invention adopts the following technical scheme:
A kind of battery automatic recharging method of automatic guided vehicle, comprising:
AGV to be charged and target charger are established one-to-one wireless communication and are connected；
The AGV to be charged is carried out wireless communication with the target charger, to complete to the AGV battery to be charged
Automatic charging.
Preferably, the AGV to be charged and target charger are established one-to-one wireless communication and are connected, and specifically include:
The AGV to be charged resets AGV onboard wireless module according to the Configuration Values of the target charger of acquisition, will
Preset initial value is revised as the Configuration Values；If the Configuration Values include MAC Address and password using bluetooth connection；If using
WLAN connection, the Configuration Values include SSID and password；
The target charger receives the AGV to be charged in place after signal, resets to charger wireless module,
Preset initial value is revised as the Configuration Values；Wherein, the preset initial value of AGV onboard wireless module, charger wireless module are pre-
If initial value and charger wireless module Configuration Values it is different.
Preferably, the Configuration Values are handed down to the AGV to be charged by AGV control system or are pre-stored in described wait fill
In electric AGV Vehicle Controller.
Preferably, the target charger detects whether to receive by being mounted on the sensors in place of target charging pusher side
The AGV to be charged signal in place；The sensors in place includes inductance approach switch, reflective photoelectric sensor or to penetrating
Formula photoelectric sensor.
Preferably, the AGV to be charged is carried out wireless communication with the target charger, comprising:
In charging process, battery management unit and/or target charger the real time monitoring charging contact contact of AGV to be charged
State, if any contact separation, the target charger stops charging to AGV to be charged；
If contact condition is normal, AGV to be charged judges whether to receive the stopping charging letter sent from AGV control system
Breath sends a message to the target charger if received, and the target charger stops charging to AGV to be charged；If not
It receives, the battery management unit and/or target charger of AGV to be charged judges whether battery capacity is full of, described if be full of
Target charger stops charging to AGV to be charged；If underfill, continue to monitor charging contact contact condition in real time.
Preferably, the AGV to be charged is carried out wireless communication with the target charger, comprising:
In charging process, the battery management unit and/or target charger of AGV to be charged monitors communications status in real time, such as
Fruit communication disruption, the target charger stop charging to AGV to be charged；
If communication is normal, AGV to be charged judges whether to receive the stopping charge information sending from AGV control system,
If received, the target charger is sent a message to, the target charger stops charging to AGV to be charged；If do not received
It arriving, the battery management unit and/or target charger of AGV to be charged judges whether battery capacity is full of, if be full of, the mesh
Charger is marked to stop charging to AGV to be charged；If underfill, continue to monitor communications status in real time.
Preferably, the battery automatic recharging method of the automatic guided vehicle, further includes:
When the AGV to be charged is received from the stopping charging signals of battery management unit or target charger, to institute
It states AGV onboard wireless module to be reset, the Configuration Values is revised as the preset initial value of AGV onboard wireless module.
Preferably, the battery automatic recharging method of the automatic guided vehicle, further includes:
When the target charger no longer receives AGV signal in place, the charger wireless module is reset, it will
The Configuration Values are revised as the preset initial value of charger wireless module.
Preferably, the AGV to be charged and target charger are established after one-to-one wireless communication connection, comprising:
Target charger judges whether charging contact is correctly contacted with AGV by electric contact, if normal contact, target are filled
Motor starts to charge to AGV to be charged, and the AGV to be charged terminates timing；Wherein, the AGV to be charged starting timing when
Between when being the AGV to be charged target charger；
If abnormal contact, the AGV to be charged judge whether timing time is more than preset threshold；If timing time
More than preset threshold, the AGV to be charged issues alarm signal.
Preferably, judge charging contact whether with the method for AGV correctly contacted by electric contact, comprising: charging contact is just
Whether normal range (NR) is in the presence or absence of the voltage between voltage and/or charging contact positive and negative anodes between cathode.
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
(1) a kind of battery automatic recharging method of automatic guided vehicle of the present invention, the battery of AGV to be charged it is only possible with by
The specified target charger of AGV control system matches and establishes wireless communication, avoids the charging peace that mistake pairing may cause
Full hidden danger；
(2) a kind of battery automatic recharging method of automatic guided vehicle of the present invention, since every AGV onboard wireless module is default
Initial value, the Configuration Values of the preset initial value of every charger wireless module and every charger wireless module it is different, so
The lithium ion battery of AGV to be charged and the wireless communication of target charger are " one-to-one " mode, without relaying, data transmission effect
Rate is higher；
(3) a kind of battery automatic recharging method of automatic guided vehicle of the present invention is charged if there is target in charging process
When machine testing is less than AGV in place signal, the abnormal or communication disruption of contact contact, AGV to be charged can generate alarm,
Related personnel is notified in time, guarantees that charging is gone on smoothly；
(4) a kind of battery automatic recharging method of automatic guided vehicle of the present invention, the charging side for the wireless communication established automatically
Method, the AGV automatic charging suitable for large capacity fast charge lithium ion battery；
(5) a kind of battery automatic recharging method of automatic guided vehicle of the present invention, each between " battery-charger " communication,
And " battery-charger " communicated with " AGV-AGV control system " between be mutually independent communication network, convenient for it is integrated,
Debugging and maintenance.
The above description is only an overview of the technical scheme of the present invention, in order to more clearly understand technology hand of the invention
Section, so as to be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention
It can be more clearly understood, be exemplified below a specific embodiment of the invention.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
Above-mentioned and other purposes of the invention, advantages and features.
Detailed description of the invention
Fig. 1 is the flow chart of the battery automatic recharging method of the automatic guided vehicle of the embodiment of the present invention；
Fig. 2 is the structural block diagram of the automatic charging system of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the AGV to be charged of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the target charger of the embodiment of the present invention；
Fig. 5 is the automatic charging process entirety control flow chart of the embodiment of the present invention；
Fig. 6 is the wireless module configuration flow of the embodiment of the present invention；
Fig. 7 is the AGV to be charged of the embodiment of the present invention and the pairing schematic diagram of target charger.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
It is shown in Figure 1, a kind of lithium ion battery automatic recharging method of automatic guided vehicle of the present invention, comprising:
S101, AGV to be charged and target charger are established one-to-one wireless communication and are connected；
S102, the AGV to be charged are carried out wireless communication with the target charger, to complete to the AGV to be charged
The automatic charging of battery.
It is shown in Figure 2, a kind of lithium ion battery automatic charging system of automatic guided vehicle of the present invention, including it is to be charged
AGV 201, target charger 202 and AGV control system 203.The AGV control system 203 sends to AGV 201 to be charged and wraps
202 information of charger containing target (such as charger is numbered) and target charge position coordinate charging tasks；The AGV to be charged
201, which establish one-to-one wireless communication with target charger 202, connects；The AGV to be charged 201 and the target charger
202 carry out wireless communication, to complete the lithium ion battery automatic charging to the AGV 201 to be charged.
Specifically, shown in Figure 3, AGV 201 to be charged described in the present embodiment include AGV Vehicle Controller 2011,
Onboard wireless module 2012, lithium ion battery 2013 and charging brush board 2014；The lithium ion battery 2013 includes battery management
Unit 20131；The charging brush board 2014 includes by electric contact anode 20141 and by electric contact cathode 20142.The AGV vehicle
Set controller 2011 is respectively connected with shown onboard wireless module 2012 and battery management unit 20131；The battery management
Unit 20131 is also connected with the charging brush board 2014.The AGV to be charged 201 is communicated and is connect with AGV control system 203
By the control of the AGV control system 203.
Specifically, shown in Figure 4, target charger 202 described in the embodiment of the present invention includes charging pile 2021 and lithium
Ion charging machine 2022.The charging pile 2021 includes charging contact anode 20211, AGV sensors in place 20212 and charging touching
Point cathode 20213；The lithium ion charger 2022 includes charger controller 20221 and charger wireless module 20222.Institute
State charger wireless module 20222 and the charging contact anode 20211, AGV sensors in place 20212 and charging contact cathode
20213 and charger wireless module 20222 be respectively connected with.
Specifically, a kind of shown in Figure 5, lithium ion battery automatic recharging method of automatic guided vehicle of the present invention, from
Dynamic charging process entirety control flow, comprising:
The current battery charge information that S1:AGV control system 203 is sent in real time according to AGV, is sentenced by charging tasks algorithm
Whether disconnected AGV, which needs, is charged, if so, being judged as AGV 201 to be charged, and is sent charging to the AGV 201 to be charged and is appointed
Business, the charging tasks include 202 information of target charger (such as charger is numbered) and target charge position coordinate.
S2: the AGV 201 to be charged is automatically moved to 202 position of target charger according to charging tasks.
S3: the AGV 201 to be charged calls wireless module configurator (to be presented as first in figure to onboard wireless module
Wireless module) it is configured.Configure the MAC Address or SSID and password that content includes wireless module.Specifically, using MAC
Address or SSID depend on which kind of communication used.If configuring MAC Address using Bluetooth transmission；If using
WLAN transmission, then configure SSID.Following supplement is introduced so that WLAN is transmitted as an example, and the configuration method of MAC Address is the same, difference
Only it is the difference of Configuration Values.The Configuration Values of the SSID of onboard wireless module and password be target charger 202 charger without
The Configuration Values of wire module.
S4: AGV 201 to be charged starts timing.Counted time value represents lithium ion battery trial beginning automatic charging and is passed through
The time gone through.
S5: according to whether receiving AGV 201 to be charged, signal judges that AGV 201 to be charged is to target charger 202 in place
No positive stop.If so, into S8；If it is not, then entering S6.Signal can be by being mounted on target in place by AGV 201 to be charged
The sensors in place of 202 side of charger detects the position of AGV and generates.The sensor can be inductance approach switch and reflection
Formula photoelectric sensor etc..
S6: counted time value is compared by AGV 201 to be charged with pre-set threshold value, and it is automatic to judge that battery is attempted
Whether charging elapsed time is more than estimated normal time.If so, into S7；If it is not, then returning to S5.
S7: AGV 201 to be charged is alarmed by vehicle-mounted sound, electro-optical device and sends fault-signal to AGV control system 203.
S8: target charger 202 receives AGV 201 to be charged signal in place, calls wireless module configurator to charging
Machine wireless module (the second wireless module is presented as in figure) is configured.Configuration content includes the SSID and password of wireless module.
With the charger wireless module and onboard wireless module SSID having the same and password postponed.
S9: the onboard wireless module in terminal pattern has identical with the charger wireless module in access point mode
SSID and password (if using Bluetooth transmission, onboard wireless module is as host, and charger wireless module is as slave), vehicle
It carries wireless module and charger wireless module establishes wireless connection automatically.Then, the battery of AGV 201 to be charged and target charging
Machine 202 can start to wirelessly communicate by the wireless connection between onboard wireless module and charger wireless module.
S10: target charger 202 judges whether charging contact is correctly contacted with AGV 201 to be charged by electric contact, from
And judge whether the output end positive and negative electrode of charger is correctly connected to the charging end positive and negative electrode of battery.
Specifically, judging that content may include but be not limited to following items: with the presence or absence of electricity between charging contact positive and negative electrode
Pressure；Whether the voltage between charging contact positive and negative electrode is in normal range (NR).If detecting voltage, and voltage is in normal range (NR),
Illustrate that the output positive and negative charge of target charger 202 is connected correctly to the charging end both positive and negative polarity of battery, then enters S11；If not examining
The electric voltage exception for measuring voltage or detecting illustrates that the output positive and negative charge of target charger 202 is not attached to the charging of battery
Rectify cathode or incorrect link (such as cathode is connected to anode), then enters S6.
S11: target charger 202 starts to charge to AGV 201 to be charged, and AGV 201 to be charged terminates the timing in S4.
S12: the battery management unit (BMS) and/or target charger 202 of lithium ion battery are supervised in real time during the charging process
Control charging contact contact condition and communications status.If any contact separation (being presented as voltage, current anomaly) or communication disruption,
Into S13；If it is not, then entering S15.
It should be noted that this step can be by the battery management unit (BMS) of lithium ion battery during the charging process
It monitors charging contact contact condition and communications status in real time, can also be supervised in real time during the charging process by target charger 202
Charging contact contact condition and communications status are controlled, can also be filled by the battery management unit (BMS) and target of lithium ion battery
Motor 202 monitors charging contact contact condition and communications status in real time during the charging process.Which kind of specifically passed through using mode
It can be realized by configuring, no matter monitoring using which kind of mode, interacting message can be carried out by established wireless connection
To realize the control of automatic charging process.
S13: target charger 202 stops charging to AGV 201 to be charged.
S14: AGV 201 to be charged is alarmed by vehicle-mounted sound, electro-optical device and sends fault-signal to AGV control system 203.
S15: AGV 201 to be charged judges whether to receive the stopping charge command sending from AGV control system 203.If
It is then to enter S17；If it is not, then entering S16.
S16: the battery management unit (BMS) and/or target charger 202 of lithium ion battery judge whether battery capacity fills
It is full.Judgment mode may include but be not limited to following items: cell voltage, charging current and charging duration.If so, into S17；
If it is not, then returning to S12.
S17: target charger 202 stops charging to AGV 201 to be charged.
S18: AGV 201 to be charged, which receives the charging from battery management unit (BMS) or target charger 202, stops letter
Number, call wireless module configurator to reset onboard wireless module.The SSID of onboard wireless module after resetting and password recovery
Initial value is non-fully identical as the SSID of the charger wireless module of target charger 202 and the Configuration Values of password.Described is non-complete
It is exactly the same to refer to that SSID and password are different from or only one is identical.
S19: onboard wireless module has different SSID or password from charger wireless module, therefore is wirelessly connected automatic
It disconnects.Then, battery and target charger 202 terminate wireless communication.
S20: AGV 201 to be charged receives task, leaves target charge position, AGV 201 to be charged signal in place
It disappears.
S21: target charger 202 does not receive AGV 201 to be charged signal in place, calls the resetting of wireless module configurator
Charger wireless module.The SSID and password recovery initial value of charger wireless module after resetting.
It should be noted that the battery and target charger 202 of AGV 201 that is, to be charged is established wirelessly after step S9
After connection starts communication, the content of AGV (battery) and charger wireless communication further includes charge parameter, battery status, charger
The real-time, interactive of the information such as state can be specifically configured according to the actual needs, and the embodiment of the present invention does not illustrate
And limitation.
Specifically, shown in Figure 6 for the wireless module configuration of the present embodiment or reset process.Firstly, AGV to be charged
201 (or target chargers 202) by wire transmission mode (such as CAN, RS232) to onboard wireless module (or charger without
Wire module) instruction is sent, so that onboard wireless module (or charger wireless module) is entered configuration mode.Under the mode, vehicle-mounted nothing
The MAC Address (or SSID) and password of wire module (or charger wireless module) allow to be written into.Then, AGV 201 to be charged
(or target charger 202) to the new value of wireless module write-in MAC Address (or SSID) and password, newly value will cover old value.Most
Afterwards, AGV 201 (or target charger 202) to be charged sends to wireless module and instructs, and wireless module is made to exit configuration mode.
Specifically, the pairing schematic diagram shown in Figure 7 for the present embodiment AGV and charger.When the number of AGV and charger
When amount is plural, need to consider the pairing of AGV and charger.The onboard wireless module of each AGV and the charging of every charger
SSID (illustrating so that WLAN is transmitted as an example), the password of machine wireless module are respectively provided with initial value.These initial values use advance first
Row configuration.The initial value of the charger wireless module of the initial value and any charger of the onboard wireless module of any AGV non-fully phase
Together, if therefore any AGV does not receive charging tasks but the wireless signal of the charger wireless module in certain charger covers
When in range, it will not establish and wirelessly communicate with the charger.Meanwhile the charger wireless module of every charger predefines one
A Configuration Values, the Configuration Values and its initial value, the initial value with the onboard wireless module of any AGV, and with other any chargers
Charger wireless module initial value and the non-fully identical therefore to be charged AGV of Configuration Values will not mistakenly with it is non-targeted
Charger establishes wireless communication, and a charger will not be established simultaneously with more AGV and be wirelessly communicated.Charger wireless module
Initial value and Configuration Values are stored in advance in the charger controller of its affiliated charger, therefore when charger is received or do not received
AGV in place signal when its charger wireless module can be configured or be reset.The charger wireless module of whole chargers
Configuration Values be stored in advance in the Vehicle Controller of each AGV together with charging machine information (such as charger number) or be stored in AGV
In control system, thus AGV control system send charging tasks (comprising target charge machine information) give certain AGV when, which can
It can be together when determining that the Configuration Values of onboard wireless module or AGV control system send charging tasks according to charging machine information
Send the Configuration Values of the charger wireless module of target charger.
AGV to be charged only can establish one-to-one channel radio with the target charger specified by AGV control system as a result,
Letter, the wireless communication are also independent from other AGV and other chargers independently of the wireless communication between AGV control system and AGV
Between wireless communication.
Further, it is assumed that AGV control system sends charging tasks to 1#AGV, and specified 2# charger is target charging
Machine.After 1#AGV reaches target charge position, 1#AGV configures onboard wireless module, and Configuration Values are filled with 2# charger
The Configuration Values of motor wireless module are identical.After 2# charger receives the signal in place of 1#AGV, charger wireless module is carried out
Configuration.Then, the charger wireless module Configuration Values having the same of the onboard wireless module of 1#AGV and 2# charger, 1#AGV
One-to-one wireless communication is established with 2# charger.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, all to utilize this
Design makes a non-material change to the present invention, and should all belong to behavior that violates the scope of protection of the present invention.
Claims (10)
1. a kind of battery automatic recharging method of automatic guided vehicle characterized by comprising
AGV to be charged and target charger are established one-to-one wireless communication and are connected；
The AGV to be charged is carried out wireless communication with the target charger, to complete to the automatic of the AGV battery to be charged
Charging.
2. the battery automatic recharging method of automatic guided vehicle according to claim 1, which is characterized in that described to be charged
AGV and target charger are established one-to-one wireless communication and are connected, and specifically include:
The AGV to be charged resets AGV onboard wireless module according to the Configuration Values of the target charger of acquisition, will preset
Initial value be revised as the Configuration Values；If the Configuration Values include MAC Address and password using bluetooth connection；If using WLAN
Connection, the Configuration Values include SSID and password；
The target charger receives the AGV to be charged in place after signal, resets to charger wireless module, will be pre-
If initial value be revised as the Configuration Values；Wherein, the preset initial value of AGV onboard wireless module, charger wireless module are preset
The Configuration Values of initial value and charger wireless module are different.
3. the battery automatic recharging method of automatic guided vehicle according to claim 2, which is characterized in that the Configuration Values are logical
AGV control system is crossed to be handed down to the AGV to be charged or be pre-stored in the AGV Vehicle Controller to be charged.
4. the battery automatic recharging method of automatic guided vehicle according to claim 2, which is characterized in that the target charging
Machine detects whether to receive the AGV to be charged signal in place by being mounted on the sensors in place of target charging pusher side；It is described
Sensors in place includes inductance approach switch, reflective photoelectric sensor or correlation photoelectric sensor.
5. the battery automatic recharging method of automatic guided vehicle according to claim 1, which is characterized in that described to be charged
AGV is carried out wireless communication with the target charger, comprising:
In charging process, battery management unit and/or target charger the real time monitoring charging contact of AGV to be charged contacts shape
State, if any contact separation, the target charger stops charging to AGV to be charged；
If contact condition is normal, AGV to be charged judges whether to receive the stopping charge information sending from AGV control system,
If received, the target charger is sent a message to, the target charger stops charging to AGV to be charged；If do not received
It arriving, the battery management unit and/or target charger of AGV to be charged judges whether battery capacity is full of, if be full of, the mesh
Charger is marked to stop charging to AGV to be charged；If underfill, continue to monitor charging contact contact condition in real time.
6. the battery automatic recharging method of automatic guided vehicle according to claim 1, which is characterized in that described to be charged
AGV is carried out wireless communication with the target charger, comprising:
In charging process, the battery management unit and/or target charger of AGV to be charged monitors communications status in real time, if logical
Letter interrupts, and the target charger stops charging to AGV to be charged；
If communication is normal, AGV to be charged judges whether to receive the stopping charge information sending from AGV control system, if
It receives, sends a message to the target charger, the target charger stops charging to AGV to be charged；If do not received, to
The battery management unit and/or target charger of charging AGV judges whether battery capacity is full of, if be full of, the target is filled
Motor stops charging to AGV to be charged；If underfill, continue to monitor communications status in real time.
7. the battery automatic recharging method of automatic guided vehicle according to claim 5 or 6, which is characterized in that further include:
When the AGV to be charged is received from the stopping charging signals of battery management unit or target charger, to the AGV
Onboard wireless module is reset, and the Configuration Values are revised as the preset initial value of AGV onboard wireless module.
8. the battery automatic recharging method of automatic guided vehicle according to claim 7, which is characterized in that further include:
When the target charger no longer receives AGV signal in place, the charger wireless module is reset, it will be described
Configuration Values are revised as the preset initial value of charger wireless module.
9. the battery automatic recharging method of automatic guided vehicle according to claim 1, which is characterized in that described to be charged
AGV and target charger are established after one-to-one wireless communication connection, comprising:
Target charger judges whether charging contact is correctly contacted with AGV by electric contact, if normal contact, target charger
Start to charge to AGV to be charged, the AGV to be charged terminates timing；Wherein, the time of the AGV starting timing to be charged is
When the AGV to be charged target charger；
If abnormal contact, the AGV to be charged judge whether timing time is more than preset threshold；If timing time is more than
Preset threshold, the AGV to be charged issue alarm signal.
10. the battery automatic recharging method of the automatic guided vehicle according to claim 5 or 9, which is characterized in that judgement charging
Contact whether with the method for AGV correctly contacted by electric contact, comprising: between charging contact positive and negative anodes with the presence or absence of voltage and/
Or whether the voltage between charging contact positive and negative anodes is in normal range (NR).
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