CN110303933B - Automatic battery charging method for automatic guided vehicle - Google Patents
Automatic battery charging method for automatic guided vehicle Download PDFInfo
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- CN110303933B CN110303933B CN201811330772.6A CN201811330772A CN110303933B CN 110303933 B CN110303933 B CN 110303933B CN 201811330772 A CN201811330772 A CN 201811330772A CN 110303933 B CN110303933 B CN 110303933B
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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 discloses an automatic battery charging method for an automatic guided vehicle, which comprises the following steps: the method comprises the steps that a one-to-one wireless communication connection is established between an AGV to be charged and a target charger; and the AGV to be charged is in wireless communication with the target charger to complete the automatic charging of the AGV battery to be charged. The automatic battery charging method for the automatic guided vehicle can realize one-to-one wireless communication connection between the AGV to be charged and the target charger, has safe and reliable charging process and high data transmission efficiency, and is particularly suitable for automatic AGV charging of high-capacity fast-charging lithium ion batteries.
Description
Technical Field
The invention relates to the technical field of battery charging, in particular to an automatic battery charging method for an automatic guided vehicle.
Background
Conventional Automated Guided Vehicles (AGVs) use manual charging or battery replacement. When the battery voltage of the AGV is lower than the set threshold, the AGV sends a charging request to the AGV control system, and automatically travels to a preset destination (usually a charging station) under the command of the AGV control system, waiting for an operator to manually charge or replace the battery.
At present, a part of light-load AGVs (such as a hidden AGV and a KIVA AGV) can realize a simple automatic charging function, but most of batteries used by the AGVs are nickel-cadmium batteries, lead-acid batteries or small-capacity lithium batteries. The nickel-cadmium battery and the lead-acid battery do not need to be communicated with a charger in the charging process, the charging current of the small-capacity lithium battery is small, and the potential safety hazard is relatively low, so that the communication function is not considered in most AGV automatic charging systems.
With the development and popularization of lithium ion batteries, more and more high-capacity fast-charging lithium ion batteries are applied to AGVs (such as forklift AGVs) with large loads. The charging current of the high-capacity fast-charging lithium ion battery is large, and potential safety hazards are easily caused by abnormity of temperature, voltage, current and the like, so that the battery and a charger must be communicated in the charging process to ensure the safety of the charging process. The current automatic charging system cannot meet the automatic charging requirement of a large-capacity lithium ion battery AGV.
The application number 201210562573.4, the chinese invention patent of the invention title "an automatic charging method and system of AGV", discloses an automatic charging method of AGV, the proposed automatic charging method does not involve the communication of battery and charger, and is not suitable for charging high-capacity fast-charging lithium ion battery. The application number 201711029785.5, the Chinese invention patent of the invention name "industrial AGV Intelligent charging System", discloses an industrial AGV intelligent charging system, which uses unicast polling mode to communicate, the communication mode of the battery and the charger, which is provided, needs the industrial control computer as the host to relay the data between the battery and the charger, when the number of the charger and the AGV increases, the communication efficiency of unicast polling decreases, therefore, the working condition applicability to large-scale AGV is poor.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art, and provides an automatic battery charging method for an automatic guided vehicle, which can realize one-to-one wireless communication connection between an AGV to be charged and a target charger, and has the advantages of safe and reliable charging process and high data transmission efficiency.
The invention adopts the following technical scheme:
an automatic battery charging method for an automated guided vehicle, comprising:
the method comprises the steps that a one-to-one wireless communication connection is established between an AGV to be charged and a target charger;
and the AGV to be charged is in wireless communication with the target charger to complete the automatic charging of the AGV battery to be charged.
Preferably, the AGV to be charged and the target charger establish one-to-one wireless communication connection, and the method specifically includes:
the AGV to be charged resets the AGV vehicle-mounted wireless module according to the acquired configuration value of the target charger, and modifies a preset original value into the configuration value; if the Bluetooth connection is used, the configuration value comprises an MAC address and a password; if WLAN connection is used, the configuration value comprises SSID and password;
after the target charger receives the AGV to be charged in-place signal, resetting a wireless module of the charger, and modifying a preset original value into the configuration value; the AGV comprises an AGV, a charger wireless module, a wireless module and a control module, wherein the AGV is used for controlling the wireless module to be in a wireless state, and the configuration value of the wireless module is different from the preset original value of the wireless module of the charger.
Preferably, the configuration value is issued to the AGV to be charged through an AGV control system or prestored in the AGV vehicle-mounted controller to be charged.
Preferably, the target charger detects whether the AGV to be charged in-place signal is received or not through an in-place sensor arranged on the target charging side; the in-place sensor comprises an inductive proximity switch, a reflective photoelectric sensor or a correlation photoelectric sensor.
Preferably, the AGV to be charged and the target charger perform wireless communication, including:
in the charging process, a battery management unit of the AGV to be charged and/or a target charger monitor the contact state of charging contacts in real time, and if any contact is separated, the target charger stops charging the AGV to be charged;
if the contact state is normal, the AGV to be charged judges whether charging stopping information sent by the AGV control system is received or not, if so, a message is sent to the target charger, and the target charger stops charging the AGV to be charged; if the battery is not received, the battery management unit of the AGV to be charged and/or the target charger judge whether the battery is fully charged, and if the battery is fully charged, the target charger stops charging the AGV to be charged; and if the charging contact is not full, the contact state of the charging contact is continuously monitored in real time.
Preferably, the AGV to be charged and the target charger perform wireless communication, including:
in the charging process, a battery management unit of the AGV to be charged and/or a target charger monitor the communication state in real time, and if the communication is interrupted, the target charger stops charging the AGV to be charged;
if the communication is normal, the AGV to be charged judges whether charging stopping information sent by the AGV control system is received or not, if so, a message is sent to the target charger, and the target charger stops charging the AGV to be charged; if the battery is not received, the battery management unit of the AGV to be charged and/or the target charger judge whether the battery is fully charged, and if the battery is fully charged, the target charger stops charging the AGV to be charged; and if the communication is not full, the communication state is continuously monitored in real time.
Preferably, the method for automatically charging a battery of an automated guided vehicle further includes:
and when the AGV to be charged receives a charging stop signal from the battery management unit or the target charger, resetting the AGV vehicle-mounted wireless module, and modifying the configuration value into an original value preset by the AGV vehicle-mounted wireless module.
Preferably, the method for automatically charging a battery of an automated guided vehicle further includes:
when the target charger no longer receives the AGV in-place signal, the wireless module of the charger is reset, and the configuration value is modified into the original value preset by the wireless module of the charger.
Preferably, after the AGV to be charged establishes the one-to-one wireless communication connection with the target charger, the method includes:
the target charger judges whether the charging contact is correctly contacted with the power receiving contact of the AGV or not, if the charging contact is normally contacted, the target charger starts to charge the AGV to be charged, and the AGV to be charged stops timing; the starting timing time of the AGV to be charged is the time when the AGV to be charged is to move to the target charger;
if the contact is not normal, the AGV to be charged judges whether the timing time exceeds a preset threshold value; and if the timing time exceeds a preset threshold value, the AGV to be charged sends an alarm signal.
Preferably, the method for determining whether the charging contact is correctly contacted with the power receiving contact of the AGV includes: whether voltage exists between the positive pole and the negative pole of the charging contact and/or whether the voltage between the positive pole and the negative pole of the charging contact is in a normal range.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
(1) according to the automatic battery charging method for the automatic guided vehicle, the batteries of the AGV to be charged can only be paired with the target charger designated by the AGV control system and wireless communication is established, so that potential charging safety hazards possibly caused by wrong pairing are avoided;
(2) according to the automatic battery charging method for the automatic guided vehicle, the original value preset by each AGV vehicle-mounted wireless module, the original value preset by each charger wireless module and the configuration value of each charger wireless module are different, so that the wireless communication between the lithium ion battery of the AGV to be charged and the target charger is in a one-to-one mode, retransmission is not needed, and the data transmission efficiency is higher;
(3) according to the automatic battery charging method for the automatic guided vehicle, if the target charger cannot detect the AGV in-place signal, the contact is abnormal or the communication is interrupted in the charging process, the AGV to be charged can give an alarm to inform related personnel in time, and the charging is ensured to be carried out smoothly;
(4) the invention relates to an automatic battery charging method of an automatic guided vehicle, in particular to an automatic wireless communication charging method which is suitable for automatic charging of an AGV (automatic guided vehicle) of a high-capacity fast-charging lithium ion battery;
(5) according to the automatic battery charging method for the automatic guided vehicle, the communication between each battery-charger and the communication between the battery-charger and the AGV-AGV control system are independent communication networks, so that integration, debugging and maintenance are facilitated.
The above description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the description of the technical means more comprehensible.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a flowchart of an automatic battery charging method for an automated guided vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of an automatic charging system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an AGV to be charged according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target charger according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating the overall control of the automatic charging process according to an embodiment of the present invention;
FIG. 6 is a wireless module configuration flow according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating pairing of an AGV to be charged and a target charger according to an embodiment of the present invention.
Detailed Description
The invention is further described below by means of specific embodiments.
Referring to fig. 1, the method for automatically charging a lithium ion battery of an automated guided vehicle according to the present invention includes:
s101, establishing one-to-one wireless communication connection between an AGV to be charged and a target charger;
and S102, the AGV to be charged is in wireless communication with the target charger to finish the automatic charging of the AGV battery to be charged.
Referring to fig. 2, the automatic lithium ion battery charging system of the automatic guided vehicle according to the present invention includes an AGV 201 to be charged, a target charger 202, and an AGV control system 203. The AGV control system 203 sends a charging task comprising target charger 202 information (such as a charger number) and a target charging position coordinate to the AGV 201 to be charged; the AGV 201 to be charged and the target charger 202 establish one-to-one wireless communication connection; the AGV 201 to be charged and the target charger 202 are in wireless communication, so that the automatic charging of the lithium ion battery of the AGV 201 to be charged is completed.
Specifically, referring to fig. 3, the AGV 201 to be charged according to this embodiment includes an AGV onboard controller 2011, an onboard wireless module 2012, a lithium ion battery 2013 and a charging brush 2014; the lithium ion battery 2013 comprises a battery management unit 20131; the charging brush plate 2014 includes a power receiving contact positive 20141 and a power receiving contact negative 20142. The AGV onboard controller 2011 is connected with the onboard wireless module 2012 and the battery management unit 20131 respectively; the battery management unit 20131 is also connected to the charging brush 2014. The AGV 201 to be charged communicates with the AGV control system 203 and receives control of the AGV control system 203.
Specifically, referring to fig. 4, the target charger 202 according to the embodiment of the present invention includes a charging pile 2021 and a lithium ion charger 2022. The charging pile 2021 comprises a charging contact anode 20211, an AGV-in-position sensor 20212 and a charging contact cathode 20213; the lithium ion charger 2022 comprises a charger controller 20221 and a charger wireless module 20222. The charger wireless module 20222 is connected to the charging contact anode 20211, the AGV in-place sensor 20212, the charging contact cathode 20213, and the charger wireless module 20222, respectively.
Specifically, referring to fig. 5, the overall control flow of the automatic charging process of the automatic charging method for the lithium ion battery of the automated guided vehicle according to the present invention includes:
s1: the AGV control system 203 judges whether the AGV needs to be charged through a charging task algorithm according to current battery electric quantity information sent by the AGV in real time, if so, the AGV 201 is judged to be charged, and sends a charging task to the AGV 201 to be charged, wherein the charging task comprises target charger 202 information (such as a charger number) and target charging position coordinates.
S2: the AGV 201 to be charged automatically moves to the position of the target charger 202 according to the charging task.
S3: the AGV 201 to be charged calls a wireless module configuration program to configure a vehicle-mounted wireless module (embodied as a first wireless module in the figure). The configuration content includes the MAC address or SSID of the wireless module, and the password. Specifically, whether a MAC address or an SSID is used depends on which wireless communication method is used. If the Bluetooth transmission is used, configuring an MAC address; if WLAN transmission is used, the SSID is configured. As described below with the WLAN transmission as an example, the MAC address is configured in the same manner, and only the difference is the configuration value. The configuration values of the SSID and the password of the vehicle-mounted wireless module are the configuration values of the charger wireless module of the target charger 202.
S4: the AGV 201 to be charged starts timing. The timed time value represents the time elapsed for the lithium ion battery to attempt to begin automatic charging.
S5: the target charger 202 determines whether the AGV 201 to be charged is correctly in place according to whether the AGV 201 to be charged is in place. If yes, go to S8; if not, the process proceeds to S6. The AGV 201 to be charged in-position signal may be generated by detecting the position of the AGV by an in-position sensor installed at the target charger 202 side. The sensor may be an inductive proximity switch, a reflective photo-sensor, and the like.
S6: the AGV 201 to be charged compares the counted time value with a preset threshold value, and determines whether the elapsed time for the battery to attempt automatic charging exceeds an expected normal time. If yes, go to S7; if not, the process returns to S5.
S7: the AGV 201 to be charged gives an alarm through a vehicle-mounted sound and light device and sends a fault signal to the AGV control system 203.
S8: the target charger 202 receives the AGV 201 to be charged in-place signal, and invokes a wireless module configuration program to configure a wireless module (shown as a second wireless module) of the charger. The configuration content includes the SSID and password of the wireless module. The configured charger wireless module and the vehicle-mounted wireless module have the same SSID and password.
S9: the vehicle-mounted wireless module in the terminal mode and the charger wireless module in the access point mode have the same SSID and password (if Bluetooth transmission is used, the vehicle-mounted wireless module is used as a host, and the charger wireless module is used as a slave), and the vehicle-mounted wireless module and the charger wireless module automatically establish wireless connection. Then, the battery of the AGV 201 to be charged and the target charger 202 can start wireless communication through the wireless connection between the vehicle-mounted wireless module and the charger wireless module.
S10: the target charger 202 determines whether the charging contact is correctly contacted with the power receiving contact of the AGV 201 to be charged, and thus determines whether the positive and negative terminals of the output terminal of the charger are correctly connected to the positive and negative terminals of the battery.
Specifically, the judgment content may include, but is not limited to, the following items: whether voltage exists between the positive electrode and the negative electrode of the charging contact; whether the voltage between the positive and negative poles of the charging contact is in a normal range. If the voltage is detected and is in the normal range, which indicates that the positive and negative poles of the output end of the target charger 202 are correctly connected to the positive and negative poles of the charging end of the battery, the operation goes to S11; if the voltage is not detected or the detected voltage is abnormal, it indicates that the positive and negative terminals of the output terminal of the target charger 202 are not connected to the positive and negative terminals of the charging terminal of the battery or are connected incorrectly (for example, the negative terminal is connected to the positive terminal), the process proceeds to S6.
S11: the target charger 202 starts charging the AGV 201 to be charged, and the AGV 201 to be charged ends the timing in S4.
S12: a battery management unit (BMS) of the lithium ion battery and/or a target charger 202 monitors a contact state and a communication state of the charging contact in real time during the charging process. If any contact is separated (embodied as voltage and current abnormity) or communication is interrupted, the step S13 is carried out; if not, the process proceeds to S15.
It should be noted that, in this step, the contact state and the communication state of the charging contact may be monitored in real time by a battery management unit (BMS) of the lithium ion battery during the charging process, the contact state and the communication state of the charging contact may be monitored in real time by the target charger 202 during the charging process, and the contact state and the communication state of the charging contact may be monitored in real time by the battery management unit (BMS) of the lithium ion battery and the target charger 202 during the charging process. The specific adoption mode can be realized through configuration, and no matter what mode is adopted for monitoring, the message interaction can be carried out through the established wireless connection so as to realize the control of the automatic charging process.
S13: the target charger 202 stops charging the AGV 201 to be charged.
S14: the AGV 201 to be charged gives an alarm through a vehicle-mounted sound and light device and sends a fault signal to the AGV control system 203.
S15: the AGV to be charged 201 determines whether or not a charging stop command is received from the AGV control system 203. If yes, go to S17; if not, the process proceeds to S16.
S16: the battery management unit (BMS) of the lithium ion battery and/or the target charger 202 determines whether the battery is fully charged. The determination method may include, but is not limited to, the following items: battery voltage, charging current, and charging duration. If yes, go to S17; if not, the process returns to S12.
S17: the target charger 202 stops charging the AGV 201 to be charged.
S18: the AGV 201 to be charged receives a charge stop signal from a battery management unit (BMS) or a target charger 202, and calls a wireless module configuration program to reset the on-board wireless module. The original values of the SSID and password of the reset vehicle-mounted wireless module are not completely the same as the configuration values of the SSID and password of the wireless module of the charger of the target charger 202. The non-identity means that the SSID and password may not be the same or only one of them may be the same.
S19: the vehicle-mounted wireless module and the charger wireless module have different SSIDs or passwords, so that wireless connection is automatically disconnected. The battery and target charger 202 then end the wireless communication.
S20: when the AGV 201 to be charged receives the work task, the AGV 201 to be charged leaves the target charging position, and the AGV 201 to be charged in-place signal disappears.
S21: and if the target charger 202 does not receive the AGV 201 to be charged in-place signal, calling a wireless module configuration program to reset the wireless module of the charger. And the SSID and the password of the wireless module of the charger after the resetting are recovered to the original values.
It should be noted that, after step S9, that is, after the wireless connection is established between the battery of the AGV 201 to be charged and the target charger 202 and communication is started, the content of the wireless communication between the AGV (battery) and the charger further includes real-time interaction of information such as charging parameters, battery state, and charger state, which may be specifically set according to actual needs.
Specifically, fig. 6 shows a configuration or reset procedure of the wireless module according to this embodiment. Firstly, the AGV 201 (or the target charger 202) to be charged sends an instruction to the vehicle-mounted wireless module (or the charger wireless module) through a wired transmission mode (such as CAN, RS232, etc.), so that the vehicle-mounted wireless module (or the charger wireless module) enters a configuration mode. In this mode, the MAC address (or SSID) and password of the vehicle-mounted wireless module (or charger wireless module) are allowed to be written. Next, the AGV 201 to be charged (or the target charger 202) writes a new value of the MAC address (or SSID) and the password to the wireless module, and the new value overwrites the old value. Finally, the AGV 201 to be charged (or the target charger 202) sends an instruction to the wireless module, so that the wireless module exits the configuration mode.
Specifically, fig. 7 is a schematic diagram illustrating a pairing between an AGV and a charger according to this embodiment. When the number of the AGVs and the number of the chargers are plural, the pairing between the AGVs and the chargers needs to be considered. The SSID (described by taking WLAN transmission as an example) and the password of the vehicle-mounted wireless module of each AGV and the charger wireless module of each charger have the original values respectively. These raw values are configured prior to initial use. The original value of the vehicle-mounted wireless module of any AGV is not completely the same as that of the wireless module of the charger of any charger, so that if the AGV does not receive a charging task but is within the wireless signal coverage range of the wireless module of the charger of a certain charger, wireless communication cannot be established with the charger. Meanwhile, the charger wireless module of each charger determines a configuration value in advance, and the configuration value is not completely the same as the original value of the charger wireless module of any AGV, the original value of the vehicle-mounted wireless module of any AGV, and the original value and the configuration value of the charger wireless module of any other charger, so that the AGV to be charged cannot mistakenly establish wireless communication with a non-target charger, and one charger cannot establish wireless communication with a plurality of AGVs at the same time. The original value and the configuration value of the wireless module of the charger are stored in the charger controller of the charger, so that the wireless module of the charger can be configured or reset when the charger receives or does not receive the AGV in-place signal. The configuration values of the charger wireless modules of all chargers and charger information (such as charger numbers) are stored in the vehicle-mounted controller of each AGV in advance or stored in the AGV control system, so that when the AGV control system sends a charging task (including target charger information) to a certain AGV, the AGV can determine the configuration value of the vehicle-mounted wireless module according to the charger information, or when the AGV control system sends the charging task, the AGV control system can send the configuration value of the charger wireless module of the target charger together.
Therefore, the AGV to be charged can only establish one-to-one wireless communication with the target charger designated by the AGV control system, and the wireless communication is independent of the wireless communication between the AGV control system and the AGV and also independent of the wireless communication between other AGVs and other chargers.
Further, suppose that the AGV control system sends a charging task to the 1# AGV, and specifies the 2# charger as the target charger. And after the 1# AGV reaches the target charging position, the 1# AGV configures the vehicle-mounted wireless module, and the configuration value is the same as that of the charging machine wireless module of the 2# charging machine. And when the 2# charger receives the in-place signal of the 1# AGV, configuring a wireless module of the charger. Therefore, the vehicle-mounted wireless module of the 1# AGV and the charger wireless module of the 2# charger have the same configuration value, and the 1# AGV and the 2# charger establish one-to-one wireless communication.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (8)
1. An automatic battery charging method for an automated guided vehicle, comprising:
the method comprises the steps that a one-to-one wireless communication connection is established between an AGV to be charged and a target charger;
the AGV to be charged is in wireless communication with the target charger to finish automatic charging of the AGV battery to be charged; in the charging process, a battery management unit of the AGV to be charged and/or a target charger monitor the communication state in real time, and if the communication is interrupted, the target charger stops charging the AGV to be charged;
the AGV that waits to charge establishes one-to-one wireless communication with target machine of charging and is connected, specifically includes:
the AGV to be charged resets the AGV vehicle-mounted wireless module according to the acquired configuration value of the target charger, and modifies a preset original value into the configuration value;
after the target charger receives the AGV to be charged in-place signal, resetting a wireless module of the charger, and modifying a preset original value into the configuration value; the AGV comprises an AGV vehicle-mounted wireless module, a charger wireless module, a storage battery and a control module, wherein the AGV vehicle-mounted wireless module is different in preset original value, the charger wireless module is different in preset original value and configuration value of the charger wireless module;
the automatic battery charging method further comprises:
when the AGV to be charged receives a charging stopping signal from a battery management unit or a target charger, resetting the AGV vehicle-mounted wireless module, and modifying the configuration value into an original value preset by the AGV vehicle-mounted wireless module;
when the target charger no longer receives the AGV in-place signal, the wireless module of the charger is reset, and the configuration value is modified into the original value preset by the wireless module of the charger.
2. The automated guided vehicle battery charging method of claim 1, wherein the configuration values include a MAC address and a password if a bluetooth connection is used; if a WLAN connection is used, the configuration values include an SSID and a password.
3. The method of claim 2, wherein the configuration value is sent to the AGV to be charged by an AGV control system or is pre-stored in the AGV to be charged in the vehicle controller.
4. The automatic guided vehicle battery charging method according to claim 2, wherein the target charger detects whether the AGV to be charged in-place signal is received through an in-place sensor installed at a target charging side; the in-place sensor comprises an inductive proximity switch, a reflective photoelectric sensor or a correlation photoelectric sensor.
5. The automatic guided vehicle battery charging method of claim 1, wherein the AGV to be charged is in wireless communication with the target charger, and the method comprises:
in the charging process, a battery management unit of the AGV to be charged and/or a target charger monitor the contact state of charging contacts in real time, and if any contact is separated, the target charger stops charging the AGV to be charged;
if the contact state is normal, the AGV to be charged judges whether charging stopping information sent by the AGV control system is received or not, if so, a message is sent to the target charger, and the target charger stops charging the AGV to be charged; if the battery is not received, the battery management unit of the AGV to be charged and/or the target charger judge whether the battery is fully charged, and if the battery is fully charged, the target charger stops charging the AGV to be charged; and if the charging contact is not full, the contact state of the charging contact is continuously monitored in real time.
6. The automatic guided vehicle battery charging method of claim 1, wherein the AGV to be charged is in wireless communication with the target charger, and the method comprises:
if the communication is normal, the AGV to be charged judges whether charging stopping information sent by the AGV control system is received or not, if so, a message is sent to the target charger, and the target charger stops charging the AGV to be charged; if the battery is not received, the battery management unit of the AGV to be charged and/or the target charger judge whether the battery is fully charged, and if the battery is fully charged, the target charger stops charging the AGV to be charged; and if the communication is not full, the communication state is continuously monitored in real time.
7. The method for automatically charging the battery of the automated guided vehicle according to claim 1, wherein after the AGV to be charged establishes the one-to-one wireless communication connection with the target charger, the method comprises the following steps:
the target charger judges whether the charging contact is correctly contacted with the power receiving contact of the AGV or not, if the charging contact is normally contacted, the target charger starts to charge the AGV to be charged, and the AGV to be charged stops timing; the starting timing time of the AGV to be charged is the time when the AGV to be charged is to move to the target charger;
if the contact is not normal, the AGV to be charged judges whether the timing time exceeds a preset threshold value; and if the timing time exceeds a preset threshold value, the AGV to be charged sends an alarm signal.
8. The automatic guided vehicle battery charging method according to claim 5 or 7, wherein the method for determining whether the charging contact is properly in contact with the power receiving contact of the AGV comprises: whether voltage exists between the positive pole and the negative pole of the charging contact and/or whether the voltage between the positive pole and the negative pole of the charging contact is in a normal range.
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| CN111786237B (en) * | 2020-06-05 | 2022-06-24 | 蓝谷智慧(北京)能源科技有限公司 | Linkage mechanism and electric connector plugging mechanism |
| CN111786191B (en) * | 2020-06-05 | 2022-06-21 | 蓝谷智慧(北京)能源科技有限公司 | Electric connector plugging mechanism and in-place detection method thereof |
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