CN111064272A - AGV battery switching circuit and control method - Google Patents

AGV battery switching circuit and control method Download PDF

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Publication number
CN111064272A
CN111064272A CN201911393394.0A CN201911393394A CN111064272A CN 111064272 A CN111064272 A CN 111064272A CN 201911393394 A CN201911393394 A CN 201911393394A CN 111064272 A CN111064272 A CN 111064272A
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CN
China
Prior art keywords
battery
circuit
power supply
main circuit
agv
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CN201911393394.0A
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Chinese (zh)
Inventor
吴伟健
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Guangdong Jaten Robot and Automation Co Ltd
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Guangdong Jaten Robot and Automation Co Ltd
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Priority to CN201911393394.0A priority Critical patent/CN111064272A/en
Publication of CN111064272A publication Critical patent/CN111064272A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/36—Arrangements using end-cell switching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
    • H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
    • H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
    • H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Direct Current Feeding And Distribution (AREA)

Abstract

The invention discloses an AGV battery switching circuit and a control method, the AGV battery switching circuit is provided with a main battery and an auxiliary battery, the main battery and the auxiliary battery can be controlled by a controller to simultaneously or independently supply power to AGV electric equipment, when the electric quantity of the main battery is in a normal state, the main battery independently supplies power to the AGV electric equipment, when the electric quantity of the main battery is about to be exhausted, the main battery and the auxiliary battery jointly supply power to the AGV electric equipment, and after the auxiliary battery starts to supply power to the AGV electric equipment, a main power supply circuit of the main battery is cut off, so that the auxiliary battery independently supplies power to the AGV electric equipment; after the main battery is replaced, the main battery and the auxiliary battery simultaneously supply power for the AGV electric equipment, and after the main battery starts to supply power for the AGV electric equipment, the main power supply path of the auxiliary battery is cut off, so that the AGV can continuously run in the process of replacing the main battery, and the AGV can continuously execute tasks in the process of replacing the battery.

Description

AGV battery switching circuit and control method
Technical Field
The invention relates to the field of industrial robots, in particular to an AGV battery switching circuit and a control method.
Background
At present, industrial AGVs have been widely used in many domestic enterprises. Its battery charging mode of current AGV roughly divide into two kinds, one kind is that the battery that the mode of adopting the change battery will run out of with the electric quantity is changed and is got off the charging, because AGV generally uses lithium iron battery and lead acid battery as the power supply medium, some large-scale AGV and laser fork truck, its battery volume is great relatively, also relatively heavier, and the change degree of difficulty is big, and the change time is long. The other type is that the online charging mode is adopted, fixed charging pile is arranged in the working site of the AGV, when the electric quantity is about to exhaust, the AGV needs to quit the task and drive to the fixed charging pile for charging. No matter the mode of replacing the battery or charging on line is adopted, the task that the AGV is executing is interrupted, and the battery is replaced or fully charged and then is executed again, which undoubtedly affects the working efficiency of the AGV.
Therefore, the conventional AGV charging scheme needs to be further improved to reduce the influence of the power shortage condition of the AGV on the execution of the tasks by the AGV, so that the execution efficiency is improved.
Disclosure of Invention
The first purpose of the invention is to provide an AGV battery switching circuit, which can be applied to a scheme of automatically replacing batteries for AGVs through an external mechanism, so that the AGVs can continuously execute tasks in the process of replacing the batteries.
In order to realize the purpose, the invention adopts the following technical scheme:
the AGV battery switching circuit comprises a main battery, an auxiliary battery and a controller; the main battery is used for supplying power to the electric equipment of the AGV; the auxiliary battery is used for temporarily supplying power to the AGV power utilization equipment; the controller comprises a positive electrode interface, a negative electrode interface and at least two IO ports, wherein the IO ports are used for outputting control signals; the main battery and the auxiliary battery are respectively and electrically connected with the controller to form a power supply main circuit, and the controller can output signals through an IO port to control the on-off of the power supply main circuit, so that the main battery and the auxiliary battery can simultaneously or independently supply power to the AGV power utilization equipment.
Compared with the prior art, the AGV battery switching circuit is provided with the main battery and the auxiliary battery, and the main battery and the auxiliary battery can be controlled by the controller to simultaneously or independently supply power to the AGV electric equipment, so that when the electric quantity of the main battery is in a normal state, the main battery independently supplies power to the AGV electric equipment, when the electric quantity of the main battery is about to be exhausted, the main battery and the auxiliary battery jointly supply power to the AGV electric equipment, and after the auxiliary battery starts to supply power to the AGV electric equipment, the main power supply circuit of the main battery is cut off, so that the auxiliary battery independently supplies power to the AGV electric equipment; after the main battery is replaced, the main battery and the auxiliary battery supply power for the AGV electric equipment at the same time, and after the main battery starts to supply power for the AGV electric equipment, the main power supply path of the auxiliary battery is cut off, so that the AGV does not cut off power all the time in the replacement process of the main battery and the switching process of the main battery and the auxiliary battery, the electric equipment on the AGV can continuously run, and the AGV can continuously execute tasks in the replacement process of the battery. It should be noted that the controller of the present invention controls the IO port to output a signal after receiving a signal indicating that the electric quantity of the main battery is about to be exhausted, the AGV is provided with a monitoring module for monitoring the electric quantity of the main battery or a monitoring module for detecting the electric quantity is provided on the main battery, the monitoring module belongs to the existing electric quantity monitoring module, the monitoring module is in communication connection with the controller, and when detecting that the electric quantity of the main battery is lower than a certain preset threshold, the monitoring module sends a signal to the controller.
One preferable scheme of the power supply circuit is as follows: the relay further comprises a second relay, a third relay, a second contactor and a third contactor, wherein the output end of the second relay comprises a second normally open contact; the output end of the third relay comprises a fourth normally open contact; the output end of the second contactor comprises a first normally closed contact; the output end of the third contactor comprises a sixth normally open contact; the IO ports comprise a second IO port and a third IO port; the main battery, the first normally closed contact and the controller are sequentially connected in series to form a second power supply main circuit, and the auxiliary battery, the sixth normally open contact and the controller are sequentially connected in series to form a third power supply main circuit; the secondary battery, the second normally open contact and the coil of the second contactor are sequentially connected in series to form a second control main circuit, and the secondary battery, the fourth normally open contact and the coil of the third contactor are sequentially connected in series to form a third control main circuit; the secondary battery, a coil of the second relay and the second IO port form a second control branch, and the secondary battery, a coil of the third relay and the third IO port form a third control branch; the second control main circuit and the third control main circuit respectively control the on-off of the second power supply main circuit and the third power supply main circuit, and the second control branch respectively controls the on-off of the second control main circuit and the third control main circuit.
It should be noted that, all relays and contactors of the present invention are conventional relays and contactors, and each relay is provided with a common end corresponding to its respective contact, and the common end is arranged on a circuit corresponding to each contact; the contact of each contactor of the present invention is referred to as its main contact.
In order to avoid the phenomenon of current backflow caused by the fact that the power supply voltages of the main battery and the auxiliary battery are inconsistent when the second power supply main circuit and the third power supply main circuit are conducted simultaneously, a first diode is further arranged on the second power supply main circuit, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller; and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller.
Furthermore, the second IO port and the third IO port output the on/off of the second control branch and the third control branch through open-drain of a collector respectively. In the scheme, the second IO port and the third IO port are both digital output and NPN collector open-drain output, the IO ports do not output voltage, and are grounded at a low level and ungrounded at a high level.
Another preferred embodiment of the above power supply circuit: the output end of the first relay comprises a first normally open contact, the output end of the second relay comprises a second normally open contact and a third normally open contact, the output end of the third relay comprises a fourth normally open contact, the output end of the first contactor comprises a fifth normally open contact, the output end of the second contactor comprises a first normally closed contact, and the output end of the third contactor comprises a sixth normally open contact; the positive electrode of the main battery, the fifth normally open contact and the controller are sequentially connected in series to form a first power supply main circuit, the main battery, the first normally closed contact and the controller are sequentially connected in series to form a second power supply main circuit, and the auxiliary battery, the sixth normally open contact and the controller are sequentially connected in series to form a third power supply main circuit; the secondary battery, the first normally open contact and the coil of the first contactor are sequentially connected in series to form a first control main circuit, the secondary battery, the second normally open contact and the coil of the second contactor are sequentially connected in series to form a second control main circuit, and the secondary battery, the third normally open contact, the fourth normally open contact and the coil of the third contactor are sequentially connected in series to form a third control main circuit; the secondary battery, the coil of the first relay and the first IO port form a first control branch, the secondary battery, the coil of the second relay and the second IO port form a second control branch, and the secondary battery, the coil of the third relay and the third IO port form a third control branch; the first control main circuit, the second control main circuit and the third control main circuit respectively control the on-off of the first power supply main circuit, the second power supply main circuit and the third power supply main circuit, the first control branch circuit and the second control branch circuit respectively control the on-off of the first control main circuit and the second control main circuit, and the second control branch circuit and the third control branch circuit jointly control the on-off of the third control main circuit.
In order to avoid the phenomenon of current backflow caused by the fact that the power supply voltages of the main battery and the auxiliary battery are inconsistent when the first power supply main circuit and the third power supply main circuit are conducted simultaneously, a first diode is further arranged on the first power supply main circuit, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller; and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller through a fifth normally-open contact.
Furthermore, the first IO port, the second IO port, and the third IO port respectively control on/off of the first control branch, the second control branch, and the third control branch through collector open-drain output. In the scheme, each IO port does not directly output current or voltage signals, when a control branch needs to be conducted, a low-level signal is given to the corresponding IO port inside the controller, and therefore the interface is grounded to conduct the corresponding control branch.
Preferably, the controller is a single chip microcomputer.
A second object of the present invention is to provide a control method according to the above aspects 1 to 4 and 8, including the steps of:
a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started; b. the controller conducts the third control branch, so that the main battery supplies power to the AGV electric equipment through the second power supply main circuit, the auxiliary battery supplies power to the AGV electric equipment through the third power supply main circuit, and the step c is carried out; c. the controller conducts the second control branch circuit to enable the auxiliary battery to independently supply power for the AGV power utilization equipment through the third power supply main circuit, and the step d is carried out; d. the controller cuts off the second control branch circuit, so that the main battery supplies power to the AGV power utilization equipment through the second power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out; e. the controller cuts off the third control branch circuit, so that the main battery supplies power to the AGV electric equipment independently through the second power supply main circuit and enters the f; f. the controller ends the operation.
A third object of the present invention is to provide the control method according to the above aspects 1, 5 to 8, including the steps of:
a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started; b. the controller conducts the first control branch circuit, so that the main battery simultaneously supplies power for the AGV electric equipment through the first power supply main circuit and the second power supply main circuit independently, and the step c is carried out; c. the controller conducts the second control branch circuit to enable the main battery to independently supply power for the AGV power utilization equipment through the first power supply main circuit, and the step d is carried out; d. the controller conducts the third control branch, so that the main battery supplies power to the AGV power utilization equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out; e. the controller cuts off the first control branch circuit, so that the auxiliary battery independently supplies power to the AGV power utilization equipment through the third power supply main circuit, and the step f is carried out; f. the controller conducts the first control branch circuit, so that the main battery supplies power to the AGV electric equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step g is carried out; g. the controller cuts off the third control branch circuit, so that the main battery supplies power to the electric equipment of the AGV through the first power supply main circuit, and the step h is carried out; h. the controller cuts off the second control branch circuit, so that the main battery simultaneously supplies power for the AGV power utilization equipment independently through the first power supply main circuit and the second power supply main circuit, and the step i is carried out; i. the controller cuts off the first control branch circuit, so that the main battery supplies power for the AGV electric equipment independently through the second power supply main circuit, and the step i is carried out; j. the controller ends the operation.
Drawings
FIG. 1 is a schematic circuit diagram of a first embodiment;
FIG. 2 is a schematic circuit diagram of the second embodiment of FIG. 1;
FIG. 3 is a schematic circuit diagram of the second embodiment 2;
FIG. 4 is a circuit schematic of the second embodiment of FIG. 3;
FIG. 5 is a circuit schematic of the second embodiment of FIG. 4;
fig. 6 is a circuit schematic diagram 5 of the second embodiment.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
the first embodiment is as follows:
referring to fig. 1, the present embodiment discloses an AGV battery switching circuit, which includes a main battery, an auxiliary battery, and a controller; the main battery is used for supplying power to the electric equipment of the AGV; the auxiliary battery is used for temporarily supplying power to the AGV power utilization equipment; the controller comprises a positive electrode interface, a negative electrode interface and at least two IO ports, wherein the positive electrode interface and the negative electrode interface are respectively connected with the positive electrode and the negative electrode of other electric equipment of the AGV in parallel, and the IO ports are used for outputting control signals; the AGV power supply system comprises a main power supply circuit, a controller, a main battery, an auxiliary battery, an IO port and a controller, wherein the main battery and the auxiliary battery are electrically connected with the controller to form the main power supply circuit, the auxiliary battery is electrically connected with the controller to form the main power supply circuit, and the controller can output signals through the IO port to control the on-off of the main power supply circuit so as to control the main battery and the auxiliary battery to simultaneously or independently supply power for AGV. Preferably, the controller is a single chip microcomputer.
One preferable scheme of the power supply circuit is as follows: the relay further comprises a second relay K2, a third relay K3, a second contactor KM2 and a third contactor KM3, wherein the output end of the second relay K2 comprises a second normally open contact NO 2; the output end of the third relay K3 comprises a fourth normally open contact NO 4; the output end of the second contactor KM2 comprises a first normally closed contact NC 1; the output end of the third contactor KM3 also comprises a sixth normally open contact NO 6.
The main battery, the first normally closed contact NC1 and the controller are sequentially connected in series to form a second main power supply circuit; the auxiliary battery, the sixth normally open contact NO6 and the controller are sequentially connected in series to form a third power supply main circuit. Namely, the positive pole of the main battery is electrically connected with the positive pole of the controller through a first normally closed contact NC1, and the negative pole of the main battery is electrically connected with the negative pole of the controller, so that a second power supply circuit is formed; the positive pole of auxiliary battery passes through the positive pole electric connection of sixth normally open contact NO6 with the controller, and the negative pole of auxiliary battery is connected with the negative pole electricity of controller to form third supply circuit, because the positive pole interface of controller, negative pole interface have parallelly connected with the both ends of AGV consumer, consequently, main battery accessible second supply circuit supplies power to AGV consumer, and auxiliary battery accessible third supply circuit supplies power to AGV consumer.
The coils of the auxiliary battery, the second normally open contact NO2 and the second contactor KM2 are sequentially connected in series to form a second control main circuit, and the coils of the auxiliary battery, the fourth normally open contact NO4 and the third contactor KM3 are sequentially connected in series to form a third control main circuit; the secondary battery, a coil of the second relay K2 and the second IO port DO2 form a second control branch, and the secondary battery, a coil of the third relay K3 and the third IO port DO3 form a third control branch; the second control main circuit and the third control main circuit respectively control the on-off of the second power supply main circuit and the third power supply main circuit, and the second control branch respectively controls the on-off of the second control main circuit and the third control main circuit.
In order to avoid the phenomenon of current backflow caused by the fact that the power supply voltages of the main battery and the auxiliary battery are inconsistent when the second power supply main circuit and the third power supply main circuit are conducted simultaneously, a first diode is further arranged on the second power supply main circuit, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller; and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller.
Still further, the second IO port DO2 and the third IO port DO3 output the on/off of the second control branch and the third control branch through open-drain collectors, respectively.
The working principle is as follows:
in the scheme, the channels of the second power supply main circuit and the third power supply main circuit are respectively controlled by a first normally closed contact NC1 and a sixth normally open contact NO6, and the first normally closed contact NC1 and the sixth normally open contact NO6 respectively belong to the contacts of a second contactor KM2 and a third contactor KM3, so that the on-off of the second power supply main circuit and the third power supply main circuit are respectively controlled by a second control main circuit and a third control main circuit, the second power supply main circuit is switched on when the second control main circuit is switched off, the third power supply main circuit is switched on when the third control main circuit is switched on, and the third power supply main circuit is switched off otherwise;
and secondly, the second main control circuit and the third main control circuit are respectively controlled by a second normally open contact NO2 and a fourth normally open contact NO4, and the second normally open contact NO2 and the fourth normally open contact NO4 respectively belong to the contacts of the first relay K1 and the third relay K3, so that the second main control circuit is switched on when the second control branch is switched on, the third main control circuit is switched on when the third control branch is switched on, and the third main control circuit is switched off otherwise.
Compared with the prior art, the AGV battery switching circuit is provided with the main battery and the auxiliary battery, and the main battery and the auxiliary battery can be controlled by the controller to simultaneously or independently supply power to the AGV electric equipment, so that when the electric quantity of the main battery is in a normal state, the main battery independently supplies power to the AGV electric equipment, when the electric quantity of the main battery is about to be exhausted, the main battery and the auxiliary battery jointly supply power to the AGV electric equipment, and after the auxiliary battery starts to supply power to the AGV electric equipment, the main power supply circuit of the main battery is cut off, so that the auxiliary battery independently supplies power to the AGV electric equipment; after the main battery is replaced, the main battery and the auxiliary battery supply power for the AGV electric equipment at the same time, and after the main battery starts to supply power for the AGV electric equipment, the main power supply path of the auxiliary battery is cut off, so that the AGV does not cut off power all the time in the replacement process of the main battery and the switching process of the main battery and the auxiliary battery, the electric equipment on the AGV can continuously run, and the AGV can continuously execute tasks in the replacement process of the battery.
Example two:
referring to fig. 2-6, the present embodiment differs from the above embodiments in that: the battery switching circuit further comprises a first relay K1, a first contactor KM1, the output end of the second relay K2 further comprises a third normally open contact NO3, the output end of the first contactor KM1 comprises a fifth normally open contact NO5, and the controller further comprises a first IO port DO 1; the positive electrode of the main battery, the fifth normally open contact NO5 and the controller are sequentially connected in series to form a first power supply main circuit; the auxiliary battery, the first normally open contact NO1 and the coil of the first contactor KM1 are sequentially connected in series to form a first control main circuit, and the auxiliary battery, the second normally open contact NO2 and the coil of the second contactor KM2 are sequentially connected in series to form a second control main circuit; the auxiliary battery, a coil of the first relay K1 and the first IO port DO1 form a first control branch; the first control main circuit, the second control main circuit and the third control main circuit respectively control the on-off of the first power supply main circuit, the second power supply main circuit and the third power supply main circuit, the first control branch circuit and the second control branch circuit respectively control the on-off of the first control main circuit and the second control main circuit, and the second control branch circuit and the third control branch circuit jointly control the on-off of the third control main circuit.
The first diode is arranged in the first power supply main circuit, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller; and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller. The negative electrode of the first diode is electrically connected with the positive electrode interface of the controller through a fifth normally open contact NO5, and the negative electrode of the second diode is electrically connected with the positive electrode of the controller through a sixth normally open contact NO 6.
The working principle is as follows:
in the scheme, the channels of the first power supply main circuit, the second power supply main circuit and the third power supply main circuit are respectively controlled by a fifth normally-open contact NO5, a first normally-closed contact NC1 and a sixth normally-open contact NO6, and as the fifth normally-open contact NO5, the first normally-closed contact NC1 and the sixth normally-open contact NO6 respectively belong to the contacts of a first contactor KM1, a second contactor KM2 and a third contactor KM3, the on-off of the first power supply main circuit, the second power supply main circuit and the third power supply main circuit are respectively controlled by the first control main circuit, the second control main circuit and the third control main circuit, when the first control main circuit is turned on, the second control main circuit is turned on, when the third control main circuit is turned on, and vice versa;
secondly, the first main control circuit and the second main control circuit are respectively controlled by a first normally open contact NO1 and a second normally open contact NO2, the third main control circuit is commonly controlled by a third normally open contact NO3 and a fourth normally open contact NO4, and the first normally open contact NO1 and the fourth normally open contact NO4 respectively belong to the contacts of a first relay K1 and a third relay K3, and the second normally open contact NO2 and the third normally open contact NO3 both belong to the contact of a second relay K2, so that the first main control circuit is switched on when the first control branch is switched on, the second main control circuit is switched on when the second control branch is switched on, and the third main control circuit is switched on when the second control branch and the third control branch are both switched on, and vice versa.
Compared with the above embodiments, the battery switching circuit of this embodiment has the advantages of increasing the first main power supply circuit, the first main control circuit and the first control branch circuit correspondingly, and the second relay K2 has the third normally open contact NO3, so as to improve the stability of the power supply circuit and reduce the device cost of the first diode, because the first diode is arranged to prevent the current of the secondary battery from flowing backwards to the primary battery when the power supply circuits of the primary battery and the secondary battery are turned on simultaneously, but the common diode is difficult to adapt to the passing of a larger current for a long time, in the scheme of the present invention, the second main power supply circuit is responsible for continuously supplying power to the AGV in the state that the electric quantity of the primary battery is normal, therefore, the power supply time of the second main power supply circuit is long and the current flowing through is large, the first diode connected to the second main power supply circuit is easy to generate heat and damage, if a diode suitable for long-time large-current operation is selected, the, the first power supply circuit is used as a temporary power supply circuit in the switching process of the main battery, the power supply time is short, and the first diode is connected in the first power supply circuit, so that the first diode is not easily damaged, and the stability of the circuit is improved.
Example three:
the embodiment discloses a control method of the first embodiment, which includes the following steps:
a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started;
namely, when the main battery is in a normal state of electric quantity, no signal exists at an IO port of the controller, at this time, the first normally closed contact NC1 is closed, the main battery continuously supplies power to the electric equipment of the AGV through the second power supply circuit, and until the controller receives a signal that the electric quantity of the main battery is about to be exhausted, the controller starts to work and enters the next step.
b. The controller conducts the third control branch, so that the main battery supplies power to the AGV electric equipment through the second power supply main circuit, the auxiliary battery supplies power to the AGV electric equipment through the third power supply main circuit, and the step c is carried out;
namely, the controller transmits a low-level signal to the third IO port DO3 to enable the third IO port DO3 to be grounded, at the moment, the third control branch is conducted, the third relay K3 is powered to enable the fourth normally open contact NO4 to be closed, the third control main circuit is conducted, the third contactor KM3 is powered to enable the sixth normally open contact NO6 to be closed, so that the third power supply main circuit is conducted, the auxiliary battery and the main battery jointly supply power for the electric equipment of the AGV, and the next step is carried out.
c. The controller conducts the second control branch circuit to enable the auxiliary battery to independently supply power for the AGV power utilization equipment through the third power supply main circuit, and the step d is carried out;
that is, the controller transmits a low level signal to the second IO port DO2 to ground the second IO port DO2, at the moment, the second control branch circuit is conducted, the second relay K2 is electrified to close the second normally open contact NO2, the second control main circuit is conducted, the second contactor KM2 is electrified to disconnect the sixth normally closed contact, so that the second power supply main circuit is cut off, the auxiliary battery is solely used for supplying power for the electric equipment of the AGV, at the moment, the AGV enters the main battery replacement stage, and after the main battery replacement stage is finished, the AGV enters the next step.
d. The controller cuts off the second control branch circuit, so that the main battery supplies power to the AGV power utilization equipment through the second power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out;
namely, the controller stops transmitting a low level signal to the second IO port DO2 to enable the second IO port DO2 not to be grounded, at the moment, the second control branch circuit is cut off, the second relay K2 is powered off to enable the second normally open contact NO2 to be disconnected, the second main control circuit is cut off, the second contactor KM2 is powered off to enable the first normally closed contact NC1 to be combined, the second main power supply circuit is turned on again, the main battery and the auxiliary battery simultaneously supply power for the electric equipment for the AGV, and the next step is carried out.
e. The controller cuts off the third control branch circuit, so that the main battery supplies power for the AGV electric equipment through the second power supply main circuit independently, and the step f is carried out;
namely, the controller stops transmitting a low level signal to the third IO port DO3 to disconnect the third IO port DO3 from the ground, at this time, the third control branch is cut off, the third relay K3 is powered off to disconnect the fourth normally open contact NO4, the third control main circuit is cut off, the third contactor KM3 is powered off to disconnect the sixth normally open contact NO6, the third power main circuit is cut off, the main battery alone supplies power to the AGV power supply equipment, and the next step is carried out.
f. The controller ends the operation.
Example four:
the present embodiment discloses a control method of the second embodiment, which includes the following steps:
a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started;
namely, when the main battery is in a normal state of electric quantity, no signal exists at an IO port of the controller, at this time, the first normally closed contact NC1 is closed, the main battery continuously supplies power to the electric equipment of the AGV through the second power supply circuit until the controller receives a signal that the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the next step is carried out.
b. The controller conducts the first control branch circuit, so that the main battery simultaneously supplies power for the AGV electric equipment through the first power supply main circuit and the second power supply main circuit independently, and the step c is carried out;
that is, the controller transmits a low level signal to the first IO port DO1 to ground the first IO port DO1, at this time, the first control branch circuit is conducted, the first relay K1 is powered to close the first normally open contact NO1, the first control main circuit is conducted, the first contactor KM1 is powered to conduct the fifth normally open contact NO5, the first power supply main circuit is conducted, the main battery independently supplies power for the electric equipment of the AGV through the first and second power supply main circuits, and the next step is carried out.
c. The controller conducts the second control branch circuit to enable the main battery to independently supply power for the AGV power utilization equipment through the first power supply main circuit, and the step d is carried out;
that is, the controller transmits a low level signal to the second IO port DO2 to ground the second IO port DO2, at this time, the second control branch is conducted, the second relay K2 is powered to conduct the second normally-open contact NO2 and the third normally-open contact NO3, the second control main circuit is conducted, the second contactor KM2 is powered to disconnect the first normally-closed contact NC1, the second power supply main circuit is cut off, so that the main battery supplies power for the AGV power equipment through the first power supply main circuit independently, and the next step is carried out.
d. The controller conducts the third control branch, so that the main battery supplies power to the AGV power utilization equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out;
namely, the controller transmits a low-level signal to the third IO port DO3 to enable the third IO port DO3 to be grounded, at the moment, the third control branch is conducted, the third relay K3 is powered to enable the fourth normally open contact NO4 to be closed, the third control main circuit is conducted, the third contactor KM3 is powered to enable the sixth normally open contact NO6 to be closed, the third power supply main circuit is conducted, the main battery and the auxiliary battery simultaneously supply power for the electric equipment for the AGV, and the next step is started.
e. The controller cuts off the first control branch circuit, so that the auxiliary battery independently supplies power to the AGV power utilization equipment through the third power supply main circuit, and the step f is carried out;
that is, the controller stops transmitting a low level signal to the first IO port DO1 to make the first IO port DO1 not grounded, at this time, the first control branch is cut off, the first relay K1 loses power to make the first normally open contact NO1 disconnected, the first control main circuit is cut off, the first contactor KM1 loses power to make the fifth normally open contact NO5 disconnected, the first power supply main circuit is cut off, the auxiliary battery independently supplies power for the electric equipment of the AGV, at this time, the AGV enters a main battery replacement stage, and after the main battery replacement stage is finished, the AGV enters the next step.
f. The controller conducts the first control branch circuit, so that the main battery supplies power to the AGV electric equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step g is carried out;
that is, the controller transmits a low level signal to the first IO port DO1 to ground the first IO port DO1, at the moment, the first control branch circuit is conducted, the first relay K1 is powered to close the first normally open contact NO1, the first control main circuit is conducted, the first contactor KM1 is powered to close the fifth normally open contact NO5, the first power supply main circuit is conducted, and the main battery supplies power to the AGV power equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit.
g. The controller cuts off the third control branch circuit, so that the main battery supplies power to the electric equipment of the AGV through the first power supply main circuit, and the step h is carried out;
namely, the controller stops transmitting a low level signal to the third IO port DO3 to disconnect the third IO port DO3 from the ground, at this time, the third control branch is cut off, the third relay K3 is powered off to disconnect the fourth normally open contact NO4, the third main control circuit is cut off, the third contactor KM3 is powered off to disconnect the sixth normally open contact NO6, the third main power supply circuit is cut off, and the main battery is enabled to supply power to the AGV power equipment through the first main power supply circuit.
h. The controller cuts off the second control branch circuit, so that the main battery simultaneously supplies power for the AGV power utilization equipment independently through the first power supply main circuit and the second power supply main circuit, and the step i is carried out;
namely, the controller stops transmitting a low level signal to the second IO port DO2 to enable the second IO port DO2 not to be grounded, at the moment, the second control branch circuit is cut off, the second relay K2 is powered off to enable the second normally-open contact NO2 and the third normally-open contact NO3 to be disconnected, the second control main circuit is cut off, the second contactor KM2 is powered off to enable the first normally-closed contact NC1 to be closed, the second power supply main circuit is conducted, the main battery independently supplies power for the AGV power utilization equipment through the first power supply main circuit and the second power supply main circuit, and the next step is carried out.
i. The controller cuts off the first control branch circuit, so that the main battery supplies power to the AGV electric equipment independently through the second power supply main circuit, and the step j is carried out;
that is, the controller stops transmitting a low level signal to the first IO port DO1 to make the first IO port DO1 not grounded, at this time, the first control branch is cut off, the first relay K1 loses power to make the first normally open contact NO1 disconnected, the first main control circuit is cut off, the first contactor KM1 loses power to make the fifth normally open contact NO5 disconnected, the first main power supply circuit is cut off, and the main battery supplies power to the electric equipment for the AGV through the second main power supply circuit.
j. The controller ends the operation.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (10)

  1. AGV battery switching circuit characterized in that includes:
    the main battery is used for supplying power to the electric equipment of the AGV;
    the auxiliary battery is used for temporarily supplying power to the AGV power utilization equipment;
    the controller comprises a positive electrode interface, a negative electrode interface and at least two IO ports, wherein the IO ports are used for outputting control signals;
    the main battery and the auxiliary battery are respectively and electrically connected with the controller to form a power supply main circuit, and the controller can output signals through an IO port to control the on-off of the power supply main circuit, so that the main battery and the auxiliary battery can simultaneously or independently supply power to the AGV power utilization equipment.
  2. 2. The AGV battery switching circuit of claim 1, further comprising:
    the output end of the second relay comprises a second normally open contact;
    the output end of the third relay comprises a fourth normally open contact;
    the output end of the second contactor comprises a first normally closed contact;
    the output end of the third contactor comprises a sixth normally open contact;
    the IO ports comprise a second IO port and a third IO port;
    the main battery, the first normally closed contact and the controller are sequentially connected in series to form a second power supply main circuit, and the auxiliary battery, the sixth normally open contact and the controller are sequentially connected in series to form a third power supply main circuit;
    the secondary battery, the second normally open contact and the coil of the second contactor are sequentially connected in series to form a second control main circuit, and the secondary battery, the fourth normally open contact and the coil of the third contactor are sequentially connected in series to form a third control main circuit;
    the secondary battery, a coil of the second relay and the second IO port form a second control branch, and the secondary battery, a coil of the third relay and the third IO port form a third control branch;
    the second control main circuit and the third control main circuit respectively control the on-off of the second power supply main circuit and the third power supply main circuit, and the second control branch respectively controls the on-off of the second control main circuit and the third control main circuit.
  3. 3. The AGV battery switching circuit of claim 2, wherein: the second power supply main circuit is also provided with a first diode, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller;
    and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller.
  4. 4. The AGV battery switching circuit of claim 2 or 3, wherein: and the second IO port and the third IO port respectively control the on-off of the second control branch and the third control branch by the open-drain output of the collector.
  5. 5. The AGV battery switching circuit of claim 1, further comprising:
    the output end of the first relay comprises a first normally open contact;
    the output end of the second relay comprises a second normally open contact and a third normally open contact;
    the output end of the third relay comprises a fourth normally open contact;
    the output end of the first contactor comprises a fifth normally-open contact;
    the output end of the second contactor comprises a first normally closed contact;
    the output end of the third contactor comprises a sixth normally open contact;
    the IO ports comprise a first IO port, a second IO port and a third IO port;
    the positive electrode of the main battery, the fifth normally open contact and the controller are sequentially connected in series to form a first power supply main circuit, the main battery, the first normally closed contact and the controller are sequentially connected in series to form a second power supply main circuit, and the auxiliary battery, the sixth normally open contact and the controller are sequentially connected in series to form a third power supply main circuit;
    the secondary battery, the first normally open contact and the coil of the first contactor are sequentially connected in series to form a first control main circuit, the secondary battery, the second normally open contact and the coil of the second contactor are sequentially connected in series to form a second control main circuit, and the secondary battery, the third normally open contact, the fourth normally open contact and the coil of the third contactor are sequentially connected in series to form a third control main circuit;
    the secondary battery, the coil of the first relay and the first IO port form a first control branch, the secondary battery, the coil of the second relay and the second IO port form a second control branch, and the secondary battery, the coil of the third relay and the third IO port form a third control branch;
    the first control main circuit, the second control main circuit and the third control main circuit respectively control the on-off of the first power supply main circuit, the second power supply main circuit and the third power supply main circuit, the first control branch circuit and the second control branch circuit respectively control the on-off of the first control main circuit and the second control main circuit, and the second control branch circuit and the third control branch circuit jointly control the on-off of the third control main circuit.
  6. 6. The AGV battery switching circuit of claim 5, wherein: the first power supply main circuit is also provided with a first diode, the anode of the first diode is electrically connected with the anode interface of the main battery, and the cathode of the first diode is electrically connected with the anode interface of the controller;
    and a second diode is further arranged on the third power supply main circuit, the positive electrode interface of the second diode is electrically connected with the positive electrode interface of the auxiliary battery, and the negative electrode of the second diode is electrically connected with the positive electrode interface of the controller through a fifth normally-open contact.
  7. 7. The AGV battery switching circuit of claim 5 or 6, wherein: and the first IO port, the second IO port and the third IO port respectively control the on-off of the first control branch, the second control branch and the third control branch through the open-drain output of the collector.
  8. 8. The AGV battery switching circuit of claim 1, 2 or 5, wherein: the controller singlechip.
  9. 9. The AGV battery switching circuit control method according to any one of claims 2 to 4 and 8, wherein: the method comprises the following steps:
    a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started;
    b. the controller conducts the third control branch, so that the main battery supplies power to the AGV electric equipment through the second power supply main circuit, the auxiliary battery supplies power to the AGV electric equipment through the third power supply main circuit, and the step c is carried out;
    c. the controller conducts the second control branch circuit to enable the auxiliary battery to independently supply power for the AGV power utilization equipment through the third power supply main circuit, and the step d is carried out;
    d. the controller cuts off the second control branch circuit, so that the main battery supplies power to the AGV power utilization equipment through the second power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out;
    e. the controller cuts off the third control branch circuit, so that the main battery supplies power for the AGV electric equipment through the second power supply main circuit independently, and the step f is carried out;
    f. the controller ends the operation.
  10. 10. The AGV battery switching circuit control method according to any one of claims 5 to 8, comprising the steps of:
    a. b, the electric quantity of the main battery is about to be exhausted, the controller starts to work, and the step b is started;
    b. the controller conducts the first control branch circuit, so that the main battery simultaneously supplies power for the AGV electric equipment through the first power supply main circuit and the second power supply main circuit independently, and the step c is carried out;
    c. the controller conducts the second control branch circuit to enable the main battery to independently supply power for the AGV power utilization equipment through the first power supply main circuit, and the step d is carried out;
    d. the controller conducts the third control branch, so that the main battery supplies power to the AGV power utilization equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step e is carried out;
    e. the controller cuts off the first control branch circuit, so that the auxiliary battery independently supplies power to the AGV power utilization equipment through the third power supply main circuit, and the step f is carried out;
    f. the controller conducts the first control branch circuit, so that the main battery supplies power to the AGV electric equipment through the first power supply main circuit and the auxiliary battery through the third power supply main circuit, and the step g is carried out;
    g. the controller cuts off the third control branch circuit, so that the main battery supplies power to the electric equipment of the AGV through the first power supply main circuit, and the step h is carried out;
    h. the controller cuts off the second control branch circuit, so that the main battery simultaneously supplies power for the AGV power utilization equipment independently through the first power supply main circuit and the second power supply main circuit, and the step i is carried out;
    i. the controller cuts off the first control branch circuit, so that the main battery supplies power to the AGV electric equipment independently through the second power supply main circuit, and the step j is carried out;
    j. the controller ends the operation.
CN201911393394.0A 2019-12-30 2019-12-30 AGV battery switching circuit and control method Pending CN111064272A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911393394.0A CN111064272A (en) 2019-12-30 2019-12-30 AGV battery switching circuit and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911393394.0A CN111064272A (en) 2019-12-30 2019-12-30 AGV battery switching circuit and control method

Publications (1)

Publication Number Publication Date
CN111064272A true CN111064272A (en) 2020-04-24

Family

ID=70304481

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911393394.0A Pending CN111064272A (en) 2019-12-30 2019-12-30 AGV battery switching circuit and control method

Country Status (1)

Country Link
CN (1) CN111064272A (en)

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