CN114030381B - High-power wireless energy transmission system of heavy-load AGV trolley and control method - Google Patents
High-power wireless energy transmission system of heavy-load AGV trolley and control method Download PDFInfo
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- CN114030381B CN114030381B CN202111317682.5A CN202111317682A CN114030381B CN 114030381 B CN114030381 B CN 114030381B CN 202111317682 A CN202111317682 A CN 202111317682A CN 114030381 B CN114030381 B CN 114030381B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/34—Plug-like or socket-like devices specially adapted for contactless inductive charging of electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20845—Modifications to facilitate cooling, ventilating, or heating for automotive electronic casings
- H05K7/20854—Heat transfer by conduction from internal heat source to heat radiating structure
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20845—Modifications to facilitate cooling, ventilating, or heating for automotive electronic casings
- H05K7/20863—Forced ventilation, e.g. on heat dissipaters coupled to components
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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
- Y02T90/14—Plug-in electric vehicles
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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 relates to the technical field of wireless charging of movable equipment, and particularly discloses a high-power wireless energy transmission system and a control method of a heavy-duty AGV trolley.
Description
Technical Field
The invention relates to the technical field of wireless charging of movable equipment, in particular to a high-power wireless energy transmission system and a control method of a heavy-load AGV trolley.
Background
The AGV is an abbreviation of (Automated Guided Vehicle), that is, "automatic guided vehicles", and means vehicles equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guiding path, and having safety protection and various transfer functions. To achieve optimal utility, high utilization of the AGV must be ensured. The AGV adopts rechargeable battery power supply, will send alarm signal when rechargeable battery voltage is low, and the AGV is automatic to drive away from the production line navigation to appointed charging position and charges. With the development of high-power rechargeable batteries, the rechargeable batteries can be allowed to be rapidly charged within a few seconds, and the charging can be completed without moving out of a production line in the production of the AGVs by the technology, so that the work utility of the AGVs is greatly improved, and the charging device is particularly suitable for the heavy-load AGVs.
However, currently known charging devices for AGVs still adopt a plug-in type, when the AGVs travel to a specific charging position, a plug on the AGVs needs to be pulled out by a worker and plugged into a socket on the charging position, and after charging, the plug needs to be pulled out by the worker and stored on the AGVs. The whole charging process is difficult to realize real automation and intellectualization due to manual intervention, and the popularization and the use of the AGV are greatly influenced.
Disclosure of Invention
The invention provides a high-power wireless energy transmission system and a control method of a heavy-load AGV, which solve the technical problems that: how to adopt the wireless coupling's electric energy transmission mode, realize the automatic charging of heavy load AGV dolly.
In order to solve the technical problems, the invention provides a high-power wireless energy transmission system of a heavy-load AGV, which comprises an AGV control console, an energy transmitting end and a vehicle-mounted receiving end;
the energy transmitting end comprises a plurality of electric control cabinets and a plurality of wireless energy transmitting coils which are connected with the electric control cabinets in a one-to-one correspondence manner;
the vehicle-mounted receiving end comprises a wireless energy pickup structure arranged at the bottom of the AGV trolley and comprises a coil bearing plate made of magnetic conductive materials, a wireless energy pickup coil arranged on the coil bearing plate, a magnetic core arranged on the wireless energy pickup coil and an electric box arranged on the magnetic core, wherein a wireless energy pickup circuit connected with the wireless energy pickup coil is arranged in a box body space of the electric box; the vehicle-mounted receiving end further comprises a battery management system connected with the wireless energy pickup circuit;
the electric control cabinet is in communication connection with the AGV control console and the wireless energy pickup circuit, and the wireless energy pickup circuit is in communication connection with the AGV control console;
the AGV control console is used for sending a charging instruction to the electric control cabinet corresponding to a charging station when the AGV trolley runs to the charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy pickup circuit; the wireless energy pickup circuit is used for communicating with the battery management system after the charging instruction is acquired, acquiring a charging requirement and feeding back the charging requirement to the electric control cabinet; the wireless energy pickup circuit is used for switching on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is used for switching on a transmission line between an initial alternating current power supply and the wireless energy emission coil according to the charging requirement so as to switch on the wireless energy transmission line between the wireless energy emission coil and the wireless energy pickup coil.
Preferably, the wireless energy pickup circuit is further configured to feed back battery state information monitored by the battery management system to the electric control cabinet and the AGV console in real time during a charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; the electric control cabinet is also used for feeding back the self charging state information to the AGV control console in real time in the charging process.
Preferably, the AGV console is configured to perform charging completion determination according to the battery status information and perform anomaly monitoring according to the battery status information and the charging status information, and control the electric control cabinet and the wireless energy pickup circuit to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or an anomaly occurs.
Preferably, the electric control cabinet comprises a three-phase alternating current source, a three-phase filter, a primary side alternating current-to-direct current circuit, a direct current-to-alternating current circuit and a primary side compensation circuit which are sequentially connected, and further comprises a primary side control circuit connected with the alternating current-to-direct current circuit and the direct current-to-alternating current circuit; the primary side control circuit is in communication connection with the AGV console and the wireless energy pickup circuit.
Preferably, the wireless energy pickup circuit comprises a secondary side compensation circuit, a secondary side alternating current-to-direct current circuit, a direct current filter and a secondary side control circuit connected with the direct current filter, wherein the secondary side control circuit is in communication connection with the AGV control console, the primary side control circuit and the battery management system.
Preferably, a heat dissipation mechanism is further arranged on the electric box corresponding to the wireless energy pickup circuit; the heat dissipation mechanism comprises a heat dissipation panel with heat dissipation fins, a heat dissipation fan is further arranged on the heat dissipation panel, and a blowing port of the heat dissipation fan faces to a reserved gap between the heat dissipation fins; the heat radiation panel is also provided with a protective cover, the top plate of the protective cover is provided with an air inlet corresponding to the heat radiation fan, and the side plate of the protective cover is provided with an air outlet corresponding to the reserved gap between the heat radiation fins.
Preferably, a dust screen is detachably arranged on the air inlet; two cantilevers for connecting with the chassis of the AGV trolley are oppositely arranged on two sides of the electric box; and a magnetic isolation plate is commonly arranged at the end parts of the two cantilevers.
The invention also provides a high-power wireless energy transmission control method of the heavy-load AGV trolley, which is applied to the high-power wireless energy transmission system of the heavy-load AGV trolley and comprises the following steps:
s1, when an AGV trolley runs to a charging station, an AGV control console sends a charging instruction to an electric control cabinet corresponding to the charging station;
s2, the electric control cabinet transmits the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
and S4, the vehicle-mounted receiving end is connected with a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is connected with a transmission line between the initial alternating current power supply and the wireless energy emission coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy emission coil and the wireless energy pickup coil.
Further, after the step S4, the method further includes the steps of:
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control cabinet in real time, and the electric control cabinet feeds back self charging state information to the AGV control cabinet in real time;
s6, the electric control cabinet adjusts power output in real time according to the battery state information; the AGV control console judges the completion of charging according to the battery state information and monitors the abnormality according to the battery state information and the charging state information, and controls the electric control cabinet and the vehicle-mounted receiving end to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when the charging is completed or the abnormality occurs.
Further, before the step S1, the method further includes the steps of:
s01, all electric control cabinets are powered on and initialized to finish self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console as well as among the vehicle-mounted receiving ends, and all the electric control cabinets send online heartbeats to the AGV control console.
The invention provides a high-power wireless energy transmission system and a control method of a heavy-load AGV trolley, wherein the high-power wireless energy transmission system and the control method are provided with an AGV control console, an energy transmitting end and a vehicle-mounted receiving end, the energy transmitting end is provided with an electric control cabinet (comprising an energy transmitting circuit and a primary side control circuit) and a wireless energy transmitting coil, the vehicle-mounted receiving end is provided with a wireless energy picking coil and a wireless energy picking circuit (comprising an energy receiving circuit and a secondary side control circuit), and the AGV control console, the primary side control circuit and the secondary side control circuit are in communication connection with each other to transmit instructions such as a charging control instruction and a power-off control instruction, battery state information, charging state information and the like, so that the power-on control of the energy transmitting circuit and the energy receiving circuit is realized, the abnormity monitoring of the AGV control console on the electric control cabinet and the vehicle-mounted receiving end is realized, and the circuit is timely cut off when abnormity occurs, and the situation is prevented from deteriorating.
Particularly, this energy transmission system is provided with wireless energy and picks up the structure at on-vehicle receiving terminal, based on wireless energy pick up coil and wireless energy transmitting coil carry out wireless coupling's mode, set up the coil loading board and set up wireless energy and pick up the coil on the coil loading board, and set up electric box on the magnetic core, set up wireless energy in the box body space of electric box and pick up the circuit, this wireless energy picks up the structure overall arrangement compactness, but the modularization is arranged on the AGV dolly chassis, when making the dolly park on wireless energy transmitting coil, the electric energy can be from wireless energy transmitting coil wireless transmission to wireless energy pick up the coil, again transmit wireless energy pick up the circuit through wireless energy and charge for AGV dolly rechargeable battery, need not manual intervention, be favorable to realizing the automatic charging of AGV dolly, can wide application in various scenes, the flexibility is better. In addition, this wireless energy pick up structure still is provided with heat dissipation mechanism in order to dispel the heat to wireless energy pick up circuit, can prevent circuit overload when carrying out high-power charging operation to reduce the potential safety hazard when improving charging efficiency.
Drawings
FIG. 1 is a schematic diagram of the components of a high power wireless energy transfer system for a heavy load AGV provided in embodiment 1 of the present invention;
FIG. 2 is a modular block diagram of a high power wireless energy transfer system for a heavy load AGV provided in embodiment 1 of the present invention;
FIG. 3 is an exploded view of the wireless energy pick-up structure provided in embodiment 1 of the present invention at one viewing angle;
FIG. 4 is an exploded view of the wireless energy pick-up structure provided in embodiment 1 of the present invention at another perspective;
fig. 5 is a schematic structural diagram of a heat dissipation mechanism in the wireless energy pick-up structure provided in embodiment 1 of the present invention;
FIG. 6 is a perspective view of another wireless energy pick-up structure provided in embodiment 1 of the present invention;
FIG. 7 is a use state diagram of FIG. 6 provided in embodiment 1 of the present invention;
FIG. 8 is a flowchart of a high power wireless energy transfer control method for a heavy duty AGV provided in embodiment 2 of the present invention.
The reference numerals include: the device comprises a 1-coil bearing plate, a 2-wireless energy pickup coil, a 3-magnetic core, a 4-electric box, a 5-wireless energy pickup circuit, a 6-heat dissipation mechanism, a 7-wire winding groove, an 8-heat insulation panel, a 9-magnetic shielding panel, a 10-heat dissipation fin, an 11-heat dissipation fan, a 12-protective cover, a 13-air inlet, a 14-air outlet, a 15-dust screen, a 16-cantilever, a 17-heat dissipation panel, an 18-magnetic isolation plate and a 19-chassis.
Detailed Description
The following examples are given for the purpose of illustration only and are not to be construed as limiting the invention, including the drawings for reference and description only, and are not to be construed as limiting the scope of the invention as many variations thereof are possible without departing from the spirit and scope of the invention.
Example 1
In order to adopt wireless coupling's electric energy transmission mode, realize the automatic charging of heavy load AGV dolly, this embodiment provides a heavy load AGV dolly high-power wireless energy transmission system, as shown in FIG. 1, including AGV control cabinet, energy emission end and on-vehicle receiving terminal, the energy emission end includes a plurality of automatically controlled cabinets to and a plurality of wireless energy emission coils that are connected with a plurality of automatically controlled cabinets one-to-one. The vehicle-mounted receiving end comprises a wireless energy pickup coil and a wireless energy pickup circuit connected with the wireless energy pickup coil. The on-board receiver also includes a Battery Management System (BMS) coupled to the wireless energy pick-up circuit.
The electric control cabinet is in communication connection with the AGV control console and the wireless energy pickup circuit, the wireless energy pickup circuit is in communication connection with the AGV control console, the connection mode can be set at will according to specific scenes, conditions and demands, but the electric control cabinet and the wireless energy pickup circuit and the AGV control console are required to adopt wireless communication modes such as 5G-WiFi. The AGV control console is used for sending a charging instruction to an electric control cabinet corresponding to a charging station when the AGV trolley runs to the charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy pickup circuit; the wireless energy pickup circuit is used for communicating with the battery management system after acquiring the charging instruction, acquiring the charging requirement and feeding back the charging requirement to the electric control cabinet; the wireless energy pickup circuit is used for switching on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is used for switching on a transmission line between the initial alternating current power supply and the wireless energy emission coil according to the charging requirement so as to switch on the wireless energy transmission line between the wireless energy emission coil and the wireless energy pickup coil.
The wireless energy pickup circuit is also used for feeding back battery state information monitored by the battery management system to the electric control cabinet and the AGV control cabinet in real time in the charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; the electric control cabinet is also used for feeding back the charging state information of the electric control cabinet to the AGV control cabinet in real time in the charging process. The AGV control console is used for judging the completion of charging according to the battery state information and monitoring abnormality according to the battery state information and the charging state information, and controlling the electric control cabinet and the wireless energy pickup circuit to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when the charging is completed or abnormality occurs.
As shown in fig. 2, the electric control cabinet comprises a three-phase alternating current source, a three-phase filter, a primary side alternating current-to-direct current (AC-DC) circuit, a direct current-to-direct current (DC-AC) circuit, a primary side compensation circuit (connected with a wireless energy transmitting coil) and a primary side control circuit connected with the alternating current-to-direct current circuit and the direct current-to-direct current circuit. Wherein the three-phase alternating current source adopts a three-phase four-wire power supply, A, B, C is three-phase, and N represents a zero line. In the art, specific functions of the energy emission circuit (three-phase alternating current source, three-phase filter, primary side alternating current-to-direct current circuit, direct current-to-alternating current circuit, primary side compensation circuit) can be known, and which circuit structures can be adopted, and the primary side compensation circuit adopts an LCC compensation network in this example. The primary side control circuit is connected with the primary side AC-DC circuit and the DC-AC circuit, can control the on and off of the primary side AC-DC circuit and the DC-AC circuit, and can also detect the charging state information of the primary side AC-DC circuit and the DC-AC circuit. The primary side control circuit is also in communication connection with the AGV control console and the wireless energy pickup circuit, and plays a communication function of the electric control cabinet. In this example, as shown in fig. 2, the primary control circuit is implemented by a primary master control board and an expansion board, and a 24V power supply supplies power to the primary control circuit.
As shown in fig. 2, the wireless energy pick-up circuit includes a secondary side compensation circuit (also using an LCC compensation network), a secondary side alternating current-to-direct current (AC-DC) circuit, a direct current filter (connected to a rechargeable battery), and a secondary side control circuit (secondary side main control board) connected to the direct current filter, the secondary side control circuit being communicatively connected to the AGV console, the primary side control circuit, and the battery management system. Also, it is not necessary to specify the specific functions of the energy receiving circuits (secondary side compensation circuit, secondary side ac-dc circuit, dc filter) and which circuit configurations can be used. The secondary side control circuit plays a role in communication of the wireless energy pickup circuit and controlling on-off of a transmission line between the wireless energy pickup coil and the rechargeable battery.
In summary, the high-power wireless energy transmission system of heavy load AGV dolly that this example provided is provided with AGV control cabinet, energy emission end and on-vehicle receiving terminal, the energy emission end is provided with automatically controlled cabinet (including energy transmission line and primary side control circuit), wireless energy transmission coil, on-vehicle receiving terminal is provided with wireless energy pickup coil, wireless energy pickup circuit (including energy receiving line and secondary side control circuit), communication connection between two liang of AGV control cabinet, primary side control circuit and secondary side control circuit, in order to transmit the information such as instruction such as charge control instruction, outage control instruction and battery state information, state of charge information, thereby realize the power on and off control to energy transmission line, energy receiving line, realize the unusual monitoring of AGV control cabinet to automatically controlled cabinet, on-vehicle receiving terminal, in time cut off the circuit when the abnormality appears, avoid the condition to worsen.
As shown in fig. 3, 4 and 7, in this example, a wireless energy pickup structure is disposed at a vehicle-mounted receiving end, and the structure may be directly disposed on an AGV trolley chassis 19 in a modularized manner, and specifically includes a coil carrier plate 1 made of a magnetically conductive material, a wireless energy pickup coil 2 disposed on the coil carrier plate 1, a magnetic core 3 disposed on the wireless energy pickup coil 2, and an electrical box 4 disposed on the magnetic core 3, wherein a wireless energy pickup circuit 5 electrically connected with the wireless energy pickup coil 2 is disposed in a box space of the electrical box 4, and a heat dissipation mechanism 6 is further disposed on the electrical box 4 corresponding to the wireless energy pickup circuit 5.
As shown in fig. 3, in the embodiment, in order to facilitate the operator to wind the coil and limit the shape of the coil, the wireless energy pickup coil 2 is a planar coil, and a winding slot 7 for winding the planar coil is further formed on the plate surface of the coil carrier plate 1.
As can be seen from fig. 4, in order to improve wireless transmission efficiency and control the direction of the energy field, the magnetic core 3 has a plate-like structure formed by splicing a plurality of rectangular magnetic sheets. In order to block the heat conduction between the wireless energy pick-up coil 2 and the wireless energy pick-up circuit 5, a heat insulation panel 8 is further provided between the magnetic core 3 and the electrical box 4. In order to reduce interference of the energy field to the wireless energy pick-up circuit 5, the bottom of the electric box 4 is provided with a magnetic shielding panel 9.
As shown in fig. 5, in order to avoid overload of the wireless energy pickup circuit 5 and reduce potential safety hazards, the heat dissipation mechanism 6 includes a heat dissipation panel 17 with heat dissipation fins 10, and a heat dissipation fan 11 is further disposed on the heat dissipation panel 17, and a blowing port of the heat dissipation fan 11 faces a reserved gap between the heat dissipation fins 10. Preferably, in order to better guide the airflow blown by the heat dissipation fan 11, all the heat dissipation fins 10 are uniformly arranged in a strip shape, the end face of each heat dissipation fin 10 close to the heat dissipation fan 11 is commonly located on a section of concave cambered surface, and the heat dissipation fan 11 is horizontally provided with a plurality of heat dissipation fans along the cambered surface, and the air outlet of each heat dissipation fan 11 is lower than the heat dissipation fins 10.
Referring to fig. 3 and 4, a protection cover 12 is further disposed on the heat dissipation panel 17, an air inlet 13 is formed on a top plate of the protection cover 12 corresponding to the heat dissipation fan 11, and an air outlet 14 is formed on a side plate of the protection cover 12 corresponding to a reserved gap between the heat dissipation fins 10. A dust screen 15 is detachably mounted on the air inlet 13. After the product is used for a period of time, a large amount of dust is accumulated in the air inlet 13, so that the air inlet 13 is blocked, the heat dissipation performance of the product is reduced, the dust screen 15 is only required to be detached at the moment, and the dust screen 15 is assembled at the air inlet 13 after the dust on the dust screen 15 is cleaned.
In a practical application scenario, in order to facilitate the assembly of the product on the AGV trolley by an operator, two cantilevers 16 for connecting to the chassis 19 of the AGV trolley are oppositely arranged on both sides of the electrical box 4, as shown in fig. 6 and 7. Fig. 6 and 7 show a second embodiment of a wireless energy pick-up structure, which differs in that a magnetic barrier 18 is provided in common at the ends of the two cantilevers 16. The magnetic shielding plate 18 has the main function of isolating magnetic energy emitted by the transmitting coil in the charging process and preventing the magnetic energy from heating the skirt edge structure around the heavy-load AGV trolley. The transmission efficiency is improved, and the heated skirt steel plate is prevented from scalding a human body. And four interfaces electrically connected with the wireless energy pickup circuit 5 are also arranged on the side wall of the electric box 4, namely a standby power interface, a power output interface, a program burning interface and a network interface. Wherein: the standby power interface is used for enabling the electric energy of the battery of the heavy-load AGV to not support the basic energy consumption of the wireless energy pickup circuit 5 when the electric energy of the battery of the heavy-load AGV is completely consumed, and enabling the wireless energy pickup circuit 5 to be activated through an external standby power supply at the moment, so that a charging signal is initiated to forcedly charge the battery; the power output interface is used as a connecting channel with a battery of the heavy-load AGV; the program burning interface is used for operating through the interface when the control program such as the charging mode and the communication mode of the circuit needs to be changed. The network interface is used for connecting a network cable, and the pick-up structure communicates with a cabinet of the energy transmission system through the network cable to initiate a charging signal, a stopping signal and the like.
The wireless energy pickup structure shown in fig. 3-7 can be arranged on an AGV trolley chassis 19, based on the mode that wireless energy pickup coil 2 and wireless energy emission coil are in wireless coupling, coil bearing plate 1 is arranged, wireless energy pickup coil 2 is arranged on coil bearing plate 1, electric box 4 is arranged on magnetic core 3, wireless energy pickup circuit 5 is arranged in the box body space of electric box 4, the wireless energy pickup structure is compact in layout, when the trolley is parked on the wireless energy emission coil, electric energy can be transmitted from the wireless energy emission coil to wireless energy pickup coil 2, then transmitted to wireless energy pickup circuit 5 through wireless energy pickup coil 2 to charge AGV trolley storage battery, manual intervention is not needed, automatic charging of the AGV trolley is facilitated, the AGV trolley is widely applied to various scenes, and flexibility is better. In addition, the wireless energy pickup structure utilizes the heat dissipation mechanism 6 to dissipate heat of the wireless energy pickup circuit 5, and can prevent overload of the circuit when high-power charging operation is performed, so that the charging efficiency is improved, and meanwhile, the potential safety hazard is reduced.
Example 2
Corresponding to the high-power wireless energy transmission system shown in embodiment 1, the embodiment of the invention provides a high-power wireless energy transmission control method for a heavy-load AGV trolley, as shown in FIG. 8, which specifically comprises the following steps:
s01, all electric control cabinets are powered on and initialized to finish self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console as well as among the vehicle-mounted receiving ends, and all the electric control cabinets send online heartbeats to the AGV control console;
s1, when an AGV trolley runs to a charging station, an AGV control console sends a charging instruction to an electric control cabinet corresponding to the charging station;
s2, the electric control cabinet transmits the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
s4, the vehicle-mounted receiving end is connected with a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is connected with a transmission line between the initial alternating current power supply and the wireless energy emission coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy emission coil and the wireless energy pickup coil;
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control cabinet in real time, and the electric control cabinet feeds back self charging state information to the AGV control cabinet in real time;
s6, the electric control cabinet adjusts power output in real time according to the battery state information; the AGV control console judges the completion of charging according to the battery state information and monitors abnormality according to the battery state information and the charging state information, and controls the electric control cabinet and the vehicle-mounted receiving end to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when the charging is completed or abnormality occurs;
and S7, after the charging is finished, the electric control cabinet sends an online heartbeat to the AGV control console.
Through the high-power wireless energy transmission control method of the heavy-load AGV provided by the embodiment, wireless charging control and abnormal charging detection of the heavy-load AGV can be realized, manual intervention is not needed in the whole charging process, real automation and intellectualization are realized, and the work utility of the AGV is greatly improved.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (8)
1. The high-power wireless energy transmission system of the heavy-load AGV is characterized by comprising an AGV control console, an energy transmitting end and a vehicle-mounted receiving end;
the energy transmitting end comprises a plurality of electric control cabinets and a plurality of wireless energy transmitting coils which are connected with the electric control cabinets in a one-to-one correspondence manner;
the vehicle-mounted receiving end comprises a wireless energy pickup structure arranged at the bottom of the AGV trolley and comprises a coil bearing plate made of magnetic conductive materials, a wireless energy pickup coil arranged on the coil bearing plate, a magnetic core arranged on the wireless energy pickup coil and an electric box arranged on the magnetic core, wherein a wireless energy pickup circuit connected with the wireless energy pickup coil is arranged in a box body space of the electric box; the vehicle-mounted receiving end further comprises a battery management system connected with the wireless energy pickup circuit;
the electric control cabinet is in communication connection with the AGV control console and the wireless energy pickup circuit, and the wireless energy pickup circuit is in communication connection with the AGV control console;
the AGV control console is used for sending a charging instruction to the electric control cabinet corresponding to a charging station when the AGV trolley runs to the charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy pickup circuit; the wireless energy pickup circuit is used for communicating with the battery management system after the charging instruction is acquired, acquiring a charging requirement and feeding back the charging requirement to the electric control cabinet; the electric control cabinet is used for switching on a transmission line between an initial alternating current power supply and a wireless energy transmitting coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy picking coil;
the wireless energy pickup coil is a planar coil, and a winding groove for winding the planar coil is also formed in the surface of the coil bearing plate; the magnetic core is of a platy structure formed by splicing a plurality of rectangular magnetic sheets; a heat insulation panel is also arranged between the magnetic core and the electric box; a magnetic shielding panel is arranged at the bottom of the electric box;
a heat dissipation mechanism is arranged on the electric box corresponding to the wireless energy pickup circuit; the heat dissipation mechanism comprises a heat dissipation panel with heat dissipation fins, a heat dissipation fan is further arranged on the heat dissipation panel, and a blowing port of the heat dissipation fan faces to a reserved gap between the heat dissipation fins; the heat radiation panel is also provided with a protective cover, the top plate of the protective cover is provided with an air inlet corresponding to the heat radiation fan, and the side plate of the protective cover is provided with an air outlet corresponding to the reserved gap between the heat radiation fins;
all the radiating fins are uniformly arranged in a strip shape, the end face of each radiating fin, which is close to the radiating fan, is commonly positioned on a section of concave cambered surface, a plurality of radiating fans are horizontally arranged along the cambered surface, and the height of an air outlet of each radiating fan is lower than that of each radiating fin;
a dust screen is detachably arranged on the air inlet; two cantilevers for connecting with the chassis of the AGV trolley are oppositely arranged on two sides of the electric box; and a magnetic isolation plate is commonly arranged at the end parts of the two cantilevers.
2. The heavy duty AGV cart high power wireless energy transfer system of claim 1 wherein: the wireless energy pickup circuit is also used for feeding back battery state information monitored by the battery management system to the electric control cabinet and the AGV control cabinet in real time in the charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; the electric control cabinet is also used for feeding back the self charging state information to the AGV control console in real time in the charging process.
3. The heavy-duty AGV cart high-power wireless energy transfer system of claim 2, wherein: the AGV control console is used for judging the completion of charging according to the battery state information and monitoring abnormality according to the battery state information and the charging state information, and controlling the electric control cabinet and the wireless energy pickup circuit to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when the charging is completed or abnormality occurs.
4. The heavy duty AGV cart high power wireless energy transfer system of claim 3 wherein: the electric control cabinet comprises a three-phase alternating current source, a three-phase filter, a primary side alternating current-to-direct current circuit, a direct current-to-alternating current circuit and a primary side compensation circuit which are sequentially connected, and further comprises a primary side control circuit connected with the alternating current-to-direct current circuit and the direct current-to-alternating current circuit; the primary side control circuit is in communication connection with the AGV console and the wireless energy pickup circuit.
5. The heavy duty AGV cart high power wireless energy transfer system of claim 4 wherein: the wireless energy pickup circuit comprises a secondary side compensation circuit, a secondary side alternating current-to-direct current circuit, a direct current filter and a secondary side control circuit, wherein the secondary side compensation circuit, the secondary side alternating current-to-direct current circuit and the direct current filter are sequentially connected, and the secondary side control circuit is connected with the AGV control console, the primary side control circuit and the battery management system in a communication mode.
6. The high-power wireless energy transmission control method for the heavy-load AGV trolley is applied to the high-power wireless energy transmission system for the heavy-load AGV trolley, and is characterized by comprising the following steps:
s1, when an AGV trolley runs to a charging station, an AGV control console sends a charging instruction to an electric control cabinet corresponding to the charging station;
s2, the electric control cabinet transmits the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
and S4, the vehicle-mounted receiving end is connected with a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is connected with a transmission line between the initial alternating current power supply and the wireless energy emission coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy emission coil and the wireless energy pickup coil.
7. The method for controlling high power wireless energy transmission of heavy duty AGV cart according to claim 6, further comprising the step of, after said step S4:
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control cabinet in real time, and the electric control cabinet feeds back self charging state information to the AGV control cabinet in real time;
s6, the electric control cabinet adjusts power output in real time according to the battery state information; the AGV control console judges the completion of charging according to the battery state information and monitors the abnormality according to the battery state information and the charging state information, and controls the electric control cabinet and the vehicle-mounted receiving end to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when the charging is completed or the abnormality occurs.
8. The method for controlling high power wireless energy transmission of a heavy duty AGV cart according to claim 6, further comprising the step of, before said step S1:
s01, all electric control cabinets are powered on and initialized to finish self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console as well as among the vehicle-mounted receiving ends, and all the electric control cabinets send online heartbeats to the AGV control console.
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