CN207225113U - A kind of AGV trolleies wireless charging system - Google Patents
A kind of AGV trolleies wireless charging system Download PDFInfo
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- CN207225113U CN207225113U CN201721031937.0U CN201721031937U CN207225113U CN 207225113 U CN207225113 U CN 207225113U CN 201721031937 U CN201721031937 U CN 201721031937U CN 207225113 U CN207225113 U CN 207225113U
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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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Abstract
It the utility model is related to intelligent charge technique field, in order to overcome existing AGV trolleies charging modes the degree of automation low, it is difficult to realize the deficiency that trolley works automatically for a long time, there is provided a kind of AGV trolley wireless charging systems, including trolley charging unit and ground charging unit；Trolley charging unit includes guider, charging module and master controller；Guider is used for the positional information and attitude information for obtaining trolley；Charging module is used for the information about power for detecting trolley battery, and earthward charging unit sends charging or stops the command information of charging；Master controller reception, processing position information, attitude information and information about power, control trolley to reach the charge position of ground charging unit according to above- mentioned information or return to operating position, while charging module earthward charging unit transmission command information is controlled according to above- mentioned information；Ground charging unit is used to receive command information, and according to the outside transmission power of command information.
Description
Technical field
It the utility model is related to intelligent charge technique field, and in particular to a kind of AGV trolleies wireless charging system.
Background technology
AGV trolleies (Automated Guided Vehicle, abbreviation AGV), refer to be equipped with homing guidance device, can
Travelled along defined guide path, there is the transport vehicle of safeguard protection and various transfer functions, it is possible to achieve 24 it is small when nobody
Operation on duty.AGV trolleies are usually using charging accumulator as its power resources, and battery is using a period of time later, it is necessary to electricity
Pond is charged, and supplements energy.
The wired or wireless artificial charging modes of generally use charge battery at present, i.e., are placed in ground fixed bit
Charger, agv controller find not enough power supply, then automatic running is filled to charging station under the intervention of duty personnel
Electricity, after charging, then by manually sending instruction allows trolley to return to operating position.This charging modes need special messenger to guard,
The degree of automation is low, it is difficult to realizes that trolley works automatically for a long time.
Utility model content
The purpose of the utility model is to overcome existing AGV trolleies charging modes the degree of automation is low, it is difficult to realizes small vehicle commander
The deficiency that phase works automatically, and a kind of AGV trolleies wireless charging system is provided.
To achieve the above object, technical solution provided by the utility model is：A kind of AGV trolleies wireless charging system, its
It is particular in that：Including trolley charging unit and ground charging unit；Above-mentioned trolley charging unit includes guider, charging
Module and master controller；Above-mentioned guider is used for the positional information and attitude information for obtaining AGV trolleies；Above-mentioned charging module and
Master controller is installed on AGV trolleies；Above-mentioned charging module is used for the information about power for detecting trolley battery, and earthward charges
Device sends charging or stops the command information of charging；Above-mentioned master controller receives, handle above-mentioned positional information, attitude information and
Information about power, the charging of AGV trolleies arrival ground charging unit is controlled according to above-mentioned information about power, positional information and attitude information
Position returns to operating position, at the same according to above-mentioned positional information, attitude information and information about power control above-mentioned charging module to
Above-mentioned ground charging unit sends above-metioned instruction information；Above-mentioned ground charging unit is used to receive above-metioned instruction information, and according to
The outside transmission power of above-metioned instruction information.The utility model substantially increases the degree of automation of AGV trolleies so that AGV trolleies
It can automatically work for a long time, significantly improve the work efficiency of AGV trolleies.
Further, in order to enable the receiving coil of the transmitting coil of energy emission power and energy acceptance unit stringent
Alignment, avoids larger power loss in transmittance process；Above-mentioned guider includes inertial navigation unit, code reader and more
A positional information code；Above-mentioned inertial navigation unit and code reader are installed on AGV trolleies, above-mentioned multiple positional information code intervals one
Set a distance is laid on place；Above-mentioned inertial navigation unit transmits the AGV trolleies positional information and attitude information that continuously obtain
To master controller；Above-mentioned code reader will be transmitted to master controller after the positional information collection on above-mentioned positional information code；Above-mentioned master
The positional information and attitude information that controller measures inertial navigation unit by the positional information that code reader is read are repaiied
Just, navigate so as to obtain the accurate positional information of AGV trolleies and attitude information for trolley, enable AGV trolleies accurate
Arrival target location.
Further, above-mentioned charging module includes detection unit, trolley battery and trolley communication unit；Above-mentioned detection unit
It is electrically connected with above-mentioned trolley battery, for detecting the information about power of above-mentioned trolley battery；Above-mentioned trolley communication unit is used for ground
Face charging unit sends above-metioned instruction information.
Further, in order to improve the security of AGV trolleies battery charging, above-mentioned charging module further includes switch element
With energy acceptance unit；Above-mentioned switch element is used to be switched on or switched off being electrically connected for above-mentioned trolley battery and above-mentioned energy acceptance unit
Connect；Above-mentioned master controller controls above-mentioned switch element and above-mentioned trolley according to above-mentioned positional information, attitude information and information about power
Communication unit works.
Further, above-mentioned ground charging unit includes ground communications unit, ground charging control unit and energy transmitting
Unit；Above-mentioned ground communications unit is used to receive above-metioned instruction information；Above-mentioned ground charging control unit is used for according to above-mentioned finger
Information is made to control the above-mentioned outside transmission power of energy emitting element.
Further, in order to it is automatic, efficiently complete charging valve to multiple AGV trolleies and multiple ground charging units
Reason；When above-mentioned ground charging unit has multiple, the dispatch server for being arranged on ground and the nothing on AGV trolleies are further included
Line communication device；Above-mentioned wireless communication apparatus is connected with master controller and dispatch server respectively；Above-mentioned dispatch server passes through
The charge position that wireless communication apparatus scheduling AGV trolleies reach ground charging unit charges.
Further, above-mentioned positional information code is Quick Response Code or bar code or Quick Response Code battle array.
Further, in order to save the space hold of AGV trolleies and play a protective role to charging module, charging mould is avoided
Block such as collides damage because of other reasons；Above-mentioned charging module further includes draw off gear, and above-mentioned energy acceptance unit is installed on AGV
The side of trolley；Above-mentioned draw off gear is connected with above-mentioned energy acceptance unit；Under AGV trolley working statuses, above-mentioned folding and unfolding dress
Put and pack up above-mentioned charging module；Under AGV trolley charged states, above-mentioned draw off gear opens above-mentioned charging module, is allowed to
It is parallel with ground launch unit.
A kind of charging method for one of above-mentioned AGV trolleies wireless charging system, it is particular in that, comprising following
Step：
Step 1：The trolley positional information and attitude information that continuously obtain are transmitted to master controller by inertial navigation unit；
Code reader will be transmitted to master controller after the positional information collection on positional information code；Detection unit assay intervals certain time is examined
Survey trolley battery capacity；
Detection unit detects trolley battery capacity deficiency, and not enough power supply information is sent to master controller；
Step 2：The positional information that master controller measures inertial navigation unit by the positional information that code reader is read
Be modified with attitude information, thus obtain AGV trolleies accurate location information and attitude information for trolley navigate, control
AGV trolleies accurately reach the charge position of ground charging unit；
Step 3：After the charge position for reaching ground charging unit, main controller controls switch element makes energy acceptance list
Member is led to trolley battery conductance；Earthward communication unit sends the instruction letter to charge to main controller controls trolley communication unit at the same time
Breath；
Step 4：Ground charging control unit controls the outside transmission power of energy emitting element according to above-metioned instruction information,
Energy acceptance unit receives power；
Step 5：AGV trolleies enter charged state, detection unit detection trolley battery capacity；Master controller is according to battery
Charge condition, the transmission power of energy unit is controlled by trolley communication unit；
Step 6：After detection unit detection trolley battery capacity is full of, sends electricity to master controller and be full of information；
Step 7：What main controller controls switch element made energy receiving unit and trolley battery is electrically connected disconnection, at the same time
Earthward communication unit sends the command information for stopping charging to main controller controls trolley communication unit；
Step 8：Ground charging control unit controls energy emitting element to stop outwards transmitting work(according to above-metioned instruction information
Rate；
Step 9：The charging of AGV trolleies terminates, and AGV trolleies return to operating position under the guiding of guider and put into again
Work.
According to above-mentioned charging method, it is particular in that：Further include the scheduling steps of step a and step b：
Step a, also comprises the steps of before above-mentioned steps two；
1) master controller of AGV trolleies to be charged sends application charging to dispatch server by its wireless communication apparatus and refers to
Order, dispatch server inquire about the service condition of ground charging unit；
1.1) when inquiring available free ground charging unit, wireless communication apparatus is by the position of idle ground charging unit
Information is sent to the master controller of AGV trolleies to be charged, and main controller controls AGV trolleies reach filling for idle ground charging unit
Electric position charges；
1.2) when inquiring leisureless ground charging unit, main control of the wireless communication apparatus to AGV trolleies to be charged
Device dispatcher queue waiting instruction, main controller controls AGV trolleies reach appointed place waiting, treat available free ground charging unit
When, AGV trolleies to be charged are according to above-mentioned steps 1.1) operation；
Step b, also comprises the steps of after above-mentioned steps nine；
2) after the charging complete of AGV trolleies, the master controller of AGV trolleies passes through nothing while leaving ground charging unit position
Line communication device sends leave message to dispatch server, and dispatch server marks the use state of ground charging unit.
Compared with prior art, the utility model has the advantages that：
1st, wireless charging system provided by the utility model is filled using guider, charging module, master controller and ground
Electric installation can be realized automatically carries out Charge Management to AGV trolleies power supply, substantially increases the degree of automation of AGV trolleies,
AGV trolleies are worked automatically for a long time, significantly improve the work efficiency of AGV trolleies.
2nd, the utility model uses positional information code, code reader and inertial navigation unit to AGV trolleies in whole place
Operation is navigated and charging navigator fix, and simple in structure, positional information code is easy to laying so that Ground arrangement is flexible；And protect
AGV trolleies are demonstrate,proved and have stopped at positional precision on charging unit so that the transmitting coil and energy acceptance list of energy transmitting power supply
The receiving coil of member can be strictly aligned, and larger power loss is avoided in transmittance process.
3rd, the utility model is switched on or switched off AGV trolleies battery and energy acceptance unit using switch element, carries
The high security of AGV trolleies battery charging.
4th, the draw off gear that the utility model uses can pack up charging module when AGV trolleies work, and it is small to save AGV
The space hold of car simultaneously plays a protective role charging module, avoids charging module because other reasons such as collide damage.
5th, the dispatch server and wireless communication apparatus that the utility model uses can realize the charging to more AGV trolleies
Process is scheduled, and automatically, efficiently completes the Charge Management to multiple AGV trolleies and multiple ground charging units.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model；
Fig. 2 is the schematic diagram of one specific embodiment of the utility model.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
A kind of AGV trolleies wireless charging system as depicted in figs. 1 and 2, including trolley charging unit, ground charging dress
Put, wireless communication apparatus and dispatch server；Wireless communication apparatus is set on the ground, and dispatch server is installed on AGV trolleies
On；
Trolley charging unit includes guider, charging module and master controller；Charging module and master controller are installed on
On AGV trolleies.Guider includes inertial navigation unit, code reader and multiple positional information codes；Inertial navigation unit and reading code
Device is installed on AGV trolleies；Positional information code is Quick Response Code or bar code or Quick Response Code battle array, and multiple positional information code intervals are certain
Distance is laid on place, and can be laid on ground can also be laid on the positions such as step, column that code reader is readily detected；
Positional information code includes the coordinate information of absolute coordinate information, i.e. trolley centroid distance zero point.All absolute coordinate informations are deposited
Storage is in the memory of master controller.
The AGV trolleies positional information and attitude information that continuously obtain are transmitted to master controller by inertial navigation unit；Reading code
Device will be transmitted to master controller after the positional information collection on positional information code.
Charging module includes detection unit, trolley battery, trolley communication unit, switch element, energy acceptance unit and receipts
Put device；Detection unit is electrically connected with trolley battery, for detecting the information about power of trolley battery；Trolley communication unit be used for
Ground charging unit sends charging or stops the command information of charging；Switch element is used to be switched on or switched off trolley battery and energy
The electrical connection of receiving unit.
Energy acceptance unit is receiving coil, it is installed on the side of AGV trolleies；Draw off gear and energy acceptance unit phase
Even；Under AGV trolley working statuses, draw off gear packs up charging module；Under AGV trolley charged states, draw off gear will
Charging module is opened, and is allowed to parallel with ground launch unit.Draw off gear can not also be set, directly pacify energy acceptance unit
Mounted in the bottom of the small surveys of AGV, as long as making energy receiving unit be in suitable charge position relative to ground charging unit.
The positional information and posture that master controller measures inertial navigation unit by the positional information that code reader is read
Information is modified, so as to obtain the accurate positional information of AGV trolleies and attitude information.Master controller receives, processing position letter
Breath, attitude information and information about power, control AGV trolleies accurately to arrive according to positional information, attitude information and information about power
Up to ground charging unit charge position or return to operating position；At the same time according to positional information, attitude information and information about power control
Switch element and trolley communication unit work processed.
Ground charging unit have it is multiple, each charging unit include ground communications unit, ground charging control unit and
Energy emitting element；Energy emitting element is transmitting coil；Ground communications unit is used to receive command information；Ground charge control
Unit is used to control the outside transmission power of energy emitting element according to command information.The transmitting coil and energy of energy transmitting power supply
The receiving coil of receiving unit is strictly aligned, and larger power loss is avoided in transmittance process, can be obtained and preferably be filled
Electric effect.
Wireless communication apparatus is electrically connected and is connected with dispatch server by wireless telecommunications, dispatch server with master controller
The charge position of some ground charging unit in the multiple ground charging units of AGV trolleies arrival is dispatched by wireless communication apparatus
Charge.
A kind of charging method of above-mentioned wireless charging system, comprises the steps of：
Step 1：The trolley positional information and attitude information that continuously obtain are transmitted to master controller by inertial navigation unit；
Code reader will be transmitted to master controller after the positional information collection on positional information code；Detection unit assay intervals certain time is examined
Survey trolley battery capacity；
Detection unit detects trolley battery capacity deficiency, and not enough power supply information is sent to master controller；
Step 2：The master controller of AGV trolleies to be charged sends application by its wireless communication apparatus to dispatch server
Charging instruction, dispatch server inquire about the service condition of ground charging unit；
1.1) when inquiring available free ground charging unit, wireless communication apparatus is by the position of idle ground charging unit
Information is sent to the master controller of AGV trolleies to be charged, and main controller controls AGV trolleies reach filling for idle ground charging unit
Electric position charges；
1.2) when inquiring leisureless ground charging unit, main control of the wireless communication apparatus to AGV trolleies to be charged
Device dispatcher queue waiting instruction, main controller controls AGV trolleies reach appointed place waiting, treat available free ground charging unit
When, AGV trolleies to be charged are according to above-mentioned steps 1.1) operation；
Step 3：The positional information that master controller measures inertial navigation unit by the positional information that code reader is read
Be modified with attitude information, thus obtain AGV trolleies accurate location information and attitude information for trolley navigate, control
AGV trolleies accurately reach the charge position of ground charging unit；
Step 4：After the charge position for reaching ground charging unit, main controller controls switch element makes energy acceptance list
Member is led to trolley battery conductance；Earthward communication unit sends the instruction letter to charge to main controller controls trolley communication unit at the same time
Breath；
Step 5：Ground charging control unit controls the outside transmission power of energy emitting element according to above-metioned instruction information,
Energy acceptance unit receives power；
Step 6：AGV trolleies enter charged state, detection unit detection trolley battery capacity；Master controller is according to battery
Charge condition, the transmission power of energy unit is controlled by trolley communication unit；
Step 7：After detection unit detection trolley battery capacity is full of, sends electricity to master controller and be full of information；
Step 8：What main controller controls switch element made energy receiving unit and trolley battery is electrically connected disconnection, at the same time
Earthward communication unit sends the command information for stopping charging to main controller controls trolley communication unit；
Step 9：Ground charging control unit controls energy emitting element to stop outwards transmitting work(according to above-metioned instruction information
Rate；
Step 10：The charging of AGV trolleies terminates, and AGV trolleies return to operating position under the guiding of guider and put into again
Work.
Step 11：After AGV trolley charging completes, the charge position of ground charging unit is left；The master of AGV trolleies at the same time
Controller sends leave message by wireless communication apparatus to dispatch server, and dispatch server mark ground charging unit makes
Use state.
Claims (8)
- A kind of 1. AGV trolleies wireless charging system, it is characterised in that：Including trolley charging unit and ground charging unit；The trolley charging unit includes guider, charging module and master controller；The guider is used for the positional information and attitude information for obtaining AGV trolleies；The charging module and master controller are installed on AGV trolleies；The charging module is used for the electricity for detecting trolley battery Information, and earthward charging unit sends charging or stops the command information of charging；The master controller receives, handles the positional information, attitude information and information about power, according to the information about power, position Confidence ceases and attitude information control AGV trolleies reach the charge position of ground charging unit or return to operating position, while basis The positional information, attitude information and information about power control the charging module to send described instruction to the ground charging unit Information；The ground charging unit is used to receive described instruction information, and according to the outside transmission power of described instruction information.
- A kind of 2. AGV trolleies wireless charging system according to claim 1, it is characterised in that：The guider includes inertial navigation unit, code reader and multiple positional information codes；The inertial navigation unit and reading Code device is installed on AGV trolleies, and the multiple positional information intersymbol is laid on place at a certain distance；The AGV trolleies positional information and attitude information that continuously obtain are transmitted to master controller by the inertial navigation unit；It is described Code reader will be transmitted to master controller after the positional information collection on the positional information code；The positional information and posture that the master controller measures inertial navigation unit by the positional information that code reader is read Information is modified, and is navigated so as to obtain the accurate positional information of AGV trolleies and attitude information for trolley, is enable AGV trolleies It is enough accurately to reach target location.
- A kind of 3. AGV trolleies wireless charging system according to claim 2, it is characterised in that：The charging module includes Detection unit, trolley battery and trolley communication unit；The detection unit is electrically connected with the trolley battery, for detecting the information about power of the trolley battery；The trolley Communication unit is used for earthward charging unit and sends described instruction information.
- A kind of 4. AGV trolleies wireless charging system according to claim 3, it is characterised in that：The charging module also wraps Include switch element and energy acceptance unit；The switch element is used to be switched on or switched off the trolley battery and the energy acceptance The electrical connection of unit；The master controller controls the switch element and the trolley according to the positional information, attitude information and information about power Communication unit works.
- A kind of 5. AGV trolleies wireless charging system according to any one of claims 1 to 4, it is characterised in that：The ground Charging unit includes ground communications unit, ground charging control unit and energy emitting element；The ground communications unit is used to receive described instruction information；The ground charging control unit is used for according to described instruction Information controls the outside transmission power of energy emitting element.
- A kind of 6. AGV trolleies wireless charging system according to claim 5, it is characterised in that：The ground charging unit When having multiple, the dispatch server for being arranged on ground and the wireless communication apparatus on AGV trolleies are further included；It is described wireless Communication device is connected with master controller and dispatch server respectively；The charge position that the dispatch server dispatches AGV trolleies arrival ground charging unit by wireless communication apparatus is filled Electricity.
- A kind of 7. AGV trolleies wireless charging system according to claim 6, it is characterised in that：The positional information code is Quick Response Code or bar code or Quick Response Code battle array.
- A kind of 8. AGV trolleies wireless charging system according to claim 7, it is characterised in that：The charging module also wraps Draw off gear is included, the energy acceptance unit is installed on the side of AGV trolleies；The draw off gear and the energy acceptance unit It is connected；Under AGV trolley working statuses, the draw off gear packs up the charging module；Under AGV trolley charged states, the draw off gear opens the charging module, is allowed to put down with ground launch unit OK.
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| CN201721031937.0U CN207225113U (en) | 2017-08-17 | 2017-08-17 | A kind of AGV trolleies wireless charging system |
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| CN201721031937.0U CN207225113U (en) | 2017-08-17 | 2017-08-17 | A kind of AGV trolleies wireless charging system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380002A (en) * | 2017-08-17 | 2017-11-24 | 陕西隆翔停车设备集团有限公司 | A kind of AGV dollies wireless charging system and its charging method |
| CN108944497A (en) * | 2018-05-30 | 2018-12-07 | 合肥市春华起重机械有限公司 | A kind of AGV trolley wireless charging system |
| CN110543170A (en) * | 2019-08-21 | 2019-12-06 | 广东博智林机器人有限公司 | Charging control method and device for robot and robot with charging control device |
| TWI717095B (en) * | 2019-11-11 | 2021-01-21 | 威剛科技股份有限公司 | Autonomous mobile vehicle and autonomous mobile vehicle system |
| CN114852577A (en) * | 2022-06-14 | 2022-08-05 | 未来机器人（深圳）有限公司 | Alignment device and carrying device |
-
2017
- 2017-08-17 CN CN201721031937.0U patent/CN207225113U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380002A (en) * | 2017-08-17 | 2017-11-24 | 陕西隆翔停车设备集团有限公司 | A kind of AGV dollies wireless charging system and its charging method |
| CN108944497A (en) * | 2018-05-30 | 2018-12-07 | 合肥市春华起重机械有限公司 | A kind of AGV trolley wireless charging system |
| CN110543170A (en) * | 2019-08-21 | 2019-12-06 | 广东博智林机器人有限公司 | Charging control method and device for robot and robot with charging control device |
| TWI717095B (en) * | 2019-11-11 | 2021-01-21 | 威剛科技股份有限公司 | Autonomous mobile vehicle and autonomous mobile vehicle system |
| CN114852577A (en) * | 2022-06-14 | 2022-08-05 | 未来机器人（深圳）有限公司 | Alignment device and carrying device |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A wireless charging system for AGV car Effective date of registration: 20210325 Granted publication date: 20180413 Pledgee: Wugong County Rural Credit Cooperative Association Pledgor: SHAANXI LONGXIANG PARKING EQUIPMENT GROUP Co.,Ltd. Registration number: Y2021980002071 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220421 Granted publication date: 20180413 Pledgee: Wugong County Rural Credit Cooperative Association Pledgor: SHAANXI LONGXIANG PARKING EQUIPMENT GROUP Co.,Ltd. Registration number: Y2021980002071 |
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