CN215436064U

CN215436064U - Intelligent charging pile and charging system

Info

Publication number: CN215436064U
Application number: CN202121822985.8U
Authority: CN
Inventors: 姚华
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2022-01-07
Anticipated expiration: 2031-08-05

Abstract

The utility model discloses an intelligent charging pile and a charging system, wherein the intelligent charging pile comprises: pile body, pile body include the casing, and the casing has the hollow chamber that holds, holds the intracavity and is equipped with: the communication module is used for receiving the AGV charging request information and transmitting the AGV charging request information to the pile control module; the pile control module is used for awakening the first laser radar module according to the AGV charging request information; the first laser radar module is used for acquiring AGV position information and sending the AGV position information to the pile control module, and the AGV position information is acquired when the first laser radar module is awakened and the AGV is detected for the first time; the pile control module is further used for generating a path instruction according to the AGV position information, and the path instruction is used for controlling the AGV to move so that the AGV can charge the pile body in butt joint.

Description

Intelligent charging pile and charging system

Technical Field

The utility model relates to the technical field of charging piles, in particular to an intelligent charging pile and a charging system.

Background

An Automated Guided Vehicle (AGV) is equipped with an electromagnetic or optical automatic navigation device, and can travel along a predetermined route using a rechargeable battery as a power source. With the rising labor cost and the continuous progress of the technology, the application of the AGV in the industrial production is more and more extensive.

AGV's power comes from chargeable battery in the automobile body, and early AGV adopts manual connection to charge and changes the battery mode and realizes, and when adopting the mode of manual connection charging to charge, AGV can not work, and need open the casing when adopting the mode of changing the battery to charge, and the process is loaded down with trivial details and has certain requirement to staff's physical power. Both the two modes need a specially-assigned person to take care of, manpower is wasted, the automation degree is reduced, and once the AGV cannot work, the AGV cannot work due to charge leakage.

Along with technical development has appeared online charging mode, can go to charging pile department automatically and charge when AGV battery power is less than the default or AGV is in idle state, this charging mode needs the AGV to find automatically that to fill electric pile and can automatic butt joint and charge, and the navigation mode that realizes automatic charging at present has infrared light formula, two-dimensional code formula and laser guidance formula. The infrared charging pile and the AGV are complex in structure, only can be aligned and cannot measure distance, and a contact detection part is required to be added to judge whether the AGV contacts the charging pile or not; the arrangement and maintenance workload of the two-dimensional code is large, and the cost is high; and the laser guide formula can arrange the stake of charging in a flexible way, is expanding gradually and becomes the main navigation mode.

At present through laser navigation butt joint AGV and the mode of filling electric pile, the laser module dress is on the AGV, and feature identification and distance are solved the structure part and are established on filling electric pile, and this kind of mode has increased AGV complexity and consumption, occupies the inside finite space of AGV, and it is high to the inside on-vehicle calculation module performance requirement of AGV, and every platform truck all assembles the radar that is used for charging the butt joint simultaneously, and is with high costs.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide an intelligent charging pile and a charging system.

In a first aspect, the present invention provides an intelligent charging pile, including: the pile body, the pile body includes the casing, the casing has the hollow chamber that holds, it is equipped with to hold the intracavity:

the communication module is used for receiving AGV charging request information and transmitting the AGV charging request information to the pile control module;

the pile control module is used for awakening the first laser radar module according to the AGV charging request information;

the first laser radar module is used for acquiring AGV position information and sending the AGV position information to the pile control module, and the AGV position information is acquired when the first laser radar module is awakened and then detects the AGV for the first time;

the pile control module is further used for generating a path instruction according to the AGV position information, and the path instruction is used for controlling the AGV to move so that the AGV can be butted with the pile body to charge.

Optionally, the communication module is further configured to receive charging success information, and transmit the charging success information to the pile control module;

and the pile control module is also used for controlling the first laser radar module to be closed according to the charging success information.

Optionally, the pile control module is further configured to generate a re-docking instruction when the docking is successful but the charging success information is not received, where the re-docking instruction is used to control the AGV to disconnect the pile body and dock the pile body again.

Further, the first laser radar module is a triangulation ranging laser radar.

Optionally, the accommodating cavity is further provided with:

and the power supply module is electrically connected with the pile control module, the first laser radar module and the communication module to supply power.

Optionally, a charging interface is arranged on the shell and used for being in butt joint with a charging interface of the AGV requesting charging;

the containing cavity is further provided with a charging module connected with the charging interface, and the charging module is used for supplying power to the AGV requesting charging.

Optionally, the communication module is a WLAN module.

In a second aspect, the present invention provides a charging system comprising: at least one AGV, at least one as above intelligent charging stake and monitor platform, the AGV with intelligent charging stake respectively with monitor platform wireless communication connection, be equipped with the confession on the AGV the characteristic structure of intelligent charging stake's first laser radar module discernment, intelligent charging stake is used for the AGV charges.

Optionally, a second lidar module is mounted on the AGV.

Further, the second lidar module is a TOF lidar.

The technical scheme provided by the embodiment of the utility model can have the following beneficial effects:

compared with the traditional mode that a dispatching server is independently arranged in a workshop, the intelligent charging pile provided by the embodiment of the utility model has the advantages that the space of the workshop is saved, an AGV (automatic guided vehicle) can be automatically guided to butt the pile body for charging, the management is convenient, and the cost is low.

Drawings

Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

fig. 1 is a schematic structural diagram of an intelligent charging pile according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a charging system according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the utility model. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, an embodiment of the present invention provides an intelligent charging pile, including: pile body, pile body include the casing, and the casing has the hollow chamber that holds, holds the intracavity and is equipped with:

the communication module 1 is used for receiving AGV charging request information and transmitting the AGV charging request information to the pile control module 2;

the pile control module 2 is used for awakening the first laser radar module 3 according to the AGV charging request information;

the first laser radar module 3 is used for acquiring AGV position information and sending the AGV position information to the pile control module, and the AGV position information is acquired when the first laser radar is awakened and the AGV is detected for the first time;

and the pile control module 2 is further used for generating a path instruction according to the AGV position information, and the path instruction is used for controlling the AGV to move so as to enable the AGV to charge the pile body in butt joint.

In this embodiment, the first lidar module 3 has a laser transceiver unit for transmitting a laser beam and receiving a signal reflected by a target; the shell is provided with a corresponding opening for embedding the laser transceiving unit of the first laser radar module 3.

When the electric quantity of the AGV battery is lower than a first preset value, the AGV sends a charging request, the monitoring platform receives AGV charging request information and sends the AGV charging request information to the intelligent charging pile; or the electric quantity of the AGV battery is lower than a second preset value, the AGV is in an idle state, and when an idle intelligent charging pile exists, the monitoring platform can control the AGV to charge, the monitoring platform sends corresponding AGV charging request information to the intelligent charging pile, and the second preset value is larger than the first preset value.

The communication module of the intelligent charging pile is used for exchanging information with the monitoring platform, and the communication module receives AGV charging request information sent by the monitoring platform and transmits the AGV charging request information to the pile control module; the pile control module wakes up the first laser radar module according to the AGV charging request information; after the first laser radar module is awakened, the position information acquired when the first laser radar module detects the AGV for the first time is the AGV position information, and the pile control module generates a path instruction according to the AGV position information. The path instruction is sent to the monitoring platform through the communication module, the path instruction is sent to the corresponding AGV through the monitoring platform, and the AGV is controlled by the controller of the AGV to move according to the path instruction, so that the AGV is in butt joint with the pile body to be charged.

The intelligent charging pile is provided with a preset butt joint area, and the AGV stops moving when running to the preset butt joint area along the path instruction.

Further, the communication module is also used for receiving the successful charging information and transmitting the successful charging information to the pile control module;

If AGV and intelligent charging stake butt joint are successful, and AGV fills the electricity, the AGV controller can send the successful information of charging to monitoring platform, monitoring platform will charge successful information and send for intelligent charging stake, receive the successful information of charging by intelligent charging stake's communication module, intelligent charging stake's stake control module closes according to the successful information control first laser radar module of charging to first laser radar module stop work after AGV begins to charge, effectively energy saving consumed the festival.

Further, the pile control module is further used for generating a re-docking instruction when the docking is successful but the charging success information is not received, and the re-docking instruction is used for controlling the AGV to disengage from the pile body first and then dock the pile body.

If the AGV and the intelligent charging pile are successfully butted, but the AGV is not charged, when the pile control module does not receive the successful charging information within the preset time (for example, 2min) after the AGV and the intelligent charging pile are successfully butted, the pile control module generates a re-butting instruction, and the re-butting instruction is used for controlling the AGV to firstly separate from the pile body and then butt the pile body. The re-docking instruction includes a reverse instruction for controlling the AGV to exit the preset docking area and a move instruction for controlling the AGV to move to the preset docking area. The re-docking instruction is sent to the monitoring platform through the communication module, the monitoring platform sends the instruction to the AGV, and the AGV performs docking work with the pile body again under the control of the re-docking instruction.

In this embodiment, a first laser radar module is used for measuring the positional information of the AGV relative to the intelligent charging pile in the close range of the pile body, so as to guide the AGV to dock the intelligent charging pile. Wherein, the closely scope of pile can be the scope in 2m of pile week side, and the closely scope of preferred pile is the scope in 1m of pile week side in this embodiment, and first laser radar module is in this closely within range position of meticulous measurement AGV relative intelligent charging stake to guide AGV and the accurate butt joint of intelligent charging stake.

Further, the first laser radar module is a triangulation ranging laser radar. Distance and relative position between AGV and the pile body can accurate measurement by the laser radar of three angle method range finding for AGV and intelligent charging stake well dock, thereby intelligent charging stake charges for AGV.

Further, the accommodating cavity is also provided with: and the power supply module 4 is used for being electrically connected with the pile control module 2, the first laser radar module 3 and the communication module 1. Generally, the power supply module converts 220V ac power into 12V dc power to supply power to the pile control module, the first lidar module, and the communication module.

Furthermore, a charging interface is arranged on the shell and used for being in butt joint with a charging interface of the AGV requesting charging;

the containing cavity is further provided with a charging module 5 connected with the charging interface, and the charging module is used for supplying power to the AGV requesting to be charged.

For example, the battery of the AGV is 48V, the charging module can convert 220V ac power into 48V low-voltage pulses, and the pulses are rectified and stabilized to convert the voltage into 48V stable dc power, so as to supply power to the 48V battery.

Further, the communication module 1 is a WLAN (wireless local area network) module.

In this embodiment, intelligent charging stake arranges in the workshop, can be connected intelligent charging stake and monitoring platform through communication module to mutual information between intelligent charging stake and the monitoring platform.

As shown in fig. 2, an embodiment of the present invention further provides a charging system, including: at least one AGV, at least one as above intelligent charging stake and monitoring platform, AGV and intelligent charging stake respectively with monitoring platform wireless communication connection, be equipped with the characteristic structure that supplies intelligent charging stake's first laser radar module discernment on the AGV, intelligent charging stake is used for charging for the AGV.

Furthermore, install the second laser radar module on the AGV, the environment in certain limit (for example 40m range around the AGV) in the workshop can be surveyed to the second laser radar module, can be used to measure the distance between AGV and the corresponding intelligent charging stake.

Preferably, the second laser radar module is a TOF (Time of flight) laser radar; the AGV also comprises an AGV communication module and an AGV controller, wherein the AGV communicates with the monitoring platform through the AGV communication module, and the AGV communication module can be preferably a WLAN module.

In this embodiment, the AGV is used to map the workshop in advance, and a workshop map is formed first.

When the electric quantity of the AGV battery is lower than a preset value, the AGV sends a charging request, the monitoring platform matches the AGV with a corresponding intelligent charging pile according to the charging request of the AGV, matching success information is sent to the AGV, the matching success information comprises information of the intelligent charging pile to be powered, and TOF laser radar on the AGV moves to the intelligent charging pile to be powered in a pre-formed workshop map;

when TOF laser radar measures that the distance between AGV and the intelligent charging stake is aforementioned closely scope (for example 1m), then can send distance information for monitoring platform, monitoring platform then with AGV request information of charging for intelligent charging stake.

Or when the electric quantity of the AGV battery is lower than a certain value, the AGV is in an idle state, and an idle intelligent charging pile exists, the monitoring platform sends charging starting information to the AGV, matches the corresponding intelligent charging pile, sends matching success information to the AGV, the matching success information comprises information of the intelligent charging pile to be powered, and the TOF laser radar on the AGV moves to the intelligent charging pile to be powered in a pre-formed workshop map;

If the AGV and the intelligent charging pile are successfully butted and can be normally charged, the AGV controller sends a charging success message to the pile control module through the monitoring platform, and the pile control module controls the first laser radar module to be closed; if the AGV and the intelligent charging pile are in butt joint but normal charging is not performed, the pile control module does not receive a successful charging message within the preset time after the AGV and the intelligent charging pile are in butt joint, and then a re-butt joint instruction can be sent. If the butt joint is not successful, alarm information is sent out to prompt maintenance personnel to check.

In the embodiment, the AGV is provided with the TOF laser radar to acquire the position information between the AGV and the matched intelligent charging pile in real time, the intelligent charging pile is provided with the triangulation ranging laser radar to guide and butt joint the AGV entering the pile body in a close range, the TOF laser radar and the triangulation ranging laser radar do not need to be arranged on each AGV, and the cost is effectively reduced; be equipped with a control module in the intelligent charging stake, need not deploy a control module alone, intelligent charging stake and monitoring platform wireless connection, and AGV and monitoring platform wireless connection, monitoring platform can deploy outside the workshop, plays the effect of saving workshop space.

The present invention employs the terms first, second, etc. to describe various information, but the information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention.

In the present invention, unless otherwise explicitly specified or limited, terms such as "mounted," "connected," and the like are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Those skilled in the art can understand the above specific meanings included in the present invention according to specific situations.

The foregoing description is only exemplary of the preferred embodiments of the utility model and is illustrative of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the present invention is not limited to the specific combination of the above-mentioned features, and other embodiments can be made by combining the above-mentioned features or their equivalents without departing from the spirit of the present invention. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims

1. An intelligent charging pile, comprising: the pile body, the pile body includes the casing, the casing has the hollow chamber that holds, it is equipped with to hold the intracavity:

2. The intelligent charging pile according to claim 1, wherein the communication module is further configured to receive charging success information and transmit the charging success information to the pile control module;

3. The intelligent charging pile of claim 2, wherein the pile control module is further configured to generate a re-docking instruction when the docking is successful but the charging success information is not received, and the re-docking instruction is used to control the AGV to disconnect the pile and then dock the pile.

4. The intelligent charging pile of claim 1, wherein the first lidar module is a triangulation lidar.

5. The intelligent charging pile according to claim 1, characterized in that, the holding chamber is still equipped with:

6. The intelligent charging pile according to claim 1, wherein a charging interface is arranged on the housing, and the charging interface is used for being in butt joint with a charging interface of an AGV requesting charging;

7. The intelligent charging pile of claim 1, wherein the communication module is a WLAN module.

8. An electrical charging system, comprising: at least one AGV, at least one intelligent charging stake and monitoring platform of any of claims 1-7, the AGV with intelligent charging stake respectively with monitoring platform wireless communication connects, be equipped with the confession on the AGV the first laser radar module discernment's of intelligent charging stake feature structure, intelligent charging stake is used for the AGV charges.

9. The charging system of claim 8, wherein a second lidar module is mounted to the AGV.

10. The charging system of claim 9, wherein the second lidar module is a TOF lidar.