WO2017177939A1 - 多个充电装置的充电控制方法、充电控制装置及可移动设备 - Google Patents

多个充电装置的充电控制方法、充电控制装置及可移动设备 Download PDF

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Publication number
WO2017177939A1
WO2017177939A1 PCT/CN2017/080414 CN2017080414W WO2017177939A1 WO 2017177939 A1 WO2017177939 A1 WO 2017177939A1 CN 2017080414 W CN2017080414 W CN 2017080414W WO 2017177939 A1 WO2017177939 A1 WO 2017177939A1
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Prior art keywords
charging
charging device
current
queue
devices
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PCT/CN2017/080414
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English (en)
French (fr)
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陈涛
兰维建
潘传荣
郑成明
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无锡知谷网络科技有限公司
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Priority to KR1020187033179A priority Critical patent/KR20190003574A/ko
Priority to JP2018554353A priority patent/JP2019514331A/ja
Priority to US16/093,946 priority patent/US20190131800A1/en
Priority to EP17781915.8A priority patent/EP3444916A1/en
Publication of WO2017177939A1 publication Critical patent/WO2017177939A1/zh

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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
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0034—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using reverse polarity correcting or protecting circuits
    • 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
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0003—
    • 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
    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • 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
    • H02J7/007—Regulation of charging or discharging current or voltage
    • 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
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/0071—Regulation of charging or discharging current or voltage with a programmable schedule
    • 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
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/40—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries adapted for charging from various sources, e.g. AC, DC or multivoltage

Definitions

  • the present invention relates to the field of charging technologies, and in particular, to a charging control method, a charging control device, and a movable device of a plurality of charging devices.
  • a plurality of trolleys are connected in series through the connector, and the serially connected charging queues are connected to the charging power source for batch charging.
  • the current flowing through the charging bus is relatively large.
  • the trolley at the head end of the charging queue connected to a power supply eg 27 VDC
  • a power supply eg 27 VDC
  • the instantaneous surge current will be very large. Because the load capacity of the power supply is limited (for example, the maximum number of safe simultaneous charges is 10), the mobile device cannot be randomly placed in the charging queue to avoid exceeding the limit of the safety amount.
  • the existing charging methods are generally divided into the following types:
  • the charging device for a safe number of mobile devices starts charging at the same time and ends charging. Due to the different power usage of different mobile devices, this method may cause some mobile devices to overcharge and some mobile devices to be unfilled.
  • the mobile device at the end of the charging queue is fully charged and then recharged to the mobile device of its predecessor.
  • This method in turn charges each mobile device, which not only causes the charging queue as a whole to be charged.
  • the length becomes long and causes the mobile device at the tail end to be full, and the mobile device in the front stage is undercharged or not charged.
  • one of the objects of the present invention is to provide a charging control method, a charging control device, and a movable device of a plurality of charging devices.
  • an embodiment of the present invention provides a charging control method for multiple charging devices, including:
  • Multiple charging devices are serially connected into a charging queue to detect parameters of at least a portion of the charging device in the charging queue;
  • the charging of the charging device is started or stopped according to the parameters of the respective charging devices and the relative position information.
  • an embodiment of the present invention provides a charging control apparatus, including:
  • a parameter detecting unit configured to detect a parameter of at least a part of the charging device in the charging queue, wherein the charging queue is formed by connecting a plurality of charging devices in series;
  • a position detecting unit configured to determine a relative position of each charging device in the queue
  • the charging management unit is configured to start or stop charging of the charging device according to the parameters of the respective charging devices and the relative position information.
  • an embodiment of the present invention provides a mobile device, including:
  • the above charging control device mounted on the body;
  • a connector for connecting a charging control device to a charging power source is provided.
  • the present invention can control the charging of each charging device to be started or stopped according to a specific control manner, not only Priority is given to charging a certain number of charging devices at the end of the queue.
  • Priority is given to charging a certain number of charging devices at the end of the queue.
  • FIG. 1 is a schematic diagram of a trolley connected in series to a charging queue according to an embodiment of the present invention
  • Figure 2 (a) is a schematic view of the charging circuit of the charging device on the trolley of Figure 1;
  • FIG. 2(b) is a schematic diagram showing current distribution in the charging queue of FIG. 1;
  • FIG. 3 is a schematic flow chart of a charging control method of a charging device on a trolley according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of position information of each trolley in the detection charging queue of FIG. 3;
  • FIG. 5 is a schematic flow chart of information exchange between adjacent carts
  • FIG. 6(a) is a schematic diagram of an interrupt flow process of the MCU processing forward infrared transmission in the PCB board;
  • FIG. 6(b) is a schematic diagram showing an interrupt flow process of the MCU after processing to the infrared receiving in the PCB;
  • FIG. 6(c) is a schematic diagram showing an interrupt flow process of the MCU processing serial port transmitting data in the PCB board;
  • Figure 6 (d) is a schematic diagram of the interrupt flow of the MCU processing serial port receiving data in the PCB board;
  • Figure 7 (a) is a schematic structural view of a first embodiment of a charging control device of the present invention.
  • Figure 7 (b) is a schematic structural view of a second embodiment of the charging control device of the present invention.
  • Figure 7 (c) is a schematic structural view of a third embodiment of the charging control device of the present invention.
  • FIG. 8 is a schematic structural diagram of a parameter detecting unit according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
  • the charging device is mounted on a carrier for charging.
  • the carrier can be, for example, a trolley for an airport, a luggage cart, or a shopping cart for a mall or supermarket.
  • the charging device is installed on the bottom of the frame of the trolley for charging. It will be understood by those skilled in the art that the charging device can also be charged by means of other carriers or other parts of the carrier, or the charging device can be charged away from the carrier.
  • FIG. 1 is a schematic diagram of a trolley connected in series to a charging queue according to an embodiment of the present invention.
  • the charging device (because the frame is blocked, the charging device is not visible) can be mounted on the bottom of the frame of the trolley.
  • the worker can use a plurality of connectors to serially connect the corresponding plurality of charging devices to the charging power source to form a charging queue.
  • the connector includes a male and a female.
  • a first electrode is mounted in the male head and a second electrode is mounted in the female seat.
  • the Chinese Utility Model Patent No. 201320013022.2 (authorization announcement number: CN203103711U; authorization announcement date July 31, 2013).
  • the entire contents of the patent documents of this specification are hereby incorporated by reference. It can be understood by those skilled in the art that the charging device can also be installed at the front end, the rear end or the sides of the trolley frame, and the like is not limited in this respect.
  • Figure 2 (a) is a schematic view of one embodiment of a charging circuit of the charging device on the cart of Figure 1.
  • each of the blocks 101, 102, 103 ... represents a charging module of a trolley, respectively.
  • Each charging module includes a respective bus current detecting module 1011, 1021, 1031..., a controllable DC step-down module 1012, 1022, 1032..., a management module 1013, 1023, 1033..., and a rechargeable battery. 1014, 1024, 1034...
  • Each charging module can have the same structure.
  • the rechargeable battery can be a lithium battery.
  • each rechargeable battery can be reconfigured for specific use.
  • the management module can use MCU control devices or single-chip microcomputers to implement charging management and control functions, and the number thereof can be set according to requirements.
  • the position determining unit and the charging management unit can be used to implement respective functions.
  • FIG. 2(b) is a schematic diagram showing current distribution in the charging queue of FIG. 1.
  • the plurality of connectors connect the corresponding plurality of charging devices in series to the charging power source, and the charging devices connected to the charging queue are connected in parallel to the charging bus formed by the serial connection of the connectors.
  • I total 1 I total 2+I charge 1.
  • the current distribution on the charging bus on the trolleys behind the stroller at the head end also conforms to this rule. It can be seen that the current on the charging bus on the trolley of the team leader is the largest.
  • the charging bus current of the current charging device is substantially equal to the charging bus current of the subsequent charging device.
  • the device itself can detect its own charging current, and the maximum value of its own charging current is predicted, so the device first needs to detect the bus current of the after-charging device before turning on its own charging to determine whether it can turn on its own charging.
  • the self-charging there are many ways to determine whether or not the self-charging has been turned on. Among them, whether it is possible to turn on its own charging can be controlled by the device software.
  • the software can determine whether there is an operation to turn on the charging by the value of the charging flag variable (turning on the charge setting, not turning on 0) set by itself.
  • the device detects the total charging current of all the devices in its subsequent stage, and the maximum value of the charging current of the device itself is known (for example, the maximum current value of each device's own charging input is The constant current phase is about 27V/5A, and the upper limit of this current value can be set by the hardware parameters of the charge management circuit).
  • the amount of change in the bus current detected by the device bus current detecting portion can also determine whether or not it has entered the charging state.
  • the battery power of the device itself will gradually increase as the charging progresses.
  • the charging management circuit of the device can output a charging status signal to the MCU when the power is being operated, and the MCU can also determine the current charging state of the device by detecting the H/L value of the charging status signal.
  • the executive body of the method can be a charging control device that can be used to regulate charging of a charging queue formed by a plurality of charging devices.
  • the charging control method includes the following steps:
  • S301 The plurality of charging devices are serially connected to the charging queue, and respectively detect parameters of at least part of the charging devices in the charging queue.
  • the parameter of the charging device may be selected from: a current value I on the charging bus that supplies power to the charging device, a total i, whether it is in a charging state, and a current power amount (expressed as a percentage), for example, when the battery is fully charged, the current power is 100%, when not charging, the current power is 0).
  • various parameter information of the charging device may be acquired by respective acquisition circuits of the parameters, and each parameter information is collected with a corresponding acquisition circuit. During commissioning, it is necessary to measure the key data by means of a conventional instrument, and to associate the measured data with the information collected by the acquisition circuit, as a basic basis for the control program to determine various information in actual application. The method of obtaining the location information will be described in detail below.
  • S302 Determine the relative position of each charging device in the queue.
  • the charging device of the head can be numbered as position 1
  • the charging device at the end of the team can be numbered as position 10.
  • the charging device between the head and the tail can be numbered in order.
  • position 2 For position 9.
  • the number of each charging device in the queue can be set as needed.
  • the charging device of the team tail is numbered to position 1
  • the charging device of the team leader is numbered to position 10
  • the charging device between the team tail and the team leader can be numbered from position 2 to position 9 in order.
  • the specific numbering method does not impose any restrictions here.
  • S303 Start or stop charging of the charging device according to the parameters of the charging device and the relative position information.
  • the present invention can control the starting or stopping of charging of each charging device, thereby not only enabling any number of charging devices to be serially inserted into the queue at any time without exceeding the power load, thereby improving safety performance.
  • the present invention can control the starting or stopping of charging of each charging device, thereby not only enabling any number of charging devices to be serially inserted into the queue at any time without exceeding the power load, thereby improving safety performance.
  • by stopping charging in time overcharging can be prevented and power can be saved. It is also possible to charge the charging device at the end of the queue first, which facilitates the pickup of the car from the end of the queue and improves the charging efficiency.
  • whether to change the charging current or voltage of the charging device can be determined according to the parameters of each charging device. For example, the current power of the trolley at the end of the team (the last one, that is, away from the charging power terminal) is 90%. At this time, the current of the trolley can be reduced to preferentially charge the front-end (the penultimate) trolley. .
  • the charging current that charges itself is turned off. Thereby, it is ensured that the current value on the charging bus is within a safe range, and the charging worker is allowed to arbitrarily stack any number of trolleys into the charging queue without causing the power supply to exceed the rated load.
  • a preset current threshold eg, 52A
  • turning on itself is charged when it is determined that the charging device is at the position of the team's tail.
  • the trolley at the end of the team has the right to charge first. If the trolley at the end of the team has not been charged, the trolley of the front stage cannot be charged unless the trolley at the end of the queue has been charged.
  • the charging of the charging device is turned on. This is to give priority to charging the tail of the charging device, to ensure that the car taken from the end of the team has enough power.
  • turning on itself is charged when it is determined that the current amount of charge of the charging device in the queue is minimal. After the charging device is turned on to charge itself, it is also possible to increase the charging current for charging itself. Thereby, the trolley with low power in the queue can be preferentially charged, so that the charged power of each trolley is averaged, and the user is prevented from taking the trolley with lower power, so that the battery is insufficient during use.
  • the charging current charged for itself is reduced. In this way, the charging amount of each charging device in the charging queue can be equalized, and the tail charging device can be prevented from being overcharged, and the charging device of the preceding stage is insufficient or even not charged.
  • determining the relative positions of the charging devices in the queue may include:
  • Each charging device sends a signal to other charging devices in the queue, and respectively receives signals of other charging devices in the queue.
  • the charging device determines its position in the charging queue according to the received signals of other charging devices.
  • the method further includes:
  • Each of the charging devices transmits signals to the charging devices of the preceding and succeeding stages, respectively, and receives signals of the charging devices of the preceding and subsequent stages, respectively.
  • a charging device When a charging device does not receive a signal transmitted by the charging device of its previous stage within a preset time, it is determined that the charging device is located at the head of the team.
  • a charging device When a charging device does not receive the signal sent by the charging device of the subsequent stage within a preset time, it is determined that the charging device is located at the end of the queue.
  • the location information of other charging devices in the charging queue is determined according to the location information of the team leader and the team tail.
  • an infrared method for example, an infrared ray emitting device and an infrared ray receiving device
  • an infrared method can be used to establish communication between two adjacent carts, information can be mutually transmitted, and information can be analyzed and processed to determine the cart itself.
  • the relative position in the charging queue as a reference condition for whether or not the trolley is turned on.
  • the fold-over determination signal can be transmitted to the front and rear directions of the cart by the front and rear infrared emitting devices mounted on the cart chassis. If the trolley is in the middle of the queue, the trolleys are superimposed (in a superimposed manner) in the front and rear directions of the trolley. Since the adjacent carts are equipped with infrared receiving devices and transmitting devices, the cart receives response information from the front and rear adjacent carts after transmitting the position signals.
  • the position signal sent by the tail of the team to the rear is not responded accordingly, so it can be judged that it is at the end of the team; similarly, the team The position signal sent by the first trolley to the front is also not responded accordingly, so it can be judged that it is at the head of the team.
  • the infrared communication established between the adjacent trolleys can be used to determine the positiveness of the queue from the first trolley to the last trolley.
  • the charging device 1 (which is blocked by the lower frame of the cart 1) can be connected to the charging power source, and the charging device 2 (blocked by the lower frame of the cart 2) is connected to the charging device 1,
  • the charging device 3 (obscured by the lower frame of the cart 3) is connected to the charging device 2...
  • the charging device 10 (obscured by the lower portion of the cart 10) is connected to the charging device 9 to constitute a charging queue including 10 charging devices.
  • the charging device i.e., charging device 1) determined to be the leader of the team by the above method is numbered as position 1
  • the charging device (i.e., charging device 10) determined to be the team tail is numbered as position 10.
  • the charging device at the head of the team transmits information including the position 1 to the charging device 2, and after receiving the information, the charging device 2 adds 1 to the position 1 to acquire the information of the position 2. Similarly, the charging device 2 transmits the information including the position 2 to the charging device 3. After receiving the information, the charging device 3 adds the positional processing to the position 2 to acquire the information of the position 3.
  • the position of the charging device 4-9 is also used in the above manner, and details are not described herein again.
  • the infrared emitting device may be a device that transmits a near-field infrared signal
  • the infrared receiving device may be a device that receives a near-field infrared signal
  • the infrared transmitting device and the infrared receiving device may have a distance limitation when the information is exchanged (for example, Within 5cm). This not only ensures that adjacent charging devices (because the two are adjacent, so the distance between the two can meet the requirements) can exchange information, and can also prevent information interference of non-adjacent charging devices.
  • FIG. 5 is a schematic flow chart of information interaction between adjacent carts.
  • the model and hardware configuration of the cart (for example, a charging device and a connector may be mounted at the bottom of the cart, and each charging device may be connected in series with other charging devices by a connector).
  • the charging device installed on the trolley can exchange information through the infrared emitting device and the infrared receiving device.
  • the infrared emitting device and the infrared receiving device can be connected to a PCB (printed circuit board).
  • the PCB board can be equipped with various function chips (such as CN3705 multi-type battery charge management IC chip for battery charge management, and REN78AS (Renesas Electronics) RST78 series with A/D input port for arithmetic control. MCU chip).
  • the process includes the following steps:
  • S501 Main thread initialization (this step is in the conventional manner for the purpose of subsequent operations).
  • S502 Determine whether the data (the location of the charging device and the identifier of whether the current charging device is charged, etc.) is updated (can be judged by an overflow signal of a timer inside the MCU chip).
  • the timer can send an overflow signal every 5 seconds (the specific time can be set as required, without any restrictions in this respect) (the above update period is 5 seconds). If a charging device does not receive a signal from the charging device in front of it within 5 seconds, indicating that there is no charging device in front of the charging device, it can be determined that the charging position is in the first car.
  • the MCU chip master performs arithmetic processing according to the received data (the operation here can perform operations such as addition, subtraction, comparison, etc. by logical operations such as AND, OR, etc.
  • the state of being charged can be represented by the number 1
  • the state of no charging can be represented by the number 0.
  • the output turns the charging signal on or off. For example, it may be judged according to whether the current charging device is charged and whether the charging device of the subsequent stage is charged, and the current charging device is charged only after the condition that the charging device of the latter stage has been charged is satisfied.
  • 6(a), 6(b), 6(c), and 6(d) are respectively schematic diagrams of four processes for interrupting the information exchange between the infrared transmitting device and the infrared receiving device of the MCU in the PCB. It describes in detail the internal signal processing of the MCU, and those skilled in the art can understand that one or more MCUs can be selected according to the computing power of the MCU to handle all the above interrupts.
  • the MCU (Model 1) has a high computing power, and only the Model 1 MCU can be selected to handle all interrupts in Figures 6(a), 6(b), 6(c), and 6(d). If the computing power of the MCU (model 2) is not high, you can set 4 One MCU (Model 2) is used to handle the interrupts described in Figures 6(a), 6(b), 6(c), 6(d), respectively.
  • Fig. 6(a) is a schematic diagram showing the interrupt flow of the forward infrared transmission by the MCU in the PCB. As shown in Figure 6(a), the process includes the following steps:
  • the forward infrared transmission information interruption routine starts.
  • the forward direction is from the end of the queue to the head of the queue.
  • the infrared transmitting device on the rear stage cart transmits information (such as the position of the charging device and the identifier of whether the current charging device is charged, etc.), and the infrared receiving device on the current trolley receives the information.
  • S1-2 determining whether the infrared transmitting device of the rear-end trolley sends an infrared communication data frame to the infrared receiving device on the current trolley.
  • the current overlay charging data frame (for example, the location of the charging device and the identifier of whether the current charging device is charged, etc.) is acquired, and after the current overlay charging data frame is counted, the timing is determined. The device is cleared to prepare for subsequent operations.
  • step S1-5 the interruption ends.
  • FIG. 6(b) is a schematic diagram of an interrupt process of the infrared reception of the MCU processed in the PCB. As shown in Figure 6(b), the process includes the following steps:
  • the backward infrared reception information interruption routine starts.
  • the backward direction refers to the direction from the head end of the queue to the end of the queue.
  • the infrared transmitting device on the front-end trolley is sent, and the current trolley is received by the infrared receiving device.
  • step S2-5 the interruption ends.
  • the current overlay charging data (for example, the location of the charging device and the identifier of whether the current charging device is charged, etc.) is acquired. After the data is acquired, the timer is cleared, and information such as whether the current charging device starts charging or the like is updated as a basis for whether to turn on or turn off the charging operation during the subsequent charging process.
  • Figure 6 (c) is a schematic diagram of the interrupt flow of the MCU processing serial port transmission data in the PCB board. Similar to the interruption processing manners of FIGS. 6(a) and 6(b), in the present embodiment, a serial port can be provided on the PCB to connect the infrared transmitting device and the infrared receiving device.
  • processing the interrupt may include the following steps:
  • S3-1 The interrupt is started when the serial port transmits data (such as the location of the charging device and the current charging device is charged).
  • step S3-3 When the data frame has been sent, continue to judge whether it is necessary to send the next data frame. When the data frame is not transmitted, the process jumps to step S3-5: the interrupt ends.
  • Figure 6 (d) is a schematic diagram of the interrupt process of the MCU processing serial port receiving data in the PCB board. As shown in Figure 6(d), the process includes the following steps:
  • S4-1 The serial port receives data interrupt start.
  • S4-2 Determine whether the received data frame is complete.
  • step S4-6 When the received data frame is incomplete, the process jumps to step S4-6.
  • step S4-6 When the data verification is incorrect, go to step S4-6.
  • Fig. 7 (a) is a schematic structural view of a first embodiment of a charging control device of the present invention.
  • the charging control device 700 includes a parameter detecting unit 701, a position determining unit 702, and a charging management unit 703. among them:
  • the parameter detecting unit 701 is configured to detect parameters of at least part of the charging device in the charging queue, and the charging queue is formed by connecting a plurality of charging devices in series.
  • the location determining unit 702 is configured to determine the relative position of each charging device in the queue.
  • the charge management unit 703 is configured to start or stop charging of the charging device based on the parameters of the respective charging devices and the relative position information.
  • Fig. 7 (b) is a schematic structural view showing a second embodiment of a charging control device according to an embodiment of the present invention.
  • the embodiment shown in Fig. 7(b) adds a current or voltage adjusting unit 704 to the embodiment shown in Fig. 7(a).
  • the current or voltage adjustment unit 704 is configured to determine whether to change the charging current or voltage of the charging device based on the parameters of the respective charging devices.
  • the voltage adjustment unit can select a buck conversion chip, for example, TPS5450 of TI (Texas Instruments), RT8279 of RICHTEK, and the like.
  • Fig. 7 (c) is a schematic structural view of a third embodiment of the charging control device of the present invention.
  • the embodiment shown in Fig. 7(c) adds a current comparison module 705 and an electronic switch 706 to the embodiment shown in Fig. 7(a). among them:
  • the current comparison module 705 is configured to compare the current value on the charging bus that powers the charging device to a preset current threshold.
  • the electronic switch 706 is configured to turn off the charging current that charges itself when it is determined that the current value on the charging bus that powers the charging device reaches a preset current threshold.
  • FIG. 8 is a schematic structural diagram of a parameter detecting unit according to an embodiment of the present invention.
  • the parameter detecting unit 701 may include a bus current detecting module 7011, a charging state detecting module 7012, and a current power detecting module 7013.
  • the operation of each module can include:
  • the bus current detecting module 7011 is configured to detect a current on the charging bus that supplies power to the charging device, for the charging management unit to disconnect when the current value on the charging bus that supplies power to the charging device reaches a preset current threshold The charging current provided by the charging device;
  • the charging state detecting module 7012 is configured to detect whether the charging device turns on charging, and transmits the detection result to the charging management unit. Turning on charging of the current charging device when the charging management unit determines that the current charging device is located in front of the team tail, and the charging device near the tail of the team has turned on self-charging or has been charged; or
  • the current power detection module 7013 is configured to detect the current power of the charging device and transmit it to the charging management unit. Thus, when the charge management unit determines that the current charge of the current charging device in the queue is the smallest, the charging device is turned on.
  • the bus current detecting module 7011 can adopt a Hall current detecting component, and specifically, a related product of ALLEGRO (Allegro MicroSystems LLC), and the model number thereof is determined according to the maximum current value that the DC power supply for charging can provide. For example, when the maximum supply current is 40A, the ACS758LCB-050B-PFF-T in the company's ACS758XCB series can be selected, and the detection current range is plus or minus 50A.
  • the MCU can be used with RENESAS's RL78 series of chips with A/D input ports.
  • the charging state detecting module 7012 can be composed of an external input voltage detecting comparator TPS3700/TPS3701 and its external circuit, an MCU partial function module, a charging circuit CN3705 part function module and related auxiliary circuits.
  • the power detecting module 7013 may be composed of a voltage dividing detecting circuit or a fuel gauge circuit and an MCU partial function module.
  • bus current detection is a key factor related to safe charging and normal charging of the stacking queue, and is also a key condition for whether the charging control device can turn on itself (for example, a trolley corresponding to the charging control device).
  • the state of charge detection may be a series of detection and determination operations performed by the charging control device on whether or not it has a charging basic condition (for example, state detection for determining whether or not it has been connected to an external charging power source, and input voltage detection, for determining itself Whether the state of charge of the charge state flag set by the software is turned on, the detection of the state of charge signal generated by the charging circuit hardware, or the like).
  • the detection of the current power supply provides a reference for the charging control device to determine whether it is necessary to charge itself.
  • the above three modules can be co-existing.
  • FIG. 9 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
  • the mobile device 1000 may include a body 200, a charging control device 700, and a connector 300.
  • the body 200 may be the trolley in FIG. 1 or a shopping cart, a luggage cart, etc., and no limitation is imposed in this respect.
  • the charging control device 700 has been described above and will not be described again.
  • the charging control device 700 can be mounted at the bottom of the frame of the cart or other location that is not easily touched by the user.
  • the connector 300 is used to serially connect the charging control device 700 to a charging power source.
  • the connector 300 can be fixedly mounted (e.g., soldered) to the bottom of the mobile device 1000, or it can be movably mounted (i.e., detachably mounted) to the bottom of the mobile device when charging.
  • the connector 300 can be directly connected to the main body 200, or can be connected to the main body 200 through the charging control device 700.
  • the specific connection manner can be set as required, which is not limited in this respect.
  • the mobile device can also pre-configure the battery or reconfigure the battery at a later stage.

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Abstract

多个充电装置的充电控制方法、充电控制装置（700）和可移动设备（1000），该方法包括：多个充电装置串接成充电队列，分别检测在充电队列中至少部分充电装置的参数（S301）；确定各充电装置在队列中的相对位置（S302）；根据各充电装置的参数和所述相对位置的信息，启动或停止充电装置的充电（S303）。通过控制启动或停止各充电装置的充电，不仅可以实现随时向队列内串入任意数量的充电装置而不会超出电源负载，提升了安全性能，而且可以防止过充现象，节约了电能，还可以优先为队列尾部的充电装置充电，方便了从队尾取车，更好地满足了运营需求。

Description

多个充电装置的充电控制方法、充电控制装置及可移动设备 技术领域
本发明涉及充电技术领域，特别涉及多个充电装置的充电控制方法、充电控制装置及可移动设备。
背景技术
随着商业和公共服务业的发展，商场、超市、机场等公共场所已经在广泛使用手推车或者行李车等可移动设备。为了方便使用者获取商家的位置信息、导航信息、广告信息及其它相关信息，现有的手推车或者行李车上通常会被安装电子播放设备，因此，这些手推车或者行李车上会安装有充电装置。因为这些可移动设备数量较多，且用于公共场所使用频率较高，各个可移动设备的使用不均衡，所以对大批量的可移动设备的充电装置进行充电变得比较复杂，充电的工作量较大。
目前，出现了多个手推车通过连接器进行首尾串接，将串接的充电队列与充电电源连接进行批量充电。然而，对多台手推车同时充电，流过充电总线的电流相对较大。与供电电源(例如27VDC)连接的充电队列中的首端的手推车，其充电总线上的电流在恒流充电阶段最高可以达到52A(假设充电队列中共有10台手推车)。而在开启充电的瞬间(如果10台手推车同时开启充电)，瞬间浪涌电流会非常大。因为供电电源的负载能力有限(例如，同时充电的安全数量极值为10台)，所以不能随意将可移动设备串入充电队列，以免超出安全数量的限制。
现有的充电方式一般分为以下几种：
1、限制充电队列中接入的可移动设备的数量，以防止超过供电电源的额定充电负荷。
2、对安全数量的可移动设备的充电装置同时开始充电，同时结束充电。由于不同的可移动设备的用电情况不同，此种方式会导致有些可移动设备过充，有些可移动设备未充满的不均衡情况。
3、充电队列中尾端的可移动设备充满电后再充其前级的可移动设备。这种方式依次为每一台可移动设备充电，这不仅会导致充电队列整体的充电时 间变长，且会导致尾端的可移动设备充满，其前级的可移动设备欠充甚至没有充电的情况。
4、在各个可移动设备上设置按钮，人工调节充电的顺序。但这种方式需要人工参与，而且也存在人工管理不到位等问题。
发明内容
然而，发明人发现，现有的批量充电方式复杂、效率低下、浪费电能且可能存在安全性问题(例如电池长期过充和瞬时充电电流过大等)，需要优化这种充电方式。
为了至少部分的解决现有的技术问题，本发明的目的之一是提供了多个充电装置的充电控制方法、充电控制装置及可移动设备。
第一方面，本发明实施例提供了一种多个充电装置的充电控制方法，包括：
多个充电装置串接成充电队列，分别检测在充电队列中至少部分充电装置的参数；
确定各充电装置在队列中的相对位置；
根据各充电装置的参数和相对位置的信息，启动或停止充电装置的充电。
第二方面，本发明实施例提供了一种充电控制装置，包括：
参数检测单元，配置为检测在充电队列中至少部分充电装置的参数，充电队列由多个充电装置串接而成；
位置检测单元，配置为确定各充电装置在队列中的相对位置；
充电管理单元，配置为根据各充电装置的参数和相对位置的信息，启动或停止充电装置的充电。
第三方面，本发明实施例提供了一种可移动设备，包括：
本体；
安装在本体上的上述的充电控制装置；
用于将充电控制装置串接至充电电源的连接器。
由此，本发明可以根据充电装置队列(即串接的车队中)中的充电装置的位置及充电装置的参数等信息，按特定的控制方式来控制启动或停止各充电装置的充电，不仅可以优先为队列尾部的一定数量的充电装置充电，方便 了从队尾取车，而且可以实现随时向队列内串入任意数量的充电装置而不会超出电源负载，提升了安全性能，而且可以防止过充现象，节约电能，并提高充电效率。
附图说明
图1为本发明一实施方式的手推车串接成充电队列的示意图；
图2(a)为图1中手推车上的充电装置的充电电路的示意图；
图2(b)为图1的充电队列中电流分布情况示意图；
图3为本发明一实施方式的手推车上的充电装置的充电控制方法流程示意图；
图4为图3中检测充电队列中的各手推车的位置信息的示意图；
图5为相邻的手推车进行信息交互的流程示意图；
图6(a)为PCB板中的MCU处理前向红外发送的中断流程示意图；
图6(b)为PCB板中的MCU处理后向红外接收的中断流程示意图；
图6(c)为PCB板中的MCU处理串口发送数据的中断流程示意图；
图6(d)为PCB板中的MCU处理串口接收数据的中断流程示意图；
图7(a)为本发明充电控制装置的第一实施例的结构示意图；
图7(b)为本发明充电控制装置的第二实施例的结构示意图；
图7(c)为本发明充电控制装置的第三实施例的结构示意图；
图8为本发明一实施方式的参数检测单元的结构示意图；
图9为本发明一实施方式的可移动设备的结构示意图。
具体实施方式
下面结合附图对本发明作进一步详细的说明。在下面的各实施方式中，将充电装置安装在载体上进行充电。该载体例如可以是用于机场的手推车、行李车，或者是用于商场或者超市的购物车。下面仅以手推车为例，说明充电装置安装在手推车的车架底部进行充电的情况。本领域的技术人员可以理解，充电装置也可以借助其它载体，或者安装在载体的其它部位进行充电，或者充电装置可以脱离载体进行充电。
图1为本发明一实施方式的手推车串接成充电队列的示意图。
参考图1，充电装置(因为图中车架遮挡，看不到充电装置)可以安装在手推车的车架底部。为了给充电装置进行批量充电，工作人员可以利用多个连接器将相应多个充电装置首尾串接至充电电源，形成充电队列。其中，连接器包括公头和母座。公头内安装有第一电极，母座内安装有第二电极。该部分的具体内容可参考例如第201320013022.2号中国实用新型专利(授权公告号为：CN203103711U；授权公告日2013年7月31)。在此，引入该篇的专利文献的全部内容作为参考。本领域的技术人员可以理解，充电装置还可以安装于手推车车架的前端、后端或者两侧等位置上，此方面不做限制。
图2(a)为图1中手推车上的充电装置的充电电路的一个实施例示意图。
如图2(a)所示，其中的各个框101，102，103...分别表示一辆手推车的充电模块。每个充电模块包括各自的总线电流检测模块1011，1021，1031...、可控的DC降压模块1012，1022，1032...、管理模块1013，1023，1033...、以及充电电池1014，1024，1034...。各充电模块可具有相同的结构。充电电池可以采用锂电池。
本领域的技术人员可以理解，各充电电池可以在具体使用时再配置。另外，管理模块可使用MCU控制器件或者单片机等来实现充电的管理和控制功能，其数量可以根据需求进行自行设置，例如可以用位置确定单元以及充电管理单元来分别实现各自的功能。
图2(b)为图1的充电队列中电流分布情况示意图。多个连接器将相应多个充电装置首尾串接至充电电源，接入充电队列的各充电装置并联至由各连接器串接形成的充电总线上。各充电装置的充电总线的电流值(I总i，i＝1、2、3......n，n为自然数)为：以靠近充电电源的充电装置为前级充电装置，则后级充电装置的充电总线上的电流值(I总(i+1)，i＝1、2、3......n-1)与当前充电装置的充电电流值(I充i，i＝1、2、3......n-1)的和。例如，I总1＝I总2+I充1。同理，首端的小推车的后面的各小推车上的充电总线上的电流分布也符合此规律。由此可知，队首的手推车上充电总线上的电流最大。其中，在当前充电装置未打开自身充电时，当前充电装置的充电总线电流基本等于其后级充电装置的充电总线电流。装置本身是可以检测到自身充电电流的，而且自身充电电流的最大值是预知的，所以装置在打开自身充电之前首先需要检测后级充电装置的总线电流才能判定是否可以打开自身的充电。
其中，判断是否已经打开自身充电可以有多种方式。其中，是否可以打开自身充电可以受设备软件控制。程序运行时软件可以通过自身设置的充电标志变量(打开充电置1，未打开置0)的值来判定是否有进行打开充电的操作。其次，在没有打开自身充电之前，设备检测到其后级所有设备的总的充电电流，而设备自身的充电电流的最大值是已知的(比方说每台设备的自身充电输入最大电流值在恒流阶段是27V/5A左右，这个电流值的上限可以通过充电管理电路的硬件参数进行设置)。所以在软件执行打开自身充电操作后，通过设备总线电流检测部分检测到的总线电流的变化量也能判定自身是否已进入充电状态。另外，设备在打开自身充电后，随着充电的进行设备自身的电池电量也会逐渐增加，通过对自身电池电量的检测也可以判定到设备自身是否已打开自身充电。最后，设备的充电管理电路在受电工作时，可以输出一个充电状态信号给到MCU，MCU通过检测此充电状态信号的H/L值也可以判定目前设备的充电状态。
图3为本发明一实施方式的手推车上的充电装置的充电控制方法流程示意图。该方法的执行主体可以为能够用于调控多个充电装置所构成的充电队列充电的充电控制装置。
如图3所示，该充电控制方法包括以下步骤：
S301：多个充电装置串接成充电队列，分别检测在充电队列中至少部分充电装置的参数。
在本实施方式中，充电装置的参数可以选自：对充电装置供电的充电总线上的电流值I总i、是否处于充电状态、当前电量(可用百分比来表示，例如充满电时，当前电量为100％，未充电时，当前电量为0)。在实际应用时，充电装置的各种参数信息可以是由参数各自的采集电路来获取的，每种参数信息的采集都有对应的采集电路。在调试时可能需要借助常规仪器对关键数据进行测量，并将测量的数据与采集电路所采集的信息建立对应关系，作为实际应用时控制程序对各种信息判定的基本依据。位置信息的获取方法将在下面进行详细叙述。
S302：确定各充电装置在队列中的相对位置。例如，在由10台充电装置组成的充电队列中，队首的充电装置可以编号为位置1，队尾的充电装置可以编号为位置10，队首与队尾之间的充电装置按顺序可以编号为位置2至 位置9。具体各充电装置在队列中的编号可以按实际需要进行设置。例如将队尾的充电装置编号为位置1，将队首的充电装置编号为位置10，队尾与队首之间的充电装置按顺序可以编号为位置2至位置9。具体编号方式在此不做任何限制。
S303：根据各充电装置的参数和相对位置的信息，启动或停止充电装置的充电。
由此，本发明可以通过控制启动或停止各充电装置的充电，不仅可以实现随时向队列内串入任意数量的充电装置而不会超出电源负载，提升了安全性能。此外，通过及时停止充电，可以防止过充现象，节约了电能。还可以优先为队列尾部的充电装置充电，方便了从队尾取车，提高了充电效率。
在一些实施方式中，可以根据各充电装置的参数，确定是否改变充电装置的充电电流或电压。例如，队尾(倒数第一辆，即远离充电电源端)的手推车的当前电量为90％，此时，可以减小该手推车的电流，以优先为其前级(倒数第二辆)手推车充电。
在一些实施方式中，当确定对充电装置供电的充电总线上的电流值达到预设电流阈值(例如52A)时，断开为自身充电的充电电流。由此，可以确保充电总线上的电流值在安全范围内，确保充电的工作人员随意向充电队列叠入任意数量的手推车而不会使供电电源超出额定负荷。
在一些实施方式中，当确定充电装置位于队尾的位置时，开启为自身充电。队尾的手推车具有第一充电的权利，如果队尾的手推车还没有开启充电，则其前级的手推车都不能充电，除非队尾的手推车已经充电完毕。当确定充电装置位于队尾前方的位置，并且其靠近队尾方向的充电装置已经开启自身充电或者已经充电完毕，则开启该充电装置的充电。此做法是为了优先为尾部的充电装置充电，确保从队尾取的车有足够的电量。
在一些实施方式中，当确定充电装置在队列中的当前电量最小时，开启为自身充电。在该充电装置开启为自身充电之后，还可以加大为自身充电的充电电流。由此，可以优先对队列中的电量低的手推车进行充电，以使得充电后的各手推车的电量平均，防止用户取到电量较低的手推车，因而在使用过程中出现电量不足的情况。
在一些实施方式中，当某充电装置的当前电量达到预设电量阈值时，减小为自身充电的充电电流。这样可以均衡充电队列中各个充电装置的充电量，避免尾部充电装置过充，而其前级的充电装置电量不足甚至没有充电的情况。
图4为图3中检测充电队列中的各手推车的位置信息的示意图。如图4所示，确定各充电装置在队列中的相对位置可以包括：
S401：各充电装置分别向队列中其它的充电装置发送信号，并分别接收该队列中其它的充电装置的信号。
S402：充电装置根据接收到的其它充电装置的信号，确定自己在充电队列中的位置。
具体的，该方式进一步包括：
各充电装置分别向其前级和后级的充电装置发送信号，并分别接收其前级和后级的充电装置的信号。
当某充电装置在预设的时间内未收到其前级的充电装置所发送的信号时，确定该充电装置位于队首。
当某充电装置在预设的时间内未收到其后级的充电装置所发送的信号时，确定该充电装置位于队尾。
根据队首和队尾的位置信息确定充电队列中其它充电装置的位置信息。
在本实施方式中，可以采用红外的方式(例如可采用红外线发射装置和红外线接收装置)在相邻两台手推车之间建立通信，进行信息互传，并对信息进行解析处理，从而判定手推车自身在充电队列里的相对位置，以作为是否开启手推车充电的一个参考条件。
在本实施方式中，可以通过在手推车底盘上安装的前、后红外发射装置，由其分别向手推车的前、后方向发送叠车判定信号。如果手推车位于队列的中间，在手推车的前、后方向都叠有(叠加的方式接入)手推车。由于相邻手推车均装有红外接收装置和发射装置，所以手推车在发送了位置信号之后会收到来自前、后相邻手推车的回应信息。如果手推车位于队尾，由于队尾后面没有叠入别的手推车，所以队尾的手推车向后方发送的位置信号是得不到相应回应的，因此可以据此判断其处于队尾；同理，队首的手推车向前方发送的位置信号也得不到相应的回应，因此可以据此判断其处于队首。
在本实施方式中，在判定了队列中首、尾手推车的基础上，通过相邻手推车之间建立的红外通信，以接力的方式可以确定队列里从第一台手推车到最后一台手推车的正向或者反向的顺序。
参考图1和图4，在本实施方式中，可以将充电装置1(被手推车1的下部框架遮挡住)连接充电电源，充电装置2(被手推车2的下部框架遮挡住)连接充电装置1，充电装置3(被手推车3的下部框架遮挡住)连接充电装置2......充电装置10(被手推车10的下部遮挡住)连接充电装置9组成包括10台充电装置的充电队列。将用上述方法确定为队首的充电装置(即充电装置1)编号为位置1，将确定为队尾的充电装置(即充电装置10)编号为位置10。队首的充电装置向充电装置2发送包含位置1的信息，充电装置2接收到该信息后，将位置1进行加1运算处理，获取位置2的信息。同理，充电装置2向充电装置3发送包含位置2的信息，充电装置3在接收到这个信息后，将位置2进行加1运算处理，获取位置3的信息。充电装置4-9的位置也是运用上述方式，在此不再赘述。
在本实施方式中，红外线发射装置可以是发射近场红外信号的装置，红外线接收装置可以是接收近场红外信号的装置，那么红外发射装置和红外接收装置在信息交互时会有距离限制(例如5cm之内)。这样不仅可以确保相邻的充电装置(因为二者相邻，所以二者的距离可以满足要求)可以交互信息，还可以防止非相邻的充电装置的信息干扰。
图5为相邻的手推车进行信息交互的流程示意图。
在本实施方式中手推车的型号和硬件配置(例如，可以在手推车的底部安装有充电装置和连接器，各充电装置可以用连接器将其与其它充电装置进行串接)均相同。其中，手推车上安装的充电装置可以通过红外发射装置和红外接收装置进行信息交互。具体的，红外发射装置和红外接收装置可以连接至PCB(印制电路板)上。该PCB板上可以设置有各种功能芯片(例如用于电池充电管理的CN3705多类型电池充电管理IC芯片，以及用于运算控制的RENESAS(瑞萨电子)的RL78系列带A/D输入口的MCU芯片)。
如图5所示，该流程包括以下步骤：
S501：主线程初始化(此步骤采用常规方式，目的是为了进行后续的运算)。
S502：判断是否达到数据(充电装置的位置以及当前充电装置是否充电的标识等)更新周期(可以通过MCU芯片内部的定时器的溢出信号判断)。
其中，定时器可以每5秒(具体时间可以按需求进行设置，此方面不做任何限制)发出一个溢出信号(上述的更新周期为5秒)。如果某一个充电装置在5秒内没有收到来自其前面的充电装置的信号，说明该充电装置前面没有充电装置，即可以确定该充电的位置在首车。
S503：当到达数据更新周期时，获取充电装置在当前充电队列的位置以及当前充电装置是否充电的标识，将获取的这些数据发给MCU芯片。接着，程序跳转至S508。
S504：当没有到达数据更新周期时，然后判断前向红外叠车通信定时器是否溢出。
S505：当前向(由后往前方向)定时器溢出时，将当前手推车的位置确定为队列首端位置。当前手推车向其后级手推车发送叠车红外通信数据帧。
S506：当该定时器没有溢出时，继续判断后向(由前往后方向)红外叠车通信定时器是否溢出。
S507：当后向定时器溢出时，将当前手推车的位置确定为队列尾端。当前手推车向前级手推车发送叠车红外通信帧。
S508：MCU芯片主控根据接收的数据，进行运算处理(此处的运算可以通过与、或、非等逻辑运算进行加、减、比较等运算。例如，正在充电的状态可以用数字1来表示，没有充电的状态可以用数字0来表示。)，输出打开或者关闭充电的信号等。例如，可以根据当前充电装置是否充电和其后级充电装置是否充电做判断，在满足其后级充电装置已经充电的条件后，才为当前充电装置充电。
图6(a)、6(b)、6(c)、6(d)分别为PCB板中的MCU处理红外发射装置和红外接收装置信息交互的中断程序的四个流程示意图。其详细描述了MCU内部信号处理情况，本领域的技术人员可以理解，可以根据MCU的运算能力选择一个或者多个MCU来处理上述的所有中断事宜。例如，MCU(型号1)的运算能力很高，可以仅选择型号1的MCU来处理图6(a)、6(b)、6(c)、6(d)中所有的中断事宜。如果MCU(型号2)的运算能力不高，可以设置4 个MCU(型号2)用于分别处理图6(a)、6(b)、6(c)、6(d)中所述的中断事宜。
图6(a)为PCB板中的MCU处理前向的红外发送的中断流程示意图。如图6(a)所示，该流程包括以下步骤：
S1-1：前向红外发送信息中断程序开始。此处，前向指由队列尾端向队列首端的方向。后级手推车上的红外发送装置发送信息(例如充电装置的位置以及当前充电装置是否充电的标识等)，当前手推车上红外接收装置接收信息。
S1-2：判断后级手推车上红外发送装置是否有向当前手推车上的红外接收装置发送红外通信数据帧。
S1-3：当判断出有发送数据帧时，获取当前叠车充电数据帧(例如充电装置的位置以及当前充电装置是否充电的标识等)，在统计完当前叠车充电数据帧后，将定时器清零，以供后续运算做准备。
当判断没有发送数据时，跳转至步骤S1-5：中断结束。
S1-4：当前手推车向前级手推车发送数据帧。
S1-5：中断结束。
图6(b)为PCB板中的MCU处理后向的红外接收的中断流程示意图。如图6(b)所示，该流程包括以下步骤：
S2-1：后向红外接收信息中断程序开始。此处，后向是指由队列首端向队列尾端的方向。前级手推车上的红外发送装置发送，当前手推车上红外接收装置接收。
S2-2：判断接收的数据帧是否完整。
当判断接收的数据帧不完整时，跳转至步骤S2-5：中断结束。
S2-3：当判断数据接收完整时，获取当前叠车充电数据(例如充电装置的位置以及当前充电装置是否充电的标识等)。在数据获取之后，对定时器清零，并更新当前充电装置是否开始充电等信息，以作为后续充电过程中是否打开充电或者关闭充电操作的依据。
S2-4：当前手推车向后级手推车上的充电装置发送数据帧。
S2-5：中断结束。
图6(c)为PCB板中的MCU处理串口发送数据的中断流程示意图。与图6(a)和图6(b)中断处理方式类似，在本实施方式中，可以在PCB上设置串口来连接红外发送装置和红外接收装置。
如图6(c)所示，处理该中断可以包括以下步骤：
S3-1：串口发送数据(例如充电装置的位置以及当前充电装置是否充电的标识等)中断开始。
S3-2：判断数据帧是否发送。
S3-3：当数据帧已经发送时，继续判断是否需要发送下一个数据帧。当数据帧没有发送时，跳转至步骤S3-5：中断结束。
S3-4：当需要发送下一个数据帧时，开始发送下一个数据帧。
S3-5：中断结束。
图6(d)为PCB板中的MCU处理串口接收数据的中断流程示意图。如图6(d)所示，该流程包括以下步骤：
S4-1：串口接收数据中断开始。
S4-2：判断接收的数据帧是否完整。
当接收的数据帧不完整时，跳转至步骤S4-6。
S4-3：当接收的数据帧完整时，继续判断数据校验是否正确。
当数据校验不正确时，跳转至步骤S4-6。
S4-4：当数据校验正确时，数据帧入队。
S4-5：将ACK(Acknowledgement，确认字符)数据压入发送缓冲，启动发送。
S4-6：中断结束。
图7(a)为本发明充电控制装置的第一实施例的结构示意图。
如图7(a)所示，充电控制装置700包括：参数检测单元701、位置确定单元702和充电管理单元703。其中：
参数检测单元701配置为检测在充电队列中至少部分充电装置的参数，充电队列由多个充电装置串接而成。
位置确定单元702配置为确定各充电装置在队列中的相对位置。
充电管理单元703配置为根据各充电装置的参数和相对位置的信息，启动或停止充电装置的充电。
图7(b)为本发明一实施方式的充电控制装置的第二实施例的结构示意图。
如图7(b)所示，如图7(b)所示实施例在如图7(a)所示实施例的基础上增加了电流或电压调整单元704。
电流或电压调整单元704配置为根据各充电装置的参数，确定是否改变充电装置的充电电流或电压。
其中，电压调整单元可以选用降压转换芯片，例如采用TI(Texas Instruments，德州仪器)公司的TPS5450、RICHTEK(立锜科技)公司的RT8279等。
图7(c)为本发明充电控制装置的第三实施例的结构示意图。
如图7(c)所示，如图7(c)所示实施例在如图7(a)所示实施例的基础上增加了电流比较模块705和电子开关706。其中：
电流比较模块705配置为将对充电装置供电的充电总线上的电流值与预设电流阈值相比较。
电子开关706配置为当确定对充电装置供电的充电总线上的电流值达到预设电流阈值时，断开为自身充电的充电电流。
图8为本发明一实施方式的参数检测单元的结构示意图。
如图8所示，参数检测单元701可以包括：总线电流检测模块7011、充电状态检测模块7012和当前电量检测模块7013。各模块的操作可包括：
总线电流检测模块7011配置为检测对充电装置供电的充电总线上的电流，以供所述充电管理单元在确定对充电装置供电的充电总线上的电流值达到预设电流阈值时，断开为该充电装置提供的充电电流；
充电状态检测模块7012配置为检测所述充电装置是否开启充电，并将检测结果传送至充电管理单元。当充电管理单元确定当前充电装置位于队尾前方的位置，并且其靠近队尾方向的充电装置已经开启自身充电或者已经充电完毕，则开启当前充电装置的充电；或
当前电量检测模块7013配置为检测所述充电装置当前的电量并传送至充电管理单元。由此，当充电管理单元确定当前充电装置在队列中的当前电量最小时，开启为该充电装置充电。
其中，总线电流检测模块7011可以采用霍尔电流检测元件，具体可以采用ALLEGRO(Allegro MicroSystems LLC)公司的相关产品，其型号需根据充电用直流供电电源能够提供的最大电流值而定。例如最大供电电流为40A时，可以选择该公司ACS758XCB系列中的ACS758LCB-050B-PFF-T，其检测电流值范围为正负50A。MCU可选用RENESAS的RL78系列带A/D输入口的芯片。充电状态检测模块7012可以由外部输入电压检测比较器TPS3700/TPS3701及其外部电路、MCU部分功能模块、充电电路CN3705部分功能模块及相关辅助电路构成。电量检测模块7013可以由分压检测电路或电量计电路以及MCU部分功能模块构成。
在同一个充电控制装置中，总线电流检测是关系到叠车队列安全充电及正常充电的关键因素，也是充电控制装置是否可以开启自身(例如与该充电控制装置对应的手推车)充电的关键条件。充电状态检测可以是充电控制装置对自身是否具备充电基本条件而进行的一系列检测判定动作(例如：用于判定自身是否已接入到外部充电电源的状态检测以及输入电压检测、用于判定自身充电是否已打开的由软件设定的充电状态标志位的状态检测、由充电电路硬件产生的充电状态指示信号的检测等)。当前电量的检测为充电控制装置判定是否需要对自身进行充电提供了参考依据。以上三个模块可以是共同存在的。
图9为本发明一实施方式的可移动设备的结构示意图。
如图9所示，可移动设备1000可以包括：本体200、充电控制装置700和连接器300。其中：本体200可以是图1中的手推车，也可以是购物车、行李车等，此方面不做限制。充电控制装置700已经在上面进行了描述，在此不再赘述。充电控制装置700可以安装在手推车的车架底部或其它不易被使用者触碰的部位。连接器300用于将充电控制装置700串接至充电电源。本领域的技术人员可以理解，连接器300可以固定安装(例如焊接)于可移动设备1000的底部，也可以在充电时，将其活动安装(即可拆卸安装)在可移动设备的底部。另外，连接器300可以直接与本体200连接，也可以通过充电控制装置700与本体200连接，具体连接方式可以按需求进行设置，此方面不做限制。
在本实施方式中，可移动设备还可以预先配置好电池，或者在后期再配置电池。
以上所述的仅是本发明的一些实施方式。对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。

Claims (12)

  1. 多个充电装置的充电控制方法，包括：
    多个充电装置串接成充电队列，分别检测在充电队列中至少部分充电装置的参数；
    确定各充电装置在队列中的相对位置；
    根据各充电装置的参数和所述相对位置的信息，启动或停止充电装置的充电。
  2. 根据权利要求1所述的充电控制方法，还包括：
    根据各充电装置的参数，确定是否改变所述充电装置的充电电流或电压。
  3. 根据权利要求1所述的充电控制方法，其中，所述充电装置的参数选自：对充电装置供电的充电总线上的电流值，所述方法包括：
    当确定对充电装置供电的充电总线上的电流值达到预设电流阈值时，断开为该充电装置提供的充电电流；或
    其中，所述参数选自：是否处于充电状态、当前电量，所述方法包括：
    当确定充电装置位于队尾的位置时，开启为自身充电；
    当确定充电装置位于队尾前方的位置，并且其靠近队尾方向的充电装置已经开启自身充电或者已经充电完毕，则开启该充电装置的充电；或
    其中，所述参数选自：是否处于充电状态、当前电量，所述方法包括：
    当确定充电装置在队列中的当前电量最小时，开启为该充电装置充电。
  4. 根据权利要求3所述的充电控制方法，还包括：当充电装置的所述当前电量小于预设电量阈值时，加大为该充电装置充电的充电电流。
  5. 根据权利要求3所述的充电控制方法，还包括：
    当充电装置的所述当前电量达到预设电量阈值时，减小为该充电装置充电的充电电流，并启动未充电的充电装置充电。
  6. 根据权利要求1-5中任一项所述的充电控制方法，其中，确定各充电装置在队列中的相对位置包括：
    各充电装置分别向队列中其它的充电装置发送信号，并分别接收该队列中其它的充电装置的信号；
    所述充电装置根据接收到的其它充电装置的信号，确定自己在所述充电队列中的位置。
  7. 根据权利要求6所述的充电控制方法，进一步包括：
    各充电装置分别向其前级和后级的充电装置发送信号，并分别接收其前级和后级的充电装置的信号；
    当充电装置在预设的时间内未收到其前级的充电装置所发送的信号时，确定该充电装置位于队首；
    当充电装置在预设的时间内未收到其后级的充电装置所发送的信号时，确定该充电装置位于队尾；
    根据队首和队尾的位置信息确定所述充电队列中其它充电装置的位置信息。
  8. 充电控制装置，包括：
    参数检测单元，配置为检测在充电队列中至少部分充电装置的参数，所述充电队列由多个充电装置串接而成；
    位置检测单元，配置为确定各充电装置在队列中的相对位置；
    充电管理单元，配置为根据各充电装置的参数和所述相对位置的信息，启动或停止充电装置的充电。
  9. 根据权利要求8所述的充电控制装置，还包括：
    电流或电压调整单元，配置为根据各充电装置的参数，确定是否改变所述充电装置的充电电流或电压。
  10. 根据权利要求8所述的充电控制装置，还包括：
    电流比较模块，配置为将对充电装置供电的充电总线上的电流值与预设电流阈值相比较；
    电子开关，配置为当确定对充电装置供电的充电总线上的电流值达到预设电流阈值时，断开为自身充电的充电电流。
  11. 根据权利要求8-10任一项所述的充电控制装置，所述参数检测单元包括：
    总线电流检测模块，配置为检测对充电装置供电的充电总线上的电流，以供所述充电管理单元在确定对充电装置供电的充电总线上的电流值达到预设电流阈值时，断开为该充电装置提供的充电电流；
    充电状态检测模块，配置为检测所述充电装置是否开启充电，以供所述充电管理单元确定充电装置位于队尾前方的位置，并且其靠近队尾方向的充电装置已经开启自身充电或者已经充电完毕，开启该充电装置的充电；或
    当前电量检测模块，配置为检测所述充电装置当前的电量，以供所述充电管理单元确定充电装置在队列中的当前电量最小时，开启为该充电装置充电。
  12. 可移动设备，包括：
    本体；
    安装在本体上的根据权利要求8-11中任一项所述的充电控制装置；
    用于将所述充电控制装置串接至充电电源的连接器。
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