CN114030381A - Heavy-load AGV trolley high-power wireless energy transmission system and control method - Google Patents
Heavy-load AGV trolley high-power wireless energy transmission system and control method Download PDFInfo
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- CN114030381A CN114030381A CN202111317682.5A CN202111317682A CN114030381A CN 114030381 A CN114030381 A CN 114030381A CN 202111317682 A CN202111317682 A CN 202111317682A CN 114030381 A CN114030381 A CN 114030381A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/34—Plug-like or socket-like devices specially adapted for contactless inductive charging of electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20845—Modifications to facilitate cooling, ventilating, or heating for automotive electronic casings
- H05K7/20854—Heat transfer by conduction from internal heat source to heat radiating structure
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20845—Modifications to facilitate cooling, ventilating, or heating for automotive electronic casings
- H05K7/20863—Forced ventilation, e.g. on heat dissipaters coupled to components
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Life Sciences & Earth Sciences (AREA)
- Electromagnetism (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of wireless charging of movable equipment, and particularly discloses a high-power wireless energy transmission system and a control method for a heavy-duty AGV trolley, wherein the transmission system is provided with an AGV console, an energy transmitting end and a vehicle-mounted receiving end, the energy transmitting end is provided with an electric control cabinet (comprising an energy transmitting circuit and a primary side control circuit) and a wireless energy transmitting coil, the vehicle-mounted receiving end is provided with a wireless energy pickup coil and a wireless energy pickup circuit (comprising an energy receiving circuit and a secondary side control circuit), the AGV console, the primary side control circuit and the secondary side control circuit are in communication connection with each other to transmit instructions such as a charging control instruction and a power-off control instruction and information such as battery state information and charging state information, so that the power-on and power-off control of the energy transmitting circuit and the energy receiving circuit is realized, and the abnormal monitoring of the AGV console on the electric control cabinet and the vehicle-mounted receiving end is realized, so as to cut off the line in time when the abnormity occurs, and avoid the condition deterioration.
Description
Technical Field
The invention relates to the technical field of wireless charging of movable equipment, in particular to a high-power wireless energy transmission system and a control method for a heavy-load AGV trolley.
Background
An AGV (Automated Guided Vehicle), which is an abbreviation of Automated Guided Vehicle, is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions. For optimal utility, a high utilization of the AGV must be guaranteed. The AGV adopts rechargeable battery power supply, will send alarm signal when rechargeable battery voltage is on the low side, and the AGV is automatic to be driven away from the production line and is navigated to appointed charging position and charge. Along with the development of high-power rechargeable battery, can allow rechargeable battery to carry out quick charge within a few seconds, this technique makes AGV need not shift out the production line in production and just can accomplish charging, has improved AGV's work utility greatly, and the specially adapted is heavily loaded AGV dolly.
However, the currently known AGV charging device still adopts a plug-pull type, when the AGV travels to a special charging position, a worker needs to release and pull out a plug on the AGV, the AGV is plugged into a socket of the charging position, and after charging is completed, the worker needs to pull out the plug to be stored in the AGV. The whole charging process needs manual intervention, real automation and intellectualization are difficult to realize, and popularization and use of the AGV are influenced to a great extent.
Disclosure of Invention
The invention provides a high-power wireless energy transmission system and a control method for a heavy-load AGV (automatic guided vehicle), which solve the technical problems that: how to adopt the electric energy transmission mode of wireless coupling, realize the automatic charging of heavily carrying the AGV dolly.
In order to solve the technical problems, the invention provides a high-power wireless energy transmission system of a heavy-load AGV (automatic guided vehicle), which comprises an AGV console, an energy transmitting end and a vehicle-mounted receiving end, wherein the energy transmitting end is connected with the AGV console;
the energy transmitting end comprises a plurality of electric control cabinets and a plurality of wireless energy transmitting coils which are connected with the electric control cabinets in a one-to-one corresponding mode;
the vehicle-mounted receiving end comprises a wireless energy pickup structure arranged at the bottom of the AGV trolley, a coil bearing plate made of magnetic conductive materials, a wireless energy pickup coil arranged on the coil bearing plate, a magnetic core arranged on the wireless energy pickup coil, and an electrical box arranged on the magnetic core, wherein a wireless energy pickup circuit connected with the wireless energy pickup coil is arranged in a box body space of the electrical box; the vehicle-mounted receiving end also comprises a battery management system connected with the wireless energy pickup circuit;
the electric control cabinet is in communication connection with the AGV console and the wireless energy pickup circuit, and the wireless energy pickup circuit is in communication connection with the AGV console;
the AGV control console is used for sending a charging instruction to the electric control cabinet corresponding to the charging station point when the AGV trolley runs to a charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy picking circuit; the wireless energy pickup circuit is used for communicating with the battery management system after the charging instruction is obtained, obtaining a charging requirement and feeding the charging requirement back to the electric control cabinet; the wireless energy pickup circuit is used for switching on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is used for switching on a transmission line between an initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil.
Preferably, the wireless energy pickup circuit is further configured to feed back battery state information monitored by the battery management system to the electric control cabinet and the AGV console in real time during a charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; and the electric control cabinet is also used for feeding self charging state information back to the AGV console in real time in the charging process.
Preferably, the AGV console is configured to perform charging completion judgment according to the battery state information, perform abnormality monitoring according to the battery state information and the charging state information, and control the electric control cabinet and the wireless energy pickup circuit to cut off the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or abnormality occurs.
Preferably, the electric control cabinet comprises a three-phase alternating current source, a three-phase filter, a primary alternating current-to-direct current circuit, a direct current-to-alternating current circuit, a primary compensation circuit, and a primary control circuit connected with the alternating current-to-direct current circuit and the direct current-to-alternating current circuit, which are connected in sequence; and the primary side control circuit is in communication connection with the AGV control console and the wireless energy pickup circuit.
Preferably, the wireless energy pickup circuit comprises a secondary compensation circuit, a secondary alternating current-to-direct current circuit, a direct current filter and a secondary control circuit, wherein the secondary compensation circuit, the secondary alternating current-to-direct current circuit and the direct current filter are sequentially connected, the secondary control circuit is connected with the direct current filter, and the secondary control circuit is in communication connection with the AGV console, the primary side control circuit and the battery management system.
Preferably, a heat dissipation mechanism is further arranged on the electrical box corresponding to the wireless energy pickup circuit; the heat dissipation mechanism comprises a heat dissipation panel with heat dissipation fins, a heat dissipation fan is further arranged on the heat dissipation panel, and a blowing port of the heat dissipation fan faces to reserved gaps among the heat dissipation fins; the heat dissipation panel is further provided with a protective cover, a top plate of the protective cover corresponds to the heat dissipation fan and is provided with an air inlet, and a side plate of the protective cover corresponds to a reserved gap between the heat dissipation fins and is further provided with an air outlet.
Preferably, the air inlet is detachably provided with a dust screen; two cantilevers used for connecting an AGV trolley chassis are oppositely arranged on two sides of the electrical box; and the end parts of the two cantilevers are provided with a magnetic isolation plate together.
The invention also provides a high-power wireless energy transmission control method of the heavy-load AGV trolley, which is applied to the high-power wireless energy transmission system of the heavy-load AGV trolley and comprises the following steps:
s1, when the AGV trolley runs to a charging station, the AGV console sends a charging instruction to the electric control cabinet corresponding to the charging station;
s2, the electric control cabinet forwards the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
and S4, the vehicle-mounted receiving end switches on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet switches on a transmission line between the initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to open the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil.
Further, after the step S4, the method further includes the steps of:
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control console in real time, and the electric control cabinet feeds back self charging state information to the AGV control console in real time;
s6, the electric control cabinet adjusts the power output in real time according to the battery state information; and the AGV control console is used for judging charging completion according to the battery state information, monitoring abnormity according to the battery state information and the charging state information, and controlling the electric control cabinet and the vehicle-mounted receiving terminal to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or abnormity occurs.
Further, before the step S1, the method further includes the steps of:
s01, electrifying and initializing all the electric control cabinets to complete self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console and between the energy transmitting end and the vehicle-mounted receiving end, and all the electric control cabinets send online heartbeats to the AGV control console.
The invention provides a high-power wireless energy transmission system and a control method of a heavy-duty AGV trolley, which are provided with an AGV console, an energy transmitting end and a vehicle-mounted receiving end, wherein the energy transmitting end is provided with an electric control cabinet (comprising an energy transmitting circuit and a primary side control circuit) and a wireless energy transmitting coil, the vehicle-mounted receiving end is provided with a wireless energy picking coil and a wireless energy picking circuit (comprising an energy receiving circuit and a secondary side control circuit), the AGV console, the primary side control circuit and the secondary side control circuit are in communication connection with each other, so as to transmit the charging control command, the power-off control command and other commands, and the battery status information, the charging status information and other information, therefore, on-off control of the energy transmitting circuit and the energy receiving circuit is achieved, abnormal monitoring of the AGV console on the electric control cabinet and the vehicle-mounted receiving end is achieved, the circuits are cut off in time when abnormality occurs, and condition deterioration is avoided.
In particular, the energy transmission system is provided with a wireless energy pickup structure at a vehicle-mounted receiving end, a coil bearing plate is arranged and a wireless energy pickup coil is arranged on the coil bearing plate based on the wireless coupling mode of the wireless energy pickup coil and a wireless energy transmitting coil, an electric box is arranged on the magnetic core, a wireless energy pickup circuit is arranged in the box body space of the electric box, the wireless energy pickup structure has compact layout and can be arranged on the chassis of the AGV trolley in a modularized way, when the trolley is parked on the wireless energy transmitting coil, the electric energy can be from wireless energy transmitting coil wireless transmission to wireless energy pickup coil, again via wireless energy pickup coil transmission to wireless energy pickup circuit for AGV dolly rechargeable battery charges, need not artificial intervention, is favorable to realizing the automatic charging of AGV dolly, can wide application in various scenes, and the flexibility is better. In addition, the wireless energy pickup structure is also provided with a heat dissipation mechanism to dissipate heat of the wireless energy pickup circuit, so that the circuit can be prevented from being overloaded during high-power charging operation, and potential safety hazards are reduced while the charging efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a high-power wireless energy transmission system of a heavy-duty AGV according to an embodiment 1 of the present invention;
FIG. 2 is a block diagram of a high power wireless energy transmission system of a heavy loaded AGV according to an embodiment 1 of the present invention;
fig. 3 is an exploded view of a wireless energy pickup structure provided in embodiment 1 of the present invention from one perspective;
fig. 4 is an exploded view of a wireless energy pickup structure provided in embodiment 1 of the present invention from another perspective;
fig. 5 is a schematic structural diagram of a heat dissipation mechanism in a wireless energy pickup structure provided in embodiment 1 of the present invention;
fig. 6 is a perspective view of another wireless energy pickup structure provided in embodiment 1 of the present invention;
FIG. 7 is a use state diagram of FIG. 6 provided in embodiment 1 of the present invention;
fig. 8 is a flowchart illustrating a method for controlling high-power wireless energy transmission of a heavy-duty AGV according to embodiment 2 of the present invention.
The reference numerals include: the wireless energy collection device comprises a coil bearing plate 1, a wireless energy collection coil 2, a magnetic core 3, an electric box 4, a wireless energy collection circuit 5, a heat dissipation mechanism 6, a wire winding groove 7, a heat insulation panel 8, a magnetic shielding panel 9, a heat dissipation fin 10, a heat dissipation fan 11, a protective cover 12, an air inlet 13, an air outlet 14, a dust screen 15, a cantilever 16, a heat dissipation panel 17, a magnetic shielding plate 18 and a chassis 19.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Example 1
In order to realize the automatic charging of the heavy-duty AGV by adopting a wireless coupling electric energy transmission mode, the embodiment provides a high-power wireless energy transmission system of the heavy-duty AGV, as shown in fig. 1, comprising an AGV console, an energy transmitting end and a vehicle-mounted receiving end, wherein the energy transmitting end comprises a plurality of electric control cabinets and a plurality of wireless energy transmitting coils connected with the electric control cabinets in a one-to-one correspondence manner. The vehicle-mounted receiving end comprises a wireless energy pickup coil and a wireless energy pickup circuit connected with the wireless energy pickup coil. The vehicle-mounted receiving end further comprises a Battery Management System (BMS) connected with the wireless energy pick-up circuit.
Automatically controlled cabinet communication connection AGV control cabinet and wireless energy pick up circuit, wireless energy pick up circuit communication connection AGV control cabinet, the connected mode here can be according to specific scene, condition, demand and arbitrary setting, but between automatically controlled cabinet and the wireless energy pick up circuit, need adopt wireless communication mode such as 5G-WiFi between wireless energy pick up circuit and the AGV control cabinet. The AGV control console is used for sending a charging instruction to the electric control cabinet corresponding to the charging station when the AGV trolley runs to the charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy picking circuit; the wireless energy pickup circuit is used for communicating with the battery management system after the charging instruction is obtained, obtaining a charging requirement and feeding the charging requirement back to the electric control cabinet; the wireless energy pickup circuit is used for switching on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is used for switching on the transmission line between the initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil.
The wireless energy pickup circuit is also used for feeding back battery state information monitored by the battery management system to the electric control cabinet and the AGV console in real time in the charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; the electric control cabinet is also used for feeding self charging state information back to the AGV console in real time in the charging process. The AGV control console is used for judging charging completion according to the battery state information, monitoring abnormity according to the battery state information and the charging state information, and controlling the electric control cabinet and the wireless energy pickup circuit to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or abnormity occurs.
As shown in fig. 2, the electric control cabinet includes a three-phase AC source, a three-phase filter, a primary side AC-to-DC (AC-DC) circuit, a direct current-to-AC (DC-AC) circuit, a primary side compensation circuit (connected to the wireless energy transmitting coil), and a primary side control circuit connected to the AC-to-DC circuit and the direct current-to-AC circuit. Wherein, the three-phase alternating current source adopts a three-phase four-wire power supply, A, B, C is three-phase, and N represents a zero line. In the art, without specific description, specific functions of the energy transmission line (three-phase ac source, three-phase filter, primary side ac-dc converter circuit, dc-ac converter circuit, and primary side compensation circuit) can be known, and circuit structures can be adopted, and the primary side compensation circuit in this embodiment adopts an LCC compensation network. The primary side control circuit is connected with the primary side AC-DC conversion circuit and the DC-AC conversion circuit, can control the on and off of the primary side AC-DC conversion circuit and the DC-AC conversion circuit, and can detect the charging state information of the primary side AC-DC conversion circuit and the DC-AC conversion circuit. The primary side control circuit is further in communication connection with the AGV control console and the wireless energy pickup circuit, and the communication function of the electric control cabinet is exerted to the outside. In this example, as shown in fig. 2, the primary side control circuit is implemented by a primary side main control board and an expansion board, and a 24V power supply supplies power to the primary side control circuit.
As shown in fig. 2, the wireless energy pickup circuit includes a secondary side compensation circuit (also adopting an LCC compensation network), a secondary side alternating current-to-direct current (AC-DC) circuit, a direct current filter (connected to a rechargeable battery), and a secondary side control circuit (secondary side main control board) connected to the direct current filter, which are connected in sequence, and the secondary side control circuit is communicatively connected to the AGV console, the primary side control circuit, and the battery management system. Also, without particular description, specific functions of the energy receiving line (secondary side compensation circuit, secondary side ac-dc conversion circuit, dc filter) can be known, and which circuit configuration can be adopted. And the secondary control circuit plays a role in communication of the wireless energy pickup circuit and controlling the on-off of a transmission line between the wireless energy pickup coil and the rechargeable battery.
In conclusion, the heavy-duty AGV trolley high-power wireless energy transmission system provided by the embodiment is provided with an AGV console, an energy transmitting end and a vehicle-mounted receiving end, wherein the energy transmitting end is provided with an electric control cabinet (comprising an energy transmitting circuit and a primary side control circuit) and a wireless energy transmitting coil, the vehicle-mounted receiving end is provided with a wireless energy picking coil and a wireless energy picking circuit (comprising an energy receiving circuit and a secondary side control circuit), the AGV console, the primary side control circuit and the secondary side control circuit are in communication connection with each other, so as to transmit the charging control command, the power-off control command and other commands, and the battery status information, the charging status information and other information, therefore, on-off control of the energy transmitting circuit and the energy receiving circuit is achieved, abnormal monitoring of the AGV console on the electric control cabinet and the vehicle-mounted receiving end is achieved, the circuits are cut off in time when abnormality occurs, and condition deterioration is avoided.
As shown in fig. 3, 4, and 7, the wireless energy pickup structure is provided at the vehicle-mounted receiving end, and the wireless energy pickup structure can be directly disposed on the AGV cart chassis 19 in a modularized manner, and specifically includes a coil bearing plate 1 made of a magnetic conductive material, a wireless energy pickup coil 2 disposed on the coil bearing plate 1, a magnetic core 3 disposed on the wireless energy pickup coil 2, and an electrical box 4 disposed on the magnetic core 3, a wireless energy pickup circuit 5 electrically connected to the wireless energy pickup coil 2 is provided in a box space of the electrical box 4, and a heat dissipation mechanism 6 is further provided on the electrical box 4 corresponding to the wireless energy pickup circuit 5.
As shown in fig. 3, in the specific implementation, in order to facilitate the operator to wind the coil and limit the shape of the coil, the wireless energy pickup coil 2 is a planar coil, and a winding slot 7 for winding the planar coil is further formed on the surface of the coil bearing plate 1.
As can be seen from fig. 4, in order to improve the wireless transmission efficiency and control the energy field direction, the magnetic core 3 is a plate-shaped structure formed by splicing a plurality of rectangular magnetic sheets. In order to block the heat conduction between the wireless energy pick-up coil 2 and the wireless energy pick-up circuit 5, a thermal insulation panel 8 is also provided between the magnetic core 3 and the electrical box 4. In order to reduce the interference of the energy field to the wireless energy pick-up circuit 5, the box bottom of the electrical box 4 is provided with a magnetic shielding panel 9.
As shown in fig. 5, in order to avoid overloading of the wireless energy pickup circuit 5 and reduce potential safety hazards, the heat dissipation mechanism 6 includes a heat dissipation panel 17 with heat dissipation fins 10, a heat dissipation fan 11 is further disposed on the heat dissipation panel 17, and an air blowing port of the heat dissipation fan 11 faces a reserved gap between the heat dissipation fins 10. Preferably, in order to better guide the airflow blown by the heat dissipation fan 11, all the heat dissipation fins 10 are uniformly arranged in a long strip shape, the end surface of each heat dissipation fin 10 close to the heat dissipation fan 11 is located on a section of concave arc surface together, the heat dissipation fans 11 are horizontally arranged along the arc surface, and the height of the air outlet of each heat dissipation fan 11 is lower than that of the heat dissipation fins 10.
Referring to fig. 3 and 4, a protective cover 12 is further disposed on the heat dissipation panel 17, an air inlet 13 is disposed on a top plate of the protective cover 12 corresponding to the heat dissipation fan 11, and an air outlet 14 is disposed on a side plate of the protective cover 12 corresponding to a reserved gap between the heat dissipation fins 10. The dust screen 15 is detachably mounted on the air inlet 13. After the product is used for a period of time, a large amount of dust is accumulated in the air inlet 13, the air inlet 13 is blocked, the heat dissipation performance of the product is reduced, the dust screen 15 only needs to be detached at the moment, and the dust screen 15 is assembled at the air inlet 13 after the dust on the dust screen 15 is cleaned.
In practical application scenarios, in order to facilitate the assembly of the product on the AGV by an operator, two cantilevers 16 for connecting an AGV chassis 19 are oppositely disposed at two sides of the electrical box 4, as shown in fig. 6 and 7. Fig. 6 and 7 show a second embodiment of the wireless energy pick-up structure, which differs in that a magnetic shield 18 is provided in common at the ends of the two cantilevers 16. The magnetic isolation plate 18 mainly functions to isolate the magnetic energy emitted by the transmitting coil in the charging process and prevent the magnetic energy from heating the peripheral skirt structure of the heavy-load AGV. When improving transmission efficiency, prevent that the shirt rim steel sheet of heating from scalding the human body. And four interfaces electrically connected with the wireless energy pickup circuit 5 are further arranged on the side wall of the electric box 4, and are respectively a standby power supply interface, a power supply output interface, a program burning interface and a network interface. Wherein: the standby power supply interface is used for enabling the electric energy of the battery of the heavy-load AGV not to support the basic energy consumption of the wireless energy pickup circuit 5 when the electric energy of the battery is completely consumed, and activating the wireless energy pickup circuit 5 through an external standby power supply so as to initiate a charging signal to forcibly charge the battery; the power output interface is used as a connecting channel with a battery of the heavy-load AGV; the program burning interface is used for operating through the interface when control programs such as a charging mode, a communication mode and the like of the circuit need to be changed. The network interface is used for connecting a network cable, and the pickup structure is communicated with a cabinet of the energy transmission system through the network cable to initiate a charging signal, a stopping signal and the like.
The wireless energy pickup structure shown in fig. 3-7 can be arranged on an AGV trolley chassis 19, based on the wireless coupling mode of the wireless energy pickup coil 2 and the wireless energy transmitting coil, the coil bearing plate 1 is arranged and the wireless energy pickup coil 2 is arranged on the coil bearing plate 1, the electric box 4 is arranged on the magnetic core 3, the wireless energy pickup circuit 5 is arranged in the box body space of the electric box 4, the layout of the wireless energy pickup structure is compact, when the trolley is parked on the wireless energy transmitting coil, electric energy can be wirelessly transmitted to the wireless energy pickup coil 2 from the wireless energy transmitting coil, and then the electric energy is transmitted to the wireless energy pickup circuit 5 through the wireless energy pickup coil 2 to charge the storage battery of the AGV trolley, so that manual intervention is not needed, automatic charging of the AGV trolley is facilitated, the wireless energy pickup structure can be widely applied to various scenes, and the flexibility is better. In addition, the wireless energy pickup structure utilizes the heat dissipation mechanism 6 to dissipate heat of the wireless energy pickup circuit 5, and can prevent overload of the circuit when high-power charging operation is carried out, so that the charging efficiency is improved, and the potential safety hazard is reduced.
Example 2
Corresponding to the high-power wireless energy transmission system shown in embodiment 1, the embodiment of the present invention provides a method for controlling high-power wireless energy transmission of a heavy-load AGV, which specifically includes the following steps, as shown in fig. 8:
s01, electrifying and initializing all the electric control cabinets to complete self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console and between the energy transmitting end and the vehicle-mounted receiving end, and all the electric control cabinets send online heartbeats to the AGV control console;
s1, when the AGV trolley runs to a charging station, the AGV console sends a charging instruction to the electric control cabinet corresponding to the charging station;
s2, the electric control cabinet forwards the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
s4, the vehicle-mounted receiving end switches on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet switches on a transmission line between the initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil;
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control console in real time, and the electric control cabinet feeds back self charging state information to the AGV control console in real time;
s6, the electric control cabinet adjusts the power output in real time according to the battery state information; the AGV control console carries out charging completion judgment according to the battery state information, carries out abnormity monitoring according to the battery state information and the charging state information, and controls the electric control cabinet and the vehicle-mounted receiving end to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or abnormity occurs;
and S7, after the charging is finished, the electric control cabinet sends an online heartbeat to the AGV console.
Through the high-power wireless energy transmission control method for the heavy-load AGV, wireless charging control and charging abnormity detection of the heavy-load AGV can be achieved, manual intervention is not needed in the whole charging process, real automation and intellectualization are achieved, and the working effectiveness of the AGV is greatly improved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The high-power wireless energy transmission system of the heavy-load AGV trolley is characterized by comprising an AGV console, an energy transmitting end and a vehicle-mounted receiving end;
the energy transmitting end comprises a plurality of electric control cabinets and a plurality of wireless energy transmitting coils which are connected with the electric control cabinets in a one-to-one corresponding mode;
the vehicle-mounted receiving end comprises a wireless energy pickup structure arranged at the bottom of the AGV trolley, a coil bearing plate made of magnetic conductive materials, a wireless energy pickup coil arranged on the coil bearing plate, a magnetic core arranged on the wireless energy pickup coil, and an electrical box arranged on the magnetic core, wherein a wireless energy pickup circuit connected with the wireless energy pickup coil is arranged in a box body space of the electrical box; the vehicle-mounted receiving end also comprises a battery management system connected with the wireless energy pickup circuit;
the electric control cabinet is in communication connection with the AGV console and the wireless energy pickup circuit, and the wireless energy pickup circuit is in communication connection with the AGV console;
the AGV control console is used for sending a charging instruction to the electric control cabinet corresponding to the charging station point when the AGV trolley runs to a charging station; the electric control cabinet is used for forwarding the charging instruction to the wireless energy picking circuit; the wireless energy pickup circuit is used for communicating with the battery management system after the charging instruction is obtained, obtaining a charging requirement and feeding the charging requirement back to the electric control cabinet; the wireless energy pickup circuit is used for switching on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet is used for switching on a transmission line between an initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to start the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil.
2. The high power wireless energy transfer system for a heavy loaded AGV cart of claim 1 further comprising: the wireless energy pickup circuit is also used for feeding back battery state information monitored by the battery management system to the electric control cabinet and the AGV console in real time in the charging process; the electric control cabinet is used for adjusting power output in real time according to the battery state information; and the electric control cabinet is also used for feeding self charging state information back to the AGV console in real time in the charging process.
3. The high power wireless energy transfer system for a heavy loaded AGV cart of claim 2 wherein: the AGV control console is used for charging according to the battery state information, finishing judgment, monitoring abnormity according to the battery state information and the charging state information, and controlling the electric control cabinet and the wireless energy pickup circuit to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is finished or abnormity occurs.
4. The high power wireless energy transfer system for a heavy loaded AGV according to claim 3, wherein: the electric control cabinet comprises a three-phase alternating current source, a three-phase filter, a primary side alternating current-to-direct current circuit, a direct current-to-alternating current circuit, a primary side compensation circuit and a primary side control circuit, wherein the three-phase alternating current source, the three-phase filter, the primary side alternating current-to-direct current circuit, the direct current-to-alternating current circuit and the primary side compensation circuit are sequentially connected; and the primary side control circuit is in communication connection with the AGV control console and the wireless energy pickup circuit.
5. The high power wireless energy transfer system for a heavy loaded AGV according to claim 4, wherein: the wireless energy pickup circuit comprises a secondary side compensation circuit, a secondary side alternating current-to-direct current circuit, a direct current filter and a secondary side control circuit, wherein the secondary side compensation circuit, the secondary side alternating current-to-direct current circuit and the direct current filter are sequentially connected, the secondary side control circuit is in communication connection with the AGV console, the primary side control circuit reaches the battery management system.
6. The high-power wireless energy transmission system for the heavy-load AGV according to any one of claims 1 to 5, wherein: the electric box is also provided with a heat dissipation mechanism corresponding to the wireless energy pickup circuit; the heat dissipation mechanism comprises a heat dissipation panel with heat dissipation fins, a heat dissipation fan is further arranged on the heat dissipation panel, and a blowing port of the heat dissipation fan faces to reserved gaps among the heat dissipation fins; the heat dissipation panel is further provided with a protective cover, a top plate of the protective cover corresponds to the heat dissipation fan and is provided with an air inlet, and a side plate of the protective cover corresponds to a reserved gap between the heat dissipation fins and is further provided with an air outlet.
7. The high power wireless energy transfer system for a heavy loaded AGV according to claim 6, wherein: the air inlet is detachably provided with a dust screen; two cantilevers used for connecting an AGV trolley chassis are oppositely arranged on two sides of the electrical box; and the end parts of the two cantilevers are provided with a magnetic isolation plate together.
8. A high-power wireless energy transmission control method of a heavy-load AGV trolley is applied to the high-power wireless energy transmission system of the heavy-load AGV trolley, and is characterized by comprising the following steps of:
s1, when the AGV trolley runs to a charging station, the AGV console sends a charging instruction to the electric control cabinet corresponding to the charging station;
s2, the electric control cabinet forwards the charging instruction to a vehicle-mounted receiving end on the AGV, and the vehicle-mounted receiving end communicates with a battery management system after acquiring the charging instruction to acquire a charging requirement;
s3, the vehicle-mounted receiving end feeds back the charging requirement to the electric control cabinet;
and S4, the vehicle-mounted receiving end switches on a transmission line between the wireless energy pickup coil and the rechargeable battery according to the charging requirement, and the electric control cabinet switches on a transmission line between the initial alternating current power supply and the wireless energy transmitting coil according to the charging requirement so as to open the wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil.
9. The method of claim 8, further comprising the step of, after said step S4:
s5, in the charging process, the vehicle-mounted receiving end feeds back battery state information monitored by the battery management system to the electric control cabinet and the AGV control console in real time, and the electric control cabinet feeds back self charging state information to the AGV control console in real time;
s6, the electric control cabinet adjusts the power output in real time according to the battery state information; and the AGV control console is used for judging charging completion according to the battery state information, monitoring abnormity according to the battery state information and the charging state information, and controlling the electric control cabinet and the vehicle-mounted receiving terminal to cut off a wireless energy transmission line between the wireless energy transmitting coil and the wireless energy pickup coil when charging is completed or abnormity occurs.
10. The method of claim 9, further comprising, before said step S1, the steps of:
s01, electrifying and initializing all the electric control cabinets to complete self-checking;
s02, all the electric control cabinets establish UDP communication threads between the energy transmitting end and the AGV control console and between the energy transmitting end and the vehicle-mounted receiving end, and all the electric control cabinets send online heartbeats to the AGV control console.
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| 张晓等: "《动车辅助变流器冷却系统匹配优化设计》", 《大功率变流技术》, pages 47 - 51 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030381B (en) * | 2021-11-09 | 2023-12-05 | 重庆前卫无线电能传输研究院有限公司 | High-power wireless energy transmission system of heavy-load AGV trolley and control method |
| CN115158050A (en) * | 2022-07-20 | 2022-10-11 | 广西电网有限责任公司电力科学研究院 | A wireless charging coupling mechanism, unmanned aerial vehicle and unmanned aerial vehicle communication method |
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| Publication number | Publication date |
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| CN114030381B (en) | 2023-12-05 |
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