An automatic sample transport vehicle power management system and method

Abstract

The application provides an automatic sample transport vehicle power management system and method. The automatic sample transport vehicle power management system is characterized in that a first power supply, a second power supply, a power distribution device, a vehicle controller, an all-in-one controller, a driving device, a steering motor pump, a power conversion device, an automatic driving control device and a DC charging socket are installed on a vehicle frame of the sample transport vehicle, the second power supply is connected with the DC charging socket, the all-in-one controller is connected with the first power supply, the second power supply, the driving device, the steering motor pump and the power conversion device, the automatic driving control device is connected with the first power supply, the power distribution device is connected with the first power supply, the second power supply, the vehicle controller, the all-in-one controller, the driving device and the DC charging socket, and the vehicle controller is connected with the second power supply, the all-in-one controller, the driving device, the power conversion device, the automatic driving control device and the DC charging socket.

Description

Technical Field

[0001] This invention relates to the field of automated sample transport vehicle technology, and in particular to an automated sample transport vehicle power management system and method. Background Technology

[0002] Traditionally, manually driven vehicles used for coal sample transfer in power plants are powered by fuel, while the onboard conveyor is powered by an electric motor. The onboard low-voltage DC power supply cannot meet the power requirements of the conveyor. Upon arrival at the loading / unloading point, the driver must connect the onboard conveyor's power cable to a power source located in the plant, posing a safety hazard in power management. With the development of outdoor AGV (Automated Guided Vehicle) technology, coal sample transfer is shifting from traditional manually driven vehicles to automated transport vehicles. Outdoor AGVs often adopt the architecture of new energy commercial vehicles, powered by high-voltage DC power. However, the control components require low-voltage DC power, involving the conversion between high and low voltage DC. The drive motors are mostly AC motors, requiring the conversion between high-voltage DC and AC. Therefore, power management is crucial and affects the overall safety of the vehicle. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic sample transport vehicle power management system and method to address the shortcomings of the prior art.

[0004] The technical solution of this invention to solve the above-mentioned technical problems is as follows: An automatic sample transport vehicle power management system includes: a first power source, a second power source, a power distribution device, a vehicle controller, a multi-function controller, a drive unit, a steering motor pump, a power conversion device for supplying power to the vehicle-mounted transport device, an automatic driving control device, a DC charging socket, and a sample transport vehicle frame. The first power source, the second power source, the power distribution device, the vehicle controller, the multi-function controller, the drive unit, the steering motor pump, the power conversion device, the automatic driving control device, and the DC charging socket are all installed on the sample transport vehicle frame. The second power source is connected to the DC charging socket. The multi-function controller is connected to the first power source, the second power source, the drive unit, the steering motor pump, and the power conversion device. The automatic driving control device is connected to the first power source. The power distribution device is connected to the first power source, the second power source, the vehicle controller, the multi-function controller, the drive unit, and the DC charging socket. The vehicle controller is connected to the second power source, the multi-function controller, the drive unit, the power conversion device, the automatic driving control device, and the DC charging socket.

[0005] The beneficial effects of adopting the technical solution of the present invention are: it enables the sample transport vehicle itself and the vehicle-mounted conveying device to share the same power supply, realize the on-demand conversion and control between DC and AC power and between high-voltage DC and low-voltage DC power, ensure the safety and reliability of the power supply and electrical components, and improve the sample transport efficiency of the automatic sample transport vehicle.

[0006] Furthermore, the all-in-one controller includes: a power distribution device, a DC / AC device, and a DC / DC device for providing DC power to the vehicle's electrical components. The power distribution device is connected to the second power source, the DC / AC device, the DC / DC device, the drive unit, and the power conversion device, respectively. The DC / AC device is connected to the steering motor pump, and the DC / DC device is connected to the first power source.

[0007] The beneficial effects of adopting the above-mentioned further technical solution are: the second power source outputs high-voltage DC power to the power distribution equipment in the multi-in-one controller, and the power distribution equipment distributes the high-voltage DC power to the DC / AC equipment, DC / DC equipment, drive device, and power conversion equipment; the DC / AC equipment outputs high-voltage AC power to the steering motor pump; and the DC / DC equipment provides a stable low-voltage DC power supply to the vehicle's electrical components while charging the first power source.

[0008] Furthermore, the driving device includes an MCU and a drive motor, wherein the MCU is connected to the power distribution equipment and the drive motor respectively.

[0009] The beneficial effect of adopting the above-mentioned further technical solution is that the MCU converts the DC power from the power distribution equipment into AC power and supplies it to the drive motor to drive the motor to run.

[0010] Furthermore, the steering motor pump integrates a temperature sensor, which is connected to the vehicle controller. The power conversion device is a DC / DC device or an inverter device, and the DC charging socket is connected to the power distribution equipment via a diode.

[0011] The advantages of adopting the above-mentioned further technical solution are: the temperature sensor is electrically connected to the vehicle controller to detect the temperature of the steering motor pump, ensuring that the steering motor pump operates within a reasonable temperature range. Power conversion equipment can be flexibly selected according to the power requirements of the on-board conveying device.

[0012] Furthermore, the autonomous driving control device includes: an industrial computer, a sensor, a touch screen, an I / O board, an electrical control box, a wireless communication unit, and a PLC. The industrial computer is connected to the sensor, the touch screen, the I / O board, the electrical control box, the wireless communication unit, and the PLC, respectively. The electrical control box is connected to the sensor, the touch screen, the I / O board, the wireless communication unit, the PLC, and the first power supply, respectively.

[0013] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the industrial control computer is used for storing autonomous driving operation path information, fusion processing of sensor data, precise control of vehicle autonomous driving operation, and communication of operation-related information; sensors collect vehicle position information and heading angle information in real time and upload them to the industrial control computer; the touch screen is used for inputting vehicle autonomous driving control parameters, planning operation paths, displaying operation-related parameter information and fault information, facilitating human-machine interaction; the IO board is used for forwarding and processing input / output signals or CAN signals; the electrical control box receives power from the first power source and is used to provide regulated power supplies of different voltages to the industrial control computer, sensors, touch screen, IO board, wireless communication unit, and PLC; the wireless communication unit is used for wireless network connection between the industrial control computer and vehicle management and dispatching equipment; the PLC is electrically connected to the vehicle-mounted conveyor and charging gate for the action control of the vehicle-mounted conveyor and charging gate.

[0014] Furthermore, the second power source, the steering motor pump, and the power conversion device are located on one side of the prototype vehicle frame, while the first power source, the power distribution device, the vehicle controller, the multi-function controller, and the automatic driving control device are located on the other side of the prototype vehicle frame. The steering motor pump is located in front of the second power source, the power conversion device is located above and behind the second power source, the automatic driving control device is adjacent to the second power source, the multi-function controller is located in front of the vehicle controller, the first power source is located above the multi-function controller, and the power distribution device is located behind the vehicle controller.

[0015] The beneficial effects of adopting the above-mentioned further technical solutions are: the design of the installation positions of each component facilitates the installation and maintenance of each component, simplifies the structure, and makes the prototype vehicle structure compact.

[0016] Furthermore, the prototype vehicle frame is equipped with an on-board conveying device and a charging door, both of which are connected to the automatic driving control device, and the on-board conveying device is connected to the power conversion equipment.

[0017] The beneficial effects of adopting the above-mentioned further technical solution are: the vehicle-mounted conveyor is used for loading and unloading goods; and the charging door is used to automatically open and close the DC charging socket under the control of the automatic driving control device.

[0018] Furthermore, it also includes: an automatic charging device equipped with a robotic arm and an optical recognition device, a DC charging pile, and a vehicle management and dispatching device. The vehicle management and dispatching device is wirelessly connected to the automatic driving control device and the automatic charging device, respectively. The vehicle management and dispatching device is installed in the office area of ​​the automatic sample transport vehicle's usage location. The automatic charging device and the DC charging pile are installed at the automatic sample transport vehicle's charging point. The automatic charging device is connected to the DC charging pile, and the DC charging pile is connected to AC mains power.

[0019] The beneficial effects of adopting the above-mentioned further technical solutions are: the robotic arm device is used for automatic plugging and unplugging of the charging gun; the optical recognition device is used for automatic identification of the charging port position. The vehicle management and dispatching equipment is fixedly placed in the office area where the automated sample transport vehicle is used for dispatching and operating the automated sample transport vehicle. This achieves automated control of high-voltage power supply charging and discharging, improving the sample transport efficiency of the automated sample transport vehicle.

[0020] Furthermore, the input end of the power distribution equipment is connected to the first power source via a power switch, and the output end of the power distribution equipment is connected to a multi-position key switch and a vehicle-mounted remote control device. The first end of the multi-position key switch is connected to the second power source, the vehicle controller, and the drive device, respectively. The second end of the multi-position key switch is connected to the vehicle controller. The vehicle-mounted remote control device is connected to the vehicle controller, and the vehicle-mounted remote control device is wirelessly connected to a handheld remote control device.

[0021] The beneficial effect of adopting the above-mentioned further technical solution is that the handheld end of the remote control device is wirelessly connected to the vehicle-mounted end of the remote control device for manual remote control of the prototype vehicle.

[0022] Furthermore, the present invention also provides an automatic sample transport vehicle power management method, based on the automatic sample transport vehicle power management system described in any one of the above claims, the automatic sample transport vehicle power management method comprising:

[0023] S1. The automatic driving control device sends the first voltage command to the second power source through the vehicle controller;

[0024] S2. The second power source supplies the first DC power to the multi-in-one controller according to the first voltage command;

[0025] S3. The vehicle controller controls the multi-in-one controller to distribute the first DC power to the drive unit and the power conversion equipment, and converts the first DC power into AC power to be delivered to the steering motor pump.

[0026] S4. The automatic driving control device controls the operation of the automatic sample transport vehicle;

[0027] S5. The vehicle controller monitors the remaining power level of the second power source.

[0028] S6. Determine if the remaining battery level is lower than the preset value;

[0029] S7. When the remaining battery level is lower than the preset value, the automatic sample transport vehicle is dispatched to the charging point for automatic charging.

[0030] The beneficial effects of adopting the technical solution of the present invention are: it enables the sample transport vehicle itself and the vehicle-mounted conveying device to share the same power supply, realize the on-demand conversion and control between DC and AC power and between high-voltage DC and low-voltage DC power, ensure the safety and reliability of the power supply and electrical components, and improve the sample transport efficiency of the automatic sample transport vehicle.

[0031] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] Figure 1 This is one of the structural schematic diagrams of the power management system for the automated sample transport vehicle provided in an embodiment of the present invention.

[0033] Figure 2 This is the second schematic diagram of the power management system for the automated sample transport vehicle provided in an embodiment of the present invention.

[0034] Figure 3 This is the third schematic diagram of the power management system for the automated sample transport vehicle provided in an embodiment of the present invention.

[0035] Figure 4 The fourth schematic diagram of the power management system for the automated sample transport vehicle provided in this embodiment of the invention.

[0036] Figure 5 This is a schematic flowchart illustrating the power management method for an automated sample transport vehicle provided in an embodiment of the present invention.

[0037] Reference numerals: 1. Primary power supply; 2. Secondary power supply; 3. Power switch; 4. Power distribution equipment; 5. Multi-position key switch; 6. Vehicle controller; 7. Vehicle-mounted remote control; 8. Handheld remote control; 9. All-in-one controller; 10. Drive unit; 11. Steering motor pump; 12. Power conversion equipment; 13. Automatic driving control device; 14. Vehicle-mounted conveyor device; 15. DC charging socket; 16. Charging gate; 17. Automatic charging device; 18. DC charging pile; 19. Vehicle management and dispatching equipment; 101 101. MCU; 202. Drive motor; 203. Control box; 204. High-voltage junction box; 205. First battery pack; 206. Second battery pack; 97. Power distribution equipment; 98. DC / AC equipment; 99. DC / DC equipment; 110. Temperature sensor; 131. Industrial computer; 132. Sensor; 133. Touch screen; 134. IO board; 135. Electrical control box; 136. Wireless communication unit; 137. PLC; 171. Robotic arm device; 172. Optical recognition device; 20. Sample transport vehicle frame. Detailed Implementation

[0038] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0039] like Figures 1 to 4 As shown, this embodiment of the invention provides an automated sample transport vehicle power management system, including: a first power supply 1, a second power supply 2, a power distribution device 4, a vehicle controller 6, a multi-function controller 9, a drive unit 10, a steering motor pump 11, a power conversion device 12 for supplying power to an onboard conveying device 14, an automatic driving control device 13, a DC charging socket 15, and a sample transport vehicle frame 20. The first power supply 1, the second power supply 2, the power distribution device 4, the vehicle controller 6, the multi-function controller 9, the drive unit 10, the steering motor pump 11, the power conversion device 12, the automatic driving control device 13, and the DC charging socket 15 are all mounted on the sample transport vehicle frame 20. The second power supply 2 is connected to the DC charging socket 15. The multi-function controller 9 is connected to the first power supply 1, the second power supply 2, the drive device 10, the steering motor pump 11, and the power conversion device 12. The autonomous driving control device 13 is connected to the first power supply 1. The power distribution device 4 is connected to the first power supply 1, the second power supply 2, the vehicle controller 6, the multi-function controller 9, the drive device 10, and the DC charging socket 15. The vehicle controller 6 is connected to the second power supply 2, the multi-function controller 9, the drive device 10, the power conversion device 12, the autonomous driving control device 13, and the DC charging socket 15.

[0040] The beneficial effects of adopting the technical solution of the present invention are: it enables the sample transport vehicle itself and the vehicle-mounted conveying device to share the same power supply, realize the on-demand conversion and control between DC and AC power and between high-voltage DC and low-voltage DC power, ensure the safety and reliability of the power supply and electrical components, and improve the sample transport efficiency of the automatic sample transport vehicle.

[0041] This system enables the allocation and management of power supplies shared by the sample transport vehicle and its onboard conveying device. It also allows for on-demand conversion and control between DC and AC power, as well as between high-voltage DC and low-voltage DC power, ensuring the safety and reliability of the power supply and electrical components. Furthermore, it achieves automated control of high-voltage power charging and discharging, improving the sample transport efficiency of the automated sample transport vehicle. Finally, it addresses the issue of unintegrated power charging and discharging management in existing outdoor AGVs used for coal sample transfer.

[0042] 1. It realizes the allocation and management of the power supply shared by the sample transport vehicle and the on-board transport device, and realizes the on-demand conversion and control between DC and AC power and between high-voltage DC and low-voltage DC power, ensuring the safety and reliability of the power supply and electrical components.

[0043] 2. It realizes automated control of high-voltage power supply charging and discharging, and improves the sample transportation efficiency of the automatic sample transport vehicle.

[0044] like Figures 1 to 4 As shown, the all-in-one controller 9 further includes: a power distribution device 91, a DC / AC device 92, and a DC / DC device 93 for providing DC power to the vehicle's electrical components. The power distribution device 91 is connected to the second power source 2, the DC / AC device 92, the DC / DC device 93, the drive device 10, and the power conversion device 12, respectively. The DC / AC device 92 is connected to the steering motor pump 11, and the DC / DC device 93 is connected to the first power source 1.

[0045] The beneficial effects of adopting the above-mentioned further technical solution are: the second power source outputs high-voltage DC power to the power distribution equipment in the multi-in-one controller, and the power distribution equipment distributes the high-voltage DC power to the DC / AC equipment, DC / DC equipment, drive device, and power conversion equipment; the DC / AC equipment outputs high-voltage AC power to the steering motor pump; and the DC / DC equipment provides a stable low-voltage DC power supply to the vehicle's electrical components while charging the first power source.

[0046] like Figures 1 to 4 As shown, the driving device 10 further includes an MCU 101 and a drive motor 102, wherein the MCU 101 is connected to the power distribution equipment 91 and the drive motor 102 respectively.

[0047] The beneficial effect of adopting the above-mentioned further technical solution is that the MCU converts the DC power from the power distribution equipment into AC power and supplies it to the drive motor to drive the motor to run.

[0048] like Figures 1 to 4 As shown, the steering motor pump 11 further integrates a temperature sensor 111, which is connected to the vehicle controller 6. The power conversion device 12 is a DC / DC device or an inverter device, and the DC charging socket 15 is connected to the power distribution device 4 through a diode.

[0049] The advantages of adopting the above-mentioned further technical solution are: the temperature sensor is electrically connected to the vehicle controller to detect the temperature of the steering motor pump, ensuring that the steering motor pump operates within a reasonable temperature range. Power conversion equipment can be flexibly selected according to the power requirements of the on-board conveying device.

[0050] like Figures 1 to 4 As shown, the autonomous driving control device 13 further includes: an industrial computer 131, a sensor 132, a touch screen 133, an I / O board 134, an electrical control box 135, a wireless communication unit 136, and a PLC 137. The industrial computer 131 is connected to the sensor 132, the touch screen 133, the I / O board 134, the electrical control box 135, the wireless communication unit 136, and the PLC 137. The electrical control box 135 is connected to the sensor 132, the touch screen 133, the I / O board 134, the wireless communication unit 136, the PLC 137, and the first power supply 1.

[0051] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the industrial control computer is used for storing autonomous driving operation path information, fusion processing of sensor data, precise control of vehicle autonomous driving operation, and communication of operation-related information; sensors collect vehicle position information and heading angle information in real time and upload them to the industrial control computer; the touch screen is used for inputting vehicle autonomous driving control parameters, planning operation paths, displaying operation-related parameter information and fault information, facilitating human-machine interaction; the IO board is used for forwarding and processing input / output signals or CAN signals; the electrical control box receives power from the first power source and is used to provide regulated power supplies of different voltages to the industrial control computer, sensors, touch screen, IO board, wireless communication unit, and PLC; the wireless communication unit is used for wireless network connection between the industrial control computer and vehicle management and dispatching equipment; the PLC is electrically connected to the vehicle-mounted conveyor and charging gate for the action control of the vehicle-mounted conveyor and charging gate.

[0052] like Figures 1 to 4As shown, the second power supply 2, the steering motor pump 11, and the power conversion device 12 are located on one side of the sample transport vehicle frame 20, while the first power supply 1, the power distribution device 4, the vehicle controller 6, the multi-function controller 9, and the automatic driving control device 13 are located on the other side of the sample transport vehicle frame 20. The steering motor pump 11 is located in front of the second power supply 2, the power conversion device 12 is located above and behind the second power supply 2, the automatic driving control device 13 is adjacent to the second power supply 2, the multi-function controller 9 is located in front of the vehicle controller 6, the first power supply 1 is located above the multi-function controller 9, and the power distribution device 4 is located behind the vehicle controller 6.

[0053] The beneficial effects of adopting the above-mentioned further technical solutions are: the design of the installation positions of each component facilitates the installation and maintenance of each component, simplifies the structure, and makes the prototype vehicle structure compact.

[0054] like Figures 1 to 4 As shown, the sample transport vehicle frame 20 is further provided with an on-board conveying device 14 and a charging door 16. The on-board conveying device 14 and the charging door 16 are both connected to the automatic driving control device 13, and the on-board conveying device 14 is connected to the power conversion device 12.

[0055] The beneficial effects of adopting the above-mentioned further technical solution are: the vehicle-mounted conveyor is used for loading and unloading goods; and the charging door is used to automatically open and close the DC charging socket under the control of the automatic driving control device.

[0056] like Figures 1 to 4 As shown, it further includes: an automatic charging device 17 equipped with a robotic arm device 171 and an optical recognition device 172, a DC charging pile 18, and a vehicle management and dispatching device 19. The vehicle management and dispatching device 19 is wirelessly connected to the automatic driving control device 13 and the automatic charging device 17, respectively. The vehicle management and dispatching device 19 is installed in the office area of ​​the automatic sample transport vehicle's usage location. The automatic charging device 17 and the DC charging pile 18 are installed at the automatic sample transport vehicle's charging point. The automatic charging device 17 is connected to the DC charging pile 18, and the DC charging pile 18 is connected to AC mains power.

[0057] The beneficial effects of adopting the above-mentioned further technical solutions are: the robotic arm device is used for automatic plugging and unplugging of the charging gun; the optical recognition device is used for automatic identification of the charging port position. The vehicle management and dispatching equipment is fixedly placed in the office area where the automated sample transport vehicle is used for dispatching and operating the automated sample transport vehicle. This achieves automated control of high-voltage power supply charging and discharging, improving the sample transport efficiency of the automated sample transport vehicle.

[0058] like Figures 1 to 4As shown, further, the input terminal of the power distribution equipment 4 is connected to the first power supply 1 via a power switch 3, and the output terminal of the power distribution equipment 4 is connected to a multi-position key switch 5 and a remote control vehicle terminal 7. The first terminal of the multi-position key switch 5 is connected to the second power supply 2, the vehicle controller 6, and the drive device 10, respectively. The second terminal of the multi-position key switch 5 is connected to the vehicle controller 6. The remote control vehicle terminal 7 is connected to the vehicle controller 6, and the remote control vehicle terminal 7 is wirelessly connected to a remote control handheld terminal 8.

[0059] The beneficial effect of adopting the above-mentioned further technical solution is that the handheld end of the remote control device is wirelessly connected to the vehicle-mounted end of the remote control device for manual remote control of the prototype vehicle.

[0060] The present invention provides an automatic sample transport vehicle power management system, which can be an integrated power management system for multiple devices of an automatic sample transport vehicle, including a low-voltage power supply (first power supply), a high-voltage power supply (second power supply), a power switch 3, a low-voltage power distribution device (power distribution equipment), a multi-position key switch 5, a vehicle controller 6, a vehicle-mounted remote control device 7, a handheld remote control device 8, a multi-function controller 9, a drive device 10, a steering motor pump 11, a power conversion device 12, an automatic driving control device 13, a vehicle-mounted conveying device 14, a DC charging socket 15, a charging door 16, an automatic charging device 17, a DC charging pile 18, and a vehicle management and dispatching device 19.

[0061] The high-voltage power supply (second power supply) consists of a control box 201, a high-voltage junction box 202, a first battery pack 203, and a second battery pack 204, and the power can be flexibly configured according to needs.

[0062] Low-voltage power distribution equipment (power distribution equipment) consists of relays and fuses.

[0063] The all-in-one controller 9 includes a power distribution device 91, a DC / AC device 92, and a DC / DC device 93. A high-voltage battery (second power source) outputs high-voltage DC power to the power distribution device 91 within the all-in-one controller 9. The power distribution device 91 distributes the high-voltage DC power to the DC / AC device 92, the DC / DC device 93, the drive unit 10, and the power conversion device 12. The DC / AC device 92 outputs high-voltage AC power to the steering motor pump 11. The DC / DC device 93 provides a stable low-voltage DC power supply to the vehicle's electrical components while simultaneously charging the low-voltage power source (first power source).

[0064] The drive unit 10 is integrated with MCU 101 and drive motor 102. MCU 101 converts DC power from power distribution equipment 91 into AC power and supplies it to drive motor 102 to drive the motor to run.

[0065] The steering motor pump 11 integrates a temperature sensor 111, which is electrically connected to the vehicle controller 6 to detect the temperature of the steering motor pump 11 and ensure that the steering motor pump 11 operates within a reasonable temperature range.

[0066] The power conversion device 12 can be a DC / DC device or an inverter device, and can be flexibly selected according to the power requirements of the vehicle-mounted conveyor device 14.

[0067] The autonomous driving control device 13 consists of an industrial computer 131, sensors 132, a touch screen 133, an I / O board 134, an electrical control box 135, a wireless communication unit 136, and a PLC 137. Sensors 132, touch screen 133, I / O board 134, electrical control box 135, wireless communication unit 136, and PLC 137 are connected to the industrial computer 131 via connecting cables. The electrical control box 135 is connected to sensors 132, touch screen 133, I / O board 134, wireless communication unit 136, and PLC 137 via connecting cables. The industrial computer 131 is used for storing autonomous driving path information, fusion processing of sensor data, precise control of vehicle autonomous driving operation, and communication of operation-related information. Sensors 132 collect vehicle position and heading angle information in real time. The data is transmitted to the industrial control computer 131; the touch screen 133 is used for inputting vehicle autonomous driving control parameters, planning the running path, displaying running-related parameter information and fault information, facilitating human-machine interaction; the IO board 134 is used for forwarding and processing input / output signals or CAN signals; the electrical control box 135 receives power from the low-voltage power supply (first power supply) and is used to provide regulated power supplies of different voltages to the industrial control computer 131, sensor 132, touch screen 133, IO board 134, wireless communication unit 136, and PLC 137; the wireless communication unit 136 is used for wireless network connection between the industrial control computer 131 and the vehicle management and dispatching equipment 19; the PLC 137 is electrically connected to the vehicle-mounted conveyor device 14 and the charging gate 16 for the action control of the vehicle-mounted conveyor device 14 and the charging gate 16.

[0068] The DC charging socket 15 is a national standard DC charging socket and is readily available.

[0069] The automatic charging device 17 includes a robotic arm device 171 and an optical recognition device 172. The robotic arm device 171 is used for automatically plugging and unplugging the charging gun; the optical recognition device 172 is used for automatically recognizing the position of the charging port.

[0070] The low-voltage power supply (first power supply), high-voltage power supply (second power supply), power switch 3, low-voltage power distribution equipment (power distribution equipment), multi-position key switch 5, vehicle controller 6, vehicle-mounted remote control device 7, multi-in-one controller 9, drive device 10, steering motor pump 11, power conversion equipment 12, automatic driving control device 13, vehicle-mounted conveying device 14, DC charging socket 15, and charging door 16 are respectively fixedly connected to the sample transport vehicle frame 20 through special brackets.

[0071] The power input terminal of the low-voltage power distribution equipment (power distribution equipment) is electrically connected to the positive terminal of the low-voltage power supply (first power supply) via a wiring harness and power switch 3; the high-voltage power supply (second power supply), the input terminal of the multi-position key switch 5, the vehicle controller 6, the vehicle-mounted terminal of the remote control device 7, the multi-function controller 9, and the drive device 10 are electrically connected to the output terminal of the low-voltage power distribution equipment (power distribution equipment); the ON terminal of the multi-position key switch 5 is electrically connected to the low-voltage power supply (second power supply), the vehicle controller 6, and the drive device 10; the ST terminal of the multi-position key switch 5 is electrically connected to the low-voltage vehicle controller 6; the control output port of the vehicle controller 6 is electrically connected to the low-voltage control input port of the low-voltage power distribution equipment (power distribution equipment); the control output port of the vehicle controller 6 is electrically connected to the low-voltage control input port of the multi-function controller 9; the DC charging socket 15 is electrically connected to the high-voltage and low-voltage terminals of the high-voltage power supply (second power supply); the A+ interface of the DC charging socket 15 is electrically connected to the vehicle controller 6; the A+ interface of the DC charging socket 15 is electrically connected to the low-voltage input terminal of the low-voltage power distribution equipment (power distribution equipment) via a diode.

[0072] The vehicle controller 6 is connected via CAN bus to the high-voltage power supply (second power supply), the vehicle terminal of the remote control device 7, the multi-in-one controller 9, the drive unit 10, the power conversion equipment 12, and the automatic driving control device 13.

[0073] The automatic charging device 17 and the DC charging pile 18 are fixedly installed at the charging point of the automatic sample transport vehicle. The automatic charging device 17 is electrically connected to the DC charging pile 18; the DC charging pile 18 is electrically connected to the AC mains power.

[0074] The multi-function controller 9 is connected to the high-voltage power supply (second power supply) via a high-voltage line; the drive unit 10 is electrically connected to the multi-function controller 9 via a high-voltage line; the steering motor pump 11 is electrically connected to the multi-function controller 9 via a high-voltage line; the input terminal of the power conversion device 12 is electrically connected to the multi-function controller 9 via a high-voltage line; and the output terminal of the power conversion device 12 is electrically connected to the vehicle-mounted conveying device 14.

[0075] The handheld terminal 8 of the remote control device is wirelessly connected to the vehicle-mounted terminal 7 of the remote control device for manual remote control of the prototype vehicle.

[0076] The vehicle management and dispatching equipment 19 is fixedly placed in the office area where the automated sample transport vehicle is used, and is used for the dispatching and operation of the automated sample transport vehicle; the automatic driving control device 13 and the automatic charging device 17 are wirelessly connected to the vehicle management and dispatching equipment 19. This forms the power management system for the automated sample transport vehicle according to this embodiment of the invention.

[0077] The power management system for the automated sample transport vehicle in this embodiment of the invention achieves automated management of high and low voltage power supply charging and discharging through interactive control among multiple devices, including a low-voltage power supply (first power supply), a high-voltage power supply (second power supply), low-voltage power distribution equipment (power distribution equipment), a vehicle controller 6, a multi-function controller 9, a drive device 10, a steering motor pump 11, a power conversion device 12, an automatic driving control device 13, a DC charging socket 15, an automatic charging device 17, a DC charging pile 18, and a vehicle management and dispatching device 19. It also achieves on-demand conversion and control between DC and AC power, as well as between high-voltage DC and low-voltage DC power, and realizes integrated power management of multiple devices in the automated sample transport vehicle, ensuring the safety and reliability of the power supply and electrical components.

[0078] like Figure 5 As shown, in addition, the present invention also provides an automatic sample transport vehicle power management method, based on any one of the above-described automatic sample transport vehicle power management systems, the automatic sample transport vehicle power management method comprising:

[0079] S1. The automatic driving control device 13 sends the first voltage command to the second power supply 2 through the vehicle controller 6.

[0080] S2, the second power supply 2 transmits the first DC power to the multi-in-one controller 9 according to the first voltage command;

[0081] S3, the vehicle controller 6 controls the multi-in-one controller 9 to distribute the first DC power to the drive unit 10 and the power conversion device 12, and converts the first DC power into AC power to be delivered to the steering motor pump 11;

[0082] S4, Automatic driving control device 13 controls the operation of the automatic sample transport vehicle;

[0083] S5, the vehicle controller 6 monitors the remaining power level of the second power source 2;

[0084] S6. Determine if the remaining battery level is lower than the preset value;

[0085] S7. When the remaining battery level is lower than the preset value, the automatic sample transport vehicle is dispatched to the charging point for automatic charging.

[0086] The beneficial effects of adopting the technical solution of the present invention are: it enables the sample transport vehicle itself and the vehicle-mounted conveying device to share the same power supply, realize the on-demand conversion and control between DC and AC power and between high-voltage DC and low-voltage DC power, ensure the safety and reliability of the power supply and electrical components, and improve the sample transport efficiency of the automatic sample transport vehicle.

[0087] An embodiment of the present invention provides a power management method for an automated sample transport vehicle, which can be described as an integrated power management method for multiple devices in an automated sample transport vehicle. Specifically, it includes the following steps:

[0088] a. Close the power switch 3, turn the multi-position key switch 5 to the ON position, and the high-voltage power supply (second power supply), vehicle controller 6, remote control vehicle terminal 7, multi-in-one controller 9, drive unit 10, and automatic driving control unit 13 will start and perform self-test. After passing the self-test, the vehicle controller 6 receives the high-voltage command from the autonomous driving control device 13 and sends the high-voltage command to the high-voltage power supply (second power supply) via the CAN line. Upon receiving the high-voltage command, the high-voltage power supply (second power supply) transmits high-voltage DC power to the multi-function controller 9. The vehicle controller 6 controls the corresponding relays of the power distribution equipment 91 in the multi-function controller 9 to distribute the high-voltage DC power from the high-voltage power supply (second power supply) to the DC / AC device 92, DC / DC device 93, drive device 10, and power conversion device 12. The DC / AC device 92 converts the high-voltage DC power into AC power and transmits it to the steering motor pump 11. The steering motor pump 11 operates in low oil pressure standby mode, preparing for steering. The DC / DC device 93 provides a stable low-voltage DC power supply to the vehicle (prototype vehicle) electrical components while charging the low-voltage power supply (first power supply). The drive device 10 prepares for driving. The power conversion device 12 converts the high-voltage DC power into the power required by the on-board conveyor device 14. During the discharge process, the high-voltage power supply (second power supply), DC / AC device 92, DC / DC device 93, drive unit 10, and power conversion device 12 monitor their own status such as voltage, current, and temperature in real time to ensure the safety and reliability of the power supply and electrical components. In case of an anomaly, the anomaly information is transmitted to the vehicle controller 6 in real time. The vehicle controller 6 performs preliminary power management processing based on the anomaly information level and reports the anomaly information as a fault code to the automatic driving control device 13. The automatic driving control device 13 then reports the anomaly information to the vehicle management and dispatching equipment 19, ensuring timely reporting and processing of anomaly information.

[0089] b. After receiving the dispatching instruction from the vehicle management and dispatching equipment 19, the automatic driving control device 13 controls the automatic transport vehicle to run along the planned path to the loading and unloading point, and then controls the on-board conveying device 14 to operate, so as to realize the automatic loading and unloading of goods.

[0090] c. During the operation of the automated transport vehicle, the automatic driving control device 13 receives the SOC (state of charge, also known as remaining power) data of the high-voltage power supply (second power supply) from the vehicle controller 6 in real time and transmits it back to the vehicle management and dispatching equipment 19. When the vehicle management and dispatching equipment 19 determines that the SOC is lower than the minimum safe value, it dispatches the automated transport vehicle to the charging point. After the automated transport vehicle arrives at the charging point, the automatic driving control device 13 controls the charging gate 16 to open and informs the vehicle management and dispatching equipment 19 that it has arrived at the charging point and is ready for charging. The vehicle management and dispatching equipment 19 informs the automatic charging device 17 that the automated transport vehicle needs to be charged. After the optical recognition device 172 in the automatic charging device 17 identifies the position of the DC charging socket 15, the robotic arm device 171 moves to complete the charging gun insertion action. After the gun is inserted, the high-voltage power supply (second power supply) and the DC charging pile 12 exchange information in real time and realize charging. The DC charging pile converts the AC power from the mains into DC power and delivers it to the high-voltage power supply (second power supply). Meanwhile, the vehicle controller 6 also knows that the automated transport vehicle is charging through a specific connection of the DC charging socket 15. Regardless of how the automated transport vehicle is driven, it cannot be driven, ensuring safety. During charging, the high-voltage power supply (secondary power supply) monitors charging voltage, current, temperature, and other parameters in real time to ensure charging safety. The vehicle management and dispatching equipment 19 also obtains the SOC information of the high-voltage power supply (secondary power supply) in real time. When the SOC reaches 100% (charging complete), it informs the automatic charging device 17 that charging is complete. The robotic arm device 171 then removes the charging gun and informs the vehicle management and dispatching equipment 19. The vehicle management and dispatching equipment 19 then informs the automatic driving control device 13 that the charging gun has been removed. The automatic driving control device 13 then controls the charging gate 16 to close, indicating that charging is complete.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated sample transport vehicle power management system, characterized by, The application relates to an automatic sample delivery vehicle power management system and method. The first power supply (1), the second power supply (2), the power distribution device (4), the vehicle controller (6), the all-in-one controller (9), the driving device (10), the steering motor pump (11), the power conversion device (12) for supplying power to the vehicle-mounted conveying device (14), the automatic driving control device (13), the direct current charging socket (15) and the sample vehicle frame, the first power supply (1), the second power supply (2), the power distribution device (4), the vehicle controller (6), the all-in-one controller (9), the driving device (10), the steering motor pump (11), the power conversion device (12), the automatic driving control device (13), the direct current charging socket (15) are all installed on the sample vehicle frame, the second power supply (2) is connected with the direct current charging socket (15), the all-in-one controller (9) is connected with the first power supply (1), the second power supply (2), the driving device (10), the steering motor pump (11), the power conversion device (12) respectively, the automatic driving control device (13) is connected with the first power supply (1), the power distribution device (4) is connected with the first power supply (1), the second power supply (2), the vehicle controller (6), the all-in-one controller (9), the driving device (10), the direct current charging socket (15) respectively, the vehicle controller (6) is connected with the second power supply (2), the all-in-one controller (9), the driving device (10), the power conversion device (12), the automatic driving control device (13), the direct current charging socket (15) respectively; the all-in-one controller (9) comprises: a power distribution device (91), a DC / AC device (92) and a DC / DC device (93) for providing direct current power supply to vehicle electrical components, the power distribution device (91) is connected with the second power supply (2), the DC / AC device (92), the DC / DC device (93), the driving device (10), the power conversion device (12) respectively, the DC / AC device (92) is connected with the steering motor pump (11), the DC / DC device (93) is connected with the first power supply (1); the steering motor pump (11) is internally integrated with a temperature sensor (111), the temperature sensor (111) is connected with the vehicle controller (6), the power conversion device (12) is a DC / DC device or an inverter device, the direct current charging socket (15) is connected with the power distribution device (4) through a diode;The automatic driving control device (13) comprises an industrial computer (131), a sensor (132), a touch screen (133), an IO board (134), an electric control box (135), a wireless communication unit (136), a PLC (137), the industrial computer (131) is connected with the sensor (132), the touch screen (133), the IO board (134), the electric control box (135), the wireless communication unit (136) and the PLC (137) respectively, and the electric control box (135) is connected with the sensor (132), the touch screen (133), the IO board (134), the wireless communication unit (136), the PLC (137) and the first power supply (1) respectively.

2. The power management system for an automatic sample transport cart of claim 1, wherein, The second power supply (2), the steering motor pump (11) and the power supply conversion device (12) are located on one side of the sample delivery vehicle frame, the first power supply (1), the power distribution device (4), the vehicle controller (6), the all-in-one controller (9) and the automatic driving control device (13) are located on the other side of the sample delivery vehicle frame, the steering motor pump (11) is located in front of the second power supply (2), the power supply conversion device (12) is located above the rear side of the second power supply (2), the automatic driving control device (13) is adjacent to the second power supply (2), the all-in-one controller (9) is located in front of the vehicle controller (6), the first power supply (1) is located above the all-in-one controller (9), and the power distribution device (4) is located on the rear side of the vehicle controller (6).

3. The power management system for an automatic sample transport cart of claim 1, wherein, The sample delivery vehicle frame is provided with a vehicle-mounted conveying device (14) and a charging small door (16), and the vehicle-mounted conveying device (14) and the charging small door (16) are connected with the automatic driving control device (13).

4. The power management system for an automatic sample transport cart of claim 1, wherein, Further comprising:

5. The power management system for an automatic sample carrier according to claim 1, wherein, The automatic charging device (17) is provided with a mechanical arm device (171) and an optical recognition device (172), and a direct-current charging pile (18) and a vehicle management scheduling device (19) are arranged, the vehicle management scheduling device (19) is wirelessly connected with the automatic driving control device (13) and the automatic charging device (17), the vehicle management scheduling device (19) is installed in an office area of an automatic sample delivery vehicle use place, the automatic charging device (17) and the direct-current charging pile (18) are installed at an automatic sample delivery vehicle charging point, the automatic charging device (17) is connected with the direct-current charging pile (18), and the direct-current charging pile (18) is connected with commercial alternating current. The input end of the power distribution device (4) is connected with the first power supply (1) through a power switch (3), the output end of the power distribution device (4) is connected with a multi-gear key switch (5) and a remote control device vehicle-mounted end (7), the first end of the multi-gear key switch (5) is connected with the second power supply (2), the vehicle controller (6) and the driving device (10), the second end of the multi-gear key switch (5) is connected with the vehicle controller (6), the remote control device vehicle-mounted end (7) is connected with the vehicle controller (6), and the remote control device vehicle-mounted end (7) is wirelessly connected with a remote control device handheld end (8).

6. The power management system for an automatic sample transport cart of claim 1, wherein, The automatic sample delivery vehicle power management system and method according to any one of the above claims 1 to 6, 7. An automated sample transport vehicle power management method, characterized by, S1, the automatic driving control device (13) sends a first voltage instruction to the second power supply (2) through the vehicle controller (6). ​ S2, the second power supply (2) delivers the first direct current to the all-in-one controller (9) according to the first voltage instruction; S3, the vehicle controller (6) controls the all-in-one controller (9) to distribute the first direct current to the driving device (10) and the power conversion device (12), and converts the first direct current into alternating current to deliver to the steering motor pump (11); S4, the automatic driving control device (13) controls the automatic sample car to run; S5, the vehicle controller (6) monitors the residual power value of the second power supply (2); S6, whether the residual power value is lower than the preset value is judged; S7, when the residual power value is lower than the preset value, the automatic sample car is dispatched to run to the charging point for automatic charging.

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