AGV Cart and Charging Device and Their Communication Method, Apparatus and Storage Medium

Abstract

The present invention discloses an AGV vehicle, a wireless charging device, and a wireless charging communication method, device, and storage medium thereof. The method includes: when the AGV vehicle has reached the charging area, controlling the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle; when a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, controlling the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself to wirelessly charge the battery of the AGV vehicle. In this solution, by enabling the wireless communication modules between the AGV vehicle and the wireless charging device to communicate through independent channels, communication interference is avoided, which affects the reliability of the wireless charging of the AGV vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV vehicles, and particularly relates to a wireless charging communication method, device and storage medium for an AGV vehicle and a wireless charging device. Background Art

[0002] AGV (Automated Guided Vehicles), usually also known as AGV vehicles, also called unmanned carrier vehicles, automatic guided vehicles, and laser-guided vehicles, refers to a transport vehicle equipped with automatic navigation devices such as electromagnetic or optical devices, capable of traveling along a specified navigation path, and having safety protection and various transfer functions. The remarkable feature of an AGV vehicle is driverless. An automatic guidance system is equipped on the AGV vehicle, which can ensure that the AGV vehicle can automatically travel along a predetermined route without the need for manual pilotage, and automatically transport goods or materials from the starting point to the destination. Another feature of the AGV vehicle is its good flexibility, high degree of automation and high level of intelligence. The traveling path of the AGV vehicle can be flexibly changed according to the requirements of storage locations, production process flows, etc., and the cost of changing the running path is very low compared with traditional conveyor belts and rigid conveyor lines. The AGV vehicle is generally equipped with a loading and unloading mechanism, which can be automatically interfaced with other logistics equipment to realize the full automation of the loading, unloading and handling of goods and materials.

[0003] The AGV vehicle relies on its own battery to provide power and is noiseless and pollution-free during operation. Generally, the traveling path and behavior of the AGV vehicle can be controlled by a computer, or an electromagnetic track can be used to set up its traveling path. The electromagnetic track is pasted on the floor, and the AGV vehicle moves and acts relying on the information brought by the electromagnetic track.

[0004] However, since the AGV cart is powered by a battery and needs to be charged, when some AGV carts are charging, the emergency stop button needs to be pressed down, and the key switch needs to be rotated counterclockwise to turn off the power of the AGV cart. Then, connect the power plug of the charger to the power supply, insert the charging plug of the charger into the charging socket at the rear of the AGV cart, and turn on the power of the charger to charge the AGV cart by wire. When some AGV carts are charging, the power plug is exposed behind the AGV cart, and the AGV cart is allowed to run to the place where the power plug is located for wired charging. This wired charging method requires contact connection before charging. This contact connection charging method is not safe enough because the exposed power plug may pose an electric shock hazard during maintenance. Secondly, when the AGV cart runs to the charging position, it may deviate and cause errors, and it will also cause mechanical damage to the plug. Moreover, its efficiency is not high, and the charging time takes up a large amount of working time. In addition, during the charging process of the AGV cart, the cart needs to run to a designated position and cannot charge while working. The wireless charging cart can be placed at the working and parking position of the cart, so that it can be charged at any time when it stops and goes, and the efficiency is higher.

[0005] In related solutions, when the AGV cart is wirelessly charged, it needs to use wireless communication as the information dissemination means, and the AGV cart also needs to maintain a communication connection during operation. However, in related solutions, wireless communication modules are respectively provided at the AGV cart and the wireless charging device, and the wireless communication module transmits and receives information to the surrounding environment according to a certain fixed frequency band. In the case of a one-to-one connection between the AGV cart and the wireless charging device, the connection of the wireless communication module is stable. However, if there are two or more AGV carts and two or more wireless charging devices, there will be communication interference between different AGV carts and different wireless charging devices, which will affect the reliability of wireless charging between AGV carts through wireless communication.

[0006] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0007] The purpose of the present invention is to provide an AGV cart, a wireless charging device, and a wireless charging communication method, device, and storage medium thereof, so as to solve the problem that when wireless charging is realized between the AGV cart and the wireless charging device through wireless communication via a wireless communication module, if there are other AGV carts and other wireless charging devices, there will be communication interference, which will affect the reliability of wireless charging between the AGV cart and the wireless charging device through wireless communication. The effect is achieved that the wireless communication modules between the AGV cart and the wireless charging device first communicate through a common channel and then through an independent channel, so as to avoid communication interference affecting the reliability of AGV cart wireless charging.

[0008] In a wireless charging communication method for an AGV vehicle provided by the present invention, the AGV vehicle has a receiving end, and the receiving end has a receiving coil, a charging module, and a first wireless communication module; the receiving coil is used to receive the magnetic field signal transmitted by the transmitting coil in the transmitting end of the wireless charging device and induce a voltage; the charging module is used to charge the battery of the AGV vehicle with the voltage generated by the receiving coil when the charging module itself is started; the first wireless communication module is used to communicate with the second wireless communication module of the wireless charging device; the wireless charging communication method of the AGV vehicle includes: when the AGV vehicle has reached the target charging area and the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power, obtaining the voltage generated on the receiving coil of the AGV vehicle; controlling the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle; wherein, the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device includes: a communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through a common channel, and a communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself; when a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, controlling the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself to realize wireless charging of the battery of the AGV vehicle.

[0009] In some embodiments, controlling the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle includes: determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set first voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set first voltage threshold, controlling the first wireless communication module of the AGV vehicle to turn on so that the first wireless communication module of the AGV vehicle operates on a set common channel; controlling the first wireless communication module of the AGV vehicle to send the independent channel code of the AGV vehicle itself through the common channel; after a set time, controlling the first wireless communication module of the AGV vehicle to switch from the common channel to the independent channel of the AGV vehicle for operation; the independent channel of the AGV vehicle is a working channel that matches the independent channel code of the AGV vehicle itself.

[0010] In some embodiments, controlling wireless charging of the battery of the AGV vehicle through communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself includes: controlling the first wireless communication module of the AGV vehicle to send the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle itself; after the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle, when the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV vehicle, determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set second voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set second voltage threshold, controlling the charging module of the AGV vehicle to start to achieve wireless charging of the battery of the AGV vehicle.

[0011] In some embodiments, it further includes: during the process of charging the battery of the AGV vehicle by using the voltage generated by the receiving coil after the charging module of the AGV vehicle is started, determining the power of the battery of the AGV vehicle; according to the power of the battery of the AGV vehicle, determining the adjusted power required for charging the battery of the AGV vehicle; controlling the first wireless communication module of the AGV vehicle to send the adjusted power required for charging the battery of the AGV vehicle through the adjusted power required for charging the battery of the AGV vehicle so that the second wireless communication module of the wireless charging device can receive the adjusted power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle.

[0012] Matched with the above method, on the other hand, the present invention provides a wireless charging communication device for an AGV vehicle. The AGV vehicle has a receiving end, and the receiving end has a receiving coil, a charging module, and a first wireless communication module. The receiving coil is used to receive the magnetic field signal transmitted by the transmitting coil in the transmitting end of the wireless charging device and induce a voltage. The charging module is used to charge the battery of the AGV vehicle with the voltage generated by the receiving coil when the charging module itself is started. The first wireless communication module is used to communicate with the second wireless communication module of the wireless charging device. The wireless charging communication device of the AGV vehicle includes: a first acquisition unit configured to, when the AGV vehicle has reached the target charging area and the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power, acquire the voltage generated on the receiving coil of the AGV vehicle; a first control unit configured to control the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle. Among them, the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device includes: a communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through a common channel, and a communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself. The first control unit is further configured to, when a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, control the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device to communicate through the independent channel of the AGV vehicle itself, so as to realize wireless charging of the battery of the AGV vehicle.

[0013] In some embodiments, the first control unit controls the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle, including: determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set first voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set first voltage threshold, controlling the first wireless communication module of the AGV vehicle to turn on so that the first wireless communication module of the AGV vehicle operates on a set common channel; controlling the first wireless communication module of the AGV vehicle to send the independent channel code of the AGV vehicle itself through the common channel; after a set time, controlling the first wireless communication module of the AGV vehicle to switch from the common channel to the independent channel of the AGV vehicle for operation; the independent channel of the AGV vehicle is a working channel that matches the independent channel code of the AGV vehicle itself.

[0014] In some embodiments, the first control unit controls the wireless charging of the battery of the AGV vehicle through communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, including: controlling the first wireless communication module of the AGV vehicle to send the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle itself; after the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle and the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV vehicle, determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set second voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set second voltage threshold, controlling the charging module of the AGV vehicle to start to achieve wireless charging of the battery of the AGV vehicle.

[0015] In some embodiments, it further includes: the first control unit is further configured to determine the power of the battery of the AGV vehicle during the process of charging the battery of the AGV vehicle by using the voltage generated by the receiving coil after the charging module of the AGV vehicle is started; the first control unit is further configured to determine the adjustment power required for charging the battery of the AGV vehicle according to the power of the battery of the AGV vehicle; the first control unit is further configured to control the first wireless communication module of the AGV vehicle to send the adjustment power required for charging the battery of the AGV vehicle through the adjustment power required for charging the battery of the AGV vehicle, so that the second wireless communication module of the wireless charging device can receive the adjustment power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle.

[0016] Matched with the above device, on the other hand, the present invention provides an AGV vehicle, including: the wireless charging communication device of the AGV vehicle described above.

[0017] Meanwhile, in a wireless charging communication method of a wireless charging device provided by the present invention, the wireless charging device has a transmitting end, and the transmitting end has a transmitting coil, a power adjustment module, and a second wireless communication module; the transmitting coil is used for sending a magnetic field signal to a charging area of the wireless charging device when the wireless charging device is started; the power adjustment module is used for adjusting the power of the magnetic field signal emitted by the transmitting coil; the second wireless communication module is used for communicating with a first wireless communication module of an AGV cart; the wireless charging communication method of the wireless charging device includes: obtaining a load condition in the charging area of the wireless charging device; determining whether there is an AGV cart to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device; if it is determined that there is an AGV cart to be charged in the charging area of the wireless charging device, controlling the transmitting coil of the wireless charging device to send a magnetic field signal at a set first operating power, so that a receiving coil of the AGV cart to be charged in the charging area of the wireless charging device can generate a voltage based on the magnetic field signal; controlling a communication connection to be established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged; wherein, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through a common channel, and a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through an independent channel of the AGV cart to be charged itself; when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, controlling the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged to communicate through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged.

[0018] In some embodiments, establishing a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: controlling the second wireless communication module of the wireless charging device to turn on so that the second wireless communication module of the wireless charging device operates on a set common channel, and receiving the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel; in the case where the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, controlling the second wireless communication module of the wireless charging device to switch from the common channel to the independent channel of the AGV cart to be charged to operate, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

[0019] In some embodiments, realizing wireless charging of the battery of the AGV cart to be charged by communicating between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself includes: controlling the second wireless communication module of the wireless charging device to receive the power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged; in the case where the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart to be charged through the independent channel of the AGV cart to be charged, controlling the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, to realize wireless charging of the battery of the AGV cart to be charged.

[0020] In some embodiments, it further includes: after the transmitting coil of the wireless charging device transmits a magnetic field signal at a power required for charging the battery of the AGV cart to be charged, controlling the second wireless communication module of the wireless charging device to receive, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged, which is transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged; if the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged, which is transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, controlling the transmitting coil of the wireless charging device to adjust the power to transmit the magnetic field signal, so that the transmitting coil of the wireless charging device transmits the magnetic field signal at the adjustment power required for charging the battery of the AGV cart to be charged, so as to realize the adjustment of the charging power of the battery of the AGV cart to be charged.

[0021] Matched with the above method, on the other hand, the present invention provides a wireless charging communication device in a wireless charging device. The wireless charging device has a transmitting end, and the transmitting end has a transmitting coil, a power adjustment module, and a second wireless communication module; the transmitting coil is configured to send a magnetic field signal to the charging area of the wireless charging device when the wireless charging device is started; the power adjustment module is configured to adjust the power of the magnetic field signal transmitted by the transmitting coil; the second wireless communication module is configured to communicate with the first wireless communication module of the AGV cart; the wireless charging communication device of the wireless charging device includes: a second acquisition unit configured to acquire the load condition in the charging area of the wireless charging device; a second control unit configured to determine whether there is an AGV cart to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device; the second control unit is further configured to, if it is determined that there is an AGV cart to be charged in the charging area of the wireless charging device, control the transmitting coil of the wireless charging device to send a magnetic field signal at a set first operating power, so that a receiving coil of the AGV cart to be charged in the charging area of the wireless charging device can generate a voltage based on the magnetic field signal; the second control unit is further configured to control the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged; wherein, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through a common channel, and a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself; the second control unit is further configured to, when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, control the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged to communicate through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged.

[0022] In some embodiments, the second control unit controls the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged, including: controlling the activation of the second wireless communication module of the wireless charging device so that the second wireless communication module of the wireless charging device operates on a set common channel, and receiving the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel; in the case where the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, controlling the second wireless communication module of the wireless charging device to switch from the common channel to the independent channel of the AGV cart to be charged for operation, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

[0023] In some embodiments, the control unit controls the wireless charging of the battery of the AGV cart to be charged by communicating between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, including: controlling the second wireless communication module of the wireless charging device to receive the power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged; in the case where the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart to be charged through the independent channel of the AGV cart to be charged, controlling the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, to achieve wireless charging of the battery of the AGV cart to be charged.

[0024] In some embodiments, it further includes: the second control unit is further configured to, after the transmitting coil of the wireless charging device transmits a magnetic field signal at a power required for charging the battery of the AGV cart to be charged, control the second wireless communication module of the wireless charging device to receive, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged, which is transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged; the second control unit is further configured to, if the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged, which is transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, control the transmitting coil of the wireless charging device to adjust the power to transmit a magnetic field signal, so that the transmitting coil of the wireless charging device transmits a magnetic field signal at the adjustment power required for charging the battery of the AGV cart to be charged, so as to realize the adjustment of the charging amount of the battery of the AGV cart to be charged.

[0025] Matched with the above device, on the other hand, the present invention provides a wireless charging device, including: the wireless charging communication device of the wireless charging device described above.

[0026] Matched with the above method, on the other hand, the present invention provides a storage medium, the storage medium includes a stored program, wherein, when the program runs, it controls the device where the storage medium is located to execute the wireless charging communication method of the AGV cart described above, or, when the program runs, it controls the device where the storage medium is located to execute the wireless charging communication method of the wireless charging device described above.

[0027] Accordingly, in the solution of the present invention, on the side of the wireless charging device, the wireless charging device at the target charging location continuously detects whether an AGV cart enters its charging area. When it detects that an AGV cart enters the charging area of the wireless charging device itself, the wireless charging device itself operates at a set low power, and starts the wireless communication module of the wireless charging device itself to receive information through a common channel. On the side of the AGV cart, after the AGV cart to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at a low power, the AGV cart continuously detects whether the voltage generated on the receiving coil of the AGV cart due to the electromagnetic signal sent by the wireless charging device reaches a set initial voltage threshold. If so, it starts the wireless communication module of the AGV cart to send information carrying the independent channel code of the AGV cart itself through the common channel. After a set time, the wireless communication module of the AGV cart switches from the common channel to the independent channel and sends the required power of the AGV cart on the independent channel. On the side of the wireless charging device, after receiving the independent channel code of the AGV cart, the wireless communication module of the wireless charging device switches from the common channel to the independent channel. After receiving the required power of the corresponding AGV cart through the independent channel, it increases the operating frequency of the wireless charging device itself and operates according to the required power of the AGV cart. On the side of the AGV cart, the AGV cart continuously detects the voltage of its own receiving coil until it is greater than a set working voltage threshold, and then starts the charging circuit of the AGV cart itself to charge the battery of the AGV cart itself. After the power of the battery of the AGV cart itself reaches a set power threshold, the AGV cart sends information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV cart exits the independent frequency and switches to the common channel, and the wireless charging device corresponding to the AGV cart also exits the independent frequency and switches to the common channel. Thus, the wireless charging communication of the AGV cart is completed. Therefore, by enabling the wireless communication modules between the AGV cart and the wireless charging device to communicate through the common channel first and then through the independent channel, communication interference is avoided, which affects the reliability of the wireless charging of the AGV cart.

[0028] Other features and advantages of the present invention will be described in the following specification, and will be partially obvious from the specification, or understood by implementing the present invention.

[0029] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0030] Figure 1 It is a schematic flowchart of an embodiment of the wireless charging communication method for an AGV cart of the present invention;

[0031] Figure 2 Schematic flow chart of an embodiment for establishing a communication connection between the first wireless communication module controlling the AGV cart and the second wireless communication module of the wireless charging device in the method of the present invention;

[0032] Figure 3 Schematic flow chart of an embodiment for communicating through the independent channel of the AGV cart itself between the first wireless communication module controlling the AGV cart and the second wireless communication module of the wireless charging device in the method of the present invention;

[0033] Figure 4 Schematic flow chart of an embodiment for controlling the charging power of the battery of the AGV cart in the method of the present invention;

[0034] Figure 5 Schematic structural diagram of an embodiment of the wireless charging communication device of the AGV cart of the present invention;

[0035] Figure 6 Schematic flow chart of an embodiment of the wireless charging communication method of the wireless charging device of the present invention;

[0036] Figure 7 Schematic flow chart of an embodiment for establishing a communication connection between the second wireless communication module controlling the wireless charging device and the first wireless communication module of the AGV cart to be charged in the method of the present invention;

[0037] Figure 8 Schematic flow chart of an embodiment for communicating through the independent channel of the AGV cart to be charged itself between the second wireless communication module controlling the wireless charging device and the first wireless communication module of the AGV cart to be charged in the method of the present invention;

[0038] Figure 9 Schematic flow chart of an embodiment for adjusting the power of the transmitting coil according to the charging power of the battery of the AGV cart to be charged in the method of the present invention;

[0039] Figure 10 Schematic structural diagram of an embodiment of the wireless charging communication device of the wireless charging device of the present invention;

[0040] Figure 11 Schematic flow chart of an embodiment of a wireless charging communication method for an AGV cart, specifically a schematic flow chart of the identification workflow in the case of one AGV cart to multiple;

[0041] Figure 12 Schematic structural diagram of an embodiment of the overall system of the AGV cart and the wireless charging device.

[0042] In combination with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0043] 102 - First acquisition unit; 104 - First control unit; 202 - Second acquisition unit; 204 - Second control unit. Detailed implementation manners

[0044] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0045] Considering that when wireless charging is realized between an AGV cart and a wireless charging device through wireless communication via a wireless communication module, if there are other AGV carts and other wireless charging devices, communication interference will occur, affecting the reliability of wireless charging between the AGV cart and the wireless charging device through wireless communication. And the AGV cart should not be positionally bound to the wireless charging device. Therefore, the AGV cart needs to accurately find its corresponding wireless charging device among the wireless communications of many wireless charging devices.

[0046] In addition, in the AGV cart wireless charging system, the communication between the primary side (transmitting end) and the secondary side (charging end and receiving end) is realized through a half-duplex wireless communication module. This half-duplex wireless communication module is not a full-duplex communication method and cannot enable both parties to shake hands only through communication. Moreover, this half-duplex wireless communication module sends data into space and cannot independently select the object and information for receiving data, that is, it cannot select the receiving object, nor can it make the data content received by different objects different. Therefore, the solution of the present invention provides a wireless charging communication method for an AGV cart. Taking the wireless charging device as the primary side and the AGV cart as the secondary side, in the case of multiple primary sides and multiple secondary sides, it simplifies the communication process between the primary side and the secondary side, shortens the charging preparation time, enables the one-way communication AGV cart to achieve correct communication handshake, and does not cause communication interference to other primary sides and secondary sides, improving the reliability of wireless charging between the AGV cart and the wireless charging device through wireless communication.

[0047] According to an embodiment of the present invention, a wireless charging communication method for an AGV cart is provided, as Figure 1Schematic flow chart of an embodiment of the method of the present invention. The AGV cart has a receiving end, and the receiving end has a receiving coil, a charging module, and a first wireless communication module. The charging module is, for example, a charging circuit, and the first wireless communication module is a wireless communication module on the AGV cart side. The receiving coil is used to receive the magnetic field signal transmitted by the transmitting coil in the transmitting end of the wireless charging device and induce a voltage. The charging module is used to charge the battery of the AGV cart using the voltage generated by the receiving coil when the charging module itself is activated. The first wireless communication module is used to communicate with the second wireless communication module of the wireless charging device. The wireless charging communication method of the AGV cart includes steps S110 to S130.

[0048] In step S110, as the AGV cart to be charged, when the AGV cart has reached the target charging area and the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power, obtain the voltage generated on the receiving coil of the AGV cart, so as to obtain the voltage generated on the receiving coil of the AGV cart when the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at the set first operating power.

[0049] In step S120, according to the voltage generated on the receiving coil of the AGV cart, control the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device. Among them, the communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device includes: a communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device through a common channel, and a communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device through the independent channel of the AGV cart itself.

[0050] In some embodiments, for the specific process of controlling the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device in step S120 according to the voltage generated on the receiving coil of the AGV cart, refer to the following exemplary description.

[0051] The following combines Figure 2 Schematic flow chart of an embodiment of controlling the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device in the method of the present invention, and further illustrate the specific process of controlling the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device in step S120, including steps S210 to S240.

[0052] Step S210: Determine whether the voltage generated on the receiving coil of the AGV cart is greater than a set first voltage threshold, so as to determine whether the voltage generated on the receiving coil of the AGV cart is greater than the set first voltage threshold when the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power.

[0053] Step S220: If it is determined that the voltage generated on the receiving coil of the AGV cart is greater than the set first voltage threshold, then control the first wireless communication module of the AGV cart to turn on, so that when the first wireless communication module of the AGV cart is turned on, the first wireless communication module of the AGV cart operates on a set common channel. When the first wireless communication module of the AGV cart operates on the set common channel, the first wireless communication module of the AGV cart can communicate with the second wireless communication module of the wireless communication device on the common channel.

[0054] Step S230: When the first wireless communication module of the AGV cart operates on the set common channel, control the first wireless communication module of the AGV cart to send the independent channel code of the AGV cart itself through the common channel, so that when the second wireless communication module of the wireless charging device is started, the second wireless communication module of the wireless charging device can receive the independent channel code of the AGV cart itself through the common channel. When the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart itself through the common channel, the second wireless communication module of the wireless charging device switches from the common frequency to the independent channel of the AGV cart to work.

[0055] Step S240: After a set time, that is, after the first wireless communication module of the AGV cart continuously sends the independent channel code of the AGV cart itself through the common channel for a set time, control the first wireless communication module of the AGV cart to switch from the common channel to the independent channel of the AGV cart to work. The independent channel of the AGV cart is a working channel that matches the independent channel code of the AGV cart itself, and the independent channel of the AGV cart is different from the common channel. For example: the common channel is channel code 0x0001, and the secondary side of the AGV cart takes the last 4 bits according to the 16 - bit independent code 0F653B0A of the main control chip, that is, 0x3B0A. The wireless communication module switches to the independent channel according to this independent channel code.

[0056] Specifically, Figure 11 It is a schematic flowchart of an embodiment of a wireless charging communication method for an AGV cart, specifically a schematic flowchart of the identification work process in the case of one AGV cart with multiple charging devices. As Figure 11As shown, the recognition workflow of an AGV vehicle in a one-to-many scenario includes the recognition workflow of the AGV vehicle, i.e., the secondary side. As Figure 11 shown, as the receiver of power transmission, in the one-to-many scenario of an AGV vehicle (i.e., when one secondary side corresponds to two or more primary sides), the recognition workflow of the secondary side includes:

[0057] Step 21: When the AGV vehicle arrives at the designated charging location in the charging area of a wireless charging device, the secondary side will continuously detect the voltage induced on the secondary receiving coil due to the electromagnetic signal generated by the primary transmitting coil in the standby state, and then proceed to Step 22.

[0058] Step 22: The secondary side determines whether the voltage generated on the secondary receiving coil is greater than the set first voltage threshold (such as the initial voltage threshold): If the voltage generated on the secondary receiving coil is less than or equal to the initial voltage threshold, return to Step 21 to enable the secondary side to continue standby. If the voltage generated on the secondary receiving coil is greater than the initial voltage threshold, it indicates that the primary side has detected the presence of this secondary side, that is, the primary side has detected this load in its own charging area and is operating at low power. At this time, the secondary side proceeds to Step 23.

[0059] Step 23: The secondary side activates its wireless communication module. After activating the wireless communication module of the secondary side, it uses the wireless communication module to send the information of its own independent channel code to the surrounding space of the secondary side through a pre-set common communication channel. Here, the common communication channel is the channel through which this secondary side can communicate with any primary side within the set communication range. The independent channel code is a channel code carrying the identity information of this secondary side, and the identity information of this secondary side is unique.

[0060] Among them, after the secondary side recognizes that the voltage is greater than the initial voltage threshold, it will activate the wireless communication module, access the common channel, and continuously send the information of its own independent channel code for 5s. The information of the independent channel code of this secondary side includes the independent channel code of this secondary side (i.e., the encoding of the independent channel of this secondary side). This independent channel encoding is unique and unchangeable, and its function is to enable the wireless communication module to enter the dedicated communication channel after recognition.

[0061] During the process of the secondary side sending the information of its own independent channel code to the peripheral space of the secondary side through a pre-set common communication channel, other standby primary sides cannot detect the load of the secondary side, and other standby secondary sides cannot detect the voltage generated on their own receiving coils, and their respective wireless communication modules will not be activated. Specifically, referring to step 21, the trolley has reached the wireless charging equipment area, that is, it has reached a certain primary side charging position. Other standby primary sides are continuously detecting the load, but the detection range of the load is very small, and it can only be detected when the trolley is at the primary side. Therefore, when the trolley is at a certain primary side charging position, other standby primary sides cannot detect the load. At this time, other trolleys not at the primary side charging position will not send their own data into the space because they have not detected the voltage on their own coils. Moreover, other working devices are transmitting data in their respective independent channels, so the products operating in the common channel will not interfere with their communications.

[0062] At step S130, when a communication connection is established between the first wireless communication module of the AGV trolley and the second wireless communication module of the wireless charging equipment through the independent channel of the AGV trolley itself, control the first wireless communication module of the AGV trolley and the second wireless communication module of the wireless charging equipment to communicate through the independent channel of the AGV trolley itself, so as to realize wireless charging of the battery of the AGV trolley.

[0063] A wireless charging communication method for an AGV trolley provided by the solution of the present invention simplifies the communication process between the primary side and the secondary side, shortens the charging preparation time, and enables the unidirectional communication AGV trolley to achieve correct communication handshake and not cause communication interference to other primary sides and secondary sides in the case of multiple primary sides and multiple secondary sides, so that the AGV trolley during charging is in a stable communication state, and improves the reliability of wireless charging between the AGV trolley and the wireless charging equipment by means of wireless communication. Among them, the charging preparation time refers to the preparation time between when the AGV trolley stops at the charging place and starts charging. Since the communication process between the primary side and the secondary side is unidirectional communication and does not require two-way communication, the communication process is simplified and the time is shortened.

[0064] In some embodiments, the specific process of controlling the first wireless communication module of the AGV trolley and the second wireless communication module of the wireless charging equipment to communicate through the independent channel of the AGV trolley itself at step S130 to realize wireless charging of the battery of the AGV trolley is shown in the following exemplary description.

[0065] The following is combined with Figure 3Schematic diagram of an embodiment of the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle in the method of the present invention, further illustrating the specific process of the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle in step S130, including: step S310 to step S330.

[0066] Step S310, control the first wireless communication module of the AGV vehicle to send the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle itself, so that when the second wireless communication module of the wireless charging device switches from the common frequency to work on the independent channel of the AGV vehicle, the second wireless communication module of the wireless charging device can receive the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle.

[0067] Step S320, after the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle, when the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV vehicle, continue to obtain the voltage generated on the receiving coil of the AGV vehicle, and determine whether the voltage generated on the receiving coil of the AGV vehicle is greater than the set second voltage threshold, where the power required for charging the battery of the AGV vehicle is greater than the first operating power.

[0068] Step S330, if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set second voltage threshold, control the charging module of the AGV vehicle to start, so that when the charging module itself starts, use the voltage generated by the receiving coil to charge the battery of the AGV vehicle, realizing wireless charging of the battery of the AGV vehicle.

[0069] Specifically, as Figure 11 shown, as the receiver of power transmission, in the case of one AGV vehicle with multiple (i.e., two or more primary sides corresponding to one secondary side), the identification workflow of the secondary side further includes:

[0070] Step 24, in step 23, after the secondary side continuously sends the information of its own independent channel code on the common channel for 5 s, the secondary side itself will automatically access the independent channel and continuously send power requirements through the independent channel.

[0071] Step 25, in step 24, after the secondary side continuously sends power requirements through the independent channel, the secondary side continuously detects the voltage generated on the secondary side receiving coil, and then executes step 26.

[0072] Step 26: The secondary side determines whether the voltage generated on the secondary receiving coil is greater than a set second voltage threshold (such as the operating voltage threshold). If the voltage generated on the secondary receiving coil is less than or equal to the operating voltage threshold, return to Step 25 to continue detecting the voltage generated on the secondary receiving coil. If the voltage generated on the secondary receiving coil is greater than the operating voltage threshold, the secondary side turns on the charging circuit on the secondary side to charge the battery on the secondary side through the charging circuit on the secondary side, and then execute Step 27. In this way, after the secondary side detects that the voltage generated on the secondary receiving coil is greater than the operating voltage threshold, the secondary side changes its own working state and sends its own working state to the primary side.

[0073] In some embodiments, the wireless charging communication method of the AGV vehicle according to the solution of the present invention is characterized in that it further includes: a process of controlling the charging power of the battery of the AGV vehicle.

[0074] The following combines Figure 4 A schematic flowchart of an embodiment of controlling the charging power of the battery of the AGV vehicle in the method of the present invention shown below further illustrates the specific process of controlling the charging power of the battery of the AGV vehicle, including: Step S410 to Step S430.

[0075] Step S410: During the process of charging the battery of the AGV vehicle by using the voltage generated by the receiving coil after the charging module of the AGV vehicle is started, determine the power of the battery of the AGV vehicle.

[0076] Step S420: According to the power of the battery of the AGV vehicle, determine the adjustment power required for charging the battery of the AGV vehicle.

[0077] Step S430: Control the first wireless communication module of the AGV vehicle to send the adjustment power required for charging the battery of the AGV vehicle through the adjustment power required for charging the battery of the AGV vehicle, so that the second wireless communication module of the wireless charging device can receive the adjustment power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle.

[0078] As Figure 11As shown, through the identification workflow on the secondary side and the identification workflow on the primary side, the secondary side and the primary side complete the handshake between the two parties. At this time, the primary side receives the power demand transmitted from the secondary side to the primary side on the independent channel, and regulates the current according to the power demand. The other working primary sides and secondary sides will not affect this independent channel, achieving stable communication and ensuring the reliability of the wireless charging system formed between this secondary side and this primary side. Of course, after the battery power of the secondary side reaches the set power threshold, the secondary side will feedback to the primary side, and then the communication between the secondary side and the primary side is disconnected, and their respective wireless communication modules return to the common channel.

[0079] Adopting the technical solution of this embodiment, on the wireless charging device side, the wireless charging device at the target charging location continuously detects whether an AGV cart enters its charging area. When it detects that an AGV cart enters the charging area of this wireless charging device itself, this wireless charging device itself operates at a set low power and starts its own wireless communication module to receive information through the common channel. On the AGV cart side, after the AGV cart to be charged reaches the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at low power, this AGV cart continuously detects whether the voltage generated on the receiving coil of this AGV cart due to the electromagnetic signal sent by the wireless charging device reaches the set initial voltage threshold: if so, it starts the wireless communication module of this AGV cart to send information carrying the independent channel code of this AGV cart itself through the common channel. After a set time, the wireless communication module of this AGV cart switches from the common channel to the independent channel and sends the required power of this AGV cart on the independent channel. On the wireless charging device side, after this wireless charging device receives the independent channel code of this AGV cart, it switches the wireless communication module of this wireless charging device from the common channel to the independent channel. After receiving the required power of the corresponding AGV cart through this independent channel, it increases the operating frequency of this wireless charging device itself and operates according to the required power of this AGV cart. On the AGV cart side, this AGV cart continuously detects the voltage of its own receiving coil until it is greater than the set working voltage threshold, and then starts the charging circuit of this AGV cart to charge the battery of this AGV cart itself. After the battery power of this AGV cart itself reaches the set power threshold, this AGV cart sends information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of this AGV cart exits the independent frequency and switches to the common channel, and the wireless charging device corresponding to this AGV cart also exits the independent frequency and switches to the common channel. Thus, the wireless charging communication of this AGV cart is completed. Therefore, by enabling the wireless communication modules between the AGV cart and the wireless charging device to communicate through the common channel first and then through the independent channel, communication interference is avoided, which affects the reliability of the AGV cart's wireless charging.

[0080] According to an embodiment of the present invention, there is also provided a wireless charging communication device for an AGV cart corresponding to the wireless charging communication method of the AGV cart. Refer to Figure 5 the structural schematic diagram of an embodiment of the device of the present invention shown. The AGV cart has a receiving end, and the receiving end has a receiving coil, a charging module, and a first wireless communication module. The charging module is, for example, a charging circuit, and the first wireless communication module is a wireless communication module on the AGV cart side. The receiving coil is used to receive the magnetic field signal transmitted by the transmitting coil in the transmitting end of the wireless charging device and induce a voltage. The charging module is used to charge the battery of the AGV cart by using the voltage generated by the receiving coil when the charging module starts itself. The first wireless communication module is used to communicate with the second wireless communication module of the wireless charging device. The wireless charging communication device of the AGV cart includes: a first obtaining unit 102 and a first control unit 104.

[0081] Among them, the first obtaining unit 102 is configured to, as the AGV cart to be charged, when the AGV cart has reached the target charging area and the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power, obtain the voltage generated on the receiving coil of the AGV cart, so as to obtain the voltage generated on the receiving coil of the AGV cart when the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at the set first operating power. The specific functions and processing of the first obtaining unit 102 are referred to step S110.

[0082] The first control unit 104 is configured to control the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV cart. Among them, the communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device includes: the communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device through a common channel, and the communication connection established between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device through the independent channel of the AGV cart itself. The specific functions and processing of the first control unit 104 are referred to step S120.

[0083] In some embodiments, the first control unit 104 controls the establishment of a communication connection between the first wireless communication module of the AGV cart and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV cart, including:

[0084] The first control unit 104 is further specifically configured to determine whether the voltage generated on the receiving coil of the AGV cart is greater than a set first voltage threshold, so as to determine whether the voltage generated on the receiving coil of the AGV cart is greater than the set first voltage threshold when the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power. For the specific functions and processing of this first control unit 104, refer to step S210 for details.

[0085] The first control unit 104 is further specifically configured to, if it is determined that the voltage generated on the receiving coil of the AGV cart is greater than the set first voltage threshold, control the first wireless communication module of the AGV cart to be turned on, so that when the first wireless communication module of the AGV cart is turned on, the first wireless communication module of the AGV cart operates on a set common channel. When the first wireless communication module of the AGV cart operates on the set common channel, the first wireless communication module of the AGV cart can communicate with the second wireless communication module of the wireless communication device on the common channel. For the specific functions and processing of this first control unit 104, refer to step S220 for details.

[0086] The first control unit 104 is further specifically configured to, when the first wireless communication module of the AGV cart operates on the set common channel, control the first wireless communication module of the AGV cart to send the independent channel code of the AGV cart itself through the common channel, so that when the second wireless communication module of the wireless charging device is started, the second wireless communication module of the wireless charging device can receive the independent channel code of the AGV cart itself through the common channel. When the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart itself through the common channel, the second wireless communication module of the wireless charging device switches from the common frequency to the independent channel of the AGV cart to work. For the specific functions and processing of this first control unit 104, refer to step S230 for details.

[0087] The first control unit 104 is further specifically configured to, after a set time, that is, after the first wireless communication module of the AGV cart continuously sends the independent channel code of the AGV cart itself through the common channel for the set time, control the first wireless communication module of the AGV cart to switch from the common channel to the independent channel of the AGV cart to work. The independent channel of the AGV cart is a working channel that matches the independent channel code of the AGV cart itself and is different from the common channel. For the specific functions and processing of this first control unit 104, refer to step S240 for details.

[0088] Specifically, Figure 11It is a schematic flowchart of an embodiment of a wireless charging communication device for an AGV cart, specifically a schematic flowchart of the identification workflow in the case of one AGV cart corresponding to multiple (charging stations). As Figure 11 shown, the identification workflow in the case of one AGV cart corresponding to multiple (charging stations) includes the identification workflow of the AGV cart, i.e., the secondary side. As Figure 11 shown, as the receiver of power transmission, in the case of one AGV cart corresponding to multiple (charging stations) (i.e., when one secondary side corresponds to two or more primary sides), the identification workflow of the secondary side includes:

[0089] Step 21: When the AGV cart arrives at a designated charging location in the charging area of a wireless charging device, the secondary side will continuously detect the voltage induced on the secondary receiving coil due to the electromagnetic signal generated by the primary transmitting coil in the standby state, and then execute Step 22.

[0090] Step 22: The secondary side determines whether the voltage generated on the secondary receiving coil is greater than a set first voltage threshold (such as the initial voltage threshold): If the voltage generated on the secondary receiving coil is less than or equal to the initial voltage threshold, it returns to Step 21 to enable the secondary side to continue standby. If the voltage generated on the secondary receiving coil is greater than the initial voltage threshold, it indicates that the primary side has detected the presence of this secondary side, that is, the primary side has detected this load in its own charging area and is operating at low power. At this time, the secondary side executes Step 23.

[0091] Step 23: The secondary side turns on the wireless communication module of the secondary side, and after turning on the wireless communication module of the secondary side, uses the wireless communication module to send the information of the independent channel code of the secondary side itself to the surrounding space of the secondary side through a pre-set common communication channel. Here, the common communication channel is a channel through which this secondary side can communicate with any primary side within the set communication range. The independent channel code is a channel code carrying the identity information of this secondary side, and the identity information of this secondary side is unique.

[0092] Among them, after the secondary side identifies that the voltage is greater than the initial voltage threshold, it will turn on the wireless communication module, access the common channel, and continuously send the information of the independent channel code of the secondary side itself for 5 s. The information of the independent channel code of the secondary side itself includes the independent channel code of the secondary side itself (i.e., the encoding of the independent channel of the secondary side itself). This independent channel encoding is unique and cannot be changed. Its function is to enable the wireless communication module to enter a dedicated communication channel after recognition.

[0093] During the process of the secondary side sending information about its own independent channel code to the peripheral space of the secondary side through a pre-set common communication channel, other standby primary sides cannot detect the load of the secondary side, and other standby secondary sides cannot detect the voltage generated on their own receiving coils, and neither will activate their respective wireless communication modules. Moreover, since other working devices transmit data in their respective independent channels, products operating in the common channel will not cause communication interference with them.

[0094] The first control unit 104 is further configured to, when a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, control the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, so as to realize wireless charging of the battery of the AGV vehicle. For the specific functions and processing of this first control unit 104, refer to step S130.

[0095] A wireless charging communication device for an AGV vehicle provided by the solution of the present invention simplifies the communication process between the primary side and the secondary side, shortens the charging preparation time in the case of multiple primary sides and multiple secondary sides, and enables the one-way communication AGV vehicle to achieve correct communication handshakes and not cause communication interference to other primary sides and secondary sides, so that the AGV vehicle during charging is in a stable communication state, and improves the reliability of wireless charging between the AGV vehicle and the wireless charging device by means of wireless communication. Among them, the charging preparation time is the preparation time between the AGV vehicle stopping at the charging place and starting to charge. Since the communication process between the primary side and the secondary side is one-way communication and does not require two-way communication, the communication process is simplified and the time is shortened.

[0096] In some embodiments, the first control unit 104 controls the communication between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself to realize wireless charging of the battery of the AGV vehicle, including:

[0097] The first control unit 104 is specifically further configured to control the first wireless communication module of the AGV vehicle to send the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle itself, so that when the second wireless communication module of the wireless charging device switches from the common frequency to work in the independent channel of the AGV vehicle, the second wireless communication module of the wireless charging device can receive the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle. For the specific functions and processing of this first control unit 104, refer to step S310.

[0098] The first control unit 104 is specifically further configured to continue to obtain the voltage generated on the receiving coil of the AGV cart when the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart through the independent channel of the AGV cart, and the transmitting coil of the wireless charging device transmits a magnetic field signal according to the power required for charging the battery of the AGV cart. The power required for charging the battery of the AGV cart is greater than the first operating power, and it is determined whether the voltage generated on the receiving coil of the AGV cart is greater than a set second voltage threshold. For the specific functions and processes of this first control unit 104, refer to step S320 for details.

[0099] The first control unit 104 is specifically further configured to, if it is determined that the voltage generated on the receiving coil of the AGV cart is greater than the set second voltage threshold, control the charging module of the AGV cart to start, so that when the charging module starts itself, the voltage generated by the receiving coil is used to charge the battery of the AGV cart, thereby realizing wireless charging of the battery of the AGV cart. For the specific functions and processes of this first control unit 104, refer to step S330 for details.

[0100] Specifically, as Figure 11 shown, as the receiver of power transmission, in the case of one-to-many of the AGV cart (that is, when one secondary side corresponds to two or more primary sides), the identification workflow of the secondary side further includes:

[0101] Step 24: In step 23, after the secondary side continuously sends the information of its own independent channel code on the common channel for 5 s, the secondary side itself will automatically access the independent channel and continuously send power requirements through the independent channel.

[0102] Step 25: After the secondary side continuously sends power requirements through the independent channel in step 24, the secondary side continuously detects the voltage generated on the secondary side receiving coil, and then executes step 26.

[0103] Step 26: The secondary side determines whether the voltage generated on the secondary side receiving coil is greater than a set second voltage threshold (such as the operating voltage threshold): If the voltage generated on the secondary side receiving coil is less than or equal to the operating voltage threshold, return to step 25 to continue detecting the voltage generated on the secondary side receiving coil. If the voltage generated on the secondary side receiving coil is greater than the operating voltage threshold, the secondary side turns on the charging circuit of the secondary side to charge the battery of the secondary side through the charging circuit of the secondary side, and then executes step 27. In this way, after the secondary side detects that the voltage generated on the secondary side receiving coil is greater than the operating voltage threshold, the secondary side changes its own working state and sends its own working state to the primary side.

[0104] In some embodiments, the wireless charging communication device of the AGV vehicle according to the solution of the present invention further includes a process of controlling the charging power of the battery of the AGV vehicle, which is specifically as follows:

[0105] The first control unit 104 is further configured to determine the power of the battery of the AGV vehicle during the process of charging the battery of the AGV vehicle with the voltage generated by the receiving coil after the charging module of the AGV vehicle is started. For the specific functions and processes of the first control unit 104, please also refer to step S410.

[0106] The first control unit 104 is further configured to determine the adjustment power required for charging the battery of the AGV vehicle according to the power of the battery of the AGV vehicle. For the specific functions and processes of the first control unit 104, please also refer to step S420.

[0107] The first control unit 104 is further configured to control the first wireless communication module of the AGV vehicle to send the adjustment power required for charging the battery of the AGV vehicle through the adjustment power required for charging the battery of the AGV vehicle, so that the second wireless communication module of the wireless charging device can receive the adjustment power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle. For the specific functions and processes of the first control unit 104, please also refer to step S430.

[0108] As Figure 11 shown, through the identification workflow of the secondary side and the identification workflow of the primary side, the secondary side and the primary side complete the handshake of both parties. At this time, the primary side receives the power demand transmitted from the secondary side to the primary side on the independent channel and regulates the current according to the power demand. The primary side and the secondary side in other operations will not affect this independent channel, realizing stable communication and ensuring the reliability of the wireless charging system formed between the secondary side and the primary side. Of course, after the power of the battery of the secondary side reaches the set power threshold, the secondary side will feedback to the primary side, and then the communication between the secondary side and the primary side will be disconnected, and their respective wireless communication modules will return to the common channel.

[0109] Since the processes and functions implemented by the device in this embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, for the details not described in the description of this embodiment, reference can be made to the relevant descriptions in the foregoing embodiments and will not be repeated here.

[0110] Adopting the technical solution of the present invention, on the side of the wireless charging device, the wireless charging device at the target charging location continuously detects whether an AGV cart enters its charging area. When it detects that an AGV cart enters the charging area of the wireless charging device itself, the wireless charging device itself operates at a set low power, and starts the wireless communication module of the wireless charging device itself to receive information through a public channel. On the side of the AGV cart, after the AGV cart to be charged reaches the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at a low power, the AGV cart continuously detects whether the voltage generated on the receiving coil of the AGV cart due to the electromagnetic signal sent by the wireless charging device reaches a set initial voltage threshold: if so, it starts the wireless communication module of the AGV cart to send information carrying the independent channel code of the AGV cart itself through the public channel. After a set time, the wireless communication module of the AGV cart switches from the public channel to the independent channel, and sends the required power of the AGV cart under the independent channel. On the side of the wireless charging device, after receiving the independent channel code of the AGV cart, the wireless communication module of the wireless charging device switches from the public channel to the independent channel. After receiving the required power of the corresponding AGV cart through the independent channel, it increases the operating frequency of the wireless charging device itself and operates according to the required power of the AGV cart. On the side of the AGV cart, the AGV cart continuously detects the voltage of its own receiving coil until it is greater than a set working voltage threshold, and then starts the charging circuit of the AGV cart itself to charge the battery of the AGV cart itself. After the power of the battery of the AGV cart itself reaches a set power threshold, the AGV cart sends information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV cart exits the independent frequency and switches to the public channel, and the corresponding wireless charging device of the AGV cart also exits the independent frequency and switches to the public channel. Thus, the wireless charging communication of the AGV cart is completed, solving the problem of cross-error handshakes, interfering with other charging AGV carts and wireless charging devices during the communication handshake between multiple primary and secondary sides, which affects the reliability of charging communication.

[0111] According to an embodiment of the present invention, there is also provided an AGV cart corresponding to the wireless charging communication device of the AGV cart. The AGV cart may include: the wireless charging communication device of the AGV cart described above.

[0112] Since the processing and functions implemented by the AGV cart in this embodiment are basically corresponding to the embodiments, principles and examples of the foregoing device, for the parts not described in detail in the description of this embodiment, reference may be made to the relevant descriptions in the foregoing embodiments, and details are not repeated here.

[0113] The technical solution of the present invention is adopted, by making the wireless charging device at the target charging location continuously detect whether there is an AGV car entering its charging area on the wireless charging device side, and when detecting that an AGV car has entered the charging area of ​​the wireless charging device itself, the wireless charging device itself is operated at a set low power, and the wireless communication module of the wireless charging device itself is started to receive information through a public channel. On the AGV car side, after the AGV car to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send electromagnetic signals when running at low power, the AGV car continuously detects whether the voltage generated by the electromagnetic signal sent by the wireless charging device on the receiving coil of the AGV car reaches the set initial voltage threshold: if so, the wireless communication module of the AGV car is started to send information carrying the independent channel code of the AGV car itself through the public channel. After the set time, the wireless communication module of the AGV car switches from the public channel to the independent channel, and sends the required power of the AGV car under the independent channel. After the wireless charging device receives the independent channel code of the AGV, the wireless charging device switches the wireless communication module of the wireless charging device from the public channel to the independent channel. After receiving the required power of the corresponding AGV through the independent channel, the operating frequency of the wireless charging device is increased to operate according to the required power of the AGV. On the AGV side, the AGV continuously detects the voltage of the receiving coil of the AGV until it is greater than the set working voltage threshold, and then starts the charging circuit of the AGV to charge the battery of the AGV. After the battery of the AGV reaches the set power threshold, the AGV sends the information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV exits the independent frequency and switches to the public channel. The wireless charging device corresponding to the AGV also exits the independent frequency and switches to the public channel. At this point, the wireless charging communication of the AGV is completed without communication interference, which can ensure the reliability of the overall system operation composed of the AGV and its corresponding wireless charging device.

[0114] According to an embodiment of the present invention, a storage medium corresponding to the wireless charging communication method of the AGV vehicle is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the wireless charging communication method of the AGV vehicle described above.

[0115] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0116] Adopting the technical solution of the present invention, on the side of the wireless charging device, the wireless charging device at the target charging location continuously detects whether an AGV cart enters its charging area. When it detects that an AGV cart enters the charging area of the wireless charging device itself, the wireless charging device itself operates at a set low power and starts its own wireless communication module to receive information through a common channel. On the side of the AGV cart, after the AGV cart to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at low power, the AGV cart continuously detects whether the voltage generated on the receiving coil of the AGV cart due to the electromagnetic signal sent by the wireless charging device reaches a set initial voltage threshold: if so, it starts the wireless communication module of the AGV cart to send information carrying the independent channel code of the AGV cart itself through the common channel. After a set time, the wireless communication module of the AGV cart switches from the common channel to the independent channel and sends the required power of the AGV cart on the independent channel. On the side of the wireless charging device, after receiving the independent channel code of the AGV cart, the wireless communication module of the wireless charging device switches from the common channel to the independent channel. After receiving the required power of the corresponding AGV cart through the independent channel, it increases the operating frequency of the wireless charging device itself and operates according to the required power of the AGV cart. On the side of the AGV cart, the AGV cart continuously detects the voltage of its own receiving coil until it is greater than the set working voltage threshold, and then starts the charging circuit of the AGV cart itself to charge the battery of the AGV cart itself. After the battery of the AGV cart itself reaches the set power threshold, the AGV cart sends information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV cart exits the independent frequency and switches to the common channel, and the wireless charging device corresponding to the AGV cart also exits the independent frequency and switches to the common channel. Thus, the wireless charging communication of the AGV cart is completed. Multiple wireless power transmission devices (i.e., multiple wireless charging devices) can be placed in the same area, and the AGV cart being charged is in a stable communication state.

[0117] Meanwhile, according to an embodiment of the present invention, a wireless charging communication method for a wireless communication device is provided, as Figure 6Flow schematic diagram of an embodiment of the method of the present invention. The wireless charging device has a transmitting end, the transmitting end has a transmitting coil, a power adjustment module and a second wireless communication module, the power adjustment module is such as a power adjustment circuit, and the second wireless communication module is a wireless communication module on the wireless charging device side. The transmitting coil is used to send a magnetic field signal to the charging area of the wireless charging device when the wireless charging device is started. The power adjustment module is used to adjust the power of the magnetic field signal emitted by the transmitting coil. The second wireless communication module is used to communicate with the first wireless communication module of the AGV cart. The wireless charging communication method of the wireless charging device includes: step S610 to step S650.

[0118] At step S610, as a wireless charging device capable of charging the AGV cart to be charged, obtain the load condition in the charging area of the wireless charging device.

[0119] At step S620, determine whether there is an AGV cart to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device.

[0120] At step S630, if it is determined that there is an AGV cart to be charged in the charging area of the wireless charging device, control the transmitting coil of the wireless charging device to send a magnetic field signal at a set first operating power, so that the receiving coil of the AGV cart to be charged in the charging area of the wireless charging device can generate a voltage based on the magnetic field signal.

[0121] At step S640, control a communication connection to be established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged. Among them, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through a common channel, and a communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself.

[0122] In some embodiments, for the specific process of controlling a communication connection to be established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged in step S640, refer to the following exemplary description.

[0123] The following combination Figure 7Schematic diagram of a process of an embodiment for controlling a second wireless communication module of a wireless charging device to establish a communication connection with a first wireless communication module of an AGV cart to be charged in the method of the present invention, further illustrating the specific process of controlling the second wireless communication module of the wireless charging device to establish a communication connection with the first wireless communication module of the AGV cart to be charged in step S640, including: step S710 to step S720.

[0124] Step S710, control the second wireless communication module of the wireless charging device to be turned on. In the case where the second wireless communication module of the wireless charging device is turned on, make the second wireless communication module of the wireless charging device operate on a set common channel. In the case where the second wireless communication module of the wireless charging device operates on the set common channel, the second wireless communication module of the wireless charging device can communicate with the first wireless communication module of the AGV cart to be charged on the common channel, and receive the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel.

[0125] Step S720, in the case where the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, control the second wireless communication module of the wireless charging device to switch from the common channel to the independent channel of the AGV cart to be charged for operation, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

[0126] As Figure 11 shown, the recognition workflow in the case of one AGV cart with multiple charging stations further includes: the recognition workflow of the wireless charging device, i.e., the primary side. Among them, as Figure 11 shown, as the leader of power transmission, in the case of one AGV cart with multiple charging stations (i.e., when one secondary side corresponds to two or more primary sides), the recognition workflow of the primary side includes:

[0127] Step 11, the primary side will continuously detect the load condition in the standby state. Here, the load is the AGV cart that reaches the charging area of the primary side, and then step 12 is executed. Among them, continuously detecting the load condition is specifically: the primary side sends a load detection pulse, which is controlled and sent by the primary side and will oscillate in the coil for transmitting energy on the primary side; when there is no load, the energy of the primary side coil cannot be released and the number of oscillations is very large; while when there is a load, i.e., the secondary side coil of the cart, a large part of the energy of the primary side coil will be absorbed by the secondary side coil and the number of oscillations is very small. Whether there is a load is identified by detecting the number of oscillations through the detection circuit.

[0128] Step 12: The primary side determines whether there is a load in its own charging area based on the load condition detected by itself in the standby state. If no load is detected in the primary side's own charging area, that is, there is no load in the primary side's own charging area, the primary side will not perform any operation, return to Step 11, and continue to detect the load status. If, for example, the AGV vehicle reaches the designated charging location in the primary side's own charging area, and at this time the primary side detects that there is a load in the primary side's own charging area, the primary side executes Step 13.

[0129] Step 13: The primary side operates at low power and then executes Step 14. Figure 12 It is a schematic structural diagram of an embodiment of the overall system of the AGV vehicle and the wireless charging device. As Figure 12 shown, the primary side is the transmitting end, and the secondary side is the charging end, that is, the receiving end. The primary side transmits a magnetic field signal to the secondary side through the method of coupled wireless power transmission, and the secondary side generates an induced voltage based on the magnetic field signal transmitted by the primary side. Among them, according to the current situation, the maximum charging power of the vehicle is about 900w, that is, the primary side transmission power is 1000w, and the low power range is 100w - 150w. If the power is too low, it cannot be turned on.

[0130] See Figure 12 In the example shown, on the primary side, the mains power is, on the one hand, delivered to the power adjustment circuit, and on the other hand, delivered to the voltage conversion circuit. The voltage conversion circuit is used to perform voltage conversion based on the electrical energy delivered by the mains power and then supply power to the controller. The controller is connected to the power adjustment circuit on the one hand and to the wireless module (i.e., the wireless communication module) on the other hand. The power adjustment circuit is connected to the transmitting coil and is used to adjust the power of the magnetic field signal generated by the transmitting coil.

[0131] See Figure 12 In the example shown, on the secondary side, after passing through the rectification and voltage stabilization circuit, the receiving coil is connected to the charging circuit on the one hand and to the voltage conversion circuit on the other hand. The controller is respectively connected to the charging circuit and the voltage conversion circuit. The controller is also connected to the wireless module (such as the wireless communication module). The wireless module on the primary side communicates with the wireless module on the secondary side through a set communication protocol.

[0132] In Step 13, when the primary side operates at low power, the primary side transmits electrical energy to the secondary side through a coupling mechanism (such as the electromagnetic coupling mechanism formed by the transmitting coil and the receiving coil), but the power is very small. Due to the effect of coupled electromagnetic induction, the secondary side will receive electrical energy from the primary side, and this is reflected on the charging end as the voltage value changes from zero to a certain value.

[0133] Step 14. During the process of the primary side sending the information of the independent channel code of the secondary side to the peripheral space of the secondary side through a pre-set common communication channel, after the primary side operates at low power in Step 13, the primary side will immediately turn on the wireless communication module of the primary side to connect the wireless communication module of the primary side to the common channel, continuously receive the information sent by the peripheral secondary side, and then execute Step 15.

[0134] Step 15. The primary side determines whether it has received the information of the independent channel code sent by the secondary side: If the primary side itself has not received the information of the independent channel code sent by the secondary side, it returns to Step 14 to continue receiving the information sent by the peripheral secondary side. If the primary side itself has received the information of the independent channel code sent by the secondary side, it executes Step 16.

[0135] Step 16. After the primary side itself has received the information of the independent channel code sent by the secondary side, the primary side will change the communication address of the wireless communication module according to the independent channel coding received from the common channel, connect the wireless communication module to this independent channel, and communicate one-to-one with the corresponding secondary side through this independent channel.

[0136] At Step S650, when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, control the communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged.

[0137] A wireless charging communication method for an AGV cart provided by the solution of the present invention can place multiple wireless power transmission devices (i.e., multiple wireless charging devices) in the same area in the case of multiple primary sides and multiple secondary sides, and make the AGV cart in the charging state in a stable communication state, ensuring the reliability of the operation of the overall system composed of the AGV cart and its corresponding wireless charging device, and solving the problems of cross-error handshakes, interference with other charging AGV carts and wireless charging devices, and a single secondary side handshaking multiple primary sides, etc. during the communication handshake between multiple primary sides and secondary sides.

[0138] In some embodiments, for the specific process of controlling the communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself at Step S650 to realize wireless charging of the battery of the AGV cart to be charged, refer to the following exemplary description.

[0139] The following combines Figure 8Schematic diagram of an embodiment of the process of controlling communication between the second wireless communication module of a wireless charging device and the first wireless communication module of an AGV cart to be charged through the independent channel of the AGV cart to be charged in the method of the present invention, further illustrating the specific process of controlling communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged in step S650, including: step S810 to step S820.

[0140] Step S810, when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, control the second wireless communication module of the wireless charging device to receive, through the independent channel of the AGV cart to be charged, the power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

[0141] Step S820, when the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the power required for charging the battery of the AGV cart to be charged, control the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, to achieve wireless charging of the battery of the AGV cart to be charged.

[0142] As Figure 11 shown, as the leader of power transmission, in the case of one AGV cart with multiple (i.e., two or more primary sides corresponding to one secondary side), the identification workflow of the primary side further includes: Step 17. After the primary side establishes a one-to-one communication connection with the corresponding secondary side through the independent channel by receiving the independent channel code in Step 16, the primary side determines whether it has received the information on the power demand sent by the corresponding secondary side: If the primary side itself has not received the information on the power demand sent by the corresponding secondary side, return to Step 16 to continue establishing a one-to-one communication connection with the corresponding secondary side through the received independent channel code. If the primary side itself has received the information on the power demand sent by the corresponding secondary side, the primary side increases the operating power to operate at a high power according to the received power demand.

[0143] In some embodiments, the wireless charging communication method of the wireless charging device according to the solution of the present invention further includes: a process of adjusting the power of the transmitting coil according to the charging power of the battery of the AGV cart to be charged.

[0144] Next, in combination with Figure 9Schematic diagram of an embodiment of the method of the present invention for adjusting the power of the transmitting coil according to the charging power of the battery of the AGV cart to be charged, further illustrating the specific process of adjusting the power of the transmitting coil according to the charging power of the battery of the AGV cart to be charged, including: step S910 to step S920.

[0145] Step S910, after the transmitting coil of the wireless charging device transmits a magnetic field signal at the power required for charging the battery of the AGV cart to be charged, control the second wireless communication module of the wireless charging device to receive, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

[0146] Step S920, if the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged transmitted by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, then control the transmitting coil of the wireless charging device to adjust the power to transmit a magnetic field signal, so that the transmitting coil of the wireless charging device transmits a magnetic field signal at the adjustment power required for charging the battery of the AGV cart to be charged, so as to realize the adjustment of the charging power of the battery of the AGV cart to be charged.

[0147] As Figure 11 shown, as the leader of power transmission, in the case of one AGV cart with multiple (i.e., when one secondary side corresponds to two or more primary sides), the identification workflow of the primary side further includes: after step 17, during the operation of the primary side according to the received power demand, the primary side will adjust the working current of the primary side according to the required power of the corresponding secondary side to meet the power demand of the corresponding secondary side.

[0148] The technical solution of this embodiment is adopted, by making the wireless charging device at the target charging location continuously detect whether there is an AGV car entering its charging area, and when detecting that an AGV car has entered the charging area of ​​the wireless charging device itself, the wireless charging device itself is operated at a set low power, and the wireless communication module of the wireless charging device itself is started to receive information through the public channel. On the AGV car side, after the AGV car to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send electromagnetic signals when running at low power, the AGV car continuously detects whether the voltage generated by the electromagnetic signal sent by the wireless charging device on the receiving coil of the AGV car reaches the set initial voltage threshold: if so, the wireless communication module of the AGV car is started to send information carrying the independent channel code of the AGV car itself through the public channel. After the set time, the wireless communication module of the AGV car switches from the public channel to the independent channel, and sends the required power of the AGV car under the independent channel. After the wireless charging device receives the independent channel code of the AGV car on the wireless charging device side, the wireless communication module of the wireless charging device is switched from the public channel to the independent channel. After receiving the required power of the corresponding AGV car through the independent channel, the operating frequency of the wireless charging device itself is increased to operate according to the required power of the AGV car. On the AGV car side, the AGV car continuously detects the voltage of the AGV car's own receiving coil until it is greater than the set working voltage threshold, and then starts the AGV car's own charging circuit to charge the AGV car's own battery. After the power of the AGV car's own battery reaches the set power threshold, the AGV car sends the information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV car exits the independent frequency and turns to the public channel. The wireless charging device corresponding to the AGV car also exits the independent frequency and turns to the public channel. At this point, the wireless charging communication of the wireless communication device is completed. Therefore, by making the wireless communication module between the AGV car and the wireless charging device communicate through the public channel first and then through the independent channel, communication interference is avoided to affect the reliability of the wireless charging of the AGV car.

[0149] According to an embodiment of the present invention, a wireless charging communication device of a wireless communication device corresponding to the wireless charging communication method of the wireless communication device is also provided. Figure 10Schematic structural diagram of an embodiment of the device of the present invention. The wireless charging device has a transmitting end, and the transmitting end has a transmitting coil, a power adjustment module, and a second wireless communication module. The power adjustment module is, for example, a power adjustment circuit, and the second wireless communication module is the wireless communication module on the wireless charging device side. The transmitting coil is used to send a magnetic field signal to the charging area of the wireless charging device when the wireless charging device is started. The power adjustment module is used to adjust the power of the magnetic field signal transmitted by the transmitting coil. The second wireless communication module is used to communicate with the first wireless communication module of the AGV cart. The wireless charging communication device of the wireless charging device includes: a second acquisition unit 202 and a second control unit 204.

[0150] Among them, the second acquisition unit 202 is configured to, as a wireless charging device capable of charging the AGV cart to be charged, acquire the load condition in the charging area of the wireless charging device. The specific functions and processing of this second acquisition unit 202 are referred to in step S610.

[0151] The second control unit 204 is configured to determine whether there is an AGV cart to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device. The specific functions and processing of this second control unit 204 are referred to in step S620.

[0152] The second control unit 204 is further configured to, if it is determined that there is an AGV cart to be charged in the charging area of the wireless charging device, control the transmitting coil of the wireless charging device to send a magnetic field signal at a set first operating power, so that the receiving coil of the AGV cart to be charged in the charging area of the wireless charging device can generate a voltage based on this magnetic field signal. The specific functions and processing of this second control unit 204 are also referred to in step S630.

[0153] The second control unit 204 is further configured to control the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged. Among them, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through a common channel, and the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself. The specific functions and processing of this second control unit 204 are referred to in step S640.

[0154] In some embodiments, the second control unit 204 controls the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged, including:

[0155] The second control unit 204 is further specifically configured to control the second wireless communication module of the wireless charging device to be turned on. In the case where the second wireless communication module of the wireless charging device is turned on, the second wireless communication module of the wireless charging device is made to operate on a set common channel. In the case where the second wireless communication module of the wireless charging device operates on the set common channel, the second wireless communication module of the wireless charging device can communicate with the first wireless communication module of the AGV cart to be charged on the common channel, and receive the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel. For the specific functions and processing of this second control unit 204, refer to step S710.

[0156] The second control unit 204 is further specifically configured to, in the case where the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, control the second wireless communication module of the wireless charging device to switch from the common channel to operate on the independent channel of the AGV cart to be charged, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged. For the specific functions and processing of this second control unit 204, refer to step S720.

[0157] As Figure 11 shown, the recognition workflow in the case of one AGV cart corresponding to multiple (charging devices) further includes: the recognition workflow of the wireless charging device (i.e., the primary side). Among them, as Figure 11 shown, as the leader of power transmission, in the case of one AGV cart corresponding to multiple (charging devices) (i.e., in the case where one secondary side corresponds to two or more primary sides), the recognition workflow of the primary side includes:

[0158] Step 11: The primary side will continuously detect the load condition in the standby state. Here, the load is the AGV cart that reaches the charging area of this primary side, and then step 12 is executed.

[0159] Step 12: Based on the load condition detected by the primary side itself in the standby state, the primary side determines whether there is a load in its own charging area. If no load is detected in the primary side's own charging area, that is, there is no load in the primary side's own charging area, the primary side will not perform any operation, return to Step 11, and continue to detect the load status. If, for example, the AGV vehicle arrives at the designated charging location in the primary side's own charging area, and at this time the primary side detects that there is a load in its own charging area, the primary side executes Step 13.

[0160] Step 13: The primary side operates at low power, and then executes Step 14. Figure 12 It is a schematic structural diagram of an embodiment of the overall system of the AGV vehicle and the wireless charging device. As Figure 12 shown, the primary side is the transmitting end, and the secondary side is the charging end, that is, the receiving end. The primary side transmits a magnetic field signal to the secondary side through the method of coupled wireless power transmission, and the secondary side generates an induced voltage based on the magnetic field signal transmitted by the primary side.

[0161] Refer to Figure 12 the example shown. In the primary side, the mains power is, on the one hand, delivered to the power adjustment circuit, and on the other hand, delivered to the voltage conversion circuit. The voltage conversion circuit is used to perform voltage conversion based on the electrical energy delivered by the mains power and then supply power to the controller. The controller is connected to the power adjustment circuit on the one hand and the wireless module (i.e., the wireless communication module) on the other hand. The power adjustment circuit is connected to the transmitting coil and is used to adjust the power of the magnetic field signal generated by the transmitting coil.

[0162] Refer to Figure 12 the example shown. In the secondary side, after passing through the rectification and voltage stabilization circuit, the receiving coil is connected to the charging circuit on the one hand and the voltage conversion circuit on the other hand. The controller is respectively connected to the charging circuit and the voltage conversion circuit. The controller is also connected to the wireless module (such as the wireless communication module). The wireless module on the primary side communicates with the wireless module on the secondary side through a set communication protocol.

[0163] In Step 13, when the primary side operates at low power, the primary side transmits electrical energy to the secondary side through a coupling mechanism (such as the electromagnetic coupling mechanism formed by the transmitting coil and the receiving coil), but the power is very small. Due to the effect of coupled electromagnetic induction, the secondary side will receive electrical energy from the primary side, which is reflected on the charging end as the voltage value changing from zero to a certain value.

[0164] Step 14: During the process that the primary side sends the information of the independent channel code of the secondary side to the peripheral space of the secondary side through a pre-set common communication channel, after the primary side operates at low power in Step 13, the primary side will immediately turn on its wireless communication module to access the common channel and continuously receive the information sent by the peripheral secondary side, and then execute Step 15.

[0165] Step 15: The primary side determines whether it has received the information of the independent channel code sent by the secondary side. If the primary side has not received the information of the independent channel code sent by the secondary side, it returns to Step 14 to continue receiving the information sent by the peripheral secondary side. If the primary side has received the information of the independent channel code sent by the secondary side, it proceeds to Step 16.

[0166] Step 16: After the primary side has received the information of the independent channel code sent by the secondary side, the primary side changes the communication address of the wireless communication module according to the independent channel code received from the common channel, connects the wireless communication module to the independent channel, and communicates one-to-one with the corresponding secondary side through the independent channel.

[0167] The second control unit 204 is further configured to control the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged to communicate through the independent channel of the AGV cart to be charged when a communication connection is established between them through the independent channel of the AGV cart to be charged, so as to realize wireless charging of the battery of the AGV cart to be charged. For the specific functions and processing of the second control unit 204, refer to Step S650.

[0168] A wireless charging communication device for an AGV cart provided by the solution of the present invention can place multiple wireless power transmission devices (i.e., multiple wireless charging devices) in the same area in the case of multiple primary sides and multiple secondary sides, and enables the AGV cart being charged to be in a stable communication state, ensuring the reliability of the operation of the overall system composed of the AGV cart and its corresponding wireless charging device, and solving the problems of incorrect communication such as cross incorrect handshakes, interference with other AGV carts and wireless charging devices being charged, and a single secondary side handshaking multiple primary sides when multiple primary sides and secondary sides perform communication handshakes.

[0169] In some embodiments, the control unit controls the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged to communicate through the independent channel of the AGV cart to be charged, so as to realize wireless charging of the battery of the AGV cart to be charged, including:

[0170] The second control unit 204 is further specifically configured to control the second wireless communication module of the wireless charging device to receive, via the independent channel of the AGV cart to be charged, the power required for charging the battery of the AGV cart to be charged that is sent by the first wireless communication module of the AGV cart to be charged via the independent channel of the AGV cart to be charged, when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged via the independent channel of the AGV cart to be charged itself. For the specific functions and processes of this second control unit 204, refer to step S810.

[0171] The second control unit 204 is further specifically configured to control the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, to realize wireless charging of the battery of the AGV cart to be charged, when the second wireless communication module of the wireless charging device receives, via the independent channel of the AGV cart to be charged, the power required for charging the battery of the AGV cart to be charged. For the specific functions and processes of this second control unit 204, refer to step S820.

[0172] As Figure 11 shown, as the leader of power transmission, in the case of one AGV cart with multiple (i.e., when one secondary side corresponds to two or more primary sides), the identification workflow of the primary side further includes: Step 17. After a one-to-one communication connection is established between the primary side and the corresponding secondary side via the independent channel through the received independent channel code in Step 16, the primary side determines whether it has received the information on the power requirement sent by the corresponding secondary side: If the primary side itself has not received the information on the power requirement sent by the corresponding secondary side, return to Step 16 to continue establishing a one-to-one communication connection between the primary side and the corresponding secondary side via the received independent channel code through the independent channel. If the primary side itself has received the information on the power requirement sent by the corresponding secondary side, the primary side increases the operating power to operate at a high power according to the received power requirement.

[0173] In some embodiments, the wireless charging communication device of the wireless charging device according to the solution of the present invention further includes: The process of adjusting the power of the transmitting coil according to the charging power of the battery of the AGV cart to be charged is as follows:

[0174] The second control unit 204 is further configured to control the second wireless communication module of the wireless charging device to receive, through the independent channel of the AGV cart to be charged, the regulated power required for charging the battery of the AGV cart to be charged, which is sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, after the transmitting coil of the wireless charging device transmits a magnetic field signal at the power required for charging the battery of the AGV cart to be charged. For the specific functions and processes of this second control unit 204, refer to step S910.

[0175] The second control unit 204 is further configured to control the transmitting coil of the wireless charging device to adjust the power for transmitting the magnetic field signal if the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the regulated power required for charging the battery of the AGV cart to be charged, which is sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, so that the transmitting coil of the wireless charging device transmits the magnetic field signal at the regulated power required for charging the battery of the AGV cart to be charged, thereby realizing the adjustment of the charging power of the battery of the AGV cart to be charged. For the specific functions and processes of this second control unit 204, refer to step S920.

[0176] As Figure 11 shown, as the leader of power transmission, in the case of one AGV cart with multiple (i.e., in the case where one secondary side corresponds to two or more primary sides), the identification workflow of the primary side further includes: after step 17, during the operation of the primary side according to the received power demand, the primary side will regulate the working current of the primary side according to the required power of the corresponding secondary side to meet the power demand of the corresponding secondary side.

[0177] Since the processes and functions implemented by the device in this embodiment are basically corresponding to the embodiments, principles, and examples of the foregoing method, for the parts not described in detail in the description of this embodiment, reference can be made to the relevant descriptions in the foregoing embodiments and will not be elaborated here.

[0178] Adopting the technical solution of the present invention, on the side of the wireless charging device, the wireless charging device at the target charging location continuously detects whether an AGV cart enters its charging area. When it detects that an AGV cart enters the charging area of the wireless charging device itself, the wireless charging device itself operates at a set low power, and starts the wireless communication module of the wireless charging device itself to receive information through a public channel; on the side of the AGV cart, after the AGV cart to be charged reaches the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at a low power, the AGV cart continuously detects whether the voltage generated on the receiving coil of the AGV cart due to the electromagnetic signal sent by the wireless charging device reaches a set initial voltage threshold: if so, it starts the wireless communication module of the AGV cart to send information carrying the independent channel code of the AGV cart itself through the public channel. After a set time, the wireless communication module of the AGV cart switches from the public channel to the independent channel and sends the required power of the AGV cart on the independent channel; on the side of the wireless charging device, after receiving the independent channel code of the AGV cart, the wireless communication module of the wireless charging device switches from the public channel to the independent channel. After receiving the required power of the corresponding AGV cart through the independent channel, it increases the operating frequency of the wireless charging device itself and operates according to the required power of the AGV cart; on the side of the AGV cart, the AGV cart continuously detects the voltage of its own receiving coil until it is greater than the set working voltage threshold, and then starts the charging circuit of the AGV cart itself to charge the battery of the AGV cart itself. After the battery of the AGV cart itself reaches the set battery threshold, the AGV cart sends information that its own battery has reached the set battery threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV cart exits the independent frequency and switches to the public channel, and the wireless charging device corresponding to the AGV cart also exits the independent frequency and switches to the public channel. Thus, the wireless charging communication of the wireless communication device is completed, solving the problem of cross error handshakes, interfering with other charging AGV carts and wireless charging devices during the communication handshake between multiple primary and secondary sides, which affects the reliability of charging communication.

[0179] According to an embodiment of the present invention, there is also provided an AGV cart corresponding to the wireless charging communication device of the wireless communication device. The AGV cart may include: the wireless charging communication device of the wireless communication device described above.

[0180] Since the processing and functions implemented by the AGV cart in this embodiment are basically corresponding to the embodiments, principles, and examples of the foregoing device, for the parts not described in detail in the description of this embodiment, reference may be made to the relevant descriptions in the foregoing embodiments and will not be elaborated here.

[0181] By adopting the technical solution of the present invention, on the wireless charging device side, the wireless charging device at the target charging location continuously detects whether there is an AGV car entering its charging area, and when it is detected that an AGV car has entered the charging area of ​​the wireless charging device itself, the wireless charging device itself is operated at a set low power, and the wireless communication module of the wireless charging device itself is started to receive information through a public channel; on the AGV car side, after the AGV car to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send electromagnetic signals when running at low power, the AGV car continuously detects whether the voltage generated by the electromagnetic signal sent by the wireless charging device on the receiving coil of the AGV car reaches the set initial voltage threshold: if so, the wireless communication module of the AGV car is started to send information carrying the independent channel code of the AGV car itself through the public channel, and after the set time, the wireless communication module of the AGV car switches from the public channel to the independent channel, and sends the required power of the AGV car on the independent channel; on the wireless charging device side, the wireless charging device After the wireless charging device receives the independent channel code of the AGV vehicle, it switches the wireless communication module of the wireless charging device from the public channel to the independent channel. After receiving the required power of the corresponding AGV vehicle through the independent channel, it increases the operating frequency of the wireless charging device itself and operates according to the required power of the AGV vehicle. On the AGV vehicle side, the AGV vehicle continuously detects the voltage of the AGV vehicle's own receiving coil until it is greater than the set working voltage threshold, and then starts the AGV vehicle's own charging circuit to charge the AGV vehicle's own battery. After the power of the AGV vehicle's own battery reaches the set power threshold, the AGV vehicle sends the information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV vehicle exits the independent frequency and turns to the public channel. The wireless charging device corresponding to the AGV vehicle also exits the independent frequency and turns to the public channel. At this point, the wireless charging communication of the wireless communication device is completed without communication interference, which can ensure the reliability of the overall system operation composed of the AGV vehicle and its corresponding wireless charging device.

[0182] According to an embodiment of the present invention, a storage medium corresponding to a wireless charging communication method of a wireless communication device is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the wireless charging communication method of the wireless communication device described above.

[0183] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0184] The technical solution of the present invention is adopted. On the wireless charging device side, the wireless charging device at the target charging location continuously detects whether an AGV vehicle enters its charging area. When an AGV vehicle is detected to have entered the charging area of ​​the wireless charging device itself, the wireless charging device itself is operated at a set low power, and the wireless communication module of the wireless charging device itself is started to receive information through a public channel. On the AGV vehicle side, after the AGV vehicle to be charged arrives at the target charging location, since the wireless charging device at the target charging location will send an electromagnetic signal when operating at a low power, the AGV vehicle continuously detects whether the voltage generated on the receiving coil of the AGV vehicle due to the electromagnetic signal sent by the wireless charging device reaches a set initial voltage threshold. If so, the wireless communication module of the AGV vehicle is started to send information carrying the independent channel code of the AGV vehicle itself through a public channel. After a set time, the wireless communication module of the AGV vehicle switches from the public channel to the independent channel, and sends the required power of the AGV vehicle on the independent channel. On the wireless charging device side, the wireless charging device After receiving the independent channel code of the AGV car, the wireless communication module of the wireless charging device is switched from the public channel to the independent channel. After receiving the required power of the corresponding AGV car through the independent channel, the operating frequency of the wireless charging device itself is increased to operate according to the required power of the AGV car; on the AGV car side, the AGV car continuously detects the voltage of the AGV car's own receiving coil until it is greater than the set working voltage threshold, and then starts the AGV car's own charging circuit to charge the AGV car's own battery. After the power of the AGV car's own battery reaches the set power threshold, the AGV car sends the information that its own power has reached the set power threshold to the corresponding wireless charging module through the independent channel. The wireless communication module of the AGV car exits the independent frequency and turns to the public channel. The wireless charging device corresponding to the AGV car also exits the independent frequency and turns to the public channel. At this point, the wireless charging communication of the wireless communication device is completed. Multiple wireless power transmission devices (i.e., multiple wireless charging devices) can be placed in the same area, and the charging AGV car is in a stable communication state.

[0185] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0186] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A wireless charging communication method for an AGV cart, characterized in that The AGV vehicle is provided with a receiving end, and the receiving end is provided with a receiving coil, a charging module and a first wireless communication module; the receiving coil is configured to induce a voltage by receiving a magnetic field signal transmitted by a transmitting coil in a transmitting end of a wireless charging device; the charging module is configured to charge a battery of the AGV vehicle by using the voltage generated by the receiving coil when the charging module starts itself; the first wireless communication module is configured to communicate with a second wireless communication module of the wireless charging device; The wireless charging communication method of the AGV vehicle includes: When the AGV vehicle has reached a target charging area and the transmitting coil of the wireless charging device in the target charging area transmits a magnetic field signal at a set first operating power, obtaining the voltage generated on the receiving coil of the AGV vehicle; According to the voltage generated on the receiving coil of the AGV vehicle, controlling the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device, including: determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set first voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set first voltage threshold, controlling the first wireless communication module of the AGV vehicle to be turned on so that the first wireless communication module of the AGV vehicle operates on a set common channel; controlling the first wireless communication module of the AGV vehicle to send an independent channel code of the AGV vehicle itself through the common channel; after a set time, controlling the first wireless communication module of the AGV vehicle to switch from the common channel to the independent channel of the AGV vehicle for operation; the independent channel of the AGV vehicle is a working channel that matches the independent channel code of the AGV vehicle itself; wherein, the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device includes: the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the common channel, and the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself; When a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, controlling the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device to communicate through the independent channel of the AGV vehicle itself to realize wireless charging of the battery of the AGV vehicle.

2. The wireless charging communication method of the AGV cart according to claim 1, characterized in that, Controlling the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device to communicate through the independent channel of the AGV vehicle itself to realize wireless charging of the battery of the AGV vehicle, including: Control the first wireless communication module of the AGV cart to send the power required for charging the battery of the AGV cart through the independent channel of the AGV cart itself; After the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart through the independent channel of the AGV cart, when the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart, determine whether the voltage generated on the receiving coil of the AGV cart is greater than a set second voltage threshold; If it is determined that the voltage generated on the receiving coil of the AGV cart is greater than the set second voltage threshold, control the charging module of the AGV cart to start to achieve wireless charging of the battery of the AGV cart.

3. The wireless charging communication method of the AGV cart according to claim 1 or 2, characterized in that It further includes: During the process of charging the battery of the AGV cart by using the voltage generated by the receiving coil after the charging module of the AGV cart starts, determine the power of the battery of the AGV cart; According to the power of the battery of the AGV cart, determine the adjusted power required for charging the battery of the AGV cart; Control the first wireless communication module of the AGV cart to send the adjusted power required for charging the battery of the AGV cart according to the adjusted power required for charging the battery of the AGV cart, so that the second wireless communication module of the wireless charging device can receive the adjusted power required for charging the battery of the AGV cart through the independent channel of the AGV cart.

4. A wireless charging communication device for an AGV cart, characterized in that, The AGV cart has a receiving end, and the receiving end has a receiving coil, a charging module and a first wireless communication module; the receiving coil is used for receiving the magnetic field signal sent by the transmitting coil in the transmitting end of the wireless charging device to induce a voltage; the charging module is used for charging the battery of the AGV cart by using the voltage generated by the receiving coil when the charging module itself starts; the first wireless communication module is used for communicating with the second wireless communication module of the wireless charging device; The wireless charging communication device of the AGV cart includes: A first acquisition unit configured to, when the AGV cart has reached the target charging area and the transmitting coil of the wireless charging device in the target charging area sends a magnetic field signal according to a set first operating power, acquire the voltage generated on the receiving coil of the AGV cart; The first control unit is configured to control the establishment of a communication connection between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device according to the voltage generated on the receiving coil of the AGV vehicle, including: determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set first voltage threshold; if it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set first voltage threshold, controlling the first wireless communication module of the AGV vehicle to be turned on, so that the first wireless communication module of the AGV vehicle operates on a set common channel; controlling the first wireless communication module of the AGV vehicle to send the independent channel code of the AGV vehicle itself through the common channel; after a set time, controlling the first wireless communication module of the AGV vehicle to switch from the common channel to the independent channel of the AGV vehicle for operation; the independent channel of the AGV vehicle is a working channel that matches the independent channel code of the AGV vehicle itself; wherein, the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device includes: the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the common channel, and the communication connection established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself; The first control unit is further configured to, in the case where a communication connection is established between the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device through the independent channel of the AGV vehicle itself, control the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device to communicate through the independent channel of the AGV vehicle itself, so as to realize wireless charging of the battery of the AGV vehicle.

5. The wireless charging communication device of the AGV cart according to claim 4, characterized in that, The first control unit controls the first wireless communication module of the AGV vehicle and the second wireless communication module of the wireless charging device to communicate through the independent channel of the AGV vehicle itself, so as to realize wireless charging of the battery of the AGV vehicle, including: Controlling the first wireless communication module of the AGV vehicle to send the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle itself; After the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle, and when the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV vehicle, determining whether the voltage generated on the receiving coil of the AGV vehicle is greater than a set second voltage threshold; If it is determined that the voltage generated on the receiving coil of the AGV vehicle is greater than the set second voltage threshold, controlling the charging module of the AGV vehicle to start, so as to realize wireless charging of the battery of the AGV vehicle.

6. The wireless charging communication device of the AGV cart according to claim 4 or 5, characterized in that It also includes: The first control unit is further configured to determine the power of the battery of the AGV vehicle during the process of charging the battery of the AGV vehicle with the voltage generated by the receiving coil after the charging module of the AGV vehicle is started. The first control unit is further configured to determine the adjustment power required for charging the battery of the AGV vehicle according to the power of the battery of the AGV vehicle. The first control unit is further configured to control the first wireless communication module of the AGV vehicle to send the adjustment power required for charging the battery of the AGV vehicle through the adjustment power required for charging the battery of the AGV vehicle, so that the second wireless communication module of the wireless charging device can receive the adjustment power required for charging the battery of the AGV vehicle through the independent channel of the AGV vehicle.

7. An AGV cart, characterized in that, Including: The wireless charging communication device of the AGV vehicle according to any one of claims 4 to 6.

8. A wireless charging communication method for a wireless charging device matching the wireless charging communication method of the AGV cart according to any one of claims 1 to 3, characterized in that, The wireless charging device has a transmitting end, and the transmitting end has a transmitting coil, a power adjustment module and a second wireless communication module; the transmitting coil is used to send a magnetic field signal to the charging area of the wireless charging device when the wireless charging device is started; the power adjustment module is used to adjust the power of the transmitting coil to emit the magnetic field signal. The second wireless communication module is used to communicate with the first wireless communication module of the AGV vehicle. The wireless charging communication method of the wireless charging device includes: Obtain the load condition in the charging area of the wireless charging device. Determine whether there is an AGV vehicle to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device. If it is determined that there is an AGV vehicle to be charged in the charging area of the wireless charging device, control the transmitting coil of the wireless charging device to send a magnetic field signal at a set first operating power, so that the receiving coil of the AGV vehicle to be charged in the charging area of the wireless charging device can generate a voltage based on the magnetic field signal. Control the second wireless communication module of the wireless charging device to establish a communication connection with the first wireless communication module of the AGV vehicle to be charged; wherein, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV vehicle to be charged includes: the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV vehicle to be charged through a common channel, and the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV vehicle to be charged through the independent channel of the AGV vehicle to be charged itself. When a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, control the communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged.

9. The wireless charging communication method of the wireless charging device according to claim 8, wherein Controlling the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: Controlling the second wireless communication module of the wireless charging device to be turned on, so that the second wireless communication module of the wireless charging device operates on a set common channel, and receiving the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel; When the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, control the second wireless communication module of the wireless charging device to switch from the common channel to the independent channel of the AGV cart to be charged to operate, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

10. The wireless charging communication method of the wireless charging device according to claim 8 or 9, characterized in that, Controlling the communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged, includes: Controlling the second wireless communication module of the wireless charging device to receive the power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged through the independent channel of the AGV cart to be charged; When the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart to be charged through the independent channel of the AGV cart to be charged, control the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, so as to realize wireless charging of the battery of the AGV cart to be charged.

11. The wireless charging communication method of the wireless charging device according to any one of claims 8 to 10, characterized in that, It also includes: After the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, control the second wireless communication module of the wireless charging device to receive the adjusted power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged through the independent channel of the AGV cart to be charged; If the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the regulated power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, then the transmitting coil of the wireless charging device is controlled to adjust the power to send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the regulated power required for charging the battery of the AGV cart to be charged, so as to realize the adjustment of the charging power of the battery of the AGV cart to be charged.

12. A wireless charging communication device of a wireless charging device that matches the wireless charging communication device of an AGV cart as described in any one of claims 4 to 6, characterized in that, The wireless charging device has a transmitting end, and the transmitting end has a transmitting coil, a power adjustment module and a second wireless communication module; the transmitting coil is used for sending a magnetic field signal to the charging area of the wireless charging device when the wireless charging device is started; the power adjustment module is used for adjusting the power of the transmitting coil to send the magnetic field signal; The second wireless communication module is used for communicating with the first wireless communication module of the AGV cart; The wireless charging communication device of the wireless charging device includes: A second acquisition unit configured to acquire the load condition in the charging area of the wireless charging device; A second control unit configured to determine whether there is an AGV cart to be charged in the charging area of the wireless charging device according to the load condition in the charging area of the wireless charging device; The second control unit is further configured to, if it is determined that there is an AGV cart to be charged in the charging area of the wireless charging device, control the transmitting coil of the wireless charging device to send a magnetic field signal according to a set first operating power, so that the receiving coil of the AGV cart to be charged in the charging area of the wireless charging device can generate a voltage based on the magnetic field signal; The second control unit is further configured to control the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged; wherein, the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged includes: the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through a common channel, and the communication connection established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself; The second control unit is further configured to, when a communication connection is established between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, control the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged to communicate through the independent channel of the AGV cart to be charged itself, so as to realize the wireless charging of the battery of the AGV cart to be charged.

13. The wireless charging communication device of the wireless charging device according to claim 12, characterized in that, The second control unit controls the establishment of a communication connection between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged, including: Controlling the second wireless communication module of the wireless charging device to be turned on, so that the second wireless communication module of the wireless charging device operates on a set common channel, and receiving the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged in the charging area of the wireless charging device through the common channel; In the case where the second wireless communication module of the wireless charging device receives the independent channel code of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the common channel, controlling the second wireless communication module of the wireless charging device to switch from the common channel to the independent channel of the AGV cart to be charged for operation, so that the second wireless communication module of the wireless charging device communicates with the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged.

14. The wireless charging communication device of the wireless charging device according to claim 12 or 13, characterized in that, The control unit controls the communication between the second wireless communication module of the wireless charging device and the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged itself, so as to realize wireless charging of the battery of the AGV cart to be charged, including: Controlling the second wireless communication module of the wireless charging device to receive the power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged through the independent channel of the AGV cart to be charged; In the case where the second wireless communication module of the wireless charging device receives the power required for charging the battery of the AGV cart to be charged through the independent channel of the AGV cart to be charged, controlling the transmitting coil of the wireless charging device to increase the power and send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, so as to realize wireless charging of the battery of the AGV cart to be charged.

15. The wireless charging communication device of the wireless charging device according to any one of claims 12 to 14, characterized in that It further includes: The second control unit is further configured to, after the transmitting coil of the wireless charging device sends a magnetic field signal according to the power required for charging the battery of the AGV cart to be charged, control the second wireless communication module of the wireless charging device to receive the adjustment power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged through the independent channel of the AGV cart to be charged; The second control unit is further configured to, if the second wireless communication module of the wireless charging device receives, through the independent channel of the AGV cart to be charged, the adjustment power required for charging the battery of the AGV cart to be charged sent by the first wireless communication module of the AGV cart to be charged through the independent channel of the AGV cart to be charged, control the transmitting coil of the wireless charging device to adjust the power to send a magnetic field signal, so that the transmitting coil of the wireless charging device sends a magnetic field signal according to the adjustment power required for charging the battery of the AGV cart to be charged, so as to realize the adjustment of the charging power of the battery of the AGV cart to be charged.

16. A wireless charging device, characterized in that, including: The wireless charging communication device of the wireless charging device according to any one of claims 12 to 15.

17. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program runs, it controls the device where the storage medium is located to execute the wireless charging communication method of the AGV cart according to any one of claims 1 to 3, or, when the program runs, it controls the device where the storage medium is located to execute the wireless charging communication method of the wireless charging device according to any one of claims 8 to 11.

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