An AGV and a charging control method and device thereof and a storage medium

Abstract

The application discloses a charging control method and device of an AGV, the AGV and a storage medium, and the method comprises the following steps: controlling the AGV to move to a charging area of a target charging pile, and controlling a transmitting end of the target charging pile to start; controlling the charging end of the AGV to align with the transmitting end of the target charging pile according to an induced voltage generated by a receiving coil; and controlling a receiving charging module to start under the condition that the charging end of the AGV aligns with the transmitting end of the target charging pile, so that the receiving charging module charges a battery of the AGV by using the induced voltage generated by the receiving coil, and wireless charging of the AGV by the target charging pile is realized. According to the scheme, energy is transmitted between the AGV and a charging device (such as a wireless charging pile) by electromagnetic signals to realize wireless charging, which is beneficial to improving charging efficiency and simplifying the charging process.

Description

Technical Field

[0001] This invention belongs to the field of AGV (Automated Guided Vehicle) technology, specifically relating to a charging control method, device, AGV, and storage medium for an AGV, and particularly to a control method, device, AGV, and storage medium for wireless charging of an AGV. Background Technology

[0002] With economic and social development, people's demand for automobiles is increasing. However, due to the increasingly serious environmental impact of pollution from gasoline-powered vehicles, and with the development and utilization of new energy sources and government policy support for new energy vehicles in recent years, energy-efficient and convenient new energy vehicles have gradually entered the market. Correspondingly, AGVs (Automated Guided Vehicles) have emerged and are now used in many industries such as warehousing, manufacturing, and logistics. As a type of new energy vehicle, AGVs require frequent charging; therefore, their charging methods are crucial.

[0003] In the relevant solutions, the AGV (Automated Guided Vehicle) and the charging device (such as a charging pile) need to be charged through contact between their respective charging terminals. Specifically, when the AGV is charging, it mainly uses its own positioning control to align the charging position between the AGV's charging terminal and the charging terminal of the charging device (such as the charging pile). This places high demands on the positioning accuracy of the AGV's built-in positioning equipment. Moreover, since the charging device (such as the charging pile) is only used as a power transmission tool, if the alignment accuracy between the AGV's charging terminal and the charging device (such as the charging pile) deviates during normal use, manual alignment is required, which inevitably affects the charging efficiency of the AGV and makes the charging operation more cumbersome.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a charging control method, device, AGV, and storage medium for AGVs, to solve the problem that during the charging process between an AGV and a charging device (such as a charging pile) through their respective charging terminals, the alignment accuracy between the charging terminals of the AGV and the charging device (such as a charging pile) may deviate, requiring manual correction, resulting in low charging efficiency and a cumbersome charging process. This invention achieves wireless charging by transmitting energy between the AGV and the wireless charging device (such as a wireless charging pile) via electromagnetic signals, which improves charging efficiency and simplifies the charging process.

[0006] This invention provides a charging control method for an AGV (Automated Guided Vehicle). The charging end of the AGV includes a receiving coil and a charging module; the transmitting end of a wireless charging pile matched with the AGV includes a transmitting coil and a transmitting power module; after the transmitting end of the wireless charging pile is activated, the transmitting power module uses AC power of a preset frequency to control the transmitting coil to emit a magnetic field signal; when the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil receives the magnetic field signal and generates an induced voltage; when the charging module is activated, the charging module uses the induced voltage generated by the receiving coil to charge the battery of the AGV; the charging control method for the AGV includes: when the AGV needs charging, determining the nearest wireless charging pile to the AGV, denoted as the target charging pile; obtaining the current position of the AGV; and controlling the AGV to move to the target charging pile based on the current position of the AGV. The system defines a charging area for the AGV (Automated Guided Vehicle) and, when the AGV has moved to the charging area of ​​the target charging pile, controls the transmitter of the target charging pile to start. After the transmitter of the target charging pile starts, it acquires the induced voltage generated by the receiving coil. Based on the induced voltage generated by the receiving coil, it controls the charging end of the AGV to align with the transmitter of the target charging pile. The alignment of the charging end of the AGV with the transmitter of the target charging pile occurs when the transmission efficiency of the magnetic field signal between the transmitting coil and the receiving coil reaches a set transmission efficiency range within the position range between the charging end of the AGV and the transmitter of the target charging pile. When the charging end of the AGV is aligned with the transmitter of the target charging pile, it controls the receiving charging module to start, so that the receiving charging module uses the induced voltage generated by the receiving coil to charge the battery of the AGV, thereby achieving wireless charging of the AGV's battery using the target charging pile.

[0007] In some implementations, controlling the AGV to move to the charging area of ​​the target charging pile based on its current position includes: controlling the AGV to move towards the charging area of ​​the target charging pile; determining whether the current position of the AGV is within the charging area of ​​the target charging pile; if the current position of the AGV is already within the charging area of ​​the target charging pile, then determining that the AGV has moved to the charging area of ​​the target charging pile; if the current position of the AGV is not yet within the charging area of ​​the target charging pile, then determining that the AGV has not yet moved to the charging area of ​​the target charging pile, and returning to continue controlling the AGV to move to the charging area of ​​the target charging pile based on its current position.

[0008] In some embodiments, aligning the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil includes: determining whether the induced voltage generated by the receiving coil reaches a preset charging voltage threshold; if it is determined that the induced voltage generated by the receiving coil has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile; if it is determined that the induced voltage generated by the receiving coil has not reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile, and then, based on the induced voltage generated by the receiving coil, controlling the AGV to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0009] In some embodiments, controlling the AGV to move based on the induced voltage generated by the receiving coil, so that the charging end of the AGV is aligned with the transmitting end of the target charging pile, includes: controlling the AGV to move in a first direction within a preset range around the AGV in the charging area of ​​the target charging pile; determining whether the induced voltage generated by the receiving coil is increasing or decreasing during the movement of the AGV in the first direction; if it is determined that the induced voltage generated by the receiving coil is increasing, then continuing to control the AGV to move in the first direction until the induced voltage generated by the receiving coil continues to increase. If the voltage decreases, the AGV is stopped moving in the first direction. Based on the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil is decreasing, the AGV is stopped moving in the first direction and moved in the second direction. Based on the induced voltage generated by the receiving coil during the AGV's movement in the second direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0010] In some implementations, aligning the charging end of the AGV with the transmitting end of the target charging pile based on the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction includes: determining whether the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction reaches a preset charging voltage threshold; if it is determined that the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction has reached the preset charging voltage threshold, then determining that the charging end of the AGV is aligned with the transmitting end of the target charging pile. Alignment is confirmed; if it is determined that the maximum value of the induced voltage generated by the receiving coil during the movement of the AGV in the first direction does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. The AGV is then controlled to move in the second direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil during the movement of the AGV in the second direction. The preset charging voltage threshold is determined based on the total inductance of the transmitting coil and the receiving coil.

[0011] In some embodiments, aligning the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil during the AGV's movement in the second direction includes: determining whether the induced voltage generated by the receiving coil is increasing or decreasing during the AGV's movement in the second direction; if it is determined that the induced voltage generated by the receiving coil is increasing, then continuing to control the AGV to move in the second direction until the induced voltage generated by the receiving coil begins to decrease after increasing, at which point controlling the AGV to stop moving in the second direction, and based on the induced voltage generated by the receiving coil during the AGV's movement in the second direction... The maximum value of the induced voltage generated by the receiving coil is used to align the charging end of the AGV with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil is decreasing, the AGV is stopped from moving in the second direction and is moved in the third direction. Based on the induced voltage generated by the receiving coil during the movement of the AGV in the third direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. In this way, the movement of the AGV is cyclically controlled based on the induced voltage generated by the receiving coil until the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0012] In some embodiments, the method further includes: after the receiving charging module charges the AGV's battery using the induced voltage generated by the receiving coil, acquiring the battery level of the AGV; determining whether the battery level of the AGV has reached a preset battery level threshold; if it is determined that the battery level of the AGV has reached the preset battery level threshold, controlling the receiving charging module to shut down and controlling the transmitting power module to shut down; if it is determined that the battery level of the AGV has not reached the preset battery level threshold, controlling the receiving charging module to remain in the activated state, so that the receiving charging module continues to charge the AGV's battery using the induced voltage generated by the receiving coil, until it is determined that the battery level of the AGV has reached the preset battery level threshold.

[0013] In conjunction with the above method, another aspect of the present invention provides a charging control device for an AGV (Automated Guided Vehicle), wherein the charging end of the AGV has a receiving coil and a receiving charging module; the transmitting end of a wireless charging pile matched with the AGV has a transmitting coil and a transmitting power module; after the transmitting end of the wireless charging pile is activated, the transmitting power module uses AC power of a preset frequency to control the transmitting coil to emit a magnetic field signal; when the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil receives the magnetic field signal and generates an induced voltage; when the receiving charging module is activated, the receiving charging module uses the induced voltage generated by the receiving coil to charge the battery of the AGV; the charging control device for the AGV includes: a control unit configured to determine the nearest wireless charging pile to the AGV when the AGV needs charging, denoted as the target charging pile; an acquisition unit configured to acquire the current position of the AGV; the control unit is further configured to control the AGV to move to the target charging pile based on the current position of the AGV. The control unit is further configured to, when the AGV has moved to the charging area of ​​the target charging pile, control the transmitter of the target charging pile to start; the acquisition unit is further configured to, after the transmitter of the target charging pile is started, acquire the induced voltage generated by the receiving coil; the control unit is further configured to, based on the induced voltage generated by the receiving coil, control the charging end of the AGV to align with the transmitter of the target charging pile; wherein, the alignment of the charging end of the AGV with the transmitter of the target charging pile is such that, within the position range between the location of the charging end of the AGV and the location of the transmitter of the target charging pile, the transmission efficiency of the magnetic field signal transmitted between the transmitting coil and the receiving coil reaches a set transmission efficiency range; the control unit is further configured to, when the charging end of the AGV is aligned with the transmitter of the target charging pile, control the receiving charging module to start, so that the receiving charging module uses the induced voltage generated by the receiving coil to charge the battery of the AGV, thereby realizing wireless charging of the AGV's battery using the target charging pile.

[0014] In some embodiments, the control unit controls the AGV to move to the charging area of ​​the target charging pile based on the AGV's current position, including: controlling the AGV to move towards the charging area of ​​the target charging pile; determining whether the AGV's current position is within the charging area of ​​the target charging pile; if the AGV's current position is already within the charging area of ​​the target charging pile, then determining that the AGV has moved to the charging area of ​​the target charging pile; if the AGV's current position is not yet within the charging area of ​​the target charging pile, then determining that the AGV has not yet moved to the charging area of ​​the target charging pile, and returning to continue controlling the AGV to move to the charging area of ​​the target charging pile based on its current position.

[0015] In some embodiments, the control unit controls the alignment of the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil, including: determining whether the induced voltage generated by the receiving coil reaches a preset charging voltage threshold; if it is determined that the induced voltage generated by the receiving coil has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile; if it is determined that the induced voltage generated by the receiving coil has not reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile, and then, based on the induced voltage generated by the receiving coil, it controls the AGV to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0016] In some embodiments, the control unit controls the AGV to move based on the induced voltage generated by the receiving coil, so that the charging end of the AGV is aligned with the transmitting end of the target charging pile. This includes: controlling the AGV to move in a first direction within a preset range around the AGV in the charging area of ​​the target charging pile; determining whether the induced voltage generated by the receiving coil is increasing or decreasing during the movement of the AGV in the first direction; if it is determined that the induced voltage generated by the receiving coil is increasing, then continuing to control the AGV to move in the first direction until the induced voltage generated by the receiving coil increases... If the pressure increases and then begins to decrease, the AGV is controlled to stop moving in the first direction. Based on the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil is decreasing, the AGV is controlled to stop moving in the first direction and then moved in the second direction. Based on the induced voltage generated by the receiving coil during the AGV's movement in the second direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0017] In some embodiments, the control unit, based on the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction, controls the alignment of the AGV's charging terminal with the target charging pile's transmitting terminal, including: determining whether the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction reaches a preset charging voltage threshold; if it is determined that the maximum value of the induced voltage generated by the receiving coil during the AGV's movement in the first direction has reached the preset charging voltage threshold, then determining that the AGV's charging terminal is aligned with the target charging pile. The transmitter is already aligned; if it is determined that the maximum value of the induced voltage generated by the receiving coil during the movement of the AGV in the first direction does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitter of the target charging pile. The AGV is then controlled to move in the second direction, and the charging end of the AGV is aligned with the transmitter of the target charging pile based on the induced voltage generated by the receiving coil during the movement of the AGV in the second direction. The preset charging voltage threshold is determined based on the total inductance of the transmitting coil and the receiving coil.

[0018] In some embodiments, the control unit, based on the induced voltage generated by the receiving coil during the AGV's movement in the second direction, controls the AGV's charging end to align with the target charging pile's transmitting end. This includes: determining whether the induced voltage generated by the receiving coil is increasing or decreasing during the AGV's movement in the second direction; if it is determined that the induced voltage generated by the receiving coil is increasing, then continuing to control the AGV to move in the second direction until the induced voltage generated by the receiving coil begins to decrease after increasing, at which point controlling the AGV to stop moving in the second direction, and based on the AGV's movement in the second direction... During the process, the maximum value of the induced voltage generated by the receiving coil is used to align the charging end of the AGV with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil is decreasing, the AGV is stopped from moving in the second direction and is moved in the third direction. Based on the induced voltage generated by the receiving coil during the movement of the AGV in the third direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. In this way, the movement of the AGV is cyclically controlled based on the induced voltage generated by the receiving coil until the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0019] In some embodiments, the control unit is further configured to: acquire the battery level of the AGV after the receiving charging module charges the AGV's battery using the induced voltage generated by the receiving coil; the control unit is further configured to determine whether the battery level of the AGV has reached a preset battery level threshold; the control unit is further configured to, if it is determined that the battery level of the AGV has reached the preset battery level threshold, control the receiving charging module to shut down and control the transmitting power module to shut down; the control unit is further configured to, if it is determined that the battery level of the AGV has not reached the preset battery level threshold, control the receiving charging module to remain in the activated state, so that the receiving charging module continues to charge the AGV's battery using the induced voltage generated by the receiving coil until it is determined that the battery level of the AGV has reached the preset battery level threshold.

[0020] In conjunction with the above-mentioned device, the present invention further provides an AGV trolley, including: the charging control device for the AGV trolley described above.

[0021] In conjunction with the above method, the present invention further provides a storage medium comprising a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the above-described charging control method for the AGV vehicle.

[0022] Therefore, the solution of the present invention, by setting a wireless transmitting module at the charging device (such as a wireless charging pile) and a wireless receiving module at the AGV, transmits electromagnetic signals through the wireless transmitting module and receives electromagnetic signals through the wireless receiving module. When the wireless receiving module converts the received electromagnetic signals into voltage, it determines whether the AGV and the wireless charging pile are aligned based on the magnitude of the voltage. Then, it automatically adjusts the position of the AGV to reach the optimal charging range of the wireless charging pile based on the secondary voltage threshold and performs wireless charging. Thus, by enabling the AGV and the charging device (such as a wireless charging pile) to transmit energy through electromagnetic signals to achieve wireless charging, it is beneficial to improve charging efficiency and simplify the charging process.

[0023] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0025] Figure 1 This is a schematic flowchart of an embodiment of the charging control method for the AGV (Automated Guided Vehicle) of the present invention.

[0026] Figure 2 This is a flowchart illustrating an embodiment of the method of the present invention for controlling an AGV vehicle to move to the charging area of ​​a target charging pile;

[0027] Figure 3 This is a flowchart illustrating an embodiment of the method of the present invention for aligning the charging end of the AGV vehicle with the transmitting end of the target charging pile.

[0028] Figure 4 This is a schematic flowchart of an embodiment of the method of the present invention, which controls the movement of an AGV (Automated Guided Vehicle) to align the charging end of the AGV with the transmitting end of the target charging pile.

[0029] Figure 5 This is a flowchart illustrating an embodiment of the method of the present invention, which controls the alignment of the charging end of the AGV trolley with the transmitting end of the target charging pile based on the maximum value of the induced voltage during the movement in the first direction.

[0030] Figure 6 This is a flowchart illustrating an embodiment of the method of the present invention, which controls the charging end of the AGV trolley to align with the transmitting end of the target charging pile based on the induced voltage during the movement in the second direction.

[0031] Figure 7 This is a schematic flowchart of an embodiment of the method of the present invention for controlling the charging amount of the battery of an AGV vehicle;

[0032] Figure 8 This is a schematic diagram of a structure of an embodiment of the charging control device for the AGV vehicle of the present invention;

[0033] Figure 9 A schematic diagram of a structural embodiment of an AGV vehicle and a wireless charging pile;

[0034] Figure 10 A schematic flowchart illustrating one embodiment of the charging process for an AGV (Automated Guided Vehicle).

[0035] Figure 11 A flowchart illustrating one embodiment of the process for preparing an AGV (Automated Guided Vehicle) for charging.

[0036] Figure 12 A schematic diagram showing the relationship between horizontal offset and transmitting coil inductance under different vertical offsets;

[0037] Figure 13 A schematic diagram showing the relationship between horizontal offset and receiving coil inductance under different vertical offsets;

[0038] Figure 14 This is a schematic diagram of an embodiment of the equivalent circuit of the system compensation network for a magnetically coupled radio thermal energy transmission system.

[0039] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0040] 1-AGV trolley; 21-Receiving and charging module; 22-Receiving coil; 31-Transmitting coil; 32-Transmitting power module; 102-Acquisition unit; 104-Control unit. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] According to embodiments of the present invention, a charging control method for an AGV (Automated Guided Vehicle) is provided, such as... Figure 1The diagram shows a flowchart of an embodiment of the method of the present invention. The charging end of the AGV (Automated Guided Vehicle) has a receiving coil 22 and a receiving charging module 21. The transmitting end of the wireless charging pile, which is matched with the AGV and is capable of wirelessly charging the AGV, has a transmitting coil 31 and a transmitting power module 32. After the transmitting end of the wireless charging pile is activated, the transmitting power module 32 uses AC power of a preset frequency to control the transmitting coil 31 to emit a magnetic field signal. When the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil 22 receives the magnetic field signal and generates an induced voltage. When the induced voltage generated by the receiving coil 22 reaches a set voltage threshold, the receiving charging module 21 is activated. When the receiving charging module 21 is activated, it uses the induced voltage generated by the receiving coil 22 to charge the battery of the AGV.

[0043] Specifically, Figure 9 This is a schematic diagram of one embodiment of an AGV (Automated Guided Vehicle) and wireless charging station system. Figure 9 As shown, in the overall system of the AGV (such as AGV 1) and the wireless charging station, a transmitting coil 31 and a transmitting power module 32 are installed at the wireless charging station, and a receiving charging module 21 and a receiving coil 22 are installed at the AGV. The transmitting power module 32 uses 220V high-frequency alternating current (i.e., 220V AC mains power) to control the transmitting coil 31 to emit a magnetic field signal. When the AGV is in the charging area of ​​the wireless charging station, the receiving coil 22 can receive the magnetic field signal emitted by the transmitting coil 31. The magnetic field signal received by the receiving coil 22 is converted into electrical energy by the receiving charging module 21 for the use of the AGV.

[0044] The relevant solutions involve direct contact between the AGV and the charging device via their respective charging terminals. However, using metal pins for power transmission presents significant alignment challenges, and poor contact with the metal pins can lead to safety hazards. Figure 9 In the example shown, the transmitting coil 31 and the receiving coil 22 are used to transmit electrical energy through spatial contact via magnetic field signals, but without physical contact. This improves the alignment efficiency during charging, thereby improving charging efficiency and charging safety.

[0045] Figure 10 A schematic flowchart illustrating one embodiment of the charging process for an AGV (Automated Guided Vehicle). Figure 10As shown, during the charging process of the AGV, in the charging area of ​​the wireless charging pile, the wireless charging pile is the primary side and the AGV is the secondary side. 220V high-frequency alternating current transmits a magnetic field signal through the transmitting power module 32 and transmitting coil 31 on the primary side. The receiving coil 22 and receiving charging module 21 on the secondary side receive at least a portion of the magnetic field signal, converting it into electrical energy. After rectification and filtering, a DC voltage is obtained for the AGV to use.

[0046] like Figure 1 As shown, in the solution of the present invention, the charging control method of the AGV trolley includes steps S110 to S170.

[0047] In step S110, on the AGV side, if the AGV needs to be charged, the wireless charging pile closest to the AGV is identified and denoted as the target charging pile.

[0048] In step S120, the current position of the AGV is obtained.

[0049] In step S130, based on the current position of the AGV, the AGV is controlled to move to the charging area of ​​the target charging pile. The charging area of ​​the target charging pile is the area surrounding the target charging pile that can wirelessly charge AGVs within a certain range.

[0050] In some implementations, the specific process of controlling the AGV to move to the charging area of ​​the target charging pile based on the current position of the AGV in step S130 is described in the following exemplary description.

[0051] The following is combined with Figure 2 The diagram shows a flowchart of an embodiment of the method of the present invention for controlling the AGV to move to the charging area of ​​the target charging pile. It further illustrates the specific process of controlling the AGV to move to the charging area of ​​the target charging pile in step S130, including steps S210 to S240.

[0052] Step S210: Control the AGV to move towards the charging area of ​​the target charging pile.

[0053] Step S220: Determine whether the current position of the AGV is within the charging area of ​​the target charging pile.

[0054] Step S230: If the current position of the AGV is already within the charging area of ​​the target charging pile, then it is determined that the AGV has moved to the charging area of ​​the target charging pile.

[0055] Step S240: If the current position of the AGV is not yet within the charging area of ​​the target charging pile, it is determined that the AGV has not yet moved to the charging area of ​​the target charging pile, and it returns to continue to control the AGV to move to the charging area of ​​the target charging pile according to its current position.

[0056] Specifically, Figure 11 This is a flowchart illustrating one embodiment of the charging process for an AGV (Automated Guided Vehicle). The overall charging process for the AGV is divided into two stages: an alignment stage (the process of aligning and preparing for charging) and a charging stage (the charging process after alignment). See [link to alignment stage] for details. Figure 11 The example shown illustrates the charging phase. Figure 10 The example shown. For example... Figure 11 As shown, the AGV's charging preparation process includes:

[0057] Step 1: Initiate the alignment and charging process:

[0058] Step 11: First, the AGV uses LiDAR to locate the nearest charging area (i.e., the charging area of ​​the wireless charging station) and then moves into that area. For example, third-party software can be used with LiDAR to locate and enter the nearest charging area.

[0059] Step 12: After the AGV enters the charging area closest to the AGV itself, the AGV's main controller reads the position information of the vehicle through sensors (such as the AGV's displacement sensor), determines that the vehicle has reached the preset charging range of the charging area closest to the AGV, and sends a command to make the original edge of the charging area (i.e., the wireless charging pile of the charging area) start to supply power to the AGV.

[0060] In step S140, when the AGV has moved to the charging area of ​​the target charging pile, the transmitter of the target charging pile is activated to charge the AGV. When the transmitter of the target charging pile is activated, the transmitting power module 32 uses AC power of a preset frequency to control the transmitting coil 31 to transmit a magnetic field signal.

[0061] In step S150, after the transmitter of the target charging pile is activated, the induced voltage generated by the receiving coil 22 is acquired. Specifically, after the transmitter of the target charging pile is activated, when the charging end of the AGV is in the charging area of ​​the target charging pile, the receiving coil 22 can receive the magnetic field signal and generate an induced voltage, and the induced voltage generated by the receiving coil 22 is acquired.

[0062] In step S160, based on the induced voltage generated by the receiving coil 22, the charging end of the AGV is aligned with the transmitting end of the target charging pile. This alignment occurs when, within the position range between the charging end of the AGV and the transmitting end of the target charging pile, the transmission efficiency of the magnetic field signal between the transmitting coil 31 and the receiving coil 22 reaches a set transmission efficiency range. Preferably, the transmission efficiency reaches the highest efficiency within the set transmission efficiency range, i.e., the most coupled position. The most coupled position refers to the position where the energy transmission efficiency between the primary transmitting coil 31 and the secondary receiving coil 22 is the highest.

[0063] In some embodiments, the specific process of aligning the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil 22 in step S160 is described in the following exemplary description.

[0064] The following is combined with Figure 3 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for aligning the charging end of the AGV vehicle with the transmitting end of the target charging pile. It further illustrates the specific process of aligning the charging end of the AGV vehicle with the transmitting end of the target charging pile in step S160, including steps S310 to S330.

[0065] Step S310: Determine whether the induced voltage generated by the receiving coil 22 reaches the preset charging voltage threshold.

[0066] Step S320: If it is determined that the induced voltage generated by the receiving coil 22 has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0067] Step S330: If it is determined that the induced voltage generated by the receiving coil 22 has not reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, according to the induced voltage generated by the receiving coil 22, the AGV is controlled to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0068] like Figure 11As shown, the AGV's charging preparation process also includes: Step 13, after the primary side (i.e., the wireless charging pile in the charging area) starts supplying power to the AGV, the secondary side (i.e., the AGV's wireless charging module) begins to receive power. The main circuit of the transmitting power module 32 in the primary side's wireless charging module is an inverter circuit. Starting the primary side's inverter circuit causes LC oscillations, which resonate with the receiving coil in the secondary side's wireless charging module, thus energizing the secondary side's wireless charging module. The AGV's wireless charging module can be a wireless charging module composed of a receiving coil 22 and a receiving charging module 21. When the secondary side (i.e., the AGV's wireless charging module) begins to receive power, the voltage of the secondary side's receiving coil 22 gradually increases.

[0069] In some embodiments, the specific process of controlling the AGV to move according to the induced voltage generated by the receiving coil 22 in step S330 so that the charging end of the AGV is aligned with the transmitting end of the target charging pile is described in the following exemplary description.

[0070] The following is combined with Figure 4 The schematic diagram shows an embodiment of the method of the present invention, which controls the movement of the AGV to align the charging end of the AGV with the transmitting end of the target charging pile. The specific process of controlling the movement of the AGV in step S330 to align the charging end of the AGV with the transmitting end of the target charging pile is further explained, including steps S410 to S440.

[0071] Step S410: Within the charging area of ​​the target charging pile, and within a preset range surrounding the AGV, control the AGV to move in a first direction. The first direction is the direction in which the AGV moves to its left.

[0072] Step S420: During the process of the AGV moving in the first direction, determine whether the induced voltage generated by the receiving coil 22 is increasing or decreasing.

[0073] In step S430, if it is determined that the induced voltage generated by the receiving coil 22 is increasing during the movement of the AGV in the first direction, the AGV continues to move in the first direction until the induced voltage generated by the receiving coil 22 begins to decrease after increasing. Then, the AGV stops moving in the first direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile based on the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction.

[0074] In step S440, if it is determined that the induced voltage generated by the receiving coil 22 is decreasing during the movement of the AGV in the first direction, then the AGV is controlled to stop moving in the first direction and move in the second direction. Based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. The second direction is a direction different from the first direction, such as the direction in which the AGV moves to its right.

[0075] Specifically, such as Figure 11 As shown, the AGV's charging preparation process also includes: in step 13, the secondary side passes through the detection receiving coil 22 (i.e., Figure 14 The voltage of the receiving coil L2 (as shown) is used to determine the charging position of the AGV in the charging area on the original side. When the voltage detected on the receiving coil L2 does not meet the required voltage, a movement command is sent to the AGV. As the AGV moves, the voltage on the receiving coil L2 changes. By following the voltage change pattern, the most coupled position can be found. In this way, the energy transfer efficiency between the transmitting coil 31 and the receiving coil 22 is maximized.

[0076] In the process of transmitting electrical energy normally between the primary side transmitting coil 31 and the secondary side receiving coil 22, it is required that the primary side transmitting coil 31 and the secondary side receiving coil 22 be aligned. This logic is used to determine whether the primary side transmitting coil 31 and the secondary side receiving coil 22 are aligned.

[0077] In some embodiments, the specific process of aligning the charging end of the AGV with the transmitting end of the target charging pile based on the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction in step S430 is described in the following exemplary description.

[0078] The following is combined with Figure 5 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention, which controls the charging end of the AGV vehicle to align with the transmitting end of the target charging pile according to the maximum value of the induced voltage during the movement in the first direction. The specific process of controlling the charging end of the AGV vehicle to align with the transmitting end of the target charging pile according to the maximum value of the induced voltage during the movement in the first direction in step S430 includes: steps S510 to S530.

[0079] Step S510: Determine whether the maximum value of the induced voltage generated by the receiving coil 22 during the process of the AGV moving in the first direction reaches the preset charging voltage threshold.

[0080] Step S520: If it is determined that the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0081] Step S530: If it is determined that the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, the AGV is controlled to move in the second direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction.

[0082] The preset charging voltage threshold is determined based on the total inductance of the transmitting coil 31 and the receiving coil 22.

[0083] Specifically, when setting up each coil, the selection of each coil can be guided by software simulation. For example, a coil simulation model can be established using ANSYS software. In the ANSYS simulation, a single-turn coil can be used instead of a multi-turn coil. Based on the coil simulation results, the optimal simulation result is selected, and the single-turn inductance of the corresponding coil is used to calculate the number of coil turns. Related solutions generally use an S / S topology, while the solution of this invention uses an SLCC topology. The SLCC topology has advantages in energy efficiency, and its output is a constant voltage characteristic, which offers advantages in back-end control.

[0084] The calculation of the number of turns is divided into the calculation of the number of turns for the transmitting coil (31 turns) and the calculation of the number of turns for the receiving coil (22 turns). The number of turns is calculated based on the inductance of each coil and the simulated single-turn inductance. The calculation method is as follows:

[0085] L=N 2 L0 (1).

[0086] Where L is the total inductance of the coil, N is the number of turns of the coil, and L0 is the inductance of a single turn of the coil.

[0087] Figure 12 This is a schematic diagram showing the relationship between horizontal offset and the inductance of the transmitting coil under different vertical offsets. Based on simulation and experimental data, the relationship between horizontal offset and the inductance of transmitting coil 31 under different vertical offsets is shown below. Figure 12 The example shown. (By...) Figure 12It can be seen that when the Z-direction distance between the transmitting coil 31 and the receiving coil 22 is 30mm, 35mm, and 40mm, and the receiving coil 22 is horizontally offset from 0mm to 40mm, the inductance of the transmitting coil 31 changes with the different horizontal offset distances. Here, vertical offset refers to movement relative to the contact surface in the direction of moving away from or closer to it. Horizontal offset refers to movement in other directions when the contact surface is parallel and the distance is fixed.

[0088] Figure 13 This diagram illustrates the relationship between horizontal offset and the inductance of the receiving coil under different vertical offsets. For the relationship between horizontal offset and the inductance of receiving coil 22 under different vertical offsets, please refer to [link to diagram]. Figure 13 The example shown. (By...) Figure 13 It can be seen that when the receiving coil 22 is horizontally offset from 0mm to 40mm, the rate of change of the inductance of the receiving coil 22 is greater when the vertical distance between the transmitting coil 31 and the receiving coil 22 is 30mm than when the vertical distance between the transmitting coil 31 and the receiving coil 22 is 35mm or 40mm.

[0089] Figure 14 This is a schematic diagram of an embodiment of the equivalent circuit of the system compensation network for a magnetically coupled radio thermal energy simultaneous transmission system. (See diagram below.) Figure 14 As shown, C1 is the transmitter compensation capacitor, C2 is the receiver compensation capacitor, C3 is the resonant capacitor, C4 is the receiver compensation capacitor, L1 is the transmitter coil, L2 is the receiver coil, L3 is the charging coil, and R... e Let M be the internal resistance of the charging coil L3. When the inductance of the receiving coil L2 changes, the mutual inductance coefficient M between the transmitting coil L1 and the receiving coil L2... 12 And the mutual inductance coefficient M between the receiving coil L2 and the charging coil L3. 23 All of these will change, thus affecting the overall charging power of the AGV and wireless charging pile system. The design of the AGV and wireless charging pile system aims to maximize charging power under the conditions of direct alignment and DC inverter input voltage. The derivation process of the parameters of the receiving coil L2 can be found in the example shown below. Formulas (2) to (6) below can be used to guide the parameter selection of corresponding components. Here, the primary input is AC power, and the inverter input DC voltage refers to the DC power obtained after rectification and PFC circuitry of the AC power.

[0090] Given the charging power P and the measured internal resistance R of the transmitting coil L1, receiving coil L2, and charging coil L3. e From formulas (2), (3), (4), and (5), we can obtain formula (6), which is the formula for calculating the charging power P. The specific formulas are as follows:

[0091]

[0092]

[0093]

[0094]

[0095] According to formula (6), when the receiving coil L2 is offset from the transmitting coil L1, the mutual inductance coefficient M between the transmitting coil L1 and the receiving coil L2 is... 12 If the power is reduced while other parameters remain unchanged, the charging power of the transmitting power module 32 increases, which greatly improves the anti-offset characteristics of the overall system of AGV and wireless charging pile.

[0096] based on Figure 12 and Figure 13 The data obtained from the experimental simulation, combined with the above formula, shows that the distance between the receiving coil 22 and the transmitting coil 31 affects the inductance (i.e., the inductance of the receiving coil 22 and the transmitting coil 31 themselves), and thus affects the number of turns of the two coils. According to the principle of an ideal transformer, the ratio of the voltages across the primary and secondary coils of the transformer is equal to the ratio of the number of turns of the two coils; the more turns, the higher the voltage. Therefore, to increase the voltage received by the wireless charging module of the AGV to the pre-set voltage threshold, while keeping the number of turns of the receiving coil 22 and the transmitting coil 31 fixed, it is necessary to increase the total inductance of the receiving coil 22 and the transmitting coil 31, which in turn requires increasing the inductance per turn of the receiving coil 22 and the transmitting coil 31. Figure 12 and Figure 13 The experimental simulation data shows that the smaller the vertical offset, the greater the single-turn inductance of the receiving coil 22 and the transmitting coil 31.

[0097] The vertical offset is the distance moved relative to the contact surface in the direction of moving away from or towards it; specifically, it is the vertical offset between the transmitting coil and the receiving coil.

[0098] In some embodiments, the specific process of aligning the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction in steps S440 and S530 is described in the following exemplary description.

[0099] The following is combined Figure 6The flowchart shown is a schematic diagram of an embodiment of the method of the present invention, which controls the charging end of the AGV to align with the transmitting end of the target charging pile according to the induced voltage during the movement in the second direction. The specific process of controlling the charging end of the AGV to align with the transmitting end of the target charging pile according to the induced voltage during the movement in the second direction in steps S440 and S530 includes: steps S610 to S640.

[0100] Step S610: During the process of the AGV moving in the second direction, determine whether the induced voltage generated by the receiving coil 22 is increasing or decreasing.

[0101] In step S620, if it is determined that the induced voltage generated by the receiving coil 22 is increasing during the movement of the AGV in the second direction, the AGV continues to move in the second direction until the induced voltage generated by the receiving coil 22 begins to decrease after increasing. Then, the AGV stops moving in the second direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile based on the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction.

[0102] In step S630, if it is determined that the induced voltage generated by the receiving coil 22 is decreasing during the movement of the AGV in the second direction, the AGV is controlled to stop moving in the second direction and then moved in a third direction. Based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the third direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile. The third direction is a direction different from the first and second directions, such as the direction in which the AGV moves towards its own left front side.

[0103] In step S640, the AGV is cyclically controlled to move according to the induced voltage generated by the receiving coil 22 until the charging end of the AGV is aligned with the transmitting end of the target charging pile.

[0104] Specifically, such as Figure 11As shown, the AGV's charging preparation process also includes: In step 13, after the voltage value of the secondary side rapidly increases and reaches a pre-set voltage threshold during a period of power supply from the primary side, the AGV does not need to move, indicating that the AGV has accurately reached the charging position on the primary side. At this time, the charging area on the primary side begins to charge the AGV's battery, putting the AGV into a charging state. Conversely, if the voltage value of the secondary side rises slowly or remains unchanged, the main controller detects this signal and controls the AGV to move left or right to ensure that the AGV accurately reaches the charging position on the primary side until the voltage on the secondary side begins to rise rapidly and reaches the pre-set voltage threshold. Then, the AGV begins to charge, meaning the charging area on the primary side begins to charge the AGV's battery, putting the AGV into a charging state.

[0105] In this invention, if the AGV veers to the right before reaching the charging position, the secondary coil sends a leftward signal to move the AGV to the left, increasing the voltage on the secondary coil until the AGV reaches the charging position and begins charging. The transmitting coil charges the receiving coil. Before the AGV begins charging, there is a pre-charging process during which the transmitting coil operates at low power, causing the receiving coil voltage to increase. This process is used to determine if the AGV has reached the correct charging position. Furthermore, in related solutions, adjusting the relative position between the AGV receiver and transmitter rails controls the AGV's left and right movement to achieve charging, which is achieved by judging the voltage of the left and right coils. However, in this invention, there is no detection coil; there is only a secondary main coil, and the judgment is made by detecting the main coil. The control methods used by the two are different.

[0106] In step S170, when the charging end of the AGV is aligned with the transmitting end of the target charging pile, the receiving charging module 21 is activated so that the receiving charging module 21 charges the battery of the AGV using the induced voltage generated by the receiving coil 22. That is, when the charging end of the AGV is in the charging area of ​​the target charging pile, and when the induced voltage generated by the receiving coil 22 reaches a set voltage threshold, the receiving charging module 21 is activated and charges the battery of the AGV using the induced voltage generated by the receiving coil 22, thereby realizing wireless charging of the AGV's battery using the target charging pile.

[0107] The present invention employs a wireless charging method where an AGV (Automated Guided Vehicle) and a charging device (such as a wireless charging pile) transmit energy via electromagnetic signals to achieve wireless charging. The wireless charging pile is the primary side, and the AGV is the secondary side. Alignment between the AGV and the wireless charging pile is determined by detecting the voltage threshold of the secondary side. If the AGV and the wireless charging pile are not fully aligned, the AGV position is automatically adjusted based on the voltage threshold to achieve the optimal charging range of the wireless charging pile. This solves the problem of misalignment during the charging process where the charging ends of the AGV and the charging device (such as the charging pile) are in contact, leading to inaccurate alignment. The wireless charging method improves the alignment effect between the AGV and the charging device (such as the charging pile) during charging. This also solves the problem of low transmission efficiency caused by misalignment between the charging end of the AGV and the charging device (such as a charging pile), which leads to poor alignment. The use of wireless charging improves charging efficiency. Furthermore, it eliminates the need for manual correction of misalignment, reducing the time required for manual correction and making the charging process more convenient.

[0108] In some embodiments, the charging control method for the AGV vehicle according to the present invention is characterized by further comprising: a process of controlling the charging amount of the AGV vehicle's battery.

[0109] The following is combined Figure 7 The diagram shows a flowchart of an embodiment of the method of the present invention for controlling the charging amount of the AGV vehicle's battery, further illustrating the specific process of controlling the charging amount of the AGV vehicle's battery, including steps S710 to S740.

[0110] Step S710: After the receiving charging module 21 charges the battery of the AGV using the induced voltage generated by the receiving coil 22, the battery power of the AGV is obtained.

[0111] Step S720: Determine whether the battery power of the AGV has reached a preset power threshold.

[0112] In step S730, if it is determined that the battery power of the AGV has reached a preset power threshold, then the receiving charging module 21 is controlled to shut down, so as to stop the receiving charging module 21 from charging the battery of the AGV using the induced voltage generated by the receiving coil 22. Simultaneously, the transmitting power module 32 is controlled to shut down, so as to stop the transmitting power module 32 from controlling the transmitting coil 31 to transmit magnetic field signals using AC power of a preset frequency.

[0113] In step S740, if it is determined that the battery level of the AGV has not reached the preset power threshold, the receiving charging module 21 is kept running to continue charging the AGV's battery using the induced voltage generated by the receiving coil 22, until the battery level has reached the preset power threshold. Then, the receiving charging module 21 is shut down to stop charging the AGV's battery using the induced voltage generated by the receiving coil 22. Simultaneously, the transmitting power module 32 is shut down to stop controlling the transmitting coil 31 to emit magnetic field signals using AC power of a preset frequency.

[0114] Specifically, such as Figure 11 As shown, the AGV car's charging preparation process also includes: Step 2: After the AGV car enters the charging state, the AGV car's main controller (such as the main control chip) can detect the AGV car's battery power in real time. When the AGV car's battery power reaches 100%, the AGV car's main controller (such as the main control chip) controls the connection between the secondary charging coil L3 and the battery to be disconnected, and stops the primary side's transmitting coil L1 from supplying power to the secondary side's receiving coil L2.

[0115] During the charging process, the AGV (Automated Guided Vehicle) in the charging area utilizes resonant wireless power transfer technology, relying on magnetic fields to transfer energy using the principle of energy coupling. The overall system of the AGV and the wireless charging station uses 220V high-frequency alternating current as the power source for the primary transmitting coil L1. When the primary transmitting coil L1 resonates with the secondary receiving coil L2, the 220V electrical signal is converted into a magnetic field signal and transmitted to the secondary side. After reaching the secondary receiving coil L2, the 220V electrical signal is converted back into a magnetic field signal, which is then rectified and filtered to become a 220V DC voltage, allowing the AGV to be charged normally.

[0116] The technical solution of this embodiment involves setting a wireless transmitting module at the charging device (such as a wireless charging pile) and a wireless receiving module at the AGV. The wireless transmitting module transmits electromagnetic signals, and the wireless receiving module receives electromagnetic signals. When the wireless receiving module converts the received electromagnetic signals into voltage, it determines whether the AGV and the wireless charging pile are aligned based on the magnitude of the voltage. The AGV position is automatically adjusted to reach the optimal charging range of the wireless charging pile based on the secondary voltage threshold, and then wireless charging is performed. Thus, wireless charging is achieved by transmitting energy between the AGV and the charging device (such as a wireless charging pile) through electromagnetic signals, which helps to improve charging efficiency and simplify the charging process.

[0117] According to embodiments of the present invention, a charging control device for an AGV (Automated Guided Vehicle) corresponding to a charging control method for an AGV is also provided. See also Figure 8 The diagram shows a structural schematic of an embodiment of the device of the present invention. The charging end of the AGV (Automated Guided Vehicle) has a receiving coil 22 and a receiving charging module 21. The transmitting end of the wireless charging pile, which is matched with the AGV and is capable of wirelessly charging the AGV, has a transmitting coil 31 and a transmitting power module 32. After the transmitting end of the wireless charging pile is activated, the transmitting power module 32 uses AC power of a preset frequency to control the transmitting coil 31 to emit a magnetic field signal. When the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil 22 receives the magnetic field signal and generates an induced voltage. When the induced voltage generated by the receiving coil 22 reaches a set voltage threshold, the receiving charging module 21 is activated. When the receiving charging module 21 is activated, it uses the induced voltage generated by the receiving coil 22 to charge the battery of the AGV.

[0118] Specifically, Figure 9 This is a schematic diagram of one embodiment of an AGV (Automated Guided Vehicle) and wireless charging station system. Figure 9 As shown, in the overall system of the AGV (such as AGV 1) and the wireless charging station, a transmitting coil 31 and a transmitting power module 32 are installed at the wireless charging station, and a receiving charging module 21 and a receiving coil 22 are installed at the AGV. The transmitting power module 32 uses 220V high-frequency alternating current (i.e., 220V AC mains power) to control the transmitting coil 31 to emit a magnetic field signal. When the AGV is in the charging area of ​​the wireless charging station, the receiving coil 22 can receive the magnetic field signal emitted by the transmitting coil 31. The magnetic field signal received by the receiving coil 22 is converted into electrical energy by the receiving charging module 21 for the use of the AGV.

[0119] The relevant solutions involve direct contact between the AGV and the charging device via their respective charging terminals. However, using metal pins for power transmission presents significant alignment challenges, and poor contact with the metal pins can lead to safety hazards. Figure 9 In the example shown, the transmitting coil 31 and the receiving coil 22 are used to transmit electrical energy through spatial contact via magnetic field signals, but without physical contact. This improves the alignment efficiency during charging, thereby improving charging efficiency and charging safety.

[0120] Figure 10 A flowchart illustrating one embodiment of the charging process for an AGV (Automated Guided Vehicle). Figure 10 As shown, during the charging process of the AGV, in the charging area of ​​the wireless charging pile, the wireless charging pile is the primary side and the AGV is the secondary side. 220V high-frequency alternating current transmits a magnetic field signal through the transmitting power module 32 and transmitting coil 31 on the primary side. The receiving coil 22 and receiving charging module 21 on the secondary side receive at least a portion of the magnetic field signal, converting it into electrical energy. After rectification and filtering, a DC voltage is obtained for the AGV to use.

[0121] like Figure 8 As shown, in the solution of the present invention, the charging control device of the AGV vehicle includes: an acquisition unit 102 and a control unit 104.

[0122] Control unit 104 is configured to, on the AGV side, determine the nearest wireless charging station to the AGV when the AGV needs charging, and designate it as the target charging station. The specific functions and processing of this control unit 104 are described in step S110.

[0123] The acquisition unit 102 is configured to acquire the current position of the AGV. The specific functions and processing of the acquisition unit 102 are described in step S120.

[0124] The control unit 104 is further configured to control the AGV to move to the charging area of ​​the target charging pile based on the AGV's current position. The charging area of ​​the target charging pile is an area in the outer region of the target charging pile that can wirelessly charge AGVs within a certain range. The specific functions and processing of the control unit 104 are further described in step S130.

[0125] In some embodiments, the control unit 104 controls the AGV to move to the charging area of ​​the target charging pile based on the current position of the AGV, including:

[0126] The control unit 104 is further configured to control the AGV to move towards the charging area of ​​the target charging pile. The specific functions and processing of the control unit 104 are further described in step S210.

[0127] The control unit 104 is further configured to determine whether the current position of the AGV is within the charging area of ​​the target charging pile. The specific functions and processing of the control unit 104 are further described in step S220.

[0128] The control unit 104 is further configured to determine that the AGV has moved to the charging area of ​​the target charging pile if the current position of the AGV is already within the charging area of ​​the target charging pile. The specific functions and processing of this control unit 104 are further described in step S230.

[0129] The control unit 104 is further configured to determine that the AGV has not yet moved to the charging area of ​​the target charging pile if the current position of the AGV is not yet within the charging area of ​​the target charging pile, and to return to the starting point to continue controlling the AGV to move to the charging area of ​​the target charging pile based on its current position. The specific functions and processing of this control unit 104 are further described in step S240.

[0130] Specifically, Figure 11 This is a flowchart illustrating one embodiment of the charging process for an AGV (Automated Guided Vehicle). The overall charging process for the AGV is divided into two stages: an alignment stage (the process of aligning and preparing for charging) and a charging stage (the charging process after alignment). See [link to alignment stage] for details. Figure 11 The example shown illustrates the charging phase. Figure 10 The example shown. For example... Figure 11 As shown, the AGV's charging preparation process includes:

[0131] Step 1: Initiate the alignment and charging process:

[0132] Step 11: First, the AGV uses LiDAR to locate the nearest charging area (i.e., the charging area of ​​the wireless charging station) and then moves into that area. For example, third-party software can be used with LiDAR to locate and enter the nearest charging area.

[0133] Step 12: After the AGV enters the charging area closest to the AGV itself, the AGV's main controller reads the position information of the vehicle through sensors (such as the AGV's displacement sensor), determines that the vehicle has reached the preset charging range of the charging area closest to the AGV, and sends a command to make the original edge of the charging area (i.e., the wireless charging pile of the charging area) start to supply power to the AGV.

[0134] The control unit 104 is further configured to, when the AGV has moved to the charging area of ​​the target charging pile, control the transmitter of the target charging pile to start charging the AGV. When the transmitter of the target charging pile is started, the transmitting power module 32 uses AC power of a preset frequency to control the transmitting coil 31 to emit a magnetic field signal. The specific functions and processing of this control unit 104 are further described in step S140.

[0135] The acquisition unit 102 is further configured to acquire the induced voltage generated by the receiving coil 22 after the transmitter of the target charging pile is activated. Specifically, after the transmitter of the target charging pile is activated, when the charging end of the AGV is in the charging area of ​​the target charging pile, the receiving coil 22 can receive the magnetic field signal and generate an induced voltage, and the induced voltage generated by the receiving coil 22 is acquired. The specific function and processing of this acquisition unit 102 are further described in step S150.

[0136] The control unit 104 is further configured to align the charging end of the AGV with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil 22. The alignment of the AGV's charging end with the transmitting end of the target charging pile is defined as the position where, within the position range between the charging end of the AGV and the transmitting end of the target charging pile, the transmission efficiency of the magnetic field signal between the transmitting coil 31 and the receiving coil 22 reaches a set transmission efficiency range; that is, the most coupled position. The most coupled position refers to the position where the energy transmission efficiency between the primary transmitting coil 31 and the secondary receiving coil 22 is the highest. The specific functions and processing of this control unit 104 are further described in step S160.

[0137] In some embodiments, the control unit 104, based on the induced voltage generated by the receiving coil 22, controls the charging end of the AGV to align with the transmitting end of the target charging pile, including:

[0138] The control unit 104 is further configured to determine whether the induced voltage generated by the receiving coil 22 reaches a preset charging voltage threshold. The specific functions and processing of the control unit 104 are further described in step S310.

[0139] The control unit 104 is further configured to determine that the charging end of the AGV is aligned with the transmitting end of the target charging pile if the induced voltage generated by the receiving coil 22 has reached a preset charging voltage threshold. The specific functions and processing of this control unit 104 are further described in step S320.

[0140] The control unit 104 is further configured to, if it is determined that the induced voltage generated by the receiving coil 22 has not reached a preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Based on the induced voltage generated by the receiving coil 22, the control unit 104 controls the AGV to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile. The specific functions and processing of this control unit 104 are further described in step S330.

[0141] like Figure 11 As shown, the AGV's charging preparation process also includes: Step 13, after the primary side (i.e., the wireless charging pile in the charging area) starts supplying power to the AGV, the secondary side (i.e., the AGV's wireless charging module) begins to receive power. The main circuit of the transmitting power module 32 in the primary side's wireless charging module is an inverter circuit. Starting the primary side's inverter circuit causes LC oscillations, which resonate with the receiving coil in the secondary side's wireless charging module, thus energizing the secondary side's wireless charging module. The AGV's wireless charging module can be a wireless charging module composed of a receiving coil 22 and a receiving charging module 21. When the secondary side (i.e., the AGV's wireless charging module) begins to receive power, the voltage of the secondary side's receiving coil 22 gradually increases.

[0142] In some embodiments, the control unit 104 controls the AGV to move based on the induced voltage generated by the receiving coil 22, so that the charging end of the AGV is aligned with the transmitting end of the target charging pile, including:

[0143] The control unit 104 is further configured to control the AGV to move in a first direction within a preset range around the target charging pile's charging area. The first direction is the direction in which the AGV moves to its left. The specific functions and processing of this control unit 104 are further described in step S410.

[0144] The control unit 104 is further configured to determine whether the induced voltage generated by the receiving coil 22 is increasing or decreasing during the movement of the AGV in the first direction. The specific functions and processing of the control unit 104 are further described in step S420.

[0145] The control unit 104 is further configured to, during the movement of the AGV in the first direction, if it is determined that the induced voltage generated by the receiving coil 22 is increasing, continue controlling the AGV to move in the first direction until the induced voltage generated by the receiving coil 22 begins to decrease after increasing, then control the AGV to stop moving in the first direction, and based on the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction, control the charging end of the AGV to align with the transmitting end of the target charging pile. The specific functions and processing of this control unit 104 are further described in step S430.

[0146] The control unit 104 is further configured to, during the movement of the AGV in the first direction, if it is determined that the induced voltage generated by the receiving coil 22 is decreasing, control the AGV to stop moving in the first direction and control the AGV to move in a second direction. Based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction, the control unit aligns the charging end of the AGV with the transmitting end of the target charging pile. The second direction is different from the first direction; for example, the second direction is the direction in which the AGV moves to its right. The specific functions and processing of this control unit 104 are further described in step S440.

[0147] Specifically, such as Figure 11 As shown, the AGV's charging preparation process also includes: in step 13, the secondary side passes through the detection receiving coil 22 (i.e., Figure 14 The voltage of the receiving coil L2 (as shown) is used to determine the charging position of the AGV in the charging area on the original side. When the voltage detected on the receiving coil L2 does not meet the required voltage, a movement command is sent to the AGV. As the AGV moves, the voltage on the receiving coil L2 changes. By following the voltage change pattern, the most coupled position can be found. In this way, the energy transfer efficiency between the transmitting coil 31 and the receiving coil 22 is maximized.

[0148] In the process of transmitting electrical energy normally between the primary side transmitting coil 31 and the secondary side receiving coil 22, it is required that the primary side transmitting coil 31 and the secondary side receiving coil 22 be aligned. This logic is used to determine whether the primary side transmitting coil 31 and the secondary side receiving coil 22 are aligned.

[0149] In some embodiments, the control unit 104 controls the charging end of the AGV to align with the transmitting end of the target charging pile based on the maximum value of the induced voltage generated by the receiving coil 22 during the AGV's movement in the first direction, including:

[0150] The control unit 104 is further configured to determine whether the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction reaches a preset charging voltage threshold. The specific functions and processing of the control unit 104 are further described in step S510.

[0151] The control unit 104 is further configured to determine that the charging end of the AGV is aligned with the transmitting end of the target charging pile if the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction reaches a preset charging voltage threshold. The specific functions and processing of this control unit 104 are further described in step S520.

[0152] The control unit 104 is further configured to, if it is determined that the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the first direction does not reach a preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. In this case, the control unit 104 controls the AGV to move in the second direction, and based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction, controls the charging end of the AGV to align with the transmitting end of the target charging pile. The specific functions and processing of this control unit 104 are further described in step S530.

[0153] The preset charging voltage threshold is determined based on the total inductance of the transmitting coil 31 and the receiving coil 22.

[0154] Specifically, when setting up each coil, the selection of each coil can be guided by software simulation. For example, a coil simulation model can be established using ANSYS software. In the ANSYS simulation, a single-turn coil can be used to simulate a multi-turn coil device. Based on the coil simulation results, the optimal coil simulation result is selected, and the single-turn inductance of the corresponding coil is used to calculate the number of coil turns. Related solutions generally use an S / S topology, while the solution of this invention uses an SLCC topology.

[0155] The turns calculation is divided into two parts: the calculation of the 31 turns of the transmitting coil and the calculation of the 22 turns of the receiving coil. The number of coil turns is calculated based on the inductance of each coil and the simulated single-turn inductance. The calculation device is as follows:

[0156] L=N 2 L0 (1).

[0157] Where L is the total inductance of the coil, N is the number of turns of the coil, and L0 is the inductance of a single turn of the coil.

[0158] Figure 12This is a schematic diagram showing the relationship between horizontal offset and the inductance of the transmitting coil under different vertical offsets. Based on simulation and experimental data, the relationship between horizontal offset and the inductance of transmitting coil 31 under different vertical offsets is shown below. Figure 12 The example shown. (By...) Figure 12 It can be seen that when the Z-direction distance between the transmitting coil 31 and the receiving coil 22 is 30mm, 35mm, and 40mm, and the receiving coil 22 is horizontally offset from 0mm to 40mm, the inductance of the transmitting coil 31 changes with the different horizontal offset distances.

[0159] Figure 13 This diagram illustrates the relationship between horizontal offset and the inductance of the receiving coil under different vertical offsets. For the relationship between horizontal offset and the inductance of receiving coil 22 under different vertical offsets, please refer to [link to diagram]. Figure 13 The example shown. (By...) Figure 13 It can be seen that when the receiving coil 22 is horizontally offset from 0mm to 40mm, the rate of change of the inductance of the receiving coil 22 is greater when the vertical distance between the transmitting coil 31 and the receiving coil 22 is 30mm than when the vertical distance between the transmitting coil 31 and the receiving coil 22 is 35mm or 40mm.

[0160] Figure 14 This is a schematic diagram of an embodiment of the equivalent circuit of the system compensation network for a magnetically coupled radio thermal energy simultaneous transmission system. (See diagram below.) Figure 14 As shown, C1 is the transmitter compensation capacitor, C2 is the receiver compensation capacitor, C3 is the resonant capacitor, C4 is the receiver compensation capacitor, L1 is the transmitter coil, L2 is the receiver coil, L3 is the charging coil, and R... e Let L1 be the internal resistance of the transmitting coil L1, the receiving coil L2, and the charging coil L3. When the inductance of the receiving coil L2 changes, the mutual inductance coefficient M between the transmitting coil L1 and the receiving coil L2... 12 And the mutual inductance coefficient M between the receiving coil L2 and the charging coil L3. 23 All of these will change, thus affecting the overall charging power of the AGV and wireless charging pile system. The design of the AGV and wireless charging pile system aims to maximize charging power under the conditions of direct alignment and DC inverter input voltage. The derivation process of the parameters of the receiving coil L2 can be found in the example shown below. Formulas (2) to (6) below can be used to guide the parameter selection of the corresponding components.

[0161] Given the charging power P and the measured internal resistance R of the transmitting coil L1, receiving coil L2, and charging coil L3. e From formulas (2), (3), (4), and (5), we can obtain formula (6), which is the formula for calculating the charging power P. The specific formulas are as follows:

[0162]

[0163]

[0164]

[0165]

[0166] According to formula (6), when the receiving coil L2 is offset from the transmitting coil L1, the mutual inductance coefficient M between the transmitting coil L1 and the receiving coil L2 is... 12 If the power is reduced while other parameters remain unchanged, the charging power of the transmitting power module 32 increases, which greatly improves the anti-offset characteristics of the overall system of AGV and wireless charging pile.

[0167] based on Figure 12 and Figure 13 The data obtained from the experimental simulation, combined with the above formula, shows that the distance between the receiving coil 22 and the transmitting coil 31 affects the inductance (i.e., the inductance of the receiving coil 22 and the transmitting coil 31 themselves), and thus affects the number of turns of the two coils. According to the principle of an ideal transformer, the ratio of the voltages across the primary and secondary coils of the transformer is equal to the ratio of the number of turns of the two coils; the more turns, the higher the voltage. Therefore, to increase the voltage received by the wireless charging module of the AGV to the pre-set voltage threshold, while keeping the number of turns of the receiving coil 22 and the transmitting coil 31 fixed, it is necessary to increase the total inductance of the receiving coil 22 and the transmitting coil 31, which in turn requires increasing the inductance per turn of the receiving coil 22 and the transmitting coil 31. Figure 12 and Figure 13 The experimental simulation data shows that the smaller the vertical offset, the greater the single-turn inductance of the receiving coil 22 and the transmitting coil 31.

[0168] In some embodiments, the control unit 104, based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction, controls the charging end of the AGV to align with the transmitting end of the target charging pile, including:

[0169] The control unit 104 is further configured to determine whether the induced voltage generated by the receiving coil 22 is increasing or decreasing as the AGV moves in the second direction. The specific functions and processing of the control unit 104 are further described in step S610.

[0170] The control unit 104 is further configured to, during the movement of the AGV in the second direction, if it is determined that the induced voltage generated by the receiving coil 22 is increasing, continue controlling the AGV to move in the second direction until the induced voltage generated by the receiving coil 22 begins to decrease after increasing, at which point the control unit 104 stops the AGV from moving in the second direction, and, based on the maximum value of the induced voltage generated by the receiving coil 22 during the movement of the AGV in the second direction, align the charging end of the AGV with the transmitting end of the target charging pile. The specific functions and processing of this control unit 104 are further described in step S620.

[0171] The control unit 104 is further configured to, during the movement of the AGV in the second direction, if it is determined that the induced voltage generated by the receiving coil 22 is decreasing, control the AGV to stop moving in the second direction and control the AGV to move in a third direction. Based on the induced voltage generated by the receiving coil 22 during the movement of the AGV in the third direction, the control unit aligns the charging end of the AGV with the transmitting end of the target charging pile. The third direction is a direction different from the first and second directions; for example, the third direction could be the direction in which the AGV moves towards its own left front side. The specific functions and processing of this control unit 104 are further described in step S630.

[0172] The control unit 104 is further configured to cyclically control the movement of the AGV based on the induced voltage generated by the receiving coil 22 until the charging end of the AGV is aligned with the transmitting end of the target charging pile. The specific functions and processing of this control unit 104 are further described in step S640.

[0173] Specifically, such as Figure 11 As shown, the AGV's charging preparation process also includes: In step 13, after the voltage value of the secondary side rapidly increases and reaches a pre-set voltage threshold during a period of power supply from the primary side, the AGV does not need to move, indicating that the AGV has accurately reached the charging position on the primary side. At this time, the charging area on the primary side begins to charge the AGV's battery, putting the AGV into a charging state. Conversely, if the voltage value of the secondary side rises slowly or remains unchanged, the main controller detects this signal and controls the AGV to move left or right to ensure that the AGV accurately reaches the charging position on the primary side until the voltage on the secondary side begins to rise rapidly and reaches the pre-set voltage threshold. Then, the AGV begins to charge, meaning the charging area on the primary side begins to charge the AGV's battery, putting the AGV into a charging state.

[0174] The control unit 104 is further configured to activate the receiving charging module 21 when the charging end of the AGV is aligned with the transmitting end of the target charging pile. This allows the receiving charging module 21 to charge the AGV's battery using the induced voltage generated by the receiving coil 22. Specifically, when the AGV's charging end is within the charging area of ​​the target charging pile, and the induced voltage generated by the receiving coil 22 reaches a set voltage threshold, the receiving charging module 21 activates and charges the AGV's battery using the induced voltage generated by the receiving coil 22, thus achieving wireless charging of the AGV's battery using the target charging pile. The specific functions and processing of this control unit 104 are further described in step S170.

[0175] The present invention employs a wireless charging method where an AGV (Automated Guided Vehicle) and a charging device (such as a wireless charging pile) transmit energy via electromagnetic signals to achieve wireless charging. The wireless charging pile is the primary side, and the AGV is the secondary side. Alignment between the AGV and the wireless charging pile is determined by detecting the voltage threshold of the secondary side. If the AGV and the wireless charging pile are not fully aligned, the AGV position is automatically adjusted based on the voltage threshold to achieve the optimal charging range of the wireless charging pile. This solves the problem of misalignment during the charging process where the charging ends of the AGV and the charging device (such as the charging pile) are in contact, leading to inaccurate alignment. The wireless charging method improves the alignment effect between the AGV and the charging device (such as the charging pile) during charging. This also solves the problem of low transmission efficiency caused by misalignment between the charging end of the AGV and the charging device (such as a charging pile), which leads to poor alignment. The use of wireless charging improves charging efficiency. Furthermore, it eliminates the need for manual correction of misalignment, reducing the time required for manual correction and making the charging process more convenient.

[0176] In some embodiments, the charging control device for the AGV vehicle according to the present invention further includes a process for controlling the charging amount of the AGV vehicle's battery.

[0177] The control unit 104 is further configured to acquire the battery charge level of the AGV after the receiving charging module 21 charges the AGV's battery using the induced voltage generated by the receiving coil 22. The specific functions and processing of this control unit 104 are further described in step S710.

[0178] The control unit 104 is also configured to determine whether the battery level of the AGV has reached a preset power threshold. The specific functions and processing of the control unit 104 are further described in step S720.

[0179] The control unit 104 is further configured to, if it determines that the battery level of the AGV has reached a preset power threshold, control the receiving charging module 21 to shut down, thereby stopping the receiving charging module 21 from charging the AGV's battery using the induced voltage generated by the receiving coil 22. It also controls the transmitting power module 32 to shut down, thereby stopping the transmitting power module 32 from controlling the transmitting coil 31 to emit a magnetic field signal using AC power of a preset frequency. For the specific functions and processing of this control unit 104, please refer to step S730.

[0180] The control unit 104 is further configured to, if it is determined that the battery level of the AGV has not reached a preset power threshold, control the receiving charging module 21 to remain in the activated state, so that the receiving charging module 21 continues to charge the AGV battery using the induced voltage generated by the receiving coil 22, until it is determined that the battery level of the AGV has reached the preset power threshold. Then, it controls the receiving charging module 21 to shut down, so that the receiving charging module 21 stops charging the AGV battery using the induced voltage generated by the receiving coil 22. It also controls the transmitting power module 32 to shut down, so that the transmitting power module 32 stops using AC power of a preset frequency to control the transmitting coil 31 to transmit magnetic field signals. For the specific functions and processing of this control unit 104, please refer to step S740.

[0181] Specifically, such as Figure 11 As shown, the AGV car's charging preparation process also includes: Step 2, after the AGV car enters the charging state, the AGV car's main controller (such as the main control chip) can detect the AGV car's battery power in real time. When the AGV car's battery power reaches 100%, the AGV car's main controller (such as the main control chip) controls the connection between the secondary charging coil L3 and the battery to be disconnected, and stops the primary side's transmitting coil L1 from supplying power to the secondary side's receiving coil L2.

[0182] During the charging process, the AGV (Automated Guided Vehicle) in the charging area utilizes resonant wireless power transfer technology, relying on magnetic fields to transfer energy using the principle of energy coupling. The overall system of the AGV and the wireless charging station uses 220V high-frequency alternating current as the power source for the primary transmitting coil L1. When the primary transmitting coil L1 resonates with the secondary receiving coil L2, the 220V electrical signal is converted into a magnetic field signal and transmitted to the secondary side. After reaching the secondary receiving coil L2, the 220V electrical signal is converted back into a magnetic field signal, which is then rectified and filtered to become a 220V DC voltage, allowing the AGV to be charged normally.

[0183] Since the processing and functions implemented by the device in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0184] By adopting the technical solution of this invention, a wireless transmitting module is set at the charging device (such as a wireless charging pile), and a wireless receiving module is set at the AGV. The wireless transmitting module transmits electromagnetic signals and the wireless receiving module receives electromagnetic signals. When the wireless receiving module converts the received electromagnetic signals into voltage, the alignment between the AGV and the wireless charging pile is determined based on the magnitude of the voltage. The AGV position is automatically adjusted to reach the optimal charging range of the wireless charging pile based on the secondary voltage threshold before wireless charging is performed. This avoids the problem of manual correction required due to misalignment between the charging end of the AGV and the charging end of the charging device (such as the charging pile), which makes the charging process cumbersome. It also reduces the adjustment time for manual correction, making the charging process more convenient.

[0185] According to an embodiment of the present invention, an AGV (Automated Guided Vehicle) is also provided, corresponding to a charging control device for the AGV. The AGV may include the charging control device for the AGV described above.

[0186] Since the processing and functions implemented by the AGV in this embodiment are basically the same as those of the aforementioned device embodiments, principles and examples, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0187] By employing the technical solution of this invention, a wireless transmitting module is installed at the charging device (such as a wireless charging pile), and a wireless receiving module is installed at the AGV (Automated Guided Vehicle). The wireless transmitting module transmits electromagnetic signals, and the wireless receiving module receives these signals. When the wireless receiving module converts the received electromagnetic signals into voltage, the alignment between the AGV and the wireless charging pile is determined based on the magnitude of this voltage. Furthermore, the AGV position is automatically adjusted to reach the optimal charging range of the wireless charging pile based on a secondary voltage threshold before wireless charging begins. This avoids misalignment between the charging end of the AGV and the charging end of the charging device (such as the charging pile), which can lead to low transmission efficiency in the AGV and thus improves charging efficiency.

[0188] According to an embodiment of the present invention, a storage medium corresponding to a charging control method for an AGV (Automated Guided Vehicle) is also provided. The storage medium includes a stored program, wherein the program controls the device where the storage medium is located to execute the charging control method for the AGV described above during runtime.

[0189] Since the processing and functions implemented by the storage medium in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0190] By employing the technical solution of this invention, a wireless transmitting module is installed at the charging device (such as a wireless charging pile), and a wireless receiving module is installed at the AGV vehicle. The wireless transmitting module transmits electromagnetic signals, and the wireless receiving module receives electromagnetic signals. When the wireless receiving module converts the received electromagnetic signals into voltage, it determines whether the AGV vehicle and the wireless charging pile are aligned based on the magnitude of the voltage. The AGV vehicle position is automatically adjusted to reach the optimal charging range of the wireless charging pile based on the secondary voltage threshold before wireless charging. This avoids the problem of misalignment between the charging positions of the AGV vehicle and the charging device (such as the charging pile) during the charging process where their respective charging ends come into contact. This improves the alignment effect between the AGV vehicle and the charging device (such as the charging pile) during charging.

[0191] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0192] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A charging control method for an AGV (Automated Guided Vehicle), characterized in that, The charging end of the AGV has a receiving coil (22) and a receiving charging module (21); the transmitting end of the wireless charging pile matched with the AGV has a transmitting coil (31) and a transmitting power module (32); after the transmitting end of the wireless charging pile is started, the transmitting power module (32) uses AC power of a preset frequency to control the transmitting coil (31) to transmit a magnetic field signal; when the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil (22) receives the magnetic field signal and generates an induced voltage; when the receiving charging module (21) is started, the receiving charging module (21) uses the induced voltage generated by the receiving coil (22) to charge the battery of the AGV; The charging control method for the AGV includes: When the AGV needs charging, determine the wireless charging station closest to the AGV and record it as the target charging station; Obtain the current position of the AGV vehicle; Based on the current position of the AGV, control the AGV to move to the charging area of ​​the target charging pile; the AGV uses LiDAR positioning to find the charging area closest to itself and moves the AGV into that nearest charging area. When the AGV has moved to the charging area of ​​the target charging pile, control the transmitter of the target charging pile to start. After the transmitter of the target charging pile is started, the induced voltage generated by the receiving coil (22) is obtained; Based on the induced voltage generated by the receiving coil (22), the charging end of the AGV is aligned with the transmitting end of the target charging pile; wherein, the alignment of the charging end of the AGV with the transmitting end of the target charging pile is defined as the position where the transmission efficiency of the magnetic field signal transmitted between the transmitting coil (31) and the receiving coil (22) reaches a set transmission efficiency range within the position range between the charging end of the AGV and the transmitting end of the target charging pile; after reading the position information of the vehicle, it is determined that the vehicle has reached the charging area closest to itself. After the preset charging range is determined, a command is sent to the primary side of the charging area, i.e., the wireless charging pile of the charging area, to start powering the AGV. After the primary side of the charging area starts powering the AGV, the secondary side, i.e., the wireless charging module of the AGV, starts to receive power. The secondary side determines the charging position of the AGV in the charging area of ​​the primary side by detecting the voltage of the receiving coil. When the voltage detected on the receiving coil does not meet the required voltage, a movement command is sent to the AGV. As the AGV moves, the voltage on the receiving coil changes. The most coupled position can be found by following the voltage change pattern. When the charging end of the AGV is aligned with the transmitting end of the target charging pile, the receiving charging module (21) is activated so that the receiving charging module (21) charges the battery of the AGV using the induced voltage generated by the receiving coil (22), thereby realizing wireless charging of the battery of the AGV using the target charging pile.

2. The charging control method for the AGV trolley according to claim 1, characterized in that, Based on the current position of the AGV, control the AGV to move to the charging area of ​​the target charging pile, including: Control the AGV to move towards the charging area of ​​the target charging pile; Determine whether the current position of the AGV is within the charging area of ​​the target charging station; If the current position of the AGV is already within the charging area of ​​the target charging pile, then it is determined that the AGV has moved to the charging area of ​​the target charging pile. If the current position of the AGV is not yet within the charging area of ​​the target charging pile, it is determined that the AGV has not yet moved to the charging area of ​​the target charging pile, and it returns to continue to control the AGV to move to the charging area of ​​the target charging pile according to its current position.

3. The charging control method for the AGV trolley according to claim 1 or 2, characterized in that, Based on the induced voltage generated by the receiving coil (22), the charging end of the AGV is aligned with the transmitting end of the target charging pile, including: Determine whether the induced voltage generated by the receiving coil (22) reaches the preset charging voltage threshold; If it is determined that the induced voltage generated by the receiving coil (22) has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, based on the induced voltage generated by the receiving coil (22), the AGV is controlled to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

4. The charging control method for the AGV trolley according to claim 3, characterized in that, Based on the induced voltage generated by the receiving coil (22), the AGV is controlled to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile, including: Within the charging area of ​​the target charging pile, and within a preset range around the AGV, the AGV is controlled to move in a first direction; During the movement of the AGV in the first direction, it is determined whether the induced voltage generated by the receiving coil (22) is increasing or decreasing; If it is determined that the induced voltage generated by the receiving coil (22) is increasing, the AGV will continue to move in the first direction until the induced voltage generated by the receiving coil (22) starts to decrease after increasing. Then, the AGV will stop moving in the first direction. Based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction, the charging end of the AGV will be aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) is decreasing, the AGV is controlled to stop moving in the first direction and to move in the second direction. Based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, the charging end of the AGV is controlled to align with the transmitting end of the target charging pile.

5. The charging control method for the AGV trolley according to claim 4, characterized in that, Based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile, including: Determine whether the maximum value of the induced voltage generated by the receiving coil (22) during the process of the AGV moving in the first direction reaches the preset charging voltage threshold. If it is determined that the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, the AGV is controlled to move in the second direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile according to the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction. The preset charging voltage threshold is determined based on the total inductance of the transmitting coil (31) and the receiving coil (22).

6. The charging control method for the AGV trolley according to claim 4 or 5, characterized in that, Based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, the charging end of the AGV is aligned with the transmitting end of the target charging pile, including: During the process of the AGV moving in the second direction, it is determined whether the induced voltage generated by the receiving coil (22) is increasing or decreasing; If it is determined that the induced voltage generated by the receiving coil (22) is increasing, the AGV will continue to move in the second direction until the induced voltage generated by the receiving coil (22) starts to decrease after increasing. Then, the AGV will stop moving in the second direction. Based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, the charging end of the AGV will be aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) is decreasing, the AGV is controlled to stop moving in the second direction and to move in the third direction. Based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the third direction, the charging end of the AGV is controlled to align with the transmitting end of the target charging pile. In this way, based on the induced voltage generated by the receiving coil (22), the AGV is cyclically controlled to move until the charging end of the AGV is aligned with the transmitting end of the target charging pile.

7. The charging control method for the AGV trolley according to any one of claims 1 to 6, characterized in that, Also includes: After the receiving charging module (21) charges the battery of the AGV using the induced voltage generated by the receiving coil (22), the battery power of the AGV is obtained; Determine whether the battery level of the AGV has reached a preset power threshold; If it is determined that the battery power of the AGV has reached the preset power threshold, then the receiving charging module (21) is turned off, and the transmitting power module (32) is turned off. If it is determined that the battery power of the AGV has not reached the preset power threshold, the receiving charging module (21) is controlled to continue to be in the start state so that the receiving charging module (21) continues to charge the battery of the AGV using the induced voltage generated by the receiving coil (22) until it is determined that the battery power of the AGV has reached the preset power threshold.

8. A charging control device for an AGV (Automated Guided Vehicle) that implements charging control using the charging control method for an AGV as described in any one of claims 1 to 7, characterized in that, The charging end of the AGV has a receiving coil (22) and a receiving charging module (21); the transmitting end of the wireless charging pile matched with the AGV has a transmitting coil (31) and a transmitting power module (32); after the transmitting end of the wireless charging pile is started, the transmitting power module (32) uses AC power of a preset frequency to control the transmitting coil (31) to transmit a magnetic field signal; when the charging end of the AGV is in the charging area of ​​the wireless charging pile, the receiving coil (22) receives the magnetic field signal and generates an induced voltage; when the receiving charging module (21) is started, the receiving charging module (21) uses the induced voltage generated by the receiving coil (22) to charge the battery of the AGV; The charging control device for the AGV includes: The control unit is configured to determine the nearest wireless charging station to the AGV when the AGV needs to be charged, and denoted as the target charging station. The acquisition unit is configured to acquire the current position of the AGV vehicle; The control unit is also configured to control the AGV to move to the charging area of ​​the target charging pile based on the current position of the AGV. The control unit is also configured to control the transmitter of the target charging pile to start when the AGV has moved to the charging area of ​​the target charging pile; The acquisition unit is also configured to acquire the induced voltage generated by the receiving coil (22) after the transmitter of the target charging pile is started; The control unit is further configured to align the charging end of the AGV vehicle with the transmitting end of the target charging pile based on the induced voltage generated by the receiving coil (22); wherein, the alignment of the charging end of the AGV vehicle with the transmitting end of the target charging pile is the position where the transmission efficiency of the magnetic field signal transmitted between the transmitting coil (31) and the receiving coil (22) reaches a set transmission efficiency range within the position range between the position of the charging end of the AGV vehicle and the position of the transmitting end of the target charging pile; The control unit is also configured to control the receiving charging module (21) to start when the charging end of the AGV is aligned with the transmitting end of the target charging pile, so that the receiving charging module (21) charges the battery of the AGV using the induced voltage generated by the receiving coil (22), thereby realizing wireless charging of the battery of the AGV using the target charging pile.

9. The charging control device for the AGV trolley according to claim 8, characterized in that, The control unit, based on the current position of the AGV, controls the AGV to move to the charging area of ​​the target charging pile, including: Control the AGV to move towards the charging area of ​​the target charging pile; Determine whether the current position of the AGV is within the charging area of ​​the target charging station; If the current position of the AGV is already within the charging area of ​​the target charging pile, then it is determined that the AGV has moved to the charging area of ​​the target charging pile. If the current position of the AGV is not yet within the charging area of ​​the target charging pile, it is determined that the AGV has not yet moved to the charging area of ​​the target charging pile, and it returns to continue to control the AGV to move to the charging area of ​​the target charging pile according to its current position.

10. The charging control device for the AGV trolley according to claim 8 or 9, characterized in that, The control unit, based on the induced voltage generated by the receiving coil (22), controls the charging end of the AGV to align with the transmitting end of the target charging pile, including: Determine whether the induced voltage generated by the receiving coil (22) reaches the preset charging voltage threshold; If it is determined that the induced voltage generated by the receiving coil (22) has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, based on the induced voltage generated by the receiving coil (22), the AGV is controlled to move so that the charging end of the AGV is aligned with the transmitting end of the target charging pile.

11. The charging control device for the AGV trolley according to claim 10, characterized in that, The control unit controls the AGV to move based on the induced voltage generated by the receiving coil (22), so that the charging end of the AGV is aligned with the transmitting end of the target charging pile, including: Within the charging area of ​​the target charging pile, and within a preset range around the AGV, the AGV is controlled to move in a first direction; During the movement of the AGV in the first direction, it is determined whether the induced voltage generated by the receiving coil (22) is increasing or decreasing; If it is determined that the induced voltage generated by the receiving coil (22) is increasing, the AGV will continue to move in the first direction until the induced voltage generated by the receiving coil (22) starts to decrease after increasing. Then, the AGV will stop moving in the first direction. Based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction, the charging end of the AGV will be aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) is decreasing, the AGV is controlled to stop moving in the first direction and to move in the second direction. Based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, the charging end of the AGV is controlled to align with the transmitting end of the target charging pile.

12. The charging control device for the AGV trolley according to claim 11, characterized in that, The control unit, based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction, controls the charging end of the AGV to align with the transmitting end of the target charging pile, including: Determine whether the maximum value of the induced voltage generated by the receiving coil (22) during the process of the AGV moving in the first direction reaches the preset charging voltage threshold. If it is determined that the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction has reached the preset charging voltage threshold, then it is determined that the charging end of the AGV is aligned with the transmitting end of the target charging pile. If it is determined that the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the first direction does not reach the preset charging voltage threshold, then it is determined that the charging end of the AGV is not aligned with the transmitting end of the target charging pile. Then, the AGV is controlled to move in the second direction, and the charging end of the AGV is aligned with the transmitting end of the target charging pile according to the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction. The preset charging voltage threshold is determined based on the total inductance of the transmitting coil (31) and the receiving coil (22).

13. The charging control device for the AGV trolley according to claim 11 or 12, characterized in that, The control unit, based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, controls the charging end of the AGV to align with the transmitting end of the target charging pile, including: During the process of the AGV moving in the second direction, it is determined whether the induced voltage generated by the receiving coil (22) is increasing or decreasing; If it is determined that the induced voltage generated by the receiving coil (22) is increasing, the AGV will continue to move in the second direction until the induced voltage generated by the receiving coil (22) starts to decrease after increasing. Then, the AGV will stop moving in the second direction. Based on the maximum value of the induced voltage generated by the receiving coil (22) during the movement of the AGV in the second direction, the charging end of the AGV will be aligned with the transmitting end of the target charging pile. If it is determined that the induced voltage generated by the receiving coil (22) is decreasing, the AGV is controlled to stop moving in the second direction and to move in the third direction. Based on the induced voltage generated by the receiving coil (22) during the movement of the AGV in the third direction, the charging end of the AGV is controlled to align with the transmitting end of the target charging pile. In this way, based on the induced voltage generated by the receiving coil (22), the AGV is cyclically controlled to move until the charging end of the AGV is aligned with the transmitting end of the target charging pile.

14. The charging control device for the AGV trolley according to any one of claims 8 to 13, characterized in that, Also includes: The control unit is also configured to acquire the battery charge of the AGV after the receiving charging module (21) charges the battery of the AGV using the induced voltage generated by the receiving coil (22); The control unit is also configured to determine whether the battery power of the AGV has reached a preset power threshold. The control unit is also configured to, if it is determined that the battery power of the AGV has reached a preset power threshold, control the receiving charging module (21) to shut down and control the transmitting power module (32) to shut down. The control unit is further configured to, if it is determined that the battery power of the AGV vehicle has not reached a preset power threshold, control the receiving charging module (21) to remain in the start state, so that the receiving charging module (21) continues to charge the battery of the AGV vehicle using the induced voltage generated by the receiving coil (22) until it is determined that the battery power of the AGV vehicle has reached the preset power threshold.

15. An AGV (Automated Guided Vehicle) trolley, characterized in that, include: The charging control device for the AGV trolley as described in any one of claims 8 to 14.

16. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the charging control method of the AGV trolley according to any one of claims 1 to 7.

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