Power management system and power management method

Abstract

The application discloses a power management system and a power management method. The power management system comprises a power supply device, a charging device and a charging circuit; the power supply device and the charging device are connected through the charging circuit; the power supply device comprises a battery and a super capacitor, and is used for storing electric energy and supplying power for a mobile machine; the charging device is used for charging the power supply device; the charging circuit is further used for switching, controlling and displaying the charging capacity of the charging mode of the charging device, wherein the charging mode comprises a switching power supply charging mode and a capacitor charging mode. The technical scheme of the embodiment of the application is used for charging the power supply device by the charging device, and the charging circuit is used for switching, controlling and displaying the charging capacity between the two, so that the optimization of the power management of the mobile machine is realized.

Description

Technical Field

[0001] This invention relates to the field of power supply technology, and in particular to a power management system and a power management method. Background Technology

[0002] In intelligent warehousing systems, four-way vehicles are usually equipped with multiple batteries to improve their range. When the battery power is low, the four-way vehicle's battery needs to be replaced. However, frequent battery replacements can cause significant wear and tear on the battery interface and can easily lead to battery damage due to misoperation.

[0003] Increasing battery capacity can reduce the frequency of battery replacement, but as the battery capacity increases, the size of the battery pack also increases, and the size of the four-way vehicle will also increase accordingly. However, since the business requirements and trends are to minimize the size and weight of the four-way vehicle, increasing the battery capacity cannot achieve a good power management effect.

[0004] Therefore, a way is needed to optimize the power management of four-way vehicles. Summary of the Invention

[0005] This invention provides a power management system and a power management method to optimize the power management of four-way vehicles.

[0006] According to one aspect of the present invention, a power management system is provided, comprising: a power supply device, a charging device, and a charging circuit;

[0007] The power supply device and the charging device are connected through the charging circuit;

[0008] The power supply device includes a battery and a supercapacitor, used to store electrical energy and power the mobile machinery.

[0009] The charging device is used to charge the power supply device;

[0010] The charging circuit is also used to switch, control, and display the charging amount of the charging device, wherein the charging methods include switching power supply charging and capacitor charging.

[0011] Optionally, the charging device includes: a first transistor SW1, a second transistor SW2, a diode D1, a diode D4, a charging output line VDOUT, a capacitor SC1, and a resistor R6;

[0012] The anode C of the first transistor SW1 is connected in parallel to the positive terminal of a 48V DC power supply through diode D1, and the anode C of the second transistor SW2 is connected in parallel to diode D4. The cathode E of the second transistor SW2 is connected in parallel to the cathode E of the first transistor SW1 through a series resistor R6, and the charging output line VDOUT is led out at the parallel connection node. The positive terminal of the capacitor SC1 is electrically connected between the cathode E of the second transistor SW2 and the resistor R6, and the negative terminal of the capacitor SC1 is grounded.

[0013] Optionally, the node where the cathode E of the first transistor SW1 is connected to the first end of the current-limiting resistor R6 is the first node Vcm1, and the node where the cathode E of the second transistor SW2 is connected to the second end of the current-limiting resistor R6 is the second node Vcm2. Accordingly, the charging circuit includes: a DC-DC power supply circuit, a voltage detection and control circuit, a contact contact detection circuit, and a charging power display circuit.

[0014] The DC-DC power supply circuit supplies power to the voltage detection and control circuit, the contact contact detection circuit, and the charging power display circuit.

[0015] The voltage detection and control circuit detects the voltage value of the first node Vcm1; and controls the on / off state of the first transistor SW1 and the second transistor SW2 according to the voltage value to switch the charging mode of the charging device.

[0016] The contact detection circuit detects the contact stability of the charging contacts of the mobile machinery;

[0017] The charging power display circuit displays the charging amount of the power supply device.

[0018] Optionally, the DC-DC power supply circuit includes: connector J1, reverse connection protection circuit, first filter circuit, power indicator circuit and power chip U4;

[0019] The connector J1 is used to connect to an external 24V DC power supply;

[0020] The reverse connection protection circuit includes: fuse F1, diode D5, resistor R13, resistor R16, and field-effect transistor Q1. The reverse connection protection circuit is used as follows: when the power supply circuit is correctly wired, pin 1 of connector J1 is connected to the negative terminal of the power supply and pin 2 is connected to the positive terminal. The reverse connection protection diode D5 conducts, and the gate (G) of the field-effect transistor Q1 is divided by resistor R16, causing the drain (D) to source (S) of the field-effect transistor to conduct, forming a loop to supply power to the downstream circuit. When the power supply circuit is reversed, the reverse connection protection diode D5 does not conduct to protect the power supply.

[0021] The first filtering circuit includes: capacitor C9, capacitor C7, capacitor C8 and a DC24V output terminal, used to filter the power signal provided by the external 24V DC power supply, and output the filtered 24V power supply through the DC24V output terminal;

[0022] The power indicator circuit includes a current-limiting resistor R1 and an LED11. The power indicator circuit lights up the LED11 when the circuit is powered normally.

[0023] The power input pin VIN of the power chip U4 is connected to the first filter circuit, and the power output pin PH is connected to the Buck circuit and the voltage divider circuit in sequence. It is used to process the output current through the Buck circuit and output 5V DC power through the DC5V output terminal of the voltage divider circuit. The voltage feedback pin VSENSE of the power chip U4 is used to sample the voltage at the DC5V output terminal and control the MOS transistor of the power chip U4 according to the voltage feedback value.

[0024] Optionally, the voltage detection and control circuit includes: a first comparator U1A, a second comparator U1B, a capacitor C1, resistors R1, R2, R4, R10, R11, R12 and a voltage reference chip U3;

[0025] The power input terminals V+ of the first comparator U1A and the second comparator U1B are connected to the DC5V output terminal of the DC-DC power supply circuit.

[0026] The non-inverting input of the first comparator U1A is connected to the first node Vcm2 after being connected to the resistors R1 and R2. The inverting input of the first comparator U1A is connected to the cathode of the voltage reference chip U3. The cathode of the voltage reference chip U3 is connected to the DC5V output after being connected to the resistor R3.

[0027] The output of the first comparator U1A is connected to the control electrode G of the first transistor SW1;

[0028] The inverting input of the second comparator U1B is connected to the second node Vcm2 after being connected to the resistors R10 and R11. The non-inverting input of the second comparator U1B is connected to the cathode of the voltage reference chip U3. The output of the second comparator U1B is connected to the control electrode G of the second transistor SW2.

[0029] Optionally, the contact detection circuit includes: photoelectric switch K2, limit switch K3, relay K1, current detection chip U5, comparator U6A, MOSFET Q2, filter capacitor C10, filter capacitor C11, pull-up resistor R19, current limiting resistor R18, current limiting resistor R21, pull-down resistor R22, and LED.

[0030] The positive terminal of the photoelectric switch K2 is connected to the DC24V output terminal of the DC-DC power supply circuit, the negative terminal K is grounded, the collector is connected to the coil IN- of the relay K1, and the emitter is connected to the limit switch K3.

[0031] The limit switch K3 includes a normally open pin NO and a normally closed pin NC;

[0032] The coil IN+ of relay K1 is connected to the DC24V output terminal of the DC-DC power supply circuit; the contact of relay K1 is connected to the first node Vcm1; the contact of relay K1 is connected to the primary current input positive terminal IP+ of the current detection chip U5.

[0033] The primary side current output negative terminal IP- of the current detection chip U5 is connected to the charging output line of the charging device, the power supply voltage terminal VCC is connected to the DC5V output terminal of the DC-DC power supply circuit, and the output voltage terminal VIOUT is connected to the non-inverting input terminal of the comparator U6A.

[0034] The power input terminal V+ of the comparator U6A is connected to the DC5V output terminal, and the power input terminal V- is grounded; the inverting input terminal is connected to the resistors R20 and R23; the output terminal OUT is connected to the gate G of the MOSFET Q2.

[0035] The source (S) of the MOSFET Q2 is grounded, and its drain (D) is connected to the LED. The DC24V output of the DC-DC power supply circuit powers the LED.

[0036] Optionally, the charging power display circuit includes: an LED display driver chip U2, resistors R5, R7, R8, R9, a power indicator LED1, and a power display LED group;

[0037] The on-board capacitor voltage of the mobile machinery is connected to the input pin of the LED display driver chip U2 via resistors R5 and R7. The LED display driver chip is used to control the power display LED group to display the current power of the power supply device.

[0038] According to another aspect of the present invention, a power management method based on any of the power management systems described in the above embodiments is provided, comprising:

[0039] When the voltage value of the supercapacitor of the power supply device is higher than the first preset value, the mobile machinery is controlled to maintain the capacitor power supply mode powered by the supercapacitor;

[0040] When the voltage value of the supercapacitor is not higher than the first preset value, the mobile machinery is switched to a battery-powered mode powered by the battery.

[0041] When the battery charge level is lower than a second preset value, the mobile machinery is controlled to move to the charging device, and the charging device charges the power supply device using the charging circuit.

[0042] Optionally, after controlling the mobile machinery to move to the charging device, the method further includes:

[0043] The contact stability between the charging contacts of the mobile machinery and the charging contacts of the charging device is detected by the charging circuit.

[0044] When the contact stability does not meet the preset charging conditions, a charging abnormality alarm is triggered;

[0045] When the contact stability meets the charging conditions, the power supply device is charged by the charging device using the charging circuit.

[0046] Optionally, the charging device includes: a first transistor SW1, a second transistor SW2, and a capacitor SC1;

[0047] Accordingly, charging the power supply device via the charging circuit through the charging device includes:

[0048] Determine whether the voltage value of the supercapacitor is higher than a third preset value;

[0049] When the value is higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device can charge the mobile machinery through the switching power supply charging method.

[0050] When the value is not higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned off and the second transistor SW2 to be turned on, so that the charging device charges the mobile machinery by charging the capacitor.

[0051] Optionally, the charging device charges the mobile machinery by charging a capacitor, including:

[0052] The voltage value of capacitor SC1 is monitored in real time;

[0053] When the voltage value of the capacitor SC1 is higher than the fourth preset value, the mobile machinery is charged through the capacitor SC1;

[0054] When the voltage value of the capacitor SC1 is not higher than the fourth preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device charges the capacitor SC1 and the mobile machinery simultaneously.

[0055] The technical solution of this invention comprises a power management system for mobile machinery, consisting of a power supply device, a charging device, and a charging circuit. The power supply device uses a capacitor as the main power supply, enabling high-current fast charging and discharging to quickly reach the normal operating voltage and providing a long service life; it also significantly reduces the size of the battery. By using a battery as an auxiliary power supply, the frequency of battery charging is reduced, thus decreasing dependence on the battery and extending its lifespan. The charging device charges the power supply device, and the charging circuit switches between the two, controls the charging mode, and displays the charging amount. The combination of these three components optimizes the power management of mobile machinery.

[0056] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of a power management system provided in Embodiment 1 of the present invention;

[0059] Figure 2 This is a circuit diagram of a charging device provided in Embodiment 2 of the present invention;

[0060] Figure 3 This is a schematic diagram of a charging circuit provided in Embodiment 2 of the present invention;

[0061] Figure 4 A circuit diagram of a DC-DC power supply circuit provided in Embodiment 2 of the present invention;

[0062] Figure 5 This is a circuit diagram of the voltage detection and control circuit provided in Embodiment 2 of the present invention;

[0063] Figures 6(a) and 6(b) are circuit diagrams of a contact detection circuit provided in Embodiment 2 of the present invention;

[0064] Figure 7 This is a circuit diagram of a charging power display circuit provided in Embodiment 2 of the present invention;

[0065] Figure 8 This is a flowchart illustrating a power management method provided in Embodiment 3 of the present invention. Detailed Implementation

[0066] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0067] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0068] Example 1

[0069] Figure 1 This is a schematic diagram of a power management system provided in Embodiment 1 of the present invention. This embodiment is applicable to the power management of mobile machinery such as four-way vehicles. Figure 1 As shown, the system includes: a power supply device 110, a charging device 120, and a charging circuit 130;

[0070] The power supply device 110 and the charging device 120 are connected through the charging circuit 130;

[0071] The power supply device 110 includes a battery and a supercapacitor, used to store electrical energy and supply power to the mobile machinery;

[0072] The charging device 120 is used to charge the power supply device;

[0073] The charging circuit 130 is used to switch, control, and display the charging amount of the charging device. The charging circuit is also used to switch, control, and display the charging amount of the charging device. The charging methods include switching power supply charging method and capacitor charging method.

[0074] Among them, mobile machinery is exemplified by the four-way vehicle in intelligent warehousing. Also known as a four-way shuttle, the four-way vehicle can move laterally and longitudinally along a predetermined track with a load capacity to store and retrieve goods at designated locations on the shelves. The four-way vehicle can achieve automatic storage and retrieval, automatic lane changing and layer changing, and automatic incline climbing. It can also move and transport goods on the ground, making it a multi-functional device integrating automatic stacking, automatic handling, and unmanned guidance.

[0075] The power supply device refers to the power supply device built into the four-way vehicle; it mainly includes battery power supply and capacitor power supply. The battery power supply is lithium battery power supply, which is assumed to be the auxiliary power supply method; the capacitor power supply is supercapacitor power supply, which is assumed to be the main power supply method.

[0076] In the power supply system of the four-way vehicle, the main power supply method uses supercapacitor power supply. Compared with batteries, supercapacitors are cheaper, less polluting, and easier to implement. In addition, by using multiple supercapacitors in series and parallel, high-current fast charging and discharging can be achieved, enabling the four-way vehicle to quickly reach normal operating voltage and with a long service life. Moreover, the use of supercapacitors can also significantly reduce the size of the battery, which is beneficial to the design and assembly of other components on the four-way vehicle. The auxiliary power supply method is battery power supply. By reducing the frequency of battery charging, the four-way vehicle's dependence on the battery can be reduced, and the battery's service life can be extended.

[0077] The charging device refers to the charging pile device, which is used to charge four-way vehicles. The charging methods provided for four-way vehicles include storage capacitor charging and switching power supply charging.

[0078] The charging circuit is connected between the charging device and the power supply device, and is used to switch, control and display the charging amount of the charging device provided to the four-way vehicle.

[0079] The technical solution of this invention comprises a power management system for mobile machinery, consisting of a power supply device, a charging device, and a charging circuit. The power supply device uses a capacitor as the main power supply, enabling high-current fast charging and discharging to quickly reach the normal operating voltage and providing a long service life; it also significantly reduces the size of the battery. By using a battery as an auxiliary power supply, the frequency of battery charging is reduced, thus decreasing dependence on the battery and extending its lifespan. The charging device charges the power supply device, and the charging circuit switches between the two, controls the charging mode, and displays the charging amount. The combination of these three components optimizes the power management of mobile machinery.

[0080] Example 2

[0081] Figure 2 This is a circuit diagram of a charging device provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the charging device includes: a first transistor SW1, a second transistor SW2, a capacitor SC1, a reverse connection protection diode D1, a reverse connection protection diode D4, a charging output line VDOUT, and a current limiting resistor R6.

[0082] In this configuration, the anode C of the first transistor SW1 is connected in parallel to the positive terminal of a 48V DC power supply via diode D1, and the anode C of the second transistor SW2 is connected in parallel to diode D4. The cathode E of the second transistor SW2 is connected in parallel to the cathode E of the first transistor SW1 via a series resistor R6, and the charging output line VDOUT is led out at the parallel connection node. The positive terminal of the capacitor SC1 is electrically connected between the cathode E of the second transistor SW2 and the resistor R6, and the negative terminal of the capacitor SC1 is grounded.

[0083] also, Figure 2 Capacitors SC2 and SC3 are vehicle-mounted capacitors. The node connecting the cathode E of the first transistor SW1 to the first terminal of the current-limiting resistor R6 is defined as node Vcm1, and the node connecting the cathode E of the second transistor SW2 to the second terminal of the current-limiting resistor R6 is defined as node Vcm2, for the purpose of subsequent descriptions of the connections and interactions.

[0084] Figure 3 This is a schematic diagram of a charging circuit provided in Embodiment 2 of the present invention, as shown below. Figure 3 As shown, the charging circuit includes: a DC-DC power supply circuit 310, a voltage detection and control circuit 320, a contact contact detection circuit 330, and a charging power display circuit 340.

[0085] The DC-DC power supply circuit 310 supplies power to the voltage detection and control circuit, the contact contact detection circuit, and the charging power display circuit.

[0086] The voltage detection and control circuit 320 is used to detect the voltage value of the first node Vcm1; and control the on / off state of the first transistor SW1 and the second transistor SW2 according to the voltage value to switch the charging mode of the charging device.

[0087] The contact detection circuit 330 is used to detect the contact stability of the charging contacts of the mobile machinery.

[0088] The charging power display circuit 340 is used to display the charging amount of the mobile machinery.

[0089] Figure 4The circuit diagram of a DC-DC power supply circuit provided in Embodiment 2 of the present invention is as follows: Figure 4 As shown, the DC-DC power supply circuit includes: connector J1, reverse connection protection circuit, first filter circuit, power indicator circuit and power chip U4;

[0090] Connector J1 is used to connect to an external 24V DC power supply;

[0091] The reverse connection protection circuit includes a fuse F1, a reverse connection protection diode D5, resistors R13 and R16, and a field-effect transistor Q1. This circuit is used when the power supply circuit is correctly wired (i.e., pin 1 of connector J1 is connected to the negative power supply and pin 2 is connected to the positive power supply), the reverse connection protection diode D5 conducts, and the gate (G) of the field-effect transistor Q1 is connected to the source (S) of the field-effect transistor via resistor R16, forming a circuit to supply power to the downstream circuit. When the power supply circuit is reversed, the reverse circuit cannot pass through the reverse connection protection diode D5 and the field-effect transistor Q1, thus preventing the formation of a circuit and protecting the power supply.

[0092] The first filter circuit has capacitors C9, C7, and C8 to filter the power signal supplied by the external 24V DC power supply. Unlike conventional filter circuits, the configuration of electrolytic capacitor C9 can better improve the filtering effect of the filter circuit. In addition, a DC24V output terminal (Vout1) is led out from capacitor C7 to provide filtered DC 24V power to the outside.

[0093] The power indicator circuit has a current-limiting resistor R14 and an LED11, which illuminates the LED11 when the circuit is powered normally.

[0094] The power chip U4 can be a TPS5430. Its power input pin VIN is connected to the first filter circuit, and its power output pin PH is connected to the Buck circuit and the voltage divider circuit in sequence. The Buck circuit has an inductor L1, an electrolytic capacitor C4, and capacitors C5 and C6, which serve to reduce voltage, chop, and filter. The voltage divider circuit has resistors R15 and R17, and a DC 5V output terminal (Vout2) is led out from the first end of resistor R15 to provide DC 5V power to the outside.

[0095] In addition, the voltage feedback pin VSENSE of the power chip U4 is connected between resistors R15 and R17 to indirectly sample the voltage at Vout2.

[0096] The Vout2 voltage, acquired via the voltage feedback pin VSENSE, is fed back to the internal power chip U4 and compared with its internal reference voltage. If the Vout2 voltage acquired by the voltage feedback pin VSENSE is less than the reference voltage, the MOSFET inside the power chip U4 is turned on, and the power output pin PH outputs normally. Conversely, if the Vout2 voltage acquired by the voltage feedback pin VSENSE is greater than the reference voltage, the MOSFET is turned off, and the power output pin PH stops outputting, thus ensuring that the power output pin PH of the power chip U4 outputs a normal voltage.

[0097] In addition, C3 is the bootstrap capacitor built into the power chip U4, connected between the power output pin PH and the BOOT pin, used to drive the upper MOSFET; it also has a diode D6 to prevent reverse charging to VCC after the voltage rises.

[0098] Figure 5 The circuit diagram of the voltage detection and control circuit provided in Embodiment 2 of the present invention is as follows: Figure 5 As shown, the voltage detection and control circuit includes a first comparator U1A, a second comparator U1B, and a voltage reference chip U3;

[0099] The first comparator U1A and the second comparator U1B are two comparators from the same comparator chip (commonly known as dual comparators). Both comparators are single-supply comparators. The power input terminals V+ of the first comparator U1A and the second comparator U1B are connected to the DC5V output terminal (Vout2) of the aforementioned DC-DC power supply circuit, and C1 is a filter capacitor. The non-inverting input terminal "+" of the first comparator U1A is connected to node Vcm1 of the aforementioned charging device 2 via resistors R1 and R2. The inverting input terminal "-" of the first comparator U1A is connected to the cathode of the voltage reference chip U3 (interface 1 is the cathode, 2 is the anode, and 3 is the inverting cathode). (Referring to the reference terminal), the DC5V output terminal (Vout2) of the above-mentioned DC-DC power supply circuit also supplies power to the voltage reference chip U3, and R3 is a current limiting resistor; the output terminal Vout of the first comparator U1A is connected to the control electrode G of the first transistor SW1, and R4 is a pull-up resistor; the inverting input terminal "-" of the second comparator U1B is connected to the node Vcm2 of the above-mentioned charging device 2 after passing through the connecting resistors R10 and R11, the non-inverting input terminal "+" of the second comparator U1B is connected to the cathode of the voltage reference chip U3, and the output terminal Vout of the second comparator U1B is connected to the control electrode G of the second transistor SW2, and R12 is a pull-up resistor.

[0100] The specific method by which the voltage detection and control circuit controls the on / off state of the first transistor SW1 and the second transistor SW2 is as follows:

[0101] The charging cabinet operates in two phases: a testing phase and an operation phase. During the testing phase, the charging cabinet does not charge four-way vehicles. During the operation phase, after the contact stability test of the charging contacts is completed, it begins to charge four-way vehicles if the contact is good.

[0102] The specific, detailed control methods are as follows:

[0103] 1. Testing Phase:

[0104] When the charging cabinet is assembled, the voltage across the storage capacitor SC1 is V. cm2 ≈0V, the output voltage of the charging pile V cm1 ≈V cm2 ;

[0105] At that time, for the first comparator U1A, the voltage at its non-inverting input terminal "+" is less than the voltage at its inverting input terminal "-". Therefore, the output terminal Vout of the first comparator U1A is low, and thus, the first transistor SW1 is in the off state.

[0106] For the second comparator U1B, the voltage at its non-inverting input terminal "+" is greater than the voltage at its inverting input terminal "-". Therefore, the output terminal Vout of the second comparator U1B is high, and thus, the second transistor SW2 is in the conducting state.

[0107] Then, the charging cabinet charges the storage capacitor SC1 using a switching power supply (via the second transistor SW2).

[0108] Subsequently, when the storage capacitor SC1 is charged to 15V across its terminals... <V cm2 ≤20V, V cm1 ≈V cm2 Subsequently, because the voltage at the non-inverting input "+" of the first comparator U1A [(R2*Vcm1) / (R1+R2)] is greater than the voltage at the inverting input "-" (2.5V), the output Vout of the first comparator U1A becomes high, and the first transistor SW1 is in the conducting state. However, the voltage at the non-inverting input "+" of the second comparator U1B continues to be greater than the voltage at the inverting input "-" [(R11*Vcm2) / (R10+R11)]. Therefore, the output Vout of the second comparator U1B continues to be high, and the second transistor SW2 continues to be in the conducting state. Thus, the charging cabinet continues to charge the storage capacitor SC1 in the manner of switching power supply charging (via the first transistor SW1 and the second transistor SW2).

[0109] When the storage capacitor SC1 is charged to the voltage V across its terminals cm2 >20V, V cm1 ≈V cm2Subsequently, the output Vout of the first comparator U1A continues to be high, and the first transistor SW1 remains in the on state; however, the output Vout of the second comparator U1B becomes low, and the second transistor SW2 becomes off; the charging cabinet continues to charge the storage capacitor SC1 via the first transistor SW1 using a switching power supply until the storage capacitor SC1 is fully charged, i.e., Vout... cm1 =V cm2 =48V.

[0110] 2. Operational Phase:

[0111] Once the four-way vehicle reaches the charging position and the charging contacts are confirmed to be making good contact, the four-way vehicle is fully connected to the charging station. The voltage VDOUT at the charging station contacts drops momentarily, i.e., V... cm1 =VDOUT≤15V; At that time, the output Vout of the first comparator U1A will be low, and the first transistor SW1 will be in the off state; however, due to the voltage V across the storage capacitor SC1, cm2 Since the voltage is >20V, the output of the second comparator U1B, Vout, is also low, and the second transistor SW2 is also in the off state.

[0112] At this time, the charging cabinet charges the four-way vehicle by charging the storage capacitor SC1;

[0113] When the four-way vehicle is charging, the output voltage of the charging station rises to V. cm1 With a voltage >15V, the output Vout of the first comparator U1A is high, and the first transistor SW1 is in the conducting state; however, because the voltage V across the storage capacitor SC1 is >15V at this time... cm2 Since the voltage is >20V, the output Vout of the second comparator U1B continues to output a low level, and the second transistor SW2 continues to be in the off state.

[0114] Therefore, at this time, the charging cabinet charges the four-way vehicle by a combination of switching power supply charging (via the first transistor SW1) and storage capacitor SC1.

[0115] As the storage capacitor SC1 charges the four-way vehicle, when the storage capacitor SC1 is low on charge, i.e., V... cm2 When the voltage is ≤20V, the output terminal Vout of the second comparator U1B is high, the second transistor SW2 is in the conducting state, and the first transistor SW1 remains in the conducting state.

[0116] Therefore, at this time, the charging cabinet charges the four-way vehicle and the storage capacitor SC1 using a switching power supply.

[0117] When the voltage across the storage capacitor SC1 returns to V cm2With a voltage >20V, the output Vout of the second comparator U1B is low, and the second transistor SW2 is in the off state; however, the first transistor SW1 remains in the on state.

[0118] Therefore, at this time, the charging cabinet charges the four-way vehicle and the storage capacitor SC1 using a switching power supply.

[0119] The switching power supply continues to charge the storage capacitor SC1 until it is fully charged, i.e., V. cm1 =V cm2 =48V, at which point the car is fully charged and leaves the charging station.

[0120] In summary, if the first transistor SW1 is turned on and the second transistor SW2 is turned off, the charging cabinet charges the four-way vehicle using a switching power supply. At this time, the output voltage V of the charging pile is... cm1 =48V;

[0121] If the second transistor SW2 is turned on and the first transistor SW1 is turned off, the charging cabinet charges the four-way vehicle using the storage capacitor SC1. At this time, the output voltage V of the charging pile is... cm1 Approximately equal to the voltage V across the storage capacitor SC1 cm2 .

[0122] After a period of discharge, the storage capacitor SC1 becomes insufficient in charge, i.e., V. cm2 <V cm1 At this time, the first transistor SW1 is turned on and the second transistor SW2 is turned off. The charging cabinet uses a switching power supply to charge the storage capacitor SC1 and the four-way vehicle simultaneously.

[0123] Note: This charging method can be used to charge several four-way vehicles simultaneously. Because the internal resistance of the vehicle capacitor is relatively low, if the voltage of the vehicle capacitor is too low (in new vehicles or due to malfunctions, etc.), a hiccup protection phenomenon will occur when charging the vehicle capacitor using a switching power supply. Therefore, in this case, a reserve capacitor charging method should be used to first charge the vehicle capacitor to a certain level.

[0124] Figures 6(a) and 6(b) are circuit diagrams of a contact detection circuit provided in Embodiment 2 of the present invention. As shown in Figures 6(a) and 6(b), the contact detection circuit includes: a photoelectric switch K2, a limit switch K3, a relay K1, a current detection chip U5 (a current sensor), a comparator U6A, a MOSFET Q2, and an LED.

[0125] The A pin (positive terminal) of the photoelectric switch K2 is connected to the DC24V output terminal (Vout1) of the DC-DC power supply circuit mentioned above, the K pin (negative terminal) is grounded, the C pin (collector) is connected to the coil pin 2 (IN-) of the relay K1, and the E pin (emitter) is connected to the pin 1 (com common pin) of the limit switch K3; R21 is a current limiting resistor;

[0126] Pin 2 of limit switch K3 is normally open (NO), and pin 3 is normally closed (NC).

[0127] The coil pin 1 (IN+) of relay K1 is connected to the DC24V output terminal (Vout1) of the DC-DC power supply circuit mentioned above, and R19 is a pull-up resistor; the contact pin 3 of relay K1 is connected to node Vcm1 of the charging device 2 mentioned above, and the contact pin 4 of relay K1 is connected to the primary current input positive terminal (IP+ / 1 and 2 pins) of the current detection chip U5.

[0128] The primary side current output negative terminal (IP- / pins 3 and 4) of the current detection chip U5 is connected to the charging output line VDOUT of the charging device 2, the power supply voltage terminal (VCC / pin 8) is connected to the DC5V output terminal (Vout2) of the DC-DC power supply circuit, and the output voltage terminal (VIOUT / pin 7) is connected to the non-inverting input terminal "+" of the comparator U6A. C11 is a filter capacitor and R18 is a current limiting resistor.

[0129] Comparator U6A is also a single-supply comparator. Its power input terminal V+ is connected to the DC5V output terminal (Vout2) of the DC-DC power supply circuit mentioned above, and its power input terminal V- is grounded; the inverting input terminal "-" is connected to resistors R20 and R23; the output terminal OUT is connected to the gate G of MOSFET Q2; C10 is a filter capacitor.

[0130] The source (S) of MOSFET Q2 is grounded, and its drain (D) is connected to the LED. R22 is a pull-down resistor, and the DC24V output (Vout1) of the above DC-DC power supply circuit powers the LED.

[0131] The working principle of the contact detection circuit is as follows:

[0132] When the four-way vehicle arrives at the charging position, it first passes through photoelectric switch K2, turning it on, and then through limit switch K3, turning it on. At this time, pin E of photoelectric switch K2 is pulled low (due to the conduction of K3), and pin C changes from high level to low level accordingly. Because pin C of photoelectric switch K2 is connected to pin 2 (IN-) of relay K1, the internal switch of relay K1 will be closed (i.e., pins 3 and 4 of relay K1 are connected). At this time, the current at node Vcm1 of the charging device 2 is input to the current detection chip U5. That is, the current at node Vcm1 flows through pins 1, 2, 3, and 4 of the current detection chip U5 to the charging output line VDOUT. And when the current is larger, the output voltage terminal (VIOUT / pin 7) of the current detection chip U5 outputs... The larger the voltage level, the better. Since the output voltage terminal (VIOUT / pin 7) of the current detection chip U5 is connected to the non-inverting input terminal "+" (pin 3) of the comparator U6A, when the output voltage terminal (VIOUT / pin 7) of the current detection chip U5 outputs a suitable value (about 2A), making the level of the non-inverting input terminal "+" (pin 3) of the comparator U6A greater than the level of the inverting input terminal "-" (pin 2) [(R23*5) / (R20+R23)=2.59V], it indicates that the charging contacts are making good contact.

[0133] Correspondingly, since the level of the non-inverting input terminal "+" (pin 3) of comparator U6A is greater than the level of the inverting input terminal "-" (pin 2), the output terminal OUT of comparator U6A is high, MOSFET Q2 is turned on, and the LED light is lit. At this time, the contact stability detection of the charging contact is completed. By triggering the photoelectric switch and the limit switch, using both to detect simultaneously can ensure that the charging position of the four-way vehicle is without deviation.

[0134] Figure 7 This is a circuit diagram of a charging power display circuit provided in Embodiment 2 of the present invention, as shown below. Figure 7 As shown, the charging power display circuit includes: LED display driver chip U2, resistors R5, R7, R8, R9, power indicator LED1, and power display LED group;

[0135] The on-board capacitor voltage V of the four-way vehicle car The input pin 5 of the LED display driver chip U2 is connected through resistors R5 and R7. Since pin 9 is connected to 5V, the display mode of the LED display driver chip U2 is set to column display, i.e., according to V... car The voltage level determines the sequential lighting of LEDs 2, 3, ..., 10. The number of lit LEDs indicates the current battery level of the four-way vehicle; more lit LEDs indicate a higher voltage in the vehicle's capacitor and thus a higher battery level.

[0136] The proposed circuit uses a logic control circuit, which is simple, inexpensive to manufacture, and easy to implement. It prevents sparks from forming when the charging contacts touch, ensuring high safety. Furthermore, a contact stability detection module is added to guarantee good contact between the contacts, improving the charging efficiency of the four-way vehicle.

[0137] Example 3

[0138] Figure 8 This is a flowchart illustrating a power management method provided in Embodiment 3 of the present invention. Figure 8 As shown, the method includes:

[0139] S810. When the voltage value of the supercapacitor of the power supply device is higher than the first preset value, control the mobile machinery to maintain the capacitor power supply mode powered by the supercapacitor.

[0140] S820. When the voltage value of the supercapacitor is not higher than the first preset value, the mobile machinery is switched to a battery-powered mode powered by the battery.

[0141] S830. When the battery charge value is lower than the second preset value, control the mobile machinery to move to the charging device, and use the charging device to charge the power supply device through the charging circuit.

[0142] Taking a four-way vehicle as an example, during the operation of the four-way vehicle, the power management system obtains the voltage value of the vehicle's on-board capacitor and compares the obtained voltage value with a set threshold to determine which power supply method the four-way vehicle should use: if the obtained voltage value of the on-board capacitor is higher than the set threshold, the power management system controls the on-board capacitor to supply power to the four-way vehicle; if the obtained voltage value of the on-board capacitor is lower than the set threshold, the power management system controls the battery to supply power to the four-way vehicle.

[0143] When battery power is selected, the power management system first obtains the current battery level and compares it with a set threshold. Then, it determines whether the four-way vehicle needs to start operating or move to the charging station to charge. Specifically:

[0144] If the current battery charge is higher than a set threshold, the power management system controls the four-way vehicle to start working;

[0145] If the current battery level is lower than a set threshold, the power management system will control the four-way vehicle to move to the charging position for charging.

[0146] In this embodiment of the invention, after controlling the mobile machinery to move to the charging device, the method further includes: detecting the contact stability between the charging contacts of the mobile machinery and the charging contacts of the charging device through the charging circuit; triggering a charging abnormality alarm when the contact stability does not meet the preset charging conditions; and charging the power supply device through the charging device using the charging circuit when the contact stability meets the charging conditions.

[0147] When the four-way vehicle arrives at the charging position, the contact detection circuit is used to detect the contact stability between the charging contacts of the four-way vehicle and the charging contacts of the charging pile. If the contact between the charging contacts is good, the charging process will proceed. If the contact is poor, a charging abnormality alarm will be triggered.

[0148] In this embodiment of the invention, charging the power supply device via the charging circuit using the charging device includes:

[0149] Determine whether the voltage value of the supercapacitor is higher than a third preset value;

[0150] When the value is higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device can charge the mobile machinery through the switching power supply charging method.

[0151] When the value is not higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned off and the second transistor SW2 to be turned on, so that the charging device charges the mobile machinery by charging the capacitor.

[0152] In this embodiment of the invention, the charging device charges the mobile machinery by charging a capacitor, including:

[0153] The voltage value of capacitor SC1 is monitored in real time;

[0154] When the voltage value of the capacitor SC1 is higher than the fourth preset value, the mobile machinery is charged through the capacitor SC1;

[0155] When the voltage value of the capacitor SC1 is not higher than the fourth preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device charges the capacitor SC1 and the mobile machinery simultaneously.

[0156] After completing the contact stability test, the power management system acquires the voltage value of the on-board capacitor of the four-way vehicle again and compares the acquired voltage value of the on-board capacitor with a set threshold. If the acquired voltage value of the on-board capacitor is higher than the set threshold, the power management system controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, and uses the switching power supply charging method to charge the four-way vehicle.

[0157] If the voltage value of the obtained on-board capacitor is lower than the set threshold, the power management system controls the first transistor SW1 to be turned off and the second transistor SW2 to be turned on, and uses the storage capacitor charging method to charge the four-way vehicle.

[0158] Furthermore, during the charging process of the four-way vehicle using the reserve capacitor charging method, the power management system monitors the current voltage of the reserve capacitor and determines whether to continue charging using the reserve capacitor or switch to the switching power supply charging method.

[0159] If the current voltage of the storage capacitor is higher than the threshold set by the circuit, the four-way vehicle will continue to be charged using the storage capacitor charging method.

[0160] If the current voltage of the storage capacitor is lower than the threshold set by the circuit, the first transistor SW1 is turned on and the second transistor SW2 is turned off, and the storage capacitor and the four-way vehicle are charged simultaneously using the switching power supply charging method.

[0161] The charging device provides charging methods for four-way vehicles, including storage capacitor charging and switching power supply charging. In particular, the use of a high-power switching power supply can greatly improve the charging efficiency of the vehicle's capacitors.

[0162] In Embodiment 3 of the present invention, the method further includes: during the charging process of the mobile machinery, displaying the charging amount of the mobile machinery through the charging power display circuit.

[0163] During the four-way vehicle charging process, the power supply and charging system will send the voltage (or power) information of the on-board capacitor to the host computer in real time, and the host computer will display it in real time.

[0164] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0165] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A power management system, characterized in that, include: Power supply device, charging device, and charging circuit; The power supply device and the charging device are connected through the charging circuit; The power supply device includes a battery and a supercapacitor, used to store electrical energy and power the mobile machinery. The charging device is used to charge the power supply device; The charging circuit is also used to switch and control the charging mode of the charging device and display the charging amount, wherein the charging mode includes switching power supply charging mode and capacitor charging mode; The charging device includes: a first transistor SW1, a second transistor SW2, a diode D1, a diode D4, a charging output line VDOUT, a capacitor SC1, and a resistor R6; The anode C of the first transistor SW1 is connected in parallel to the positive terminal of a 48V DC power supply through diode D1, and the anode C of the second transistor SW2 is connected in parallel through diode D4. The cathode E of the second transistor SW2 is connected in parallel with the cathode E of the first transistor SW1 through a series resistor R6, and the charging output line VDOUT is led out at the parallel connection node. The positive terminal of the capacitor SC1 is electrically connected between the cathode E of the second transistor SW2 and the resistor R6, and the negative terminal of the capacitor SC1 is grounded. The node where the cathode E of the first transistor SW1 is connected to the first end of the current-limiting resistor R6 is the first node Vcm1, and the node where the cathode E of the second transistor SW2 is connected to the second end of the current-limiting resistor R6 is the second node Vcm2. Accordingly, the charging circuit includes: a DC-DC power supply circuit, a voltage detection and control circuit, a contact contact detection circuit, and a charging power display circuit. The DC-DC power supply circuit supplies power to the voltage detection and control circuit, the contact contact detection circuit, and the charging power display circuit. The voltage detection and control circuit detects the voltage value of the first node Vcm1; and controls the on / off state of the first transistor SW1 and the second transistor SW2 according to the voltage value to switch the charging mode of the charging device. The contact detection circuit detects the contact stability of the charging contacts of the mobile machinery; The charging power display circuit displays the charging amount of the power supply device.

2. The system according to claim 1, characterized in that, The DC-DC power supply circuit includes: connector J1, reverse connection protection circuit, first filter circuit, power indicator circuit and power chip U4; The connector J1 is used to connect to an external 24V DC power supply; The reverse connection protection circuit includes: fuse F1, diode D5, resistor R13, resistor R16, and field-effect transistor Q1. The reverse connection protection circuit is used as follows: when the power supply circuit is correctly wired, pin 1 of connector J1 is connected to the negative terminal of the power supply and pin 2 is connected to the positive terminal. The reverse connection protection diode D5 conducts, and the gate (G) of the field-effect transistor Q1 is divided by resistor R16, causing the drain (D) to source (S) of the field-effect transistor to conduct, forming a loop to supply power to the downstream circuit. When the power supply circuit is reversed, the reverse connection protection diode D5 does not conduct to protect the power supply. The first filtering circuit includes: capacitor C9, capacitor C7, capacitor C8 and a DC24V output terminal, used to filter the power signal provided by the external 24V DC power supply, and output the filtered 24V power supply through the DC24V output terminal; The power indicator circuit includes a current-limiting resistor R1 and an LED11. The power indicator circuit lights up the LED11 when the circuit is powered normally. The power input pin VIN of the power chip U4 is connected to the first filter circuit, and the power output pin PH is connected to the Buck circuit and the voltage divider circuit in sequence. It is used to process the output current through the Buck circuit and output 5V DC power through the DC5V output terminal of the voltage divider circuit. The voltage feedback pin VSENSE of the power chip U4 is used to sample the voltage at the DC5V output terminal and control the MOS transistor of the power chip U4 according to the voltage feedback value.

3. The system according to claim 1, characterized in that, The voltage detection and control circuit includes: a first comparator U1A, a second comparator U1B, a capacitor C1, resistors R1, R2, R4, R10, R11, R12 and a voltage reference chip U3; The power input terminals V+ of the first comparator U1A and the second comparator U1B are connected to the DC5V output terminal of the DC-DC power supply circuit. The non-inverting input of the first comparator U1A is connected to the first node Vcm2 after being connected to the resistors R1 and R2. The inverting input of the first comparator U1A is connected to the cathode of the voltage reference chip U3. The cathode of the voltage reference chip U3 is connected to the DC5V output after being connected to the resistor R3. The output of the first comparator U1A is connected to the control electrode G of the first transistor SW1; The inverting input of the second comparator U1B is connected to the second node Vcm2 after being connected to the resistors R10 and R11. The non-inverting input of the second comparator U1B is connected to the cathode of the voltage reference chip U3. The output of the second comparator U1B is connected to the control electrode G of the second transistor SW2.

4. The system according to claim 2, characterized in that, The contact detection circuit includes: photoelectric switch K2, limit switch K3, relay K1, current detection chip U5, comparator U6A, MOSFET Q2, filter capacitor C10, filter capacitor C11, pull-up resistor R19, current limiting resistor R18, current limiting resistor R21, pull-down resistor R22, and LED. The positive terminal of the photoelectric switch K2 is connected to the DC24V output terminal of the DC-DC power supply circuit, the negative terminal K is grounded, the collector is connected to the coil IN- of the relay K1, and the emitter is connected to the limit switch K3. The limit switch K3 includes a normally open pin NO and a normally closed pin NC; The coil IN+ of relay K1 is connected to the DC24V output terminal of the DC-DC power supply circuit; the contact of relay K1 is connected to the first node Vcm1; the contact of relay K1 is connected to the primary current input positive terminal IP+ of the current detection chip U5. The primary side current output negative terminal IP- of the current detection chip U5 is connected to the charging output line of the charging device, the power supply voltage terminal VCC is connected to the DC5V output terminal of the DC-DC power supply circuit, and the output voltage terminal VIOUT is connected to the non-inverting input terminal of the comparator U6A. The power input terminal V+ of the comparator U6A is connected to the DC5V output terminal, and the power input terminal V- is grounded; the inverting input terminal is connected to the resistors R20 and R23; the output terminal OUT is connected to the gate G of the MOSFET Q2. The source (S) of the MOSFET Q2 is grounded, and its drain (D) is connected to the LED. The DC24V output of the DC-DC power supply circuit powers the LED.

5. The system according to claim 2, characterized in that, The charging power display circuit includes: LED display driver chip U2, resistors R5, R7, R8, R9, power indicator LED1, and power display LED group; The on-board capacitor voltage of the mobile machinery is connected to the input pin of the LED display driver chip U2 via resistors R5 and R7. The LED display driver chip is used to control the power display LED group to display the current power of the power supply device.

6. A power management method based on the power management system according to any one of claims 1-5, characterized in that, include: When the voltage value of the supercapacitor of the power supply device is higher than the first preset value, the mobile machinery is controlled to maintain the capacitor power supply mode powered by the supercapacitor; When the voltage value of the supercapacitor is not higher than the first preset value, the mobile machinery is switched to a battery-powered mode powered by the battery. When the battery charge level is lower than a second preset value, the mobile machinery is controlled to move to the charging device, and the charging device charges the power supply device using the charging circuit.

7. The method according to claim 6, characterized in that, After controlling the mobile machinery to move to the charging device, the method further includes: The contact stability between the charging contacts of the mobile machinery and the charging contacts of the charging device is detected by the charging circuit. When the contact stability does not meet the preset charging conditions, a charging abnormality alarm is triggered; When the contact stability meets the charging conditions, the power supply device is charged by the charging device using the charging circuit.

8. The method according to claim 6, characterized in that, The charging device includes: a first transistor SW1, a second transistor SW2, and a capacitor SC1; Accordingly, charging the power supply device via the charging circuit through the charging device includes: Determine whether the voltage value of the supercapacitor is higher than a third preset value; When the value is higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device can charge the mobile machinery through the switching power supply charging method. When the value is not higher than the third preset value, the charging circuit controls the first transistor SW1 to be turned off and the second transistor SW2 to be turned on, so that the charging device charges the mobile machinery by charging the capacitor.

9. The method according to claim 8, characterized in that, The charging device charges the mobile machinery by charging a capacitor, including: The voltage value of capacitor SC1 is monitored in real time; When the voltage value of the capacitor SC1 is higher than the fourth preset value, the mobile machinery is charged through the capacitor SC1; When the voltage value of the capacitor SC1 is not higher than the fourth preset value, the charging circuit controls the first transistor SW1 to be turned on and the second transistor SW2 to be turned off, so that the charging device charges the capacitor SC1 and the mobile machinery simultaneously.

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