A modular battery power management method and system for mobile charging

Abstract

The present invention relates to a modular battery power management method and system for mobile charging, belonging to the field of power management technology. The method includes: obtaining a mobile charging task sequence, obtaining the position information and power status data of the AGV trolley to be charged; performing a balanced detection on the modular batteries in the AGV trolley to be charged to obtain the single battery replacement capacity, selecting the corresponding battery group, and carrying a spare battery group of corresponding specifications through the dispatching trolley; setting a time period, the AGV trolley to be charged calculates according to the offline path and time period, and dynamically plans the real-time path through the position information to be charged and the real-time position information of the dispatching trolley to obtain dynamic path information and perform navigation movement; when the AGV trolley to be charged performs a battery replacement through an onboard clamping structure when performing a charging task. It realizes the online flexible replacement and energy replenishment of modular batteries, prolongs the life of energy storage batteries, and facilitates the maintenance of energy storage systems.

Description

Technical Field

[0001] The present invention belongs to the technical field of power management, and in particular relates to a modular battery power management method and system for mobile charging. Background Art

[0002] The battery management system (BMS system) technology currently used in the energy storage industry is not yet mature and does not have the conditions for effective cooperation and parallel connection with PCS, fire protection and other systems. The use of automatic guided trailers to charge vehicles can cause collisions and self-discharge of portable batteries during transportation and storage, resulting in module performance degradation or failure. During AGV driving, the battery load, spare capacity and scheduling method cause low work efficiency. As the scale of electricity consumption gradually expands, the safety of high-voltage battery stacks is poor. The inconsistency between each cell / module will bring about a "short board effect". Monitoring a large number of cells / modules at the same time increases the burden on the system. When more series cells / modules are used, it is more likely to cause dust deposition, resulting in poor insulation. Electrical breakdown or leakage may occur in places where the electrical clearance or creepage spacing is insufficient, resulting in electric shock accidents. Due to the high DC voltage, large energy and the lack of zero-crossing of the DC current, it is difficult for the circuit breaker to extinguish it, which may cause further danger. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a modular battery power management method and system for mobile charging.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] S1: Obtain a mobile charging task sequence through the central control center, and parse the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged;

[0006] S2: Performing a balanced detection on the modular batteries in the AGV to be charged based on the power status data to obtain the single battery replacement capacity, selecting a corresponding battery pack based on the single battery replacement capacity, and dispatching a car to carry an alternative matching battery pack for the battery pack;

[0007] S3: The AGV to be charged and the dispatching vehicle communicate independently with the central control center, and a charging time period is set. The AGV to be charged runs according to a preset offline path, and the running time is counted. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching vehicle;

[0008] S4: After the dispatching trolley runs to the corresponding position according to the dynamic path information, it sends an AGV charging execution instruction to the central control center. The central control center sends a control instruction and charging position correction information to the AGV trolley to be charged according to the AGV charging execution instruction. The AGV trolley to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to perform the vehicle charging task; when the AGV trolley to be charged is in the AGV charging task state, the dispatching trolley replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV trolley to be charged, and the AGV trolley to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

[0009] Specifically, the modular battery divides the battery module into a working battery group and a backup battery group. Each battery group is connected to the load through a DC circuit breaker, and the connection and disconnection control of the battery group is achieved through the circuit breaker.

[0010] As a preferred technical solution of the present invention, the balance detection method is:

[0011] The time of the AGV charging task state is divided into discrete time periods, and a battery replacement model is established according to the modular battery in the discrete time period. The calculation formula is:

[0012] ,

[0013] Wherein, A(t) is the replaceable matching battery pack carried by the dispatching trolley, T is the duration of the discrete time period, t is the time in the discrete time period, R is the submodule base number of the spare battery pack of the AGV trolley to be charged, S(t) is the submodule battery with zero power replaced by the AGV trolley to be charged, B(t) is the submodule battery for which the battery replacement operation was not successfully performed, and G(t) is the fully charged submodule battery pulled out of the dispatching trolley;

[0014] During the AGV charging task state, the remaining power value of the battery group of each submodule in the modular battery group is dynamically sorted, and the modular battery is divided into a working battery group set and a backup battery group set according to the inductor current. The working battery group set and the backup battery group set are respectively composed of a number of submodule batteries. The submodule batteries with a remaining power value of 100% in the backup battery group set are selected into the fully charged battery group set, the submodule batteries with a remaining power value of 0% are selected into the empty battery group set, and the remaining submodule batteries of the backup battery group set are selected into the waiting battery group set. The recursive relationship is:

[0015] ,

[0016] Among them, OG(t) is the working battery group set, RG(t) is the spare battery group set, F(t) is the fully charged battery group set, E(t) is the empty battery group set, NF(t) is the empty sub-module battery pulled out of the working battery group set, and NE(t) is the fully charged sub-module battery inserted into the working battery group set.

[0017] Specifically, the access and disconnection control method is: changing the DC bus voltage by disconnecting and switching on the gate control signals of the same number of working submodules through the DC circuit breaker, and keeping the switch phase voltage and the switch output voltage within a stable range.

[0018] Specifically, the real-time path planning method is:

[0019] Obtain environmental information, set the driving area according to the environmental information, calculate the arrival time and departure time of the dispatched vehicle to the driving area, and the calculation formula is:

[0020] ,

[0021] ,

[0022] Where i is the time step count, r i (p) is the driving area at the i-th time step, t a (r i (p)) is the time for the dispatched car to arrive at the driving area at the i-th time step, t d (r i+1 (p)) is the time when the dispatched car leaves the driving area at the i-th time step, t i is the time spent on executing the AGV charging task, t0 is the start time of the dispatched vehicle, and t h The time it takes to dispatch the car to perform path navigation tasks;

[0023] The completion time of the dispatched vehicle is calculated based on the arrival time and departure time, and the road update status is fed back to the central control center in real time, the maximum completion time is calculated, and the optimal path is planned through the driving area.

[0024] A modular battery power management system for mobile charging, comprising a task sending module, a mobile charging equalization control module, a mobile charging docking module, a position correction and task execution module;

[0025] The task sending module obtains the mobile charging task sequence through the central control center, and parses the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged;

[0026] The mobile charging balancing control module performs a balancing detection on the modular batteries in the AGV to be charged through the power status data to obtain the single battery replacement capacity, selects the corresponding battery pack according to the single battery replacement capacity, and dispatches the vehicle to carry the replaceable matching battery pack of the battery pack;

[0027] The mobile charging docking module communicates independently with the central control center through the AGV to be charged and the dispatching car, sets a charging time period, and the AGV to be charged runs according to a preset offline path and counts the running time. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching car;

[0028] The position correction and task execution module sends an AGV charging execution instruction to the central control center after the dispatching vehicle runs to the corresponding position according to the dynamic path information. The central control center sends a control instruction and charging position correction information to the AGV vehicle to be charged according to the AGV charging execution instruction. The AGV vehicle to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to execute the vehicle charging task; when the AGV vehicle to be charged is in the AGV charging task state, the dispatching vehicle replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV vehicle to be charged, and the AGV vehicle to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

[0029] The beneficial effects of the present invention are:

[0030] (1) By setting up a balancing control method, the dispatching system and the battery energy storage system can work together to improve the energy storage consistency of all cells in the modular battery, prevent the entire battery management system from shutting down due to the "capacity dive" of some cells, and enable all cells to reach the lower limit of energy storage at the same time so that they can be eliminated and replaced at the same time, reducing the maintenance workload.

[0031] (2) By setting up a real-time path planning method. By updating the road environment information through real-time feedback of the road traffic conditions in the rolling time domain, the running trajectory of the automated guided vehicle is continuously adjusted to prevent the automated guided vehicle from being stuck in a deadlock state due to sudden road congestion, thus ensuring that all tasks can be completed on time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0033] Figure 1 The present invention is a flowchart of a modular battery for mobile charging and a power management method. DETAILED DESCRIPTION

[0034] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0035] See also Figure 1 , a modular battery power management approach for mobile charging:

[0036] S1: Obtain a mobile charging task sequence through the central control center, and parse the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged;

[0037] S2: Performing a balanced detection on the modular batteries in the AGV to be charged based on the power status data to obtain the single battery replacement capacity, selecting a corresponding battery pack based on the single battery replacement capacity, and dispatching a car to carry an alternative matching battery pack for the battery pack;

[0038] S3: The AGV to be charged and the dispatching vehicle communicate independently with the central control center, and a charging time period is set. The AGV to be charged runs according to a preset offline path, and the running time is counted. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching vehicle;

[0039] S4: After the dispatching trolley runs to the corresponding position according to the dynamic path information, it sends an AGV charging execution instruction to the central control center. The central control center sends a control instruction and charging position correction information to the AGV trolley to be charged according to the AGV charging execution instruction. The AGV trolley to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to perform the vehicle charging task; when the AGV trolley to be charged is in the AGV charging task state, the dispatching trolley replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV trolley to be charged, and the AGV trolley to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

[0040] Specifically, the modular battery divides the battery module into a working battery group and a backup battery group. Each battery group is connected to the load through a DC circuit breaker, and the connection and disconnection control of the battery group is achieved through the circuit breaker.

[0041] As a preferred technical solution of the present invention, the balance detection method is:

[0042] The time of the AGV charging task state is divided into discrete time periods, and a battery replacement model is established according to the modular battery in the discrete time period. The calculation formula is:

[0043] ,

[0044] Wherein, A(t) is the replaceable matching battery pack carried by the dispatching trolley, T is the duration of the discrete time period, t is the time in the discrete time period, R is the submodule base number of the spare battery pack of the AGV trolley to be charged, S(t) is the submodule battery with zero power replaced by the AGV trolley to be charged, B(t) is the submodule battery for which the battery replacement operation was not successfully performed, and G(t) is the fully charged submodule battery pulled out of the dispatching trolley;

[0045] During the AGV charging task state, the remaining power value of the battery group of each submodule in the modular battery group is dynamically sorted, and the modular battery is divided into a working battery group set and a backup battery group set according to the inductor current. The working battery group set and the backup battery group set are respectively composed of a number of submodule batteries. The submodule batteries with a remaining power value of 100% in the backup battery group set are selected into the fully charged battery group set, the submodule batteries with a remaining power value of 0% are selected into the empty battery group set, and the remaining submodule batteries of the backup battery group set are selected into the waiting battery group set. The recursive relationship is:

[0046] ,

[0047] Among them, OG(t) is the working battery group set, RG(t) is the spare battery group set, F(t) is the fully charged battery group set, E(t) is the empty battery group set, NF(t) is the empty sub-module battery pulled out of the working battery group set, and NE(t) is the fully charged sub-module battery inserted into the working battery group set.

[0048] Specifically, the access and disconnection control method is: changing the DC bus voltage by disconnecting and switching on the gate control signals of the same number of working submodules through the DC circuit breaker, and keeping the switch phase voltage and the switch output voltage within a stable range.

[0049] Specifically, the real-time path planning method is:

[0050] Obtain environmental information, set the driving area according to the environmental information, calculate the arrival time and departure time of the dispatched vehicle to the driving area, and the calculation formula is:

[0051] ,

[0052] ,

[0053] Where i is the time step count, r i (p) is the driving area at the i-th time step, t a (r i (p)) is the time for the dispatched car to arrive at the driving area at the i-th time step, t d (r i+1 (p)) is the time when the dispatched car leaves the driving area at the i-th time step, t i is the time spent on executing the AGV charging task, t0 is the start time of the dispatched vehicle, and t h The time it takes to dispatch the car to perform path navigation tasks;

[0054] The completion time of the dispatched vehicle is calculated based on the arrival time and departure time, and the road update status is fed back to the central control center in real time, the maximum completion time is calculated, and the optimal path is planned through the driving area.

[0055] In this embodiment, first, in the initial stage of offline global planning, all robots are in a stationary state and all roads are in a clear state. The robot starts to run according to the offline planned trajectory, and at the same time, the working time of the robot's task execution process recorded by the timer is divided into several time domains; at the end of each time domain, the monitoring system feeds back the robot's position and the real-time traffic conditions of each road in the working environment at this time to the central control system, and uses this as the initial condition of the next time domain to determine whether the unfinished tasks can be completed on time under the current road traffic conditions. If so, the robot performs the task according to the original path trajectory; if not, it plans again according to the current location of the robot and the area where the unfinished tasks are located until all delivery tasks are completed.

[0056] A modular battery power management system for mobile charging, comprising a task sending module, a mobile charging equalization control module, a mobile charging docking module, a position correction and task execution module;

[0057] The task sending module obtains the mobile charging task sequence through the central control center, and parses the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged;

[0058] The mobile charging balancing control module performs a balancing detection on the modular batteries in the AGV to be charged through the power status data to obtain the single battery replacement capacity, selects the corresponding battery pack according to the single battery replacement capacity, and dispatches the vehicle to carry the replaceable matching battery pack of the battery pack;

[0059] The mobile charging docking module communicates independently with the central control center through the AGV to be charged and the dispatching car, sets a charging time period, and the AGV to be charged runs according to a preset offline path and counts the running time. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching car;

[0060] The position correction and task execution module sends an AGV charging execution instruction to the central control center after the dispatching vehicle runs to the corresponding position according to the dynamic path information. The central control center sends a control instruction and charging position correction information to the AGV vehicle to be charged according to the AGV charging execution instruction. The AGV vehicle to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to execute the vehicle charging task; when the AGV vehicle to be charged is in the AGV charging task state, the dispatching vehicle replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV vehicle to be charged, and the AGV vehicle to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

[0061] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A modular battery power management method for mobile charging, characterized in that: include: S1: Obtain a mobile charging task sequence through the central control center, and parse the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged; S2: Performing a balanced detection on the modular batteries in the AGV to be charged based on the power status data to obtain the single battery replacement capacity, selecting a replaceable matching battery pack based on the single battery replacement capacity, and carrying the replaceable matching battery pack through the dispatching vehicle; The balance detection method is: The time of the AGV charging task state is divided into discrete time periods, and a battery replacement model is established according to the modular battery in the discrete time period. The calculation formula is: ， Wherein, A(t) is the replaceable matching battery pack carried by the dispatching trolley, T is the duration of the discrete time period, t is the time in the discrete time period, R is the submodule base number of the spare battery pack of the AGV trolley to be charged, S(t) is the submodule battery with zero power replaced by the AGV trolley to be charged, B(t) is the submodule battery for which the battery replacement operation was not successfully performed, and G(t) is the fully charged submodule battery pulled out of the dispatching trolley; During the AGV charging task state, the remaining power value of the battery group of each submodule in the modular battery group is dynamically sorted, and the modular battery is divided into a working battery group set and a backup battery group set according to the inductor current. The working battery group set and the backup battery group set are respectively composed of a number of submodule batteries. The submodule batteries with a remaining power value of 100% in the backup battery group set are selected into the fully charged battery group set, the submodule batteries with a remaining power value of 0% are selected into the empty battery group set, and the remaining submodule batteries of the backup battery group set are selected into the waiting battery group set. The recursive relationship is: ， Among them, OG(t) is the working battery set, RG(t) is the standby battery set, F(t) is the fully charged battery set, E(t) is the empty battery set, NF(t) is the empty submodule battery pulled out of the working battery set, and NE(t) is the fully charged submodule battery inserted into the working battery set; S3: The AGV to be charged and the dispatching vehicle communicate independently with the central control center, and a charging time period is set. The AGV to be charged runs according to a preset offline path, and the running time is counted. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching vehicle; The real-time path planning method is: Obtain environmental information, set the driving area according to the environmental information, calculate the arrival time and departure time of the dispatched vehicle to the driving area, and the calculation formula is: ， ， Where i is the time step count, r i (p) is the driving area at the i-th time step, t a (r i (p)) is the time for the dispatched car to arrive at the driving area at the i-th time step, t d (r i+1 (p)) is the time when the dispatched car leaves the driving area at the i-th time step, t i is the time spent on executing the AGV charging task, t0 is the start time of the dispatched vehicle, and t h The time it takes to dispatch the car to perform path navigation tasks; Calculate the completion time of the dispatched vehicle based on the arrival time and departure time, and provide real-time feedback of the road update status to the central control center, calculate the maximum completion time, and plan the optimal path through the driving area; S4: After the dispatching trolley runs to the corresponding position according to the dynamic path information, it sends an AGV charging execution instruction to the central control center. The central control center sends a control instruction and charging position correction information to the AGV trolley to be charged according to the AGV charging execution instruction. The AGV trolley to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to perform the vehicle charging task; when the AGV trolley to be charged is in the AGV charging task state, the dispatching trolley replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV trolley to be charged, and the AGV trolley to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

2. The method according to claim 1, characterized in that The modular battery divides the battery module into a working battery group and a backup battery group. Each battery group is connected to the load through a DC circuit breaker, and the connection and disconnection control of the battery group is achieved through the circuit breaker.

3. The method according to claim 2, characterized in that The access and disconnection control method is: changing the DC bus voltage by disconnecting and inputting the gate control signals of the same number of working submodules through the DC circuit breaker, and keeping the switch phase voltage and the switch output voltage within a stable range.

4. A modular battery power management system for mobile charging, used to execute the method according to any one of claims 1 to 3, characterized in that: It includes task sending module, mobile charging equalization control module, mobile charging docking module, position correction and task execution module; The task sending module obtains the mobile charging task sequence through the central control center, and parses the mobile charging task sequence to obtain the position information and power status data of the AGV to be charged; The mobile charging balancing control module performs a balancing detection on the modular batteries in the AGV to be charged through the power status data to obtain the single battery replacement capacity, selects the corresponding battery pack according to the single battery replacement capacity, and dispatches the vehicle to carry the replaceable matching battery pack of the battery pack; The mobile charging docking module communicates independently with the central control center through the AGV to be charged and the dispatching car, sets a charging time period, and the AGV to be charged runs according to a preset offline path and counts the running time. If the timing is greater than the charging time period, the position information to be charged is updated in the central control center, and the dynamic path information is obtained by real-time path planning through the position information to be charged and the position information of the dispatching car; The position correction and task execution module sends an AGV charging execution instruction to the central control center after the dispatching vehicle runs to the corresponding position according to the dynamic path information. The central control center sends a control instruction and charging position correction information to the AGV vehicle to be charged according to the AGV charging execution instruction. The AGV vehicle to be charged switches to the AGV charging task state according to the control instruction and the charging position correction information, and first cuts off the working battery pack in the modular battery, and at the same time puts the spare battery pack into use to continue to execute the vehicle charging task; when the AGV vehicle to be charged is in the AGV charging task state, the dispatching vehicle replaces the replaceable matching battery pack it carries with the cut-off working battery pack in the AGV vehicle to be charged, and the AGV vehicle to be charged allocates the working battery pack and the spare battery pack according to the power of the modular battery to keep the vehicle charging task in the execution state.

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