Battery charging system, method and equipment based on unmanned wharf and storage medium

Abstract

The invention provides a battery charging system, method and device based on an unmanned wharf and a storage medium, and the system comprises a power battery management module which is connected with a battery pack with a lithium iron phosphate battery for data interaction, and the battery pack is internally provided with a storage medium for storing charging times; the charger is provided with a communication end and a charging end, and the charging end is used for charging the battery pack; the controller is connected with the charger and the power battery management module, the controller obtains the number of times of charging of the battery pack through the power battery management module, and when the SOC parameter of the residual electric quantity meets a preset charging end threshold value, a preset simulation residual electric quantity parameter is continuously sent to the charger so that the charger can continue to charge the battery pack; and after the electric quantity of the battery pack is fully charged, carrying out SOC calibration on the residual electric quantity, and discharging the battery pack through a discharge resistor. According to the invention, regular electric quantity calibration of the automatic guided vehicle adopting the lithium iron phosphate material cell can be realized, and the operation stability of the automatic guided vehicle is enhanced.

Description

Background Art

[0002] The unmanned terminal AGV uses lithium iron phosphate batteries as the vehicle power source. Because of its long cycle life, high temperature resistance, high safety, and better environmental friendliness, it gradually replaces ternary lithium, lithium manganate and other battery types. Due to the narrow voltage platform of lithium iron phosphate batteries, its SOC calibration is relatively difficult compared to ternary lithium and lithium manganate batteries with a wide voltage platform. At present, the calibration scheme of lithium iron phosphate batteries is based on full charge, that is, automatic calibration when the single cell voltage reaches 3.6V, but this calibration scheme is not applicable to automatic terminals. The dispatching system will automatically dispatch AGVs according to terminal operations. When the demand for AGVs is large, AGVs that are charging will be dispatched even if they are not fully charged. In this way, an SOC calibration scheme for AGVs that adapt to the terminal dispatching system is required.

[0003] The existing domestic battery pack solution relies solely on the BMS (battery management system) to interact with the charger to charge the battery pack. This solution has the following problems: the battery pack cannot be fully charged, and thus the battery SOC calibration cannot be achieved (because the single cell is made of lithium iron phosphate, when the SOC is 100%, there will be a problem of excessive braking feedback current during the use of the battery pack, which will affect the driving accuracy and reliability of the unmanned vehicle). Because the terminal automatically calls the charging AGV (that is, the AGV is not fully charged when it leaves the charging pile), it will be impossible to regularly and accurately calibrate the remaining power SOC parameters of the battery pack that has decayed after long-term use. It is easy for the AGV to stop due to lack of power when performing the task of transporting containers due to inaccurate battery calibration, and stop directly on the road, which seriously affects the safety of the operation of the unmanned terminal (especially the total weight of the AGV loaded with heavy containers is very large. After the road is blocked due to lack of power, it even needs to call a special trailer to tow it, which is a very serious hidden danger for the normal traffic on the terminal road).

[0004] Therefore, the present invention provides a battery charging system, method, device and storage medium based on an unmanned terminal. Summary of the invention

[0005] In response to the problems in the prior art, the purpose of the present invention is to provide a battery charging system, method, device and storage medium based on an unmanned terminal, which overcomes the difficulties of the prior art and can achieve regular power calibration of the automatic guided vehicle using lithium iron phosphate battery cells, greatly enhancing the stability of the automatic operation of the automatic guided vehicle in the unmanned terminal.

[0006] An embodiment of the present invention provides a battery charging system based on an unmanned dock, comprising:

[0007] A power battery management module, connected to a battery pack for data exchange, wherein the battery pack has a built-in storage medium for storing the number of charging times, and the battery pack is a lithium iron phosphate battery;

[0008] A charger having a communication terminal and a charging terminal, wherein the charging terminal is used to charge the battery pack;

[0009] a controller, connected to the communication terminal of the charger and the power battery management module respectively, wherein the controller obtains the number of charging times of the battery pack through the power battery management module, and forwards the remaining power SOC parameter of the battery pack to the charger in real time when the number of charging times is less than a preset period full charge detection threshold, and when the remaining power SOC parameter meets a preset charge end threshold of the charger, continuously sends a preset simulated remaining power parameter less than the preset charge end threshold to the charger, so that the charger continues to charge the battery pack until the battery pack is fully charged, performs the remaining power SOC calibration, and terminates the charging after the number of charging times in the storage medium is cleared; and

[0010] A discharge resistor is connected to the power battery management module and the battery pack. When the remaining power SOC calibration is completed, the battery pack is discharged until the remaining power SOC parameter is equal to a preset charging end threshold and then the discharge is stopped.

[0011] Preferably, when the charging times are less than the preset cycle full charge detection threshold, the remaining power SOC parameter of the battery pack is detected in real time, and the controller sends the remaining power SOC parameter to the charger in real time until the remaining power SOC parameter meets the preset charging end threshold, and charging is terminated. Preferably, the preset charging end threshold has a value range of 90% to 95%, and the simulated remaining power parameter has a value range of 85% to 90%.

[0012] Preferably, the preset periodic full charge detection threshold value ranges from 100 times to 500 times.

[0013] An embodiment of the present invention further provides a battery charging method based on an unmanned wharf, using the above-mentioned battery charging system based on an unmanned wharf, comprising the following steps:

[0014] S110, the controller collects the number of times the battery pack is charged through the power battery management module, and charges the battery pack having the storage medium through the charger;

[0015] S120, detecting the charging times to determine whether it is equal to a preset cycle full charge detection threshold, if so, executing step S130, if not, executing step S170;

[0016] S130, detecting the remaining power SOC parameter of the battery pack in real time, and when the remaining power SOC parameter meets the preset charging end threshold of the charger, replacing the remaining power SOC parameter with a preset simulated remaining power parameter that is less than the preset charging end threshold and sending it to the charger, so that the charger continues to charge the battery pack;

[0017] S140, when the battery pack is fully charged, the charging is terminated and the remaining power is calibrated;

[0018] S150, resetting the current charging times in the storage medium to zero;

[0019] S160, when the remaining power calibration is completed, discharging the battery pack through a discharge resistor set in the battery pack until the remaining power SOC parameter is equal to a preset charging end threshold and then the discharging stops, and the process ends; and

[0020] S170, detecting the remaining power parameter of the battery pack in real time and charging the battery pack until the remaining power parameter meets the preset charging end threshold of the charger, adding one to the charging times in the storage medium, and ending the charging.

[0021] An embodiment of the present invention further provides a battery charging device based on an unmanned dock, comprising:

[0022] processor;

[0023] a memory storing executable instructions of the processor;

[0024] Wherein, the processor is configured to execute the steps of the above-mentioned battery charging method based on unmanned dock by executing the executable instructions.

[0025] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, wherein the program, when executed, implements the steps of the above-mentioned battery charging method based on an unmanned terminal.

[0026] The purpose of the present invention is to provide a battery charging system, method, device and storage medium based on an unmanned terminal, which can realize regular power calibration of an automatic guided vehicle using lithium iron phosphate battery cells, greatly enhancing the stability of automatic operation of the automatic guided vehicle in the unmanned terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objectives and advantages of the present invention will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0028] Figure 1 It is a structural schematic diagram of a battery charging system based on an unmanned wharf of the present invention.

[0029] Figure 2 It is a flow chart of the battery charging method based on unmanned dock of the present invention.

[0030] Figure 3 It is a structural schematic diagram of a battery charging device based on an unmanned wharf of the present invention.

[0031] Figure 4 It is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through other different specific implementation methods, and the details in the present application can also be modified or changed in various ways according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0033] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in a variety of different forms and is not limited to the embodiments described herein.

[0034] In the representations of the present application, the representations with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics represented in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the represented specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples represented in the present application and the features of the different embodiments or examples, unless they contradict each other.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the representation of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] In order to clearly describe the present application, components irrelevant to the description are omitted, and the same reference symbols are given to the same or similar components throughout the specification.

[0037] Throughout the specification, when a device is said to be "connected" to another device, this includes not only the case of "direct connection" but also the case of "indirect connection" by placing other elements therebetween. In addition, when a device is said to "include" a certain component, unless otherwise stated, it does not exclude other components, but means that other components may be included.

[0038] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly" on another device, there are no other devices between it.

[0039] Although the terms first, second, etc. are used to represent various elements in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first interface and the second interface, etc. are represented. Moreover, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate the existence of features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Only when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way, will there be an exception to this definition.

[0040] The technical terms used herein are only used to refer to specific embodiments and are not intended to limit the present application. The singular form used herein also includes the plural form unless the sentence clearly indicates the contrary meaning. The meaning of "including" used in the specification is to specify specific characteristics, regions, integers, steps, operations, elements and / or components, and does not exclude the existence or addition of other characteristics, regions, integers, steps, operations, elements and / or components.

[0041] Although not defined differently, all terms, including technical and scientific terms, used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are additionally interpreted as having meanings consistent with the relevant technical literature and the contents of the current disclosure, and unless defined, shall not be excessively interpreted as ideal or very formal meanings.

[0042] Various automatic guided vehicles (AGVs) running in existing automated terminals mainly work in a battery replacement mode, thereby reducing the waiting time of the automatic guided vehicles. In addition, based on environmental protection requirements, part of the battery packs used in the terminal are transformed from old battery cells (based on environmental protection concepts, some single cells made of lithium iron phosphate are reused as AGV cells). The battery power between battery packs fluctuates greatly. If the battery power is not frequently tested, the error in the power will increase. Once the battery pack is out of power, the automatic guided vehicle will be paralyzed, greatly affecting the operating efficiency of the unmanned terminal. The current battery pack scheduling strategy for automated terminals is mainly that the battery pack will be automatically transferred when it is charged to 90%. If this continues for a long time, the battery pack cannot be fully charged and calibrated, resulting in a large difference in the SOC reported by the battery pack. To address this problem, combined with the terminal scheduling strategy, the present invention has developed a set of SOC calibration strategies that can adjust the number of charging times. Figure 1 Schematic diagram of the structure of the battery charging system based on the unmanned dock of the present invention. Figure 1 As shown, the battery charging system based on the unmanned wharf of the present invention includes: a power battery management module 1, a controller 2, a charger 3 and a discharge resistor 41. The power battery management module 1 is connected to the battery pack 4 for data exchange. The battery pack 4 has a storage medium 42 for storing the number of charging times. The battery pack 4 is a lithium iron phosphate battery. The charger 3 has a communication terminal and a charging terminal, and the charging terminal is used to charge the battery pack 4. The controller 2 is connected to the communication terminal of the charger 3 and the power battery management module 1 respectively. The controller 2 obtains the number of charging times of the battery pack 4 through the power battery management module 1. When the number of charging times is less than the preset cycle full charge detection threshold, the remaining power SOC parameter of the battery pack 4 is forwarded to the charger 3 in real time. When the remaining power SOC parameter meets the preset charging end threshold of the charger 3, a preset simulated remaining power parameter less than the preset charging end threshold is continuously sent to the charger 3, so that the charger 3 continues to charge the battery pack 4 until the battery pack 4 is fully charged, the remaining power SOC calibration is performed, and the charging times in the storage medium 42 are cleared to end charging. The discharge resistor 41 connects the power battery management module 1 and the battery pack 4. After the remaining power SOC calibration is completed, the battery pack 4 is discharged until the remaining power SOC parameter is equal to the preset charging end threshold and then the discharge is stopped. The present invention adds an intermediate controller between the power battery management module (BMS) and the charger. When the national standard charger is used, the communication link between the national standard charger and the BMS is controlled to be connected to realize the national standard charging; when the charger is used for charging, the intermediate controller and the BMS simulate the national standard charging protocol process. During the simulated charging process, the intermediate controller and the charger interact with the charging process, so that the charger of the original GSY charging protocol can stably charge the domestic battery and can reach 100% full charge, so that a more accurate remaining power SOC calibration can be performed, and the stability and safety of the battery charging system are enhanced.

[0043] In a preferred embodiment, when the number of charging times is less than the preset cycle full charge detection threshold, the remaining power SOC parameter of the battery pack 4 is detected in real time, and the controller 2 sends the remaining power SOC parameter to the charger 3 in real time until the remaining power SOC parameter meets the preset charging end threshold and the charging is terminated, but not limited to this.

[0044] In a preferred embodiment, the preset charging end threshold value ranges from 90% to 95%, for example, 90%, 91%, 92%, 93%, 94%, 95%, but is not limited thereto.

[0045] In a preferred embodiment, the simulated remaining power parameter is 1% to 5% less than the preset charging end threshold, and the value range of the simulated remaining power parameter can be 85% to 90%, for example: 85%, 86%, 87%, 88%, 89%, 90%, but not limited to this.

[0046] In a preferred embodiment, the preset periodic full charge detection threshold value ranges from 100 times to 500 times, for example: 100 times, 150 times, 200 times, 250 times, 300 times, 350 times, 400 times, 450 times, 500 times, but is not limited to this.

[0047] The implementation of the battery charging system based on the unmanned dock of the present invention is as follows:

[0048] Continue to refer to the instruction manual Figure 1 According to the existing BMS battery SOC (remaining capacity, state-of-charge) calibration mechanism, the battery pack needs to be fully charged to achieve SOC calibration. At the same time, since the single cell is made of lithium iron phosphate, when the remaining capacity SOC is 100%, there will be a problem of excessive braking feedback current during the use of the battery pack. This problem will directly lead to the battery pack power limit or even cut off the entire battery high voltage, seriously affecting the terminal operation efficiency. Based on this, it is necessary to calibrate the battery regularly. Based on the present invention, the battery packs used by a large number of AVG vehicles at the unmanned terminal are charged and the process of periodically calibrating the remaining power of each battery pack includes: the power battery management module 1 collects the status information of the battery pack 4, charges the battery pack 4 through the charger 3, and the collected battery pack 4 status information includes at least the number of charging times.

[0049] The charging times information stored in the storage medium 42 of the battery pack 4 is detected. When the preset cycle full charge detection threshold (for example, 200 times) is met, and when the preset cycle full charge detection threshold is not met (for example, the battery pack 4 has been charged 199 times cumulatively), the remaining power parameter of the battery pack 4 is detected in real time until the remaining power parameter meets the preset charging end threshold (90%) of the charger 3, and the charging times information is added and ended. When the preset cycle full charge detection threshold is met (the battery pack 4 has been charged 200 times cumulatively), the remaining power parameter of the battery pack 4 is detected in real time. When the remaining capacity SOC is charged to 90%, the simulated remaining power parameter (for example, 85%) is continuously sent to the charger 3 (at this time, the remaining power parameter is no longer sent to the charger 3), so that the charger 3 continues to charge the battery pack 4 (remaining capacity SOC 100%). The simulated remaining power parameter is less than the preset charging end threshold. In the process of the remaining capacity SOC from 90% to 100%, the simulated remaining power parameter always remains at 85%, so that the charger 3 continues to charge the battery pack 4 based on the simulated remaining power parameter. When the battery pack 4 is fully charged, the charging is terminated and the remaining power is calibrated, and the charging times information is reset to zero. When the remaining power SOC calibration is completed, the battery pack 4 is discharged through the discharge resistor 41 until the remaining power SOC parameter is equal to the preset charging end threshold (90%) and then the discharge is stopped.

[0050] In this embodiment, the scheduling strategy of the automated terminal for the battery pack is taken into consideration, that is, when the battery pack is charged to 90%, it is eligible for battery replacement, and the battery pack may be replaced for use. In this process, if the battery pack needs to be fully charged and calibrated at this time, it is not allowed to be scheduled even if the remaining capacity SOC reaches more than 90%. Otherwise, the calibration of the remaining capacity SOC of the battery cannot be achieved. If this continues for a long time, there will be a large SOC difference problem. A regular full charge strategy is set in the intermediate controller. Once this strategy is triggered, the intermediate controller will send a false remaining capacity SOC (for example: less than 90) to the charger to prevent the terminal system from being scheduled. When the battery pack is fully charged, the remaining capacity SOC is too high at this time, which will cause a problem of large braking feedback current. It is necessary to automatically start the discharge resistor 41 to reduce the remaining capacity SOC to below 90%.

[0051] Figure 2 FIG. 1 is a flow chart of a battery charging method based on an unmanned dock of the present invention. Figure 2 As shown, an embodiment of the present invention further provides a battery charging method based on an unmanned wharf, using the above-mentioned battery charging system based on an unmanned wharf, and the battery charging method based on an unmanned wharf includes the following steps:

[0052] S110 , the controller 2 collects the charging times of the battery pack 4 through the power battery management module 1 , and charges the battery pack 4 having the storage medium 42 through the charger 3 .

[0053] S120, detect the number of charging times and determine whether it is equal to the preset cycle full charge detection threshold. If so, execute step S130, if not, execute step S170.

[0054] S130, real-time detection of the remaining power SOC parameter of the battery pack 4. When the remaining power SOC parameter meets the preset charging end threshold of the charger 3, a preset simulated remaining power parameter less than the preset charging end threshold is sent to the charger 3 to replace the remaining power SOC parameter, so that the charger 3 continues to charge the battery pack 4.

[0055] S140, when the battery pack 4 is fully charged, the charging is terminated and the remaining power is calibrated.

[0056] S150 , reset the current charging times in the storage medium 42 to zero.

[0057] S160 , when the remaining power calibration is completed, the battery pack 4 is discharged through the discharge resistor 41 provided in the battery pack 4 until the remaining power SOC parameter is equal to the preset charging end threshold value and then the discharging is stopped.

[0058] S170, real-time detection of the remaining power parameter of the battery pack 4 and charging, until the remaining power parameter meets the preset charging end threshold of the charger 3, the number of charging times in the storage medium 42 is increased by one, and charging is ended.

[0059] In a preferred embodiment, when the number of charging times is less than the preset cycle full charge detection threshold, the remaining power SOC parameter of the battery pack 4 is detected in real time, and the controller 2 sends the remaining power SOC parameter to the charger 3 in real time until the remaining power SOC parameter meets the preset charging end threshold and the charging is terminated, but not limited to this.

[0060] In a preferred embodiment, the preset charging end threshold value ranges from 90% to 95%, for example, 90%, 91%, 92%, 93%, 94%, 95%, but is not limited thereto.

[0061] In a preferred embodiment, the simulated remaining power parameter is 1% to 5% less than the preset charging end threshold, and the value range of the simulated remaining power parameter is 85% to 90%, for example: 85%, 86%, 87%, 88%, 89%, 90%, but not limited to this.

[0062] In a preferred embodiment, the preset periodic full charge detection threshold value ranges from 100 times to 500 times, for example: 100 times, 150 times, 200 times, 250 times, 300 times, 350 times, 400 times, 450 times, 500 times, but is not limited to this.

[0063] In a preferred embodiment, the battery pack 4 is a lithium iron phosphate battery, but not limited thereto.

[0064] The battery charging method based on the unmanned wharf of the present invention can realize the regular power calibration of the automatic guided vehicle using the lithium iron phosphate battery cell, and greatly enhance the stability of the automatic operation of the automatic guided vehicle in the unmanned wharf.

[0065] The embodiment of the present invention further provides a battery charging device based on an unmanned dock, comprising a processor and a memory, wherein executable instructions of the processor are stored. The processor is configured to execute the steps of a battery charging method based on an unmanned dock by executing the executable instructions.

[0066] As shown above, the battery charging device based on the unmanned terminal of this embodiment of the present invention can realize the regular power calibration of the automatic guided vehicle using lithium iron phosphate battery cells, which greatly enhances the stability of the automatic operation of the automatic guided vehicle in the unmanned terminal.

[0067] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0068] Figure 3 This is a schematic diagram of the structure of the battery charging device based on the unmanned dock of the present invention. Figure 3 The electronic device 600 according to this embodiment of the present invention is described. Figure 3 The electronic device 600 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0069] like Figure 3 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0070] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above method section of this specification. For example, the processing unit 610 can perform the following steps: Figure 2 Follow the steps shown in .

[0071] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0072] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0073] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0074] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0075] The embodiment of the present invention also provides a computer-readable storage medium for storing a program, and the steps of the battery charging method based on the unmanned dock are implemented when the program is executed. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary embodiments of the present invention described in the above method section of this specification.

[0076] As shown above, the battery charging system based on the unmanned terminal of this embodiment of the present invention can realize the regular power calibration of the automatic guided vehicle using lithium iron phosphate battery cells, which greatly enhances the stability of the automatic operation of the automatic guided vehicle in the unmanned terminal.

[0077] Figure 4 Schematic diagram of the structure of the computer-readable storage medium of the present invention. Figure 4 As shown, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0078] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0079] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0080] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0081] In summary, the purpose of the present invention is to provide a battery charging system, method, device and storage medium based on an unmanned terminal, which can realize regular power calibration of an automatic guided vehicle using lithium iron phosphate battery cells, greatly enhancing the stability of the automatic operation of the automatic guided vehicle in the unmanned terminal.

[0082] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A battery charging system based on an unmanned dock, characterized in that: include: A power battery management module (1) is connected to a battery pack (4) for data exchange, the battery pack (4) having a built-in storage medium (42) for storing charging times, and the battery pack (4) is a lithium iron phosphate battery; A charger (3) having a communication terminal and a charging terminal, wherein the charging terminal is used to charge the battery pack (4); A controller (2) is connected to the communication terminal of the charger (3) and the power battery management module (1) respectively. The controller (2) obtains the number of charging times of the battery pack (4) through the power battery management module (1). When the number of charging times is less than a preset period full charge detection threshold, the remaining power SOC parameter of the battery pack (4) is forwarded to the charger (3) in real time. When the remaining power SOC parameter meets the preset charging end threshold of the charger (3), a preset simulated remaining power parameter less than the preset charging end threshold is continuously sent to the charger (3), so that the charger (3) continues to charge the battery pack (4) until the battery pack (4) is fully charged, performs the remaining power SOC calibration, and terminates the charging after the number of charging times in the storage medium (42) is cleared; and A discharge resistor (41), the discharge resistor (41) is connected to the power battery management module (1) and the battery pack (4), and when the remaining power SOC calibration is completed, the battery pack (4) is discharged until the remaining power SOC parameter is equal to a preset charging end threshold value and then the discharge stops.

2. The battery charging system based on an unmanned dock as claimed in claim 1, characterized in that: When the number of charging times is less than a preset period full charge detection threshold, the remaining power SOC parameter of the battery pack (4) is detected in real time, and the controller (2) sends the remaining power SOC parameter to the charger (3) in real time until the remaining power SOC parameter meets the preset charging end threshold, and charging is terminated.

3. The battery charging system based on an unmanned dock as claimed in claim 1, characterized in that: The preset charging end threshold has a value range of 90% to 95%, and the simulated remaining power parameter has a value range of 85% to 90%.

4. The battery charging system based on an unmanned dock as claimed in claim 1, characterized in that: The preset periodic full charge detection threshold value ranges from 100 times to 500 times.

5. A battery charging method based on an unmanned dock, using the battery charging system based on an unmanned dock as claimed in claim 1, characterized in that: The following steps are involved: S110, the controller (2) collects the number of times the battery pack (4) is charged through the power battery management module (1), and charges the battery pack (4) having the storage medium (42) through the charger (3); S120, detecting the charging times to determine whether it is equal to a preset cycle full charge detection threshold, if so, executing step S130, if not, executing step S170; S130, detecting the remaining power SOC parameter of the battery pack (4) in real time, and when the remaining power SOC parameter meets the preset charging end threshold of the charger (3), replacing the remaining power SOC parameter with a preset simulated remaining power parameter that is less than the preset charging end threshold and sending it to the charger (3), so that the charger (3) continues to charge the battery pack (4); S140, when the battery pack (4) is fully charged, the charging is terminated and the remaining power is calibrated; S150, resetting the current number of charging times in the storage medium (42) to zero; S160, when the remaining power calibration is completed, the battery pack (4) is discharged through a discharge resistor (41) provided in the battery pack (4), and the discharge is stopped after the remaining power SOC parameter is equal to a preset charging end threshold value, and the process ends; as well as S170, detecting the remaining power parameter of the battery pack (4) in real time and charging the battery pack (4) until the remaining power parameter meets the preset charging end threshold of the charger (3), increasing the number of charging times in the storage medium (42) by one, and ending charging.

6. A battery charging device based on an unmanned dock, characterized in that: include: processor; a memory storing executable instructions of the processor; Wherein, the processor is configured to perform the steps of the unmanned dock-based battery charging method of claim 5 by executing the executable instructions.

7. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the steps of the battery charging method based on the unmanned terminal as claimed in claim 5 are implemented.

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