Battery charging system, method, device and storage medium based on unmanned terminal

Abstract

The present invention provides a battery charging system, method, device, and storage medium based on an unmanned terminal. The system includes: a power battery management module, connected to a battery pack having lithium iron phosphate batteries for data exchange, and a storage medium for storing the number of charge cycles in the battery pack; a charger, having a communication terminal and a charging terminal, the charging terminal being used to charge the battery pack; and a controller, connected to the charger and the power battery management module, respectively. The controller obtains the number of charge cycles of the battery pack through the power battery management module, and when the remaining charge (SOC) parameter meets a preset end-of-charge threshold, the controller continuously sends a preset simulated remaining charge parameter to the charger, instructing it to continue charging the battery pack until the battery pack is fully charged. After the remaining charge (SOC) is calibrated, the battery pack is discharged through a discharge resistor. The present invention can achieve regular power calibration of an automated guided vehicle (AGV) using lithium iron phosphate batteries, thereby enhancing the operational stability of the AGV.

Description

Technical Field

[0001] The present invention relates to the field of vehicle charging, and in particular to a battery charging system, method, device and storage medium based on an unmanned terminal. Background Art

[0002] Unmanned terminal AGVs use lithium iron phosphate batteries as their vehicle power source. Due to their long cycle life, high temperature resistance, high safety, and better environmental friendliness, they are gradually replacing ternary lithium, lithium manganate and other battery types. Due to the narrow voltage platform of lithium iron phosphate batteries, their SOC calibration is relatively difficult compared to ternary lithium and lithium manganate batteries with a wider voltage platform. Currently, the calibration scheme for lithium iron phosphate batteries is based on full charge, that is, automatic calibration when the cell voltage reaches 3.6V, but this calibration scheme is not applicable to automated terminals. The dispatching system automatically dispatches AGVs based on terminal operations. When the demand for AGVs is high, AGVs that are charging will be dispatched even if they are not fully charged. Therefore, an SOC calibration scheme for AGVs that adapts to the terminal dispatching system is required.

[0003] Existing domestic battery pack solutions rely solely on the interaction between the BMS (Battery Management System) and the charger to charge the battery pack. This solution has the following problems: it cannot fully charge the battery pack, and thus cannot perform battery SOC calibration (because the single cells are made of lithium iron phosphate, when the SOC is 100%, the battery pack will experience excessive braking feedback current during use, affecting the driving accuracy and reliability of the unmanned vehicle). Because the terminal automatically calls the charging AGV (that is, the AGV leaves the charging station without a full charge), it is impossible to regularly and accurately calibrate the remaining charge SOC parameter of the battery pack, which has degraded after long-term use. This can easily cause the AGV to run out of power and stop directly on the road due to inaccurate battery calibration when carrying containers, seriously affecting the safety of unmanned terminal operations (especially since the total weight of the AGV is very large. If it stops due to a power outage and blocks the road, it may even require a special tow truck to tow it, which is a serious hazard to 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, equipment and storage medium based on an unmanned terminal, which overcomes the difficulties of the prior art and can realize regular power calibration of automatic guided vehicles using lithium iron phosphate battery cells, greatly enhancing the stability of the automatic operation of the automatic guided vehicles in the unmanned terminal.

[0006] An embodiment of the present invention provides a battery charging system based on an unmanned terminal, 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 charge 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, the controller obtaining the number of charge cycles of the battery pack through the power battery management module, forwarding the remaining power SOC parameter of the battery pack to the charger in real time when the number of charge cycles is less than a preset period full charge detection threshold, and continuously sending a preset simulated remaining power parameter less than the preset charge end threshold to the charger when the remaining power SOC parameter meets a preset charge end threshold of 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 charging after the number of charge cycles 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 number of charge cycles is less than a preset full charge detection threshold, the remaining charge SOC parameter of the battery pack is detected in real time, and the controller sends the remaining charge SOC parameter to the charger in real time until the remaining charge SOC parameter meets the preset charge termination threshold. Preferably, the preset charge termination threshold has a value range of 90% to 95%, and the simulated remaining charge 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 terminal, which uses the above-mentioned battery charging system based on an unmanned terminal and includes the following steps:

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

[0015] S120, detecting the number of 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 a remaining capacity SOC parameter of the battery pack in real time, and when the remaining capacity SOC parameter meets a preset charge end threshold of the charger, replacing the remaining capacity SOC parameter with a preset simulated remaining capacity parameter that is less than the preset charge 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 calibration is performed;

[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 provided in the battery pack until the remaining power SOC parameter is equal to a preset charge end threshold, and then discharging is stopped, 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 charging.

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

[0022] processor;

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

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

[0025] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, 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 the automatic operation of the automatic guided vehicle in the unmanned terminal. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0029] Figure 2 The figure is a flow chart of the battery charging method based on an unmanned terminal of the present invention.

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

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

[0032] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the 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 different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they 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 many different forms and is not limited to the embodiments described herein.

[0034] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0036] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0037] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[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 in some instances herein to represent various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in this article, the singular forms "one," "an," and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise," "include," and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, 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." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0040] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0041] Although not otherwise defined, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current disclosures, and unless otherwise defined, they should not be overly interpreted as idealized or highly formalized meanings.

[0042] The various automated guided vehicles (AGVs) operating in existing automated terminals mainly work in a battery replacement mode, thereby reducing the waiting time of the automated guided vehicles. In addition, based on environmental protection requirements, some of the battery packs used in terminals are modified 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 tested frequently, the error in the power will increase. Once the battery pack is out of power, the automated guided vehicle will be paralyzed, greatly affecting the operating efficiency of the unmanned terminal. The current battery pack scheduling strategy for automated terminals is 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 This is a schematic diagram of the structure of the battery charging system based on the unmanned terminal of the present invention. Figure 1As shown, the battery charging system based on an unmanned terminal 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 a battery pack 4 for data exchange. The battery pack 4 has a built-in storage medium 42 for storing the number of charge cycles. 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. The controller 2 obtains the number of charge cycles of the battery pack 4 through the power battery management module 1. When the number of charge cycles is less than a preset cycle full charge detection threshold, the controller 2 forwards the remaining charge (SOC) parameter of the battery pack 4 to the charger 3 in real time. When the remaining charge (SOC) parameter meets the preset end-of-charge threshold of the charger 3, a preset simulated remaining charge parameter less than the preset end-of-charge threshold is continuously sent to the charger 3, instructing the charger 3 to continue charging the battery pack 4 until the battery pack 4 is fully charged. The remaining charge (SOC) is calibrated, and the number of charge cycles in the storage medium 42 is cleared before charging ends. The discharge resistor 41 connects the power battery management module 1 and the battery pack 4. After the SOC calibration is completed, the battery pack 4 is discharged until the SOC parameter equals the preset end-of-charge threshold. The present invention implements national standard charging by adding an intermediate controller between the power battery management module (BMS) and the charger. When a national standard charger is used, the intermediate controller controls the communication link between the national standard charger and the BMS to achieve national standard charging. When the charger is used for charging, the intermediate controller simulates the national standard charging protocol process with the BMS. During the simulated charging process, the intermediate controller interacts with the charger to achieve the original GSY charging protocol. The charger can stably charge domestic batteries and can reach 100% full charge, thereby enabling more accurate SOC calibration of the remaining charge and enhancing the stability and safety of the battery charging system.

[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 an unmanned terminal 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, the state of charge of the vehicle battery), the battery pack must be fully charged to achieve SOC calibration. At the same time, because the single cell is made of lithium iron phosphate, when the remaining capacity SOC is 100%, the battery pack will have an excessive braking feedback current problem during use. This problem will directly lead to the battery pack power limit or even disconnect the entire battery high voltage, seriously affecting the terminal operation efficiency. Based on this, it is necessary to regularly calibrate the battery. According to the present invention, the process of charging the battery packs used by a large number of AVG vehicles at the unmanned terminal and periodically calibrating the remaining capacity 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 battery pack 4 detects the number of charge cycles stored in the storage medium 42. If the preset full charge detection threshold (e.g., 200 cycles) is met, or if the preset full charge detection threshold is not met (e.g., the battery pack 4 has been charged 199 times cumulatively), the battery pack 4's remaining capacity parameter is detected in real time until the remaining capacity parameter meets the preset end-of-charge threshold (90%) of the charger 3. The number of charge cycles is then incremented and the charging cycle is terminated. If the preset full charge detection threshold is met (the battery pack 4 has been charged 200 times cumulatively), the battery pack 4's remaining capacity parameter is detected in real time. When the remaining capacity (SOC) reaches 90%, a simulated remaining capacity parameter (e.g., 85%) is continuously sent to the charger 3 (at this point, the remaining capacity parameter is no longer sent to the charger 3), instructing the charger 3 to continue charging the battery pack 4 (SOC 100%). If the simulated remaining capacity parameter is less than the preset end-of-charge threshold, the simulated remaining capacity parameter remains at 85% throughout the SOC cycle, allowing the charger 3 to continue charging the battery pack 4 based on the simulated remaining capacity parameter. When the battery pack 4 is fully charged, charging is terminated and the remaining capacity calibration is performed, and the charge count information is reset to zero. After the remaining capacity SOC calibration is completed, the battery pack 4 is discharged through the discharge resistor 41 until the remaining capacity SOC parameter equals the preset charging end threshold (90%), at which time discharging stops.

[0050] This embodiment takes into account the scheduling strategy of the automated terminal for the battery pack, 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. During this process, if the battery pack needs to be fully charged and calibrated at this time, it will not be allowed to be scheduled even if the remaining capacity SOC reaches more than 90%. Otherwise, the calibration of the battery's remaining capacity SOC 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 dispatched. 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 This is a flow chart of the battery charging method based on an unmanned terminal of the present invention. Figure 2 As shown, an embodiment of the present invention further provides a battery charging method based on an unmanned terminal, using the above-mentioned battery charging system based on an unmanned terminal. The battery charging method based on an unmanned terminal 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, detecting the number of charging times and determining whether it is equal to a preset cycle full charge detection threshold; if so, executing step S130; if not, executing 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 that is 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 charge end threshold value and then the discharge is stopped.

[0058] 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 , adding one to the charging times in the storage medium 42 , and ending the charging.

[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 is not limited thereto.

[0064] The battery charging method based on the unmanned terminal of the present invention can realize 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.

[0065] An embodiment of the present invention further provides a battery charging device for an unmanned terminal, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of a battery charging method for an unmanned terminal.

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

[0067] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, 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 terminal of the present invention. Figure 3 An electronic device 600 according to this embodiment of the present invention will be described. Figure 3 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0069] like Figure 3 As shown, electronic device 600 is implemented as a general-purpose computing device. Components of 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 storage unit 620 and processing unit 610), and a display unit 640.

[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 bus or memory 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 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can 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 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can 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.

[0075] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a battery charging method based on an unmanned dock. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the method section above.

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

[0077] Figure 4 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 4 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may 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 may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or 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 component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having 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 a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. 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, apparatus, 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 thereof.

[0080] The 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++, and the like, as well as 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 stand-alone 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 via 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., via 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 automatic guided vehicles using lithium iron phosphate battery cells, greatly enhancing the stability of automatic operation of automatic guided vehicles in unmanned terminals.

[0082] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A battery charging system based on an unmanned terminal, characterized in that: include: A power battery management module (1) is connected to a battery pack (4) for data exchange, wherein the battery pack (4) has a built-in storage medium (42) for storing the number of 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 cycle full charge detection threshold, the controller (2) forwards the remaining power SOC parameter of the battery pack (4) to the charger (3) in real time. When the remaining power SOC parameter meets the preset charge end threshold of the charger (3), a preset simulated remaining power parameter less than the preset charge 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 clears the number of charging times in the storage medium (42) to end charging; and A 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 is stopped.

2. The battery charging system based on an unmanned terminal according to claim 1, characterized in that: When the number of charging times is less than a 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, and charging is terminated after the remaining power SOC parameter meets the preset charge termination threshold.

3. The battery charging system based on an unmanned terminal according to 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 terminal according to 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 terminal, using the battery charging system based on an unmanned terminal according to 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 number of 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 a 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 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 charge end threshold value, thereby ending the process; as well as S170, detecting the remaining power parameter of the battery pack (4) in real time and charging until the remaining power parameter meets the preset charging end threshold of the charger (3), adding one to the charging times in the storage medium (42), and ending charging.

6. A battery charging device based on an unmanned terminal, characterized in that: include: processor; a memory storing executable instructions for the processor; Wherein, the processor is configured to perform the steps of the unmanned terminal-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 according to claim 5 are implemented.

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