AGV double-vehicle synchronous power supply system

Abstract

The invention belongs to the technical field of AGV control, and particularly relates to an AGV double-vehicle synchronous power supply system. The system comprises two groups of electrical circuits which are respectively arranged at two AGV ends in an AGV double-vehicle system; each of the two groups of electrical circuits comprises a first branch, a second branch, a third branch and a fourth branch; the first branch and the second branch of each group of electrical circuit are used for being connected with the positive electrode and the negative electrode of a DC-DC module, powered by a power supply of a high-voltage power supply system, of the corresponding AGV; the third branches are used for being connected with the fourth branches in the same group through branches which are provided with first relay coils in series; the first branch and the second branch of each AGV end are respectively used for forming a loop which is connected with the positive electrode and the negative electrode of a DC-DC module of the AGV and a first relay coil of the other AGV in series in a state of being connected with a fourth branch and a third branch of the other AGV end in the AGV double-vehicle system; and the first relay coil is used for keeping the corresponding contact closed in a power-on state so as to switch on an electrical loop of a high-voltage power supply system of the AGV.

Description

Technical Field

[0001] The present invention belongs to the field of AGV control technology, and in particular relates to an AGV dual-vehicle synchronous power supply system. Background Art

[0002] AGV (Automated Guided Vehicle) is an intelligent device that uses advanced automation technology to achieve material handling and autonomous navigation. AGV technology integrates a variety of advanced technologies, including autonomous navigation, sensor technology, control algorithms, communication technology, energy management technology, and data analysis to achieve intelligent, efficient, precise, and safe handling operations. Today, AGV technology is gradually being widely used in factories, warehouses, logistics centers, hospitals, and other fields due to its advantages of dexterity, convenience, and automation. It is used to achieve functions such as material handling, cargo distribution, and material transfer on automated production lines. Its high flexibility and adaptability enable AGV to play an important role in various scenarios, improve production efficiency, and reduce labor costs.

[0003] In the actual application process of unmanned transportation using AGV technology, enterprises sometimes occasionally encounter the phenomenon that a single cargo or product is too large or overweight. A single AGV in the field cannot meet the cargo demand. Therefore, it usually has great limitations when transporting oversized cargo. The method of developing or purchasing AGVs with larger load and size for individual oversized cargo is not cost-effective. Therefore, it is necessary to synchronize the control of the dual-car system composed of two AGVs so that the two AGVs work synchronously, thereby achieving the effect of joint transportation, thereby ensuring that the cargo whose size or weight exceeds that of a single AGV can be effectively transported; however, since the state of the electrical circuits in the AGV dual-car system is often difficult to synchronize through mutual communication, it is difficult for the current AGV dual-car system to achieve synchronized control of power supply, so that the two AGVs in the AGV dual-car system may be out of sync with each other, one AGV is powered on and the other AGV is out of power, resulting in errors caused by the asynchronous power-on or power-off during operation. Summary of the invention

[0004] The purpose of the present invention is to provide an AGV dual-vehicle synchronous power supply system to solve the problem that the AGV dual-vehicle system in the prior art is difficult to achieve synchronous control of power supply, resulting in errors in the synchronous control during operation due to the influence of asynchronous power-on or power-off.

[0005] In order to achieve the above-mentioned object, the present invention provides an AGV dual-vehicle synchronous power supply system, which includes two groups of electrical circuits respectively used for two AGV ends in the AGV dual-vehicle system; the two groups of electrical circuits each include their own corresponding first, second, third and fourth branches; the first and second branches of each group of electrical circuits are respectively used to be connected to the positive and negative electrodes of the DC-DC module of the AGV where they are located, which is powered by the power supply of the high-voltage power supply system; the third branch is used to be connected to the fourth branch of the same group through a branch circuit with a first relay coil in series; The first and second branches at each AGV end are also used to form a circuit that connects the positive and negative poles of the DC-DC module of the AGV and the first relay coil of another AGV in series when connected to the fourth and third branches at the other AGV end of the AGV dual-vehicle system; the first relay coil is used to keep the corresponding contacts closed when powered to connect the electrical circuit of the high-voltage power supply system of the AGV.

[0006] Beneficial effects: The present invention provides a new AGV dual-vehicle synchronous power supply system, which, without affecting the normal power supply of a single AGV, sets a logical electrical connection between the dual vehicles, i.e., two AGVs, so that both vehicles can construct an electrical circuit that connects the positive and negative poles of the DC-DC module of one vehicle with the first relay coil of the other AGV; when the power-on button of one AGV is closed, the electrical circuit of the high-voltage power supply system of the AGV is still not connected, the DC-DC module of the AGV is powered, and the first relay coil of the other AGV is powered through a set of electrical circuits to connect the electrical circuit of the high-voltage power supply system of the other AGV, and at this time, the power-on button of the other AGV is still in the disconnected state; that is, the electrical circuit of the high-voltage power supply system of the other AGV is connected but not powered on, and the electrical circuit of the high-voltage power supply system of the AGV is powered on but not connected. On this basis, if the power-on button of another AGV is closed, the electrical circuit of the high-voltage power supply system of the other AGV is in a state of being connected and powered on. At the same time, the DC-DC module of the other AGV is powered, and the first relay coil of the AGV is powered through another set of electrical circuits to connect the electrical circuit of the high-voltage power supply system of the AGV. At this time, the electrical circuit of the high-voltage power supply system of the AGV is also connected and powered on. At this point, the power-on buttons of the two AGVs and the main contactors of the high-voltage power supply systems are both in a closed state, and the corresponding circuits of the high-voltage systems of the two AGVs are connected, achieving the effect of synchronous control of the high-voltage system power supply of the two AGVs, effectively avoiding the situation where one AGV is powered on while the other AGV is powered off, and also avoiding the synchronous control during operation from being affected by the asynchronous power-on or power-off and causing errors, thus ensuring the stability of the synchronous control operation.

[0007] Furthermore, the second branch is also used to connect to a set high-level output terminal through a branch circuit in which a second relay coil and a first relay contact are connected in series; the first relay contact is used to remain closed when the first relay coil is energized to turn on the branch circuit where the second relay coil is located so that the second relay coil is energized; the second relay coil is used to keep the corresponding contacts closed when energized to connect the electrical circuit of the high-voltage power supply system of the AGV.

[0008] Furthermore, the set high-level output end is the high-level signal controllable output end of the vehicle controller of each AGV; a group of main contactor coils are connected in parallel between the first branch and the second branch of the two groups of electrical circuits themselves, and the group of main contactor coils includes at least one main contactor coil; the group of main contactor coils of the electrical circuit at each AGV end are used to trigger the main contactor contacts corresponding to the group of main contactor coils to close in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV; the second relay contact is arranged in series on the branch connected in parallel with the group of main contactor coils, and is used to connect the branch in the closed state so that the group of main contactor coils can be energized through the branch.

[0009] Furthermore, emergency stop switches are provided in both groups of electrical circuits; the normally closed contacts corresponding to the emergency stop switches in each group of electrical circuits include a first normally closed contact arranged in series in the first branch, so as to cut off the first branch of the group of electrical circuits, the fourth branch and the third branch of the electrical circuit at the other AGV end, the second branch of the group of electrical circuits and the circuit formed by the DC-DC module of the AGV where the group of electrical circuits is located when the emergency stop switch disconnects the normally closed contacts, thereby de-energizing the first relay coil in the electrical circuit at the other AGV end to cut off the electrical circuit of the high-voltage power supply system of the other AGV; the normally closed contacts also include a second normally closed contact arranged in series on the branch where the second relay coil is located, so as to cut off the branch where the second relay coil is located when the emergency stop switch disconnects the normally closed contacts, thereby cutting off the electrical circuit of the high-voltage power supply system of the AGV where the group of electrical circuits is located.

[0010] Furthermore, it also includes a mode selection unit for being respectively arranged at the two AGV ends; the mode selection unit includes components for selecting a mode corresponding to a dual-vehicle operation mode and a single-vehicle operation mode respectively; The component corresponding to the dual-vehicle operation mode is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output terminal of the vehicle controller to output a low level; the component corresponding to the single-vehicle operation mode is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output terminal of the vehicle controller to output a high level; The third branch of each group of electrical circuits is also connected to the second branch of the same group through another branch; the mode signal output end of the vehicle controller of the AGV where each group of electrical circuits is located is connected in series to the third branch of the AGV, and the mode signal output end is connected to the first relay coil in the group of electrical circuits through a first unidirectional conductive device whose conduction direction is consistent with the direction from the mode signal output end to the first relay coil and then to the second branch of the same group, so that the first relay coil is energized by the high level output by the mode signal output end.

[0011] Furthermore, the mode selection unit is a mode button, which is used to make the components corresponding to the dual-vehicle operation mode be selected when the mode is switched to the dual-vehicle operation mode, and to make the components corresponding to the single-vehicle operation mode be selected when the mode is switched to the single-vehicle operation mode.

[0012] Furthermore, it also includes a connecting tool, one end of which is provided with a first, second, third and fourth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of a group of electrical circuits, and the other end is provided with a fifth, sixth, seventh and eighth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of another group of electrical circuits; the first, second, third and fourth connecting parts are used to electrically connect to the eighth, seventh, sixth and fifth connecting parts respectively.

[0013] Furthermore, the two groups of electrical circuits also include a corresponding group of communication branches; one group of communication branches of the two groups of electrical circuits are used to connect to each other for communication between the low-voltage power supply systems of the two AGVs; the communication between the low-voltage power supply systems of the two AGVs includes: if one of the AGVs has a system failure during self-inspection or operation, the dual-vehicle control information is synchronized, and the high-level output of the mode signal output end of the two AGVs is disconnected through the vehicle controllers of the two AGVs to control the two AGVs to be powered off synchronously.

[0014] Furthermore, one end of the connecting tooling is also provided with a group of communication connection parts respectively used for communication connection with a group of communication branches of a group of electrical circuits, and the other end is provided with another group of communication connection parts respectively used for communication connection with a group of communication branches of another group of electrical circuits; the one group of communication connection parts are respectively used for electrical connection with the other group of communication connection parts.

[0015] Furthermore, a group of main contactor coils connected in parallel between the first branch and the second branch of the electrical circuit of at least one AGV includes a positive main contactor coil and a negative main contactor coil connected in parallel with each other; the main contactor contacts corresponding to the positive main contactor coil and the negative main contactor coil are respectively used to set the positive terminal and negative terminal of the power supply in the electrical circuit of the high-voltage power supply system of the AGV, so as to connect the electrical circuit of the high-voltage power supply system of the AGV when both are closed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the electrical system principle of the AGV dual-vehicle synchronous power supply system in the dual-vehicle operation mode in the embodiment of the AGV dual-vehicle synchronous power supply system; Figure 2 It is a flowchart of the dual-vehicle power supply process of the AGV dual-vehicle synchronous power supply system in the dual-vehicle operation mode in the embodiment of the AGV dual-vehicle synchronous power supply system; Figure 3 Schematic diagram of the vehicle body connection structure of the AGV dual-vehicle synchronous power supply system in the embodiment of the AGV dual-vehicle synchronous power supply system in the single-vehicle operation mode and the dual-vehicle operation mode respectively; Figure 4 It is a schematic diagram of the electrical system principle of the AGV dual-vehicle synchronous power supply system in the single-vehicle operation mode in the embodiment of the AGV dual-vehicle synchronous power supply system; Figure 5 It is a single-vehicle power supply process flow chart of the AGV double-vehicle synchronous power supply system in the single-vehicle operation mode in the AGV double-vehicle synchronous power supply system embodiment; Figure 6 This is a schematic diagram of the principle of the dual-vehicle synchronous connection line for synchronously powering dual AGVs in an embodiment of the AGV dual-vehicle synchronous power supply system. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0018] AGV dual-vehicle synchronous power supply system implementation example This embodiment provides a technical solution for an AGV dual-vehicle synchronous power supply system, which includes two sets of electrical circuits respectively used for two AGV ends in the AGV dual-vehicle system; the two sets of electrical circuits each include their own corresponding first, second, third and fourth branches; the first and second branches of each set of electrical circuits are respectively used to connect to the positive and negative electrodes of the DC-DC module of the AGV where they are located, which is powered by the power supply of the high-voltage power supply system; the third branch is used to connect to the fourth branch of the same group through a branch circuit in which a first relay coil is connected in series; The first and second branches at each AGV end are also used to form a circuit that connects the positive and negative poles of the DC-DC module of the AGV and the first relay coil of another AGV in series when connected to the fourth and third branches at the other AGV end of the AGV dual-vehicle system; the first relay coil is used to keep the corresponding contacts closed when powered to connect the electrical circuit of the high-voltage power supply system of the AGV.

[0019] The electrical system principle of the AGV dual vehicle (AGV1 and AGV2) synchronous power supply system in the dual vehicle operation mode is as follows Figure 1 As shown, the power source can be a lithium iron phosphate battery, generally with a rated voltage of DC24V, DC48V, DC60V and other voltage levels. The power source is used for high-voltage parts such as walking, steering motor systems, actuators, etc. (for example Figure 1 The power supply also supplies power to the DC-DC module; the DC-DC module generally outputs a standard voltage of DC12V or DC24V to supply power to the control system and low-voltage loads. The DC-DC is directly connected to the power supply without passing through the main contactor, that is, the power supply is activated, and the DC-DC starts working to supply power to the low-voltage control system. Both AGV1 and AGV2 are provided with two sets of electrical circuits including four branches 1, 2, 3, and 4. Taking the electrical circuit connection method included in AGV1 as an example, branch 1 in the electrical circuit is connected to the positive pole of the DC-DC module of AGV1; branch 2 is connected to the negative pole of the DC-DC module of AGV1; branch 3 is connected to branch 4 through the branch of the K2 relay coil; similarly, the electrical circuit connection method included in AGV2 can be obtained.

[0020] Specifically, Figure 1 The power-on button SA1 in the figure is a self-locking button, and SA1 is connected to the power supply. When the power-on button SA1 of AGV1 is pressed, the button is self-locked, the power supply of AGV1 is powered on, the DC-DC module enters the working state to control the power output, the vehicle controller is powered on and performs a system self-check. After the self-check is completed, the mode button port is monitored. If the DI1 low level is detected, the system considers that AGV1 is in the operating state of the dual-vehicle operation mode; when AGV2 closes the power-on button SA1, the power supply of AGV2 is activated, and the DC-DC enters the working state to control the power output.

[0021] In this embodiment, the DO1 node of an AGV vehicle controller outputs a high level to control the K2 relay coil of another AGV, thereby controlling the closure of the main contacts of the K2 relay of the other AGV; in other embodiments, the positive pole of the DC-DC module of one AGV may also output a high level, or an external power supply may be added to an AGV to output a high level to control the K2 relay coil of another AGV, thereby controlling the closure of the main contacts of the K2 relay of another AGV, which will not be elaborated here.

[0022] Taking the output high level as an example, when the system determines that both AGV1 and AGV2 are in the operating state under the dual-vehicle operation mode, the DO1 port of the vehicle controller of AGV1 outputs a high level, and the K2 relay coil of AGV2 is energized, thereby closing the main contact of the K2 relay of AGV2, that is, the K2 relay coil of AGV2 is powered on and controlled by the DC-DC module of AGV1; similarly, the K2 relay coil of AGV1 is powered on and controlled by the DC-DC module of AGV2. The electrical circuit connection of AGV1 in the dual-vehicle operation mode is: branch 1 of AGV1 is connected to branch 4 of AGV2, and branch 2 of AGV1 is connected to branch 3 of AGV2, forming a circuit that connects the positive pole of the DC-DC module of AGV1, the negative pole of the DC-DC module of AGV1, and the K2 relay coil of AGV2 in series. The specific circuit is: The positive pole of the DC-DC module of AGV1 → the K2 relay coil of AGV2 → the negative pole of the DC-DC module of AGV1.

[0023] This method can ensure that after the two vehicles complete the connection of the synchronization connection line, when the power-on switches of the two vehicles are pressed, as long as the DC-DC modules of AGV1 and AGV2 are both working, the synchronization of the closing of the K2 relay coils of AGV1 and AGV2 can be achieved.

[0024] The second branch is also used to connect to the set high-level output terminal through a branch circuit in which the second relay coil and the first relay contact are connected in series; the first relay contact is used to remain closed when the first relay coil is energized to turn on the branch circuit where the second relay coil is located so that the second relay coil is energized; the second relay coil is used to keep the corresponding contacts closed in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV. In this embodiment, the set high-level output terminal is the high-level signal controllable output terminal of the vehicle controller of each AGV; a group of main contactor coils are connected in parallel between the first branch and the second branch of the two groups of electrical circuits, and a group of main contactor coils contains at least one main contactor coil; the group of main contactor coils of the electrical circuit at each AGV end are used to trigger the main contactor contacts corresponding to the group of main contactor coils to close in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV; the second relay contact is connected in series on the branch circuit in parallel with the group of main contactor coils, and is used to connect the branch circuit in a closed state so that the group of main contactor coils can be energized through the branch circuit. Specifically, as Figure 1 As shown, the first relay coil is the K2 relay coil, and the second relay coil is the K1 relay coil; the first relay contact is the K2 relay contact, and the second relay contact is the K1 relay contact; K1 is a normally open relay with double main contacts (two main contacts as a group), and the K1 relay coils of AGV1 and AGV2 are respectively connected to the DO1 output point of the vehicle controller of the vehicle in which they are located (that is, the high-level signal output end of the vehicle controller).

[0025] In this embodiment, a group of main contactor coils connected in parallel between the first branch and the second branch of the electrical circuit of at least one AGV includes a positive main contactor coil and a negative main contactor coil connected in parallel with each other; the main contactor contacts corresponding to the positive main contactor coil and the negative main contactor coil are respectively used to set the positive terminal and the negative terminal of the power supply in the electrical circuit of the high-voltage power supply system of the AGV, so as to connect the electrical circuit of the high-voltage power supply system of the AGV when both are closed.

[0026] For each AGV, one main contact of the K1 relay coil is connected to the main contactor KM1 coil to control the on and off of the main contactor KM1; one main contact is connected to the main contactor KM2 coil to control the on and off of the main contactor KM2. Figure 2As shown, taking the example of AGV1 closing the power button first to control AGV2 to perform dual-vehicle synchronous power supply, in the dual-vehicle operation mode, the power button SA1 of AGV1 is closed first, at this time, the DC-DC module of AGV1 is powered on first to connect the positive pole of the DC-DC module of AGV1 through the K2 relay coil of AGV2 and the negative pole of the DC-DC module of AGV1; the K2 relay coil of AGV2 is energized, and the main contact of the K2 relay of AGV2 is closed, at this time, the branch where the main contact of the K2 relay of AGV2 is located is connected, that is, Figure 1 The AGV2 electrical circuit has a branch with the K2 relay main contact and the K1 relay coil connected in series; when the branch is connected, the K1 relay coil of AGV2 is energized, and then the K1 relay main contact connected to the main contactor KM1 coil is closed, connecting the branch where the main contactor KM1 coil is located; the K1 relay main contact connected to the main contactor KM2 coil is closed, connecting the branch where the main contactor KM2 coil is located.

[0027] Specifically, Figure 1 As shown, the main contactor KM1 coil (i.e. the above-mentioned positive main contactor coil) and the main contactor KM2 coil (i.e. the above-mentioned negative main contactor coil) are a group of main contactor coils, which are connected in parallel between branch 1 and branch 2 of each AGV. When the branch where the main contactor KM1 coil is located and the branch where the main contactor KM2 coil is located are both connected, the main contactor KM1 coil and the main contactor KM2 coil are both energized. At this time, the KM1 coil controls the main contactor KM1 to close, and the KM2 coil controls the main contactor KM2 to close; as shown in FIG. Figure 1As shown, the main contactor KM1 of AGV2 is in the electrical circuit where the positive pole of the high-voltage power supply system is located; the main contactor KM2 of AGV2 is in the electrical circuit where the negative pole of the high-voltage power supply system is located; the main contactor KM1 and the main contactor KM2 are both closed. At this time, the electrical circuit of the high-voltage power supply system of AGV2 is connected, but the power-on button of AGV2 is still in the disconnected state; the electrical circuit of the high-voltage power supply system of AGV1 is not connected, but the power-on button of AGV1 is in the closed state. In the above state, only one of the two synchronous power supply conditions of the two vehicles (i.e., the electrical circuit of the high-voltage power supply system is connected and the power-on button of the vehicle is closed) is met. On this basis, the power-on button SA1 of AGV2 is closed, and the DC-DC module of AGV2 is powered on, so as to connect the positive pole of the DC-DC module of AGV2 through the K2 relay coil of AGV1 and the negative pole of the DC-DC module of AGV2, so that the K2 relay coil of AGV2 is powered. The internal circuit logic of AGV2 is the same as that of AGV1. With reference to AGV1, the electrical circuit connection process of the high-voltage power supply system of AGV2 can be obtained. When the electrical circuit of the high-voltage power supply system of AGV2 is connected, AGV1 closes the power-on button first to control AGV2 to perform synchronous power supply (i.e., the synchronous power supply of the two vehicles when AGV1 is powered on first); the same logic can be obtained when AGV2 closes the power-on button first to control AGV1 to perform synchronous power supply (i.e., the synchronous power supply of the two vehicles when AGV2 is powered on first).

[0028] In addition, in this embodiment, since the input current provided by the output end DO1 of the DC-DC module of the two AGVs to the K1 relay coil of the present AGV is likely insufficient to directly close the main contactor contacts KM1 and KM2 when the K1 relay coil is energized to connect the branch where it is located, the main contactor KM1 coil and the main contactor KM2 coil are connected in parallel in this embodiment to control the main contactor contacts KM1 and KM2 to close respectively, that is, the main contactor KM1 coil and the main contactor KM1 coil are energized by the K1 relay coil, thereby indirectly controlling the main contactor contacts KM1 and KM2 to close. In other embodiments, if the positive poles of the DC-DC modules of the two vehicles are used, or an external power supply is introduced to provide input current for the K1 relay coils of the two vehicles, the main contactor contacts KM1 and KM2 can be directly closed when the K1 relay coil is energized to connect the branch where it is located, so as to connect the electrical circuit of its high-voltage power supply system. Alternatively, if KM1 and KM2 can trigger the energized contacts by using coils with smaller currents, and without considering the design of the emergency stop button, KM1 and KM2 can be directly controlled to close by energizing K2, that is, the second relay coil is used to directly keep the main contactor contacts KM1 and the main contactor contacts KM2 closed in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV.

[0029] In this embodiment, emergency stop switches are provided in both groups of electrical circuits; the normally closed contacts corresponding to the emergency stop switches in each group of electrical circuits include a first normally closed contact arranged in series in the first branch, so as to cut off the first branch of the group of electrical circuits, the fourth branch and the third branch of the electrical circuit at the other AGV end, the second branch of the group of electrical circuits and the circuit formed by the DC-DC module of the AGV where the group of electrical circuits is located when the emergency stop switch disconnects the normally closed contacts, thereby de-energizing the first relay coil in the electrical circuit at the other AGV end to cut off the electrical circuit of the high-voltage power supply system of the other AGV; the normally closed contact also includes a second normally closed contact arranged in series on the branch where the second relay coil is located, so as to cut off the branch where the second relay coil is located when the emergency stop switch disconnects the normally closed contacts, thereby cutting off the electrical circuit of the high-voltage power supply system of the AGV where the group of electrical circuits is located.

[0030] Specifically, Figure 2 As shown, the emergency stop switch, i.e., the emergency stop button JT, is a dual-circuit normally closed contact structure, wherein one end of a group of contacts (group 2) is connected to the output end of the K1 relay coil, and the other end is connected to the main contact of the K2 relay, so as to form a circuit in which the low-level signal output end DO2 of the vehicle controller of the two AGVs is connected to the negative pole of each DC-DC module through their respective K1 relay coils, the emergency stop button JT and the main contact of the K2 relay, that is, the emergency stop button JT can cooperate with the main contact of the K2 relay to control the on-off of the branch where the corresponding K1 relay coil is located.

[0031] In the dual-vehicle operation mode, taking AGV1 as an example, another set of contacts (group 1) of the emergency stop button JT of the vehicle is connected to branch 1 of the electrical circuit of the vehicle. Figure 1As shown, the positive pole of the DC-DC module of AGV1 is connected to the branch 4 of the electrical circuit of AGV2 through the contact; the K2 relay coil of AGV2 is connected to the branch 2 of the electrical circuit of AGV1 through the branch 3 of the electrical circuit of AGV2; that is, the branch 1 of the electrical circuit of AGV1, the branch 4 of the electrical circuit of AGV2, the branch 3 of the electrical circuit of AGV2, the branch 2 of the electrical circuit of AGV1 and the DC-DC module of AGV1 form a complete circuit. The emergency stop button JT of AGV1 can be used to cut off the electrical circuit of the high-voltage power supply system of AGV2 in the dual-vehicle operation mode. Specifically, when the emergency stop button JT of AGV1 is pressed to disconnect it, the branch 1 of the electrical circuit of AGV1 (i.e., the branch where the emergency stop button JT is located) is disconnected. Since the branch 4 of the electrical circuit of AGV2 is connected to this branch, the above complete circuit is disconnected; since the K2 relay coil of AGV2 is connected to this circuit, the K2 relay coil of AGV2 loses power, and the main contact of the K2 relay of AGV2 is disconnected, thereby controlling the K1 relay of AGV2 to lose power, so that the main contact of the K1 relay connected to the main contactor KM1 coil is disconnected to disconnect the branch where the main contactor KM1 coil is located; the main contact of the K1 relay connected to the main contactor KM2 coil is disconnected to disconnect the branch where the main contactor KM2 coil is located. At this time, the electrical circuit of the high-voltage power supply system of AGV2 is disconnected. That is, it can simultaneously ensure that in the case of emergency stop power failure, the two vehicles can be powered off through the hardware circuit protection at the same time, avoiding the uncertainty factors limited by the program through the soft emergency stop control of the controller, and maximizing the safety of the vehicle system.

[0032] The emergency stop button JT of AGV1 can also be used to cut off the electrical circuit of the high-voltage power supply system of AGV1 itself. Specifically, when the emergency stop button JT of AGV1 is pressed to disconnect it, the K1 relay coil of AGV1 is de-energized, and both main contacts of the K1 relay are disconnected. At this time, the main contactor KM1 coil and the main contactor KM2 coil are both de-energized, and the main contactor contacts KM1 and KM2 are respectively controlled to disconnect, thereby controlling the electrical circuit of the high-voltage power supply system of AGV1 to disconnect (that is, the AGV1 drive system is de-energized).

[0033] Similarly, pressing the emergency stop button JT of AGV2 can also disconnect the electrical circuit of the high-voltage power supply system of AGV1 and the electrical circuit of the high-voltage power supply system of AGV2 itself.

[0034] When the system is running, if the AGV's vehicle controller self-checks abnormally, the normal fault controller disconnects the DO1 and DO2 outputs, and then disconnects the main contactors KM1 and KM2, the high-voltage power supply system is powered off, the AGV stops running immediately, and the fault information is reported to the dispatching system; When the system is running, if the on-site staff finds any abnormality, they can manually trigger the emergency stop button JT. At this time, the K1 coil loses power, and then the main contactors KM1 and KM2 are disconnected. The high-voltage power supply system is powered off, the AGV stops running immediately, and the vehicle controller self-checks for abnormalities and reports them to the dispatching system.

[0035] In this embodiment, the AGV dual-vehicle synchronous power supply system supports two modes: dual-vehicle operation mode and single-vehicle operation mode. Figure 3 The figure shows a schematic diagram of the vehicle body connection structure of the above-mentioned AGV dual-vehicle synchronous power supply system in single-vehicle operation and dual-vehicle operation modes. Therefore, this embodiment also includes a mode selection unit for being respectively arranged at the two AGV ends; the mode selection unit includes components for selecting the mode corresponding to the dual-vehicle operation mode and the single-vehicle operation mode respectively; The component corresponding to the dual-vehicle operation mode is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output end of the vehicle controller to output a low level; the component corresponding to the single-vehicle operation mode is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output end of the vehicle controller to output a high level; in this embodiment, the mode selection unit is a mode button, which is used to make the component corresponding to the dual-vehicle operation mode in the selected state when the state is switched to the dual-vehicle operation mode, and to make the component corresponding to the single-vehicle operation mode in the selected state when the state is switched to the single-vehicle operation mode.

[0036] like Figure 4As shown, it is a schematic diagram of the electrical system principle of the AGV dual-vehicle synchronous power supply system in the single-vehicle operation mode; in order to ensure that each AGV can work normally in the single-vehicle operation mode, the third branch of each group of electrical circuits is also connected to the second branch of the same group through another branch; the mode signal output terminal DO2 of the vehicle controller of the AGV where each group of electrical circuits is located is arranged in series in the third branch of the AGV, and the mode signal output terminal DO2 is connected to the first relay coil in the group of electrical circuits through a first unidirectional conductive device D1 whose conduction direction is consistent with the direction from the mode signal output terminal to the first relay coil and then to the second branch of the same group, so that the first relay coil is energized by the high level output by the mode signal output terminal DO2. In this way, a loop can be formed in which the mode signal output terminal DO2 of a single AGV supplies power to the first relay coil through D1 to the first relay coil of the third branch, then to the second branch, and finally to the negative pole of the DC-DC module, thereby ensuring that power can be supplied even in the single-vehicle influence mode; in addition, the first unidirectional conducting device D1 can prevent the current from flowing back to the mode signal output terminal DO2 in the process of the loop from the first branch of another AGV to the fourth branch of the current AGV and then to the third branch of the current AGV in the dual-vehicle operation mode, resulting in damage to the mode signal output terminal DO2.

[0037] Specifically, the mode selection button in this embodiment is as follows: Figure 1 , Figure 4 As shown in SA1 in FIG, the button is a three-position rotary switch, which are single-vehicle mode (middle position), dual-vehicle mode-AGV1 (left position), and dual-vehicle mode-AGV2 (right position); the rotary switch can be adjusted to the corresponding mode position according to the required operating state. The common end of the rotary switch is grounded, and the status signal output ends of the dual-vehicles are connected to the DI input port of their own controller (the DI input port is triggered by a low level). In other embodiments, a single-pole triple-throw switch or three independent mode selection buttons (one button corresponds to the single-vehicle mode, and the other two buttons correspond to the two mode positions of the dual-vehicle mode) can also be used to realize the mode selection function.

[0038] When synchronous control of two AGVs is required, turn the mode button of AGV1 to the left to the dual-vehicle mode-AGV1 (left position), turn the mode button of AGV2 to the dual-vehicle mode-AGV2 (right position), and manually connect the dual-vehicle synchronization cable. The vehicle controllers of the two vehicles communicate data through the dual-vehicle synchronization cable. It should be noted that during the synchronous power-on process in dual-vehicle mode, there is actually no master-slave relationship between AGV1 and AGV2. Regardless of whether it is the master vehicle or the slave vehicle, the DO1 port of the vehicle controller in the dual-vehicle mode outputs a high level under normal circumstances, and outputs a low level when an abnormality is found in the self-test, to ensure that the logic of mutual control of the high-voltage power supply system between the two vehicles is basically consistent; during the synchronous power-on process, the electrical circuits of AGV1 and AGV2 control each other. Only when the power-on buttons of AGV1 and AGV2 are closed, the high-voltage power supply systems of the two vehicles can be powered on at the same time, otherwise only the power-on button of AGV1 or AGV2 is closed, and the high-voltage power supply systems of the two vehicles will not be powered on; therefore, the master vehicle and the slave vehicle here only refer to the synchronous control process during the operation process after the high-voltage power supply systems of the two vehicles are powered on, and it does not mean that there is a master-slave relationship in the synchronous power supply process.

[0039] Taking the process of AGV1 closing the power button first to power the two vehicles synchronously as an example, the specific process of selecting the dual-vehicle operation mode through the mode button SA1 includes: S1: AGV1 closes its power button SA1 to activate the power supply of AGV1. The DC-DC module of AGV1 enters the working state to control the power output. The vehicle controller of the vehicle is powered on and performs a system self-test. After the self-test is completed, the mode button port is monitored. If DI1 is detected to be low level, the system determines that AGV1 is in the dual-vehicle synchronous control operation state; S2: AGV2 closes its power button SA1 to activate the power supply of AGV2. The DC-DC module of AGV2 enters the working state to control the power output. The vehicle controller of the vehicle is powered on and performs a system self-test. After the self-test is completed, the mode button port is monitored. If DI2 is detected to be low level, the system determines that AGV2 is also in the dual-vehicle synchronous control operation state; S3: When both vehicles are in the dual-vehicle synchronous control operation state, the DO2 ports of the vehicle controllers of AGV1 and AGV2 both output low level.

[0040] When a single AGV is required to operate, place the mode button of the AGV in the position shown in the figure. Figure 4The middle 0 position shown is the default standard position of the whole vehicle. When the mode button is in this state, the default mode is the single-vehicle operation mode. In this mode, the vehicle controller receives the dispatching system instructions, and the AGV performs cargo transfer. In the single-vehicle operation mode, there is no need to make electrical connections with other AGVs. The power supply of the above-mentioned vehicle controller is directly connected to the DC-DC module of the AGV, that is, after the power supply is powered on, the DC-DC module realizes the power-on and wake-up of the vehicle controller system, and the controller completes system self-test, information interaction with other vehicle systems, and information interaction with the dispatching system. The vehicle controller generally uses 485 or CAN bus to communicate with other bus systems.

[0041] like Figure 5 As shown, taking AGV1 selecting a single vehicle operation mode as an example, the specific steps of selecting a single vehicle operation mode through the mode button SA include: S1: Close the power button SA1 of AGV1 to activate the power supply. The DC-DC module of the vehicle enters the working state to control the power output. The vehicle controller of the vehicle is powered on and performs a system self-test. After the self-test is completed, the mode button port is monitored. If there is no low-level input, the system determines that AGV1 is in a single-vehicle operation state. S2: The vehicle controller of AGV1 completes the high-level output of the DO2 port, the K2 relay coil is energized, and the main contact of the K2 relay is closed. Specifically, Figure 4 As shown, taking the electrical circuit of a single AGV1 as an example, the branch 3 of AGV1 is connected to its branch 2 through a branch. The DO2 port of the vehicle controller of AGV1 is connected to its branch 3 through a diode D1 (the forward end of D1 is connected to the above DO2 port, and the output end is connected to the K2 relay coil) and the K2 relay coil.

[0042] In addition, branch 4 of AGV1 can also be connected to branch 3 through diode D2 (the forward end of D2 is connected to the aviation plug, and the output end is connected to the K2 relay coil). The diode D2 is used to prevent the reverse flow of branch 4 when the single vehicle is running. In fact, since the possibility of reverse flow in branch 4 is small, the diode D2 can also be omitted, which does not affect the realization of the overall circuit function.

[0043] In this embodiment, a connecting tool is also included, one end of which is provided with a first, second, third and fourth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of a group of electrical circuits, and the other end is provided with a fifth, sixth, seventh and eighth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of another group of electrical circuits; the first, second, third and fourth connecting parts are used to electrically connect to the eighth, seventh, sixth and fifth connecting parts respectively.

[0044] In this embodiment, the two groups of electrical circuits also include a corresponding group of communication branches; a group of communication branches corresponding to the two groups of electrical circuits are used to connect to each other for communication between the low-voltage power supply systems of the two AGVs; the communication between the low-voltage power supply systems of the two AGVs includes: if a system failure occurs in one of the AGVs, the dual-vehicle control information is synchronized, and the high-level output of the mode signal output end of the two AGVs is disconnected through the vehicle controllers of the two AGVs to control the two AGVs to be powered off synchronously.

[0045] One end of the connecting tool is also provided with a group of communication connection parts for communication connection with a group of communication branches of a group of electrical lines, and the other end is provided with another group of communication connection parts for communication connection with a group of communication branches of another group of electrical lines; the group of communication connection parts is respectively used to electrically connect with the another group of communication connection parts. Specifically, Figure 6 As shown, it is a dual-vehicle synchronous connection line (i.e. the above-mentioned connection tooling) for the synchronous power supply of dual AGV vehicles. The synchronous connection line is designed with 6 cores, which are arranged in sequence from 1 to 6; The first branch, second branch, third branch and fourth branch of the above-mentioned group of electrical circuits correspond to branch 1, branch 2, branch 3 and branch 4 of the AGV1 electrical circuit respectively; the first branch, second branch, third branch and fourth branch of the other group of electrical circuits correspond to branch 1, branch 2, branch 3 and branch 4 of the AGV2 electrical circuit respectively; pins 1, 2, 3 and 4 at one end of the aviation plug corresponding to AGV1 are the above-mentioned first, second, third and fourth connecting parts; pins 1, 2, 3 and 4 at the other end of the aviation plug corresponding to AGV2 are the above-mentioned fifth, sixth, seventh and eighth connecting parts.

[0046] One end of the synchronous connecting line is welded to pins 1 to 4 at one end of the aviation plug in a one-to-one correspondence according to cable numbers 1-4, that is, the first branch, second branch, third branch and fourth branch of a group of electrical circuits are electrically connected to the first, second, third and fourth connecting parts of the tooling, respectively; the other end thereof is welded to pins 4 to 1 at one end of the aviation plug in a one-to-one correspondence according to cable numbers 1-4, that is, the first branch, second branch, third branch and fourth branch of another group of electrical circuits are electrically connected to the eighth, seventh, sixth and fifth connecting parts of the tooling, respectively.

[0047] In addition, branches 5 and 6 (i.e., a group of communication branches) of AGV1 and AGV2 in this embodiment are CAN bus communication lines, wherein branch 5 is used for high-level communication transmission between the low-voltage power supply systems of the two AGVs; branch 6 is used for low-level communication transmission between the low-voltage power supply systems of the two AGVs; in other embodiments, the above-mentioned communication branches can also perform other modes of communication transmission. Taking the communication bus communication transmission between the low-voltage power supply systems of AGV1 and AGV2 as an example, if a system failure occurs in AGV1 during self-test or operation, the control information of AGV1 and AGV2 is synchronized, and the controllers of the two AGVs disconnect their respective DO1 outputs to ensure that the two vehicles are powered off synchronously.

[0048] Two branches in a group of communication branches of the above-mentioned group of electrical circuits correspond to branches 5 and 6 of the AGV1 electrical circuit respectively; two branches in a group of communication branches of the other group of electrical circuits correspond to branches 5 and 6 of the AGV2 electrical circuit respectively; pins 5 and 6 at one end of the aviation plug corresponding to AGV1 are the above-mentioned group of connecting parts; pins 5 and 6 at the other end of the aviation plug corresponding to AGV2 are the above-mentioned other group of connecting parts.

[0049] The branches 5 and 6 at one end of the CAN bus communication line of the synchronous connecting line are respectively welded to the pins 5 and 6 at one end of the aviation plug, that is, a group of communication branches of a group of electrical circuits are respectively communicatively connected to a group of communication connection parts of the tooling; the branches 5 and 6 at the other end are respectively welded to the pins 5 and 6 at the other end of the aviation plug, that is, a group of communication branches of another group of electrical circuits are respectively communicatively connected to another group of communication connection parts of the tooling.

[0050] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, but do not constitute a limitation to the present invention.

Claims

1. An AGV dual-vehicle synchronous power supply system, characterized in that: It includes two groups of electrical circuits respectively used for two AGV ends in the AGV dual-vehicle system; the two groups of electrical circuits each include the first, second, third and fourth branches corresponding to themselves; the first and second branches of each group of electrical circuits are respectively used to be connected to the positive and negative electrodes of the DC-DC module of the AGV where they are located, which is powered by the power supply of the high-voltage power supply system; the third branch is used to be connected to the fourth branch of the same group through a branch circuit in which the first relay coil is connected in series; The first and second branches at each AGV end are also used to form a circuit that connects the positive and negative poles of the DC-DC module of the AGV and the first relay coil of another AGV in series when connected to the fourth and third branches at the other AGV end of the AGV dual-vehicle system; the first relay coil is used to keep the corresponding contacts closed when powered to connect the electrical circuit of the high-voltage power supply system of the AGV.

2. The AGV dual-vehicle synchronous power supply system according to claim 1 is characterized in that: The second branch is also used to connect to a set high-level output terminal through a branch circuit in which a second relay coil and a first relay contact are connected in series; the first relay contact is used to remain closed when the first relay coil is energized to turn on the branch circuit where the second relay coil is located so that the second relay coil is energized; the second relay coil is used to keep the corresponding contacts closed in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV.

3. The AGV dual-vehicle synchronous power supply system according to claim 2 is characterized in that: The set high-level output end is the high-level signal controllable output end of the vehicle controller of each AGV; a group of main contactor coils are connected in parallel between the first branch and the second branch of the two groups of electrical circuits themselves, and the group of main contactor coils includes at least one main contactor coil; the group of main contactor coils of the electrical circuit at each AGV end are used to trigger the main contactor contacts corresponding to the group of main contactor coils to close in the energized state to connect the electrical circuit of the high-voltage power supply system of the AGV; the second relay contact is arranged in series on the branch connected in parallel with the group of main contactor coils, and is used to connect the branch in the closed state so that the group of main contactor coils can be energized through the branch.

4. The AGV dual-vehicle synchronous power supply system according to claim 3 is characterized in that: Emergency stop switches are provided in both groups of electrical circuits; the normally closed contacts corresponding to the emergency stop switches in each group of electrical circuits include a first normally closed contact arranged in series in the first branch, so as to cut off the first branch of the group of electrical circuits, the fourth branch and the third branch of the electrical circuit at the other AGV end, the second branch of the group of electrical circuits and the circuit formed by the DC-DC module of the AGV where the group of electrical circuits is located when the emergency stop switch disconnects the normally closed contacts, thereby de-energizing the first relay coil in the electrical circuit at the other AGV end to cut off the electrical circuit of the high-voltage power supply system of the other AGV; the normally closed contacts also include a second normally closed contact arranged in series on the branch where the second relay coil is located, so as to cut off the branch where the second relay coil is located when the emergency stop switch disconnects the normally closed contacts, thereby cutting off the electrical circuit of the high-voltage power supply system of the AGV where the group of electrical circuits is located.

5. The AGV dual-vehicle synchronous power supply system according to any one of claims 1 to 4, characterized in that: It also includes a mode selection unit for being respectively arranged at the ends of the two AGVs; the mode selection unit includes components for selecting a mode corresponding to a dual-vehicle operation mode and a single-vehicle operation mode respectively; The component corresponding to the dual-vehicle operation mode is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output terminal of the vehicle controller to output a low level; The component corresponding to the operation mode of the single vehicle operation is used to send a corresponding signal to the vehicle controller after the vehicle is powered on in the selected state to trigger the mode signal output terminal of the vehicle controller to output a high level; The third branch of each group of electrical circuits is also connected to the second branch of the same group through another branch; the mode signal output end of the vehicle controller of the AGV where each group of electrical circuits is located is connected in series to the third branch of the AGV, and the mode signal output end is connected to the first relay coil in the group of electrical circuits through a first unidirectional conductive device whose conduction direction is consistent with the direction from the mode signal output end to the first relay coil and then to the second branch of the same group, so that the first relay coil is energized by the high level output by the mode signal output end.

6. The AGV dual-vehicle synchronous power supply system according to claim 5 is characterized in that: The mode selection unit is a mode button, which is used to select the components corresponding to the dual-vehicle operation mode when the mode is switched to the dual-vehicle operation mode, and to select the components corresponding to the single-vehicle operation mode when the mode is switched to the single-vehicle operation mode.

7. The AGV dual-vehicle synchronous power supply system according to claim 5 is characterized in that: It also includes a connecting tool, one end of which is provided with a first, second, third and fourth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of a group of electrical circuits, and the other end is provided with a fifth, sixth, seventh and eighth connecting parts respectively used to electrically connect to the first branch, second branch, third branch and fourth branch of another group of electrical circuits; the first, second, third and fourth connecting parts are respectively used to electrically connect to the eighth, seventh, sixth and fifth connecting parts.

8. The AGV dual-vehicle synchronous power supply system according to claim 7 is characterized in that: The two sets of electrical circuits also include a corresponding set of communication branches; the set of communication branches corresponding to the two sets of electrical circuits are used to connect to each other to communicate between the low-voltage power supply systems of the two AGVs; The communication between the low-voltage power supply systems of the two AGVs includes: if a system failure occurs in one of the AGVs, the control information of the two vehicles is synchronized, and the high-level output of the mode signal output end of the two AGVs is disconnected through the vehicle controllers of the two AGVs to control the two AGVs to be powered off synchronously.

9. The AGV dual-vehicle synchronous power supply system according to claim 8, characterized in that: One end of the connecting tooling is also provided with a group of communication connection parts respectively used for communication connection with a group of communication branches of a group of electrical circuits, and the other end is provided with another group of communication connection parts respectively used for communication connection with a group of communication branches of another group of electrical circuits; the one group of communication connection parts are respectively used for electrical connection with the other group of communication connection parts.

10. The AGV dual-vehicle synchronous power supply system according to claim 4, characterized in that: A group of main contactor coils connected in parallel between the first branch and the second branch of the electrical circuit of at least one AGV includes a positive main contactor coil and a negative main contactor coil connected in parallel with each other; the main contactor contacts corresponding to the positive main contactor coil and the negative main contactor coil are respectively used to set the positive terminal and the negative terminal of the power supply in the electrical circuit of the high-voltage power supply system of the AGV, so as to connect the electrical circuit of the high-voltage power supply system of the AGV when both are closed.

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