Rail transport system

Abstract

The present invention discloses a guide rail transport vehicle system, including a charging device, a guide rail and a transport vehicle, the charging device including a power module, a first detection module and a first charging control module, the power module is used to provide electric energy for the charging device, the first detection module is used to collect the output voltage and output current data of the power module and send them to the first charging control module, the transport vehicle includes a second charging control module, a second detection module, an on-board charging module and a charging load, a charging area is provided on the guide rail, when the transport vehicle is located in the charging area, the guide rail is electrically connected between the charging circuit module and the on-board charging module. The guide rail transport vehicle system of the present application can be applicable to charging multiple transport vehicles at the same time or a single transport vehicle, and the charging process is safe and fast.

Description

Technical Field

[0001] The present invention relates to the technical field of guide rail transport vehicle systems, and in particular to a guide rail transport vehicle system. Background Art

[0002] A rail transport vehicle is a material transport device that moves along a fixed track and is typically used in warehousing systems. A storage battery is provided inside the rail transport vehicle and the vehicle is driven to move along a preset rail by the electric energy provided by the storage battery. After the electric energy of the storage battery is consumed, it needs to be charged by a charging device. The rail transport vehicles of the prior art typically need to be moved to a designated location for charging before the power is exhausted, and the charging efficiency is low.

[0003] Supercapacitors are a new type of energy storage device between traditional capacitors and rechargeable batteries. They have the characteristics of fast charging and discharging of capacitors and the energy storage characteristics of batteries. Compared with traditional batteries, supercapacitors have the advantages of high power density, long life, and green environmental protection. In the existing guide rail transport vehicle system, the charging state of the supercapacitor is only controlled by the charging device, and the guide rail transport vehicle is only used as an electrical device. However, the impedance state of the supercapacitor is positively correlated with the electrical energy it stores. When the supercapacitor is exhausted, its two electrodes are equivalent to a short circuit, which places high requirements on the charging device and the power supply circuit in the transport vehicle. The circuit design is difficult and costly. In addition, when charging with large currents, problems such as the charging interface and circuit board fire and overheating of the capacitor group are prone to occur. On the other hand, the rail transport vehicle charging device of the prior art can charge a small number of transport vehicles at the same time. When multiple transport vehicles are charged at the same time, the charging device charges multiple groups of supercapacitor groups connected in parallel. The sum of the charging currents of each supercapacitor group is equal to the output current of the power supply. In order to ensure the safety of electricity use when charging a single super battery group, the output current value of the power supply needs to be controlled within a safe range. When multiple groups of super battery groups are charged at the same time, there will be problems of low charging current and low charging efficiency. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to a certain extent. To this end, the present invention provides a rail transport vehicle system that can be used to charge multiple transport vehicles at the same time or a single transport vehicle, and the charging process is safe and fast.

[0005] In a first aspect, in order to achieve the above-mentioned object, the present invention proposes a guide rail transport vehicle system, comprising a charging device, a guide rail and a transport vehicle, wherein the charging device comprises a power supply module, a first detection module and a first charging control module, the power supply module is used to provide electric energy for the charging device, and the first detection module is used to collect output voltage and output current data of the power supply module and send them to the first charging control module;

[0006] The transport vehicle includes a second charging control module, a second detection module, an on-board charging module and a charging load, the on-board charging module takes power from the charging device and charges the charging load, the second detection module is used to collect the charging status data of the on-board charging module and send it to the second charging control module, the second charging control module receives the charging status data and controls the working state of the on-board charging module, so that the charging current and output voltage output by the on-board charging module to the charging load are respectively less than the preset current value and the preset voltage value;

[0007] A charging area is provided on the guide rail, and when the transport vehicle is located in the charging area, the guide rail is electrically connected between the charging device and the on-board charging module;

[0008] The first charging control module is communicatively connected to the second charging control module and controls a working state of the second charging control module.

[0009] In the technical scheme, the output voltage and output current of the power module are detected by setting a first detection module in the charging device, and the output voltage and output current of the power module meet the power demand of the charging load of each transport vehicle. The output voltage and output current of the charging device are obtained by the second charging control module in each transport vehicle, and the input voltage and input current of the charging load are adjusted, so that the charging load adopts different charging strategies in different charging stages, thereby improving the charging safety and charging efficiency of the charging load. The first charging control module obtains the output voltage and output current of the power module collected by the first detection module, and the first charging control module controls the operation of the second charging module. The second charging control module adjusts the charging parameters of the supercapacitor group, and removes the parameter restrictions of the system power supply from the charging restrictions of the single supercapacitor group, so that supercapacitor groups with different rated voltages can be connected to the same charging device and charged at the same time, and the voltage of the system power supply can be not limited by the rated voltage of the supercapacitor group, and the system power supply can output a larger current. When the number of transport vehicles being charged at the same time is large, the charging efficiency of each transport vehicle can be improved.

[0010] Preferably, the charging device further comprises a charging circuit module, the charging circuit module is electrically connected to the output end of the power module and is used to adjust the output current and output voltage of the power module, and the first detection module obtains the output current and output voltage of the charging circuit module;

[0011] The first charging control module is electrically connected to the first detection module and obtains the output voltage and output current of the charging circuit module. The first charging control module controls the output voltage of the charging circuit module to be constant at a preset power supply voltage, and the output current is provided according to the charging load requirements of the transport vehicle.

[0012] Preferably, the first charging control module is electrically connected to the first detection module and obtains the output voltage and output current of the power module. The first charging control module controls the output voltage of the power module to be constant at a preset power supply voltage, and the output current is provided according to the charging load requirements of the transport vehicle.

[0013] Preferably, the charging status data includes the charging current and charging voltage output by the on-board charging module to the charging load and the charging mode of the on-board charging module, and the charging mode includes a constant voltage charging mode or a constant current charging mode;

[0014] When the second charging control module controls the on-board charging module to operate in a constant current charging mode, the output current of the on-board charging module is constant at a preset current value, and the output voltage is less than a preset voltage value;

[0015] When the second charging control module controls the on-board charging module to operate in a constant voltage charging mode, the output voltage of the on-board charging module is constant at a preset voltage value, and the output current is less than a preset current value.

[0016] Preferably, a plurality of charging positions are provided in the charging area, each of which can accommodate at least one transport vehicle, and the charging device can charge a plurality of transport vehicles located at the plurality of charging positions at the same time.

[0017] Preferably, when the transport vehicle is located at the charging position, the second detection module in the transport vehicle is communicatively connected to the first detection module of the charging device, and the second detection module sends the charging status data of the charging load connected to it to the first detection module, and the charging status data includes charging current data and charging voltage data. The first detection module is also used to detect the number of transport vehicles being charged simultaneously.

[0018] Preferably, the first charging control module obtains the number of transport vehicles charged simultaneously in the guide rail transport vehicle system and the charging status data of the charging load of each transport vehicle, and controls the output voltage and output current of the charging device based on the number of transport vehicles charged simultaneously and the charging status data of the charging load of each transport vehicle.

[0019] Preferably, the charging load of the transport vehicle is set to a supercapacitor group, and the supercapacitor group includes a plurality of supercapacitors.

[0020] Preferably, the on-board charging module includes a switching tube connected in series between the charging device and the charging load, and the second charging control module outputs a PWM waveform to control the conduction and cutoff of the switching tube to control the charging current and charging voltage output by the on-board charging module to the charging load.

[0021] Preferably, the second detection module includes a voltage detection circuit, a current detection circuit and a temperature sensor, the voltage detection circuit is used to detect the charging voltage output by the vehicle-mounted charging module to the charging load, the current detection circuit is used to detect the charging current output by the vehicle-mounted charging module to the charging load, and the temperature sensor is used to detect the temperature of the charging load during the charging process, and the charging status data also includes the temperature data of the charging load.

[0022] Preferably, when the charging voltage output by the on-board charging module to the charging load in the charging status data is greater than a preset voltage value or the charging current is greater than a preset current value, the second charging control module outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module stops charging the charging load;

[0023] When the temperature of the charging load during the charging process is higher than a preset maximum temperature value, the second charging control module outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module stops charging the charging load.

[0024] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. The best embodiments or means of the present invention will be described in detail in conjunction with the drawings, but they are not intended to limit the technical solutions of the present invention. In addition, there are multiple features, elements, and components that appear in each of the following texts and drawings, and different symbols or numbers are marked for convenience, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] Figure 1 is a structural block diagram of a guide rail transport vehicle system of this embodiment;

[0027] Figure 2 is another structural block diagram of the guide rail transport vehicle system of the present embodiment;

[0028] Figure 3 is a circuit schematic diagram of the guide rail transport vehicle system of this embodiment;

[0029] Figure 4 is a control flow chart of the first charging control module of this embodiment;

[0030] Figure 5 is a control flow chart of the second charging control module of this embodiment.

[0031] Among them, 100, charging device; 110, power module; 120, first detection module; 130, charging circuit module; 140, first charging control module; 200, transport vehicle; 210, second charging control module; 220, second detection module; 230, vehicle-mounted charging module; 240, charging load; 300, guide rail. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments in the implementation manner are intended to be used to explain the present invention and should not be construed as limiting the present invention.

[0033] References in this specification to "one embodiment" or "an example" or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment of the present patent disclosure. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0034] like Figure 1 , 2 As shown, a guide rail transport vehicle 200 system includes a charging device 100, a guide rail and a transport vehicle 200, wherein the charging device 100 includes a power module 110, a first detection module 120 and a first charging control module 140, wherein the power module 110 is used to provide electric energy for the charging device 100, and the first detection module 120 is used to collect output voltage and output current data of the power module 110 and send the data to the first charging control module 140;

[0035] The transport vehicle 200 includes a second charging control module 210, a second detection module 220, an on-board charging module 230 and a charging load 240. The on-board charging module 230 takes power from the charging device 100 and charges the charging load 240. The second detection module 220 is used to collect the charging status data of the on-board charging module 230 and send it to the second charging control module 210. The second charging control module 210 receives the charging status data and controls the working state of the on-board charging module 230, so that the charging current and output voltage output by the on-board charging module 230 to the charging load 240 are respectively less than the preset current value and the preset voltage value;

[0036] A charging area is provided on the guide rail, and when the transport vehicle 200 is located in the charging area, the guide rail is electrically connected between the charging device 100 and the on-board charging module 230;

[0037] The first charging control module 140 is communicatively connected to the second charging control module 210 and controls the working state of the second charging control module 210 .

[0038] In the present technical solution, a first detection module 120 is provided in the charging device 100 to detect the output voltage and output current of the power module 110, and the output voltage and output current of the power module 110 meet the power demand of the charging load 240 of each transport vehicle 200. The output voltage and output current of the charging device 100 are obtained by the second charging control module 210 in each transport vehicle 200, and the input voltage and input current of the charging load 240 are adjusted, so that the charging load 240 adopts different charging strategies in different charging stages, thereby improving the charging safety and charging efficiency of the charging load 240. The first charging control module 140 obtains the output voltage and output current of the power module 110 collected by the first detection module 120, and the first charging control module 140 controls the operation of the second charging module, and the second charging control module 210 adjusts the charging parameters of the supercapacitor group, and releases the parameter restrictions of the system power supply imposed by the charging restrictions of the single supercapacitor group, so that supercapacitor groups with different rated voltages can be connected to the same charging device 100 and charged at the same time, and the voltage of the system power supply may not be limited by the rated voltage of the supercapacitor group, and the system power supply may output a larger current. When the number of transport vehicles 200 being charged at the same time is large, the charging efficiency of each transport vehicle 200 can be improved.

[0039] In some embodiments, Figure 3 As shown, the charging device 100 further includes a charging circuit module 130, which is electrically connected to the output end of the power module 110 and is used to adjust the output current and output voltage of the power module 110, and the first detection module 120 obtains the output current and output voltage of the charging circuit module 130;

[0040] The first charging control module 140 is electrically connected to the first detection module 120 and obtains the output voltage and output current of the charging circuit module 130. The first charging control module 140 controls the output voltage of the charging circuit module 130 to be constant at a preset power supply voltage, and the output current is provided according to the requirements of the charging load 240 of the transport vehicle 200. In this embodiment, the first charging control module 140 is set in the charging device 100 to adjust the output voltage and output current of the power module 110, so that the output voltage and output current of the charging device 100 meet the power requirements of the charging load 240 of each transport vehicle 200. The second charging control module 210 in each transport vehicle 200 obtains the output voltage and output current of the charging device 100, and adjusts the input voltage and input current of the charging load 240, so that the charging load 240 adopts different charging strategies in different charging stages, thereby improving the charging safety and charging efficiency of the charging load 240. The charging parameters of the supercapacitor group are adjusted by the second charging control module 210, and the parameter restrictions of the system power supply on the charging restrictions of the single supercapacitor group are lifted, so that supercapacitor groups with different rated voltages can be connected to the same charging device 100 for simultaneous charging, and the voltage of the system power supply can be not limited by the rated voltage of the supercapacitor group, and the system power supply can output a larger current. When the number of transport vehicles 200 being charged at the same time is large, the charging efficiency of each transport vehicle 200 can be improved. In this embodiment, the charging circuit module 130 is electrically connected between the output end of the power module 110 and the output end of the charging device 100, and is used to adjust the output current and output voltage of the power module 110 so that the output current and output voltage of the charging device 100 match the requirements of the transport vehicle 200. The first detection module 120 detects the output voltage and output current of the charging circuit module 130 and sends the detection result to the first charging control module 140. The first charging control module 140 adjusts the output voltage and output current of the charging circuit module 130 based on the output voltage and output current of the charging circuit module 130 and the charging state of the charging load 240 in each transport vehicle 200 being charged.

[0041] As an implementation, the charging status data includes the charging current and charging voltage output by the on-board charging module 230 to the charging load 240 and the charging mode of the on-board charging module 230 , and the charging mode includes a constant voltage charging mode or a constant current charging mode;

[0042] When the second charging control module 210 controls the on-board charging module 230 to operate in a constant current charging mode, the output current of the on-board charging module 230 is constant at a preset current value, and the output voltage is less than a preset voltage value;

[0043] When the second charging control module 210 controls the on-board charging module 230 to operate in a constant voltage charging mode, the output voltage of the on-board charging module 230 is constant to a preset voltage value, and the output current is less than a preset current value. In this embodiment, the second charging control module 210 can control the on-board charging module 230 to operate in a constant current charging mode or a constant voltage charging mode. For example, when the power of the supercapacitor group is lower than a set threshold, the second charging control module 210 controls the on-board charging module 230 to operate in a constant current charging mode, and charges the supercapacitor with an output voltage less than or equal to the rated charging voltage of the supercapacitor group and a preset charging current, so as to prevent the supercapacitor from being damaged by the charging equipment and heating and catching fire when the charging current is too large when the power is low. When the power of the supercapacitor group is higher than the set threshold, the second charging control module 210 controls the on-board charging module 230 to operate in a constant voltage charging mode, and charges the supercapacitor with a preset voltage less than or equal to the rated charging voltage of the supercapacitor group (the charging current gradually decreases), so as to prevent the charging voltage from being too high or overcharging from damaging the capacitor.

[0044] In this embodiment, a plurality of charging positions are provided in the charging area, and the charging positions can accommodate at least one transport vehicle 200, and the charging device 100 can charge a plurality of transport vehicles 200 located at the plurality of charging positions at the same time. The number of transport vehicles 200 that can be charged simultaneously in the prior art transport vehicle 200 rail transport vehicle system is usually less than 10, and this embodiment decouples the supercapacitor and the power module 110 through the dual control of the charging voltage and the charging current by the first charging control module 140 and the second charging control module 210, thereby removing the parameter restriction of the system power supply by the charging restriction of the single supercapacitor group, so that supercapacitor groups with different rated voltages can be connected to the same charging device 100 and charged simultaneously, and the voltage of the power module 110 can be not limited by the rated voltage of the supercapacitor group, and the power module 110 can output a larger current, that is, more transport vehicles 200 can be charged simultaneously.

[0045] In some embodiments, when the transport vehicle 200 is located at the charging position, the second detection module 220 in the transport vehicle 200 is connected to the first detection module 120 of the charging device 100 in a communication manner, and the second detection module 220 sends the charging status data of the charging load 240 correspondingly connected thereto to the first detection module 120, and the charging status data includes charging current data and charging voltage data, and the first detection module 120 is also used to detect the number of transport vehicles 200 being charged at the same time, and the first charging control module 140 and the second charging control module 210 are connected in communication. It should be noted that in other embodiments, the first charging control module 140 and the second charging control module 210 may be used to respectively obtain the detection data of the first detection module 120 and the second detection module 220, and the first charging control module 140 and the second charging control module 210 are connected in communication and exchange data, and the first charging control module 140 is also used to send control instructions to the second charging control module 210 to control the operation of the first charging control module 140.

[0046] In some embodiments, Figure 4 As shown, the first charging control module 140 obtains the number of transport vehicles 200 charged simultaneously in the guide rail transport vehicle system and the charging state data of the charging load 240 of each transport vehicle 200, and controls the output voltage and output current of the charging circuit module 130 based on the number of transport vehicles 200 charged simultaneously and the charging state data of the charging load 240 of each transport vehicle 200. That is, the first charging control module 140 controls the output of the charging current module according to the number of transport vehicles 200 charged simultaneously and the charging state data, so that the output of the charging circuit module 130 matches the total charging demand of each transport vehicle 200.

[0047] In this embodiment, the charging load 240 of the transport vehicle 200 is set as a super capacitor group, and the super capacitor group includes a plurality of super capacitors. In other embodiments, other battery devices with energy storage functions can also be used.

[0048] As an implementation, the on-board charging module 230 includes a switch tube connected in series between the charging circuit module 130 and the charging load 240, and the second charging control module 210 outputs a PWM waveform to control the on and off of the switch tube to control the charging current and charging voltage output by the on-board charging module 230 to the charging load 240. The second charging control module 210 controls the on-time of the switch tube by outputting PWM waveforms with different duty cycles to control the charging current and charging voltage output by the on-board charging module 230 to the charging load 240.

[0049] As an implementation, the second detection module 220 includes a voltage detection circuit, a current detection circuit and a temperature sensor. The voltage detection circuit is used to detect the charging voltage output by the on-board charging module 230 to the charging load 240, the current detection circuit is used to detect the charging current output by the on-board charging module 230 to the charging load 240, and the temperature sensor is used to detect the temperature of the charging load 240 during the charging process. The charging state data also includes the temperature data of the charging load 240. The second charging control module 210 is also used to control the on-board charging module 230 to stop charging the charging load 240 when the temperature of the charging load 240 is greater than a preset temperature. The first detection module 120 includes a voltage detection circuit and a current detection circuit. The voltage detection circuit is used to detect the output voltage of the charging circuit module 130, and the current detection circuit is used to detect the output current of the charging circuit module 130.

[0050] As an implementation method, when the charging voltage output by the on-board charging module 230 to the charging load 240 in the charging status data is greater than a preset voltage value or the charging current is greater than a preset current value, the second charging control module 210 outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module 230 stops charging the charging load 240;

[0051] When the temperature of the charging load 240 during charging is higher than a preset maximum temperature value, the second charging control module 210 outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module 230 stops charging the charging load 240 .

[0052] In some embodiments, Figure 5 As shown, the second charging control module 210 obtains the output data of the charging circuit module 130 obtained by the first detection module 120, obtains the charging status data of the charging load 240 through the second detection module 220 and sends the data to the first charging control module 140, and then receives the control instruction of the first charging control module 140, and outputs a PWM waveform according to the control instruction to control the output voltage, output current and working mode of the on-board charging module 230, so that the on-board charging module 230 can charge the supercapacitor group safely and efficiently.

[0053] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A guide rail transport vehicle system, comprising a charging device (100), a guide rail (300) and a transport vehicle (200), characterized in that: The charging device (100) comprises a power module (110), a first detection module (120) and a first charging control module (140); the power module (110) is used to provide electric energy for the charging device (100); the first detection module (120) is used to collect output voltage and output current data of the power module (110) and send the data to the first charging control module; The transport vehicle (200) comprises a second charging control module (210), a second detection module (220), an on-board charging module (230) and a charging load (240); the on-board charging module (230) takes power from the charging device (100) and charges the charging load (240); the second detection module (220) is used to collect charging status data of the on-board charging module (230) and send it to the second charging control module (210); the second charging control module (210) receives the charging status data and controls the working state of the on-board charging module (230), so that the charging current and output voltage output by the on-board charging module (230) to the charging load (240) are respectively less than a preset current value and a preset voltage value; A charging area is provided on the guide rail (300); when the transport vehicle (200) is located in the charging area, the guide rail (300) is electrically connected between the charging device (100) and the on-board charging module (230); The first charging control module (140) is communicatively connected to the second charging control module (210) and controls the working state of the second charging control module (210).

2. The guide rail transport vehicle system according to claim 1, characterized in that: The charging device further comprises a charging circuit module (130), wherein the charging circuit module (130) is electrically connected to the output end of the power module (110) and is used to adjust the output current and output voltage of the power module (110), and the first detection module (120) obtains the output current and output voltage of the charging circuit module (130); The first charging control module (140) is electrically connected to the first detection module (120) and obtains the output voltage and output current of the charging circuit module (130); the first charging control module (140) controls the output voltage of the charging circuit module (130) to be constant at a preset power supply voltage, and the output current is provided as required by the charging load (240) of the transport vehicle (200).

3. The guide rail transport vehicle system according to claim 1, characterized in that: The charging state data includes a charging current and a charging voltage output by the on-board charging module (230) to the charging load (240), and a charging mode of the on-board charging module (230), wherein the charging mode includes a constant voltage charging mode or a constant current charging mode; When the second charging control module (210) controls the on-board charging module (230) to operate in a constant current charging mode, the output current of the on-board charging module (230) is constant at a preset current value, and the output voltage is less than a preset voltage value; When the second charging control module (210) controls the on-board charging module (230) to operate in a constant voltage charging mode, the output voltage of the on-board charging module (230) is constant at a preset voltage value, and the output current is less than a preset current value.

4. The guide rail transport vehicle system according to any one of claims 1 to 3, characterized in that: A plurality of charging positions are arranged in the charging area, each of the charging positions being capable of accommodating at least one transport vehicle (200), and the charging device (100) is capable of simultaneously charging a plurality of transport vehicles (200) located at the plurality of charging positions.

5. The guide rail transport vehicle system according to claim 4, characterized in that: When the transport vehicle (200) is located at the charging position, the second detection module (220) in the transport vehicle (200) is communicatively connected to the first detection module (120) of the charging device (100), and the second detection module (220) sends charging status data of the charging load (240) correspondingly connected thereto to the first detection module (120), wherein the charging status data includes charging current data and charging voltage data, and the first detection module (120) is also used to detect the number of transport vehicles (200) being charged simultaneously.

6. The guide rail transport vehicle system according to claim 5, characterized in that: The first charging control module (140) obtains the number of transport vehicles (200) that are charged simultaneously in the guide rail transport vehicle system and the charging status data of the charging load (240) of each transport vehicle (200), and controls the output voltage and output current of the charging device (100) based on the number of transport vehicles (200) that are charged simultaneously and the charging status data of the charging load (240) of each transport vehicle (200).

7. The guide rail transport vehicle system according to any one of claims 1 to 3, characterized in that: The charging load (240) of the transport vehicle (200) is set as a supercapacitor group, and the supercapacitor group includes a plurality of supercapacitors.

8. The guide rail transport vehicle system according to claim 3, characterized in that: The on-board charging module (230) comprises a switch tube connected in series between the charging device (100) and the charging load (240), and the second charging control module (210) outputs a PWM waveform to control the on and off of the switch tube, so as to control the charging current and charging voltage output by the on-board charging module (230) to the charging load (240).

9. The guide rail transport vehicle system according to claim 8, characterized in that: The second detection module (220) comprises a voltage detection circuit, a current detection circuit and a temperature sensor; the voltage detection circuit is used to detect the charging voltage output by the on-board charging module (230) to the charging load (240); the current detection circuit is used to detect the charging current output by the on-board charging module (230) to the charging load (240); the temperature sensor is used to detect the temperature of the charging load (240) during the charging process; and the charging state data also includes temperature data of the charging load (240).

10. The guide rail transport vehicle system according to claim 9, characterized in that: When the charging voltage output by the on-board charging module (230) to the charging load (240) in the charging state data is greater than a preset voltage value or the charging current is greater than a preset current value, the second charging control module (210) outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module (230) stops charging the charging load (240); When the temperature of the charging load (240) during the charging process is higher than a preset maximum temperature value, the second charging control module (210) outputs a PWM waveform to control the switch tube to maintain a cut-off state, so that the on-board charging module (230) stops charging the charging load (240).

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