Device for dynamically optimizing wireless charging efficiency in AGV operation process

Abstract

The invention relates to the technical field of wireless charging, and discloses a device for dynamically optimizing wireless charging efficiency in the running process of an AGV (Automatic Guided Vehicle), which comprises an AGV trolley, a receiving part is arranged on the AGV trolley, the receiving part comprises a secondary permanent magnet and a secondary coil wound on the secondary permanent magnet, the device is characterized by comprising a charging area, a transmitting part and a driving part are arranged under the ground of the charging area, the transmitting part comprises a primary permanent magnet, a primary coil wound on the primary permanent magnet and a transmitting circuit electrically connected with the primary coil, the driving part is used for driving the primary permanent magnet to rotate and enabling the plane of the primary coil to be parallel to the plane of a secondary coil, and the plane of the secondary coil is parallel to a chassis of the AGV; the front end of the charging area is provided with an image sensor higher than the ground of the charging area, the image sensor is used for detecting the inclination angle between the AGV chassis and the ground of the charging area, and the driving part, the transmitting circuit and the image sensor are electrically connected with the controller.

Description

Technical Field

[0001] This invention relates to the field of wireless charging technology, and in particular to a device for dynamically optimizing wireless charging efficiency during AGV operation. Background Technology

[0002] With the rapid development of intelligent manufacturing, warehousing and logistics, AGVs, as a core component of automated handling equipment, are constantly expanding their application scenarios, and the requirements for battery life and charging convenience are also increasing.

[0003] Wireless power transfer technology, with its advantages of being contactless, safe, reliable, and low-maintenance, has gradually replaced traditional wired charging methods, becoming the mainstream charging solution for AGVs. Currently, wireless power transfer for AGVs mostly adopts electromagnetic induction or magnetic resonance technology. Its core principle is to achieve energy transfer through magnetic coupling between the transmitting and receiving coils, and the coupling state of the magnetic circuit directly determines the transmission efficiency.

[0004] In existing AGV wireless charging technologies, the magnetic circuit structure is mostly a fixed design, meaning the relative positions of the transmitting and receiving coils, the coil orientation, and the magnetic core configuration are fixed at the factory. However, during actual operation, AGVs are easily affected by factors such as ground flatness, navigation and positioning errors, load changes, and operational vibrations, causing relative misalignment (including horizontal, vertical, and angular deviations) between the transmitting and receiving coils, leading to a decrease in the magnetic circuit coupling coefficient. To alleviate this problem, existing technologies often increase coil size and improve magnetic field coverage, but this increases energy consumption and equipment costs. Some solutions use pre-set positioning devices in the charging area to assist AGVs in precise docking, but this cannot solve the magnetic circuit misalignment problem during dynamic charging of AGVs, cannot calibrate the magnetic circuit status in real time, resulting in significant fluctuations in wireless power transmission efficiency, and even transmission interruptions. Furthermore, these solutions suffer from excessive energy consumption and poor adaptability, making it difficult to meet the stable and efficient charging requirements of continuous AGV operation. Summary of the Invention

[0005] This invention provides a device for dynamically optimizing wireless charging efficiency during AGV operation. This device can automatically calibrate the magnetic offset generated during AGV movement, which can significantly improve the coupling coefficient, thereby improving the efficiency of wireless power transmission and enhancing charging safety and stability.

[0006] The above-mentioned objective of the invention is achieved through the following technical solution: A device for dynamically optimizing wireless charging efficiency during AGV operation includes an AGV vehicle. The AGV vehicle has a receiving unit, which includes a secondary permanent magnet and a secondary coil wound around the secondary permanent magnet. The receiving unit includes a charging area. A transmitting unit and a driving unit are located below the ground in the charging area. The transmitting unit includes a primary permanent magnet, a primary coil wound around the primary permanent magnet, and a transmitting circuit electrically connected to the primary coil. The driving unit drives the primary permanent magnet to rotate and makes the plane of the primary coil parallel to the plane of the secondary coil. The plane of the secondary coil is parallel to the chassis of the AGV vehicle. An image sensor is located at the front end of the charging area, above the ground level. The image sensor detects the tilt angle between the chassis of the AGV vehicle and the ground level of the charging area. The driving unit, the transmitting circuit, and the image sensor are electrically connected to a controller.

[0007] The aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation includes a drive unit comprising a servo motor fixedly connected to a primary permanent magnet, the axis of which is parallel to the AGV's travel direction.

[0008] The aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation includes two servo motors, which are respectively fixed to opposite sides of a secondary permanent magnet, and the two servo motors are coaxially arranged.

[0009] In the aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation, the servo motor and the primary permanent magnet are connected by epoxy resin.

[0010] In the aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation, a gasket is provided between the servo motor and the primary permanent magnet.

[0011] The aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation includes multiple transmitters that are evenly distributed in a grid pattern within the charging area.

[0012] The aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation includes a transmitter that is spaced 5 columns along the width of the charging area and 9 columns along the length of the charging area.

[0013] In the aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation, five image sensors are provided and are positioned opposite the transmitter in the width direction of the charging area.

[0014] The aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation includes a horizontally highlighted color mark on the front side of the AGV, which is parallel to the chassis of the AGV.

[0015] In the aforementioned device for dynamically optimizing wireless charging efficiency during AGV operation, the projection of the secondary coil covers 3-5 adjacent primary coils along the length of the charging area.

[0016] In summary, the beneficial technical effects of the present invention are as follows: This invention uses an image sensor to identify the angle of magnetic coupling offset in real time, which can quickly adjust the angle of the primary coil to make the primary coil parallel to the secondary coil, significantly improving the efficiency of wireless power transmission. The device is easy to install, low in cost, strong in anti-interference ability, and highly reliable. Attached Figure Description

[0017] Figure 1 This is a top view of the present invention; Figure 2 This is a side view of the present invention.

[0018] The diagram shows: 1. AGV trolley; 2. Receiving unit; 21. Secondary permanent magnet; 3. Charging area; 4. Transmitting unit; 41. Primary permanent magnet; 5. Drive unit; 51. Servo motor; 6. Image sensor; 7. Gasket. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1-2 The present invention will be described in further detail below.

[0020] like Figure 1 , 2 As shown, a device for dynamically optimizing wireless charging efficiency during AGV operation includes an AGV trolley 1. The AGV trolley 1 is equipped with a receiver 2, which includes a secondary permanent magnet 21 and a secondary coil (not shown) wound around the secondary permanent magnet 21. The plane of the secondary coil is parallel to the chassis of the AGV trolley 1. The secondary coil is used to receive electromagnetic energy and convert it into electrical energy for wireless charging of the AGV trolley 1's wireless charging equipment. The device also includes a charging area 3. A transmitter 4 and a drive 5 are located beneath the ground in the charging area 3. The transmitter 4 includes a primary permanent magnet 41, a primary coil (not shown) wound around the primary permanent magnet 41, and a transmitting circuit electrically connected to the primary coil. The drive 5 is used to drive the primary permanent magnet 41 to rotate and make the plane of the primary coil parallel to the plane of the secondary coil. The parallelism between the primary and secondary coil planes enhances the excitation effect, thereby reducing energy loss and improving charging efficiency.

[0021] The transmitting circuit efficiently converts direct current into alternating current of a specific frequency and generates an alternating magnetic field through the primary coil. The primary and secondary coils transmit wireless power through electromagnetic induction and resonant coupling.

[0022] In this embodiment, both the primary and secondary coils are disc coils.

[0023] The secondary coil is also electrically connected to the charging circuit, which includes a rectifier and filter circuit electrically connected to the secondary coil, and a charging management circuit electrically connected to the rectifier and filter circuit.

[0024] The front end of the charging area 3 is equipped with an image sensor 6 that is higher than the ground of the charging area 3. The image sensor 6 is used to detect the tilt angle between the chassis of the AGV trolley 1 and the ground of the charging area 3. The drive unit 5, the transmitting circuit and the image sensor 6 are electrically connected to the controller.

[0025] Image sensor 6 detects the tilt angle between the chassis of AGV trolley 1 and the ground of charging area 3, that is, detects the tilt angle between the secondary coil plane and the ground of charging area 3, and transmits the tilt angle data to the controller. The controller calculates the magnetic circuit calibration amount through the algorithm and outputs a control signal to control the drive unit 5 to operate, that is, drive the primary permanent magnet 41 to rotate at the corresponding angle, so that the primary coil plane rotates to be parallel to the secondary coil plane.

[0026] like Figure 1 , 2 As shown, the drive unit 5 in this embodiment includes a servo motor 51 fixedly connected to the primary permanent magnet 41. The axis of the servo motor 51 is parallel to the driving direction of the AGV trolley 1. The servo motor 51 is an MG945.

[0027] In another embodiment, in order to increase the driving force of the servo motor 51, the servo motor 51 includes two servo motors and is respectively fixed to opposite sides of the secondary permanent magnet 21, and the two servo motors 51 are coaxially arranged.

[0028] The servo motor 51 is connected to the primary permanent magnet with epoxy resin.

[0029] In one embodiment, a spacer 7 is provided between the servo motor 51 and the primary permanent magnet 41 in order to improve the strength and stability of the primary permanent magnet 41.

[0030] like Figure 1 As shown, in order to facilitate the charging of multiple AGV vehicles in the charging area 3, the transmitter 4 in this embodiment includes multiple transmitters and is distributed in a uniform grid pattern in the charging area 3.

[0031] like Figure 1 As shown, specifically, the transmitter 4 is distributed in 5 rows along the width direction of the charging area 3 and in 9 rows along the length direction of the charging area 3.

[0032] like Figure 1 As shown, five image sensors 6 are provided and are respectively opposite to the emitter 4 in the width direction of the charging area 3.

[0033] The AGV trolley 1 has a horizontally bright color mark on its front side, which is parallel to the chassis of the AGV trolley 1. The image sensor 6 can quickly and accurately capture the horizontal bright color mark (such as fluorescent yellow or bright red), thereby quickly detecting the tilt angle between the chassis of the AGV trolley 1 and the ground of the charging area 3 along the left and right direction of the AGV trolley 1, that is, detecting the tilt angle between the secondary coil plane and the ground of the charging area 3.

[0034] like Figure 1 , 2 As shown, in order to improve charging efficiency, the projection of the secondary coil in this embodiment covers 3-5 adjacent primary coils along the length of the charging area 3.

[0035] like Figure 1 As shown, the projection of the secondary coil in this embodiment covers the three adjacent primary coils along the length of the charging region 3.

[0036] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A device for dynamically optimizing wireless charging efficiency during AGV operation, comprising an AGV trolley, wherein the AGV trolley is equipped with a receiving unit, the receiving unit comprising a secondary permanent magnet and a secondary coil wound on the secondary permanent magnet, characterized in that, The system includes a charging area, under which a transmitter and a drive unit are located. The transmitter includes a primary permanent magnet, a primary coil wound on the primary permanent magnet, and a transmitter circuit electrically connected to the primary coil. The drive unit is used to drive the primary permanent magnet to rotate and make the plane of the primary coil parallel to the plane of the secondary coil. The plane of the secondary coil is parallel to the chassis of the AGV. An image sensor is located at the front end of the charging area above the ground. The image sensor is used to detect the tilt angle between the chassis of the AGV and the ground of the charging area. The drive unit, the transmitter circuit, and the image sensor are electrically connected to a controller.

2. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 1, characterized in that, The drive unit includes a servo motor fixed to a primary permanent magnet, the axis of which is parallel to the traveling direction of the AGV.

3. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 2, characterized in that, The servo motors include two and are respectively fixed on opposite sides of the secondary permanent magnet, and the two servo motors are coaxially arranged.

4. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 2, characterized in that, The servo motor is connected to the primary permanent magnet with epoxy resin.

5. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 2, characterized in that, A shim is provided between the servo motor and the primary permanent magnet.

6. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 1, characterized in that, The transmitter comprises multiple units and is distributed in a uniform grid pattern within the charging area.

7. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 6, characterized in that, The transmitters are arranged in 5 rows along the width of the charging area and 9 rows along the length of the charging area.

8. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 7, characterized in that, Five image sensors are provided, each facing the transmitter in the width direction of the charging area.

9. The device for dynamically optimizing wireless charging efficiency during AGV operation according to claim 1, characterized in that, The AGV has a horizontal, bright color mark on its front side, which is parallel to the chassis of the AGV.

10. The apparatus for dynamically optimizing wireless charging efficiency during AGV operation according to claim 1, characterized in that, The projection of the secondary coil covers 3-5 adjacent primary coils along the length of the charging area.

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