AGV dynamic wireless charging system

Abstract

The utility model discloses an AGV dynamic wireless charging system, which comprises a ground device and a vehicle-mounted device, and is characterized in that the ground device comprises a power supply module, a ground controller, a ground charging control switch, a ground induction coil and a plurality of transmitting coils arranged on an AGV moving path in an AGV operation area; the plurality of transmitting coils are arranged in rows or arrays on the moving path of the AGV to form a charging area, and the length of the charging area is greater than the length of the AGV; ground induction coils are arranged on the two sides of each transmitting coil, one ground induction coil is arranged between every two adjacent transmitting coils, the transmitting coils are electrically connected with the power module through the ground charging control switch, and the transmitting coils convert electric signals transmitted by the power module into magnetic field signals. The ground induction coils and the ground charging control switch are electrically connected with the ground controller, and the ground controller is used for controlling the ground charging control switch which detects that the ground charging control switch connected with the transmitting coil between the ground induction coils of the AGV is closed; the vehicle-mounted device comprises a receiving coil and a vehicle-mounted battery which are arranged on the AGV body, the receiving coil receives the magnetic field signal transmitted by the transmitting coil and converts the magnetic field signal into an electric signal, and the receiving coil is electrically connected with the vehicle-mounted battery and transmits the electric signal to the vehicle-mounted battery. According to the utility model, the AGV can be charged while working, so that the unlimited endurance of the AGV is realized; the AGV can be charged while running, so that the time is effectively saved, and the working efficiency of the AGV is greatly improved; the wireless charging process is safe and reliable, no electric spark exists during large-current charging, safety is achieved, and no electric leakage can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of electric power, and more specifically, to an AGV dynamic wireless charging system. Background Art

[0002] At present, the palletizing and handling work in the warehousing and manufacturing industry is basically completed by all-electric unmanned automatic guided vehicles (AGVs), which realize intelligent transportation and greatly improve work efficiency. However, after working for a period of time, the AGV needs to be charged. The existing AGV charging method is mainly wired charging. When the AGV is low on power, it is guided by the ground control center to the designated charging area or charging station, and the AGV is manually electrically connected to the charger, and it goes offline after being fully charged. During the AGV charging time, the operation needs to be stopped, which affects the operation effect; or a spare AGV is added for operation, which seriously wastes resources and increases capital investment. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the utility model innovatively provides an AGV dynamic wireless charging system, so that the AGV can charge while working, realizing unlimited endurance of the AGV; the AGV can be charged while running, effectively saving time and greatly improving the operating efficiency of the AGV; the wireless charging process is safe and reliable, there is no electric spark during high current charging, and safety can be achieved without leakage.

[0004] In order to achieve the above technical objectives, the utility model discloses an AGV dynamic wireless charging system, including a ground device and a vehicle-mounted device.

[0005] The ground device includes a power module, a ground controller, a ground charging control switch, a ground sensing coil and a plurality of transmitting coils arranged on the AGV moving path in the AGV working area. The plurality of transmitting coils are arranged in a row or array on the AGV moving path to form a charging area. The length of the charging area is greater than the length of the AGV. The ground sensing coils are arranged on both sides of each transmitting coil, and one ground sensing coil is arranged between two adjacent transmitting coils. The transmitting coils are electrically connected to the power module through the ground charging control switch, and the transmitting coil converts the electrical signal transmitted by the power module into a magnetic field signal. The ground sensing coil and the ground charging control switch are electrically connected to the ground controller, respectively. The ground controller is used to control the ground charging control switch connected to the transmitting coils between the ground sensing coils of the AGV to be closed.

[0006] The vehicle-mounted device includes a receiving coil and a vehicle-mounted battery arranged on the AGV body. The receiving coil receives the magnetic field signal emitted by the transmitting coil and converts the magnetic field signal into an electrical signal. The receiving coil is electrically connected to the vehicle-mounted battery and transmits the electrical signal to the vehicle-mounted battery.

[0007] Furthermore, a plurality of charging areas are provided on the AGV moving path, and the charging areas are spaced apart by a preset distance.

[0008] Furthermore, the vehicle-mounted device also includes a front position coil arranged at the front of the AGV, a rear position coil arranged at the rear of the AGV, and a vehicle-mounted controller, the front position coil and the rear position coil sense the oscillation frequency change of the ground sensing coil, the front position coil and the rear position coil are electrically connected to the vehicle-mounted controller respectively, and the vehicle-mounted controller is communicatively connected to the ground controller.

[0009] Furthermore, the vehicle-mounted device also includes a power detection device arranged on the AGV body, and the power detection device is electrically connected to the vehicle-mounted battery and the vehicle-mounted controller respectively.

[0010] Furthermore, an on-board charging control switch is connected between the receiving coil and the on-board battery, and the on-board charging control switch is electrically connected to the on-board controller.

[0011] Furthermore, the power module includes an input power supply and a power converter, the input power supply is direct current, the power converter is a DC-AC inverter, the input end of the power converter is electrically connected to the input power supply, the output end of the power converter is electrically connected to the transmitting coil through the ground charging control switch, and the power converter converts direct current into high-frequency alternating current and transmits it to the transmitting coil.

[0012] Furthermore, the power module includes an input power supply and a power converter, the input power supply is alternating current, the power converter is an AC-AC converter, the input end of the power converter is electrically connected to the input power supply, the output end of the power converter is electrically connected to the transmitting coil through the ground charging control switch, and the power converter converts the alternating current into high-frequency alternating current and transmits it to the transmitting coil.

[0013] Furthermore, the ground charging control switch is electrically connected to the ground controller via a wired optical fiber or a wireless communication device.

[0014] Furthermore, the vehicle-mounted controller is communicatively connected with the ground controller via a wireless communication device.

[0015] The beneficial effects of the utility model are:

[0016] The AGV dynamic wireless charging system of the utility model enables the AGV to charge while working, thus realizing unlimited endurance of the AGV; the AGV can be charged while running, thus effectively saving time and greatly improving the operating efficiency of the AGV; the wireless charging process is safe and reliable, there is no electric spark during high current charging, and safety can be achieved without leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the AGV dynamic wireless charging system of an embodiment of the utility model.

[0018] In the figure,

[0019] 1. Power module; 11. Input power; 12. Power converter; 2. Ground controller; 3. Ground charging control switch; 4. Transmitter coil; 5. Ground sensing coil; 6. Receiving coil; 7. On-board battery; 8. Power detection device; 9. On-board controller; 10. On-board charging control switch; 20. Front position coil; 30. Rear position coil. DETAILED DESCRIPTION

[0020] The AGV dynamic wireless charging system provided by the utility model is explained and illustrated in detail below in conjunction with the drawings of the specification.

[0021] This embodiment specifically discloses an AGV dynamic wireless charging system, such as Figure 1As shown, it includes a ground device and a vehicle-mounted device. The ground device includes a power module 1, a ground controller 2, a ground charging control switch 3, a ground sensing coil 5 and a plurality of transmitting coils 4 arranged on the AGV moving path in the AGV working area. The plurality of transmitting coils 4 are arranged in rows or arrays on the AGV moving path to form a charging area. The length of the charging area is greater than the vehicle length of the AGV. Ground sensing coils 5 are arranged on both sides of each transmitting coil 4, and a ground sensing coil 5 is arranged between two adjacent transmitting coils 4. The power module 1 is used to provide high-frequency alternating current to the transmitting coil 4. The transmitting coil 4 is electrically connected to the power module 1 through the ground charging control switch 3. The ground charging control switch 3 is used to control the on-off of the circuit connection between the power module 1 and the transmitting coil 4, that is, to control the on-off of the power supply module 1 to the transmitting coil 4. The number of ground charging control switches 3 is the same as the number of transmitting coils 4. The ground charging control switches 3 are connected to the transmitting coils 4 in a one-to-one correspondence. The transmitting coil 4 converts the electrical signal transmitted by the power module 1 into a magnetic field signal; the ground sensing coil 5 and the ground charging control switch 3 are electrically connected to the ground controller 2 respectively. The ground sensing coil 5 is electrically connected to the ground controller 2 through a wire. The ground controller 2 It is used to control the ground charging control switch 3 connected to the transmitting coil 4 between the ground sensing coils detected by the AGV to be closed, that is, the AGV will pass through the charging area formed by the transmitting coil during operation. When the AGV is above the ground sensing coil, the oscillation frequency of the corresponding ground sensing coil 5 will change and transmit this signal to the ground controller 2, indicating that the AGV has reached the top of the transmitting coil 4 between these ground sensing coils 5 and can be charged. At this time, the ground controller 2 controls the corresponding ground charging control switch 3 to be closed, so that the power module 1 and the transmitting coil 4 are electrically connected, and the transmitting coil 4 transmits a magnetic field signal. The AGV continues to move, and the transmitting coil 4 below it transmits a magnetic field signal. That is, during the operation of the AGV, the ground controller 2 controls which transmitting coils to transmit magnetic field signals, so as to charge the AGV, realize dynamic charging, and can charge without the AGV stopping.

[0022] The vehicle-mounted device includes a receiving coil 6 and a vehicle-mounted battery 7 arranged on the AGV body. The receiving coil 6 receives the magnetic field signal emitted by the transmitting coil 4 and converts the magnetic field signal into an electrical signal. The receiving coil 6 is electrically connected to the vehicle-mounted battery 7 and transmits the electrical signal to the vehicle-mounted battery 7 to charge the vehicle-mounted battery 7.

[0023] The transmitting coils can be concentrated in a certain area on the AGV's moving path, such as a location where the AGV passes frequently, that is, a charging area is set on the AGV's moving path. The length of the charging area is set as needed to ensure that the AGV can be fully charged after passing through the charging area once, thereby improving the charging efficiency. Multiple charging areas can also be set on the AGV's moving path. The charging areas are spaced by a preset distance, which is set according to actual needs. It can be set so that multiple charging areas occupy part of the AGV's moving path, or it can be set so that the charging areas are spread throughout the AGV's moving path. In this case, the distance between the charging areas is the section where the AGV consumes power while traveling. Figure 1 A schematic diagram of a charging area.

[0024] Furthermore, the vehicle-mounted device also includes a front position coil 20 arranged at the front of the AGV, a rear position coil 30 arranged at the rear of the AGV, and a vehicle-mounted controller 9. The front position coil 20 and the rear position coil 30 sense the oscillation frequency change of the ground sensing coil 5. The positions of the front position coil 20 and the rear position coil 30 are just aligned with two of the ground sensing coils 5. The front position coil 20 and the rear position coil 30 are electrically connected to the vehicle-mounted controller 9 respectively. The front position coil 20 and the rear position coil 30 can be electrically connected to the vehicle-mounted controller 9 respectively through wires, and the vehicle-mounted controller 9 is communicatively connected to the ground controller 2. When the AGV passes through some ground sensing coils, the oscillation frequency of these ground sensing coils changes. When the front position coil 20 and the rear position coil 30 both sense the change in the oscillation frequency of the ground sensing coils, that is, the front position coil 20 is directly above one of the ground sensing coils 3 and the rear position coil 30 is directly above another ground sensing coil 5, the ground controller 2 can control the ground charging control switch connected to the transmitting coil between the two ground sensing coils 5 to close, so that the transmitting coil 4 between the two ground sensing coils 5 transmits a magnetic field signal to charge the AGV. The setting of the front position coil 20 and the rear position coil 30 locates the front and rear of the AGV, so that the corresponding transmitting coil is turned on for charging after the AGV reaches the specified position, making the positioning more accurate and reducing the leakage of the system during charging.

[0025] In some embodiments, the vehicle-mounted device further includes a power detection device 8 disposed on the AGV body, the power detection device 8 is electrically connected to the vehicle-mounted battery 7 and the vehicle-mounted controller 9 respectively, and the vehicle-mounted controller 9 is in communication connection with the ground controller 2. The power detection device 8 can detect the power of the vehicle-mounted battery 7, and transmit the power information of the vehicle-mounted battery 7 to the vehicle-mounted controller 9, and the vehicle-mounted controller 9 synchronously communicates the power information of the vehicle-mounted battery 7 to the ground controller 2. When the power of the vehicle-mounted battery 7 is a preset value or is fully charged, even if the AGV passes through the transmitting coil and the ground sensing coil, the ground controller 2 controls the ground charging control switch 3 to remain in the disconnected state, and does not charge the vehicle-mounted battery 7, and the AGV can continue to move and work. When the power of the vehicle-mounted battery 7 detected by the power detection device 8 is consumed to the preset value, the vehicle-mounted controller 9 synchronously communicates the power information of the vehicle-mounted battery 7 to the ground controller 2. When the AGV passes through the charging area, the ground controller 2 can control the corresponding ground charging control switch 3 to close and charge the AGV; so that the AGV can charge while working, achieve unlimited endurance, and avoid overcharging of the vehicle-mounted battery.

[0026] Furthermore, an on-board charging control switch 10 is connected between the receiving coil 6 and the on-board battery 7, and the on-board charging control switch 10 is electrically connected to the on-board controller 9. The setting of the on-board charging control switch 10 further ensures the reliability of charging. Since the AGV consumes electricity during operation and it is difficult to keep it fully charged, under normal circumstances, the on-board charging control switch 10 is in a closed state, and the AGV is charged when it passes through the charging area; when the power detection device 8 detects that the power of the on-board battery 7 is lower than the preset value, the on-board controller 9 controls the on-board charging control switch 10 to close, and when the AGV passes through the charging area, the ground controller 2 controls the corresponding ground charging control switch 3 to close, so that the charging circuit formed by the power module 1, the transmitting coil 4, the receiving coil 6 and the on-board battery 7 is fully turned on to charge the on-board battery 7; when the power detection device 8 detects that the power of the on-board battery 7 reaches the preset value or is full, one of the on-board charging control switch 10 and the ground charging control switch 3 is disconnected, and the charging circuit is disconnected. Preferably, the on-board charging control switch 10 and the ground charging control switch 3 are disconnected at the same time to avoid overcharging of the on-board battery and ensure the reliability of charging.

[0027] Optionally, the power module 1 includes an input power supply 11 and a power converter 12, the input power supply 11 is direct current, the power converter 12 is a DC-AC inverter, the input end of the power converter 12 is electrically connected to the input power supply 11, and the output end of the power converter 12 is electrically connected to the transmitting coil 4 through the ground charging control switch 3. The power converter 12 converts direct current into high-frequency alternating current and transmits it to the transmitting coil 4. The input power supply 11 can be a photovoltaic power station, such as a 750V DC bus.

[0028] Optionally, the power module 1 includes an input power supply 11 and a power converter 12, the input power supply 11 is alternating current, which may be 380V alternating current, the power converter 12 is an AC-AC converter, the input end of the power converter 12 is electrically connected to the input power supply 11, and the output end of the power converter 12 is electrically connected to the transmitting coil 4 through the ground charging control switch 3, and the power converter 12 converts the alternating current into high-frequency alternating current and transmits it to the transmitting coil 4.

[0029] In this embodiment, the ground charging control switch 3 is electrically connected to the ground controller 2 through a wired optical fiber or a wireless communication device; the vehicle-mounted charging control switch 10 is also electrically connected to the vehicle-mounted controller 9 through a wired optical fiber or a wireless communication device; the wireless communication device can be a WIFI device, a Bluetooth device, a wireless radio frequency device, etc. The vehicle-mounted controller 9 is connected to the ground controller 2 through a wireless communication device; the wireless communication device can be a WIFI device, a Bluetooth device, a wireless radio frequency device, etc. Intelligent control of AGV dynamic charging and intelligent information interaction can be realized, and the overall system can achieve low-latency control response.

[0030] The control methods of the ground controller and the vehicle-mounted controller are both existing control methods, which are attributes of the controllers themselves. The ground controller and the vehicle-mounted controller can use existing control chips.

[0031] The working process of the AGV dynamic wireless charging system of the present application is as follows: a. When the AGV enters the charging area where the transmitting coil 4 and the ground sensing coil 5 are located during operation, the body of the AGV emits a high-frequency signal; b. The ground sensing coil 5 under the AGV receives the high-frequency signal and the oscillation frequency changes, and then communicates to the ground controller 2 at high speed; c. The ground controller 2 receives the signal, determines the arrival position of the AGV, and the ground controller 2 exchanges information with the vehicle-mounted controller 9. The ground controller 2 closes the ground charging control switch 3 connected to the transmitting coil between the ground sensing coils 5 with the oscillation frequency change, so that the transmitting coil between the ground sensing coils 5 with the oscillation frequency change (that is, the transmitting coil directly under the AGV) emits a magnetic field signal, and at the same time, the vehicle-mounted controller closes the vehicle-mounted charging control switch 10; d. The transmitting coil 4 and the receiving coil 6 transmit energy; e. The AGV continues to move and drives out of the current transmitting coil and ground sensing coil in the charging area. The ground controller 2 controls the ground charging control switch 3 connected to the transmitting coil outside the AGV range to disconnect, and closes the ground charging control switch 3 connected to the transmitting coil under the AGV that the AGV has entered. That is, after the AGV enters the charging area, the transmitting coil below it passes by will charge it, so that the AGV can charge while working, achieving dynamic charging and unlimited endurance.

[0032] If only one charging area is set on the AGV's moving path, the area is set at a location where the AGV passes frequently, and the area is set longer, so that there is enough time and distance for charging during the AGV's movement, avoiding the situation where the power is exhausted, and ensuring that the AGV has unlimited battery life; if multiple charging areas are set on the AGV's moving path, there is a distance between the multiple charging areas, and the distance is set according to actual needs, to ensure that the AGV can enter the next charging area for charging before the power is exhausted (for example, 70% of the remaining power), and the charging area is set as long as possible to ensure that it can be fully charged after passing through a charging area, ensuring the unlimited battery life of the AGV and improving work efficiency.

[0033] The entire charging process is intelligent and does not require physical connection; it can charge while working, achieving unlimited endurance of the AGV and greatly improving the operating efficiency of the AGV. The system of this application is suitable for application in various environmental conditions and has broad promotion prospects.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the description of this specification, the description with reference to the terms "this embodiment", "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any at least one embodiment or example. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and simple improvement made to the essential content of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV dynamic wireless charging system, characterized in that: Including ground devices and vehicle-mounted devices, The ground device comprises a power module (1), a ground controller (2), a ground charging control switch (3), a ground sensing coil (5), and a plurality of transmitting coils (4) arranged on an AGV moving path in an AGV operation area. The plurality of transmitting coils (4) are arranged in a row or array on the AGV moving path to form a charging area, and the length of the charging area is greater than the length of the AGV. The ground sensing coil (5) is arranged on both sides of each transmitting coil (4), and one ground sensing coil (5) is arranged between two adjacent transmitting coils (4). The transmitting coils (4) are electrically connected to the power module (1) through the ground charging control switch (3). The transmitting coil (4) converts the electrical signal transmitted by the power module (1) into a magnetic field signal. The ground sensing coil (5) and the ground charging control switch (3) are electrically connected to the ground controller (2). The ground controller (2) is used to control the ground charging control switch (3) connected to the transmitting coil (4) between the ground sensing coils of the AGV to close. The vehicle-mounted device comprises a receiving coil (6) and a vehicle-mounted battery (7) arranged on the AGV body; the receiving coil (6) receives the magnetic field signal emitted by the transmitting coil (4) and converts the magnetic field signal into an electrical signal; the receiving coil (6) is electrically connected to the vehicle-mounted battery (7) and transmits the electrical signal to the vehicle-mounted battery (7).

2. The AGV dynamic wireless charging system according to claim 1, characterized in that: A plurality of charging areas are arranged on the AGV moving path, and the charging areas are spaced apart by a preset distance.

3. The AGV dynamic wireless charging system according to claim 1, characterized in that: The vehicle-mounted device further comprises a front position coil (20) arranged at the front of the AGV, a rear position coil (30) arranged at the rear of the AGV, and a vehicle-mounted controller (9); the front position coil (20) and the rear position coil (30) sense the change in the oscillation frequency of the ground sensing coil (5); the front position coil (20) and the rear position coil (30) are respectively electrically connected to the vehicle-mounted controller (9); and the vehicle-mounted controller (9) is communicatively connected to the ground controller (2).

4. The AGV dynamic wireless charging system according to claim 3, characterized in that: The vehicle-mounted device also includes a power detection device (8) arranged on the AGV body, and the power detection device (8) is electrically connected to the vehicle-mounted battery (7) and the vehicle-mounted controller (9) respectively.

5. The AGV dynamic wireless charging system according to claim 3, characterized in that: An on-board charging control switch (10) is connected between the receiving coil (6) and the on-board battery (7), and the on-board charging control switch (10) is electrically connected to the on-board controller (9).

6. The AGV dynamic wireless charging system according to claim 1, characterized in that: The power module (1) comprises an input power supply (11) and a power converter (12); the input power supply (11) is direct current; the power converter (12) is a DC-AC inverter; an input end of the power converter (12) is electrically connected to the input power supply (11); an output end of the power converter (12) is electrically connected to the transmitting coil (4) via the ground charging control switch (3); and the power converter (12) converts direct current into high-frequency alternating current and transmits the converted alternating current to the transmitting coil (4).

7. The AGV dynamic wireless charging system according to claim 1, characterized in that: The power module (1) comprises an input power supply (11) and a power converter (12); the input power supply (11) is alternating current; the power converter (12) is an AC-AC converter; an input end of the power converter (12) is electrically connected to the input power supply (11); an output end of the power converter (12) is electrically connected to the transmitting coil (4) via the ground charging control switch (3); and the power converter (12) converts the alternating current into high-frequency alternating current and transmits it to the transmitting coil (4).

8. The AGV dynamic wireless charging system according to claim 1, characterized in that: The ground charging control switch (3) is electrically connected to the ground controller (2) via a wired optical fiber or a wireless communication device.

9. The AGV dynamic wireless charging system according to claim 3, characterized in that: The onboard controller (9) is communicatively connected to the ground controller (2) via a wireless communication device.

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