Battery charging and discharging switching control system, AGV charging device and AGV

Abstract

The utility model discloses a battery charging and discharging switching control system, an AGV charging device and an AGV. The battery charging and discharging switching control system comprises an AGV controller, a basic vehicle controller, a battery and an AGV charging connector, a charging communication loop and a charging main loop are connected between the battery and the AGV charging connector, and a discharging main loop is connected between the basic vehicle controller and the battery; the AGV controller controls conduction of the charging communication loop, the charging main loop and the discharging main loop through the switch assembly, and the on-off state of the charging communication loop and the charging main loop is the same and is opposite to the on-off state of the discharging main loop. According to the utility model, the charging and discharging states of the battery can be effectively switched, and the handshake failure rate between the master and the slave is greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV charging, in particular to a battery charging and discharging switching control system, an AGV charging device and an AGV vehicle. Background Art

[0002] Existing AGVs are charged based on the master-slave communication between the charger and the battery. The charging methods usually include the following:

[0003] Physical communication method: A physical communication contact is directly installed on the charging connector. When the charging connector on the vehicle side is connected to the charging connector on the charging pile side, handshake communication begins and charging is started.

[0004] Wireless communication method: Install Bluetooth, Wi-Fi or ZigBee wireless communication terminals on the charging pile and the vehicle end respectively. The vehicle end and the charging pile can communicate and handshake within the effective distance and start charging.

[0005] Before the battery starts discharging, the AGV's basic vehicle controller and the battery need to perform a communication handshake. In this scenario, the AGV is the master station and the battery is the slave station. Before the battery starts charging, the charging station and the battery also need to perform a communication handshake. In this scenario, the charging station is the master station and the battery is still a slave station. From this, it can be seen that the battery is always a slave station during the charging and discharging process. However, the slave station has a limitation and cannot perform a communication handshake with two master stations at the same time. Otherwise, the communication handshake will fail and charging or discharging will not be able to proceed normally. Therefore, how to quickly and effectively switch the battery between charging and discharging has always been a key difficulty that needs to be overcome in AGV charging. Utility Model Content

[0006] The utility model aims to solve the technical problems existing in the prior art and provides a battery charge and discharge switching control system, an AGV charging device and an AGV vehicle, which can effectively switch the charge and discharge state of the battery and reduce the handshake failure rate between the master and the slave.

[0007] The technical solution adopted by the utility model to solve its technical problems is: a battery charging and discharging switching control system, including an AGV controller, a base vehicle controller, a battery, an AGV charging connector and a switch assembly, a charging communication circuit and a charging main circuit are connected between the battery and the AGV charging connector, and a discharge main circuit is connected between the base vehicle controller and the battery; the AGV controller controls whether the charging communication circuit, the charging main circuit and the discharge main circuit are turned on or off through the switch assembly, and the on-off states of the charging communication circuit and the charging main circuit are the same, and opposite to the on-off state of the discharge main circuit.

[0008] Furthermore, when the AGV charging connector is connected for charging, the charging communication circuit and the charging main circuit are connected, and the discharging main circuit is disconnected, and the charging communication circuit is turned on later than the discharging main circuit; when the battery charging is completed, the charging communication circuit and the charging main circuit are disconnected, and the discharging main circuit is connected, and the charging communication circuit is disconnected earlier than the discharging main circuit.

[0009] Furthermore, the switch assembly includes a plurality of electromagnetic switches, which form a plurality of contact switches. The plurality of contact switches include a contact switch K1 connected to the discharge main circuit, a contact switch K2 connected to the charging main circuit, and a contact switch K3 connected to the charging communication circuit. The AGV controller enables or stops enabling the coils of at least some of the electromagnetic switches to control whether the contact switches K1, K2, and K3 are closed.

[0010] Furthermore, the plurality of electromagnetic switches include a time delay relay, the coil of which is enabled by the AGV controller to control whether it is energized or not, and the contact portion of the time delay relay includes the contact switch K3.

[0011] Furthermore, the multiple electromagnetic switches include a discharge relay and a discharge contactor, the coil of the discharge contactor is powered by the battery, the discharge relay is enabled or not by the AGV controller, and when the battery charging is completed, the AGV controller delays the enabling of the coil of the discharge relay; the contact part of the discharge relay includes a contact switch K4, which is connected in series with the coil of the discharge contactor, and the contact part of the discharge contactor includes the contact switch K1.

[0012] Furthermore, the multiple electromagnetic switches include a charging relay and a charging contactor, the coil of the charging contactor is powered by the battery, the charging relay is enabled by the AGV controller to control whether it is powered on or not, and the contact part of the charging relay includes a contact switch K5, which is connected in series with the coil of the charging contactor, and the contact part of the charging contactor includes the contact switch K2.

[0013] Furthermore, the contact part of the discharge relay further includes a contact switch K6 , which is a mirror image of the contact switch K4 , and the contact switch K6 is connected in series with the charging contactor.

[0014] Furthermore, it also includes a first voltage stabilizing module, and the output of the battery is connected to the coil of the discharge contactor and the coil of the charging contactor through the first voltage stabilizing module.

[0015] Furthermore, the AGV controller is connected to a charging position sensor, which is used to detect whether the AGV charging connector is connected for charging and send a signal to the AGV controller.

[0016] The present invention further provides an AGV charging device, including a charger, which includes a charging pile charging connector and a battery charge and discharge switching control system as described in the present invention above. When the battery needs to be charged, the AGV charging connector is connected to the charging pile charging connector.

[0017] Furthermore, the charger also includes a charger controller, a charging enable relay, a charging communication relay, and a second voltage stabilizing module. A communication circuit and / or a charging enable circuit is connected between the charger controller and the charging pile charging connector. The charging pile charging connector is connected to the coil of the charging enable relay and / or the coil of the charging communication relay through the second voltage stabilizing module. The contact portion of the charging enable relay includes a contact switch K7, which is connected to the charging enable circuit. The contact portion of the charging communication relay includes a contact switch K8, which is connected to the communication circuit.

[0018] The AGV charging connector and the charging pile charging connector are respectively charging contact plates and are connected through physical contact.

[0019] The present invention further provides an AGV vehicle, comprising the battery charge and discharge switching control system described above in the present invention.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The AGV controller of the present invention controls whether the charging communication circuit, the charging main circuit, and the discharging main circuit are turned on or off through a switch component. The on-off states of the charging communication circuit and the charging main circuit are the same, and opposite to the on-off state of the discharging main circuit. Therefore, the present invention can effectively switch the charging and discharging states of the battery, greatly reducing the handshake failure rate between the master and the slave, and ensuring the success rate of charging.

[0022] 2. The utility model controls the on-off sequence of the charging communication circuit and the discharging main circuit, which can more effectively switch the charging and discharging states of the battery, thereby further reducing the handshake failure rate between the master and the slave.

[0023] 3. The switch assembly of the present invention includes multiple electromagnetic switches, making the switch assembly structure relatively simple and easy to connect and control. In particular, the present invention uses a time delay relay to ensure that the charging communication circuit is turned on later than the discharge main circuit is turned off, which can further quickly and effectively switch the battery's charging and discharging status.

[0024] 4. The charging relay of the present invention uses contact switches K4 and K6 that are mirror images of each other to simultaneously control the on and off of the charging contactor and the discharging contactor, avoiding the safety risks caused by the main charging circuit not being disconnected when the vehicle leaves the charger, greatly ensuring the safety of personnel and vehicles.

[0025] 5. The charger also enables the charging controller through the charging enable relay and charging communication relay, ensuring that the charging pile charging connector of the charger can be disconnected when the vehicle leaves the charger, thereby avoiding the risk of electric shock caused by accidental contact with the charging pile charging connector.

[0026] 6. The AGV charging connector and the charging pile charging connector are charging contact plates respectively, and are connected by physical contact. They have a simple structure, are easy to deploy, and have low cost.

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments; however, the battery charge and discharge switching control system, AGV charging device, and AGV vehicle of the present invention are not limited to the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a principle block diagram of the utility model in the battery charging state;

[0029] Figure 2 This is a principle block diagram of the utility model in the battery discharge state;

[0030] Figure 3 This is a schematic diagram of the electrical connections on the AGV side of the present utility model;

[0031] Figure 4 It is a schematic diagram of the electrical connection of the charger side of the utility model. DETAILED DESCRIPTION

[0032] In the present invention, the terms "first", "second", etc. are only used to distinguish similar objects, rather than to describe a specific order or precedence, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship.

[0033] See Figure 1-Figure 3As shown, the present invention provides a battery charge and discharge switching control system, comprising an AGV controller 1A1, a base vehicle controller 1A2, a battery G1, an AGV charging connector U1, and a switch assembly. A charging communication circuit and a charging main circuit are connected between battery G1 and AGV charging connector U1. A discharging main circuit is connected between the base vehicle controller 1A2 and battery G1. The CAN terminals of the AGV controller 1A1 and the base vehicle controller 1A2 are also connected to the charging communication circuit. The AGV controller 1A1 controls the conduction of the charging communication circuit, the charging main circuit, and the discharging main circuit via the switch assembly. The on-off states of the charging communication circuit and the charging main circuit are identical and opposite to the on-off state of the discharging main circuit. That is, when both the charging communication circuit and the charging main circuit are on, the discharging main circuit is off. When both the charging communication circuit and the charging main circuit are off, the discharging main circuit is on. Therefore, the present invention effectively switches the charging and discharging states of battery G1, significantly reducing the handshake failure rate between the master and slave, and ensuring a successful charging process.

[0034] In this embodiment, when the AGV charging connector U1 is connected for charging, the AGV controller 1A1 controls the charging communication circuit and the charging main circuit through a switch assembly, connecting them and disconnecting the discharge main circuit. The charging communication circuit is connected later than the discharge main circuit. When battery G1 is finished charging, the AGV controller 1A1 controls the charging communication circuit and the charging main circuit through a switch assembly, disconnecting them and connecting the discharge main circuit. The charging communication circuit is disconnected earlier than the discharge main circuit is connected. This allows the present invention to more effectively switch between the charging and discharging states of battery G1, significantly reducing the handshake failure rate between the master and slave, and ensuring a successful charging process.

[0035] As a preferred embodiment, the switch assembly includes multiple electromagnetic switches, which form multiple contact switches. The multiple contact switches include a contact switch K1 connected to the discharge main circuit, a contact switch K2 connected to the charging main circuit, and a contact switch K3 connected to the charging communication circuit. The AGV controller 1A1 enables or stops enabling the coils of at least some of the electromagnetic switches to control whether the contact switches K1, K2, and K3 are closed.

[0036] In this embodiment, the multiple electromagnetic switches include a time delay relay J1, whose coil is enabled and controlled by the AGV controller 1A1. The contact portion of the time delay relay J1 includes a contact switch K3. The multiple electromagnetic switches also include a discharge relay J2 and a discharge contactor J3. The coil of the discharge contactor J3 is powered by the battery G1. The discharge relay J2 is enabled and controlled by the AGV controller 1A1. When the battery G1 is fully charged, the AGV controller 1A1 delays the activation of the discharge relay J2 coil. The contact portion of the discharge relay J2 includes a contact switch K4, which is connected in series with the coil of the discharge contactor J3. The contact portion of the discharge contactor J3 includes the contact switch K1.

[0037] The multiple electromagnetic switches mentioned above include a charging relay J4 and a charging contactor J5. The coil of charging contactor J5 is powered by battery G1, and the AGV controller 1A1 controls whether charging relay J4 is energized. The contact portion of charging relay J4 includes a contact switch K5, which is connected in series with the coil of charging contactor J5. The contact portion of charging contactor J5 also includes a contact switch K2. Furthermore, the contact portion of discharge relay J2 also includes a contact switch K6. This contact switch K6 is a mirror image of contact switch K4, meaning that its open and closed states are opposite to those of contact switch K4. Contact switch K6 is also connected in series with charging contactor J5.

[0038] The present invention further includes a first voltage stabilizing module U3 , through which the output of the battery G1 is connected to the coil of the discharge contactor J3 and the coil of the charging contactor J5 .

[0039] The present invention further includes a charging in place sensor B1 , to which the AGV controller 1A1 is connected. The charging in place sensor B1 is used to detect whether the AGV charging connector U1 is connected for charging and to send a signal to the AGV controller 1A1 .

[0040] The utility model provides a battery charge and discharge switching control system, which is applied to AGV vehicles and cooperates with a charger during charging. The working principle of the utility model will be described below.

[0041] The present invention provides an AGV charging device, including a charger, which includes a charging pile charging connector U2, and also includes a battery charge and discharge switching control system as described above. When the battery G1 needs to be charged, the AGV charging connector U1 is connected to the charging pile charging connector U2. Specifically, the AGV charging connector U1 and the charging pile charging connector U2 are charging contact plates, and are connected by physical contact, thus having the characteristics of simple structure, easy deployment, and low cost. However, the connection method between the AGV charging connector U1 and the charging pile charging connector U2 is not limited to this. In other embodiments, the AGV charging connector U1 and the charging pile charging connector U2 are connected using wireless communication and / or a telescopic device.

[0042] In this embodiment, the charger also includes a charger controller 1A3, a charging enable relay J6, a charging communication relay J7 and a second voltage stabilizing module U4. A communication circuit and a charging enable circuit are connected between the charger controller 1A3 and the charging pile charging connector U2. The charging pile charging connector U2 is connected to the coil of the charging enable relay J6 and the coil of the charging communication relay J7 through the second voltage stabilizing module U4. The contact part of the charging enable relay J6 includes a contact switch K7, which is connected to the charging enable circuit. The contact part of the charging communication relay J7 includes a contact switch K8, which is connected to the communication circuit.

[0043] The utility model is a battery charge and discharge switching control system and an AGV charging device, and its working principle is as follows:

[0044] AGV parking location for charging stations;

[0045] The AGV charging connector U1 contacts the charging pile charging connector U2, and the AGV charging connector U1 is connected to the positive pole, negative pole and CAN communication bus of the charging pile respectively;

[0046] The charging position sensor detects that the AGV charging connector U1 and the charging pile charging connector U2 are connected, and sends a signal to the AGV controller 1A1. The AGV controller 1A1 receives the signal from the charging position sensor and starts charging control, enabling the coil of the delay relay J1 and stopping the coil of the discharge relay J2. The contact switch K4 of the discharge relay J2 is disconnected, and the contact switch K6 is closed. At this time, the coil of the discharge contactor J3 loses power, causing its contact switch K1 to disconnect. As a result, the basic vehicle controller 1A2 is powered off, and the basic vehicle controller 1A2 ends the discharge communication handshake with the battery G1.

[0047] The AGV controller 1A1 controls the discharge relay J2 to be disconnected and simultaneously closes the coil of the charging relay J4, thereby closing the contact switch K5 of the charging relay J4. Since the contact switch K6, which is a mirror image of the contact switch K4, is also closed, the coil of the charging contactor J5 is energized, closing its contact switch K2, thus completing the establishment of the main charging circuit.

[0048] On the charger side, the second voltage stabilizing module U4 receives power from the main charging circuit, closing the coils of the charging enable relay J6 and the charging communication relay J7. This in turn closes the contact switches K7 and K8 of the charging enable relay J6 and the charging communication relay J7, allowing the charger controller 1A3 to receive the charging enable signal and start charging handshake monitoring.

[0049] After a few seconds, the delay of the delay relay J1 is completed, and the coil of the delay relay J1 is energized, so that the contact switch K3 is closed, thereby completing the charging communication circuit. The battery G1 and the charger controller 1A3 perform a charging handshake, and charging begins;

[0050] When the battery G1 finishes charging, the AGV controller 1A1 (the AGV controller 1A1 reads the charge level of the battery G1 or obtains a signal indicating the end of charging of the battery G1 through other detectors / controllers, which is a prior art and will not be described in detail here) stops enabling the coil of the time delay relay J1, disconnecting the contact switch K3, thereby disconnecting the charging communication circuit. The charging handshake between the battery G1 and the charger controller 1A3 is disconnected, and charging stops.

[0051] At the same time, the AGV controller 1A1 stops enabling the coil of the charging relay J4, disconnecting the contact switch K2 and the main charging circuit;

[0052] At the same time, the second voltage stabilizing module U4 loses power, the coil of the charging enable relay J6 and the coil of the charging communication relay J7 stop being enabled, causing the contact switch K7 and the contact switch K8 to be disconnected respectively. The charger controller 1A3 loses the charging enable signal and stops the charging handshake monitoring.

[0053] The AGV controller 1A1 delays for a few seconds to close the coil of the discharge relay J2, closing the contact switch K4 and opening the contact switch K6, thereby energizing the coil of the discharge contactor J3, closing the contact switch K1, and energizing the basic vehicle controller 1A2. The basic vehicle controller 1A2 performs a discharge handshake with the battery G1, and discharge begins;

[0054] When the AGV leaves the charging station, the signal from the charging arrival sensor is lost, and the AGV controller 1A1 stops charging control. The utility model discloses a battery charge and discharge switching control system and an AGV charging device that can effectively switch the charging and discharging states of the battery G1, greatly reducing the handshake failure rate between the master and slave, and ensuring the success rate of charging.

[0055] The charging relay J4 of the present invention uses contact switches K4 and K6 that are mirror images of each other to simultaneously control the on and off of the charging contactor J5 and the discharging contactor J3, avoiding the safety risks caused by the main charging circuit not being disconnected when the vehicle leaves the charger, greatly ensuring the safety of personnel and vehicles.

[0056] The charger also enables the charging controller through the charging enable relay J6 and the charging communication relay J7, ensuring that the charger's charging pile charging connector U2 can be disconnected from charging when the vehicle leaves the charger, thereby avoiding the risk of electric shock caused by accidental contact with the charging pile charging connector U2.

[0057] An AGV vehicle of the present invention includes a battery charge and discharge switching control system as described above.

[0058] Regarding the structure and working principle of the battery charge and discharge switching control system, please refer to the previous description thereof, which will not be repeated here.

[0059] The utility model provides a battery charge and discharge switching control system, an AGV charging device, and an AGV vehicle. The unrelated parts are the same as those in the prior art or can be implemented by using the prior art.

[0060] The above embodiments are only used to further illustrate a battery charge and discharge switching control system, an AGV charging device, and an AGV vehicle of the present invention, but the present invention is not limited to the embodiments. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention fall within the scope of protection of the technical solution of the present invention.

Claims

1. A battery charge and discharge switching control system, characterized in that: It includes an AGV controller, a basic vehicle controller, a battery, an AGV charging connector and a switch assembly. A charging communication circuit and a charging main circuit are connected between the battery and the AGV charging connector, and a discharge main circuit is connected between the basic vehicle controller and the battery. The AGV controller controls whether the charging communication circuit, the charging main circuit and the discharge main circuit are turned on or off through the switch assembly, and the on-off states of the charging communication circuit and the charging main circuit are the same, and opposite to the on-off state of the discharge main circuit.

2. The battery charge and discharge switching control system according to claim 1, characterized in that: When the AGV charging connector is connected for charging, the charging communication circuit and the charging main circuit are connected, and the discharging main circuit is disconnected, and the charging communication circuit is turned on later than the discharging main circuit; when the battery charging is completed, the charging communication circuit and the charging main circuit are disconnected, and the discharging main circuit is connected, and the charging communication circuit is turned off earlier than the discharging main circuit is turned on.

3. The battery charge and discharge switching control system according to claim 1 or 2, characterized in that: The switch assembly includes multiple electromagnetic switches, which form multiple contact switches. The multiple contact switches include a contact switch K1 connected to the discharge main circuit, a contact switch K2 connected to the charging main circuit, and a contact switch K3 connected to the charging communication circuit. The AGV controller enables or stops enabling the coils of at least some of the electromagnetic switches to control whether the contact switches K1, K2, and K3 are closed.

4. The battery charge and discharge switching control system according to claim 3, characterized in that: The multiple electromagnetic switches include a time delay relay, the coil of the time delay relay is enabled and controlled by the AGV controller to be energized, and the contact part of the time delay relay includes the contact switch K3.

5. The battery charge and discharge switching control system according to claim 3, characterized in that: The multiple electromagnetic switches include a discharge relay and a discharge contactor. The coil of the discharge contactor is powered by the battery. The discharge relay is enabled or not by the AGV controller, and when the battery charging is completed, the AGV controller delays the enabling of the coil of the discharge relay; the contact part of the discharge relay includes a contact switch K4, which is connected in series with the coil of the discharge contactor. The contact part of the discharge contactor includes the contact switch K1.

6. The battery charge and discharge switching control system according to claim 5, characterized in that: The multiple electromagnetic switches include a charging relay and a charging contactor. The coil of the charging contactor is powered by the battery. The charging relay is enabled by the AGV controller to control whether it is powered on or not. The contact portion of the charging relay includes a contact switch K5, which is connected in series with the coil of the charging contactor. The contact portion of the charging contactor includes the contact switch K2. The contact portion of the discharge relay also includes a contact switch K6, which is a mirror image of the contact switch K4 and is connected in series with the charging contactor. It also includes a first voltage stabilizing module, through which the output of the battery is connected to the coil of the discharge contactor and the coil of the charging contactor.

7. The battery charge and discharge switching control system according to claim 1, characterized in that: The AGV controller is connected to a charging position sensor, which is used to detect whether the AGV charging connector is connected for charging and send a signal to the AGV controller.

8. An AGV charging device, comprising a charger, the charger including a charging pile charging connector, characterized in that: It also includes a battery charge and discharge switching control system according to any one of claims 1 to 7, and when the battery needs to be charged, the AGV charging connector is connected to the charging pile charging connector.

9. The AGV charging device according to claim 8, characterized in that: The charger further includes a charger controller, a charging enable relay, a charging communication relay, and a second voltage stabilizing module. A communication circuit and / or a charging enable circuit is connected between the charger controller and the charging pile charging connector. The charging pile charging connector is connected to the coil of the charging enable relay and / or the coil of the charging communication relay via the second voltage stabilizing module. The contact portion of the charging enable relay includes a contact switch K7, which is connected to the charging enable circuit. The contact portion of the charging communication relay includes a contact switch K8, which is connected to the communication circuit. The AGV charging connector and the charging pile charging connector are respectively charging contact plates and are connected through physical contact.

10. An AGV vehicle, characterized in that: The invention comprises a battery charge and discharge switching control system as claimed in any one of claims 1 to 7.

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