CN106100046B - 一种agv小车的充电装置及其充电方法 - Google Patents
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- H—ELECTRICITY
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- B60L53/11—DC charging controlled by the charging station, e.g. mode 4
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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Abstract
本发明公开了一种AGV小车的充电装置,包括电源装置(2)和AGV***(3),其所述电源装置(2)包括为AGV***(3)提供稳压电压的供电闭合回路,该供电闭合回路由锂离子电容器模组(22)和电池管理***(23)串联后再与稳压电源(24)并联而成;所述锂离子电容器模组(22)和电池管理***(23)还可与充电端子(21)形成充电闭合回路;该充电装置还包括可与充电端子(21)形成闭合回路的接收装置(1),以及铺设于AGV小车预设轨道中的无线发射装置,所述无线发射装置与接收装置(1)之间通过无线供电方式连接。本发明还公开了其充电方法。本发明使AGV小车可在不停车的前提下快速充电,实现小车连续的生产过程。
Description
技术领域
本发明涉及一种充电装置,尤其是一种用于AGV小车的充电装置及其充电方法。
背景技术
AGV(Automated Guided Vehicles)小车是一种装备有自动导引装置的,能够按照规定的导引路径行驶的运输车。目前,AGV小车的动力单元为充电蓄电池。AGV运行时,蓄电池的电能逐渐降低,因此在循环运行过程中需要对AGV电池进行充电。
传统AGV小车动力单元有铅酸电池,镍镉电池或锂离子电池。
铅酸电池及锂离子电池内阻大,以其作为AGV小车的动力单元所需充电时间长,这将导致小车在充电区停滞时间久,促使生产中断,降低工作效率;镍镉电池作为AGV小车动力单元虽然满足大电流充放电要求,能在短时间内快速补充电量,但镍镉电池受“记忆效应”的影响,使用维护比较麻烦。此外,镍镉电池由于镉污染,不适应环保要求。
其次,现有技术中以蓄电池作为动力单元的AGV小车多采用港湾接触式充电,充电过程中需要停留在充电区域进行充电。港湾接触式充电是指AGV小车电量不足时,***会暂停任务,AGV小车脱离工作轨道,进入充电港湾进行充电。港湾接触式供电的缺陷在于AGV小车工作效率低,且多辆AGV小车充电时需要AGV小车停滞在港湾口等待;停留接触式充电可以保证AGV小车不移出生产线完成充电,但停留在轨道上充电导致AGV小车处于非连续的任务环,同样打破AGV小车工作的完整性。此外,在线接触式充电易产生火花,安全可靠性低。除接触线供电外,AGV小车还可以通过非接触式进行充电。这种供电***可以在AGV小车不带电池的情况下为小车提供驱动和控制电源,但由于没有储能装置,整个运行轨道需要铺设供电电缆,这不但增加构建成本,且路线柔性变化降低。
发明内容
本发明所要解决的技术问题是,提供一种新型的AGV小车充电装置及其无线充电方式,可以保证AGV小车在无线充电区域快速充电,同时在不间断电力供应的条件下实现AGV小车的柔性运行。
锂离子电容器采用锂离子电池和超级电容器技术混合结构,正极采用超级电容器正极材料,负极采用锂离子电池负极材料。锂离子电容器功率密度高,接近于超级电容器,因此具备大电流充电接受能力;能量密度是超级电容器的2.5倍,循环寿命高达百万余次。此外,锂离子电容器自放电率低,常温25℃放置3个月,电量减少≤5%。因此,将锂离子电容器作为AGV小车的储能装置比传统的蓄电池和超级电容器具备更多的优势。
基于此,为解决以上技术问题,本发明公开了一种AGV小车的充电装置,包括电源装置和AGV***,所述电源装置包括为AGV***提供稳压电压的供电闭合回路,该供电闭合回路由锂离子电容器模组和电池管理***串联后再与稳压电源并联而成;所述锂离子电容器模组和电池管理***还可与充电端子形成充电闭合回路;该充电装置还包括可与充电端子形成闭合回路的接收装置,以及铺设于AGV小车预设轨道(即预设的小车运行轨道)中的无线发射装置,所述无线发射装置与接收装置之间通过无线供电方式连接。
进一步地,所述稳压电源通过放电接口连接AGV***。
进一步地,所述电源装置还包括制动板,该制动板的输入端与稳压电源连接,输出端通过信号端子与AGV***的制动电阻连接。
进一步地,所述电池管理***连通AGV***的RS485通讯信号接口。
进一步地,所述接收装置设置于AGV小车的底部,便于和无线发射装置的无线通信。
本发明还公开了一种前述的充电装置对AGV小车的充电方法,该方法包括如下步骤:
(1)、AGV小车进入预设轨道下方的无线发射区域,无线发射装置与AGV小车上的接收装置建立无线供电通信;
(2)、电池管理***检测当前锂离子电容器模组的电压,并判断当前电压是否低于接收装置中的电压;
(3)、若锂离子电容器模组电压小于接收装置中的电压,电池管理***根据当前压差以及无线发射装置的设置区域范围来调节电流后,接收装置通过充电端子对锂离子电容器进行恒流充电;
(4)、当电池管理***检测到锂离子电容器模组与接收装置电压一致时,接收装置通过充电端子对锂离子电容器模组进行恒压充电,直至锂离子电容器模组的电流为0,锂离子电容器模组满电;
(5)、当AGV小车离开轨道下方的无线发射区域,小车上接收装置不再与无线发射装置建立连接,AGV小车充电结束。
通过AGV小车电源装置中的电池管理***来检测锂离子电容模组电压状态,通过调节无线充电电流,使AGV小车在有限范围的无线发射区域内快速充满电,经实验发现,200A电流的充电在50秒以内即可完成,因此可实现小车连续的生产过程;由于AGV小车可以进行大电流快速充电,因此无需在AGV运行轨道中全部铺设无线发射装置的供电电缆(只要在有限区域的预设轨道中铺设即可),这不但降低了无线充电的建设成本,同时满足在不间断电力供应的条件下实现AGV小车的柔性运行。
附图说明
图1为AGV小车采用本发明充电装置的线路电路原理图。
图中:1-接收装置;2-电源装置;21-充电端子;22-锂离子电容器模组;23-电池管理***;24-稳压电源;25-制动板;26-放电接口;3-AGV***;31-制动电阻。
具体实施方式
下面结合实施例,更具体地阐述本发明的内容。本发明的实施并不限于下面的实施例,对本发明所做的任何形式上的变通或改变都应在本发明的保护范围内。
实施例1
如图1所示,该充电装置主要包括接收装置1、电源装置2和AGV***3,以及未在图中示出的无线发射装置。
其中,电源装置2主要包括充电端子21、锂离子电容器模组22(即LIC模组)、电池管理***(BMS)23、稳压电源24和制动板25。锂离子电容器模组22由若干个锂离子电容器单体首尾串联构成,锂离子电容器模组22的正极与充电端子21的正极连接,锂离子电容器模组22的负极依次通过300A保险丝和电池管理***23与充电端子21的负极连接,构成充电闭合回路。电池管理***23用于监测锂离子电容模组22的电压,电流,温度以及剩余容量等信号,并将信号传递给AGV***3的RS485通讯信号接口。稳压电源24的输入端VIN+与锂离子电容模组22连接,VIN-与电池管理***23连接。该稳压电源24通过放电接口26与AGV***3连接,为AGV小车提供24V或48V稳定电压。制动板25的输入端与稳压电源24连接,输出端通过信号输出端子与设置于AGV***3内的制动电阻31连接,该制动电阻31用于消耗AGV小车在制动过程中产生的电能。
充电端子21的正极还与接收装置1正极连接,负极与接收装置1的负极连接形成闭合回路。接收装置1安装于AGV小车底部。
在AGV小车预设轨道的其中一段路径中铺设有无线发射装置,通过该无线发射装置中的供电电缆,与AGV小车的接收装置实现无线通信联接,以无线供电方式给AGV小车接收装置供电。
本发明的无线自动充电过程通过如下步骤实现:
(1)、AGV小车进入预设轨道下方的无线发射区域,无线发射装置与AGV小车上的接收装置1建立无线供电通信;
(2)、电池管理系23统检测当前锂离子电容器模组22的电压,并判断当前电压是否低于接收装置1中的电压;
(3)、若锂离子电容器模组22电压小于接收装置中的电压,电池管理***23根据当前压差以及无线发射装置的设置区域范围来调节电流,接收装置1通过充电端子21对锂离子电容器模组22进行恒流充电;
(4)、当电池管理***23检测到锂离子电容器模组22与接收装置1电压一致时,接收装置1通过充电端子21锂离子电容器模组22进行恒压充电,直至锂离子电容器模组22的电流为0,此时锂离子电容器模组22满电;
(5)、当AGV小车离开轨道下方的无线发射区域,小车上接收装置1不再与无线发射装置建立连接,AGV小车充电结束。
Claims (5)
1.一种AGV小车的充电装置,包括电源装置(2)和AGV***(3),其特征在于:所述电源装置(2)包括为AGV***(3)提供稳压电压的供电闭合回路,该供电闭合回路由锂离子电容器模组(22)和电池管理***(23)串联后再与稳压电源(24)并联而成;所述锂离子电容器模组(22)和电池管理***(23)还与充电端子(21)形成充电闭合回路;该充电装置还包括可与充电端子(21)形成闭合回路的接收装置(1),以及铺设于AGV小车预设轨道中的无线发射装置,所述无线发射装置与接收装置(1)之间通过无线供电方式连接,所述电池管理***(23)连通AGV***(3)的RS485通讯信号接口。
2.根据权利要求1所述AGV小车的充电装置,其特征在于:所述稳压电源(24)通过放电接口(26)连接AGV***(3)。
3.根据权利要求1所述AGV小车的充电装置,其特征在于:所述电源装置(2)还包括制动板(25),该制动板(25)的输入端与稳压电源(24)连接,输出端通过信号端子与AGV***(3)的制动电阻(31)连接。
4.根据权利要求1所述AGV小车的充电装置,其特征在于:所述接收装置(1)设置于AGV小车的底部。
5.一种如权利要求1-4任意一项权利要求所述的充电装置对AGV小车的充电方法,其特征在于:该方法包括如下步骤:
(1)、AGV小车进入预设轨道下方的无线发射区域,无线发射装置与AGV小车上的接收装置(1)建立无线供电通信;
(2)、电池管理***(23)检测当前锂离子电容器模组(22)的电压,并判断当前电压是否低于接收装置(1)中的电压;
(3)、若锂离子电容器模组(22)电压小于接收装置(1)中的电压,电池管理***(23)根据当前压差以及无线发射装置的设置区域范围来调节电流后,接收装置(1)通过充电端子(21)对锂离子电容器模组(22)进行恒流充电;
(4)、当电池管理***(23)检测到锂离子电容器模组(22)与接收装置(1)电压一致时,接收装置(1)通过充电端子(21)对锂离子电容器模组(22)进行恒压充电,直至电流为0,锂离子电容器模组(22)满电;
(5)、当AGV小车离开轨道下方的无线发射区域,小车上接收装置(1)不再与无线发射装置建立连接,AGV小车充电结束。
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