1. Zofunikira za AGV: Mau oyamba a Magalimoto Otsogozedwa ndi Makinawa

1.1 Chiyambi

Galimoto yoyendetsedwa yokha (AGV) ndi loboti yam'manja yomwe imatha kutsatira njira yokonzedweratu kapena malangizo, ndipo 24V lithiamu batire ndi batire yotchuka yomwe imagwiritsidwa ntchito mu AGV.Malobotiwa nthawi zambiri amagwiritsidwa ntchito popanga ndi kukonza zinthu, komwe amatha kugwiritsidwa ntchito kunyamula zinthu, zida, ndi katundu womalizidwa pamalo onse kapena pakati pa malo osiyanasiyana.

Ma AGV nthawi zambiri amakhala ndi masensa ndi zida zina zoyendera, zomwe zimawalola kuzindikira ndi kuyankha kusintha kwa malo awo.Mwachitsanzo, amatha kugwiritsa ntchito makamera, makina ojambulira laser, kapena masensa ena kuti azindikire zopinga panjira yawo, ndikusintha njira kapena liwiro lawo moyenerera.

Ma AGV amatha kubwera m'mawonekedwe ndi makulidwe osiyanasiyana, kutengera ntchito ndi zofunikira.Ma AGV ena amapangidwa kuti aziyenda m'njira zokhazikika, pomwe ena amakhala osinthika ndipo amatha kuyenda mozungulira zopinga kapena kutsatira njira zosiyanasiyana malinga ndi momwe zinthu zilili.

Ma AGV amatha kukonzedwa kuti agwire ntchito zosiyanasiyana zosiyanasiyana, kutengera zosowa za pulogalamuyo.Mwachitsanzo, zitha kugwiritsidwa ntchito kunyamula zinthu zopangira kuchokera kunkhokwe kupita kumalo opangira zinthu, kapena kusuntha zinthu zomalizidwa kuchokera kumalo opangira zinthu kupita kumalo ogawa.

Ma AGV atha kugwiritsidwanso ntchito pazinthu zina, monga zipatala kapena malo ena azachipatala.Mwachitsanzo, atha kugwiritsidwa ntchito kunyamula zinthu zachipatala, zida, kapena zinyalala pamalo onse, popanda kufunikira kwa anthu.Zitha kugwiritsidwanso ntchito m'malo ogulitsa, komwe angagwiritsidwe ntchito kusuntha katundu kuchokera kumalo osungiramo katundu kupita ku malo ogulitsa kapena malo ena.

Ma AGV atha kupereka maubwino angapo kuposa njira zapamanja zogwirira ntchito.Mwachitsanzo, angathandize kuchepetsa kufunika kwa ntchito ya anthu, zomwe zingathandize kuchepetsa ndalama ndi kuwonjezera mphamvu.Angathandizenso kuchepetsa kuvulala kapena ngozi, chifukwa amatha kugwira ntchito m'madera omwe anthu sangakhale otetezeka kutero.

Ma AGV athanso kupereka kusinthasintha kwakukulu komanso kusinthasintha, chifukwa amatha kukonzedwanso kapena kukonzedwanso kuti agwire ntchito zosiyanasiyana pakufunika.Izi zitha kukhala zofunika kwambiri popanga kapena mayendedwe, pomwe kusintha pakufunika kapena zofunikira pazamalonda kungafune mitundu yosiyanasiyana ya zida zogwirira ntchito.

Ponseponse, ma AGV ndi chida champhamvu chothandizira kuwongolera magwiridwe antchito ndi ntchito zosiyanasiyana m'mafakitale osiyanasiyana.Pamene teknoloji ikupita patsogolo, n'kutheka kuti tidzawonanso ma AGV apamwamba kwambiri komanso aluso m'tsogolomu, kupititsa patsogolo luso ndi ubwino wa makinawa.

1.2 Battery ya LIAO: Wopanga Battery Wotsogola wa AGV

LIAO Batteryndiwopanga mabatire otsogola ku China omwe amapereka mayankho odalirika komanso akatswiri pamabatire osiyanasiyana monga AGV, loboti, ndi mphamvu yadzuwa.Kampaniyo imakhazikika popereka batire ya LiFePO4 kuti isinthe mabatire a lead-acid muzogwiritsa ntchito zambiri.Pakati pa mndandanda wawo wotchuka ndi batri ya lithiamu ya 24V, yomwe imagwiritsidwa ntchito kwambiri mu AGV.Ndi kudzipereka kwawo pakuchita bwino komanso kukhutiritsa makasitomala, Manly Battery ndi mnzake wodalirika wamabizinesi omwe akufuna mayankho odalirika a batri.

2. Kusanthula kwa luso la 24v lithiamu batire mu AGV

2.1 Kulipiritsa ndi kutulutsa mawonekedwe apano a 24v lithiamu batire

Kuchangitsa ndi kutulutsa kwa mabatire a AGV lifiyamu kumakhala kosasintha, komwe kumasiyana ndi magalimoto amagetsi omwe amatha kukhala ndi mafunde apamwamba kwakanthawi munthawi yomwe amagwira ntchito.Batire ya lifiyamu ya AGV nthawi zambiri imakhala ndi 1C mpaka 2C nthawi zonse mpaka magetsi otetezedwa afika ndikuyimitsa kutha.Kutulutsa kwakali kwa batire ya lithiamu ya AGV imagawidwa m'mafunde otsitsidwa ndi odzaza, ndipo kuchuluka kwake komwe kumakhala kosapitilira 1C kutulutsa.Muzochitika zosasunthika, kuyendetsa ntchito ndi kutulutsa kwa AGV kumakhala kokhazikika pokhapokha ngati mphamvu yake yolemetsa ikusintha.Kulipiritsa ndi kutulutsa njira iyi ndiyothandiza kwenikweni24v lithiamu batire,makamaka kugwiritsa ntchito mabatire a lithiamu iron phosphate, makamaka powerengera SOC.

2.2 Kulipira ndi kutulutsa kuya kwa batire ya lithiamu 24v

M'munda wa AGV, kulipiritsa ndi kutulutsa batire ya 24v ya lifiyamu nthawi zambiri kumakhala mu "chiwongolero chakuya ndi kutulutsa kozama".Popeza galimoto ya AGV imagwira ntchito nthawi zambiri ndipo imayenera kubwerera kumalo okhazikika kuti iperekedwe, sizingatheke kutulutsa magetsi onse panthawi yotulutsa, apo ayi, galimotoyo singabwererenso kumalo opangira.Nthawi zambiri, pafupifupi 30% ya magetsi amasungidwa kuti ateteze zofuna za magetsi.Nthawi yomweyo, pofuna kupititsa patsogolo magwiridwe antchito komanso kuchuluka kwa kagwiritsidwe ntchito, magalimoto a AGV nthawi zambiri amatenga kuthamanga kwanthawi zonse, pomwe mabatire amtundu wa lithiamu amafunikira "charging chanthawi zonse + chamagetsi".M'mabatire a lithiamu a AGV, kulipiritsa nthawi zonse kumachitika mpaka voteji yachitetezo chapamwamba, ndipo galimotoyo imatsimikiza kuti batire ili ndi mlandu.Zoonadi, komabe, mavuto a "polarization" angayambitse maonekedwe a "voltage zabodza", zomwe zikutanthauza kuti batire silinafike 100% ya mphamvu yake yolipiritsa.

3. Kupititsa patsogolo Kuchita Bwino kwa AGV ndi 24V Lithium Batteries m'malo mwa Lead Acid Battery

Pankhani yosankha batire ya mapulogalamu a AGV, pali zinthu zingapo zomwe muyenera kuziganizira.Chimodzi mwazosankha zovuta kwambiri ndikugwiritsa ntchito batire ya 24V lithiamu kapena 24V lead acid acid.Mitundu yonse iwiriyi ili ndi ubwino ndi zovuta zake, ndipo kusankha kudzadalira zofunikira zomwe zimagwiritsidwa ntchito.

Chimodzi mwazabwino kwambiri za 24V lithiamu mabatire, monga 24V 50Ah lifepo4 batire, ndi moyo wawo wautali.Mabatire a lithiamu amatha kulipiritsidwa ndi kutulutsidwa nthawi zambiri kuposa mabatire a acid acid, zomwe zimapangitsa kuti akhale chisankho chabwino pamapulogalamu a AGV pomwe batire ikhoza kugwiritsidwa ntchito kwambiri kwa nthawi yayitali.

Ubwino wina wa mabatire a lithiamu ndi kulemera kwawo kopepuka.Ma AGV amafunikira batire yomwe ingapereke mphamvu zokwanira kuyendetsa galimoto ndi katundu uliwonse yomwe ikunyamula, koma batire iyeneranso kukhala yopepuka kuti isasokoneze kuyendetsa kwa galimotoyo.Mabatire a lithiamu amakhala opepuka kwambiri kuposa mabatire a asidi otsogolera, kuwapanga kukhala chisankho chabwino kwambiri kwa ma AGV.

Kuphatikiza pa kulemera, nthawi yolipira ndi chinthu china chofunika kwambiri chomwe chiyenera kuganizira.Mabatire a lithiamu amatha kulipiritsidwa mwachangu kwambiri kuposa mabatire a asidi amtovu, zomwe zikutanthauza kuti ma AGV amatha kugwiritsa ntchito nthawi yayitali komanso kuthamangitsa nthawi yochepa.Izi zitha kupititsa patsogolo zokolola komanso kuchepetsa nthawi yopuma.

Mapiritsi otulutsa ndi chinthu china chofunikira kuganizira posankha batire ya mapulogalamu a AGV.Mphepete mwa kutulutsa kumatanthawuza mphamvu ya batri pa nthawi yotulutsa.Mabatire a lithiamu amakhala ndi piritsi lotayirira bwino kuposa mabatire a asidi otsogolera, zomwe zikutanthauza kuti mphamvu yamagetsi imakhala yosasinthasintha nthawi yonse yotulutsa.Izi zitha kupereka magwiridwe antchito osasinthika ndikuchepetsa kuwonongeka kwamagetsi a AGV.

Pomaliza, kukonza ndi chinthu china chofunikira.Mabatire a lead acid amafunikira chisamaliro chochulukirapo kuposa mabatire a lithiamu, omwe amatha kukulitsa mtengo wa umwini pa moyo wa batri.Komano, mabatire a lithiamu nthawi zambiri amakhala osakonza, omwe amatha kusunga nthawi ndi ndalama.

Ponseponse, pali zabwino zambiri zogwiritsira ntchito batri ya 24V ya lithiamu, monga24V 60Ah lifepo4 batire, mu mapulogalamu a AGV.Amakhala ndi moyo wautali, amakhala opepuka, amalipira mwachangu, amakhala ndi kapindika kakutulutsa kosalala, ndipo amafunikira chisamaliro chochepa.Ubwinowu ukhoza kupangitsa kuti batire ikhale yabwino kwambiri, yochulukirachulukira, komanso kupulumutsa ndalama pa moyo wa batire, zomwe zimapangitsa kukhala chisankho chabwino kwambiri pamapulogalamu a AGV.

Njira yothamangitsira ndi kutulutsa "yozama kwambiri" ndi yopindulitsa pakukulitsa moyo wautumiki wa mabatire a lithiamu-ion.Komabe, pamakina a batri a lithiamu iron phosphate, palinso vuto la kuwongolera bwino kwa SOC algorithm.

2.3 Moyo wautumiki wa 24v lithiamu batire

Mabatire a Lithium iron phosphate amakhala ndi moyo wautali wautumiki, ndipo kuchuluka kwa ma charger ndi kutulutsa kwa ma cell kumapitilira nthawi 2000.Komabe, kuchuluka kwa mikombero mu paketi ya batri kumachepetsedwa kutengera zinthu monga kusasinthika kwa ma cell a batri ndi kutentha kwaposachedwa, zomwe zimagwirizana kwambiri ndi ma voliyumu ndi kapangidwe kake, komanso njira ya batire paketi.Mu mabatire a lifiyamu a AGV, moyo wozungulira pansi pa "charge charge and shallow discharge" mode ndi wokwera kwambiri kuposa womwe uli pansi pa charger ndi kutulutsa.Nthawi zambiri, kuzama kocheperako komanso kukhetsa, m'pamenenso kuchuluka kwa ma cycle, komanso moyo wozungulira umagwirizananso kwambiri ndi nthawi ya SOC.Deta ikuwonetsa kuti ngati batire paketi ili ndi chiwongolero chonse ndikutulutsa nthawi 1000, kuchuluka kwa mizere mu 0-30% SOC interval (30% DOD) kumatha kupitilira nthawi 4000, ndi kuchuluka kwa mizere mu 70% mpaka 100% SOC interval (30% DOD) imatha kupitilira nthawi 3200.Zitha kuwoneka kuti moyo wa mkombero umagwirizana kwambiri ndi nthawi ya SOC ndi kutulutsa kuya kwa DOD, ndipo moyo wozungulira wa mabatire a lithiamu-ion umagwirizananso kwambiri ndi kutentha, kulipiritsa ndi kutulutsa pano, ndi zinthu zina, zomwe sizingachitike.

Pomaliza, AGV lifiyamu mabatire ndi chimodzi mwa zigawo zikuluzikulu za maloboti mafoni, ndipo tiyenera kusanthula ndi kumvetsa mozama, makamaka pamodzi ndi zochitika zosiyanasiyana ntchito maloboti osiyana, kudziwa makhalidwe awo ntchito ndi kulimbikitsa kumvetsa kwathu lifiyamu. kugwiritsa ntchito batri, kotero kuti mabatire a lithiamu amatha kugwiritsa ntchito maloboti am'manja.