1. Zoyambira za AGV: Chiyambi cha Magalimoto Oyendetsedwa Okha

1.1 Chiyambi

Galimoto yoyendetsedwa yokha (AGV) ndi loboti yoyenda yomwe imatha kutsatira njira yokonzedweratu kapena malangizo, ndipo batire ya lithiamu ya 24V ndi mndandanda wotchuka wa mabatire womwe umagwiritsidwa ntchito mu AGV. Maloboti amenewa nthawi zambiri amagwiritsidwa ntchito popanga ndi kuwongolera zinthu, komwe angagwiritsidwe ntchito kunyamula zinthu, zigawo, ndi katundu womalizidwa kudutsa malo ena kapena pakati pa malo osiyanasiyana.

Ma AGV nthawi zambiri amakhala ndi masensa ndi zida zina zoyendera, zomwe zimawathandiza kuzindikira ndi kuyankha kusintha kwa malo awo. Mwachitsanzo, angagwiritse ntchito makamera, ma laser scanner, kapena masensa ena kuti azindikire zopinga zomwe zili panjira yawo, ndikusintha njira yawo kapena liwiro lawo moyenerera.

Ma AGV amatha kubwera m'mitundu yosiyanasiyana ndi kukula kosiyanasiyana, kutengera momwe akugwiritsidwira ntchito komanso zofunikira. Ma AGV ena amapangidwira kuti aziyenda m'njira zokhazikika kapena m'njira zina, pomwe ena ndi osinthasintha ndipo amatha kuyenda mozungulira zopinga kapena kutsatira njira zosiyanasiyana kutengera momwe zinthu zilili.

Ma AGV amatha kukonzedwa kuti agwire ntchito zosiyanasiyana, kutengera zosowa za pulogalamuyo. Mwachitsanzo, angagwiritsidwe ntchito kunyamula zinthu zopangira kuchokera ku nyumba yosungiramo katundu kupita ku mzere wopanga, kapena kusamutsa zinthu zomalizidwa kuchokera ku fakitale yopanga kupita ku malo ogawa.

Ma AGV angagwiritsidwenso ntchito pazinthu zina, monga m'zipatala kapena m'malo ena azaumoyo. Mwachitsanzo, angagwiritsidwe ntchito kunyamula zinthu zachipatala, zida, kapena zinyalala m'malo onse, popanda kufunikira thandizo la anthu. Angagwiritsidwenso ntchito m'malo ogulitsira, komwe angagwiritsidwe ntchito kusuntha katundu kuchokera ku nyumba yosungiramo katundu kupita ku sitolo kapena malo ena.

Ma AGV angapereke ubwino wambiri poyerekeza ndi njira zachikhalidwe zogwiritsira ntchito zinthu pamanja. Mwachitsanzo, amatha kuchepetsa kufunikira kwa ntchito ya anthu, zomwe zingathandize kuchepetsa ndalama ndikuwonjezera magwiridwe antchito. Angathandizenso kuchepetsa chiopsezo cha kuvulala kapena ngozi, chifukwa amatha kugwira ntchito m'malo omwe si otetezeka kuti anthu achite zimenezo.

Ma AGV angaperekenso kusinthasintha kwakukulu komanso kukula, chifukwa amatha kusinthidwa kapena kukonzedwanso kuti agwire ntchito zosiyanasiyana momwe akufunira. Izi zitha kukhala zofunika kwambiri m'malo opangira zinthu kapena malo oyendetsera zinthu, komwe kusintha kwa kufunikira kapena zofunikira pa malonda kungafunike mitundu yosiyanasiyana ya zida zogwirira ntchito.

Ponseponse, ma AGV ndi chida champhamvu chowongolera magwiridwe antchito ndi zokolola m'mafakitale osiyanasiyana ndi ntchito zosiyanasiyana. Pamene ukadaulo ukupitilira kupita patsogolo, ndizotheka kuti tidzawona ma AGV apamwamba komanso okhoza kwambiri mtsogolo, zomwe zikupititsa patsogolo luso ndi ubwino wa makina ogwiritsidwa ntchito mosiyanasiyana awa.

1.2 Batri ya LIAO: Wopanga Mabatire Otsogola a AGV

Batri ya LIAOndi kampani yotsogola yopanga mabatire ku China yomwe imapereka mayankho odalirika komanso aukadaulo a mabatire m'mafakitale osiyanasiyana monga AGV, robot, ndi mphamvu ya dzuwa. Kampaniyo imadziwika bwino popereka batire ya LiFePO4 kuti ilowe m'malo mwa mabatire a lead-acid m'magwiritsidwe ambiri. Pakati pa mndandanda wawo wotchuka wazinthu pali batire ya 24V lithiamu, yomwe imagwiritsidwa ntchito kwambiri mu AGV. Chifukwa chodzipereka kwawo ku khalidwe labwino komanso kukhutiritsa makasitomala, Manly Battery ndi mnzake wodalirika wa mabizinesi omwe akufuna mayankho odalirika a mabatire.

2. Kusanthula kwa makhalidwe aukadaulo a batri ya lithiamu ya 24v mu AGV

2.1 Kuchaja ndi kutulutsa mphamvu ya batri ya lithiamu ya 24v

Mphamvu yochaja ndi kutulutsa mphamvu ya mabatire a lithiamu a AGV imakhala yokhazikika, zomwe zimasiyana ndi magalimoto amagetsi omwe amatha kukhala ndi mphamvu yayikulu kwakanthawi kochepa mumikhalidwe yeniyeni yogwirira ntchito. Batire ya lithiamu ya AGV nthawi zambiri imachaja ndi mphamvu yokhazikika ya 1C mpaka 2C mpaka mphamvu yoteteza itafika ndipo chaji yatha. Mphamvu yotulutsa mphamvu ya batire ya lithiamu ya AGV imagawidwa m'mafunde osatulutsidwa ndi odzaza, ndipo mphamvu yayikulu yodzaza nthawi zambiri siipitirira 1C. Muzochitika zokhazikika, mphamvu yogwira ntchito yochaja ndi kutulutsa mphamvu ya AGV imakhala yokhazikika pokhapokha ngati mphamvu yake yonyamula katundu isintha. Njira iyi yochaja ndi kutulutsa mphamvu ndi yothandiza kwambiriBatri ya lithiamu ya 24v,makamaka kugwiritsa ntchito mabatire a lithiamu iron phosphate, makamaka pankhani yowerengera SOC.

2.2 Kuchaja ndi kutulutsa kuya kwa batri ya lithiamu ya 24v

Mu gawo la AGV, kuyatsa ndi kutulutsa batire ya lithiamu ya 24v nthawi zambiri kumakhala mu "chaji yochepa komanso kutulutsa pang'ono". Popeza galimoto ya AGV imagwira ntchito pafupipafupi ndipo imafunika kubwerera pamalo okhazikika kuti iyambitse, sizingatheke kutulutsa magetsi onse panthawi yotulutsa, apo ayi, galimotoyo singabwerere pamalo oyatsira. Nthawi zambiri, pafupifupi 30% ya magetsi amasungidwa kuti apewe kufunikira kwa magetsi pambuyo pake. Nthawi yomweyo, kuti apititse patsogolo magwiridwe antchito komanso kuchuluka kwa kagwiritsidwe ntchito ka magetsi, magalimoto a AGV nthawi zambiri amagwiritsa ntchito kuyatsa kwamphamvu kwamagetsi, pomwe mabatire achikhalidwe a lithiamu amafuna kuyatsa kwa "magetsi okhazikika + magetsi osasinthasintha". Mu mabatire a lithiamu a AGV, kuyatsa kwamagetsi kosasinthasintha kumachitika mpaka magetsi oteteza atakhala otsika kwambiri, ndipo galimotoyo imazindikira yokha kuti batire yadzaza. Komabe, zoona zake n'zakuti, mavuto a "polarization" angayambitse kuwoneka kwa "magetsi abodza", zomwe zikutanthauza kuti batire silinafike pa 100% ya mphamvu yake yoyatsira.

3. Kupititsa patsogolo Kugwiritsa Ntchito Bwino kwa AGV ndi Mabatire a Lithium a 24V m'malo mwa Mabatire a Lead Acid

Ponena za kusankha batire ya AGV applications, pali zinthu zingapo zofunika kuziganizira. Chimodzi mwa zisankho zofunika kwambiri ndichakuti mugwiritse ntchito batire ya lithiamu ya 24V kapena batire ya 24V lead acid. Mitundu yonse iwiri ili ndi zabwino ndi zoyipa zake, ndipo kusankha kudzadalira zofunikira za pulogalamuyo.

Chimodzi mwa zabwino kwambiri za mabatire a lithiamu a 24V, monga batire ya 24V 50Ah lifepo4, ndi moyo wawo wautali. Mabatire a lithiamu amatha kuchajidwa ndikutulutsidwa nthawi zambiri kuposa mabatire a lead acid, zomwe zimapangitsa kuti akhale chisankho chabwino kwambiri pakugwiritsa ntchito AGV komwe batireyo ikhoza kugwiritsidwa ntchito kwambiri kwa nthawi yayitali.

Ubwino wina wa mabatire a lithiamu ndi kulemera kwawo kopepuka. Ma AGV amafuna batire yomwe ingapereke mphamvu zokwanira kuti isunthe galimotoyo ndi katundu uliwonse womwe ikunyamula, koma batireyo iyeneranso kukhala yopepuka kuti isawononge mphamvu ya galimotoyo. Mabatire a Lithium nthawi zambiri amakhala opepuka kwambiri kuposa mabatire a lead acid, zomwe zimapangitsa kuti akhale chisankho chabwino kwambiri cha ma AGV.

Kuwonjezera pa kulemera, nthawi yochaja ndi chinthu china chofunikira kuganizira. Mabatire a Lithium amatha kuchajidwa mwachangu kwambiri kuposa mabatire a lead acid, zomwe zikutanthauza kuti ma AGV amatha kugwiritsa ntchito nthawi yambiri komanso nthawi yochepa yochaja. Izi zitha kupititsa patsogolo ntchito ndikuchepetsa nthawi yogwira ntchito.

Mzere wotuluka ndi chinthu china chofunikira kuganizira posankha batire ya AGV. Mzere wotuluka umatanthauza mphamvu ya batire pa nthawi yotuluka. Mabatire a Lithium ali ndi mphamvu yotuluka yosalala kuposa mabatire a lead acid, zomwe zikutanthauza kuti mphamvuyo imakhala yofanana nthawi yonse yotuluka. Izi zingapereke magwiridwe antchito okhazikika komanso kuchepetsa chiopsezo cha kuwonongeka kwa zamagetsi a AGV.

Pomaliza, kukonza ndi chinthu china chofunikira kuganizira. Mabatire a lead acid amafunika kukonza kwambiri kuposa mabatire a lithiamu, zomwe zingawonjezere mtengo wa umwini pa moyo wonse wa batri. Mabatire a Lithium, kumbali ina, nthawi zambiri samakhala okonza, zomwe zingasunge nthawi ndi ndalama.

Ponseponse, pali zabwino zambiri zogwiritsa ntchito batri ya lithiamu ya 24V, mongaBatri ya 24V 60Ah lifepo4,Mu mapulogalamu a AGV. Amakhala ndi moyo wautali, ndi opepuka, amachaja mwachangu, amakhala ndi curve yosalala yotulutsa, ndipo amafunika kukonza pang'ono. Ubwino uwu ukhoza kubweretsa magwiridwe antchito abwino, kupanga bwino, komanso kusunga ndalama pa moyo wonse wa batri, zomwe zimapangitsa kuti ikhale chisankho chabwino kwambiri pa mapulogalamu a AGV.

Njira yochaja ndi kutulutsa mphamvu ya "shallow charge ndi shallow discharge" ndi yothandiza pakuwonjezera moyo wa mabatire a lithiamu-ion. Komabe, pa dongosolo la batire la lithiamu iron phosphate, palinso vuto la kusalinganika bwino kwa SOC algorithm.

2.3 Nthawi yogwiritsira ntchito batri ya lithiamu ya 24v

Mabatire a lithiamu iron phosphate amakhala ndi moyo wautali, ndipo chiwerengero cha ma cycle a full charge ndi discharge a ma cell a batri chimakhala nthawi zoposa 2000. Komabe, chiwerengero cha ma cycle mu batri chimachepetsedwa kutengera nkhani monga kusinthasintha kwa ma cell a batri ndi kutentha kwa magetsi, zomwe zimagwirizana kwambiri ndi magetsi ndi kapangidwe kake, komanso njira ya batri. Mu mabatire a lithiamu a AGV, moyo wa cycle pansi pa "shallow charge ndi shallow discharge" ndi wokwera kwambiri kuposa womwe uli pansi pa full charge ndi discharge. Kawirikawiri, kuzama kwa charging ndi discharge kumakhala kochepa, kuchuluka kwa ma cycle, ndi moyo wa cycle zimagwirizananso kwambiri ndi SOC cycle. Deta ikuwonetsa kuti ngati batri ili ndi full charge ndi discharge cycle ya nthawi 1000, chiwerengero cha ma cycle mu 0-30% SOC interval (30% DOD) chikhoza kupitirira nthawi 4000, ndipo chiwerengero cha ma cycle mu 70% mpaka 100% SOC interval (30% DOD) chikhoza kupitirira nthawi 3200. Zikuoneka kuti moyo wa kuzungulira umagwirizana kwambiri ndi nthawi ya SOC ndi kuya kwa kutulutsidwa kwa DOD, ndipo moyo wa kuzungulira kwa mabatire a lithiamu-ion umagwirizananso kwambiri ndi kutentha, kuyatsa ndi kutulutsa mphamvu, ndi zinthu zina, zomwe sizingachitike mwachisawawa.

Pomaliza, mabatire a lithiamu a AGV ndi amodzi mwa zigawo zazikulu za maloboti oyenda, ndipo tiyenera kuwasanthula ndikumvetsetsa mozama, makamaka kuphatikiza ndi zochitika zosiyanasiyana zogwiritsira ntchito maloboti osiyanasiyana, kuti tidziwe momwe amagwirira ntchito ndikulimbitsa kumvetsetsa kwathu kagwiritsidwe ntchito ka mabatire a lithiamu, kuti mabatire a lithiamu athe kutumikira bwino maloboti oyenda.