CN109080483A - A kind of automated guided vehicle changes battery methods and system - Google Patents
A kind of automated guided vehicle changes battery methods and system Download PDFInfo
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- CN109080483A CN109080483A CN201810923222.9A CN201810923222A CN109080483A CN 109080483 A CN109080483 A CN 109080483A CN 201810923222 A CN201810923222 A CN 201810923222A CN 109080483 A CN109080483 A CN 109080483A
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- guided vehicle
- automated guided
- electrical changing
- changing station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
- B60L2240/72—Charging station selection relying on external data
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Battery methods and system are changed the invention discloses a kind of automated guided vehicle, this method comprises: the current electric quantity of monitoring automated guided vehicle；When the current electric quantity of automated guided vehicle is lower than the first preset threshold, the task status of automated guided vehicle is obtained；When task status is no task, obtain the list of electrical changing station battery information and automated guided vehicle to each electrical changing station dynamic time matrix；According to dynamic time matrix and electrical changing station battery information list, the loading condition of the electrical changing station nearest apart from automated guided vehicle is obtained；When the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load, the electrical changing station is selected to change battery for the automated guided vehicle.Automated guided vehicle of the invention can be realized to avoid the peak hour on suitable opportunity changes electricity, can also stop connecing new task in low battery, preferentially carry out changing electricity, both improved the efficiency for changing battery, also ensure the normal operation of automated guided vehicle.
Description
Technical field
The present invention relates to automated guided vehicle charging fields more particularly to a kind of automated guided vehicle to change battery side
Method and system.
Background technique
AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ", is referred to equipped with electricity
Magnetically or optically equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and various transfer function
The transport vehicle of energy.
Automatic dock is to can all use AGV, battery operation of the AGV by installation, need in the loading of container, Discharging Process
Periodically to charge or replace battery for AGV just can guarantee the normal operation of AGV.Existing AGV is when needing to change battery, just directly
A nearest electrical changing station is looked for go according to quiet hour matrix (that is, time that the AGV pre-set reaches each electrical changing station)
Change battery.
Quiet hour matrix refer to from AGV be in initial position to each electrical changing station needed for the time, and AGV was being dispatched
Position where Cheng Zhongqi is to change, therefore, listed in time required for AGV to each electrical changing station and quiet hour matrix
Time exist enter and leave, therefore, the nearest electrical changing station accuracy directly searched out according to quiet hour matrix is lower, and extends
Replace the time of battery.
Summary of the invention
Battery methods and system are changed the object of the present invention is to provide a kind of automated guided vehicle, accurately finds distance certainly
The nearest electrical changing station of dynamic guide transport lorry, reduces the time of replacement battery.
Technical solution provided by the invention is as follows:
A kind of automated guided vehicle changes battery methods, comprising: monitors the current electric quantity of automated guided vehicle；When certainly
When the current electric quantity of dynamic guide transport lorry is lower than the first preset threshold, the task status of the automated guided vehicle is obtained；When
When the task status is no task, the list of electrical changing station battery information and the automated guided vehicle are obtained to each electrical changing station
Dynamic time matrix；According to the dynamic time matrix and the electrical changing station battery information list, acquisition is led automatically apart from described
Draw the loading condition of the nearest electrical changing station of transport vehicle；When the loading condition of the electrical changing station nearest apart from the automated guided vehicle
When for non-full load, the electrical changing station is selected to change battery for the automated guided vehicle.
In the above-mentioned technical solutions, it is warned, is reserved by electricity of first preset threshold to automated guided vehicle
Time enough arranges automated guided vehicle to carry out changing battery；It selects to change electricity in the automated guided vehicle to need to change battery
When standing, the nearest circuit that changes can be selected according to the physical location of automated guided vehicle, and be only in non-full negative in electrical changing station
Just automated guided vehicle can be allowed to go to change battery when load, so that automated guided vehicle is walked least road and can be realized and change battery,
And the unnecessary waiting time is reduced, improve the efficiency for changing battery.
Further, the electrical changing station battery information list includes: the available number of batteries of several electrical changing stations；The acquisition
The loading condition of the electrical changing station nearest apart from the automated guided vehicle specifically: judge apart from the automated guided vehicle
Whether the available number of batteries of nearest electrical changing station is greater than default number of batteries；Default battery can be greater than with number of batteries when described
When quantity, the loading condition is non-full load.
In the above-mentioned technical solutions, by can be used number of batteries quickly and easily to judge the feelings of full load and non-full load
Condition.
Further, when the current electric quantity of automated guided vehicle is lower than the first preset threshold, the homing guidance is obtained
After the task status of transport vehicle further include: when the task status, which is, task, continue to execute task, after the completion of task,
The task status is updated to no task.
In the above-mentioned technical solutions, task has been first carried out when having task, guarantee task will not be delayed because of charge condition.
Further, described according to dynamic time matrix and the electrical changing station battery information list, it obtains apart from described automatic
After the loading condition of the nearest electrical changing station of guide transport lorry further include: when apart from the automated guided vehicle it is nearest change electricity
When the loading condition stood is full load, sends the destination locations task close apart from electrical changing station and the automated guided vehicle is allowed to hold
Row.
In the above-mentioned technical solutions, it realizes to avoid the peak hour and changes electricity, avoid the wasting of resources caused by the time for waiting in line to change battery.
It selects the task close apart from electrical changing station to be sent to automated guided vehicle, goes electrical changing station to change electricity nearby after its completion task convenient for allowing
Time loss of the automated guided vehicle in distance is reduced in pond.
Further, after the current electric quantity of the monitoring automated guided vehicle further include: when automated guided vehicle
When current electric quantity is lower than the second preset threshold, the list of electrical changing station battery information and the automated guided vehicle are obtained to respectively changing electricity
The dynamic time matrix stood；According to the dynamic time matrix and the electrical changing station battery information list, select loading condition for
Non- full load and the electrical changing station nearest apart from the automated guided vehicle are that the automated guided vehicle changes battery.
In the above-mentioned technical solutions, different current electric quantity, executes different operations, and the setting of the second preset threshold guarantees
The normal operation of automated guided vehicle.
Battery system is changed the present invention also provides a kind of automated guided vehicle, comprising: electric quantity monitoring module, for monitoring
The current electric quantity of automated guided vehicle；State acquisition module is lower than first for the current electric quantity when automated guided vehicle
When preset threshold, the task status of the automated guided vehicle is obtained；Data obtaining module, for being when the task status
When without task, obtain the list of electrical changing station battery information and the automated guided vehicle to each electrical changing station dynamic time matrix；
Load acquisition module, for it is described certainly to obtain distance according to the dynamic time matrix and the electrical changing station battery information list
The loading condition of the nearest electrical changing station of dynamic guide transport lorry；Electrical changing station selecting module, for being transported when apart from the homing guidance
When the loading condition of the nearest electrical changing station of vehicle is non-full load, the electrical changing station is selected to change electricity for the automated guided vehicle
Pond.
In the above-mentioned technical solutions, it is warned, is reserved by electricity of first preset threshold to automated guided vehicle
Time enough arranges automated guided vehicle to carry out changing battery；It selects to change electricity in the automated guided vehicle to need to change battery
When standing, the nearest circuit that changes can be selected according to the physical location of automated guided vehicle, and be only in non-full negative in electrical changing station
Just automated guided vehicle can be allowed to go to change battery when load, so that automated guided vehicle is walked least road and can be realized and change battery,
And the unnecessary waiting time is reduced, improve the efficiency for changing battery.
Further, the electrical changing station battery information list includes: the available number of batteries of several electrical changing stations；The load
Module is obtained, for according to the dynamic time matrix and the electrical changing station battery information list, acquisition to be led automatically apart from described
Draw the loading condition of the nearest electrical changing station of transport vehicle specifically: the load obtains module, leads automatically for judging apart from described
Whether the available number of batteries for drawing the nearest electrical changing station of transport vehicle is greater than default number of batteries；It can be greater than with number of batteries when described
When default number of batteries, the loading condition is non-full load.
Further, further includes: state update module, for continuing to execute task when the task status, which is, task,
After the completion of task, the task status is updated to no task.
Further, further includes: task sending module, for when the electrical changing station nearest apart from the automated guided vehicle
When loading condition is full load, sends the destination locations task close apart from electrical changing station and the automated guided vehicle is allowed to execute.
Further, the data obtaining module is further used for the current electric quantity when automated guided vehicle lower than second
When preset threshold, obtain the list of electrical changing station battery information and the automated guided vehicle to each electrical changing station dynamic time square
Battle array；The electrical changing station selecting module is further used for according to the dynamic time matrix and the electrical changing station battery information list,
It selects loading condition for non-full load and the electrical changing station nearest apart from the automated guided vehicle is the homing guidance transport
Vehicle changes battery.
Compared with prior art, automated guided vehicle of the invention change battery methods and system beneficial effect is:
The present invention supervises the current electric quantity of automated guided vehicle by the first preset threshold and the second preset threshold
Control enables automated guided vehicle to avoid the peak hour in the realization of suitable opportunity and changes electricity, can also stop connecing new task in low battery,
It preferentially carries out changing electricity, has both improved the efficiency for changing battery, also ensured the normal operation of automated guided vehicle.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of automated guided vehicle
Change battery methods and above-mentioned characteristic, technical characteristic, advantage and its implementation of system are further described.
Fig. 1 is the flow chart of safety protecting method one embodiment the present invention is based on mobile terminal；
Fig. 2 is that the present invention is based on the flow charts of another embodiment of the safety protecting method of mobile terminal；
Fig. 3 is the structural schematic diagram of security protection system one embodiment the present invention is based on mobile terminal；
Fig. 4 is that the present invention is based on the structural schematic diagrams of another embodiment of the security protection system of mobile terminal.
Fig. 5 is the structural schematic diagram for changing another embodiment of battery system of automated guided vehicle of the present invention；
Fig. 6 is the structural schematic diagram for changing another embodiment of battery system of automated guided vehicle of the present invention.
Drawing reference numeral explanation:
1. physiological data obtains module, 2. memory modules, 3. comparison modules, 4. unlocked states, 5. monitoring modulars, 6. are executed
Module, 7. several judgment modules, 8. several sub-module storeds, 9. sending modules, 10. mailbox sub-module storeds, 11. positions are obtained
Take submodule, 12. data dump modules, 13. shutdown modules.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In automating unmanned harbour, each automated guided vehicle is uniformly to be managed, dispatched, platform by a platform
Loading, unloading can be gone according to certain each automated guided vehicle of rule-based scheduling, can also monitor each automated guided vehicle constantly
Charge condition, arrange the automated guided vehicle of low battery to go to change battery, the concrete mode for changing battery please refers to following each realities
Apply example.
In one embodiment of the invention, as shown in Figure 1, a kind of automated guided vehicle changes battery methods, comprising:
The current electric quantity of S101 monitoring automated guided vehicle.
It is freighted and is unloaded specifically, automatic dock will use many automated guided vehicles, it is automatic in order to guarantee
The normal operation of guide transport lorry, the current electric quantity of meeting all automated guided vehicles of real-time monitoring.
S102 obtains automated guided vehicle when the current electric quantity of automated guided vehicle is lower than the first preset threshold
Task status.
Specifically, the first preset threshold self-setting according to actual needs, such as: 60%.The setting of first preset threshold
It is to set about arranging in advance subsequent changing scheduling batteries in order to which the electricity to automated guided vehicle warns.Certainly, if automatically
Guide transport lorry is using charging modes, that is, schedule ahead charging schedule.
S103 obtains the list of electrical changing station battery information and automated guided vehicle to respectively changing when task status is no task
The dynamic time matrix in power station.
Specifically, the task status for being arranged to change the automated guided vehicle of battery is no task, guarantee is led automatically
Draw transport vehicle change battery process will not influence automatic dock loading, unloading.
Dynamic time matrix is updated according to the current location of automated guided vehicle, therefore, automated guided vehicle
It is also dynamic change to the time of each electrical changing station and distance in different positions.
When the current electric quantity of automated guided vehicle is lower than the first preset threshold, the task of automated guided vehicle is obtained
After state further include: when task status, which is, task, continue to execute task, after the completion of task, task status is updated to
Without task.
Specifically, be lower than the first preset threshold when, automated guided vehicle be in interchangeable battery can also battery non-exchanging rank
Therefore section if task status is to have task, can first carry out task, after task execution is complete, task status just becomes nothing and appoints
Business, then executes S103 again.
S104 is obtained nearest apart from automated guided vehicle according to dynamic time matrix and electrical changing station battery information list
The loading condition of electrical changing station.
Specifically, the electrical changing station nearest from it can be found according to the dynamic time matrix of automated guided vehicle, according to
The loading condition of this electrical changing station is found in electrical changing station battery information list.
Different definition can be set in loading condition, such as: number of batteries can be used in electrical changing station, and/or, changing electricity
Pond and come the total quantity of the automated guided vehicle changed on battery road.According to actual use demand, determining for loading condition is set
Justice.
S105 selects this to change electricity when the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load
It stands and changes battery for automated guided vehicle.
Specifically, the condition of non-full load is determined according to the definition of loading condition.Such as: it is being changed if loading condition refers to
Battery and come the total quantity of the automated guided vehicle changed on battery road, define total quantity be greater than default vehicle amount quantity (such as:
30) it is full load, is non-full load no more than default vehicle amount quantity.
Why select to carry out changing battery when nearest electrical changing station is in non-full load, is to reduce homing guidance fortune
Defeated vehicle excludes the time of waiting, improves working efficiency.
It is warned in the present embodiment by electricity of first preset threshold to automated guided vehicle, when reserving enough
Between arrange automated guided vehicle carry out changing battery；When the automated guided vehicle to need to change battery selects electrical changing station, meeting
According to the selection of the physical location of automated guided vehicle it is nearest change circuit, and the only just meeting when electrical changing station is in non-full load
It allows automated guided vehicle to go to change battery, so that automated guided vehicle is walked least road and can be realized and change battery, and reduce not
The necessary waiting time improves the efficiency for changing battery.
In another embodiment of the present invention, as shown in Fig. 2, a kind of automated guided vehicle changes battery methods, packet
It includes:
The current electric quantity of S201 monitoring automated guided vehicle.
S202 obtains automated guided vehicle when the current electric quantity of automated guided vehicle is lower than the first preset threshold
Task status.
S203 continues to execute task when task status, which is, task, and after the completion of task, task status is updated to without appointing
Business.
S204 obtains the list of electrical changing station battery information and automated guided vehicle to respectively changing when task status is no task
The dynamic time matrix in power station, wherein electrical changing station battery information list includes: the available number of batteries of several electrical changing stations.
Such as: there are two electrical changing stations altogether, and electrical changing station battery information list includes: electrical changing station 1, can be with number of batteries
30；Electrical changing station 2 can be 100 with number of batteries.Dynamic time matrix includes: that this automated guided vehicle is apart from electrical changing station 1
50 meters, required time is 2 minutes；It is 100 meters apart from electrical changing station 2, required time is 4 minutes.
According to dynamic time matrix and electrical changing station battery information list, obtain apart from automated guided vehicle it is nearest change electricity
The loading condition stood.
Specifically, the electrical changing station nearest apart from this automated guided vehicle is electrical changing station 1 according to above-mentioned example.
According to dynamic time matrix and electrical changing station battery information list, obtain apart from automated guided vehicle it is nearest change electricity
The loading condition stood specifically:
S205 judges nearest apart from automated guided vehicle according to dynamic time matrix and electrical changing station battery information list
Whether the available number of batteries of electrical changing station is greater than default number of batteries；When available number of batteries is greater than default number of batteries, bear
Load situation is non-full load；When available number of batteries is not more than default battery data, loading condition is full load.
Specifically, default number of batteries is configured according to actual needs.Such as: default number of batteries is set as 20, in conjunction with
Above-mentioned example, the available number of batteries of electrical changing station 1 are 30, are greater than 20, therefore, electrical changing station 1 is in non-full load.
S206 selects this to change electricity when the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load
It stands and changes battery for automated guided vehicle.
S207 sends destination locations when the loading condition of the electrical changing station nearest apart from automated guided vehicle is full load
The task close apart from electrical changing station allows automated guided vehicle to execute.
Specifically, just arranging this if the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load
Automated guided vehicle goes to change battery.
If the loading condition of the electrical changing station nearest apart from automated guided vehicle is full load, homing guidance fortune is first arranged
Defeated vehicle goes execution task, and realization, which is avoided the peak hour, changes electricity, avoids the wasting of resources caused by the time for waiting in line to change battery.
And send new task to current electric quantity be lower than the first preset threshold automated guided vehicle when, select distance change electricity
Close task of standing is sent to it, goes electrical changing station to change battery nearby convenient for allowing after its completion task, reduces automated guided vehicle and exists
Time loss in distance.
It should be noted that therefore not to repeat here for the part of explanation same as the previously described embodiments in order to reduce repetition.
In the present embodiment, according to the loading condition that can use number of batteries that can quickly and easily judge electrical changing station；Completely negative
When load, by the task close apart from electrical changing station issue automated guided vehicle execute, facilitate its it is subsequent change battery, both realize mistake
Peak changes electricity, and improves the efficiency for changing battery, greatly reduces the time for changing battery.
In yet another embodiment of the present invention, as shown in figure 3, a kind of automated guided vehicle changes battery methods, packet
It includes:
The current electric quantity of S301 monitoring automated guided vehicle.
S302 obtains automated guided vehicle when the current electric quantity of automated guided vehicle is lower than the first preset threshold
Task status.
S303 continues to execute task when task status, which is, task, and after the completion of task, task status is updated to without appointing
Business.
S304 obtains the list of electrical changing station battery information and automated guided vehicle to respectively changing when task status is no task
The dynamic time matrix in power station, wherein electrical changing station battery information list includes: the available number of batteries of several electrical changing stations.
Optionally, it according to dynamic time matrix and electrical changing station battery information list, obtains apart from automated guided vehicle most
The loading condition of close electrical changing station specifically:
S305 judges nearest apart from automated guided vehicle according to dynamic time matrix and electrical changing station battery information list
Whether the available number of batteries of electrical changing station is greater than default number of batteries；When available number of batteries is greater than default number of batteries, bear
Load situation is non-full load；When available number of batteries is not more than default battery data, loading condition is full load.
S306 selects this to change electricity when the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load
It stands and changes battery for automated guided vehicle.
S307 sends destination locations when the loading condition of the electrical changing station nearest apart from automated guided vehicle is full load
The task close apart from electrical changing station allows automated guided vehicle to execute.
S308 obtains electrical changing station battery information column when the current electric quantity of automated guided vehicle is lower than the second preset threshold
The dynamic time matrix of table and automated guided vehicle to each electrical changing station.
S309 according to dynamic time matrix and electrical changing station battery information list, select loading condition for non-full load and away from
The electrical changing station nearest from automated guided vehicle is that automated guided vehicle changes battery.
Specifically, the second preset threshold refers to that the current electric quantity of automated guided vehicle comes into thin red line, need
Battery is changed at once.Second preset threshold is arranged according to actual service condition, such as: 40%.It should be noted that, when setting
It needs to comprehensively consider the emergency event that electrical changing station changes in cell process, reserves surplus, prevent electrical changing station in the process because of battery
Exhausting, which can not be successfully, reaches the situation generation that electrical changing station changes electricity.
It is preferentially looking for and nearest to change electricity when the current electric quantity of automated guided vehicle is lower than the second preset threshold
It stands, if nearest electrical changing station full load, then looks for the second close electrical changing station, if the second power station also full load, then look for third close
Electrical changing station, and so on, until finding non-full load, apart from nearest electrical changing station until.
The enough automated guided vehicles of general 1% electricity complete a task, and there is no automated guided vehicles to exist
The case where process discovery electricity of execution task is lower than the second preset threshold, the second preset threshold is occurred from occurring
In boundary line.Such as: the second preset threshold is 40%, and when automated guided vehicle is connected to a new task, current electric quantity is
40%, having executed this task becomes 39%, so that it may look for non-full load, change battery apart from nearest electrical changing station.Even if holding
Discovery current electric quantity becomes 39% during row, it is contemplated that electricity used in a task will not be infinitely more, can first carry out
After complete task, non-full load is directly looked for, change battery apart from nearest electrical changing station.
Explanation part identical with above-mentioned second embodiment is not repeated to illustrate in the present embodiment.
In the present embodiment when the current electric quantity of automated guided vehicle is lower than the second preset threshold, no longer receive an assignment,
Finding electrical changing station and changing battery is the event that override considers.The setting of second preset threshold makes automated guided vehicle in current electricity
When measuring too low, stops execution task, change battery, preferentially to guarantee to operate normally.
The present invention is provided with the first preset threshold and the second preset threshold and carries out to the current electric quantity of automated guided vehicle
Monitoring enables automated guided vehicle to avoid the peak hour in the realization of suitable opportunity and changes electricity, can also stop connecing new post in low battery
Business, preferentially carries out changing electricity, has both improved the efficiency for changing battery, also ensure the normal operation of automated guided vehicle.
In one embodiment of the invention, as shown in figure 4, a kind of automated guided vehicle changes battery system, comprising:
Electric quantity monitoring module 10, for monitoring the current electric quantity of automated guided vehicle.
It is freighted and is unloaded specifically, automatic dock will use many automated guided vehicles, it is automatic in order to guarantee
The normal operation of guide transport lorry, the current electric quantity of meeting all automated guided vehicles of real-time monitoring.
State acquisition module 20 is electrically connected with electric quantity monitoring module 10, for working as the current electric quantity of automated guided vehicle
When lower than the first preset threshold, the task status of automated guided vehicle is obtained.
Specifically, the first preset threshold self-setting according to actual needs, such as: 60%.The setting of first preset threshold
It is to set about arranging in advance subsequent changing scheduling batteries in order to which the electricity to automated guided vehicle warns.Certainly, if automatically
Guide transport lorry is using charging modes, that is, schedule ahead charging schedule.
Data obtaining module 30 is electrically connected with state acquisition module 20, for when task status is no task, acquisition to be changed
The dynamic time matrix of power station battery information list and automated guided vehicle to each electrical changing station.
Specifically, the task status for being arranged to change the automated guided vehicle of battery is no task, guarantee is led automatically
Draw transport vehicle change battery process will not influence automatic dock loading, unloading.
Dynamic time matrix is updated according to the current location of automated guided vehicle, therefore, automated guided vehicle
It is also dynamic change to the time of each electrical changing station and distance in different positions.
Automated guided vehicle changes battery system further include: state update module, for being to have task when task status
When, it continues to execute task, after the completion of task, task status is updated to no task.
Specifically, be lower than the first preset threshold when, automated guided vehicle be in interchangeable battery can also battery non-exchanging rank
Therefore section if task status is to have task, can first carry out task, after task execution is complete, task status just becomes nothing and appoints
It is engaged in, then data obtaining module 30, then obtains the list of electrical changing station battery information and automated guided vehicle to the dynamic of each electrical changing station
State time matrix.
Load obtains module 40, is electrically connected with data obtaining module 30, for according to dynamic time matrix and electrical changing station electricity
Pond information list obtains the loading condition of the electrical changing station nearest apart from automated guided vehicle.
Specifically, the electrical changing station nearest from it can be found according to the dynamic time matrix of automated guided vehicle, according to
The loading condition of this electrical changing station is found in electrical changing station battery information list.
Different definition can be set in loading condition, such as: number of batteries can be used in electrical changing station, and/or, changing electricity
Pond and come the total quantity of the automated guided vehicle changed on battery road.According to actual use demand, determining for loading condition is set
Justice.
Electrical changing station selecting module 50 obtains module 40 with load and is electrically connected, for when nearest apart from automated guided vehicle
Electrical changing station loading condition be non-full load when, select the electrical changing station to change battery for automated guided vehicle.
Specifically, the condition of non-full load is determined according to the definition of loading condition.Such as: it is being changed if loading condition refers to
Battery and come the total quantity of the automated guided vehicle changed on battery road, define total quantity be greater than default vehicle amount quantity (such as:
30) it is full load, is non-full load no more than default vehicle amount quantity.
Why select to carry out changing battery when nearest electrical changing station is in non-full load, is to reduce homing guidance fortune
Defeated vehicle excludes the time of waiting, improves working efficiency.
It is warned in the present embodiment by electricity of first preset threshold to automated guided vehicle, when reserving enough
Between arrange automated guided vehicle carry out changing battery；When the automated guided vehicle to need to change battery selects electrical changing station, meeting
According to the selection of the physical location of automated guided vehicle it is nearest change circuit, and the only just meeting when electrical changing station is in non-full load
It allows automated guided vehicle to go to change battery, so that automated guided vehicle is walked least road and can be realized and change battery, and reduce not
The necessary waiting time improves the efficiency for changing battery.
In another embodiment of the present invention, as shown in figure 5, a kind of automated guided vehicle changes battery system, packet
It includes:
Electric quantity monitoring module 10, for monitoring the current electric quantity of automated guided vehicle.
State acquisition module 20 is electrically connected with electric quantity monitoring module 10, for working as the current electric quantity of automated guided vehicle
When lower than the first preset threshold, the task status of automated guided vehicle is obtained.
State update module 60 is electrically connected with state acquisition module 20, for continuing to hold when task status, which is, task
Task status after the completion of task, is updated to no task by row task.
Data obtaining module 30 is electrically connected with state acquisition module 20 and state update module 60, for working as task status
When for no task, obtain the list of electrical changing station battery information and automated guided vehicle to each electrical changing station dynamic time matrix,
In, electrical changing station battery information list includes: the available number of batteries of several electrical changing stations.
Such as: there are two electrical changing stations altogether, and electrical changing station battery information list includes: electrical changing station 1, can be with number of batteries
30；Electrical changing station 2 can be 100 with number of batteries.Dynamic time matrix includes: that this automated guided vehicle is apart from electrical changing station 1
50 meters, required time is 2 minutes；It is 100 meters apart from electrical changing station 2, required time is 4 minutes.
Load obtains module 40, is electrically connected with data obtaining module 30, for according to dynamic time matrix and electrical changing station electricity
Pond information list obtains the loading condition of the electrical changing station nearest apart from automated guided vehicle specifically:
Load obtains module 40, for judging that the available number of batteries of the electrical changing station nearest apart from automated guided vehicle is
It is no to be greater than default number of batteries；When available number of batteries is greater than default number of batteries, loading condition is non-full load；When available
When number of batteries is not more than default battery data, loading condition is full load.
Specifically, the electrical changing station nearest apart from this automated guided vehicle is electrical changing station 1 according to above-mentioned example.
Default number of batteries is configured according to actual needs.Such as: default number of batteries is set as 20, in conjunction with above-mentioned example
Son, the available number of batteries of electrical changing station 1 are 30, are greater than 20, therefore, electrical changing station 1 is in non-full load.
Electrical changing station selecting module 50 obtains module 40 with load and is electrically connected, for when nearest apart from automated guided vehicle
Electrical changing station loading condition be non-full load when, select the electrical changing station to change battery for automated guided vehicle.
Task sending module 70, with load obtain module 40 be electrically connected, for when apart from automated guided vehicle recently
When the loading condition of electrical changing station is full load, sends the destination locations task close apart from electrical changing station and automated guided vehicle is allowed to hold
Row.
Specifically, just arranging this if the loading condition of the electrical changing station nearest apart from automated guided vehicle is non-full load
Automated guided vehicle goes to change battery.
If the loading condition of the electrical changing station nearest apart from automated guided vehicle is full load, homing guidance fortune is first arranged
Defeated vehicle goes execution task, and realization, which is avoided the peak hour, changes electricity, avoids the wasting of resources caused by the time for waiting in line to change battery.
And send new task to current electric quantity be lower than the first preset threshold automated guided vehicle when, select distance change electricity
Close task of standing is sent to it, goes electrical changing station to change battery nearby convenient for allowing after its completion task, reduces automated guided vehicle and exists
Time loss in distance.
It should be noted that therefore not to repeat here with the part of the above system embodiment same interpretation in order to reduce repetition.
In the present embodiment, according to the loading condition that can use number of batteries that can quickly and easily judge electrical changing station；Completely negative
When load, by the task close apart from electrical changing station issue automated guided vehicle execute, facilitate its it is subsequent change battery, both realize mistake
Peak changes electricity, and improves the efficiency for changing battery, greatly reduces the time for changing battery.
In yet another embodiment of the present invention, as shown in fig. 6, a kind of automated guided vehicle changes battery system, packet
It includes:
Electric quantity monitoring module 10, for monitoring the current electric quantity of automated guided vehicle.
State acquisition module 20 is electrically connected with electric quantity monitoring module 10, for working as the current electric quantity of automated guided vehicle
When lower than the first preset threshold, the task status of automated guided vehicle is obtained.
State update module 60 is electrically connected with state acquisition module 20, for continuing to hold when task status, which is, task
Task status after the completion of task, is updated to no task by row task.
Data obtaining module 30 is electrically connected with state acquisition module 20 and state update module 60, for working as task status
When for no task, obtain the list of electrical changing station battery information and automated guided vehicle to each electrical changing station dynamic time matrix,
In, electrical changing station battery information list includes: the available number of batteries of several electrical changing stations.
Load obtains module 40, is electrically connected with data obtaining module 30, for according to dynamic time matrix and electrical changing station electricity
Pond information list obtains the loading condition of the electrical changing station nearest apart from automated guided vehicle specifically:
Load obtains module 40, for judging that the available number of batteries of the electrical changing station nearest apart from automated guided vehicle is
It is no to be greater than default number of batteries；When available number of batteries is greater than default number of batteries, loading condition is non-full load；When available
When number of batteries is not more than default battery data, loading condition is full load.
Electrical changing station selecting module 50 obtains module 40 with load and is electrically connected, for when nearest apart from automated guided vehicle
Electrical changing station loading condition be non-full load when, select the electrical changing station to change battery for automated guided vehicle.
Task sending module 70, with load obtain module 40 be electrically connected, for when apart from automated guided vehicle recently
When the loading condition of electrical changing station is full load, sends the destination locations task close apart from electrical changing station and automated guided vehicle is allowed to hold
Row.
Data obtaining module 30 is further used for the current electric quantity when automated guided vehicle lower than the second preset threshold
When, obtain the list of electrical changing station battery information and automated guided vehicle to each electrical changing station dynamic time matrix.
Electrical changing station selecting module 50 is electrically connected with data obtaining module 30, be further used for according to dynamic time matrix and
Electrical changing station battery information list, selects loading condition for non-full load and the electrical changing station nearest apart from automated guided vehicle is
Automated guided vehicle changes battery.
Specifically, the second preset threshold refers to that the current electric quantity of automated guided vehicle comes into thin red line, need
Battery is changed at once.Second preset threshold is arranged according to actual service condition, such as: 40%.It should be noted that, when setting
It needs to comprehensively consider the emergency event that electrical changing station changes in cell process, reserves surplus, prevent electrical changing station in the process because of battery
Exhausting, which can not be successfully, reaches the situation generation that electrical changing station changes electricity.
It is preferentially looking for and nearest to change electricity when the current electric quantity of automated guided vehicle is lower than the second preset threshold
It stands, if nearest electrical changing station full load, then looks for the second close electrical changing station, if the second power station also full load, then look for third close
Electrical changing station, and so on, until finding non-full load, apart from nearest electrical changing station until.
The enough automated guided vehicles of general 1% electricity complete a task, and there is no automated guided vehicles to exist
The case where process discovery electricity of execution task is lower than the second preset threshold, the second preset threshold is occurred from occurring
In boundary line.Such as: the second preset threshold is 40%, and when automated guided vehicle is connected to a new task, current electric quantity is
40%, having executed this task becomes 39%, so that it may look for non-full load, change battery apart from nearest electrical changing station.Even if holding
Discovery current electric quantity becomes 39% during row, it is contemplated that electricity used in a task will not be infinitely more, can first carry out
After complete task, non-full load is directly looked for, change battery apart from nearest electrical changing station.
Explanation part identical with above-mentioned second system embodiment is not repeated to illustrate in the present embodiment.
In the present embodiment when the current electric quantity of automated guided vehicle is lower than the second preset threshold, no longer receive an assignment,
Finding electrical changing station and changing battery is the event that override considers.The setting of second preset threshold makes automated guided vehicle in current electricity
When measuring too low, stops execution task, change battery, preferentially to guarantee to operate normally.
The present invention is provided with the first preset threshold and the second preset threshold and carries out to the current electric quantity of automated guided vehicle
Monitoring enables automated guided vehicle to avoid the peak hour in the realization of suitable opportunity and changes electricity, can also stop connecing new post in low battery
Business, preferentially carries out changing electricity, has both improved the efficiency for changing battery, also ensure the normal operation of automated guided vehicle.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of automated guided vehicle changes battery methods characterized by comprising
Monitor the current electric quantity of automated guided vehicle；
When the current electric quantity of automated guided vehicle is lower than the first preset threshold, the task of the automated guided vehicle is obtained
State；
When the task status is no task, the list of electrical changing station battery information and the automated guided vehicle are obtained to respectively changing
The dynamic time matrix in power station；
According to the dynamic time matrix and the electrical changing station battery information list, obtain apart from the automated guided vehicle most
The loading condition of close electrical changing station；
When the loading condition of the electrical changing station nearest apart from the automated guided vehicle is non-full load, the electrical changing station is selected
Battery is changed for the automated guided vehicle.
2. automated guided vehicle as described in claim 1 changes battery methods, it is characterised in that:
The electrical changing station battery information list includes: the available number of batteries of several electrical changing stations；
The loading condition for obtaining the electrical changing station nearest apart from the automated guided vehicle specifically:
Judge whether the available number of batteries of the electrical changing station nearest apart from the automated guided vehicle is greater than default number of batteries；
When it is described can be greater than default number of batteries with number of batteries when, the loading condition is non-full load.
3. automated guided vehicle as described in claim 1 changes battery methods, which is characterized in that work as automated guided vehicle
Current electric quantity when being lower than the first preset threshold, after the task status for obtaining the automated guided vehicle further include:
When the task status, which is, task, task is continued to execute, after the completion of task, the task status is updated to without appointing
Business.
4. automated guided vehicle as described in claim 1 changes battery methods, which is characterized in that described according to dynamic time
Matrix and the electrical changing station battery information list obtain the loading condition of the electrical changing station nearest apart from the automated guided vehicle
Later further include:
When the loading condition of the electrical changing station nearest apart from the automated guided vehicle is full load, destination locations distance is sent
The close task of electrical changing station allows the automated guided vehicle to execute.
5. automated guided vehicle as described in claim 1 changes battery methods, which is characterized in that the monitoring homing guidance
After the current electric quantity of transport vehicle further include:
When the current electric quantity of automated guided vehicle is lower than the second preset threshold, electrical changing station battery information list and described is obtained
Dynamic time matrix of the automated guided vehicle to each electrical changing station；
According to the dynamic time matrix and the electrical changing station battery information list, select loading condition for non-full load and away from
The electrical changing station nearest from the automated guided vehicle is that the automated guided vehicle changes battery.
6. a kind of automated guided vehicle changes battery system characterized by comprising
Electric quantity monitoring module, for monitoring the current electric quantity of automated guided vehicle；
State acquisition module, for when the current electric quantity of automated guided vehicle is lower than the first preset threshold, acquisition to be described certainly
The task status of dynamic guide transport lorry；
Data obtaining module, for when the task status be no task when, obtain the list of electrical changing station battery information and it is described oneself
Dynamic time matrix of the dynamic guide transport lorry to each electrical changing station；
Load obtains module, for obtaining apart from institute according to the dynamic time matrix and the electrical changing station battery information list
State the loading condition of the nearest electrical changing station of automated guided vehicle；
Electrical changing station selecting module is non-full negative for the loading condition when the electrical changing station nearest apart from the automated guided vehicle
When load, the electrical changing station is selected to change battery for the automated guided vehicle.
7. automated guided vehicle as claimed in claim 6 changes battery system, it is characterised in that:
The electrical changing station battery information list includes: the available number of batteries of several electrical changing stations；
The load obtains module, for according to the dynamic time matrix and the electrical changing station battery information list, obtain away from
The loading condition of the electrical changing station nearest from the automated guided vehicle specifically:
The load obtains module, for judging the available number of batteries of the electrical changing station nearest apart from the automated guided vehicle
Whether default number of batteries is greater than；When it is described can be greater than default number of batteries with number of batteries when, the loading condition is non-full
Load.
8. automated guided vehicle as claimed in claim 6 changes battery system, which is characterized in that further include:
State update module, will be described after the completion of task for continuing to execute task when the task status, which is, task
Task status is updated to no task.
9. automated guided vehicle as claimed in claim 6 changes battery system, which is characterized in that further include:
Task sending module is full load for the loading condition when the electrical changing station nearest apart from the automated guided vehicle
When, it sends the destination locations task close apart from electrical changing station and the automated guided vehicle is allowed to execute.
10. automated guided vehicle as claimed in claim 6 changes battery system, it is characterised in that:
The data obtaining module is further used for when the current electric quantity of automated guided vehicle is lower than the second preset threshold,
Obtain the list of electrical changing station battery information and the automated guided vehicle to each electrical changing station dynamic time matrix；
The electrical changing station selecting module is further used for being arranged according to the dynamic time matrix and the electrical changing station battery information
Table, selects loading condition for non-full load and the electrical changing station nearest apart from the automated guided vehicle is the homing guidance
Transport vehicle changes battery.
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