CN109910659A - Automated guided vehicle running fix charging method and its system - Google Patents
Automated guided vehicle running fix charging method and its system Download PDFInfo
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- 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
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- 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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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Abstract
The present invention discloses automated guided vehicle running fix charging system, including several vehicle detection terminals, several charging piles detection terminal, storing data library and server；Server is connect with several vehicle detection terminals, several charging piles detection terminal, storing data library respectively.Automated guided vehicle running fix charging method and its system provided by the invention, by the position for obtaining transport vehicle, transport vehicle electricity, transport vehicle running track is judged according to the real time position of transport vehicle, and it is detected by charging pile position detection and charging pile Interface status, determine the state of charging pile, it screens on transport vehicle running track apart from transport vehicle apart from the nearest unappropriated charging pile position of charging interface, guide the position of transport vehicle running fix charging pile, to maximize the efficiency that degree improves vehicle transport, it solves the problems, such as that charging pile position can not be automatically found during vehicle transport, improve convenience and accuracy that vehicle finds charging pile.
Description
Technical field
The invention belongs to Vehicular charging technical fields, are related to automated guided vehicle running fix charging system.
Background technique
It the characteristics of gradually attention with people to environment, electric car reduces discharge, is widely promoted, at present vehicle
The clean energy resourcies such as electric energy are converted by traditional fossil energy, meet can current environment requirement.
Electric car is prevailing at present, and the requirement to charging pile is also increasing, and charging pile is distributed in different positions, is
Electric car provides the energy, since the cruising ability of electric car is limited, before automobile power consumption completely, need to charge,
The energy is provided, still, how much existing automobile can not automatically screen the position of charging pile according to vehicle electricity, and guide vehicle row
The position for being moved to charging pile is sailed, leads to the low efficiency of vehicle searching charging pile and there may be wait in line asking for charging
Topic, serious waste Vehicular charging waiting time.
Summary of the invention
The purpose of the present invention is to provide automated guided vehicle running fix charging method and its system, solve existing
When having Vehicular charging, devotes a tremendous amount of time and find charging pile and the long problem of queue waiting time that charges, it can not be accurately
Guidance vehicle navigates to unappropriated charging pile charging, has the characteristics that accuracy is high.
The purpose of the present invention can be achieved through the following technical solutions:
Automated guided vehicle running fix charging system, including the detection of several vehicle detection terminals, several charging piles is eventually
End, storing data library and server；
Server is connect with several vehicle detection terminals, several charging piles detection terminal, storing data library respectively；
Vehicle detection terminal for obtaining electricity, the position of transport vehicle and the movement rail of transport vehicle of transport vehicle in real time
Mark, and the motion profile of the electricity of transport vehicle, the position of transport vehicle and transport vehicle is sent to server, and display server
The charging pile position of transmission, guidance transport vehicle charge to specified charging pile；
Charging pile detection terminal includes that charging pile positioning obtains module, charging interface state detection module, the second communication biography
Defeated module, the second communication transmission module positions acquisition module with charging pile respectively and charging interface state detection module is connect；
It includes several charging pile positioning acquiring units that charging pile positioning, which obtains module, each charging pile positioning acquiring unit peace
On a charging pile, charging pile positioning acquiring unit is used to obtain the location information of charging pile, and the charging pile that will acquire
Location information be sent to the second communication transmission module, wherein charging pile is ranked up according to the number of setting, respectively 1,
2 ..., i ..., n, i are expressed as i-th of charging pile；
Charging interface state detection module is used for the chargeable Interface status of real-time detection charging pile, and charging pile is charged
The state of interface is sent to the second communication transmission module；
Second communication transmission module is used to receive charging pile positioning and obtains charging pile location information, the Yi Jijie that module is sent
The charging pile Interface status that charging interface state detection module is sent is received, counts the quantity of remaining charging interface, and by charging pile
The state of location information and charging pile charging interface is sent to server；
Storing data library is for storing the corresponding operating range of different electricity, between storing transport vehicle from starting point to terminal
All routing informations, and all routing informations are numbered, respectively 1,2 ..., j ..., m, j are expressed as j-th of transport
Path, and it is stored with the location information that charging pile positioning obtains the charging pile that module is sent；
Server receives the location information that charging pile positioning obtains each charging pile that module is sent, and each charging pile is corresponding
Location information compared with several routing informations, count each charging pile to the vertical range between each path, screen charging pile
To the smallest path of vertical range between each path, and the vertical range of the charging pile and the charging pile between path is minimum
Path matched, obtain path allocation set Aj(aj1,aj2,...,ajk,...,ajH), ajK is expressed as on j-th of path
K-th of charging pile；
Server receives the transport vehicle information about power that the first communication transmission module is sent in several vehicle detection terminals, transport
Truck position information and vehicle transport track, server is according to all paths stored in vehicle transport track and storing data library
It compares, to screen the path number of transport vehicle transport, power threshold of the server to received transport vehicle electricity and setting
It compares, then server compares the different electricity stored in transport vehicle electricity and storing data library, to determine transport
The distance of the electricity traveling of vehicle；
Server receives position and the charging interface state for each charging pile that charging pile detection terminal is sent, and extracts vehicle
The not used charging pile position of charging pile interface on driving path each charging pile is screened according to the distance that transport vehicle electricity travels
The distance in the terminal distance transport workshop charging pile in the distance range that transport vehicle electricity travels is detected, and by vehicle running path
On the nearest unappropriated charging pile position of the distance apart from transport vehicle be sent to vehicle detection terminal.
Further, the vehicle detection terminal includes electric power detection module, vehicle localization module, track of vehicle generation mould
Block, display module and the first communication transmission module, the first communication transmission module respectively with electric power detection module, vehicle location mould
Block, track of vehicle generation module are connected with display module, and vehicle localization module is connect with track of vehicle generation module；
Electric power detection module is used for the information about power of real-time detection transport vehicle, and the information about power of transport vehicle is sent to the
One communication transmission module；
Vehicle localization module for obtaining the location information of transport vehicle, and the location information for the transport vehicle that will acquire point in real time
It is not sent to track of vehicle generation module and the first communication transmission module；
Track of vehicle generation module is used to obtain the starting point and terminal of vehicle, and the real time position travelled according to transport vehicle
Information generates the track route of vehicle transport, and the transport trajectory line road of generation is sent to the first communication transmission module；
Display module is used to be shown as the charging pile location information of transport vehicle charging, and transport vehicle is guided to travel to charging pile
Position；
First communication transmission module is connect with server, for receiving the transport vehicle electricity letter of electric power detection module transmission
Breath receives the transport vehicle location information that vehicle localization module is sent and the vehicle transport rail that track of vehicle generation module is sent
Mark, and received transport vehicle information about power, transport vehicle location information and vehicle transport track are sent to server, and receive
Server transmission is the charging pile position of transport vehicle charging.
Automated guided vehicle running fix charging method, comprising the following steps:
S1, the location information of real-time detection transport vehicle, the information about power in transport vehicle；
S2, the motion profile for generating transport vehicle, and it is several by being stored in the motion profile of transport vehicle and storing data library
Transportation route compares, and obtains the transportation route of transport vehicle；
The charged state of S3, the position for obtaining each charging pile and charging pile interface；
Vertical range on S4, each charging pile of statistics and each transportation route, screens and hangs down on each charging pile to each transportation route
Directly apart from the smallest transportation route, and the charging pile is divided on the smallest transportation route of the vertical range；
S5, the electricity of transport vehicle operating range corresponding from different electricity is screened, to determine transport vehicle electricity row
The distance sailed；
The unappropriated charging pile position of charging pile interface on transportation route where S6, screening transport vehicle；
S7, vehicle driving path on the unappropriated charging pile position nearest apart from transport vehicle distance be sent to transport
Vehicle, guidance transport vehicle charge to the charging pile position.
Beneficial effects of the present invention:
Automated guided vehicle running fix charging method and its system provided by the invention, by the position for obtaining transport vehicle
It sets, transport vehicle electricity, transport vehicle running track is judged according to the real time position of transport vehicle, and by charging pile position detection and fill
Electric staking mouth state-detection determines the state of charging pile, screens and fills apart from transport vehicle apart from nearest on transport vehicle running track
The unappropriated charging pile position of electrical interface guides the position of transport vehicle running fix charging pile, improves vehicle to maximize degree
The efficiency of transport, solves the problems, such as that charging pile position can not be automatically found during vehicle transport, improves vehicle and find and fill
The convenience and accuracy of electric stake reduce the time that charging is waited in line.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the schematic diagram of automated guided vehicle running fix charging system in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Refering to Figure 1, automated guided vehicle running fix charging system, if including several vehicle detection terminals,
Dry charging pile detection terminal, storing data library and server；
Server is connect with several vehicle detection terminals, several charging piles detection terminal, storing data library respectively；
Vehicle detection terminal include electric power detection module, vehicle localization module, track of vehicle generation module, display module and
First communication transmission module, the first communication transmission module are generated with electric power detection module, vehicle localization module, track of vehicle respectively
Module is connected with display module, and vehicle localization module is connect with track of vehicle generation module；
Electric power detection module is used for the information about power of real-time detection transport vehicle, and the information about power of transport vehicle is sent to the
One communication transmission module；
Vehicle localization module for obtaining the location information of transport vehicle, and the location information for the transport vehicle that will acquire point in real time
It is not sent to track of vehicle generation module and the first communication transmission module；
Track of vehicle generation module is used to obtain the starting point and terminal of vehicle, and the real time position travelled according to transport vehicle
Information generates the track route of vehicle transport, and the transport trajectory line road of generation is sent to the first communication transmission module；
Display module is used to be shown as the charging pile location information of transport vehicle charging, and transport vehicle is guided to travel to charging pile
Position；
First communication transmission module is connect with server, for receiving the transport vehicle electricity letter of electric power detection module transmission
Breath receives the transport vehicle location information that vehicle localization module is sent and the vehicle transport rail that track of vehicle generation module is sent
Mark, and received transport vehicle information about power, transport vehicle location information and vehicle transport track are sent to server, and receive
Server transmission is the charging pile position of transport vehicle charging；
Charging pile detection terminal includes that charging pile positioning obtains module, charging interface state detection module, the second communication biography
Defeated module, the second communication transmission module positions acquisition module with charging pile respectively and charging interface state detection module is connect；
It includes several charging pile positioning acquiring units that charging pile positioning, which obtains module, each charging pile positioning acquiring unit peace
On a charging pile, charging pile positioning acquiring unit is used to obtain the location information of charging pile, and the charging pile that will acquire
Location information be sent to the second communication transmission module, wherein charging pile is ranked up according to the number of setting, respectively 1,
2 ..., i ..., n, i are expressed as i-th of charging pile；
Charging interface state detection module is used for the chargeable Interface status of real-time detection charging pile, and charging pile is charged
The state of interface is sent to the second communication transmission module；
Second communication transmission module is used to receive charging pile positioning and obtains charging pile location information, the Yi Jijie that module is sent
The charging pile Interface status that charging interface state detection module is sent is received, counts the quantity of remaining charging interface, and by charging pile
The state of location information and charging pile charging interface is sent to server；
Storing data library is for storing the corresponding operating range of different electricity, between storing transport vehicle from starting point to terminal
All routing informations, and all routing informations are numbered, respectively 1,2 ..., j ..., m, j are expressed as j-th of transport
Path, and it is stored with the location information that charging pile positioning obtains the charging pile that module is sent；
Server receives the location information that charging pile positioning obtains each charging pile that module is sent, and each charging pile is corresponding
Location information compared with several routing informations, count each charging pile to the vertical range between each path, screen charging pile
To the smallest path of vertical range between each path, and the vertical range of the charging pile and the charging pile between path is minimum
Path matched, obtain path allocation set Aj(aj1,aj2,...,ajk,...,ajH), ajK is expressed as on j-th of path
K-th of charging pile；
Server receives the transport vehicle information about power that the first communication transmission module is sent in several vehicle detection terminals, transport
Truck position information and vehicle transport track, server is according to all paths stored in vehicle transport track and storing data library
It compares, to screen the path number of transport vehicle transport, power threshold of the server to received transport vehicle electricity and setting
It compares, then server compares the different electricity stored in transport vehicle electricity and storing data library, to determine transport
The distance of the electricity traveling of vehicle；
Server receives position and the charging interface state for each charging pile that charging pile detection terminal is sent, and extracts vehicle
The not used charging pile position of charging pile interface on driving path each charging pile is screened according to the distance that transport vehicle electricity travels
The distance in the terminal distance transport workshop charging pile in the distance range that transport vehicle electricity travels is detected, and by vehicle running path
On the nearest unappropriated charging pile position of the distance apart from transport vehicle be sent to vehicle detection terminal.
Automated guided vehicle running fix charging method, comprising the following steps:
S1, the location information of real-time detection transport vehicle, the information about power in transport vehicle；
S2, the motion profile for generating transport vehicle, and it is several by being stored in the motion profile of transport vehicle and storing data library
Transportation route compares, and obtains the transportation route of transport vehicle；
The charged state of S3, the position for obtaining each charging pile and charging pile interface；
Vertical range on S4, each charging pile of statistics and each transportation route, screens and hangs down on each charging pile to each transportation route
Directly apart from the smallest transportation route, and the charging pile is divided on the smallest transportation route of the vertical range；
S5, the electricity of transport vehicle operating range corresponding from different electricity is screened, to determine transport vehicle electricity row
The distance sailed；
The unappropriated charging pile position of charging pile interface on transportation route where S6, screening transport vehicle；
S7, vehicle driving path on the unappropriated charging pile position nearest apart from transport vehicle distance be sent to transport
Vehicle, guidance transport vehicle charge to the charging pile position.
The above content is just an example and description of the concept of the present invention, affiliated those skilled in the art
It makes various modifications or additions to the described embodiments or is substituted in a similar manner, without departing from invention
Design or beyond the scope defined by this claim, be within the scope of protection of the invention.
Claims (3)
1. automated guided vehicle running fix charging system, it is characterised in that: including several vehicle detection terminals, several chargings
Stake detection terminal, storing data library and server；
Server is connect with several vehicle detection terminals, several charging piles detection terminal, storing data library respectively；
Electricity, the position of transport vehicle and the motion profile of transport vehicle of the vehicle detection terminal for acquisition transport vehicle in real time, and
The motion profile of the electricity of transport vehicle, the position of transport vehicle and transport vehicle is sent to server, and display server is sent
Charging pile position, guidance transport vehicle charge to specified charging pile；
Charging pile detection terminal includes that charging pile positioning obtains module, charging interface state detection module, the second communications mould
Block, the second communication transmission module positions acquisition module with charging pile respectively and charging interface state detection module is connect；
It includes several charging pile positioning acquiring units that charging pile positioning, which obtains module, and each charging pile positioning acquiring unit is mounted on
On one charging pile, charging pile positioning acquiring unit is used to obtain the location information of charging pile, and the position for the charging pile that will acquire
Confidence breath is sent to the second communication transmission module, wherein charging pile is ranked up according to the number of setting, respectively 1,2 ...,
I ..., n, i are expressed as i-th of charging pile；
Charging interface state detection module is used for the chargeable Interface status of real-time detection charging pile, and by charging pile charging interface
State be sent to the second communication transmission module；
Second communication transmission module, which is used to receive charging pile positioning and obtains the charging pile location information of module transmission and receive, fills
The charging pile Interface status that electrical interface state detection module is sent, counts the quantity of remaining charging interface, and by the position of charging pile
Information and the state of charging pile charging interface are sent to server；
Storing data library is all between storing transport vehicle from starting point to terminal for storing the corresponding operating range of different electricity
Routing information, and all routing informations are numbered, respectively 1,2 ..., j ..., m, j are expressed as j-th of transportation route,
And it is stored with the location information that charging pile positioning obtains the charging pile that module is sent；
Server receives the location information that charging pile positioning obtains each charging pile that module is sent, and by the corresponding position of each charging pile
Confidence breath is compared with several routing informations, is counted each charging pile to the vertical range between each path, is screened charging pile to respectively
The smallest path of vertical range between path, and by the smallest road of the vertical range of the charging pile and the charging pile between path
Diameter is matched, and path allocation set A is obtainedj(aj1,aj2,...,ajk,...,ajH), ajK is expressed as on j-th of path
K charging pile；
Server receives the transport vehicle information about power that the first communication transmission module is sent in several vehicle detection terminals, transport parking stall
Confidence breath and vehicle transport track, server are carried out according to all paths stored in vehicle transport track and storing data library
Comparison, to screen the path number of transport vehicle transport, server carries out the power threshold of received transport vehicle electricity and setting
Comparison, then server compares the different electricity stored in transport vehicle electricity and storing data library, to determine transport vehicle
The distance of electricity traveling；
Server receives position and the charging interface state for each charging pile that charging pile detection terminal is sent, and extracts vehicle driving
The not used charging pile position of charging pile interface on path each charging pile detection is screened according to the distance that transport vehicle electricity travels
The distance in terminal distance transport workshop charging pile in the distance range that transport vehicle electricity travels, and will be on vehicle running path
The unappropriated charging pile position of distance recently apart from transport vehicle is sent to vehicle detection terminal.
2. automated guided vehicle running fix charging system according to claim 1, it is characterised in that: the vehicle inspection
Surveying terminal includes electric power detection module, vehicle localization module, track of vehicle generation module, display module and the first communications mould
Block, the first communication transmission module respectively with electric power detection module, vehicle localization module, track of vehicle generation module and display module
Connection, vehicle localization module are connect with track of vehicle generation module；
Electric power detection module is used for the information about power of real-time detection transport vehicle, and the information about power of transport vehicle is sent to first and is led to
Believe transmission module；
Vehicle localization module for obtaining the location information of transport vehicle in real time, and the location information for the transport vehicle that will acquire is sent out respectively
It send to track of vehicle generation module and the first communication transmission module；
Track of vehicle generation module is used to obtain the starting point and terminal of vehicle, and the real-time position information travelled according to transport vehicle
The track route for generating vehicle transport, is sent to the first communication transmission module for the transport trajectory line road of generation；
Display module is used to be shown as the charging pile location information of transport vehicle charging, and transport vehicle is guided to travel to charging pile position
It sets；
First communication transmission module is connect with server, for receiving the transport vehicle information about power of electric power detection module transmission, connecing
The transport vehicle location information that vehicle localization module is sent and the vehicle transport track that track of vehicle generation module is sent are received, and will
Received transport vehicle information about power, transport vehicle location information and vehicle transport track are sent to server, and receive server
Transmission is the charging pile position of transport vehicle charging.
3. automated guided vehicle running fix charging method, it is characterised in that: the following steps are included:
S1, the location information of real-time detection transport vehicle, the information about power in transport vehicle；
S2, the motion profile for generating transport vehicle, and several transports that will be stored in the motion profile of transport vehicle and storing data library
Path compares, and obtains the transportation route of transport vehicle；
The charged state of S3, the position for obtaining each charging pile and charging pile interface；
Vertical range on S4, each charging pile of statistics and each transportation route, screen on each charging pile to each transportation route vertically away from
It is divided on the smallest transportation route of the vertical range from the smallest transportation route, and by the charging pile；
S5, the electricity of transport vehicle operating range corresponding from different electricity is screened, to determine transport vehicle electricity traveling
Distance；
The unappropriated charging pile position of charging pile interface on transportation route where S6, screening transport vehicle；
S7, vehicle driving path on the unappropriated charging pile position nearest apart from transport vehicle distance be sent to transport vehicle,
Guidance transport vehicle charges to the charging pile position.
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| CN201910184562.9A CN109910659A (en) | 2019-03-12 | 2019-03-12 | Automated guided vehicle running fix charging method and its system |
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| CN201910184562.9A CN109910659A (en) | 2019-03-12 | 2019-03-12 | Automated guided vehicle running fix charging method and its system |
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| CN110579218A (en) * | 2019-08-14 | 2019-12-17 | 深圳易马达科技有限公司 | Method and terminal for planning battery replacement path |
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| CN112537211A (en) * | 2019-09-23 | 2021-03-23 | 北京京东乾石科技有限公司 | Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium |
| CN113085618A (en) * | 2021-05-18 | 2021-07-09 | 上海交通大学宁波人工智能研究院 | Separated charging robot and charging method |
| CN113844314A (en) * | 2021-09-22 | 2021-12-28 | 益模(重庆)智能制造研究院有限公司 | AGV charging scheduling control method for automatic guided vehicle |
| CN114170829A (en) * | 2021-12-07 | 2022-03-11 | 国网电力有限公司 | New energy vehicle charging guide system |
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| CN110579218B (en) * | 2019-08-14 | 2022-04-29 | 深圳易马达科技有限公司 | Method and terminal for planning battery replacement path |
| CN110579218A (en) * | 2019-08-14 | 2019-12-17 | 深圳易马达科技有限公司 | Method and terminal for planning battery replacement path |
| CN112537211A (en) * | 2019-09-23 | 2021-03-23 | 北京京东乾石科技有限公司 | Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium |
| CN110949158A (en) * | 2019-12-08 | 2020-04-03 | 国网江苏省电力有限公司滨海县供电分公司 | Charging station convenient to enter and exit |
| CN111959299B (en) * | 2020-03-02 | 2021-12-21 | 国网江苏省电力有限公司电力科学研究院 | Charging control method and device |
| CN111959299A (en) * | 2020-03-02 | 2020-11-20 | 国网江苏省电力有限公司电力科学研究院 | Charging control method and device |
| CN111787086A (en) * | 2020-06-24 | 2020-10-16 | 中国三峡建设管理有限公司 | Method for identifying pile number of cable crane parking charging platform in concrete construction |
| CN111787086B (en) * | 2020-06-24 | 2022-08-09 | 中国三峡建设管理有限公司 | Method for identifying pile number of cable crane parking charging platform in concrete construction |
| CN112009296A (en) * | 2020-08-27 | 2020-12-01 | 西安达升科技股份有限公司 | Charging method based on Internet of things |
| CN112013857A (en) * | 2020-08-27 | 2020-12-01 | 西安达升科技股份有限公司 | Laser and visual AGV navigation method and system |
| CN112009291B (en) * | 2020-10-22 | 2021-03-23 | 北京国新智电新能源科技有限责任公司 | Mobile charging equipment scheduling method, system and device based on random position |
| CN113085618A (en) * | 2021-05-18 | 2021-07-09 | 上海交通大学宁波人工智能研究院 | Separated charging robot and charging method |
| CN113085618B (en) * | 2021-05-18 | 2022-04-19 | 上海交通大学宁波人工智能研究院 | Separated charging robot and charging method |
| CN113844314A (en) * | 2021-09-22 | 2021-12-28 | 益模(重庆)智能制造研究院有限公司 | AGV charging scheduling control method for automatic guided vehicle |
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Application publication date: 20190621 |