CN110854946A - Charging scheduling method and system, electronic device and storage medium - Google Patents
Charging scheduling method and system, electronic device and storage medium Download PDFInfo
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/67—Controlling two or more charging stations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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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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Abstract
The embodiment of the invention relates to the technical field of automatic guided vehicle control, and discloses a charging scheduling method and system, electronic equipment and a storage medium. The method comprises the following steps: receiving data reported by an AGV and a charger; wherein the data comprises: electric quantity information of the AGV; and determining the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority. According to the embodiment of the invention, the charging task of the AGV is scheduled by the central control according to the electric quantity of the AGV and the task state, so that the working efficiency of the AGV is further improved.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicle control, in particular to a charging scheduling method and system, electronic equipment and a storage medium.
Background
With the advance of the nation to the industrial intelligent industry, the traditional industrial production mode is gradually upgraded, and the unmanned production is realized. An Automated Guided Vehicle (AGV) plays an important role in modern industry, and can replace workers to complete various transport tasks. In order to ensure that the production efficiency is effectively improved, the AGV is required to autonomously complete charging.
The inventors found that the related art has at least the following problems: at present, point-to-point handshaking charging is realized between the AGV and a charger by means of an I/O sensor, ultrasonic waves and the like, so that the AGV cannot intelligently arrange charging tasks according to states such as self electric quantity, tasks and the like, the improvement of the working efficiency of the AGV is limited, the existing charging mode is unsafe, and once a fault occurs or handshaking data errors occur, unpredictable risks are generated.
Disclosure of Invention
The embodiment of the invention aims to provide a charging scheduling method and system, electronic equipment and a storage medium, which are beneficial to further improving the working efficiency of an AGV by scheduling a charging task of the AGV through central control according to the electric quantity of the AGV and the task state.
In order to solve the technical problem, an embodiment of the present invention provides a charging scheduling method, which is applied to a central control, wherein the central control is in communication connection with a plurality of AGVs and a plurality of chargers, and the method includes:
receiving the AGV and data reported by the charger; wherein the data comprises: electric quantity information of the AGV;
and determining the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority.
An embodiment of the present invention also provides an electronic device, including: a memory storing a computer program and a processor running the computer program to implement the charge scheduling method as described above.
Embodiments of the present invention also provide a method comprising: the system comprises a central control unit, a plurality of AGV and a plurality of chargers; the AGV and the charger are in communication connection with the central control unit;
the central control is the electronic device as described above.
Embodiments of the present invention also provide a storage medium for storing a computer-readable program for causing a computer to execute the charging scheduling method as described above.
Compared with the prior art, the embodiment of the invention receives data reported by an AGV and a charger, wherein the data comprises: and the electric quantity information of the AGVs determines the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controls the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority. Therefore, the central control determines the priority of the charging tasks of the AGVs according to the self electric quantity information of all the AGVs and the non-charging task states, so that the charging tasks and the non-charging tasks of the AGVs can be more intelligently scheduled, and the working efficiency of the AGVs is improved.
As an embodiment, the determining the priority of the charging task of the AGV according to the information of the electric quantity of the AGV and the non-charging task allocated to the AGV specifically includes:
determining the electric quantity grade of the AGV according to the electric quantity information of the AGV;
and determining the priority of the charging task of the AGV according to the electric quantity grade of the AGV and the corresponding relation between the preset electric quantity grade and the task priority.
As an embodiment, the determining the priority of the charging task of the AGV according to the power level of the AGV and the preset correspondence between the power level and the task priority specifically includes:
when the electric quantity level of the AGV is an alarm level, the priority of the charging task of the AGV is higher than the priority of all non-charging tasks;
when the electric quantity level of the AGV is a low electric quantity level, the priority of the charging task of the AGV is lower than the priority of the non-charging task currently executed by the AGV and is higher than the priority of all the non-charging tasks waiting to be executed by the AGV;
when the electric quantity level of the AGV is the medium level, the priority of the charging task of the AGV is lower than the priority of all non-charging tasks. Therefore, the non-charging task can be preferentially executed on the premise that the electric quantity of the AGV is guaranteed.
As one embodiment, the charging task includes: a charging preparation stage;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
in the charging preparation stage, if a charging start request reported by the charger is received, when the AGV is determined to reach the charger, the charger is controlled to execute a preset safe charging action and then the AGV is controlled to start charging; and the charger generates the charging starting request when the charging handshake with the AGV is successful. In the charging preparation stage, the charger and the AGV firstly carry out charging handshaking, the charger sends a charging starting request to the central control when the charging handshaking is successful, the central control controls the charger to execute a preset safe charging action when the central control determines that the AGV reaches the charger, and then controls the AGV to start charging.
As an embodiment, the charging task further comprises: a charging end stage;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
in the charging end stage, if a charging end request reported by the charger is received, the charger is controlled to execute a preset safe charging end action, and then the AGV is controlled to leave the charger; and the charger and the AGV generate the charging ending request when the charging ending handshake is successful. And in the charging end stage, the charger and the AGV firstly carry out charge ending handshake, the charger sends a charge ending request to the central control when the charge ending handshake is successful, and the central control controls the charger to execute a preset safe charge ending action and then controls the AGV to leave the charger. Therefore, the safety of the AGV leaving the charger after the charging is finished can be further improved.
As an embodiment, the charging task further comprises: a charging middle stage; the data further comprises: the AGV and abnormal information reported by the charger;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
and if the preset charging interruption condition is determined to be met according to the abnormal information, controlling the charger to execute a preset safe charging interruption action. Therefore, the safety of the AGV leaving the charger when the charging is interrupted can be further improved.
As one embodiment, the exception information includes one or any combination of:
the temperature abnormality, the charging voltage abnormality, the charging current abnormality, the entrance guard abnormality, the charging arm abnormality, the charging current abnormality and the entrance guard abnormality of the charger,
The AGV has abnormal temperature, abnormal charging voltage and abnormal charging current.
Drawings
Fig. 1 is a schematic structural diagram of a charge scheduling system according to the present invention;
fig. 2 is a flowchart of a charge scheduling method according to a first embodiment of the present invention;
fig. 3 is a schematic data interaction diagram of a complete charging process of a charging scheduling method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a third embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
As shown in fig. 1, the charge scheduling system includes: the system comprises a central control 100, a plurality of AGVs 200 and a plurality of chargers 300, wherein the AGVs 200 and the chargers 300 are in communication connection with the central control 100, and the AGVs 200 and the chargers 300 are in communication connection. Therefore, in the embodiment of the invention, the AGV, the charger and the central control form the Internet of things, and the states of the charger and the AGV can be displayed and monitored in a centralized manner. The first embodiment of the invention relates to a charging scheduling method, which is applied to central control in the charging scheduling system. The method comprises the following steps: receiving data reported by an AGV and a charger; wherein the data comprises: electric quantity information of the AGV; and determining the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority. Compared with the prior art, the embodiment of the invention receives data reported by an AGV and a charger, wherein the data comprises: and the electric quantity information of the AGVs determines the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controls the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority. Therefore, the central control determines the priority of the charging tasks of the AGVs according to the self electric quantity information of all the AGVs and the non-charging task states, so that the charging tasks and the non-charging tasks of the AGVs can be more intelligently scheduled, and the working efficiency of the AGVs is improved.
The following describes the charge scheduling method according to the present embodiment in detail with reference to fig. 2. The method includes steps 201 to 204.
Step 201: and receiving data reported by the AGV and the charger.
The data reported by the AGVs at least include the power information of the AGVs, and in practical application, the data reported by the AGVs may further include: positioning information of the AGVs, task execution state information of the AGVs, charging information of the BMS of the AGVs, I/O information of the AGVs, and the like. The positioning information of the AGV is, for example, real-time position information of the AGV. In this embodiment, the tasks of the AGV may be divided into a charging task, a non-charging task, and a standby task. Non-charging tasks include, among others: forking tasks, handling tasks, and the like. The task execution state information of the AGV is, for example, the current task is currently being executed, and the like. The charging information of the BMS includes, for example, switching information of the BMS, temperature information of the BMS, a charging voltage, and a charging current. The I/O information of the AGVs includes, for example, visual information of the AGVs, laser radar ranging information, etc. The present embodiment does not specifically limit the type of information reported by the AGVs. It should be noted that the AGV may report any information that is helpful for its charging task scheduling to the central control. The data reported by the charger include, for example: the charging state information of the charger, the I/O information of the charger, the abnormal information of the charger and the like. The charging state information of the charger includes, for example: the temperature information of the brush block of the charger, the charging voltage, the charging current, the charging time length and the like of the charger. The information reported to the central control by the charger is not specifically limited in this embodiment, and the charger can report all the relevant information contributing to the scheduling of the charging task to the central control. The central control unit and the charger adopt a universal communication protocol and a data structure, so that the communication between the chargers and the central control units of different types can be compatible, and the central control unit and the AGV also adopt the universal communication protocol and the data structure, so that the central control unit can communicate with the AGVs of different types. In practical application, the central control unit can centrally display and monitor the states of the AGVs and the charger according to the data reported by the AGVs and the charger. For example, the information of an idle charger, the information of a charger in charging, the information of a charger in fault and the like can be displayed in real time.
Step 202: and determining the electric quantity grade of the AGV according to the electric quantity information of the AGV.
Step 203: and determining the priority of the charging task of the AGV according to the electric quantity level of the AGV and the corresponding relation between the preset electric quantity level and the task priority.
In one example, the power level of the AGV is divided into the following four levels: alarm level, low power level, medium level, and full level. The alarm level is, for example, the power of the AGV is lower than 5% of the maximum power, and the low power level is, for example, the power of the AGV is greater than or equal to 5% of the maximum power and less than or equal to 20% of the maximum power. A medium level is, for example, a power level of the AGV that is greater than 20% and less than 80% of the maximum power level, and a full level is, for example, a power level of the AGV that is greater than 80% of the maximum power level. It should be understood that the power level of the AGV and the dividing manner of each power level are not particularly limited in this embodiment.
In step 203, when the power level of the AGV is the alarm level, the priority of the charging task of the AGV is higher than the priority of all the non-charging tasks. When the power level of the AGV is a low power level, the priority of the charging task of the AGV is lower than the priority of the non-charging task currently being executed by the AGV and higher than the priority of all the non-charging tasks waiting for the AGV to execute. When the power level of the AGV is in the medium level, the priority of the charging task of the AGV is lower than the priority of all non-charging tasks. When the electric quantity level of the AGV is a full level, the central control unit does not distribute the charging task to the AGV until the electric quantity level of the AGV reaches a medium level.
Step 204: and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high priority to low priority.
Specifically, in step 204, when the power level of the AGV reaches the alarm level, the central control unit controls the AGV to stop the non-charging task, such as the transport task, being executed, and only allows the AGV to autonomously execute the charging task. When the electric quantity level of the AGV is in a low electric quantity level, the central control unit controls the AGV to execute and complete a current non-charging task, then controls the AGV to automatically execute the charging task, and the non-charging task cannot interrupt the charging task until the electric quantity level of the AGV reaches a medium level. When the electric quantity level of the AGV is in the medium level, the central control unit controls the AGV to execute and complete all non-charging tasks distributed to the AGV, then controls the AGV to independently execute the charging tasks, and when the AGV is distributed with a new non-charging task, the charging task of the AGV can be interrupted by the new non-charging task. When the electric quantity level of the AGV is in a full level, the AGV executes the non-charging tasks according to the sequence of the priority levels from high to low, and when the non-charging tasks are executed, the AGV executes the standby tasks, namely when the electric quantity level of the AGV is in the full level, the central control unit does not distribute the charging tasks to the AGV.
In this embodiment, the non-charging task may be automatically generated by the central control, or may be added to the central control by a user through a User Interface (UI), and the central control may determine the priority of a non-charging task according to the attribute of the non-charging task, which is not described herein again.
Compared with the prior art, the AGV charging management system has the advantages that an IoT (Internet of Things) concept is utilized, the AGV and the charger clusters of a factory and the like are uniformly managed through central control, so that the priority of the charging tasks of the AGV can be determined according to the electric quantity of the AGV and the task state of the carrying task, the carrying task is executed more reasonably and efficiently on the premise that the safe electric quantity of the AGV is guaranteed, and the working efficiency of the AGV clusters is improved.
The second embodiment of the present invention relates to a charging scheduling method, and the second embodiment is further improved on the basis of the first embodiment, and the main improvement lies in that: in the embodiment, the secondary handshaking of the AGV in the charging preparation stage, the charging interruption stage and the charging ending stage is realized through the central control, and the charging safety of the AGV is further improved.
Fig. 3 shows an interaction diagram among AGVs, central controllers, and chargers during a complete charging process.
In this embodiment, for the AGV, one complete charging task includes: the method comprises 5 stages of charging preparation, charging in, charging completion, leaving the charger after charging completion and the like. The various stages are described in detail as follows:
a charging preparation stage: and the AGV reports the information such as the positioning information, the task execution condition, the current residual electric quantity and the like to a central control in real time in the process of executing the carrying task. When the central control determines that any one of the AGVs needs to execute the charging task in the first embodiment, for example, the electric quantity level of the AGVs reaches the alarm level, the central control immediately issues the charging task to the AGVs, the central control allocates a charger for the AGVs by searching the database and issues a charging path to the AGVs, and the AGVs move to the charger according to the charging path. The central control unit may determine a charger for charging the AGVs according to a preset policy, where the prediction policy is, for example, an available charger closest to the AGVs. Available chargers are, for example, chargers that match the charging operation mode of the AGVs and are in an idle or interruptible state, and the charging operation mode of the AGVs includes, but is not limited to, a lead-acid charging mode and a lithium battery charging mode. When the AGV reaches the position of the charger, the AGV is handed over to the charger through an HB1 signal, and an HB1 signal is a signal of a HOKUYO (North and Sun in Japan) photoelectric sensor. The transmitting end of the HB1 sensor is installed on the AGV, and the receiving end of the HB1 sensor is installed on the charger. The AGV can be handed over with the charger through the HB1 signal, and when the charger is successfully handed over with the AGV, a charging start request is generated, and the charging start request is reported to the central control. And after receiving a charging start request from the charger, the central control determines whether the AGV reaches the position of the charger again, and if the AGV reaches the position of the charger, the central control controls the charger to complete a preset safe charging action and then controls the AGV to start charging. Specifically, the central control unit controls the charger to extend out of the charging arm and controls the AGV to start charging after the charging arm extends in place. It should be noted that, the AGV may improve the servo accuracy by fusing the positioning information and the servo information, and make confirmation with the charger before the servo, so that the AGV reaches the position of the charger more accurately.
In the charging process: the charger begins to charge the AGV. Charging information such as charging mode, charging voltage and charging current can be reported to the central control by the AGV, and then sent to the charger by the central control.
And (3) finishing charging: when the central control detects that the electric quantity level of the AGV reaches a full level or the AGV meets a charging interruption condition, a charging interruption request is sent to a charger, and the charger immediately stops charging; or, when the charging current of the AGV is reduced to the preset charging current threshold, the charging will be automatically disconnected.
And (3) a charging end stage: and in the charging ending stage, if a charging ending request reported by the charger is received, controlling the charger to execute a preset safe charging ending action and then controlling the AGV to leave the charger. Specifically, when the AGV detects that charging is disconnected, the AGV performs charge termination handshake with the charger, and when the charge termination handshake is successful, the charger generates a charge termination request and reports the request to the central controller. And the central control unit controls the charger to withdraw the charging arm and informs the AGV to leave the charging area after the charging arm is completely reset.
After charging, leaving the charger: the AGV leaves the current charging area immediately and continues to execute other tasks issued by the central control.
In some examples, the data received by the central controller may further include: AGV and abnormal information reported by a charger. The anomaly information may include one or any combination of the following: the method comprises the following steps of abnormal temperature, abnormal charging voltage, abnormal charging current, abnormal access control of the charger, abnormal charging arm of the charger, abnormal temperature of the AGV, abnormal charging voltage and abnormal charging current of the charger. When the AGV executes a charging task, if the central control determines that the preset charging interruption condition is met according to the abnormal information, the AGV controls the charger to execute a preset safe charging interruption action. Specifically, when receiving the abnormal information reported by the charger, the central control informs the AGV to close the charging relay immediately, and the charger withdraws the charging arm after detecting that the charging relay of the AGV is closed, or the central control controls the charger to withdraw the charging arm. The abnormal entrance guard of the charger means that the door of the charger is opened in the charging process, and the charger can immediately interrupt charging at the moment because the charging process belongs to high-voltage operation and has certain danger. The charging arm of the charger is abnormal, namely the charger is accidentally impacted and the charging arm is deformed and cannot be completely withdrawn in the charging process, and the charger can be immediately disconnected for charging at the moment. Or, in the charging process, when the charger detects that the HB1 signal of the AGV is closed, the charger can immediately retract the charging arm, so that the safety can be improved.
Compared with the prior art, the AGV charger management system has the advantages that an IoT (Internet of Things) concept is utilized, AGV and charger clusters of a factory and the like are managed in a unified mode through central control, so that the priority of the charging tasks of the AGV can be determined according to the electric quantity of the AGV and the task state of the carrying task, the charger can be intelligently distributed for the AGV according to the state of the charger and the position information, the carrying task is executed more reasonably and efficiently on the premise that the safe electric quantity of the AGV is guaranteed, and the working efficiency of the AGV clusters is improved. In addition, in the embodiment, in the charging preparation stage, the charging process and the charging finishing stage, the grasping mechanism is added by the sensor, so that the AGV is controlled to charge after the charger is in a safe charging state, and the safety of the charging process is further improved.
A third embodiment of the present invention relates to an electronic apparatus. As shown in fig. 4, the electronic apparatus includes: a memory 402 and a processor 401;
wherein the memory 402 stores instructions executable by the at least one processor 401 to perform instructions executed by the at least one processor 401 to implement: receiving data reported by an AGV and a charger; wherein the data comprises: electric quantity information of the AGV; and determining the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority.
The electronic device includes one or more processors 401 and a memory 402, and one processor 401 is taken as an example in fig. 4. The processor 401 and the memory 402 may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example. Memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 401 executes various functional applications and data processing of the device by running nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the above-described charge scheduling method.
The memory 402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 402 may optionally include memory located remotely from processor 401, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 402 and when executed by the one or more processors 401 perform the charging scheduling method of any of the method embodiments described above.
The above-mentioned device can execute the method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method, and reference may be made to the method provided by the embodiment of the present invention for technical details that are not described in detail in the embodiment.
Compared with the prior art, the AGV charging management system has the advantages that an IoT (Internet of Things) concept is utilized, the AGV and the charger clusters of a factory and the like are uniformly managed through central control, so that the priority of the charging tasks of the AGV can be determined according to the electric quantity of the AGV and the task state of the carrying task, the carrying task is executed more reasonably and efficiently on the premise that the safe electric quantity of the AGV is guaranteed, and the working efficiency of the AGV clusters is improved.
A fourth embodiment of the present invention relates to a charge scheduling system. Referring to fig. 1, the charge scheduling system of the present embodiment includes: the system comprises a central control 100, a plurality of AGVs 200 and a plurality of chargers 300; the AGV200 and the charger 300 are both in communication connection with the central controller 100. The central controller 100 of the present embodiment may be the electronic device described in the third embodiment.
Compared with the prior art, the AGV charging management system has the advantages that an IoT (Internet of Things) concept is utilized, the AGV and the charger clusters of a factory and the like are uniformly managed through central control, so that the priority of the charging tasks of the AGV can be determined according to the electric quantity of the AGV and the task state of the carrying task, the carrying task is executed more reasonably and efficiently on the premise that the safe electric quantity of the AGV is guaranteed, and the working efficiency of the AGV clusters is improved. In addition, in the embodiment, the AGV is controlled to charge after the charger is ensured to be in a safe charging state by increasing the holding mechanism in the charging preparation stage, the charging process and the charging finishing stage, so that the safety of the charging process is further improved.
A fifth embodiment of the invention relates to a non-volatile storage medium for storing a computer-readable program for causing a computer to perform some or all of the above method embodiments.
That is, those skilled in the art can understand that all or part of the steps in the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A charging scheduling method is applied to a central control, wherein the central control is in communication connection with a plurality of AGVs and a plurality of chargers, and the method is characterized by comprising the following steps:
receiving the AGV and data reported by the charger; wherein the data comprises: electric quantity information of the AGV;
and determining the priority of the charging tasks of the AGVs according to the electric quantity information of the AGVs and the non-charging tasks distributed to the AGVs, and controlling the AGVs to execute the charging tasks and the non-charging tasks according to the sequence from high to low of the priority.
2. The charge scheduling method according to claim 1, wherein the determining the priority of the charging task of the AGVs according to the information of the electric quantity of the AGVs and the non-charging tasks assigned to the AGVs specifically comprises:
determining the electric quantity grade of the AGV according to the electric quantity information of the AGV;
and determining the priority of the charging task of the AGV according to the electric quantity grade of the AGV and the corresponding relation between the preset electric quantity grade and the task priority.
3. The charging scheduling method according to claim 2, wherein the determining the priority of the charging task of the AGV according to the power level of the AGV and the corresponding relationship between the preset power level and the task priority specifically includes:
when the electric quantity level of the AGV is an alarm level, the priority of the charging task of the AGV is higher than the priority of all non-charging tasks;
when the electric quantity level of the AGV is a low electric quantity level, the priority of the charging task of the AGV is lower than the priority of the non-charging task currently executed by the AGV and is higher than the priority of all the non-charging tasks waiting to be executed by the AGV;
when the electric quantity level of the AGV is the medium level, the priority of the charging task of the AGV is lower than the priority of all non-charging tasks.
4. The charge scheduling method of claim 1, wherein the charge task comprises: a charging preparation stage;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
in the charging preparation stage, if a charging start request reported by the charger is received, when the AGV is determined to reach the charger, the charger is controlled to execute a preset safe charging action and then the AGV is controlled to start charging; and the charger generates the charging starting request when the charging handshake with the AGV is successful.
5. The charge scheduling method of claim 4, wherein the charging task further comprises: a charging end stage;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
in the charging end stage, if a charging end request reported by the charger is received, the charger is controlled to execute a preset safe charging end action, and then the AGV is controlled to leave the charger; and the charger and the AGV generate the charging ending request when the charging ending handshake is successful.
6. The charge scheduling method of claim 4, wherein the charging task further comprises: a charging middle stage; the data further comprises: the AGV and abnormal information reported by the charger;
and control each AGV to execute the charging task and the non-charging task according to the sequence of the priority from high to low, specifically comprising:
and if the preset charging interruption condition is determined to be met according to the abnormal information, controlling the charger to execute a preset safe charging interruption action.
7. The charge scheduling method according to claim 6, wherein the abnormality information includes one or any combination of the following:
the temperature abnormality, the charging voltage abnormality, the charging current abnormality, the entrance guard abnormality, the charging arm abnormality, the charging current abnormality and the entrance guard abnormality of the charger,
The AGV has abnormal temperature, abnormal charging voltage and abnormal charging current.
8. An electronic device, comprising: a memory storing a computer program and a processor running the computer program to implement the charge scheduling method of any one of claims 1 to 7.
9. A charge scheduling system, comprising: the system comprises a central control unit, a plurality of AGV and a plurality of chargers; the AGV and the charger are in communication connection with the central control unit;
the central control is the electronic device of claim 8.
10. A storage medium storing a computer-readable program for causing a computer to execute the charge scheduling method according to any one of claims 1 to 7.
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