CN111231734B - AGV (automatic guided vehicle) power conversion control method and system - Google Patents
AGV (automatic guided vehicle) power conversion control method and system 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
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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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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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
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Abstract
The invention provides an AGV (automatic guided vehicle) power change control method and system, wherein the AGV power change control method specifically comprises the steps of monitoring the electric quantity of an AGV, and generating an electric quantity signal when the monitored electric quantity is lower than a preset value; receiving an electric quantity signal and sending out a request for changing an electric signal; and receiving a request for replacing the electric signal, sending out the electric signal, selecting a proper battery as the battery to be replaced according to the received electric signal, controlling the AGV to drive into the appointed position of the power replacing station according to the received electric signal, and finally replacing the battery of the AGV. By the method, informatization, networking and intelligent management of the battery replacement station can be realized, and intelligent replacement of the AGV battery can be realized under an unmanned operation state.
Description
Technical Field
The invention relates to the field of autonomous unmanned transport robots, in particular to an AGV (automatic guided vehicle) power change control method and system.
Background
The cruising ability of AGV battery package is the important part of AGV production efficiency research always, and reasonable charging and changing electric mode is the main mode of solving AGV battery package cruising ability. The conventional power change management system is complicated in operation, frequent in system downtime, inadequately intelligent and networked in information management of a power change station, a large database is combined with a database which is independently developed by a client, and an operator is required to be present when the AGV is powered on, so that great difficulty is brought to a user, and physical examination feeling of the user is reduced.
Disclosure of Invention
The invention aims to solve the problem that the existing AGV battery replacement control method is inconvenient to replace an AGV battery under the condition that an operator is not in.
In order to solve the technical problems, on the one hand, the embodiment of the invention provides an AGV power change control method, which comprises the following steps:
s1, monitoring the electric quantity of an AGV, and generating an electric quantity signal when the electric quantity is monitored to be lower than a preset value;
s2, receiving an electric quantity signal and sending out a request for changing an electric signal;
s3, receiving a request for changing the electric signal and sending out the electric signal;
s4, receiving a battery replacement signal, and selecting a proper battery as a battery to be replaced;
s5, receiving a power exchange signal, and controlling the AGV to drive into a designated position of a power exchange station;
s6, replacing the battery of the AGV.
Further, between step S5 and step S6, further includes:
s51, when the AGV reaches the appointed position of the power exchange station, judging whether the AGV stops and deviates;
if the AGV does not stop and deviate, the battery of the AGV is replaced;
otherwise, the AGV moves from the current position to the preset position, and then drives into the designated position of the power exchange station again from the preset position, and step S51 is executed.
Further, determining whether the AGV is out of bias specifically includes:
detecting whether the AGV is positioned between two standard lines in the power exchange station;
if yes, the AGV does not stop and go biased;
otherwise, the AGV stops and is biased.
Further, two standard lines extend along the entry direction of the AGV.
Further, the AGV power change control method provided by the embodiment of the invention further comprises the following steps:
s0, placing all batteries in the battery replacement station in a grid mode, and setting three-dimensional coordinate information for each grid as position information of the batteries in the grid;
step S4 further includes: uploading the position information of the battery to be replaced in the battery replacement station;
the step S6 specifically comprises the following steps:
and receiving the position information of the battery to be replaced, taking out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replacing the battery of the AGV.
Further, after step S5, the method further includes:
detecting whether the communication function of the battery to be replaced is normal or not;
if the communication function is normal, executing step S6;
otherwise, step S6 is executed after the failure is released.
Further, the AGV power change control method provided by the embodiment of the invention further comprises the following steps:
and S7, charging the replaced AGV battery.
Further, selecting a suitable battery as the battery to be replaced is selected according to the voltage, current and temperature parameters of the battery.
On the other hand, the embodiment of the invention also provides an AGV (automatic guided vehicle) power change control system, which comprises the following steps:
the electric quantity monitoring module is used for monitoring the electric quantity of the AGV, and generating an electric quantity signal when the electric quantity is monitored to be lower than a preset value;
the power-changing request module is used for receiving the electric quantity signal and sending out a request power-changing signal;
the power conversion control module is used for receiving the request power conversion signal and sending the power conversion signal;
the battery replacement management module is used for receiving the battery replacement signal and selecting a proper battery as a battery to be replaced;
the vehicle management module is used for receiving the power exchange signal and controlling the AGV to drive into the appointed position of the power exchange station;
and the battery replacement module is used for replacing the battery of the AGV.
Further, the AGV power change control system provided by the embodiment of the invention further comprises:
the judgment module is used for receiving the battery replacement signal at the battery replacement management module, selecting a proper battery as the battery to be replaced and receiving the battery replacement signal by the vehicle management module, controlling the AGV to drive into the appointed position of the battery replacement station, and judging whether the AGV stops and deviates when the AGV reaches the appointed position of the battery replacement station;
if the AGV does not stop and deviate, the battery is replaced;
otherwise, the AGV moves to a preset position from the current position, and then enters the designated position of the power exchange station again from the preset position, and the judgment module judges whether the AGV stops and is biased or not again.
Further, the judging module judges whether the AGV stops exceeding the bias according to the following method:
detecting whether the AGV is positioned between two standard lines in the power exchange station;
if yes, the AGV does not stop and go biased;
otherwise, the AGV stops and is biased.
Further, two standard lines extend along the entry direction of the AGV.
Further, the AGV power change control system provided by the embodiment of the invention further comprises: the battery rack specifically comprises a plurality of grids, wherein the grids are used for placing all batteries in the battery exchange station in a dividing mode, and three-dimensional coordinate information is set for each grid to serve as position information of the batteries in the grid;
the battery replacement management module is also used for uploading the position information of the battery to be replaced in the battery replacement station;
the battery replacement module is specifically used for taking out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replacing the battery of the AGV.
Further, the AGV power change control system provided by the embodiment of the invention further comprises:
the communication detection module is used for detecting whether the communication function of the battery to be replaced is normal or not after the battery to be replaced is selected as the battery to be replaced after the battery to be replaced is received by the battery replacement management module.
Further, the AGV power change control system provided by the embodiment of the invention further comprises:
and the charging module is used for charging the replaced AGV battery.
Further, the battery replacement management module selects a suitable battery as the battery to be replaced according to the voltage, current and temperature parameters of the battery.
The technical scheme of the invention has the following beneficial effects:
the invention provides an AGV battery replacement control method, which comprises the steps of when the electric quantity is monitored to be lower than a preset value, generating an electric quantity signal, receiving the electric quantity signal, sending a request for replacing an electric signal, receiving the request for replacing the electric signal, sending the electric signal, selecting a proper battery as a battery to be replaced according to the received electric signal, controlling the AGV to drive into a designated position of a battery replacement station according to the received electric signal, and finally replacing the battery of the AGV. By the method, informatization, networking and intelligent management of the battery replacement station can be realized, and intelligent replacement of the AGV battery can be realized under an unmanned operation state.
Drawings
FIG. 1 is a flow chart of an AGV power change control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an AGV power change control system according to an embodiment of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
First, the steps of the AGV power change control method according to the embodiment of the invention are specifically described with reference to FIG. 1.
As shown in fig. 1, the method for controlling the change of the power supply of the AGV according to the embodiment of the present invention includes:
and S1, monitoring the electric quantity of the AGV, and generating an electric quantity signal when the electric quantity is monitored to be lower than a preset value.
That is, firstly, the power monitoring module monitors the power of all AGVs, and when the power of a certain AGV is monitored to be smaller than a predetermined value, for example, when the power of a certain AGV is lower than 50%, the power monitoring module sends a power signal to the power change request module, wherein the power signal specifically refers to a signal containing the remaining power value of the battery pack of the AGV with the power smaller than a threshold value. It should be noted that the amount of electricity is not particularly limited herein, and may be less than 50%, less than 40%, or some other percentage.
And S2, receiving an electric quantity signal and sending out a request for changing an electric signal.
Specifically, the power change request module receives information including an electric quantity value sent by the electric quantity monitoring module, and then sends a request power change signal to the power change control module.
And S3, receiving a request for changing the electric signal and sending out the electric signal.
Specifically, the power conversion control module receives a power conversion request signal sent by the power conversion request module, and then the power conversion control module respectively sends the power conversion signal to the power conversion management module and the vehicle management module.
And S4, receiving a battery replacement signal, and selecting a proper battery as a battery to be replaced.
The battery replacement management module receives the battery replacement signal and then selects the appropriate battery as the battery to be replaced to be mounted to the AGV.
The selection of the suitable battery as the battery to be replaced can be selected according to the voltage, current and temperature parameters of the battery, and because the battery for being installed on the AGV is formed by connecting a plurality of small batteries in series, the performance of each AGV battery can be evaluated according to the voltage, current and temperature of the AGV battery, and the like, and the method specifically comprises the following steps: and collecting information such as voltage, current and temperature of all batteries in the power exchange station, carrying out weighted analysis and calculation on the information such as voltage, current and temperature to obtain the scores of all batteries, and selecting the battery with the highest score as a proper battery for AGV replacement.
For example, when the voltage of the battery pack of the AGV is 160V in an ideal state (i.e., a full charge state), the voltage values of the batteries are divided into 10 points of 140V to 160V, 8 points of 120V to 140V, 6 points of 100V to 120V, 4 points of 80V to 100V and 0 point below 80V; similarly, the current information of the battery is scored, wherein the score is 10 for 20A-25A, 8 for 15A-20A, 6 for 10A-15A, 4 for 5A-10A, and 0 for 5A or below; the temperature of the battery is divided into 10 minutes at 10-15 ℃,8 minutes at 15-20 ℃, 6 minutes at 20-25 ℃, 4 minutes at 25-30 ℃ and 0 minutes above 30 ℃, and when calculated according to information such as voltage, current and temperature, the weight of the voltage is 0.4, the weight of the current and the weight of the temperature are both 0.3, for example, the voltage of a certain battery is 110V, the current is 7A, the temperature is 16 ℃, the voltage score of the battery is 6 minutes, the current score is 4 minutes, the temperature score is 8 minutes, and the score of the battery is calculated to be 6.4+4+0.3+8+0.3=6 according to weight analysis, namely, the comprehensive score of the battery is 6 minutes.
It should be noted that, although in the present embodiment, the battery is scored and selected according to the parameters of voltage, current and temperature of the battery, in other embodiments, the battery may be scored and selected according to other parameters capable of characterizing the battery information, which is not limited herein.
And S5, receiving a power exchange signal, and controlling the AGV to drive into a designated position of the power exchange station.
It should be noted that after the power exchange station has a plurality of designated positions, the power exchange management module receives the power exchange signals, the power exchange management module analyzes which designated positions in the power exchange station are occupied, for example, one of the designated positions is being used for exchanging power for other AGVs, the power exchange management module can select the designated position which is not occupied, then selects one position which is used as the power exchange position of the AGVs from the designated positions which are not occupied, the power exchange management module can upload the selected power exchange position of the AGVs to the power exchange control module, the power exchange control module sends the power exchange position of the AGVs to the vehicle management module, and the vehicle management module controls the AGVs to be electrified to drive into the power exchange position of the AGVs, namely the designated positions in the power exchange station.
And S6, replacing the battery of the AGV.
That is, the battery replacement module first removes the original battery with insufficient electric power on the AGV, and replaces the suitable battery selected in step S4.
In some embodiments of the present invention, between step S5 and step S6, further comprises:
step S51, when the AGV reaches the appointed position of the power exchange station, judging whether the AGV stops and deviates;
if the AGV does not stop and deviate, the battery of the AGV is replaced;
otherwise, the AGV moves from the current position to the preset position, and then drives into the designated position of the power exchange station again from the preset position, and step S51 is executed.
Specifically, since the battery replacement module needs to be moved and replaced with the positioning information of the designated position where the AGV is parked during the battery replacement process, if the AGV parking position deviates from the designated position, the subsequent battery replacement process will be disadvantageous. Therefore, before replacing the battery, the judging module needs to check whether the AGV to be replaced is out of position or not, namely, whether the parking position is accurate or not, if the parking position is correct, the battery replacing module replaces the battery of the AGV, if the parking is not correct, the vehicle management module controls the AGV to be replaced to move from the current position to the preset position, then controls the AGV to be replaced to drive into the specified position again from the preset position, and the step S51 is repeated until the AGV is not out of position.
It should be noted that the preset position (i.e., mark point) is preset and is generally set at the inlet of the station. Specifically, the AGV moves from the current position to the preset position, and then reenters the specified position from the preset position, where the implementation manner of the moving process from the current position to the preset position may be as follows:
the power conversion management module sends out a request return signal, the power conversion control module receives the request return signal and sends out a return signal, and the vehicle management module receives the return signal and controls the AGV to move to a preset position.
In some embodiments of the present invention, the step S51 of determining whether the AGV is out of bias may include:
detecting whether the AGV is positioned between two standard lines in the power exchange station; if so, the AGV does not stop and go over bias, otherwise, the AGV stops and goes over bias.
Specifically, the two standard lines may extend along the direction of entry of the AGV into the designated position, i.e., an area is formed between the two standard lines, if the position where the AGV is parked is detected to be within the area formed by the two standard lines, the parked position is not over-biased, and if the position where the AGV is parked exceeds the area formed by the two standard lines, i.e., is located outside the area, the parking is over-biased.
In other embodiments of the present invention, further comprising:
step S0, placing all the cells in the battery exchange station in cells, and setting three-dimensional coordinate information for each cell as position information of the cells in the cell.
In general, a three-dimensional coordinate system may be established with the above-described preset position as an origin, and the position coordinates of each cell in the three-dimensional coordinate system may be used as the three-dimensional coordinates of the cell.
Based on step S0, step S4 may further include: and uploading the position information of the battery to be replaced in the battery replacing station.
Based on the above steps, step S6 is specifically to receive the position information of the battery to be replaced, take out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replace the battery of the AGV.
That is, in step S4, after the power exchange management module receives the power exchange signal and selects a suitable battery as the battery to be exchanged, the power exchange management module also transmits the position information of the grid where the suitable battery is located to the battery exchange module. Then in step S6, the battery replacement module removes the battery with insufficient electric quantity of the AGV to be replaced, and receives the position information of the battery to be replaced (i.e. the suitable battery selected in step S5), and then the battery replacement module takes out the battery to be replaced in the grid according to the position information of the battery to be replaced, and installs the battery to be replaced in the AGV to be replaced.
In other embodiments of the present invention, after step S5, it may further include:
detecting whether the communication function of the battery to be replaced is normal or not;
if the communication function is normal, executing step S6;
otherwise, step S6 is executed after the failure is released.
That is, after the AGV enters the designated position, it is further checked whether the selected suitable battery can normally receive the instruction information, generally, the battery will send a feedback signal at this time, and after the battery replacement management module receives the feedback signal, the battery replacement module is controlled to replace the battery of the AGV. If the battery cannot normally send a feedback signal, namely the battery replacement module cannot normally receive the feedback signal, the general battery replacement management module adopts fault alarm at the moment, and the battery is replaced after the fault is relieved; however, sometimes the battery replacement management module also reselects the battery and then controls the battery replacement module to replace the battery.
In addition, in some embodiments of the present invention, after step S5, the following steps may be further included:
collecting two-dimensional coordinate information of other AGVs nearby the AGVs in the power exchange station by taking the AGVs as an origin;
calculating the distance between the AGV and other AGVs nearby the AGV according to the acquired two-dimensional coordinate information;
comparing the calculated distance with a safe distance;
if the distance is greater than the safe distance, executing step S6;
otherwise, the AGV moves from the current position to a preset position, then moves from the preset position to another designated position in the power exchange station, and then performs the detecting step again.
Specifically, position sensors can be arranged at the front end and the rear end of the AGV, two-dimensional coordinate information of other AGVs nearby the AGV is acquired by the position sensors, the distance between the AGV and the other AGVs nearby the AGV is calculated according to the acquired two-dimensional coordinate information, and then the AGV is compared with the safety distance for judgment. In addition, the purpose of setting up safe distance here is in order to have a plurality of AGVs in the power station that trades under the condition of trading the electricity simultaneously, conveniently trades the motor robot and carries out battery replacement to the AGVs, prevents to trade and bumps or bump between a plurality of AGVs with trading the motor robot.
In other embodiments of the present invention, further comprising:
and S7, charging the replaced AGV battery.
That is, for the original battery with insufficient electric quantity of the unloaded AVG, the battery to be charged is referred to as a battery replacement management module, and a suitable position is selected to be sent to the battery replacement module, and then the battery replacement module places the battery to be charged in the suitable position, and the charging module charges the battery to be charged for the next AGV battery replacement.
According to the AGV power conversion control method, when the electric quantity monitoring module monitors that the electric quantity is lower than a preset value, an electric quantity signal is generated; the power change request module receives the electric quantity signal and sends out a request power change signal; the battery replacement control module receives the request battery replacement signal, sends the battery replacement signal, the battery replacement management module selects a proper battery as a battery to be replaced according to the received battery replacement signal, the vehicle management module controls the AGV to drive into a designated position of the battery replacement station according to the received battery replacement signal, and finally the battery replacement module replaces the battery of the AGV. By the method, informatization, networking and intelligent management of the battery replacement station can be realized, and intelligent replacement of the AGV battery can be realized under an unmanned operation state.
The following describes an AGV power change control system according to an embodiment of the present invention with reference to FIG. 2.
The AGV power change control system according to the embodiment of the invention shown in FIG. 2 includes:
the electric quantity monitoring module 101 is configured to monitor an electric quantity of the AGV, and generate an electric quantity signal when the electric quantity is monitored to be lower than a predetermined value;
the power change request module 102 is configured to receive the power signal and send a request for changing the power signal;
the power conversion control module 103 is configured to receive the power conversion request signal and send out a power conversion signal;
the battery replacement management module 104 is configured to receive the battery replacement signal, and select an appropriate battery as a battery to be replaced;
the vehicle management module 105 is used for receiving the power exchange signal and controlling the AGV to drive into the appointed position of the power exchange station;
and a battery replacement module 106 for replacing the battery of the AGV.
Specifically, the power conversion management module 104 may select an appropriate battery as the battery to be replaced according to parameters such as voltage, current, and temperature of the battery in the power conversion station.
In some embodiments of the present invention, the power conversion control system further includes:
the judgment module is used for judging whether the AGV stops to be biased when the AGV reaches the appointed position of the battery exchange station before the AGV is controlled to drive into the appointed position of the battery exchange station after the battery exchange management module receives the battery exchange signal and selects an appropriate battery as the battery to be exchanged;
if the AGV does not stop and deviate, the battery is replaced;
otherwise, the AGV moves to a preset position from the current position, then enters the designated position of the power exchange station again from the preset position, and then the judgment module judges whether the AGV stops and is biased or not again.
According to some embodiments of the present invention, the determination module determines whether the AGV is out of bias according to the following method:
detecting whether the AGV is positioned between two standard lines in the power exchange station;
if yes, the AGV does not stop and go biased;
otherwise, the AGV stops and is biased.
Specifically, the two standard lines in the above detection method extend along the entry direction of the AGV.
In other embodiments of the present invention, the AGV power change control system may further include:
the battery rack specifically comprises a plurality of grids, wherein the grids are used for placing all batteries in the battery exchange station in a dividing mode, and three-dimensional coordinate information is set for each grid to serve as position information of the batteries in the grid;
the battery replacement management module is also used for uploading the position information of the battery to be replaced in the battery replacement station;
the battery replacement module is specifically used for taking out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replacing the battery of the AGV.
In other embodiments of the present invention, the AGV battery change control system may further include: the communication detection module is used for detecting whether the communication function of the battery to be replaced is normal or not after the battery to be replaced is selected as the battery to be replaced after the battery to be replaced is received by the battery replacement management module.
In other embodiments of the present invention, the AGV power change control system may further include:
the position acquisition module is used for taking the AGVs as the origin, and acquiring the two-dimensional coordinate information of other AGVs nearby the AGVs in the power exchange station;
the distance calculation module is used for calculating the distance between the AGV and other AGVs nearby according to the two-dimensional coordinate information;
the distance comparison module is used for comparing the distance with the safety distance;
if the distance is greater than the safety distance, the vehicle management module is used for receiving the power exchange signal and controlling the AGV to drive into the appointed position of the power exchange station;
otherwise, the AGV moves from the current position to the preset position and then from the preset position to another designated position.
In some embodiments of the present invention, the AGV power change control system may further include: and the charging module is used for charging the replaced AGV battery.
In the application process, in the power exchange control system, the power exchange control module can be a wharf management system (Terminal Operating System, TOS), the power exchange management module can be a power exchange management system (Battery Exchange System & Management System, BES MS), the power exchange request module and the vehicle management module can be a vehicle management system (Vehicle Management System, VMS), the battery replacement module can be a power exchange robot, the charging device can be a charger, the judging module can be a laser scanning device, the position acquisition module, the distance calculation module and the distance comparison module can be a position sensor, and the electric quantity change electric quantity monitoring module for detecting the AGV battery can be arranged in the AGV.
Specifically, when the battery pack power of the AGV is lower than a predetermined value, for example, lower than 50% of the power, the power monitoring module feeds back the power signal of the battery pack to the VMS, the VMS sends a request for power change to the TOS, and after receiving the request for power change, the TOS sends the power change signal to the BES MS and the VMS, and meanwhile, the TOS also receives the vehicle information of the AGV requiring power change, which is uploaded by the VMS. The VMS controls the AGV to enter a designated position in the power exchange station from the gate, the laser scanning device in the power exchange station scans the parking position of the AGV, whether the AGV is parked in an area formed by two standard lines is judged, if the AGV is parked in the area, the next battery replacement is carried out, if the AGV is not parked in the area, the VMS controls the AGV to be powered on to travel to a preset position, and then the AGV to be powered on enters the designated position from the preset position.
And then the BES MS receives the battery replacement signal sent by the TOS and the vehicle information BES MS of the AGV needing battery replacement, analyzes and judges the states of a grid for placing the battery and a charger on the current battery rack, performs weighted calculation on the temperature, voltage, current and other information of the battery in the grid, and selects the battery with the highest score as the battery to be replaced for replacement. After the BES MS judges that the battery replacement robot is finished, a battery replacement instruction is issued to the battery replacement robot, the battery replacement step is that the robot takes off an empty grid on a battery placing battery frame from the AGV, then takes off the selected battery to be replaced and replaces the selected battery to the AGV, the AGV leaves a battery replacement station after the replacement is finished, and the BES MS issues a charging instruction to a battery pack to be replaced and charges the battery pack.
In addition, after the power change process is started, the power change management module, namely the BES MS, analyzes whether the communication of the selected battery is normal again, starts a position sensor positioned at the front end and the rear end of the AGV to collect two-dimensional coordinate information of other AGVs nearby the AGV, calculates the distance between the AGV and the other AGVs nearby the AGV according to the collected two-dimensional coordinate information, and then compares and judges with the safe distance, so that whether the distance between the AGV to be changed and the other AGVs in the power change station is smaller than the safe distance is judged. If the communication function of the battery is normal and the distance between the AGV to be replaced and other AGVs nearby is smaller than the safety distance, responding to the power replacing request, and controlling the power replacing robot by the BES MS to replace the battery.
According to the AGV battery replacement control system, informatization, networking and intelligent management of a battery replacement station can be realized, and intelligent replacement of an AGV battery can be realized in an unmanned operation state.
In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with respect to each other may be through some interface, module or indirect coupling or communication connection of modules, electrical, mechanical or otherwise.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may be physically included separately, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in hardware plus software functional modules.
The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the transceiving 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 (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and are intended to be comprehended within the scope of the present invention.
Claims (14)
1. An AGV power change control method is characterized by comprising the following steps:
s1, monitoring the electric quantity of the AGV, and generating an electric quantity signal when the electric quantity is monitored to be lower than a preset value;
s2, receiving the electric quantity signal and sending out a request for changing an electric signal;
s3, receiving the request electric signal to be converted and sending out the electric signal to be converted;
s4, receiving the battery replacement signal, and selecting a proper battery as a battery to be replaced;
s5, receiving the power exchange signal, and controlling the AGV to drive into a designated position of a power exchange station;
s506, collecting two-dimensional coordinate information of other AGVs nearby the AGVs in the power exchange station by taking the AGVs as an origin, calculating the distance between the AGVs and the other AGVs nearby the AGVs according to the collected two-dimensional coordinate information, comparing the calculated distance with a safe distance, and executing the next step if the distance is larger than the safe distance;
s6, replacing the battery of the AGV;
the selection of the suitable battery as the battery to be replaced is performed according to the voltage, current and temperature parameters of the battery, and the method comprises the following steps:
and collecting voltage, current and temperature information of all batteries in the power exchange station, carrying out weighted calculation on the voltage, current and temperature information, obtaining the scores of the batteries, and screening out the battery with the highest score from the scores as the battery to be exchanged.
2. The method of claim 1, further comprising, between said step S5 and said step S6:
s51, judging whether the AGV stops and is biased when the AGV reaches the appointed position of the power exchange station;
if the AGV is not stopped and biased, replacing a battery of the AGV;
otherwise, the AGV moves from the current position to a preset position, and then drives into the designated position of the battery exchange station again from the preset position, and step S51 is executed.
3. The method of claim 2 wherein said determining whether the AGV is parked past the bias includes:
detecting whether the AGV is located between two standard lines in the power exchange station;
if yes, the AGV does not stop and go biased;
otherwise, the AGV stops and is biased.
4. The method of claim 3 wherein two of said criteria lines extend in the direction of travel of said AGV.
5. The method of claim 1, further comprising the step of:
s0, placing all batteries in the battery replacement station in a grid mode, and setting three-dimensional coordinate information for each grid as position information of the batteries in the grid;
the step S4 further includes: uploading the position information of the battery to be replaced in the battery replacing station;
the step S6 specifically includes:
and receiving the position information of the battery to be replaced, taking out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replacing the battery of the AGV.
6. The method of claim 1, further comprising, after step S5:
detecting whether the communication function of the battery to be replaced is normal or not;
if the communication function is normal, executing the step S6;
otherwise, the step S6 is executed after the fault is released.
7. The method of claim 1, further comprising the step of:
and S7, charging the replaced AGV battery.
8. An AGV power change control system comprising:
the electric quantity monitoring module is used for monitoring the electric quantity of the AGV, and generating an electric quantity signal when the electric quantity is monitored to be lower than a preset value;
the power change request module is used for receiving the electric quantity signal and sending out a request power change signal;
the power conversion control module is used for receiving the request power conversion signal and sending out a power conversion signal;
the battery replacement management module is used for receiving the battery replacement signal and selecting a proper battery as a battery to be replaced;
the vehicle management module is used for receiving the power exchange signal and controlling the AGV to drive into a designated position of a power exchange station;
the battery replacement module is used for replacing the battery of the AGV;
the battery replacement management module selects a proper battery as a battery to be replaced according to the voltage, current and temperature parameters of the battery, and comprises the following steps:
collecting voltage, current and temperature information of all batteries in the power exchange station, carrying out weighted calculation on the voltage, current and temperature information, obtaining the scores of the batteries, and screening out the battery with the highest score from the scores as the battery to be replaced;
the AGV changes electric control system still includes:
the position acquisition module is used for taking the AGVs as the origin and acquiring two-dimensional coordinate information of other AGVs nearby the AGVs in the power exchange station;
the distance calculation module is used for calculating the distance between the AGV and other AGVs nearby according to the two-dimensional coordinate information;
the distance comparison module is used for comparing the distance with a safe distance;
and if the distance is greater than the safety distance, the vehicle management module is used for receiving the power exchange signal and controlling the AGV to drive into the appointed position of the power exchange station.
9. The AGV battery change control system of claim 8, further comprising:
the judgment module is used for judging whether the AGV stops and deviates when the AGV reaches the appointed position of the power exchange station;
if the AGV is not stopped and biased, replacing a battery;
otherwise, the AGV moves to a preset position from the current position, then drives into the designated position of the power exchange station again from the preset position, and the judgment module judges whether the AGV stops and is biased or not again.
10. The AGV battery change control system of claim 9, wherein said determination module determines whether said AGV is out of stop bias based on, in particular, the following:
detecting whether the AGV is located between two standard lines in the power exchange station;
if yes, the AGV does not stop and go biased;
otherwise, the AGV stops and is biased.
11. The AGV battery change control system of claim 10, wherein two of said criteria lines extend in the direction of entry of said AGV.
12. The AGV battery change control system of claim 8, further comprising:
the battery rack specifically comprises a plurality of grids, wherein the grids are used for placing all batteries in the battery exchange station in a dividing mode, and three-dimensional coordinate information is set for each grid to serve as position information of the batteries in the grid;
the battery replacement management module is also used for uploading the position information of the battery to be replaced in the battery replacement station;
the battery replacement module is specifically used for taking out the battery to be replaced in the grid according to the position information of the battery to be replaced, and replacing the battery of the AGV.
13. The AGV battery change control system of claim 8, further comprising:
and the communication detection module is used for detecting whether the communication function of the battery to be replaced is normal or not after the battery to be replaced is selected as the battery to be replaced after the battery to be replaced is received by the battery replacement management module.
14. The AGV battery change control system of claim 8, further comprising:
and the charging module is used for charging the replaced AGV battery.
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| CN113706753A (en) * | 2021-08-05 | 2021-11-26 | 明光利拓智能科技有限公司 | Electric vehicle battery replacement monitoring method and system |
| CN113859044B (en) * | 2021-11-15 | 2023-06-20 | 上海优续新能源科技有限公司 | System for information transmission and power conversion between vehicle and power conversion station |
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| CN106926717B (en) * | 2016-11-21 | 2019-09-24 | 蔚来汽车有限公司 | Electrical changing station charging method and system based on greedy algorithm |
| CN206812968U (en) * | 2017-05-15 | 2017-12-29 | 上海蔚来汽车有限公司 | Homing guidance type electricity changing robot and electric charging station |
| CN107161020B (en) * | 2017-05-15 | 2020-10-23 | 上海蔚来汽车有限公司 | Charging and battery replacing station and charging and battery replacing control system |
| CN108909514A (en) * | 2018-07-27 | 2018-11-30 | 杭州蓝芯科技有限公司 | More AGV power management systems and method based on automatic battery replacement |
| CN109080483B (en) * | 2018-08-14 | 2020-09-29 | 上海海勃物流软件有限公司 | Battery replacement method and system for automatic guided transport vehicle |
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