CN114228515A - Charging method, system and control device of four-way shuttle - Google Patents
Charging method, system and control device of four-way shuttle 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by 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
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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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
- B60L53/66—Data transfer between charging stations and vehicles
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Life Sciences & Earth Sciences (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a charging method, a charging system and a charging control device for a four-way shuttle vehicle. The emergency degree of charging is judged according to the electric quantity of the four-way shuttle vehicle, so that the proper time is selected to charge in a more flexible mode on the premise of not influencing the completion of the current task, and the overall working efficiency of the three-dimensional goods shelf system is ensured. When the charging task is executed, the appropriate charging pile is locked in advance in a data interaction mode, and therefore the time consumed by searching for the charging pile through the four-way shuttle vehicle is shortened as far as possible. In order to further meet the charging requirement of the four-way shuttle vehicle needing emergency charging, the method can further request the four-way shuttle vehicle which completes most of charging tasks and can normally work first in the system to avoid so as to dynamically coordinate the occupation condition and the charging efficiency of the charging pile. This application can more intelligent and improve the charge efficiency and the work efficiency of quadriversal shuttle in the stereoscopic shelf system in a flexible way, reduce the required electric pile quantity that fills in the warehouse, practice thrift the cost.
Description
Technical Field
The application relates to the field of intelligent warehouses, in particular to a charging method, a charging system and a charging control device for a four-way shuttle.
Background
The three-dimensional goods shelf of the intelligent warehouse usually adopts a four-way shuttle vehicle to carry and store goods. The existing four-way shuttle vehicle is based on independent power supply, and needs to be charged regularly in the operation process.
The four-way shuttle car in the existing intelligent warehouse basically belongs to a lithium battery, the charging and discharging performance of the four-way shuttle car is greatly influenced by the ambient temperature, and the equipment can be maintained to operate only by frequent charging in severe environments such as low temperature and the like. And current four-way shuttle often designs into and fills electric pile one-to-one. When the four-way vehicles need to be charged, the charging is triggered by respectively returning to the corresponding charging piles, the charging process is complicated, and the scheduling is difficult, so that the turnover efficiency of taking and receiving goods in the whole warehouse is easily influenced.
Disclosure of Invention
The charging method, the charging system and the charging control device of the four-way shuttle car can coordinate and schedule according to the electric quantity state of each charging device, and therefore intelligence and flexibility of the whole warehouse are improved through many-to-one charging logic control. The technical scheme is specifically adopted in the application.
Firstly, in order to achieve the above object, a charging method for a four-way shuttle is provided, which comprises the steps of: correspondingly triggering the four-way shuttle vehicle to execute according to the electric quantity state of the four-way shuttle vehicle: a high charge mode, a medium charge mode, and a low charge mode; under the high-power mode, the four-way shuttle vehicle continues to execute the current task; in the medium electric quantity mode, the four-way shuttle vehicle correspondingly executes a charging task or continues to execute the current task according to the idle time; and under the low-power mode, the four-way shuttle vehicle suspends receiving a new task and directly executes the charging task after the current task is executed.
Optionally, the method for charging a four-way shuttle car as described in any one of the above, wherein the step of performing a charging task includes: when the free charging piles are available, according to the distance, the free charging pile closest to the four-way shuttle vehicle is preferentially triggered and locked, and the four-way shuttle vehicle is driven to move to the free charging pile for charging; when no idle charging pile exists, according to the distance, the state that the charging pile which is closest to the four-way shuttle car and can be avoided exits from the charging state for other equipment is triggered and locked, and the four-way shuttle car is driven to move to the charging pile for charging.
Optionally, in the charging method for the four-way shuttle car, when there is no idle charging pile and there is no avoidable charging pile in the three-dimensional shelf of the layer during the charging task, the following steps are performed: according to the distance between the floors, the idle charging pile closest to the four-way shuttle vehicle is preferentially triggered and locked, and the four-way shuttle vehicle is driven to move to the idle charging pile for charging; when no idle charging pile exists, according to the distance between floors, the state that the charging pile which is closest to the four-way shuttle car and can be avoided exits from charging other equipment is triggered, then the charging pile is triggered and locked, and the four-way shuttle car is driven to move to the charging pile for charging.
Optionally, the charging method for the four-way shuttle car includes the following steps: and sending the number corresponding to the four-way shuttle car executing the charging task to the charging pile, and triggering the charging pile to charge the four-way shuttle car corresponding to the number.
Optionally, the charging method for the four-way shuttle car as described in any one of the above, wherein the avoidable charging pile is determined by the following steps: according to the electric quantity state of the four-way shuttle car which is currently charged and connected by the charging pile, correspondingly setting the charging pile of which the electric quantity reaches a first avoidance standard, the electric quantity reaches a second avoidance standard and the four-way shuttle car which is connected by the charging pile also has a task to be executed as an avoidable charging pile; and the electric quantity of the second avoidance standard is lower than that of the first avoidance standard.
Optionally, the charging method for the four-way shuttle car as described in any one of the above, wherein in the charging process: if the electric quantity of the four-way shuttle vehicle is detected to be kept unchanged or reduced within the preset time, the charging task is ended, the locking of the charging pile is triggered to be cancelled, the full-electricity value is updated when the electric quantity of the four-way shuttle vehicle is smaller than the original full-electricity value after the locking is cancelled, and the four-way shuttle vehicle is triggered to monitor the electric quantity state according to the new full-electricity value.
Meanwhile, in order to achieve the above object, the present application further provides a charging system for a four-way shuttle, including: the electric quantity detection unit is arranged on the four-way shuttle vehicle and used for acquiring the electric quantity state of the four-way shuttle vehicle, correspondingly triggering the four-way shuttle vehicle to continue to execute the current task in a high electric quantity mode according to the electric quantity state, executing the charging task or continuing to execute the current task according to the idle time length in a medium electric quantity mode, suspending receiving of a new task in a low electric quantity mode and directly executing the charging task after the current task is executed; the charging pile is arranged in the three-dimensional goods shelf and used for quitting the state of charging other equipment according to the serial number of the four-way shuttle car so as to wait for the charging of the four-way shuttle car corresponding to the serial number; and the communication unit is used for providing communication connection between the four-way shuttle car and the charging pile, providing the current state of each charging pile for the four-way shuttle car when the four-way shuttle car executes a charging task, and transmitting and locking the serial number of the four-way shuttle car of the charging pile to the charging pile.
Optionally, in the charging system for the four-way shuttle car as described above, a lifting channel is further connected between each layer in the three-dimensional shelf, so that when there is no idle charging pile and there is no avoidable charging pile on the three-dimensional shelf, the four-way shuttle car can enter other layers in the three-dimensional shelf to be charged.
Optionally, in the charging system for the four-way shuttle car, the electric quantity detection unit is further configured to, in a charging process, end a charging task when it is detected that the electric quantity of the four-way shuttle car remains unchanged or the electric quantity decreases according to a preset duration, trigger cancellation of locking of the charging pile, update a full electric quantity value when the electric quantity of the four-way shuttle car is smaller than an original full electric quantity value after the cancellation of locking, and monitor the electric quantity state of the four-way shuttle car according to a new full electric quantity value.
Based on the scheme, the charging control device of the four-way shuttle car is further synchronously provided, and is integrated on the charging pile or is in communication connection with a control unit of the charging pile, and a serial number locking unit, a charging switching unit and a state marking unit are arranged in the charging control device; the number locking unit is used for: receiving and updating the number corresponding to the four-way shuttle vehicle; the charging switching unit is used for: according to the serial number recorded by the serial number locking unit, triggering the charging pile to exit from a state of charging other equipment, and triggering the charging pile to wait for charging the four-way shuttle car corresponding to the serial number; the state marking unit is used for: according to fill the electric quantity state update of the four-way shuttle of electric pile current charging connection and fill electric pile's state of charge mark, include: marking that the charging pile is in a charging state in the charging process of the four-way shuttle vehicle; marking that the charging pile is in an avoidable state when the electric quantity of the four-way shuttle vehicle reaches a first avoidance standard, or when the electric quantity of the four-way shuttle vehicle reaches a second avoidance standard and the four-way shuttle vehicle connected with the four-way shuttle vehicle still has a task to be executed; and when the numbers of the four-way shuttle vehicles are not received, marking that the charging piles are in an idle state.
Advantageous effects
This application provides many-to-one charge logic control between four-way shuttle and the electric pile that fills, through judging the emergency degree that charges to it according to four-way shuttle electric quantity to can select suitable opportunity to carry out the holistic work efficiency of three-dimensional goods shelves system with more nimble mode assurance charging task under the prerequisite that does not influence and accomplish current task. When the charging task is executed, the charging pile which is convenient for providing a charging interface is locked in advance through a data interaction mode, so that the time consumed by searching for the charging pile by the four-way shuttle vehicle is shortened as far as possible. In order to further meet the charging requirement of the four-way shuttle vehicle needing emergency charging, the method can further request the four-way shuttle vehicle which completes most of charging tasks and can normally work first in the system to avoid so as to dynamically coordinate the occupation condition and the charging efficiency of the charging pile. The charging mode that this application provided is more intelligent and nimble, can effectively improve charging efficiency and the work efficiency of quadriversal shuttle among the stereoscopic shelf system to when sparingly filling electric pile quantity, improve warehouse schedule throughput.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a flow chart of the steps of a method for charging a four-way shuttle of the present application;
FIG. 2 is a schematic diagram of the steps in the present application for determining that a four-way shuttle circuit is full;
fig. 3 is a schematic diagram of the steps for acquiring and locking the charging pile in the present application;
fig. 4 is a schematic diagram of a determination step of the avoidable charging pile in the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up and down" in this application means that the direction from the ground to the top of the stereoscopic shelf of the warehouse is up when the user faces the stereoscopic shelf, and vice versa is down, not the specific limitation of the mechanism of the device of this application.
Three-dimensional goods shelves are arranged in the intelligent warehouse, and criss-cross tracks are respectively arranged on the goods shelves for the four-way shuttle to load goods to pass through so as to place the goods into a specified bin position.
The four-way shuttle is powered by a battery, so that corresponding charging piles are required to be arranged on the goods shelf to supplement the electric energy of the four-way shuttle. Under the prior art, it matches with the quadriversal shuttle one by one to set up the electric pile of filling usually. When the electric quantity of each shuttle vehicle is insufficient, the shuttle vehicles need to return to the corresponding charging piles respectively to realize charging. This charging method may result in a long return distance of the shuttle car running to a remote location, and may not reserve enough electric quantity for returning to charge. Moreover, the charging time between the shuttle cars is usually affected by the working strength of the shuttle cars, and all parts of the charging cars are the same, so that the number of the charging piles actually providing the charging service in unit time is not large, a large number of the charging piles are idle, and valuable warehouse space in a warehouse is wasted.
To above-mentioned problem, this application erects the communication unit in warehouse environment to through the quadriversal shuttle and fill the intelligent interaction between the electric pile and realize the effective dispatch to charging resource, thereby with the same mode of filling electric pile of many cars sharing, realize more nimble, efficient charging effect.
In an implementation manner, the present application may implement comprehensive scheduling of charging resources by connecting the server of the interactive communication unit according to the following manner:
setting the four-way shuttle vehicle to correspondingly trigger and execute according to the electric quantity state: a high-charge mode, a medium-charge mode, and a low-charge mode, wherein,
the high-power mode can be matched with a state that the power of the four-way shuttle vehicle is not less than 60%, and the four-way shuttle vehicle continues to execute the current task in the state;
the medium electric quantity mode can be matched with a state that the electric quantity of the four-way shuttle vehicle is not less than 30%, and in the state, the four-way shuttle vehicle can correspondingly execute a charging task when the idle time is long enough or continuously execute the current task when the idle time is short enough according to the idle time;
the low-power mode can be matched with a state that the power of the four-way shuttle vehicle is less than 30%, and in the state, the four-way shuttle vehicle suspends receiving a new task and directly executes a charging task after executing the current task;
when the four-way shuttle car needs to execute a charging task, the current state of each charging pile can be obtained through the communication unit, so that when an idle charging pile exists, the number of the four-way shuttle car of the charging pile is preferentially transmitted and locked to the charging pile through the communication unit according to the distance, the idle charging pile closest to the four-way shuttle car is triggered and locked, the fact that the idle charging pile is occupied by other equipment for charging before the shuttle car needing to be charged arrives is avoided, and the four-way shuttle car is timely driven to move to the idle charging pile for charging; and when no idle charging pile exists, according to the distance, the charging state of the charging pile is obtained through the communication unit, the state closest to the four-way shuttle car is triggered to be the state that the avoidable charging pile exits from charging other equipment, then the charging pile is triggered and locked through transmitting the number of the four-way shuttle car for locking the charging pile to the charging pile, and the four-way shuttle car is driven to move to the charging pile for charging as soon as possible. The step of triggering the state closest to the four-way shuttle to be the state that the avoidable charging pile exits from the state of charging other equipment is usually realized by a server connected with the interactive communication unit issuing a charging ending instruction to the four-way shuttle currently in butt joint charging of the charging pile. After the four-way shuttle car receives the instruction of finishing charging, the charging task is finished, the locking of the charging pile is released, and the charging pile is moved out, so that other four-way vehicles needing to be charged can lock the charging pile to be charged.
Considering that each four-way shuttle car can actually realize interaction with the charging pile through the communication unit, the control method can be deployed in a stereoscopic warehouse management system server to provide comprehensive scheduling, and each four-way shuttle car and/or the charging pile can be set to independently execute the following steps shown in fig. 1 respectively through an embedded computer program or a plug-in tested expansion module, so as to realize time-sharing and interactive use of charging resources:
step one, acquiring the electric quantity state of a four-way shuttle vehicle;
step two, judging whether the four-way shuttle vehicle is in a charging state, if the four-way shuttle vehicle is being charged, skipping to step three, otherwise skipping to step five;
step three, whether the electric quantity is full or not, if the electric quantity is not full, jumping to step one, otherwise, jumping to step four;
generating a charging removal task, and triggering to cancel locking of the charging pile;
step five, judging whether the current point quantity is less than 60, if the electric quantity is more than sixty, determining that the four-way shuttle vehicle is in a high-electric-quantity mode, and not needing to be charged, and then skipping to the step one to continue to execute the current task, otherwise, skipping to the step six;
step six, judging whether the current electric quantity is less than 30, if the electric quantity of the four-way shuttle vehicle is less than thirty, determining that the four-way shuttle vehicle is in a low electric quantity mode, and at the moment, skipping to the step seven to charge as soon as possible; otherwise, the four-way shuttle vehicle is considered to be in the medium electric quantity mode at the moment, and the step eight can be skipped to seek better time at the moment, so that the charging is carried out on the premise of not influencing the execution of the established task plan;
step seven, forbidding the four-way vehicle to add the task, judging whether the four-way vehicle is idle, if the four-way vehicle is idle, jumping to the step ten, and if the four-way vehicle is not idle, jumping to the step one to execute the current task;
step eight, judging whether the four-way vehicle is idle, if the four-way vehicle is idle, jumping to the step nine, otherwise, jumping to the step one;
step nine, judging whether the idle time of the four-way vehicle is greater than 30 minutes, if the idle time does not exceed 30 minutes, skipping to the step one, and if not, skipping to the step ten to search for a charging pile to perform charging;
step ten, when the charging task is executed, judging whether an idle charging pile exists or not, if so, generating the charging task and executing, otherwise, skipping to the step eleven;
step eleven, judging whether the electric quantity of the current charging vehicle is not lower than 30, and the avoidable charging pile with higher charging priority is not needed, if so, jumping to step twelve, otherwise, jumping to step one;
and step twelve, triggering the four-way vehicle capable of avoiding the charging pile to generate a charging removal task, and executing an avoiding program.
To multilayer structure's stereoscopic warehouse, this application can set up each shuttle in the same layer and only look for charging stake according to above mode at this layer within range and charge.
To the intercommunication have the warehouse that can supply the shuttle to charge the lift passageway of transferring between each layer of stereoscopic shelving, the quadriversal shuttle of this application still can not have the idle stake of charging and can dodge when charging the stake on this layer of stereoscopic shelving, transports the quadriversal shuttle to other layers of stereoscopic shelving through lift passageway, charges according to the mode as shown in fig. 3:
step S1, acquiring current layer charging pile node information;
step S2, judging whether an idle charging pile exists in the current layer; if yes, jumping to step S3, otherwise, jumping to step S5;
s3, applying for charging piles in sequence from near to far according to the distance from the four-way vehicle;
step S4, whether a charging pile is applied or not is judged, if not, the step S1 is skipped to, if yes, the charging pile is locked, the four-way vehicle number is assigned to the robot number attribute in the charging node, the charging pile is triggered to charge the four-way shuttle vehicle corresponding to the number, and therefore the situation that two vehicles apply to the same charging pile before reaching the charging pile and compete with each other, and the charging pile cannot be charged directly is avoided;
step S5, whether an avoidable charging pile exists or not is judged, if yes, the step S6 is skipped, and if not, the step S7 is skipped;
step S6, requiring other four-way vehicles to avoid the charging pile, and locking the charging pile after the avoidance is finished;
step S7, judging whether the system supports layer changing, if not, jumping to step S1, otherwise, jumping to step S8;
step S8, whether an idle charging pile exists or not is judged according to the floor distance from near to far;
step S9, whether an idle charging pile is applied or not is judged, if not, the step S10 is skipped, otherwise, the step S13 is skipped;
step S10, inquiring whether an avoidable charging pile exists according to the fact that the floor is close to the floor;
step S11, judging whether an avoidable charging pile exists or not, if not, jumping to the step 1, otherwise, jumping to the step S12;
s12, requiring other four-way vehicles to avoid charging piles;
and step S13, locking the charging pile, generating a switching task and executing the switching task.
In order to cooperate with the above-mentioned step, provide the locking and the switching of charged state to filling electric pile, this application can be specifically through the mode that the self procedure of the electric pile of filling or external control module or direct through server calculation, further set up the electric pile that fills that establishes each layer of stereoscopic warehouse to include: the device comprises a number locking unit, a charging switching unit and a state marking unit. The number locking unit is used for: and receiving and updating the number corresponding to the four-way shuttle vehicle so as to lock the charging pile and prevent the four-way shuttle vehicle from being seized by other equipment before arriving. Wherein the charging switching unit is used for: and triggering the charging pile to interact with the four-way shuttle vehicle in the current charging state according to the serial number recorded by the serial number locking unit so as to enable the four-way shuttle vehicle to exit the charging state, and triggering the charging pile to wait for charging the four-way shuttle vehicle corresponding to the serial number. Wherein the state marking unit is used for: updating a charging state mark of the charging pile according to the electric quantity state of the four-way shuttle car which is currently charged and connected with the charging pile, for example, marking that the charging pile is in a charging state in the charging process of the four-way shuttle car, and marking that the charging pile which is connected with the four-way shuttle car which is not urgently charged is in an avoidable state when the electric quantity of the four-way shuttle car connected with the charging pile reaches a first avoidance standard, for example, 80% of full electric quantity, or when the electric quantity of the four-way shuttle car reaches a second avoidance standard, for example, 60% of full electric quantity and a task to be executed exists; and when the numbers of the four-way shuttle vehicles are not received, marking that the charging piles are in an idle state.
Therefore, when no idle charging pile exists in the system, the avoidable charging pile can be inquired through the following means shown in fig. 4, and the avoidable charging pile is correspondingly released, so that the electric energy supplement can be provided for the four-way shuttle vehicle which needs to be charged more emergently:
b1, acquiring states of the four-way vehicles occupying the charging piles, and sorting the states according to the current electric quantity of the four-way shuttle vehicles from large to small;
step B2, judging whether the four-way vehicle with the electric quantity larger than 80 still occupies the charging pile exists, if not, jumping to step B3, otherwise, jumping to step B5, and marking the charging pile corresponding to the four-way shuttle vehicle as an avoidable charging pile so as to correspondingly replace the vehicle locked by the charging pile according to the requirement;
step B3, judging whether the electric quantity is larger than 60 and the four-way vehicle still occupies the charging pile exists, if not, jumping to step B1, otherwise, jumping to step B4;
step B4, judging whether the four-way shuttle vehicle has a task to be executed, if so, jumping to step B5 to mark the charging pile corresponding to the four-way shuttle vehicle as an avoidable charging pile so as to correspondingly replace the locked vehicle according to the requirement, otherwise, jumping to step B1;
step B5, generating and removing a charging task and executing the task;
and step B6, releasing the charging pile.
Considering that the environment temperature has a great influence on the electric quantity of the four-way shuttle car battery, in winter or in the environment with lower north temperature, the charging electric quantity of the four-way shuttle car battery cannot be charged to 100%, so that whether the charging of the four-way shuttle car battery is finished or not and whether more electric quantity cannot be charged can not be judged directly according to the electric quantity value of the four-way shuttle car battery. Therefore, in the charging process, the electric quantity detection unit in the four-way shuttle vehicle is further utilized to dynamically acquire the electric quantity of the four-way shuttle vehicle in the mode shown in fig. 2 and judge whether the electric quantity of the four-way shuttle vehicle is full or not in real time so as to redefine the full electric quantity state of the four-way shuttle vehicle:
step C1, executing charging operation according to the original charging electric quantity and charging time;
step C2, acquiring the current electric quantity of the four-way shuttle vehicle in real time in the charging process;
c3, recording the change time of the current electric quantity of the four-way shuttle vehicle and the change numerical value of the current electric quantity;
step C4, judging whether the electric quantity is increased, if not, jumping to step C5, otherwise, jumping to step C7;
step C5, judging whether the time interval of unchanged electric quantity is more than 5 minutes or whether the electric quantity is reduced, if yes, indicating that the battery can not be charged continuously when being charged to a certain electric quantity under the influence of environment, and considering that the value dynamically changes along with the environmental temperature, when detecting that the amount of the charged electric quantity is reduced, the step C6 can be triggered, otherwise, the step C2 is triggered;
step C6, generating a charging removal task, triggering the unlocking of the charging pile, and executing;
step C7, judging whether the current electric quantity of the four-way shuttle vehicle is greater than 99% of the full electric state, if so, jumping to step C6, otherwise, jumping to step C8;
and C8, updating the recorded electric quantity and time, jumping to C2 to continue charging and updating the recorded value of the charged electric quantity.
In conclusion, this application is through changing current four-way shuttle and filling the electric pile between one-to-one logic of charging, when avoiding filling electric pile trouble, and the corresponding four-way car must wait for the inconvenience that other cars just can charge for oneself after being full of to the dynamic scheduling of the interior electric pile resource of warehouse is realized to more nimble mode. The automatic charging method for the four-way vehicle provided by the invention not only realizes the one-to-one charging mode of the traditional four-way vehicle and the charging pile, but also realizes the many-to-one charging mode. The invention also provides a variable electric quantity full-charge judging method aiming at the condition that the full-charge state is influenced by equipment and environment in the charging process, and can effectively solve the problem that the battery cannot reach the full-charge state under the influence of temperature.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. A charging method of a four-way shuttle car is characterized by comprising the following steps:
correspondingly triggering the four-way shuttle vehicle to execute according to the electric quantity state of the four-way shuttle vehicle: a high charge mode, a medium charge mode, and a low charge mode;
under the high-power mode, the four-way shuttle vehicle continues to execute the current task;
in the medium electric quantity mode, the four-way shuttle vehicle correspondingly executes a charging task or continues to execute the current task according to the idle time;
and under the low-power mode, the four-way shuttle vehicle suspends receiving a new task and directly executes the charging task after the current task is executed.
2. The method of charging a four-way shuttle of claim 1, wherein the step of performing a charging task comprises:
when the free charging piles are available, according to the distance, the free charging pile closest to the four-way shuttle vehicle is preferentially triggered and locked, and the four-way shuttle vehicle is driven to move to the free charging pile for charging;
when no idle charging pile exists, according to the distance, the state that the charging pile which is closest to the four-way shuttle car and can be avoided exits from the charging state for other equipment is triggered and locked, and the four-way shuttle car is driven to move to the charging pile for charging.
3. The charging method of the four-way shuttle according to claim 2, wherein during the charging task, when there is no empty charging pile and no avoidable charging pile in the stereoscopic shelf of the layer, the following steps are performed:
according to the distance between the floors, the idle charging pile closest to the four-way shuttle vehicle is preferentially triggered and locked, and the four-way shuttle vehicle is driven to move to the idle charging pile for charging;
when no idle charging pile exists, according to the distance between floors, the state that the charging pile which is closest to the four-way shuttle car and can be avoided exits from charging other equipment is triggered, then the charging pile is triggered and locked, and the four-way shuttle car is driven to move to the charging pile for charging.
4. A method of charging a four-way shuttle as claimed in claims 2 to 3 wherein the step of triggering locking of the charging post comprises: and sending the number corresponding to the four-way shuttle car executing the charging task to the charging pile, and triggering the charging pile to charge the four-way shuttle car corresponding to the number.
5. A method of charging a four-way shuttle according to claims 2-3 wherein the avoidable charging station is determined by the steps of:
according to the electric quantity state of the four-way shuttle car which is currently charged and connected by the charging pile, correspondingly setting the charging pile of which the electric quantity reaches a first avoidance standard, the electric quantity reaches a second avoidance standard and the four-way shuttle car which is connected by the charging pile also has a task to be executed as an avoidable charging pile;
and the electric quantity of the second avoidance standard is lower than that of the first avoidance standard.
6. A method of charging a four-way shuttle as claimed in claims 1 to 5 wherein during the charging process:
if the electric quantity of the four-way shuttle vehicle is detected to be kept unchanged or reduced within the preset time, the charging task is ended, the locking of the charging pile is triggered to be cancelled, the full-electricity value is updated when the electric quantity of the four-way shuttle vehicle is smaller than the original full-electricity value after the locking is cancelled, and the four-way shuttle vehicle is triggered to monitor the electric quantity state according to the new full-electricity value.
7. A charging system for a four-way shuttle, comprising:
the electric quantity detection unit is arranged on the four-way shuttle vehicle and used for acquiring the electric quantity state of the four-way shuttle vehicle, correspondingly triggering the four-way shuttle vehicle to continue to execute the current task in a high electric quantity mode according to the electric quantity state, executing the charging task or continuing to execute the current task according to the idle time length in a medium electric quantity mode, suspending receiving of a new task in a low electric quantity mode and directly executing the charging task after the current task is executed;
the charging pile is arranged in the three-dimensional goods shelf and used for quitting the state of charging other equipment according to the serial number of the four-way shuttle car so as to wait for the charging of the four-way shuttle car corresponding to the serial number;
and the communication unit is used for providing communication connection between the four-way shuttle car and the charging pile, providing the current state of each charging pile for the four-way shuttle car when the four-way shuttle car executes a charging task, and transmitting and locking the serial number of the four-way shuttle car of the charging pile to the charging pile.
8. The charging system for the four-way shuttle according to claim 7, wherein a lifting channel is further connected between each layer of the stereoscopic shelf, and is used for allowing the four-way shuttle to enter other layers of the stereoscopic shelf for charging when there is no free charging pile and no avoidable charging pile on the stereoscopic shelf.
9. The charging system for the four-way shuttle vehicle according to claim 7, wherein the electric quantity detecting unit is further configured to, during the charging process, end the charging task when it is detected that the electric quantity of the four-way shuttle vehicle remains unchanged or the electric quantity decreases according to a preset duration, trigger the unlocking of the charging pile, update the full electric quantity value when the electric quantity of the four-way shuttle vehicle is smaller than the original full electric quantity value after the unlocking is completed, and monitor the electric quantity state according to the new full electric quantity value.
10. The charging control device of the four-way shuttle car is characterized in that the charging control device is integrated on a charging pile or is in communication connection with a control unit of the charging pile, and a serial number locking unit, a charging switching unit and a state marking unit are arranged in the charging control device;
the number locking unit is used for: receiving and updating the number corresponding to the four-way shuttle vehicle;
the charging switching unit is used for: according to the serial number recorded by the serial number locking unit, triggering the charging pile to exit from a state of charging other equipment, and triggering the charging pile to wait for charging the four-way shuttle car corresponding to the serial number;
the state marking unit is used for: according to fill the electric quantity state update of the four-way shuttle of electric pile current charging connection and fill electric pile's state of charge mark, include: marking that the charging pile is in a charging state in the charging process of the four-way shuttle vehicle; marking that the charging pile is in an avoidable state when the electric quantity of the four-way shuttle vehicle reaches a first avoidance standard, or when the electric quantity of the four-way shuttle vehicle reaches a second avoidance standard and the four-way shuttle vehicle connected with the four-way shuttle vehicle still has a task to be executed; and when the numbers of the four-way shuttle vehicles are not received, marking that the charging piles are in an idle state.
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