CN109515218A - A kind of wisdom parking lot AGV automatic charging and maintenance mechanism - Google Patents
A kind of wisdom parking lot AGV automatic charging and maintenance mechanism Download PDFInfo
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- 238000007600 charging Methods 0.000 title claims abstract description 63
- 230000008531 maintenance mechanism Effects 0.000 title abstract description 14
- 238000012423 maintenance Methods 0.000 claims abstract description 45
- 230000008439 repair process Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 230000006855 networking Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 2
- 230000007246 mechanism Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 206010033799 Paralysis Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/70—Interactions with external data bases, e.g. traffic centres
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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
-
- 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
- Y02T90/14—Plug-in electric vehicles
-
- 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
Abstract
A kind of wisdom parking lot AGV automatic charging and maintenance mechanism.The present invention provides a kind of wisdom parking lot AGV automatic charging and repair methods, are related to AGV technical field of parking, and are able to extend AGV service life, reduce wisdom parking lot operation cost, improve operational efficiency；This method includes AGV automatic charging mechanism and AGV maintenance mechanism；The current electric quantity of AGV is compared by the AGV automatic charging mechanism with preset charge threshold and threshold wake-up value, determines whether AGV starts charging flow or wake up process；The fault level that the AGV servicing machine is made as AGV is determined, executes corresponding repair process according to fault level.Technical solution provided by the invention is applicable in the charging and maintenance process of AGV.
Description
Technical field
The present invention relates to AGV technical field more particularly to a kind of wisdom parking lot AGV automatic chargings and servicing machine of parking
System.
Background technique
In recent years, as China's car ownership quickly increases, city mechanical three-dimensional parking place quantity is consequently increased,
Though mechanical three-dimensional parking place is more self-propelled, sky parking's parking density is bigger, and operational efficiency is higher, and scheduling is intelligent not
Height can not adjust sound state traffic balance, therefore can satisfy the wisdom parking systems of the growth requirement of the following smart city
It comes into being.
Currently, wisdom sky parking is mostly using intelligent AGV as parking tool, but since the research and development time is short, it is existing
AGV is only able to display electricity service condition mostly, automatic order charging can not be realized according to task, existing AGV is mostly without event
Hinder early warning and maintenance mechanism, an AGV failure is likely to result in entire wisdom parking lot paralysis.Problem above directly affects
The service life for the AGV that parks and park safety, also affect wisdom parking lot operational efficiency and the parking body of car owner indirectly
It tests, improves wisdom parking lot operation cost, hinder the development in wisdom parking lot.Therefore, a kind of intelligence of intelligent and high-efficiency is developed
Intelligent parking lot AGV automatic charging and maintenance mechanism are very necessary.
Summary of the invention
In view of this, the present invention provides a kind of wisdom parking lot AGV automatic charging and maintenance mechanism, the mechanism energy
The problems such as AGV service life is short, and operation cost is excessively high, and operational efficiency is low of parking that enough very good solution wisdom parking lots face.
On the one hand, the present invention provides a kind of wisdom parking lot AGV automatic charging and repair method, which is characterized in that root
It is maintained according to AGV state, the maintenance includes that AGV automatic charging and AGV are overhauled；The content of the AGV automatic charging
Are as follows: the current electric quantity of AGV is compared with preset charge threshold and threshold wake-up value, determines whether AGV starts charging flow
Or wake up process；The content of the AGV maintenance are as follows: the fault level of AGV is determined, is executed according to fault level corresponding
Repair process.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the charging stream
Journey specifically: whether S11, the current state for determining the AGV are busy condition；If S12, being in busy condition, complete to work as
Preceding task backcasting machine module application charging is charged to computer module application immediately if being in idle condition；S13, it presses
The charging of charging zone off-network is orderly driven into arrangement according to computer module.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the wake-up stream
Journey specifically: S21, AGV are in the preparation state for continuing to enter networking execution task while charging；Whether S22, real-time judge connect
Receive the networking order that computer module is sent；If not receiving, continue charging until 100% is full of；If receiving, stop
It only charges, starts to execute task of parking.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the charging threshold
Value is the 20% of AGV battery total capacity；The threshold wake-up value is the 80% of AGV battery total capacity.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, described failure etc.
Grade include:
Daily maintenance, the timed maintenance of fault-free AGV；
Minor failure does not influence the failure that AGV completes current task；
Moderate failure makes AGV be unable to complete current task, but does not influence the failure of its normal movement；
Severe failure makes AGV be unable to complete current task and irremovable failure.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the daily dimension
The repair process of shield are as follows: after AGV completes same day task, orderly drive into maintenance station according to the arrangement of computer module and safeguarded
Maintenance；
The repair process of the minor failure are as follows: if AGV currently has task, AGV completes task backcasting of currently parking
Machine module application maintenance, and drive into maintenance station by the service arrangement of computer module and overhauled, if AGV currently without task,
It is then directly overhauled to computer module application, and drives into maintenance station by the service arrangement of computer module and overhauled；
The repair process of the moderate failure are as follows: directly overhaul to computer module application, and pacify by the maintenance of computer module
Row drives into maintenance station and is overhauled；
The repair process of the severe failure are as follows: AGV is directly overhauled to computer module application, is intervened by maintenance personal by AGV
Support to maintenance station is overhauled.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, AGV is to computer
ID, current task information, current location information and/or the fault code information of AGV are sent when module application is overhauled.
On the other hand, the present invention provides a kind of wisdom parking lot AGV automatic charging and apparatus for examination and repair, including memory,
Processor and storage are in the memory and the computer program that can run on the processor, it is characterised in that: institute
State the step of realizing as above any the method when processor executes the computer program.
Compared with prior art, the present invention can be obtained including following technical effect: wisdom parking lot AGV of the invention
Automatic charging and maintenance mechanism, it is rationally efficient, safe and reliable and intelligent；It is driving with AGV remaining capacity and failure, using people
Propertyization design, is able to extend AGV service life, reduces wisdom parking lot operation cost, improves operational efficiency.
Certainly, it implements any of the products of the present invention it is not absolutely required to while reaching all the above technical effect.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the flow chart of wisdom parking lot AGV automatic charging provided by one embodiment of the present invention and maintenance mechanism.
Specific embodiment
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
A kind of wisdom parking lot AGV automatic charging and maintenance mechanism, with wisdom parking lot charging module and maintenance module
For carrier, it is driving with AGV remaining capacity and failure, is the guarantee of wisdom parking lot AGV efficient operation, including automatic charger
System and automatic maintenance mechanism.
Under normal conditions, wisdom parking lot includes that main building, computer module, door lock are held up traffic module, AGVS and support
Module, human-computer interaction module, positioning AP module, entrance lifting module, charging module, carwash module, maintenance module, emergency disappear
Anti- module, green energy resource module.Parking area is set in every layer of wisdom parking lot, the charging zone AGV, AGV maintenance area, monitored space, is washed
Vehicle area, escape hatch, intelligent fire area, the two sides in parking lot are equipped with lifting vertical ladder, and top layer covers solar power generation facility, each layer
Between be equipped with emergency auxiliary ramp.
Charging module is located at the charging zone AGV in every layer of wisdom parking lot, and multiple charging stations are arranged in each charging zone AGV.
The core of charging module is intelligent charging machine.
Maintenance module is located at the AGV maintenance area in every layer of wisdom parking lot, and multiple maintenance stations are arranged in each AGV maintenance area.
Automatic charging mechanism refers to that AGV can orderly drive into charge position charging, tool according to remaining capacity and task grade
Body are as follows:
1, start charging flow after 20% of AGV remaining capacity lower than total capacity of parking, complete current task backcasting machine
Module application charging drives into the charging of charging zone off-network by sequence sequencing；It, will be certainly when AGV charges to computer module application
The information such as number, location information, the current electric quantity of body are sent to computer module, and computer module is according to the present case of AGV
Charging schedules are carried out, to guarantee that AGV orderly efficiently charges；Computer module is control centre；
2, when charging to 80% or more of total capacity, computer module can according to need and wake up AGV networking execution of parking at any time
It parks task；Other work normally AGV complete enough current parking lot park task in the case where, it is preferable that charging
In AGV charge to 100% after reenter net and execute and park task.
Maintenance mechanism refers to that AGV breaks down in the process of running, the control system of AGV itself by read failure code,
Judge fault level, start corresponding troubleshooting mode, the operator that corresponding qualification is needed to have in AGV maintenance process is dry
In advance, after the completion, error code is emptied, can be networked.Specifically:
1, daily maintenance can propose maintenance application to computer module, and according to meter on the day of completing the AGV after task
The service arrangement of calculation machine module drives into maintenance station maintenance；
2, minor failure has the ability for completing current task；AGV first determines currently whether there is task, appoints if AGV currently has
Business, then AGV completes task backcasting machine module application maintenance of currently parking, and drives by the service arrangement of computer module
Maintenance station is overhauled, if AGV currently without task, is directly overhauled to computer module application, and by computer module
Service arrangement drives into maintenance station and is overhauled；
3, moderate failure, is unable to complete this task of parking, but still can automatic moving, can directly be examined to computer module application
It repairs, and drives into maintenance station by the service arrangement of computer module and overhauled；
4, severe failure is unable to complete this task of parking, and can not move on their own, and AGV is directly examined to computer module application
It repairs, maintenance personal is notified by computer module, AGV is held in the palm to maintenance station and overhauled by maintenance personal's intervention.
AGV sends ID, current task information, current location information and the failure of AGV when overhauling to computer module application
Code information, so that computer module can have a foundation makes service arrangement to AGV.
Charging and maintenance mechanism of the invention is driving with AGV remaining capacity and fault condition, using human oriented design, energy
Enough extend AGV service life, reduce wisdom parking lot operation cost, improves operational efficiency.
Above to a kind of AGV automatic charging of wisdom parking lot provided by the embodiment of the present application and maintenance mechanism, carry out
It is discussed in detail.The description of the example is only used to help understand the method for the present application and its core ideas；Meanwhile for
Those of ordinary skill in the art have change according to the thought of the application in specific embodiments and applications
Place, in conclusion the contents of this specification should not be construed as limiting the present application.
Some vocabulary has such as been used to censure specific components in specification and claims.Those skilled in the art
, it is to be appreciated that hardware manufacturer may call the same component with different nouns.Present specification and claims are not
In such a way that the difference of title is as component is distinguished, but with the difference of component functionally as the criterion of differentiation.Such as
It is an open language in "comprising", " comprising " of the specification and claims in the whole text mentioned in, therefore " packet should be construed to
Containing/including but not limited to "." substantially " refer within the acceptable error range, those skilled in the art can centainly miss
The technical problem is solved in poor range, basically reaches the technical effect.Specification subsequent descriptions be implement the application compared with
Good embodiment, so the description is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.
The protection scope of the application is subject to view the appended claims institute defender.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection scope of the appended claims.
Claims (8)
1. a kind of wisdom parking lot AGV automatic charging and repair method, which is characterized in that tieed up according to AGV state to it
Shield, the maintenance include that AGV automatic charging and AGV are overhauled；The content of the AGV automatic charging are as follows: by the current electric quantity of AGV with
Preset charge threshold and threshold wake-up value are compared, and determine whether AGV starts charging flow or wake up process；The AGV inspection
The content repaired are as follows: the fault level of AGV is determined, corresponding repair process is executed according to fault level.
2. wisdom parking lot AGV automatic charging and repair method according to claim 1, which is characterized in that described to fill
Electric current journey specifically: whether S11, the current state for determining the AGV are busy condition；If S12, busy condition is in, complete
It charges at current task backcasting machine module application, if being in idle condition, charges immediately to computer module application；
S13, off-network charging in charging zone is orderly driven into according to the arrangement of computer module.
3. wisdom parking lot AGV automatic charging and repair method according to claim 1, which is characterized in that described to call out
Awake process specifically: S21, AGV are in the preparation state for continuing to enter networking execution task while charging；S22, real-time judge are
The no networking order for receiving computer module and sending；If not receiving, continue charging until 100% is full of；If receiving,
Then stop charging, starts to execute task of parking.
4. wisdom parking lot AGV automatic charging and repair method according to claim 1, which is characterized in that described to fill
Electric threshold value is the 20% of AGV battery total capacity；The threshold wake-up value is the 80% of AGV battery total capacity.
5. wisdom parking lot AGV automatic charging and repair method according to claim 1, which is characterized in that the event
Hindering grade includes:
Daily maintenance, the timed maintenance of fault-free AGV；
Minor failure does not influence the failure that AGV completes current task；
Moderate failure makes AGV be unable to complete current task, but does not influence the failure of its normal movement；
Severe failure makes AGV be unable to complete current task and irremovable failure.
6. wisdom parking lot AGV automatic charging and repair method according to claim 5, which is characterized in that
The repair process of the daily maintenance are as follows: after AGV completes same day task, orderly drive into inspection according to the arrangement of computer module
It repairs station and carries out maintenance；
The repair process of the minor failure are as follows: if AGV currently has task, AGV completes task backcasting of currently parking
Machine module application maintenance, and drive into maintenance station by the service arrangement of computer module and overhauled, if AGV currently without task,
It is then directly overhauled to computer module application, and drives into maintenance station by the service arrangement of computer module and overhauled；
The repair process of the moderate failure are as follows: directly overhaul to computer module application, and pacify by the maintenance of computer module
Row drives into maintenance station and is overhauled；
The repair process of the severe failure are as follows: AGV is directly overhauled to computer module application, is intervened by maintenance personal by AGV
Support to maintenance station is overhauled.
7. wisdom parking lot AGV automatic charging and repair method according to claim 6, which is characterized in that AGV is to meter
ID, current task information, current location information and/or the fault code information of AGV are sent when calculation machine module application is overhauled.
8. a kind of wisdom parking lot AGV automatic charging and apparatus for examination and repair, including memory, processor and it is stored in described deposit
In reservoir and the computer program that can run on the processor, it is characterised in that: the processor executes the computer
The step of the method as any such as claim 1-7 is realized when program.
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| CN201811277903.9A CN109515218B (en) | 2018-10-30 | 2018-10-30 | Automatic AGV charging and overhauling mechanism for intelligent parking lot |
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| CN201811277903.9A CN109515218B (en) | 2018-10-30 | 2018-10-30 | Automatic AGV charging and overhauling mechanism for intelligent parking lot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113408773A (en) * | 2020-03-16 | 2021-09-17 | 阿里巴巴集团控股有限公司 | Transport vehicle charging scheduling control method and device |
| CN113759835A (en) * | 2020-06-12 | 2021-12-07 | 北京京东乾石科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
| CN113759835B (en) * | 2020-06-12 | 2024-05-17 | 北京京东乾石科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
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| CN113408773A (en) * | 2020-03-16 | 2021-09-17 | 阿里巴巴集团控股有限公司 | Transport vehicle charging scheduling control method and device |
| CN113759835A (en) * | 2020-06-12 | 2021-12-07 | 北京京东乾石科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
| CN113759835B (en) * | 2020-06-12 | 2024-05-17 | 北京京东乾石科技有限公司 | Vehicle scheduling method, device, equipment and storage medium |
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