CN108989412A - A kind of new-energy automobile automatic charging system based on AGV - Google Patents
A kind of new-energy automobile automatic charging system based on AGV Download PDFInfo
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- CN108989412A CN108989412A CN201810731611.1A CN201810731611A CN108989412A CN 108989412 A CN108989412 A CN 108989412A CN 201810731611 A CN201810731611 A CN 201810731611A CN 108989412 A CN108989412 A CN 108989412A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of new-energy automobile automatic charging system based on AGV controls client, the AGV with independent navigation function, multitap charging pile, environment sensing equipment, charging equipment acquisition equipment including parking lot management server, AGV management server, AGV.Present system has application environment flexible, the low feature of lower deployment cost, the vehicle automatic charging scene being particularly suitable under the following automatic Pilot, and AGV therein is managed by cloud United Dispatching, and system is whole to have better scalability in scale and function；It is actively found by AGV and docks charging unit, the requirement to vehicle parking position precision can be reduced, AGV action is flexible, its sensing equipment is detachable, it is easily scalable, by being suitable for indoor and outdoor several scenes to AGV hardware modifications, complete a variety of scalability tasks in addition to charging, such as monitoring, carrying.
Description
Technical field
The invention belongs to parking stall automatic charging technical fields, and in particular to one kind is based on AGV (Automated Guided
Vehicle, automated guided vehicle) new-energy automobile automatic charging system.
Background technique
New-energy automobile develops fast recent two decades, and in recent years, main automobile power of the world is numerous and confused to be indicated to be promoted
It is not only to propose " forbidding selling fuel oil timetable " to some countries of national strategy, especially European Union, and rises to specific
Be legal perspective, while some restricted driving measures should be taken, it is Chinese then be more actively, more actively, more systematically push new energy
The development of source automobile.
Under policy driving, the fully under way of new-energy automobile has been trend of the times, and achieves one on the market
The ground of seat.China Association for Automobile Manufacturers's data show that China's new-energy automobile produced 79.4 ten thousand in 2017, increase by a year-on-year basis
53.8%, 77.7 ten thousand are sold, increases by 53.3% on a year-on-year basis.
" promoting and applying new-energy automobile is the important measure protected environment, accelerate industrial upgrading " --- industry and informationization
Sadie research institute of portion chief engineer Wu Baogui is said；China is automobile production and consumption big country, and the maximum new energy in the whole world
Automobile market, new-energy automobile volume of production and marketing, ownership are more than the whole world 50%, are sure to occupy new-energy automobile production and marketing first position.
World Main Auto, which produces state all, will develop new-energy automobile as national strategy, accelerate Push Technology research and development
And industrialization, each main vehicle enterprise also disclose fuel vehicle timetable of suspending sale of one after another, new-energy automobile has become international automobile industry
Developing direction, the period of important strategic opportunities of Global Auto industrial transformation upgrading will be welcome within following 10 years；Have sooner or later one day, consumes
Person can not buy the circumstances of fuel-engined vehicle by facing.
Electric car has environmental protection, energy-efficient advantage, in recent years in daily life using more and more extensive, by conduct
Main trend is universal and a large amount of by public institute, and existing electric quantity of batteries of electric vehicle lays in problem that is limited, therefore often facing
The problem of being exactly to Vehicular charging；New-energy automobile charging modes are still manual hand manipulation's docking at present, this is not only caused
Inconvenience, and as shared automobile industry, autonomous driving vehicle industry flourish, Intelligentized parking lot continues to bring out,
Automobile charging flow will necessarily move towards full-automatic.Automatic charging technology at this stage is installed on single charging pile high-precision mostly
Mechanical arm is spent, charging equipment is all installed every parking stall, this considerably increases costs, and want to the precision of vehicle parking position
It asks higher, is unfavorable for the popularization of automatic charging.
Summary of the invention
In view of above-mentioned, the present invention provides a kind of new-energy automobile automatic charging system based on AGV is controlled by cloud
AGV completes vehicle charging mouth docking mission, precisely stops without vehicle, using one-to-many charging modes, reduces charging and set
Standby lower deployment cost, in addition the high flexibility of AGV also realizes that additional extension sexual function provides imagination space for parking lot.
A kind of new-energy automobile automatic charging system based on AGV, comprising: parking lot management server, AGV management service
Device, the AGV with independent navigation function, charging pile and the control client being installed on AGV, environment sensing equipment and charging
Equipment acquisition equipment；Wherein:
The parking lot management server will need the vehicle of charging service according to the parking stall service condition in current parking lot
Position information is sent to AGV management server, to convey charging tasks to it；
After the AGV management server receives charging tasks, by according to the service condition of charging pile in current parking lot with
And the position of AGV, charging tasks are distributed to the control client of specified AGV, and send by AGV to AGV control client
The path and motion control instruction that management server end is cooked up, the path include the road that charging pile is reached from the current location AGV
Diameter and the path that charging service parking stall is needed from charging pile arrival；
The control client receives the charging tasks that AGV management server issues, and indicates AGV according to motion control instruction
It is travelled according to specified path, while the driving status of AGV, task performance is uploaded to AGV management server in real time；
The AGV is travelled under the guide of control client according to specified path, is pasted on ground by camera shooting
On two dimensional code carry out positioning with driving trace rectify a deviation, and by location information by control client be sent to AGV management service
Device, traveling then the charging plug in stake is carried at the parking stall for needing charging service to AGV at charging pile, and then by plug with
The charge port docking of vehicle at the parking stall；
The environment sensing equipment is used to detect the environmental information around AGV, and environmental information is sent to control client
End, then AGV management server is sent to by control client, it submits necessary information for the positioning of AGV with avoidance；
The charging equipment acquisition equipment can be docked with charging pile, for capturing the electromagnetic absorption device of charging plug, be led to
The size of current for changing electromagnetic absorption device is crossed to control the presence or absence of magnetic force, to obtain charging plug.
Further, the parking lot management server include database module for storing parking stall use information and
For parking space information to be sent to the I/O module of AGV management server.
Further, the AGV management server includes I/O module, database module, navigation module and monitoring mould
Block, in which:
The I/O module for will receive parking lot cartographic information, AGV location information, AGV ambient condition information, AGV
Running condition information is sent to database module, and parking lot cartographic information, AGV location information, AGV ambient condition information are sent
To navigation module, the driving path of navigation module output and motion control instruction are sent to the control client of specified AGV, it will
AGV running condition information and AGV ambient condition information are sent to monitoring module；
The database module is for storing parking lot cartographic information, AGV location information, AGV ambient condition information, AGV
Running condition information, and the information passed back according to I/O module is updated immediately；
The navigation module carries out fusion meter according to AGV ambient condition information, AGV location information, parking space diagram data
It calculates, cooks up a driving path for specified AGV and according to the motion control instruction in the path；
The monitoring module comments AGV operating status according to AGV running condition information and AGV ambient condition information
Estimate, is generating warning message when something goes wrong.
Further, the control client includes I/O module, database module and motion-control module, in which:
The I/O module is used to receive the assignment instructions of AGV management server transmission, the location information that AGV is generated, environment
The AGV ambient condition information that awareness apparatus provides, and then AGV location information, AGV ambient condition information are sent to AGV management
Server；
The motion-control module be used to control motion control instruction that AGV assigns it according to AGV management server by
It is travelled according to specified path, and the running condition information of AGV is sent to AGV management server by I/O module；
The database module is used to store the running condition information and AGV ambient condition information of AGV.
Further, the AGV includes omni-directional wheel, motor, battery, drive circuit board, minicomputer, at the top of AGV and
Bottom is respectively arranged with camera.
Further, the charging pile is fixed on ground and possesses multiple charging plugs, can simultaneously with more new energy
Vehicle provides charging service to it is connected in.
Further, the environment sensing equipment includes the camera being installed at the top and bottom of AGV, wherein top camera shooting
Head acquisition surrounding environment information to ranging avoidance, paste two dimensional code on the ground and position to AGV by the shooting of bottom camera；
When AGV carries charging plug close to Vehicular charging mouth, top camera is responsible for the positioning that charge port is docked with charging plug.
Further, the two dimensional code is pasted on the ground of parking lot, every the length of two AGV since each charging pile
Degree patch one, is attached to always each parking stall, forms mulitpath.
Based on the above-mentioned technical proposal, the present invention has following advantageous effects:
(1) the invention proposes the new-energy automobile automatic charging system based on AGV, AGV has the characteristics that high flexibility,
Charging unit is actively found and docked by AGV, the requirement to vehicle parking position precision can be reduced.
(2) AGV is managed by cloud United Dispatching in the present invention, and system is whole to have preferably extension in scale and function
Property.
(3) flexibly, sensing equipment is detachable, easily scalable for AGV action in the present invention, can by AGV hardware modifications
Indoor and outdoor several scenes are adapted to, a variety of scalability tasks in addition to charging, such as monitoring, carrying are completed.
(4) present invention can be realized the charging modes that a charging pile services multiple vehicles, in identical parking
The quantity of required automatic charging charging pile is less in, reduces cost.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural schematic diagrams of the new-energy automobile automatic charging system of AGV.
Fig. 2 is application scenarios schematic diagram of the invention.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail
The present invention is based on the new-energy automobile automatic charging systems of AGV, complete the process of primary charging docking mission such as
Under:
As shown in Fig. 2, commander AGV is serviced along control after AGV client terminates to the charging instruction of control server sending
The route running of device planning is at charging pile, and control server sends capture instruction, the charging equipment being installed on AGV after arrival
Acquisition equipment obtains charging equipment from charging pile, is then continued to travel according to the route of servers' layout to specified parking stall,
AGV walking constantly can carry out positioning and rectifying according to the two dimensional code of ground subscript note on the way.AGV is by charging unit after reaching parking stall
It is docked with the charge port on vehicle, charging unit is discharged after the completion of docking, completes a flow of task.
As shown in Figure 1, new-energy automobile automatic charging system of the present invention includes parking lot management server, AGV management clothes
Business device, AGV control client, the AGV with independent navigation function, multitap charging pile, environment sensing equipment, charging equipment are caught
Obtain device, in which:
Parking lot management server sends out the parking space information of required charging service according to current parking stall service condition
It send to AGV management server, conveys charging tasks to AGV management server；What AGV management server charged needed for receiving appoints
After business, by according to the position of charging pile service condition and AGV in current parking lot, charging tasks are distributed to specified AGV's
Client, and the path cooked up by server-side is sent to the AGV client, which includes reaching to fill from the current location AGV
The path of electric stake reaches the path for needing the parking stall of charging service from charging pile；AGV control client receives control server
Instruction, can indicate that AGV is travelled according to specified path, client keep with the communication of server end, by the driving status of AGV,
Task performance is sent to the control server end of AGV in real time；AGV has basic walking unit, according in AGV client
Guide under travelled in specified path, and positioning is carried out by the two dimensional code that is pasted on ground of shooting and is rectified a deviation with driving trace,
AGV has acquisition equipment simultaneously, can be carried to charging plug from Vehicular charging mouth from charging pile, and carry out charging docking；It fills
Electric stake possesses multiple charging plugs, can dock simultaneously with more new energy vehicles and carry out charging service；Environment sensing device configuration
On AGV, the environmental information around AGV is constantly detected, and send information to AGV client, there is client to be sent to AGV pipe
Server is managed, is submitted necessary information for the positioning of AGV with avoidance；Charging equipment acquisition equipment can be docked with charging pile, and be captured
The electromagnetic absorption device of plug can control the presence or absence of magnetic force by managing the size of electric current.
Parking lot management server includes the database for storing Parking position use information in present embodiment
Module, with I/O module that the parking space information for needing to charge is sent to AGV management server.
AGV management server includes I/O module, Database module, Navigation module and Monitor module,
In: I/O module sends the parking space diagram data received, AGV location data, environment sensing information, AGV current operating conditions
Database module is given, AGV location data, environment sensing information are sent to Navigation module, by Navigation mould
The AGV driving path and control instruction of block output are sent to AGV client, and AGV running state information and sensor are acquired number
According to being sent to Monitor module；Database module stores parking lot map, AGV location information, AGV ambient condition information, and
The information passed back according to I/O module is updated immediately；Environmental data that Navigation module acquires environment sensing equipment,
AGV location information, parking space diagram data carry out fusion calculation, cook up a driving path and according to the path for AGV
AGV motion control instruction；Monitor module runs AGV according to the AGV running state information, the sensor acquisition data that receive
State is assessed, and is generating warning message when something goes wrong.
It includes I/O module, Move_base module and Database module that AGV, which controls client, in present embodiment,
In: I/O module is used to receive the instruction of AGV server-side transmission, and the environment that AGV operating status and environment sensing equipment are acquired
Information is sent to AGV server-side；The telecontrol equipment that Move_base module is used to control AGV transports AGV according to specified order
It is dynamic；Database module is for storing AGV running state information, the environmental information of environment sensing equipment acquisition.
AGV in present embodiment with independent navigation function includes omni-directional wheel, motor, battery, drive circuit board, small-sized
Computer, top base are respectively arranged with camera.The charging equipment acquisition equipment being installed on AGV can be docked with charging pile, and be caught
The electromagnetic absorption device of plug is obtained, the presence or absence of magnetic force can be controlled by managing the size of electric current.Multitap charging pile is with more
The charging pile of a movable plug with cable, is fixed on ground.Environment sensing equipment is to be installed at the top and bottom of AGV
Camera, wherein top camera carries out ranging avoidance for acquiring surrounding environment information, bottom camera is pasted for shooting
Two dimensional code on the ground carries out AGV positioning, and when AGV carries charging equipment close to vehicle charging mouth, top camera is responsible for
The positioning that charge port is docked with charging unit.
Two dimensional code is the multiple and different two dimensional codes being pasted on the ground of parking lot in present embodiment, from each charging pile
Start to paste one every two AGV length, until each parking stall, forms mulitpath.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (8)
1. a kind of new-energy automobile automatic charging system based on AGV, it is characterised in that: including parking lot management server, AGV
Management server, the AGV with independent navigation function, charging pile and control client, the environment sensing being installed on AGV are set
Standby and charging equipment acquisition equipment；Wherein:
The parking lot management server will need the parking stall of charging service to believe according to the parking stall service condition in current parking lot
Breath is sent to AGV management server, to convey charging tasks to it；
It, will be according to the service condition and AGV of charging pile in current parking lot after the AGV management server receives charging tasks
Position, charging tasks are distributed to the control client of specified AGV, and send to be managed by AGV to AGV control client and take
The path marked of business end gauage and motion control instruction, the path include reached from the current location AGV charging pile path and
The path for needing charging service parking stall is reached from charging pile；
The control client receives the charging tasks that AGV management server issues, according to motion control instruction indicate AGV according to
Specified path traveling, while the driving status of AGV, task performance are uploaded to AGV management server in real time；
The AGV is travelled under the guide of control client according to specified path, is pasted on ground by camera shooting
Two dimensional code carries out positioning and rectifies a deviation with driving trace, and location information is sent to AGV management server by controlling client, row
It sails to AGV at charging pile and then the charging plug in stake is carried at the parking stall for needing charging service, and then by plug and the vehicle
The charge port docking of vehicle at position；
The environment sensing equipment is used to detect the environmental information around AGV, and environmental information is sent to control client, then
AGV management server is sent to by control client, is submitted necessary information for the positioning of AGV with avoidance；
The charging equipment acquisition equipment can be docked with charging pile, for capturing the electromagnetic absorption device of charging plug, by changing
The size of current of power transformation magnetic adsorption device is to control the presence or absence of magnetic force, to obtain charging plug.
2. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the parking lot management service
Device includes database module for storing parking stall use information and for parking space information to be sent to AGV management server
I/O module.
3. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the AGV management server
Including I/O module, database module, navigation module and monitoring module, in which:
Parking lot cartographic information, AGV location information, AGV ambient condition information, AGV of the I/O module for that will receive are travelled
Status information is sent to database module, and parking lot cartographic information, AGV location information, AGV ambient condition information are sent to and are led
The driving path of navigation module output and motion control instruction are sent to the control client of specified AGV, by AGV by model plane block
Running condition information and AGV ambient condition information are sent to monitoring module；
The database module is for storing parking lot cartographic information, AGV location information, AGV ambient condition information, AGV traveling
Status information, and the information passed back according to I/O module is updated immediately；
The navigation module carries out fusion calculation according to AGV ambient condition information, AGV location information, parking space diagram data, is
Specified AGV cooks up a driving path and the motion control instruction according to the path；
The monitoring module assesses AGV operating status according to AGV running condition information and AGV ambient condition information,
Warning message is generated when something goes wrong.
4. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the control client includes
I/O module, database module and motion-control module, in which:
Location information, the environment sensing that the I/O module is used to receive the assignment instructions of AGV management server transmission, AGV is generated
The AGV ambient condition information that equipment provides, and then AGV location information, AGV ambient condition information are sent to AGV management service
Device；
The motion-control module is used to control motion control instruction that AGV assigns it according to AGV management server according to finger
Determine route, and the running condition information of AGV is sent to AGV management server by I/O module；
The database module is used to store the running condition information and AGV ambient condition information of AGV.
5. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the AGV include omni-directional wheel,
Motor, battery, drive circuit board, minicomputer, the top and bottom AGV are respectively arranged with camera.
6. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the charging pile is fixed on ground
On face and possess multiple charging plugs, charging service can be provided to it is connected in more new energy vehicles simultaneously.
7. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the environment sensing equipment packet
The camera being installed at the top and bottom of AGV is included, wherein top camera acquisition surrounding environment information is to ranging avoidance, bottom
Camera shooting is pasted two dimensional code on the ground and is positioned to AGV；When AGV carries charging plug close to Vehicular charging mouth,
Top camera is responsible for the positioning that charge port is docked with charging plug.
8. new-energy automobile automatic charging system according to claim 1, it is characterised in that: the two dimensional code, which is pasted on, to stop
On the ground of parking lot, the length since each charging pile every two AGV pastes one, is attached to each parking stall always, is formed more
Paths.
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Cited By (7)
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| CN109895651A (en) * | 2019-01-16 | 2019-06-18 | 芜湖智久机器人有限公司 | A kind of AGV cluster management system and method |
| CN110597093A (en) * | 2019-09-05 | 2019-12-20 | 武汉工程大学 | Dynamic cooperation system and cooperation method for intelligent sensing and controlling equipment of self-adaptive parking lot |
| CN111845404A (en) * | 2020-06-30 | 2020-10-30 | 南京工程学院 | Control method of mobile charging pile and mobile charging system |
| WO2021056289A1 (en) * | 2019-09-25 | 2021-04-01 | 西门子股份公司 | Process control method and system |
| WO2021184378A1 (en) * | 2020-03-20 | 2021-09-23 | Baidu.Com Times Technology (Beijing) Co., Ltd. | A method of parking an autonomous driving vehicle for autonomous charging |
| CN113992665A (en) * | 2020-11-09 | 2022-01-28 | 天易智能车库(深圳)有限公司 | Intelligent garage operation system based on 5G edge calculation |
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