CN109515218B - Automatic AGV charging and overhauling mechanism for intelligent parking lot - Google Patents
Automatic AGV charging and overhauling mechanism for intelligent parking lot Download PDFInfo
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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
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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
- 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
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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
- Y02T90/14—Plug-in electric vehicles
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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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Abstract
An automatic AGV charging and overhauling mechanism for an intelligent parking lot. The invention provides an automatic charging and overhauling method of an AGV (automatic guided vehicle) for an intelligent parking lot, which relates to the technical field of parking AGVs, can prolong the service life of the AGV, reduce the operation cost of the intelligent parking lot and improve the operation efficiency; the method comprises an AGV automatic charging mechanism and an AGV maintenance mechanism; the automatic AGV charging mechanism compares the current electric quantity of the AGV with a preset charging threshold value and a preset awakening threshold value, and judges whether the AGV starts a charging process or an awakening process; and the AGV maintenance mechanism judges the fault level of the AGV and executes a corresponding maintenance flow according to the fault level. The technical scheme provided by the invention is suitable for the charging and overhauling processes of the AGV.
Description
Technical Field
The invention relates to the technical field of parking AGV, in particular to an automatic charging and overhauling mechanism of AGV for an intelligent parking lot.
Background
In recent years, with the rapid increase of the automobile holding capacity in China, the number of urban mechanical three-dimensional parking lots is increased, and although the mechanical three-dimensional parking lots have higher parking density and higher operating efficiency than self-propelled three-dimensional parking lots, the intelligent dispatching is not high, and the dynamic and static traffic balance cannot be adjusted, so that the intelligent three-dimensional parking lots can meet the development requirements of smart cities in the future.
At present, wisdom sky parking area is most with intelligent AGV as the instrument of parking, nevertheless because the research and development time is short, the most electric quantity in service behavior that can only show of current AGV, can't realize automatic orderly charging according to the task, and current AGV is most not have trouble early warning and maintenance mechanism, and an AGV breaks down probably leads to whole wisdom parking area paralyses. Above problem direct influence AGV's the life of parking and the security of parking, also indirect influence wisdom parking area operating efficiency and car owner's the parking experience, improved wisdom parking area operation cost, hindered the development in wisdom parking area. Therefore, it is very necessary to develop an intelligent and efficient automatic charging and maintenance mechanism for an AGV for an intelligent parking lot.
Disclosure of Invention
In view of the above, the invention provides an automatic charging and overhauling mechanism for an AGV for an intelligent parking lot, which can well solve the problems of short service life, high operation cost, low operation efficiency and the like of the AGV for parking in the intelligent parking lot.
On one hand, the invention provides an automatic AGV charging and overhauling method for an intelligent parking lot, which is characterized in that the automatic AGV charging and overhauling method is used for maintaining the intelligent parking lot according to the state of the AGV, wherein the maintenance comprises the automatic AGV charging and the AGV overhauling; the automatic charging content of the AGV is as follows: comparing the current electric quantity of the AGV with a preset charging threshold value and a preset awakening threshold value, and judging whether the AGV starts a charging process or an awakening process; the AGV maintenance content is as follows: and judging the fault level of the AGV, and executing a corresponding overhaul process according to the fault level.
As for the above-mentioned aspects and any possible implementation manner, there is further provided an implementation manner, where the charging process specifically includes: s11, judging whether the current state of the AGV is a busy state; s12, if the computer module is in busy state, applying for charging to the computer module after finishing the current task, if the computer module is in idle state, immediately applying for charging to the computer module; and S13, orderly driving into a charging area to be charged off-grid according to the arrangement of the computer modules.
As for the above-mentioned aspect and any possible implementation manner, there is further provided an implementation manner, where the wake-up procedure specifically includes: s21, the AGV enters a preparation state of a network access execution task while continuing to charge; s22, judging whether a network access command sent by the computer module is received in real time; if not, continuing to charge until 100% is full; and if the parking request is received, stopping charging and starting to execute the parking task.
The above aspects and any possible implementations further provide an implementation in which the charge threshold is 20% of the total capacity of the AGV battery; the wake-up threshold is 80% of the total capacity of the AGV battery.
The above-described aspects and any possible implementations further provide an implementation in which the failure level includes:
daily maintenance, namely timing maintenance of the fault-free AGV;
slight fault does not influence the fault of the AGV completing the current task;
moderate fault, which makes the AGV unable to complete the current task, but does not affect the fault of its normal movement;
and a serious fault, namely a fault that the AGV cannot complete the current task and cannot move.
The above-described aspect and any possible implementation manner further provide an implementation manner, where the repair process of the daily maintenance is as follows: after the AGV finishes the tasks of the day, the AGV orderly drives into a maintenance station according to the arrangement of the computer module to perform maintenance;
the maintenance process of the slight fault comprises the following steps: if the AGV has a task currently, the AGV applies for maintenance to the computer module after completing the current parking task, drives into a maintenance station for maintenance according to the maintenance arrangement of the computer module, and directly applies for maintenance to the computer module if the AGV does not have the task currently, and drives into the maintenance station for maintenance according to the maintenance arrangement of the computer module;
the medium fault maintenance process comprises the following steps: directly applying for maintenance to the computer module, and driving into a maintenance station for maintenance according to the maintenance arrangement of the computer module;
the overhaul process of the severe fault comprises the following steps: the AGV directly applies for maintenance to the computer module, and is supported to the maintenance station by intervention of maintenance personnel to be maintained.
In accordance with the above-described aspects and any possible implementation, there is further provided an implementation in which the AGV sends the AGV ID, current task information, current location information, and/or fault code information when applying for service to the computer module.
In another aspect, the present invention provides an AGV automatic charging and maintenance device for an intelligent parking lot, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein: the processor, when executing the computer program, performs the steps of any of the methods described above.
Compared with the prior art, the invention can obtain the following technical effects: the AGV automatic charging and overhauling mechanism for the intelligent parking lot is reasonable, efficient, safe, reliable and intelligent; use AGV residual capacity and trouble as the drive, adopt humanized design, can prolong AGV life, reduce wisdom parking area operation cost, improve the operating efficiency.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart illustrating an AGV automatic charging and maintenance mechanism for an intelligent parking lot according to an embodiment of the present invention.
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The utility model provides a wisdom is automatic to charge and overhauls mechanism for parking area AGV to wisdom parking area charges the module and overhauls the module and is the carrier, uses AGV residual capacity and trouble as the drive, is the guarantee of wisdom parking area AGV high-efficient operation, including automatic charging mechanism and automatic maintenance mechanism.
Under the general condition, the wisdom parking area includes main part building, computer module, gate car stopping module, AGVS and support module, human-computer interaction module, location AP module, access & exit lift module, the module of charging, carwash module, maintenance module, emergent fire control module, green energy module. Every in situ of wisdom parking area sets up parking district, AGV charge district, AGV maintenance area, monitoring area, carwash district, emergent export, intelligent fire control district, and the both sides in parking area are equipped with the straight ladder that goes up and down, and the top layer covers solar power generation facility, is equipped with emergent auxiliary ramp between each layer.
The AGV that the module of charging is located every layer in wisdom parking area charges the district, and every AGV charges the district and sets up a plurality of stations that charge. The core of the charging module is an intelligent charger.
The maintenance module is located every layer AGV maintenance district in wisdom parking area, and every AGV maintenance district sets up a plurality of maintenance stations.
The automatic charging mechanism means that the AGV can drive into the charging potential according to surplus electric quantity and task grade in order and charge, specifically is:
1. starting a charging process when the residual electric quantity of the parking AGV is lower than 20% of the total capacity, applying for charging to the computer module after the current task is completed, and driving into a charging area in sequence to charge off the network; when the AGV applies for charging to the computer module, the AGV sends the information such as the number, the position information, the current electric quantity and the like of the AGV to the computer module, and the computer module carries out charging arrangement according to the current condition of the AGV so as to ensure that the AGV carries out charging orderly and efficiently; the computer module is a control center;
2. when the charging is more than 80% of the total capacity, the computer module can wake up the parking AGV to be networked to execute a parking task at any time according to the requirement; under the condition that other normally working AGVs are enough to complete the current parking task of the parking lot, the preferable scheme is that the charging AGVs are charged to 100% and then enter the network to execute the parking task.
The maintenance mechanism means that the AGV breaks down in the operation process, a control system of the AGV reads a fault code, judges the fault level, starts a corresponding fault processing mode, needs the intervention of an operator with corresponding qualification in the AGV maintenance process, and clears the fault code after the completion, so that the AGV can enter a network. The method specifically comprises the following steps:
1. daily maintenance, namely after the current task of the AGV is completed, submitting a maintenance application to the computer module, and driving the AGV into a maintenance station for maintenance according to the maintenance arrangement of the computer module;
2. minor failure, with the ability to complete the current task; the method comprises the steps that an AGV firstly judges whether a task exists at present, if so, the AGV applies for maintenance to a computer module after finishing the current parking task, drives into a maintenance station for maintenance according to the maintenance arrangement of the computer module, and if not, directly applies for maintenance to the computer module, and drives into the maintenance station for maintenance according to the maintenance arrangement of the computer module;
3. moderate faults can not complete the parking task, but can still move automatically, can directly apply for maintenance to the computer module, and drives into a maintenance station for maintenance according to the maintenance arrangement of the computer module;
4. severe trouble can't accomplish this task of parking, and can't remove by oneself, and the AGV is direct to the computer module application maintenance, by computer module notice maintainer, maintainer intervenes and holds in the palm the AGV to overhauing the station and overhauls.
When the AGV applies for maintenance to the computer module, the AGV sends the ID, the current task information, the current position information and the fault code information of the AGV, so that the computer module can make maintenance arrangement on the AGV according to the information.
The charging and maintenance mechanism is driven by the residual electric quantity and the fault condition of the AGV, adopts a humanized design, can prolong the service life of the AGV, reduces the operation cost of the intelligent parking lot, and improves the operation efficiency.
The automatic AGV charging and overhauling mechanism for the intelligent parking lot is introduced in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (4)
1. An AGV automatic charging and overhauling method for an intelligent parking lot is characterized in that the AGV is maintained according to the state of the AGV, and the maintenance comprises automatic charging of the AGV and overhauling of the AGV; the automatic charging content of the AGV is as follows: comparing the current electric quantity of the AGV with a preset charging threshold value and a preset awakening threshold value, and judging whether the AGV starts a charging process or an awakening process; the AGV maintenance content is as follows: judging the fault level of the AGV, and executing a corresponding overhaul process according to the fault level;
the fault classes include:
daily maintenance, namely timing maintenance of the fault-free AGV;
slight fault does not influence the fault of the AGV completing the current task;
moderate fault, which makes the AGV unable to complete the current task, but does not affect the fault of its normal movement;
severe faults, namely faults that the AGV cannot complete the current task and cannot move;
the daily maintenance overhaul process comprises the following steps: after the AGV finishes the tasks of the day, the AGV orderly drives into a maintenance station according to the arrangement of the computer module to perform maintenance;
the maintenance process of the slight fault comprises the following steps: if the AGV has a task currently, the AGV applies for maintenance to the computer module after completing the current parking task, drives into a maintenance station for maintenance according to the maintenance arrangement of the computer module, and directly applies for maintenance to the computer module if the AGV does not have the task currently, and drives into the maintenance station for maintenance according to the maintenance arrangement of the computer module;
the medium fault maintenance process comprises the following steps: directly applying for maintenance to the computer module, and driving into a maintenance station for maintenance according to the maintenance arrangement of the computer module;
the overhaul process of the severe fault comprises the following steps: the method comprises the following steps that an AGV directly applies for maintenance to a computer module, and a maintenance worker intervenes to support the AGV to a maintenance station for maintenance;
the charging process specifically comprises the following steps: s11, judging whether the current state of the AGV is a busy state; s12, if the computer module is in busy state, applying for charging to the computer module after finishing the current task, if the computer module is in idle state, immediately applying for charging to the computer module; s13, orderly driving into a charging area to be charged off-grid according to the arrangement of the computer modules;
the awakening process specifically comprises the following steps: s21, the AGV enters a preparation state of a network access execution task while continuing to charge; s22, judging whether a network access command sent by the computer module is received in real time; if not, continuing to charge until 100% is full; and if the parking request is received, stopping charging and starting to execute the parking task.
2. The AGV automatic charging and overhauling method for the intelligent parking lot according to claim 1, wherein the charging threshold is 20% of the total capacity of the AGV battery; the wake-up threshold is 80% of the total capacity of the AGV battery.
3. The AGV automatic charging and overhauling method for intelligent parking lot according to claim 1, wherein the AGV sends the ID, current task information, current position information and/or fault code information of the AGV when applying for overhauling to the computer module.
4. An automatic AGV charging and overhauling device for an intelligent parking lot comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized in that: the processor, when executing the computer program, realizes the steps of the method according to any of claims 1-3.
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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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| 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 |
| 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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