CN110015102A - AGV charging abnormality eliminating method and system, storage medium and electronic equipment - Google Patents
AGV charging abnormality eliminating method and system, storage medium and electronic equipment Download PDFInfo
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- CN110015102A CN110015102A CN201711158889.6A CN201711158889A CN110015102A CN 110015102 A CN110015102 A CN 110015102A CN 201711158889 A CN201711158889 A CN 201711158889A CN 110015102 A CN110015102 A CN 110015102A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention relates to Logistic Scheduling field, a kind of AGV charging abnormality eliminating method and system, storage medium and electronic equipment are proposed.AGV charging abnormality eliminating method includes: to judge whether the AGV charging is abnormal；When the AGV charging exception, the AGV is scheduled according to preset rules and uploads abnormal data to scheduling system.The present invention can be with intelligent recognition charging abnormal conditions, and are dispatched in time to AGV, and charge efficiency is improved.Also, the present invention uploads abnormal data to scheduling system, confirms exception information convenient for operation maintenance personnel, is conducive to subsequent troubleshooting, statistics and analysis, improves the efficiency of debugging.
Description
Technical field
The present invention relates to Logistic Scheduling technical field more particularly to a kind of AGV charging abnormality eliminating method and systems, storage
Medium and electronic equipment.
Background technique
In today that unmanned technology rapidly develops, the application of the automated guided vehicle (AGV) of collaborative work is also increasingly
It is more, to guarantee that AGV can be run to lasting stability, need in time to be AGV charging.And when the charging of high-volume AGV coordinated scheduling, it can go out
Charge abnormal conditions caused by existing various faults, these failures include: that charger is not powered on；Charger failure；AGV charging module
Failure；AGV socket and charger Plug contact are bad；AGV socket and charger plug docking deviation are excessive etc., these failures are straight
Connecing causes AGV that cannot charge normal.
In the related technology, scheduling system can only send charging instruction to AGV, AGV receive after charging instruction voluntarily with fill
Motor connection is charged.When there is above-mentioned charging abnormal phenomenon, need to be positioned manually the abnormal AGV of charging, and check and fill
Then the reason of electrical anomaly, is scheduled.
However, scheduling system can not find that charging exception has occurred in AGV in time, and AGV can be accounted for always when using the relevant technologies
With charge position, lead to the reduction of charger utilization rate.And by artificial treatment, these charging exceptions can be taken time and effort, while by artificial
Positioning charging abnormal position is also extremely inconvenient.
It should be noted that the information in the invention of above-mentioned background technology part is only used for reinforcing the reason to background of the invention
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
The purpose of the present invention is to provide a kind of AGV charging abnormality eliminating method and system, storage medium and electronic equipment,
One or more is overcome the problems, such as caused by the limitation and defect due to the relevant technologies at least to a certain extent.
Other characteristics and advantages of the invention will be apparent from by the following detailed description, or partially by the present invention
Practice and acquistion.
According to an aspect of the present invention, a kind of AGV charging abnormality eliminating method, AGV charging abnormality processing side are provided
Method includes:
Judge whether the AGV charging is abnormal；
When the AGV charging exception, the AGV is scheduled according to preset rules and uploads abnormal number to scheduling system
According to.
In a kind of exemplary embodiment of the invention, the preset rules include:
When the AGV charges abnormal, adjusts the merging precision of the AGV and charger and attempt to charge again.
In a kind of exemplary embodiment of the invention, the preset rules further include:
In the AGV when still charging is abnormal after preset times charge again, detect whether there is idle charger；
There are when idle charger, replacement charger charges to the AGV.
In a kind of exemplary embodiment of the invention, still charging is abnormal after the AGV replaces preset times charger
When, offline task is executed to the AGV.
In a kind of exemplary embodiment of the invention, the preset rules further include:
There is no when the idle charger, the AGV remaining capacity is judged；
When the remaining capacity is greater than default electricity, the AGV is executed and waits scheduler task；
When the remaining capacity is less than the default electricity, offline task is executed to the AGV
It is described to judge whether exception includes: for the AGV charging in a kind of exemplary embodiment of the invention
It controls the AGV and sends request charging signals to charger；
The AGV receives the charging current that the charger issues within a preset time, then charging is normal；
The AGV is not received by the charging current that the charger issues within a preset time, then charge exception.
In a kind of exemplary embodiment of the invention, the biography abnormal data includes: AGV information, charger location information
And temporal information.
According to an aspect of the present invention, a kind of AGV charging abnormality processing system, AGV charging abnormality processing system are provided
System is located on the AGV, comprising: detection module and execution module.Whether detection module is abnormal for detecting the AGV charging；
Execution module is used for when charging abnormal, is scheduled according to preset rules to the AGV and is uploaded abnormal number to scheduling system
According to.
According to an aspect of the present invention, a kind of storage medium is provided, computer program, described program quilt are stored thereon with
The charging of AGV described in any one of -7 abnormality eliminating method according to claim 1 is realized when processor executes.
According to an aspect of the present invention, a kind of electronic equipment is provided, which includes: processor and storage
Device.Memory is used to store the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1-7 institute via the execution executable instruction
The AGV charging abnormality eliminating method stated.
The present invention provides a kind of AGV charging abnormality eliminating method and system, storage medium and electronic equipment.AGV charging
Abnormality eliminating method is scheduled the AGV according to preset rules and is to scheduling when judging that the AGV charging is abnormal
System uploads abnormal data.On the one hand, the present invention can be with intelligent recognition charging abnormal conditions, and are dispatched in time to AGV, improve
Charge efficiency.On the other hand the present invention uploads abnormal data to scheduling system, confirms exception information convenient for operation maintenance personnel, favorably
In subsequent troubleshooting, statistics and analysis, the efficiency of debugging is improved.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.It should be evident that the accompanying drawings in the following description is only the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of AGV of the present invention charging flow diagram of exemplary embodiment of abnormality eliminating method；
Fig. 2 is charger work-based logic flow chart；
Fig. 3 be AGV judge charge whether Yi Chang logical flow chart；
Fig. 4 is the logical schematic of preset rules；
Fig. 5 is to schematically show a kind of block diagram of AGV charging abnormality processing system in disclosure exemplary embodiment；
Fig. 6 is the block diagram for schematically showing a kind of electronic equipment in disclosure exemplary embodiment；
Fig. 7 is to schematically show a kind of program product in disclosure exemplary embodiment.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be real in a variety of forms
It applies, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will be comprehensively and complete
It is whole, and the design of example embodiment is comprehensively communicated to those skilled in the art.Identical appended drawing reference indicates in figure
Same or similar part, thus repetition thereof will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to embodiment of the disclosure.However,
It will be appreciated by persons skilled in the art that can be with technical solution of the disclosure without one in the specific detail or more
It is more, or can adopt with other methods, constituent element, material, device, step etc..In other cases, it is not shown in detail or describes
Known features, method, apparatus, realization, material or operation are to avoid fuzzy all aspects of this disclosure.
Block diagram shown in the drawings is only functional entity, not necessarily must be corresponding with physically separate entity.
I.e., it is possible to realize these functional entitys using software form, or these are realized in the module of one or more softwares hardening
A part of functional entity or functional entity, or realized in heterogeneous networks and/or processor device and/or microcontroller device
These functional entitys.
The present exemplary embodiment provides a kind of AGV charging abnormality eliminating method, as shown in Figure 1, it is different to charge for AGV of the present invention
A kind of flow diagram of exemplary embodiment of normal processing method.The AGV charging abnormality eliminating method include:
Step S1: judge whether the AGV charging is abnormal；
Step S2: when the AGV charging exception, the AGV is scheduled according to preset rules and in scheduling system
Pass abnormal data.
The present exemplary embodiment provides a kind of AGV charging abnormality eliminating method.The AGV charges abnormality eliminating method, when sentencing
When the AGV charging of breaking is abnormal, the AGV is scheduled according to preset rules and uploads abnormal data to scheduling system.One
Aspect, the present invention can be with intelligent recognition charging abnormal conditions, and are dispatched in time to AGV, improve charge efficiency.Another party
The face present invention to scheduling system upload abnormal data, convenient for operation maintenance personnel confirm exception information, be conducive to subsequent troubleshooting,
Statistics and analysis, improve the efficiency of debugging.
Next, by detailed solution is carried out to each step of AGV charging abnormality eliminating method in this example embodiment
It releases and illustrates.
In step sl, judge whether the AGV charging is abnormal.
As shown in Fig. 2, for charger work-based logic flow chart in the present exemplary embodiment.When charger does not work, it is in
Step S201: during charger is standby, the charger under standby mode executes step 202: judging whether there is input current, works as charging
When machine examination has measured input current, execute step 203: charger opens charging, output voltage, electric current.；When charger is not examined
When measuring input current, charger continues to keep step S201: during charger is standby.Correspondingly, as shown in figure 3, judging for AGV
Charging whether Yi Chang logical flow chart.Judge whether Yi Chang method may is that execution step S301: control for the AGV charging
AGV processed sends request charging signals to charger, executes step S302: judging whether the AGV has input within a preset time
Electric current,.When the AGV has input current within a preset time, the AGV is in step S303: charging is normal.When described
When AGV does not have input current within a preset time, the AGV is in step S304: charging is abnormal.Wherein " request charging signals "
It can be current signal.
It will be understood by those skilled in the art that judge AGV charging whether Yi Chang method can be according to charging
Machine working method has more implementations.Such as charger working method can control the AGV to filling when being wireless charging
Motor sends request charging signals, when the AGV produces induced current or remaining capacity increase within a preset time, then charges
Normally；When the AGV does not increase without production induced current or remaining capacity within a preset time, then charge exception.Its
In, request charging signals can be wireless signal.These variations are it should be understood that come under protection scope of the present invention.
In step s 2, when the AGV charges abnormal, the AGV is scheduled according to preset rules and to scheduling
System uploads abnormal data.
In the present exemplary embodiment, as shown in figure 4, being the logical schematic of the preset rules.The preset rules can
To include:
When the AGV charges abnormal, executes step S401: adjusting the merging precision of the AGV and charger.And it executes
S402: judge whether AGV charges exception.When charging normal, executes step S403: executing charging；When charging abnormal, execute
Step S404: idle charger is judged whether there is.When there is no idle charger, step S408 is executed: judging AGV residue
Whether electricity is greater than default electricity.When remaining capacity is greater than default electricity, execute step S409: control AGV is executed to wait and be adjusted
Degree task；When remaining capacity is less than default electricity, execute step S407: control AGV executes offline task.It to be filled when there are the free time
When motor, step S405 is executed: replacement charger.Then it executes step S406: judging whether that charging is abnormal.When charging is abnormal
When, execute step S407；When charging normal, step S410 is executed: executing in the charging present exemplary embodiment, adjust AGV and fill
The merging precision of motor can be accomplished by the following way.Firstly, control AGV exits charge position, and control the rotation rotation of AGV vehicle body
Three-sixth turn, then readjusts the deviation of AGV and charger, and controls AGV and be again introduced into charge position, reattempts to docking and fills
Electricity.It should be noted that adjustment merging precision can also be realized in other way, these variations are it should be understood that come under this
The protection scope of invention.AGV is controlled after adjusting merging precision reattempts to charging, it, can be with if still remaining charging extremely
Adjustment merging precision movement is repeated, and attempts to charge again.After the charging again that the AGV repeats preset times still
When charging is abnormal, detect whether there is idle charger；
It will be understood by those skilled in the art that preset times are adjustable parameters.Preset times are more, more can
More accurately judge whether because charging caused by merging precision problem is abnormal；Preset times are more simultaneously, and AGV occupies charger
Time it is longer, the utilization rate of charger is lower.Detecting whether to exist idle charger can be by having access to the number of scheduling system
According to the idle charger aggregate information of inquiry, judgement is currently with the presence or absence of free time charger.There are when idle charger, replacement is filled
Motor charges to the AGV.
In the present exemplary embodiment, need to send the letter for occupying target charger to scheduling system after AGV replacement charger
Number, avoid other AGV from detecting whether to occupy same charger when there is idle charger.After AGV replaces charger still
When abnormal in the presence of charging, it can continue to replace charger.Meanwhile AGV continue replace charger during, can exclude with
The abnormal charger of charging occurs in it.After replacing preset times charger, when AGV still has charging exception, control AGV is held
AGV is driven to offline area by the offline task of row, and waiting manually goes to handle.At the same time it can also which a minimum electricity is arranged, when AGV is surplus
When remaining electricity is lower than minimum electricity, control AGV executes offline task, avoids AGV because without electric congestion in charging zone.
When there is no the idle charger, the AGV remaining capacity is judged；The remaining capacity is greater than pre-
If when electricity, being executed to the AGV and waiting scheduler task；When the remaining capacity is less than the default electricity, the AGV is held
The offline task of row, so that AGV be avoided to occupy the position of charging pile always.Wherein, default electricity is a variable element, presets electricity
It is traditionally arranged to be and is greater than the electricity that AGV completes a subtask.
In other exemplary embodiments, there are also other more implementations, these variations should be understood that for preset rules
Come under protection scope of the present invention.
In the present exemplary embodiment, the abnormal data includes: AGV information, charger location information and temporal information.
Dispatcher can quickly determine charging abnormal AGV and charger according to AGV information, charger location information, and to it
It is checked.Dispatcher can be combined with temporal information and prejudge to the abnormal reason of charging.For example, A AGV is in X at 8
It is abnormal that charging occurs for number charger；A AGV is normal in the charging of Y charger at 10, so that it may which anticipation is that X charger goes out
Existing failure.The efficiency for releasing failure can be improved by the anticipation to failure.
As shown in figure 5, for the block diagram of AGV charging abnormality processing system a kind of in the present exemplary embodiment.This exemplary reality
It applies example and a kind of AGV charging abnormality processing system is also provided, AGV charging abnormality processing system is located on the AGV, comprising: inspection
Survey module 501 and execution module 502.Whether detection module 501 is abnormal for detecting the AGV charging；When charging is abnormal, execute
Module 502 is scheduled the AGV according to preset rules and uploads abnormal data to scheduling system.
It should be noted that the AGV charges, abnormality processing system has identical with above-mentioned AGV charging abnormality eliminating method
Preset rules and processing method.Above content has been described in detail, and details are not described herein again.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description
Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould
The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
In addition, although describing each step of method in the disclosure in the accompanying drawings with particular order, this does not really want
These steps must be executed in this particular order by asking or implying, or having to carry out step shown in whole could realize
Desired result.Additional or alternative, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/
Or a step is decomposed into execution of multiple steps etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, mobile terminal or network equipment etc.) is executed according to disclosure embodiment
Method.In an exemplary embodiment of the disclosure, a kind of electronic equipment that can be realized the above method is additionally provided.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
The electronic equipment 600 of this embodiment according to the present invention is described referring to Fig. 6.The electronics that Fig. 6 is shown
Equipment 600 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in fig. 6, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can wrap
It includes but is not limited to: at least one above-mentioned processing unit 610, at least one above-mentioned storage unit 620, the different system components of connection
The bus 630 of (including storage unit 620 and processing unit 610), display unit 640.
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that various according to the present invention described in the execution of the processing unit 610 above-mentioned " illustrative methods " part of this specification
The step of illustrative embodiments.For example, the processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 670 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.As shown, network adapter 660 is communicated by bus 630 with other modules of electronic equipment 600.
It should be understood that although not shown in the drawings, other hardware and/or software module can not used in conjunction with electronic equipment 600, including but not
Be limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and
Data backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, terminal installation or network equipment etc.) is executed according to disclosure embodiment
Method.
In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, energy is stored thereon with
Enough realize the program product of this specification above method.In some possible embodiments, various aspects of the invention may be used also
In the form of being embodied as a kind of program product comprising program code, when described program product is run on the terminal device, institute
Program code is stated for executing the terminal device described in above-mentioned " illustrative methods " part of this specification according to this hair
The step of bright various illustrative embodiments.
Refering to what is shown in Fig. 7, describing the program product for realizing the above method of embodiment according to the present invention
700, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable signal medium can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.
The program code for including on readable medium can transmit with any suitable medium, including but not limited to wirelessly, have
Line, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In addition, above-mentioned attached drawing is only the schematic theory of processing included by method according to an exemplary embodiment of the present invention
It is bright, rather than limit purpose.It can be readily appreciated that the time that above-mentioned processing shown in the drawings did not indicated or limited these processing is suitable
Sequence.In addition, be also easy to understand, these processing, which can be, for example either synchronously or asynchronously to be executed in multiple modules.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description
Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould
The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
His embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Adaptive change follow the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure or
Conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by claim
It points out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the attached claims.
Claims (10)
- The abnormality eliminating method 1. a kind of AGV charges characterized by comprisingJudge whether the AGV charging is abnormal；When the AGV charging exception, the AGV is scheduled according to preset rules and uploads abnormal data to scheduling system.
- The abnormality eliminating method 2. a kind of AGV according to claim 1 charges, which is characterized in that the preset rules include:When the AGV charges abnormal, adjusts the merging precision of the AGV and charger and attempt to charge again.
- The abnormality eliminating method 3. a kind of AGV according to claim 2 charges, which is characterized in that the preset rules are also wrapped It includes:In the AGV when still charging is abnormal after preset times charge again, detect whether there is idle charger；There are when idle charger, replacement charger charges to the AGV.
- The abnormality eliminating method 4. a kind of AGV according to claim 3 charges, which is characterized in thatWhen still charging is abnormal after the AGV replaces preset times charger, offline task is executed to the AGV.
- The abnormality eliminating method 5. a kind of AGV according to claim 3 charges, which is characterized in that the preset rules are also wrapped It includes:There is no when the idle charger, the AGV remaining capacity is judged；When the remaining capacity is greater than default electricity, the AGV is executed and waits scheduler task；When the remaining capacity is less than the default electricity, offline task is executed to the AGV.
- The abnormality eliminating method 6. a kind of AGV according to claim 1-5 charges, which is characterized in that the judgement Whether the AGV charging is abnormal to include:It controls the AGV and sends request charging signals to charger；The AGV receives the charging current that the charger issues within a preset time, then charging is normal；The AGV is not received by the charging current that the charger issues within a preset time, then charge exception.
- The abnormality eliminating method 7. a kind of AGV according to claim 1-5 charges, which is characterized in that the biography is different Regular data includes: AGV information, charger location information and temporal information.
- The abnormality processing system 8. a kind of AGV charges, is located on the AGV characterized by comprisingDetection module, it is whether abnormal for detecting the AGV charging；Execution module, for when charging abnormal, being scheduled and being uploaded to scheduling system different to the AGV according to preset rules Regular data.
- 9. a kind of storage medium, is stored thereon with computer program, which is characterized in that realization when described program is executed by processor The charging of AGV described in any one of -7 abnormality eliminating method according to claim 1.
- 10. a kind of electronic equipment characterized by comprisingProcessor；AndMemory, for storing the executable instruction of the processor；Wherein, the processor is configured to require 1-7 described in any item via executing the executable instruction and carry out perform claim AGV charging abnormality eliminating method.
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