CN110576759A - A method and device for realizing mobile charging of parking lot based on AGV - Google Patents

A method and device for realizing mobile charging of parking lot based on AGV Download PDF

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Publication number
CN110576759A
CN110576759A CN201910912044.4A CN201910912044A CN110576759A CN 110576759 A CN110576759 A CN 110576759A CN 201910912044 A CN201910912044 A CN 201910912044A CN 110576759 A CN110576759 A CN 110576759A
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charging
agv
energy storage
parking lot
storage device
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刘炜
王炜
贺一辉
陈昕
肖力
付鹏飞
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Pan Asia Technical Automotive Center Co Ltd
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Pan Asia Technical Automotive Center Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B60L53/665—Methods related to measuring, billing or payment
    • 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
    • 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
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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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 invention discloses a method and a device for realizing mobile charging of a parking lot based on an AGV, which comprises the following steps: human-computer interaction interface gives the instruction, and the AGV dolly is according to the instruction action, charges and the completion of charging, and its device includes AGV dolly and the machine robot that charges, the machine robot that charges sets up on the AGV dolly, the machine robot that charges includes robotic arm, communication module, the control unit, energy storage equipment, active infrared camera, the joint that charges, the joint and the energy storage equipment connection charge. According to the invention, the centralized battery station replaces the installation and fixation of the charging pile, so that the resource allocation efficiency of the parking lot is improved.

Description

一种基于AGV实现停车场移动充电方法及装置A method and device for realizing mobile charging of parking lot based on AGV

技术领域technical field

本发明涉及电动车充电技术领域，具体为一种基于AGV实现停车场移动充电方法及装置。The invention relates to the technical field of electric vehicle charging, in particular to a method and device for realizing mobile charging of a parking lot based on an AGV.

背景技术Background technique

现有的充电桩大多采用充电站式的集中布置，由于充电时间较长，车主需要等待很长时间才能完成一次充电过程，很不方便。多数停车场也设置了公用充电桩，但由于数量较少且都是定点设置，满足不了太多用户的需求。而且固定车位安装充电桩的方式，考虑到不同厂家的电动车充电方式并不完全兼容，一个停车场要配置多个充电桩，传统车辆被限制使用这些车位，很多时候这种配置是一种极大的浪费。然而一旦这些车位被占用，其它需要充电的机车无法充电。因此，车位的限制性和充电需求的必然性无法匹配和统，随着电动汽车规模越来越大，在停车场充电的效率会变得越来越低，而且公用充电桩需要人工插拔，人工成本较高。Most of the existing charging piles adopt the centralized arrangement of charging stations. Due to the long charging time, the car owner needs to wait for a long time to complete a charging process, which is very inconvenient. Most parking lots are also equipped with public charging piles, but due to the small number and fixed-point settings, they cannot meet the needs of many users. Moreover, the way of installing charging piles in fixed parking spaces, considering that the charging methods of electric vehicles of different manufacturers are not completely compatible, a parking lot needs to be equipped with multiple charging piles, and traditional vehicles are restricted from using these parking spaces. Big waste. However, once these parking spaces are occupied, other locomotives that need to be charged cannot be charged. Therefore, the limitation of parking spaces and the inevitability of charging requirements cannot be matched and unified. As the scale of electric vehicles increases, the efficiency of charging in the parking lot will become lower and lower, and the public charging piles need to be manually inserted and unplugged. higher cost.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种基于AGV实现停车场移动充电方法及装置，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a method and device for realizing mobile charging of a parking lot based on AGV, so as to solve the problems raised in the above background technology.

为实现上述目的，本发明提供如下技术方案：一种基于AGV实现停车场移动充电方法，包括如下步骤：In order to achieve the above purpose, the present invention provides the following technical solutions: a method for realizing mobile charging of a parking lot based on AGV, comprising the following steps:

(1)人机交互界面下达指令：在需要充电时，根据人机交互界面上的附近停车场引导模块选择相应的停车场，停车场选择完成后通过人机交互界面上的停车位预定模块进行车位预定，车位预定完成后通过人机交互界面上的充电预约进行预约充电，预约之后，在人机交互界面上的充电条件设定模块上选择充电时长和充电车型，选择完成后人机交互界面将信息提交到后台服务器；(1) Instructions issued by the human-computer interaction interface: when charging is required, select the corresponding parking lot according to the nearby parking lot guidance module on the human-computer interaction interface. After the parking lot selection is completed, the parking space reservation module on the human-computer interaction interface Parking space reservation, after the parking space reservation is completed, make a reservation for charging through the charging reservation on the human-computer interaction interface. After the reservation, select the charging time and charging model on the charging condition setting module on the human-computer interaction interface. After the selection is completed, the human-computer interaction interface Submit the information to the backend server;

(2)AGV小车根据指令动作：后台服务器发送指令给AGV小车，机械手臂根据需求选择相应的蓄能装置放置到AGV小车的上，AGV小车根据指令并在引导系统的引导下移动到相应的车位；(2) The AGV car acts according to the command: the background server sends the command to the AGV car, the mechanical arm selects the corresponding energy storage device and places it on the AGV car according to the demand, and the AGV car moves to the corresponding parking space according to the command and under the guidance of the guidance system ;

(3)进行充电：AGV小车到达待充电位置后，AGV小车上的机械手臂拾取AGV小车上蓄能装置的充电接头并接入待充电车辆，充电过程中，人机交互界面上的充电状态查看模块对充电状况进行查看；(3) Charging: After the AGV trolley reaches the position to be charged, the robotic arm on the AGV trolley picks up the charging connector of the energy storage device on the AGV trolley and connects it to the vehicle to be charged. During the charging process, check the charging status on the human-computer interaction interface. The module checks the charging status;

(4)充电完成：达到充电条件设定模块设定的充电条件后，AGV小车上的机械手臂将充电接头拔下，同时AGV小车移动到充电中心站，AGV小车上的机械手臂将外部的充电头插入蓄能装置上的充电接口对蓄能装置进行充电。(4) Charging completed: After reaching the charging conditions set by the charging condition setting module, the robotic arm on the AGV trolley unplugs the charging connector, and at the same time the AGV trolley moves to the charging center station, and the robotic arm on the AGV trolley charges the external charging Insert the head into the charging port on the energy storage device to charge the energy storage device.

优选的，所述AGV小车上的机械手臂将外部的充电头插入蓄能装置上的充电接口的条件为蓄能装置的电量传感器检测到蓄能装置电量低于30％。Preferably, the condition for the robotic arm on the AGV car to insert the external charging head into the charging interface on the energy storage device is that the power sensor of the energy storage device detects that the power of the energy storage device is lower than 30%.

优选的，所述引导系统包括设置在AGV小车上的主动式红外摄像头、设置在停车位处的磁条、导入人机交互界面的主动式红外摄像头扫描停车库建立的地图。Preferably, the guidance system includes an active infrared camera disposed on the AGV car, a magnetic strip disposed at the parking space, and an active infrared camera introduced into the human-machine interface to scan the map established by the parking garage.

优选的，所述人机交互界面上的充电条件设定模块还包括充电电量的设定。Preferably, the charging condition setting module on the human-computer interaction interface further includes the setting of the charging power.

优选的，所述人机交互界面还包括充电历史查询、支付功能、积分功能、意见反馈模块。Preferably, the human-computer interaction interface further includes charging history query, payment function, integral function, and feedback module.

优选的，所述人机交互界面为小程序或者APP中的一种。Preferably, the human-computer interaction interface is one of a small program or an APP.

优选的，所述蓄能装置为铅蓄电池或者锂电池中的一种。Preferably, the energy storage device is one of a lead storage battery or a lithium battery.

一种移动充电AGV机器人，包括AGV小车和充电机器人，所述充电机器人设置在AGV小车上，所述充电机器人包括机械手臂、通讯模块、控制单元、蓄能装置、主动式红外摄像头、充电接头，所述充电接头和蓄能装置连接。A mobile charging AGV robot includes an AGV car and a charging robot, the charging robot is arranged on the AGV car, and the charging robot includes a mechanical arm, a communication module, a control unit, an energy storage device, an active infrared camera, and a charging connector, The charging connector is connected to the energy storage device.

优选的，所述通讯模块为无线模块或者蓝牙模块中的一种。Preferably, the communication module is one of a wireless module or a Bluetooth module.

优选的，所述充电机器人还包括固定座，所述固定座设置在机械手臂、通讯模块、控制单元、蓄能装置、主动式红外摄像头、充电接头和AGV小车之间，所述蓄能装置活动设置在固定座上。Preferably, the charging robot further includes a fixing base, and the fixing base is arranged between the mechanical arm, the communication module, the control unit, the energy storage device, the active infrared camera, the charging connector and the AGV car, and the energy storage device moves Set on the mount.

与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:

1、本发明，集中式电池站取代安装固定充电桩，优化了停车场的资源配置，而且也提高了停车场充电的效率；1. In the present invention, the centralized battery station replaces the installation of fixed charging piles, optimizes the resource allocation of the parking lot, and also improves the charging efficiency of the parking lot;

2、本发明，充电断电自动进行，无需人工干预，尤其是充电完成后无需人工现场拔掉充电接头，节约人工成本。2. In the present invention, the charging and power-off are automatically performed without manual intervention, especially after the charging is completed, there is no need to manually unplug the charging connector on site, which saves labor costs.

附图说明Description of drawings

图1为本发明的流程图；Fig. 1 is the flow chart of the present invention;

图2为本发明的移动充电装置结构示意图；2 is a schematic structural diagram of a mobile charging device of the present invention;

图3为本发明的引导系统的车位结构示意图。FIG. 3 is a schematic diagram of a parking space structure of the guidance system of the present invention.

图中：1、AGV小车；2、通讯模块；3、机械手臂；4、主动式红外摄像头；5、充电接头；6、控制单元；7、蓄能装置。In the picture: 1. AGV car; 2. Communication module; 3. Robot arm; 4. Active infrared camera; 5. Charging connector; 6. Control unit; 7. Energy storage device.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

实施例：Example:

请参阅图1-3，本发明提供一种技术方案：一种基于AGV实现停车场移动充电方法，包括如下步骤：Referring to Figures 1-3, the present invention provides a technical solution: a method for realizing mobile charging of a parking lot based on AGV, including the following steps:

(1)人机交互界面下达指令：在需要充电时，根据人机交互界面上的附近停车场引导模块选择相应的停车场，停车场选择完成后通过人机交互界面上的停车位预定模块进行车位预定，车位预定完成后通过人机交互界面上的充电预约进行预约充电，预约之后，在人机交互界面上的充电条件设定模块上选择充电时长和充电车型，选择完成后人机交互界面将信息提交到后台服务器；(1) Instructions issued by the human-computer interaction interface: when charging is required, select the corresponding parking lot according to the nearby parking lot guidance module on the human-computer interaction interface. After the parking lot selection is completed, the parking space reservation module on the human-computer interaction interface Parking space reservation. After the parking space reservation is completed, the charging reservation is made through the charging reservation on the human-computer interface. After the reservation, the charging time and charging model are selected on the charging condition setting module on the human-computer interface. After the selection is completed, the human-computer interaction interface is completed. Submit the information to the backend server;

(2)AGV小车根据指令动作：后台服务器发送指令给AGV小车，机械手臂根据需求选择相应的蓄能装置放置到AGV小车的上，AGV小车根据指令并在引导系统的引导下移动到相应的车位；(2) The AGV car acts according to the command: the background server sends the command to the AGV car, the mechanical arm selects the corresponding energy storage device and places it on the AGV car according to the demand, and the AGV car moves to the corresponding parking space according to the command and under the guidance of the guidance system ;

(3)进行充电：AGV小车到达待充电位置后，AGV小车上的机械手臂拾取AGV小车上蓄能装置的充电接头并接入待充电车辆，充电过程中，人机交互界面上的充电状态查看模块对充电状况进行查看；(3) Charging: After the AGV trolley reaches the position to be charged, the robotic arm on the AGV trolley picks up the charging connector of the energy storage device on the AGV trolley and connects it to the vehicle to be charged. During the charging process, check the charging status on the human-computer interaction interface. The module checks the charging status;

(4)充电完成：达到充电条件设定模块设定的充电条件后，AGV小车上的机械手臂将充电接头拔下，同时AGV小车移动到充电中心站，AGV小车上的机械手臂将外部的充电头插入蓄能装置上的充电接口对蓄能装置进行充电。(4) Charging completed: After reaching the charging conditions set by the charging condition setting module, the robotic arm on the AGV trolley unplugs the charging connector, and at the same time the AGV trolley moves to the charging center station, and the robotic arm on the AGV trolley charges the external charging Insert the head into the charging port on the energy storage device to charge the energy storage device.

具体的，AGV小车上的机械手臂将外部的充电头插入蓄能装置上的充电接口的条件为蓄能装置的电量传感器检测到蓄能装置电量低于30％，避免了频繁充电造成蓄能装置使用寿命降低的问题。Specifically, the condition for the robotic arm on the AGV car to insert the external charging head into the charging interface on the energy storage device is that the power sensor of the energy storage device detects that the power of the energy storage device is lower than 30%, which avoids the frequent charging of the energy storage device. The problem of reduced service life.

具体的，引导系统包括设置在AGV小车上的主动式红外摄像头、设置在停车位处的磁条、导入人机交互界面的主动式红外摄像头扫描停车库建立的地图。Specifically, the guidance system includes an active infrared camera set on the AGV car, a magnetic strip set at the parking space, and an active infrared camera imported into the human-computer interaction interface to scan the map established by the parking garage.

具体的，人机交互界面还包括充电历史查询、支付功能、积分功能、意见反馈模块，充电历史查询模块方便实现对充电历史进行查询，而且积分功能模块有利于后续做活动，支付功能模块方便进行收费，意见反馈模块方便了解客户需求。Specifically, the human-computer interaction interface also includes charging history query, payment function, integral function, and feedback module. The charging history query module is convenient for querying charging history, and the integral function module is conducive to follow-up activities, and the payment function module is convenient to carry out. Fees, feedback module to facilitate understanding of customer needs.

具体的，人机交互界面为小程序，简单且成本低。Specifically, the human-computer interaction interface is a small program, which is simple and low-cost.

在其它实施例中，人机交互界面为APP。In other embodiments, the human-computer interface is an APP.

具体的，蓄能装置为铅蓄电池，放电时电动势能稳定。Specifically, the energy storage device is a lead storage battery, and the electromotive force is stable during discharge.

在其它实施例中，蓄能装置为锂电池。In other embodiments, the energy storage device is a lithium battery.

一种移动充电AGV机器人，包括AGV小车和充电机器人，充电机器人设置在AGV小车上，充电机器人包括机械手臂、通讯模块、控制单元、蓄能装置、主动式红外摄像头、充电接头，充电接头和蓄能装置连接。A mobile charging AGV robot includes an AGV car and a charging robot, the charging robot is set on the AGV car, and the charging robot includes a mechanical arm, a communication module, a control unit, an energy storage device, an active infrared camera, a charging connector, a charging connector and a storage device. device connection.

具体的，通讯模块为无线模块，综合成本低。Specifically, the communication module is a wireless module, and the comprehensive cost is low.

在其它实施例中，通讯模块为蓝牙模块。In other embodiments, the communication module is a Bluetooth module.

具体的，充电机器人还包括固定座，固定座设置在机械手臂、通讯模块、控制单元、蓄能装置、主动式红外摄像头、充电接头和AGV小车之间，蓄能装置活动设置在固定座上，AGV小车和蓄能装置7可以分离，降低了系统故障概率。Specifically, the charging robot also includes a fixed seat, the fixed seat is arranged between the mechanical arm, the communication module, the control unit, the energy storage device, the active infrared camera, the charging connector and the AGV car, and the energy storage device is movably arranged on the fixed seat, The AGV trolley and the energy storage device 7 can be separated, which reduces the probability of system failure.

尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. a method for realizing mobile charging of a parking lot based on AGV is characterized by comprising the following steps:
(1) The man-machine interaction interface issues an instruction: when charging is needed, selecting a corresponding parking lot according to a nearby parking lot guiding module on a human-computer interaction interface, reserving a parking space through a parking space reserving module on the human-computer interaction interface after the parking lot is selected, reserving and charging through charging reservation on the human-computer interaction interface after the parking space is reserved, selecting a charging time and a charging vehicle type on a charging condition setting module on the human-computer interaction interface after the reservation is finished, and submitting information to a background server through the human-computer interaction interface after the selection is finished;
(2) The AGV trolley acts according to the instruction: the background server sends an instruction to the AGV, the mechanical arm selects a corresponding energy storage device to place on the AGV according to the requirement, and the AGV moves to a corresponding parking space under the guidance of the guidance system according to the instruction;
(3) Charging: after the AGV arrives at the position to be charged, a mechanical arm on the AGV picks up a charging connector of an energy storage device on the AGV and accesses a vehicle to be charged, and a charging state checking module on a human-computer interaction interface checks the charging state in the charging process;
(4) And (3) finishing charging: after the charging condition set by the charging condition setting module is reached, the mechanical arm on the AGV pulls out the charging connector, meanwhile, the AGV moves to the charging center station, and the mechanical arm on the AGV inserts the external charging connector into the charging interface on the energy storage device to charge the energy storage device.
2. the AGV based parking lot movement charging method according to claim 1, wherein: the condition that the mechanical arm on the AGV trolley inserts the external charging head into the charging interface on the energy storage device is that the electric quantity sensor of the energy storage device detects that the electric quantity of the energy storage device is lower than 30%.
3. The AGV based parking lot movement charging method according to claim 1, wherein: the guiding system comprises an active infrared camera arranged on the AGV trolley, a magnetic stripe arranged at the parking space and a map established by an active infrared camera introduced into the human-computer interaction interface to scan the parking garage.
4. The AGV based parking lot movement charging method according to claim 1, wherein: the charging condition setting module on the human-computer interaction interface further comprises setting of charging electric quantity.
5. The AGV based parking lot movement charging method according to claim 4, wherein: the human-computer interaction interface further comprises a charging history query module, a payment function module, a point function module and an opinion feedback module.
6. The AGV based parking lot movement charging method according to claim 5, wherein: the man-machine interaction interface is one of an applet or an APP.
7. The AGV based parking lot movement charging method according to claim 1, wherein: the energy storage device is one of a lead storage battery or a lithium battery.
8. the utility model provides a remove AGV robot that charges, its characterized in that includes the AGV dolly and charges the machine people, charge the machine people and set up on the AGV dolly, charge the machine people and include robotic arm, communication module, the control unit, energy storage equipment, active infrared camera, the joint that charges, charge the joint and energy storage equipment and connect.
9. a mobile charging AGV robot according to claim 8, characterised in that: the communication module is one of a wireless module or a Bluetooth module.
10. A mobile charging AGV robot according to claim 8, characterised in that: the charging robot further comprises a fixing seat, the fixing seat is arranged between the mechanical arm, the communication module, the control unit, the energy storage device, the active infrared camera, the charging connector and the AGV, and the energy storage device is movably arranged on the fixing seat.
CN201910912044.4A 2019-09-25 2019-09-25 A method and device for realizing mobile charging of parking lot based on AGV Pending CN110576759A (en)

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Application publication date: 20191217