CN111038290A - Active adjoint type AGV charging system and control method - Google Patents
Active adjoint type AGV charging system and control method Download PDFInfo
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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
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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
- B60L53/50—Charging stations characterised by energy-storage or power-generation means
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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
- B60L53/66—Data transfer between charging stations and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
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Abstract
The invention discloses an active adjoint type AGV charging system and a control method, compared with the prior art, the mobile charging vehicle can search and track a target AGV according to a charging task instruction, and is butted with the target AGV in a running state of the target AGV and always keeps synchronous running with the target AGV in the charging process, so that the target AGV can normally execute a task in the charging process, the working efficiency of the AGV is improved, and the target AGV and the mobile charging vehicle are prevented from stopping at a position for a long time in the charging process and forming obstruction to the running of other AGVs executing the task.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an active adjoint AGV charging system and a control method.
Background
At present, the technology of the transfer robot is vigorously developed and widely applied, but the technical development bottleneck of the energy density of the battery is not broken through, so that the battery endurance problem of the transfer robot is increasingly highlighted. Conventional AGV charging mode sets up fixed electric pile that fills in AGV's work place, sets up monitored control system control AGV's residual capacity on AGV, and when AGV monitored the electric quantity of AGV system and will be exhausted, AGV need withdraw from the task and exercise to fixed electric pile department of filling and charge. However, the AGV already enters the task in many times, the task is long in use, and the charging mode influences the AGV to execute the task and is not beneficial to improving the execution efficiency; in addition, AGV meets the hindrance at the in-process to filling electric pile line, drags the thing heavily, can not withdraw, lacks the electricity again midway this moment, can bring very big influence for the production task.
For solving above-mentioned problem, current AGV workplace increases the charging scheme who removes the storage battery car on the basis that the electric pile was filled in the setting. Put in the AGV work place promptly and remove the storage battery that charges, should remove and be equipped with the power storage device who is used for supplying power to the AGV on removing the storage battery, remove the storage battery and locate towards the electricity back at fixed charging stake, can stop in original place and point place, after accepting the task of charging, can go to the current position of the AGV of waiting to charge, charge for the AGV that has stopped traveling, through the combination of above-mentioned two kinds of charging schemes, improve AGV's charge efficiency and work efficiency. However, since the AGV has a long charging time and cannot continue to run during the charging process, the task being executed can only be interrupted and is continuously executed after the charging is completed. In addition, during the charging process, the AGV and the mobile charging cart stop at one place for a long time, and may hinder the traveling of other AGVs that are performing tasks.
The existing AGV charging scheme needs to be further improved, the influence of the power shortage condition of the AGV on the execution task of the AGV is reduced, and therefore execution efficiency is improved.
Disclosure of Invention
The first purpose of the present invention is to provide an active-following AGV charging system, and the control system of the present invention can control the mobile charging vehicle and the AGV to run synchronously and keep a docking state, so as to charge the AGV which is executing a task.
In order to realize the purpose, the invention adopts the following technical scheme:
the active adjoint type AGV charging system comprises a target AGV, a dispatching platform and a mobile charging vehicle, wherein the target AGV is provided with a monitoring module for monitoring the electric quantity condition of a vehicle body and generating and sending a charging task instruction in the power shortage state; the dispatching platform can receive the charging task instruction, identify the coordinate position of the target AGV according to the charging task instruction and send the charging task instruction; the mobile charging vehicle can receive the charging task instruction and find the position of the target AGV according to the charging task instruction; after the target AGV reaches the position near the target AGV, the charging module in the mobile charging vehicle is started, the charging module is connected with a charging interface of the target AGV, and meanwhile, the mobile charging vehicle and the target AGV synchronously run.
Compared with the prior art, the mobile charging vehicle can search and track the target AGV according to the charging task instruction, is butted with the target AGV in the running state of the target AGV, and always keeps synchronous running with the target AGV in the charging process, so that the target AGV can normally execute the task in the charging process, the working efficiency of the AGV is improved, the target AGV and the mobile charging vehicle are prevented from stopping at a position for a long time in the charging process, and the running of other AGVs executing the task is prevented.
Preferably, the mobile charging car further comprises an MCU module, a communication module and an addressing module; the communication module receives a charging task instruction and transmits the charging task instruction to the MCU module and the addressing module; the system comprises an MCU module, an addressing module and a target AGV, wherein the MCU module can start the addressing module, the addressing module generates an addressing path according to a charging task instruction and feeds the addressing path back to the MCU module, and the MCU module controls the mobile charging vehicle to run to the position of the target AGV according to the addressing path.
Preferably, the mobile charging vehicle further comprises a charging management module, the charging management module is used for monitoring and feeding back the electric quantity condition of the mobile charging vehicle to the MCU module, and the MCU module judges whether the charging task can be executed and generates a feedback instruction according to the electric quantity condition fed back by the charging management module, and sends the feedback instruction to the scheduling platform through the communication module.
Preferably, the charging task instruction further comprises a power shortage alarm, and the MCU module starts the charging management module according to the power shortage alarm.
Preferably, the MCU module starts the addressing module after determining that the charging task can be executed.
Preferably, the charging task instruction comprises an AGV original coordinate, a real-time coordinate and an AGV travel route, the addressing module generates an addressing path according to the AGV original coordinate and the mobile charging vehicle coordinate, adjusts the addressing path according to the AGV real-time coordinate, and generates the charging path according to the AGV travel route and the AGV real-time coordinate. In the scheme, an addressing module generates a navigation path according to an original AGV coordinate and a mobile charging vehicle coordinate, and after the mobile charging vehicle reaches the original AGV coordinate, the path is continuously adjusted according to a real-time coordinate of the AGV until the mobile charging vehicle is in butt joint with the AGV; after the butt joint, the mobile charging vehicle runs according to the charging path, so that the mobile charging vehicle and the AGV keep running synchronously. It should be noted that the AGV original coordinate of the present invention refers to a coordinate where the AGV sends out the power shortage alarm; the real-time coordinate is the coordinate which is continuously updated in the process of continuously driving after the AGV sends out the power shortage alarm.
Preferably, the mobile charging vehicle further comprises a walking control module, the MCU module issues the addressing path and the charging path to the walking control module, and the walking control module controls the mobile charging vehicle to sequentially run according to the addressing path and the charging path.
Preferably, the addressing module comprises an indoor navigation module and an outdoor navigation module, the communication module receives an indoor or outdoor navigation signal of the work site and transmits the indoor or outdoor navigation signal to the addressing module, and the addressing module starts the indoor navigation module or the outdoor navigation module according to the navigation signal.
Preferably, still include the butt joint module, butt joint module infrared module and NFC module remove after the storage battery car reaches near target AGV, the MCU module starts the butt joint module, the position of the mouth that charges of target AGV is look for and with scanning information transmission to the module that charges through the scanning to the butt joint module, the module that charges realizes the butt joint according to scanning information and the mouth that charges of target AGV.
A second object of the present invention is to provide a method for controlling an AGV charging system of the active adjoint type, which includes the following steps:
a. a target AGV generates and sends a charging task instruction, a scheduling platform receives the charging task instruction, enters a working state and enters the step b; b. screening the mobile charging vehicles capable of executing the charging tasks, sending charging task instructions to the mobile charging vehicles, and entering the step c; c. the mobile charging vehicle receives the charging task instruction and sends a feedback instruction to the scheduling platform, and when the feedback instruction is an executable task, the step d is carried out; when the feedback instruction is 'task inexecutable', repeating the steps b-c until a feedback signal 'task executable' is obtained, and entering the step d; d. the mobile charging vehicle generates an addressing path according to the charging task instruction, drives from the standby point to the position of the AGV original coordinate according to the addressing path, sends a feedback instruction of 'reaching the destination' to the dispatching platform, and enters step e; e. the dispatching platform receives and forwards the feedback instruction to the target AGV, continuously receives and forwards the updated real-time coordinate of the AGV to the mobile charging car, and the step f is carried out; f. the mobile charging vehicle continuously receives the real-time coordinates of the AGV, the mobile charging vehicle is controlled to reduce the distance difference between the mobile charging vehicle and the target AGV according to the charging task instruction, the charging port of the target AGV is induced, the mobile charging vehicle and the AGV are controlled to complete butt joint, and the step g is carried out; g. the mobile charging vehicle supplies power to the target AGV, continuously receives the real-time coordinates and the travel route of the AGV, charges a path according to the real-time coordinates and the travel route of the AGV and keeps synchronous running with the target AGV according to the charging path, and the step h is carried out; h. when the mobile charging vehicle detects that the mobile charging vehicle finishes charging, sending a feedback instruction of finishing charging to the dispatching platform, and returning to a standby point; i. and the dispatching platform receives the feedback instruction and enters a standby state. The control method of the invention has all the advantages of the scheme because the control system of the scheme is applied, and the charging efficiency and the working efficiency of the AGV can be improved.
Drawings
FIG. 1 is a schematic diagram of the present invention 1;
FIG. 2 is a schematic diagram of the present invention 2;
FIG. 3 is a schematic workflow diagram of a mobile charging cart;
FIG. 4 is a simplified workflow diagram of a dispatch platform.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
as shown in fig. 1 to 4, the active adjoint AGV charging system of the present invention includes a target AGV, a dispatching platform and a mobile charging car, wherein the target AGV is provided with a monitoring module for monitoring the electric quantity condition of a car body, and generating and sending a charging task instruction in a power-shortage state; the dispatching platform can receive the charging task instruction, identify the coordinate position of the target AGV according to the charging task instruction and send the charging task instruction; the mobile charging vehicle can receive the charging task instruction and find the position of the target AGV according to the charging task instruction; after the target AGV reaches the position near the target AGV, the charging module in the mobile charging vehicle is started, the charging module is connected with a charging interface of the target AGV, and meanwhile, the mobile charging vehicle and the target AGV synchronously run.
The mobile charging car further comprises an MCU module, a communication module and an addressing module; the communication module receives a charging task instruction and transmits the charging task instruction to the MCU module and the addressing module; the system comprises an MCU module, an addressing module and a target AGV, wherein the MCU module can start the addressing module, the addressing module generates an addressing path according to a charging task instruction and feeds the addressing path back to the MCU module, and the MCU module controls the mobile charging vehicle to run to the position of the target AGV according to the addressing path.
The mobile charging car further comprises a charging management module, the charging management module is used for monitoring and feeding back the electric quantity condition of the mobile charging car to the MCU module, and the MCU module judges whether a charging task can be executed or not and generates a feedback instruction according to the electric quantity condition fed back by the charging management module and sends the feedback instruction to the scheduling platform through the communication module.
The charging task instruction further comprises a power shortage alarm, and the MCU module starts the charging management module according to the power shortage alarm.
And the MCU module starts the addressing module after judging that the charging task can be executed.
The charging task instruction comprises an AGV original coordinate, a real-time coordinate and an AGV travel route, the addressing module generates an addressing path according to the AGV original coordinate and the coordinates of the mobile charging vehicle, adjusts the addressing path according to the AGV real-time coordinate, and generates a charging path according to the AGV travel route and the AGV real-time coordinate. In the scheme, an addressing module generates a navigation route according to an original AGV coordinate and a mobile charging vehicle coordinate, and after the mobile charging vehicle reaches the original AGV coordinate, a path is continuously adjusted according to a real-time coordinate of the AGV until the mobile charging vehicle is in butt joint with the AGV; after the butt joint, the mobile charging vehicle runs according to the charging path, so that the mobile charging vehicle and the AGV keep running synchronously. It should be noted that the AGV original coordinates of the present invention refer to the coordinates where the AGV issues the power shortage alarm.
The mobile charging vehicle is characterized by further comprising a walking control module, the MCU module issues the addressing path and the charging path to the walking control module, and the walking control module controls the mobile charging vehicle to sequentially run according to the addressing path and the charging path.
The addressing module comprises an indoor navigation module and an outdoor navigation module, the communication module receives indoor or outdoor navigation signals of a work site and transmits the indoor or outdoor navigation signals to the addressing module, and the addressing module starts the indoor navigation module or the outdoor navigation module according to the navigation signals. The indoor navigation module and the outdoor navigation module of the embodiment are respectively used for operating an outdoor navigation mode and an indoor navigation mode, and in the outdoor mode, the navigation module performs navigation through a GPS, a differential GPS and other navigation modules which are suitable for the outdoor; in the indoor mode, the navigation module navigates through a navigation module such as a laser navigation module suitable for indoor use.
Still include the butt joint module, butt joint module infrared module and NFC module remove the storage battery car and arrive near target AGV after, the MCU module starts the butt joint module, the position of the mouth that charges of target AGV is look for through the scanning to the butt joint module and with scanning information transmission to the module of charging, the module of charging realizes the butt joint according to scanning information and the mouth that charges of target AGV.
In one embodiment, the dispatching platform comprises a central communication module, a database, a dispatching module and a central control module, the central control module is electrically connected with each module of the dispatching platform to intelligently dispatch the work of each module, the central communication module is used for receiving and forwarding a charging task instruction and a feedback instruction, the database records and updates the data of the mobile charging car, and the dispatching module screens the data of the mobile charging car capable of executing the charging task from the database. In this embodiment, the scheduling platform has a function of scheduling and forwarding various instructions, wherein the database records and updates data of the mobile charging vehicles, so that the number of the mobile charging vehicles capable of executing charging tasks and related vehicle information are stored in the scheduling platform, the scheduling module screens the mobile charging vehicles capable of executing tasks from the database, and the central communication module forwards instructions to the target AGV and the mobile charging vehicle, so that the scheduling platform serves as an intermediate platform to establish communication connection between the AGV and the mobile charging vehicle.
In one embodiment, the dispatching platform and the mobile charging car are respectively provided with a display control module, so that an operator can conveniently control the working states of the dispatching platform and the mobile charging car at any time, and can issue and adjust the charging tasks for the dispatching platform and the mobile charging car through manual input under the condition of requirement.
In an embodiment, the dispatching platform and the mobile charging vehicle are respectively provided with an audible and visual alarm module, and the audible and visual alarm module is respectively used for giving out audible and visual alarms when the working states of the dispatching platform and the mobile charging vehicle are abnormal.
The central control module starts the scheduling module according to the power shortage alarm, feeds back the data of the mobile charging car screened by the scheduling module to the central control module, and schedules the central communication module to send a charging task instruction to the corresponding mobile charging car by the central control module.
Compared with the prior art, the mobile charging vehicle can search and track the target AGV according to the charging task instruction, is butted with the target AGV in the running state of the target AGV, and always keeps synchronous running with the target AGV in the charging process, so that the target AGV can normally execute the task in the charging process, the working efficiency of the AGV is improved, the target AGV and the mobile charging vehicle are prevented from stopping at a position for a long time in the charging process, and the running of other AGVs executing the task is prevented.
The invention also discloses a control method of the active adjoint AGV charging system, which comprises the following steps:
a. a target AGV generates and sends a charging task instruction, a scheduling platform receives the charging task instruction, enters a working state and enters the step b; b. screening the mobile charging vehicles capable of executing the charging tasks, sending charging task instructions to the mobile charging vehicles, and entering the step c; c. the mobile charging vehicle receives the charging task instruction and sends a feedback instruction to the scheduling platform, and when the feedback instruction is an executable task, the step d is carried out; when the feedback instruction is 'task inexecutable', repeating the steps b-c until a feedback signal 'task executable' is obtained, and entering the step d; d. the mobile charging vehicle generates an addressing path according to the charging task instruction, drives from the standby point to the position of the AGV original coordinate according to the addressing path, sends a feedback instruction of 'reaching the destination' to the dispatching platform, and enters step e; e. the dispatching platform receives and forwards the feedback instruction to the target AGV, continuously receives and forwards the updated real-time coordinate of the AGV to the mobile charging car, and the step f is carried out; f. the mobile charging vehicle continuously receives the real-time coordinates of the AGV, the mobile charging vehicle is controlled to reduce the distance difference between the mobile charging vehicle and the target AGV according to the charging task instruction, the charging port of the target AGV is induced, the mobile charging vehicle and the AGV are controlled to complete butt joint, and the step g is carried out; g. the mobile charging vehicle supplies power to the target AGV, continuously receives the real-time coordinates and the travel route of the AGV, charges a path according to the real-time coordinates and the travel route of the AGV and keeps synchronous running with the target AGV according to the charging path, and the step h is carried out; h. when the mobile charging vehicle detects that the mobile charging vehicle finishes charging, sending a feedback instruction of finishing charging to the dispatching platform, and returning to a standby point; i. and the dispatching platform receives the feedback instruction and enters a standby state. The control method of the invention has all the advantages of the scheme because the control system of the embodiment is applied, and the charging efficiency and the working efficiency of the AGV can be improved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. An active-companion AGV charging system comprising:
the target AGV is provided with a monitoring module and is used for monitoring the electric quantity condition of the vehicle body and generating and sending a charging task instruction in a power shortage state;
the dispatching platform can receive the charging task instruction, identify the coordinate position of the target AGV according to the charging task instruction and send the charging task instruction;
the mobile charging vehicle can receive the charging task instruction and find the position of the target AGV according to the charging task instruction; after the target AGV reaches the position near the target AGV, the charging module in the mobile charging vehicle is started, the charging module is connected with a charging interface of the target AGV, and meanwhile, the mobile charging vehicle and the target AGV synchronously run.
2. The active adjoint AGV charging system of claim 1, wherein: the mobile charging vehicle further comprises an MCU module, a communication module and an addressing module;
the communication module receives a charging task instruction and transmits the charging task instruction to the MCU module and the addressing module;
the system comprises an MCU module, an addressing module and a target AGV, wherein the MCU module can start the addressing module, the addressing module generates an addressing path according to a charging task instruction and feeds the addressing path back to the MCU module, and the MCU module controls the mobile charging vehicle to run to the position of the target AGV according to the addressing path.
3. The AGV charging system of claim 2, wherein: the mobile charging car further comprises a charging management module, the charging management module is used for monitoring and feeding back the electric quantity condition of the mobile charging car to the MCU module, and the MCU module judges whether a charging task can be executed or not and generates a feedback instruction according to the electric quantity condition fed back by the charging management module and sends the feedback instruction to the scheduling platform through the communication module.
4. The active adjoint AGV charging system of claim 3, wherein: the charging task instruction further comprises a power shortage alarm, and the MCU module starts the charging management module according to the power shortage alarm.
5. The active adjoint AGV charging system of claim 3, wherein: and the MCU module starts the addressing module after judging that the charging task can be executed.
6. The AGV charging system of claim 2, wherein: the charging task instruction comprises an AGV original coordinate, a real-time coordinate and an AGV travel route, the addressing module generates an addressing path according to the AGV original coordinate and the coordinates of the mobile charging vehicle, adjusts the addressing path according to the AGV real-time coordinate, and generates a charging path according to the AGV travel route and the AGV real-time coordinate.
7. The active adjoint AGV charging system of claim 6, wherein: the mobile charging vehicle is characterized by further comprising a walking control module, the MCU module issues the addressing path and the charging path to the walking control module, and the walking control module controls the mobile charging vehicle to sequentially run according to the addressing path and the charging path.
8. The AGV charging system of claim 2 or 6 wherein: the addressing module comprises an indoor navigation module and an outdoor navigation module, the communication module receives indoor or outdoor navigation signals of a work site and transmits the indoor or outdoor navigation signals to the addressing module, and the addressing module starts the indoor navigation module or the outdoor navigation module according to the navigation signals.
9. The AGV charging system of claim 2, wherein: still include the butt joint module, butt joint module infrared module and NFC module remove the storage battery car and arrive near target AGV after, the MCU module starts the butt joint module, the position of the mouth that charges of target AGV is look for through the scanning to the butt joint module and with scanning information transmission to the module of charging, the module of charging realizes the butt joint according to scanning information and the mouth that charges of target AGV.
10. The method of controlling an AGV charging system according to any one of claims 1 to 9, including the steps of:
a. a target AGV generates and sends a charging task instruction, a scheduling platform receives the charging task instruction, enters a working state and enters the step b;
b. screening the mobile charging vehicles capable of executing the charging tasks, sending charging task instructions to the mobile charging vehicles, and entering the step c;
c. the mobile charging vehicle receives the charging task instruction and sends a feedback instruction to the scheduling platform, and when the feedback instruction is an executable task, the step d is carried out; when the feedback instruction is 'task inexecutable', repeating the steps b-c until a feedback signal 'task executable' is obtained, and entering the step d;
d. the mobile charging vehicle generates an addressing path according to the charging task instruction, drives from the standby point to the position of the AGV original coordinate according to the addressing path, sends a feedback instruction of 'reaching the destination' to the dispatching platform, and enters step e;
e. the dispatching platform receives and forwards the feedback instruction to the target AGV, continuously receives and forwards the updated real-time coordinate of the AGV to the mobile charging car, and the step f is carried out;
f. the mobile charging vehicle continuously receives the real-time coordinates of the AGV, the mobile charging vehicle is controlled to reduce the distance difference between the mobile charging vehicle and the target AGV according to the charging task instruction, the charging port of the target AGV is induced, the mobile charging vehicle and the AGV are controlled to complete butt joint, and the step g is carried out;
g. the mobile charging vehicle supplies power to the target AGV, continuously receives the real-time coordinates and the travel route of the AGV, charges a path according to the real-time coordinates and the travel route of the AGV and keeps synchronous running with the target AGV according to the charging path, and the step h is carried out;
h. when the mobile charging vehicle detects that the mobile charging vehicle finishes charging, sending a feedback instruction of finishing charging to the dispatching platform, and returning to a standby point;
i. and the dispatching platform receives the feedback instruction and enters a standby state.
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