CN111401618A - Battery replacement method, controller, and computer-readable storage medium - Google Patents
Battery replacement method, controller, and computer-readable storage medium Download PDFInfo
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- CN111401618A CN111401618A CN202010159841.2A CN202010159841A CN111401618A CN 111401618 A CN111401618 A CN 111401618A CN 202010159841 A CN202010159841 A CN 202010159841A CN 111401618 A CN111401618 A CN 111401618A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
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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
- B60L53/30—Constructional details of charging stations
-
- 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
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06313—Resource planning in a project environment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06316—Sequencing of tasks or work
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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
Abstract
The application provides a battery replacement method, a controller and a computer-readable storage medium, wherein the battery replacement method comprises the following steps: the automatic transport trolley with the battery to be replaced runs to a first waiting area, and the first waiting area and the inlet of the battery replacement station are arranged in a staggered mode; judging whether an available parking space exists in a second waiting area, and when the available parking space exists in the second waiting area, driving the automatic transport trolley with the battery to be replaced to the second waiting area from the first waiting area, wherein the second waiting area is arranged opposite to the replacement station inlet; and judging whether the battery replacing station is available, and when the battery replacing station is available, driving the automatic transport trolley with the battery to be replaced into the battery replacing station from the second waiting area so as to replace the battery in the battery replacing station. The application can improve the utilization rate of the battery replacing station and the battery replacing efficiency of the AGV.
Description
Technical Field
The present disclosure relates to the field of automated transportation technologies, and in particular, to a method for replacing a battery of an automated transportation cart, a controller, and a computer-readable storage medium.
Background
Automatic transport vehicles (also known as AGVs) are increasingly widely used in docks, ports and other places to assist in the automation and unmanned improvement process of docks and ports. The AGV is provided with a battery pack, and can provide certain endurance mileage and endurance time for the AGV. When the electric quantity in the battery pack is about to be exhausted, the AGV trolley needs to travel to the battery replacement station to replace a new battery pack.
In the prior art, the power switching paths and the power switching sequences of the AGVs are not planned in a unified mode, and some AGVs can drive to the power switching station from a waiting area within a long time, so that the idle time of the power switching station can be increased, and the power switching efficiency can be reduced.
Disclosure of Invention
Embodiments of the present application, which will be described in detail below with reference to the accompanying drawings, provide a battery exchange method for an automatic transport cart, a controller for an automatic transport cart, and a computer-readable storage medium.
In a first aspect, an embodiment of the present application provides a battery replacement method for an automatic transportation cart, including: the automatic transport trolley with the battery to be replaced runs to a first waiting area, and the first waiting area and the inlet of the battery replacement station are arranged in a staggered mode; judging whether an available parking space exists in a second waiting area, and when the available parking space exists in the second waiting area, driving the automatic transport trolley with the battery to be replaced to the second waiting area from the first waiting area, wherein the second waiting area is arranged opposite to the replacement station inlet; and judging whether the battery replacing station is available, and when the battery replacing station is available, driving the automatic transport trolley with the battery to be replaced into the battery replacing station from the second waiting area so as to replace the battery in the battery replacing station.
In some embodiments, the automated transport cart for battery replacement is driven to a first waiting area, comprising: when the automatic transport trolley runs to a set distance away from the first waiting area, whether an available parking space exists in the second waiting area or not is judged, and when the available parking space exists in the second waiting area, the automatic transport trolley with the battery to be replaced runs to the second waiting area from the current position.
In some embodiments, the automated transport cart for battery replacement travels from a first waiting area to a second waiting area, comprising: when the automatic transport trolley travels to a set distance away from the second waiting area, whether an available battery replacing station exists in the battery replacing station is judged, and when the available station exists in the battery replacing station, the automatic transport trolley with the battery to be replaced travels to the battery replacing station from the current position.
In some embodiments, the first waiting area is provided with a plurality of parking spaces for parking a plurality of automatic transport carts with batteries to be replaced, wherein the automatic transport carts with batteries to be replaced travel from the first waiting area to the second waiting area, comprising: and the automatic transport trolleys with the batteries to be replaced sequentially run to the second waiting area according to the sequence of running to the first waiting area.
In some embodiments, determining whether there are available parking spaces in the second waiting area comprises: and acquiring the state information of the second waiting area at a set time interval to judge whether the second waiting area has an available parking space.
In some embodiments, the second waiting area is an automatic transportation vehicle lane which is arranged right opposite to the battery replacement station inlet, and the automatic transportation vehicle lane is provided with a plurality of parking spaces along the extending direction of the automatic transportation vehicle lane.
In some embodiments, an internal lane is arranged between the outlet of the power exchanging station and the inlet of the power exchanging station, and the internal lane is parallel to the lane of the automatic transport trolley.
In some embodiments, the power exchanging station comprises a plurality of power exchanging stations arranged at intervals along the extending direction of the inner lane.
According to the battery replacement method provided by the embodiment of the application, the travel path of the AGV to be replaced is the first waiting area, the second waiting area and the battery replacement station in sequence, the second waiting area is equivalent to a buffer area, and the AGV to be replaced can enter the battery replacement station in the least time from the buffer area. Therefore, as long as an available station appears in the battery replacement station, the AGV to be replaced can be filled into the available station in the shortest time, so that the idle time of the battery replacement station in the battery replacement station can be reduced to the greatest extent, the utilization rate of the battery replacement station is increased, and the total time of battery replacement is shortened.
In a second aspect, embodiments of the present application provide a controller for an automated transport cart, including: a memory to store instructions for execution by one or more processors of the controller; a processor, which when executing the instructions in the memory, is capable of performing the battery replacement method according to any of the embodiments of the first aspect of the present application.
In a third aspect, embodiments of the present application provide a computer-readable storage medium for storing a computer program or instructions, which when run on an electronic device, causes the electronic device to perform the battery replacement method according to any one of the embodiments of the first aspect of the present application.
Drawings
Fig. 1 shows a diagram of a wharf area arrangement provided by an embodiment of the present application;
fig. 2 shows a power swapping area layout diagram provided in an embodiment of the present application;
fig. 3 shows a flowchart of a power swapping method provided in an embodiment of the present application;
fig. 4a shows another arrangement diagram of a power swapping area provided in the embodiment of the present application;
fig. 4b illustrates a power swapping station layout provided in an embodiment of the present application;
fig. 5 shows a block diagram of a system on chip (SoC) provided by an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. While the description of the present application will be described in conjunction with the preferred embodiments, it is not intended to limit the features of the present invention to that embodiment. Rather, the invention has been described in connection with embodiments for the purpose of covering alternatives and modifications as may be extended based on the claims of the present application. In the following description, numerous specific details are included to provide a thorough understanding of the present application. The present application may be practiced without these particulars. Moreover, some of the specific details have been omitted from the description in order to avoid obscuring or obscuring the focus of the present application.
For persons skilled in the art to understand more easily, the technical solution of the present application is described below by taking the working scenario of AGVs at a dock as an example, but it is understood that the embodiments of the present application can be applied to other scenarios besides a dock, such as a port, a mining area, etc.
Referring to fig. 1, in the present scenario, a working area and a power exchange area are provided on the dock, wherein the working area is provided with a shore bridge (i.e., a shore bridge container crane for loading and/or unloading a ship), and an AGV lane for AGVs to travel is provided below the shore bridge. In the process of unloading the ship, the AGV trolley can be used for evacuating the containers unloaded from the shore bridge to a container yard; in the process of shipping, the AGV trolley can be used to transport containers from the container yard to the underside of the shore bridge, which then loads the containers onto the ship.
An AGV (automatic guided vehicle) battery replacing station is arranged in the battery replacing area, a battery replacing station is arranged in the battery replacing station, and an AGV (automatic guided vehicle) to be replaced with a battery can replace the battery in the battery replacing station. Trade electric station can be that the robot trades electric station automatically, also can be the station of manual work on duty etc. this application does not limit, as long as can satisfy realize trading the electricity can. An AGV lane is arranged between the working area and the electricity changing area, and the AGV to be changed can travel to the electricity changing station along the AGV lane.
Fig. 2 shows an arrangement of the power switching region. One side in AGV lane is equipped with trades the power station, and the opposite side in AGV lane is equipped with the AGV parking area, is equipped with a plurality of parking stalls (be drawing of the drawing PB01 ~ PB11 respectively) in the AGV parking area, wherein, including just trading parking stall PB06 that the power station entry set up and staggering trading the parking stall that the power station entry set up (except PB06 other parking stalls). When no available power change potential exists in the AGV power change station (for example, when all power change potentials in the AGV power change station are in a busy state), the AGV to be power changed is parked in the AGV parking lot to wait for power change.
Fig. 2 shows a travel path of an AGV when the AGV goes to an AGV swap station to swap power in the prior art, the AGV parking lot is parked with an AGV 01 waiting for swapping power and an AGV 02, for the AGV 01, a travel path from a parking space PB06 to an entry of the swap station is a straight line L and a travel time is T1, for the AGV 02, a travel path from a parking space PB09 to an entry of the swap station is a broken line L and a travel time is T2, it can be seen that the travel path L of the AGV 02 has two more turns relative to the travel path L of the AGV 01, and therefore, the travel time T2 of the AGV 02 is greater than the travel time T1 of the AGV 01.
In other words, in the prior art, the traveling time of the AGVs traveling from the waiting area to the battery replacement station is different, and when an available battery replacement station appears in the battery replacement station, the AGVs on some parking spaces can travel to the battery replacement station only by taking a long traveling time, so that the idle time of the battery replacement station is increased, and the battery replacement efficiency is reduced.
For this reason, referring to fig. 3, an AGV power swapping method is provided in the embodiment of the present application, and the power swapping method provided in the embodiment is described below in an arrangement manner of the working area shown in fig. 2, but it should be noted that the embodiment of the present application is not limited to the arrangement manner. The battery replacement method comprises the following steps:
s10: the AGV to be replaced runs to the first waiting area 100, and the first waiting area 100 and the replacement station entrance are arranged in a staggered mode. For example, the first waiting area 100 may be a space other than PB06 in fig. 2.
S20: whether a parking space is available in the second waiting area 200 is judged, wherein the second waiting area 200 is arranged opposite to the charging station entrance (for example, the second waiting area 200 may be a PB06 parking space in fig. 2). When the second waiting area 200 has available parking spaces, the AGVs waiting for battery replacement travel from the first waiting area 100 to the second waiting area 200, and it can be understood that the AGVs can travel from the second waiting area 200 to the entrance of the AGV replacement station along a straight path.
In some alternative implementations, the AGVs waiting to be powered off enter the second waiting area 200 in sequence as they enter the first waiting area 100.
In some optional implementation manners, the battery swapping control system acquires the state information of the second waiting area 200 at set time intervals to determine whether there is an available parking space in the second waiting area. The set time interval may be 5s, 30s, 1 minute, etc.
S30: and judging whether an available battery replacing station exists in the battery replacing station, and when the available station exists in the battery replacing station, driving the AGV to the battery replacing station from the second waiting area 200 to replace the battery in the battery replacing station. The number of stations in the AGV replacing station can be one or multiple. Each station can be an automatic station (for example, battery replacement through a robot) or a station on duty manually.
In other words, in the embodiment of the present application, the second waiting area 200 is equivalent to a "buffer", and the AGV to be powered can enter the power conversion station with the least time from the buffer. Therefore, as long as an available station appears in the battery replacement station, the AGV to be replaced can be filled into the available station in the shortest time, so that the idle time of the battery replacement station in the battery replacement station can be reduced to the greatest extent, the utilization rate of the battery replacement station is increased, and the total time of battery replacement is shortened.
In some optional implementations, step S10 further includes:
s101: the automatic transport trolley travels to a set distance from the first waiting area 100;
s102: and judging whether the second waiting area 200 has an available parking space or not, and when the second waiting area 200 has an available parking space, driving the AGV to be converted to the second waiting area 200 from the current position.
At times, there are fewer AGVs to be powered off, at which time the second waiting area 200 may be idle. In this embodiment, when the AGV to be powered off is about to drive into the first waiting area 100, the state information of the second waiting area 200 is acquired, and if the second waiting area 200 has a vacant parking space, the AGV may omit the parking step in the first waiting area 100 and directly drive to the second waiting area 200, thereby further improving the power-off efficiency. In some optional implementation modes, the set distance is 3-10 m.
In some optional implementations, step S20 further includes:
s201: when the AGV to be charged runs to a set distance away from the second waiting area 200, whether an available charging station exists in the charging station or not is judged, and when the available station exists in the charging station, the AGV to be charged runs to the charging station from the current position. Therefore, the AGV to be powered can save the parking step in the second waiting area 200 and directly drive to the power conversion station, and the power conversion efficiency can be further improved. In some optional implementations, the set distance is 2-8 m.
Fig. 4a shows another arrangement of the commutation regions. Trade the power station setting in the extending area in AGV lane, and trade the power station and have AGV entry and AGV export, wherein, the AGV entry sets up in one side of trading the power station towards work area, and the AGV export sets up in one side of trading the power station work area dorsad. An AGV parking lot is provided on one side of the AGV lane, and a plurality of slots for parking AGVs are provided in the AGV parking lot (see PB01 to PB 05). In this arrangement, the AGV parking lot is first waiting area 100, and the AGV lane that trades power station AGV entry and just right is second waiting area 200, and it can be seen that a plurality of AGVs can be parked in proper order in second waiting area 200.
In the power exchanging process, the AGV to be subjected to power exchanging runs from the working area to the power exchanging area, firstly runs to the first waiting area 100, and then runs to the second waiting area 200 to wait for entering the power exchanging station when the second waiting area 200 has a vacant parking space. When an available power exchanging station appears in the power exchanging station, the AGV to be power exchanged enters the power exchanging station from the second waiting area 200 to exchange power.
Referring to fig. 4b, an internal lane is provided in the battery replacement station, the number of the internal lanes may be one, or may be multiple, and the extending direction of the internal lane is parallel to the AGV lane outside the battery replacement station. In the example shown in fig. 4b, there are two inner lanes in the swap station, and after the AGV passes through the entrance, the AGV can enter the inner lanes in a skew manner or the like. Further, all be equipped with a plurality of electric stations of trading along each inside lane (in fig. 4b, be equipped with 3 along every inside lane and trade electric work) to can trade the electricity for many AGV simultaneously, further improve and trade electric efficiency. And after the battery replacement is finished, the battery is pulled out from an AGV outlet of the battery replacement station, and the battery returns to the working area after turning around along the U-shaped path.
Referring now to fig. 5, shown is a block diagram of a SoC (System on Chip) 500 in accordance with an embodiment of the present application. In fig. 5, similar components have the same reference numerals. In addition, the dashed box is an optional feature of more advanced socs. In fig. 5, the SoC50 includes: an interconnect unit 550 coupled to the processor 510; a system agent unit 580; a bus controller unit 590; an integrated memory controller unit 540; a set or one or more coprocessors 520 which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a Static Random Access Memory (SRAM) unit 530; a Direct Memory Access (DMA) unit 560. In one embodiment, coprocessor 520 comprises a special-purpose processor, such as, for example, a network or communication processor, compression engine, GPGPU (General-purpose computing on graphics processing units, General-purpose computing on a graphics processing unit), high-throughput MIC processor, or embedded processor, among others.
Static Random-Access Memory (SRAM) unit 530 may include one or more tangible, non-transitory computer-readable media for storing data and/or instructions. A computer-readable storage medium has stored therein instructions, and in particular, temporary and permanent copies of the instructions.
The SoC as shown in fig. 5 may be provided in the AGV to be powered. When the SoC is set in the AGV to be powered, the Static Random Access Memory (SRAM) unit 530 stores therein instructions, which may include: instructions that, when executed by at least one of the processors, cause the pending power swapping AGV to perform the steps (e.g., steps S10-S30, S101, S102, S201, S202) of the power swapping method provided in the practice of the present application.
The method embodiments of the present application may be implemented in software, magnetic, firmware, etc.
Program code may be applied to input instructions to perform the functions described herein and generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a Processor such as, for example, a Digital Signal Processor (DSP), a microcontroller, an Application Specific Integrated Circuit (ASIC), or a microprocessor.
The program code may be implemented in a high level procedural or object oriented programming language to communicate with a processing system. The program code can also be implemented in assembly or machine language, if desired. Indeed, the mechanisms described herein are not limited in scope to any particular programming language. In any case, the language may be a compiled or interpreted language.
One or more aspects of at least one embodiment may be implemented by representative instructions stored on a computer-readable storage medium, which represent various logic in a processor, which when read by a machine causes the machine to fabricate logic to perform the techniques described herein. These representations, known as "IP cores" may be stored on a tangible computer-readable storage medium and provided to a number of customers or manufacturing facilities to load into the manufacturing machines that actually make the logic or processor.
In some cases, an instruction converter may be used to convert instructions from a source instruction set to a target instruction set. For example, the instruction converter may transform (e.g., using a static binary transform, a dynamic binary transform including dynamic compilation), morph, emulate, or otherwise convert the instruction into one or more other instructions to be processed by the core. The instruction converter may be implemented in software, hardware, firmware, or a combination thereof. The instruction converter may be on the processor, off-processor, or partially on and partially off-processor.
In summary, the above-mentioned embodiments provided in the present application are only illustrative for the principles and effects of the present application, and not intended to limit the present application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (10)
1. A battery replacing method for an automatic transport cart, comprising:
the automatic transport trolley with the battery to be replaced runs to a first waiting area, and the first waiting area and the inlet of the battery replacement station are arranged in a staggered mode;
judging whether an available parking space exists in a second waiting area, and when the available parking space exists in the second waiting area, driving the automatic transport trolley with the battery to be replaced to the second waiting area from the first waiting area, wherein the second waiting area is opposite to the battery replacement station inlet;
and judging whether the battery replacing station has an available battery replacing station, and when the battery replacing station has the available station, driving the automatic transport trolley of the battery to be replaced into the battery replacing station from the second waiting area so as to replace the battery in the battery replacing station.
2. The battery replacement method according to claim 1, wherein the automated transport vehicle of the battery to be replaced travels to a first waiting area, comprising:
and when the automatic transport trolley runs to a set distance away from the first waiting area, judging whether the second waiting area has an available parking space, and when the second waiting area has an available parking space, the automatic transport trolley with the battery to be replaced runs to the second waiting area from the current position.
3. The battery replacement method according to claim 2, wherein the automated transport vehicle of the battery to be replaced travels from the first waiting area to the second waiting area, and comprises:
when the automatic transport trolley runs to a set distance away from the second waiting area, whether an available battery replacing station exists in the battery replacing station is judged, and when the available station exists in the battery replacing station, the automatic transport trolley with the battery to be replaced runs into the battery replacing station from the current position.
4. The battery replacement method according to claim 1, wherein the first waiting area is provided with a plurality of parking spaces for parking a plurality of automatic transporting vehicles for replacing batteries, wherein the automatic transporting vehicles for replacing batteries travel from the first waiting area to the second waiting area, and comprises:
and sequentially driving the automatic transport trolleys with the batteries to be replaced to the second waiting area according to the sequence of driving to the first waiting area.
5. The method of claim 1, wherein the determining whether there is an available space in the second waiting area comprises:
and acquiring the state information of the second waiting area at a set time interval to judge whether the second waiting area has an available parking space.
6. The battery replacement method according to claim 1, wherein the second waiting area is an automatic transportation vehicle lane disposed opposite to the battery replacement station entrance, and the automatic transportation vehicle lane is provided with a plurality of parking spaces along an extending direction thereof.
7. The battery replacement method according to claim 6, wherein an internal lane is arranged between an outlet of the battery replacement station and an inlet of the battery replacement station, and the internal lane is parallel to the automatic transport vehicle lane.
8. The battery replacement method according to claim 7, wherein the battery replacement station includes a plurality of battery replacement stations arranged at intervals in an extending direction of the internal lane.
9. A controller for an automated transport cart, comprising:
a memory to store instructions for execution by one or more processors of the controller;
a processor, which when executing the instructions in the memory, is capable of performing the battery replacement method of any of claims 1-8.
10. A computer-readable storage medium storing a computer program or instructions for causing an electronic device to perform the battery replacement method according to any one of claims 1 to 8 when the computer program or instructions are run on the electronic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010159841.2A CN111401618A (en) | 2020-03-10 | 2020-03-10 | Battery replacement method, controller, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010159841.2A CN111401618A (en) | 2020-03-10 | 2020-03-10 | Battery replacement method, controller, and computer-readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111401618A true CN111401618A (en) | 2020-07-10 |
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