CN112258882B

CN112258882B - Scheduling method and system of new energy vehicles in Internet of vehicles

Info

Publication number: CN112258882B
Application number: CN202011143036.7A
Authority: CN
Inventors: 罗健飞; 庾朝富; 王愿愿; 吴仲城
Original assignee: Anhui Industrial Internet Data Intelligent Innovation Center Co ltd; Anhui Zhongke Meiluo Information Technology Co ltd
Current assignee: Anhui Luobaozhilian Information Technology Co ltd
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2022-06-07
Anticipated expiration: 2040-10-23
Also published as: CN112258882A

Abstract

The invention provides a scheduling method and a system of new energy vehicles in an internet of vehicles, which are applied to a target AGV (automatic guided vehicle), wherein the method comprises the following steps: 11) acquiring a signal that a user connects a charging gun on a target AGV with a current vehicle; 12) the switching charging gun is connected to an energy storage device carried by the target AGV trolley, and the energy storage device is used for charging the current vehicle through the charging gun; 13) the current vehicle is transported to the position of the charging pile, then the self power receiving port is in butt joint with the charging pile, and the charging gun is switched and connected to the power receiving port. By applying the embodiment of the invention, the whole charging time is shortened, and the energy supplement efficiency of the new energy automobile is improved.

Description

Scheduling method and system of new energy vehicles in Internet of vehicles

Technical Field

The invention relates to the technical field of Internet of vehicles, in particular to a scheduling method of new energy vehicles in the Internet of vehicles.

Background

With the gradual advance of national energy strategy and the continuous development of new energy automobile technology, new energy automobiles are more and more popular with users. At present, new energy vehicles are mainly charging vehicles, and therefore, how to charge new energy vehicles is a main problem for vehicle owners.

At present, the new energy automobile charging mode mainly includes two kinds: one is that a fixed charging pile is used as a power supply; the other is mobile deployment of power supplies. The first one is: the invention patent application with the application number of 201810585255.7 discloses a novel AGV trolley carrying trolley for an intelligent stereo garage, wherein the trolley carrying trolley is provided with a vehicle carrying plate, an electric appliance connection male head is installed on the vehicle carrying plate, a new energy vehicle is connected with a charging pile on the vehicle carrying plate when in use, and then the AGV trolley transports the vehicle carrying plate into the stereo garage; the stereo garage receives the car carrying plate, and then butt joints the male head on the car carrying plate with the female head that charges on the parking stall, and then realizes charging. The invention patent with application number 201810269510.7 discloses an automatic charging system for an electric vehicle in a parking lot. The utility model application No. 201621206257.3 discloses a power supply system for an intelligent parking lot, which is characterized in that a first methanol fuel cell set and a first methanol fuel cell set are arranged on a parking space for charging a new energy automobile; and a second methanol fuel cell stack is deployed on the AGV trolley and used for driving the AGV trolley to move. The second type is as follows: the invention patent application with application number 201910912044.4 discloses a method and a device for realizing mobile charging of a parking lot based on an AGV. The invention patent with application number 201710717865.3 discloses an intelligent shared energy block with positioning reservation and identity recognition functions, and in the technical scheme, an AGV trolley automatically transports the energy block to a user-specified position to finish quick power supply or power replacement operation.

However, the quick charging duration of the new energy vehicle is generally about 50 minutes, and compared with a fuel vehicle, the energy supplement efficiency is low, so how to further improve the energy supplement efficiency of the new energy vehicle is a technical problem to be solved urgently.

Disclosure of Invention

The invention aims to solve the technical problem of how to further improve the energy supplement efficiency of a new energy vehicle.

The invention solves the technical problems through the following technical means:

in a first aspect, the invention provides a method for scheduling a new energy vehicle in an internet of vehicles, which is applied to a target AGV, and the method includes:

11) acquiring a signal that a user connects a charging gun on a target AGV with a current vehicle;

12) the switching charging gun is connected to an energy storage device carried by the target AGV trolley, and the energy storage device is used for charging the current vehicle through the charging gun;

13) the current vehicle is transported to the position of the charging pile, then the self power receiving port is in butt joint with the charging pile, and the charging gun is switched and connected to the power receiving port.

Optionally, before the step of obtaining a signal that the user connects the charging gun on the target AGV with the current vehicle, the method further includes:

14) receiving and analyzing a scheduling instruction sent by a control center, analyzing the scheduling instruction to obtain identification information and a transportation path of a target AGV, and judging whether the identification information is identification information matched with the identification information, wherein the identification information is generated by the control center according to the driving type of a current vehicle and the current state of the target AGV;

15) if so, moving to a temporary parking place before the current vehicle moves to the temporary parking place according to the transportation path so as to transport the current vehicle;

16) and after the current vehicle is charged, the target AGV trolley transports the current vehicle to the vehicle taking area from the charging pile.

Optionally, the method further includes:

receiving identification information for assisting an AGV trolley and position information of a force point;

when the target AGV moves to the relay point, judging whether the assisting AGV exists according to the identification information of the assisting AGV;

if so, receiving assistance to the traction of the AGV;

if not, waiting for the assistant AGV to arrive, and returning to execute the step of judging whether the assistant AGV exists or not until the assistant AGV is pulled.

In a second aspect, the invention further provides a method for scheduling new energy vehicles in the internet of vehicles based on any one of the first aspect, which is applied to a control center, and the method includes:

21) the method comprises the steps of obtaining identification information of a current vehicle, uploading the identification information to a cloud server, and receiving a driving type of the current vehicle returned by the cloud server according to the identification information, wherein the driving type comprises the following steps: four-drive vehicles and two-drive vehicles;

22) and generating a corresponding scheduling instruction according to the driving type of the current vehicle and the current state of the target AGV, and sending the scheduling instruction to the target AGV so that the target AGV transports the current vehicle.

Optionally, the step 22) includes:

acquiring an idle target AGV serving the driving type and having the most residual electric quantity according to the driving type of the current vehicle, and planning a transportation path of the target AGV;

and generating a scheduling instruction according to the transport path and the identification information of the corresponding target AGV, and sending the scheduling instruction to the corresponding target AGV so that the target AGV runs to the corresponding temporary parking space and transports the current vehicle to the charging pile.

Optionally, the step 22) includes:

acquiring an idle AGV trolley list serving the driving type according to the driving type of the current vehicle, and taking the AGV trolley with the most residual electric quantity in the list as a target AGV trolley; planning a transportation path reaching a charging parking space for a current vehicle transported by a target AGV trolley and calculating the length of the transportation path;

randomly extracting a first number of AGV trolleys from the list to be used as a set to obtain a plurality of candidate sets; for each candidate set, taking a set, in which the sum of the maximum travel distances of the AGV trolleys is greater than the length of a transport path, as a target set, wherein the first number is an integer greater than or equal to one;

selecting one set from the target set as a scheduling result, and using the AGV in the scheduling result as an assistant AGV;

sending a assisting instruction to the assisting AGV so that the assisting AGV can drag the target AGV at a relay point on the transport path; generating a scheduling instruction according to the identification information assisting the AGV, the transport path and the position information of the relay point, and sending the scheduling instruction to a target AGV, wherein the relay point comprises: a starting point of the transport path, an intermediate point of the transport path.

Optionally, the step 22) includes:

acquiring an idle AGV trolley list serving the driving type according to the driving type of the current vehicle; planning a transportation path reaching a charging parking space for a current vehicle transported by a target AGV trolley and calculating the length of the transportation path;

randomly extracting a second number of target AGV trolleys from the list to be used as a set to obtain a plurality of candidate sets; for each candidate set, taking a set, in which the sum of the maximum travel distances of the AGV trolleys is greater than the length of a transport path, as a target set, wherein the first number is an integer greater than or equal to two;

selecting one set from the target set as a scheduling result, taking one AGV in the scheduling result as a target AGV, and taking other AGV except the target AGV in the scheduling result as assistant AGV;

send to target AGV dolly and assistance AGV dolly and assist the instruction to make target AGV dolly transportation current vehicle, assist the contact point of AGV dolly on the transfer path to pull target AGV dolly, wherein, the contact point includes: a starting point of the transport path, an intermediate point of the transport path.

Optionally, when the scheduling instruction is sent to the target AGV, the method further includes:

23) under the condition that the new energy vehicle is a four-wheel drive vehicle, guiding the vehicle to run to a temporary parking space of the four-wheel drive vehicle, and selecting a target AGV from the idle lifting AGV; generating a corresponding scheduling instruction according to the identification information of the target AGV trolley so that the target AGV trolley lifts the four-wheel drive current vehicle integrally for transportation;

24) under the condition that the current vehicle is the two-drive vehicle, guiding the vehicle to run to a two-drive temporary parking space, and selecting a target AGV from the idle trailer AGV; and generating a corresponding scheduling instruction according to the identification information of the target AGV trolley so that the target AGV trolley lifts the driving wheels of the two-wheel drive current vehicle for dragging and transporting.

Optionally, obtaining a list of free AGV carts to serve the drive type includes:

the method comprises the steps of obtaining an idle AGV trolley list serving for the driving type, and when no idle lifting AGV trolley serving for the four-wheel drive current vehicle exists in the list or the number of lifting AGV trolleys in the list is insufficient, sending an instruction whether the four-wheel drive current vehicle is about to enter the field to a cloud server, so that the cloud server judges whether the four-wheel drive current vehicle is required to enter the field according to the running track of the networked four-wheel drive new energy vehicle;

if not, selecting two trailer AGV dollies from the trailer AGV dollies aiming at each four-wheel-drive current vehicle to be entered, and sending assistance instructions to the two trailer AGV dollies so that one of the trailer AGV dollies lifts the front axle, and the other trailer AGV dollies lifts the rear axle to transport the four-wheel-drive current vehicle;

when no idle trailer AGV trolley serving the two-wheel drive current vehicle exists in the list or the number of the trailer AGV trolleys in the list is insufficient, a second number of lifting AGV trolleys are selected from the trailer AGV trolleys, so that the lifting AGV trolleys lift the driving wheels of the two-wheel drive current vehicle to carry out dragging transportation.

In a third aspect, the present invention further provides a system for scheduling new energy vehicles in an internet of vehicles, where the system includes:

the target AGV according to the first aspect;

the control center according to the second aspect.

The invention has the advantages that:

by applying the embodiment of the invention, the target AGV transports the new energy vehicle to the charging pile, and charges the new energy vehicle in the transportation process, so that even if the transportation process of the target AGV needs to consume a long time, the transportation process time is fully utilized, the whole charging time is shortened, and the energy supplement efficiency of the new energy vehicle is improved.

Drawings

Fig. 1 is a schematic flowchart of a scheduling method of a new energy vehicle in an internet of vehicles according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a drop zone in an embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view of a drop zone along the A-direction in an embodiment of the present invention;

fig. 4 is a schematic cross-sectional view of a drop-in area in the direction B in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

It should be noted first that embodiment 1 of the present invention is preferably adapted for use with AGV carts.

Fig. 1 is a schematic flow chart of a scheduling method of a new energy vehicle in an internet of vehicles according to an embodiment of the present invention, and as shown in fig. 1, the method includes:

s101: a signal is obtained that the user connects the charging gun 301 on the target AGV cart 203 with the current vehicle.

In the embodiment of the present invention, fig. 2 is a schematic structural diagram of a temporary parking space 201 provided in the embodiment of the present invention, and as shown in fig. 2, the temporary parking space 201 at the left side portion shown in fig. 2 may be used as a passenger drop area for two-drive vehicles, and the temporary parking space 201 at the right side portion shown in fig. 2 may be used as a passenger drop area for four-drive vehicles; hybrid parking is also possible, and the embodiments of the present invention are not described herein again. The drop zone may have an entrance, and after entering the drop zone from the entrance, the vehicle is guided to park in the corresponding temporary parking space 201 according to the control center of the parking lot.

When the control center plans a transportation path for transporting the current vehicle for the target AGV car, the temporary parking space 201 is already allocated for the new energy vehicle as the temporary parking space. The target AGV cart 203 has already been waiting on the corresponding temporary parking spot 201 before the current new energy vehicle arrives at the temporary parking spot 201. It can be understood that the transportation path is divided into two parts, the first part is a path for the target AGV to move from the AGV charging area to the temporary parking space, and a path for the target AGV to transport the current vehicle from the temporary parking space to the charging pile.

After the user drives the current vehicle to enter the entrance of the drop zone, the user may be guided to park the current vehicle in the corresponding temporary parking space 201 by a text display board, a voice mode, or a light flashing light mode.

The present embodiment is exemplified by a guiding method applied to a multi-story concrete stereo garage, and the temporary parking space 201 may be set at the first story. The passenger dropping area can be provided with a plurality of temporary parking spaces 201, and the temporary parking spaces 201 are used for parking current vehicles. The top array of the first layer has fluorescent lamps mounted thereon, all of which are off when no vehicle is entering. And after the current vehicle enters the first floor, sequentially lighting up the fluorescent lamps on the guide path according to the advance of the current vehicle on the guide path. Or a display screen is arranged on the road on the first layer, a detector is arranged on the display screen, and when the detector detects that the current vehicle approaches, the corresponding guide arrow is displayed, so that the guide of the current vehicle is realized. Or the guiding voice can be sent to the corresponding current vehicle, or the arrow is projected on a central control screen of the current vehicle, so as to realize the guiding of the current vehicle. Or a reminding instruction can be sent to the target AGV trolley 203, the target AGV trolley 203 can flash for reminding, buzzing for reminding, or send a laser beam to irradiate the engine hood of the current vehicle, when the vehicle needs to move left, the laser beam irradiates the left side of the central axis in the front-back direction of the engine hood, and when the vehicle needs to move right, the laser beam irradiates the right side of the central axis in the front-back direction of the engine hood; to guide the four-wheel drive current new energy vehicle onto temporary parking space 201. After the user parks the vehicle in the temporary parking space 201, the user gets off and locks the vehicle, and the user pulls out the charging gun 301 on the target AGV cart 203 and inserts the charging gun into the charging port of the current vehicle. The sensors on the target AGV cart 203 will receive the inserted signal and feed this signal back to the controller of the target AGV cart 203.

Further, in practical applications, the vehicles are classified into four-drive current vehicles and two-drive current vehicles. For a four-wheel drive vehicle, due to a special gearbox structure, the current vehicle can only be lifted off the ground in an integral lifting mode, and traction transportation cannot be carried out in a dragging mode.

Therefore, for the current four-drive type vehicle, the user parks the four-drive vehicle on the board of the lifting AGV, and the lifting AGV is responsible for transportation. When the lifting AGV trolley works, the lifting AGV trolley moves to the position below the vehicle and extends out of four supporting points to support a load-bearing girder of the vehicle, and then the four-wheel drive current vehicle is lifted. It will be appreciated that the target AGV cart 203 for transporting a four-wheel drive may also use a lift feature similar to the target AGV cart 203 of the prior art patent application No. 201910627635.7.

After the vehicle enters the temporary parking space 201, when the target AGV trolley 203 is a lifting AGV trolley, the target AGV trolley 203 is stopped on the temporary parking space 201 corresponding to the current vehicle in advance; because the target AGV cart 203 has been reached before the current vehicle arrives at the temporary parking space, the target AGV cart 203 is conveniently found by the user of the current vehicle, when the control center detects that the current vehicle will arrive at the temporary parking space, the position and the characteristic information of the target AGV cart 203 can be pushed to the current vehicle, so that the driver of the current vehicle finds the target AGV cart 203, wherein the characteristic information includes: one or a combination of color, shape, and reminder information for the target AGV cart 203.

In addition, for a two-drive type new energy vehicle, the corresponding type of target AGV 203 is a trailer AGV, and when the trailer AGV works, a corresponding trailer method is adopted according to information sent by a control center that the current vehicle belongs to a front-drive two-drive vehicle or a rear-drive two-drive vehicle, for example, the current vehicle is the front-drive vehicle, the two front wheels are lifted and fixed by the trailer AGV, and then the current vehicle is dragged away to realize transportation; if the current vehicle is a rear drive vehicle, the trailer AGV lifts and fixes the two rear wheels, and then drags the current vehicle away to realize transportation. It should be noted that the lift mechanism of the trailer AGV cart may be the same as that of the 201910627635.7 patent application, except that the 201910627635.7 solution lifts four wheels and the trailer AGV cart lifts only the drive wheels. The drive wheels of a two-drive vehicle may also be lifted using the lifting mechanism of patent application No. CN 201711076819.6. Further for the fixed current vehicle of trailer AGV dolly, can also set up on the trailer AGV dolly and drag the coupling, when having lifted current vehicle, the coupling that drags on the trailer AGV dolly is linked with the realization of the coupling that drags of current vehicle, and then makes the current vehicle of more firm traction of trailer AGV dolly.

Further, fig. 3 is a schematic cross-sectional view of a passenger dropping area in the embodiment of the present invention; as shown in fig. 3, in order to facilitate the four-wheel drive user to park, a pit is dug in a temporary parking space 201 in the passenger dropping area; the pit is in a cuboid shape, the width of the pit is slightly larger than that of the target AGV trolley 203, and the top plane of the pit is flush with the ground; when the four-wheel drive is driven in, the target AGV car 203 is already positioned in the pit, and the top surface of the target AGV car 203 is flush with the ground at the moment, so that the current vehicle of the four-wheel drive can be directly driven onto the trailer board of the target AGV car 203. To avoid interference of the charging gun 301 with the current vehicle, the charging gun 301 may be hidden under the trailer plate of the target AGV cart 203 and extracted when in use.

Further, fig. 4 is a schematic B-direction cross-sectional view of a landing area in an embodiment of the present invention, as shown in fig. 4, in order to reduce the problem of high construction cost caused by a pit, a ramp 401 higher than the ground and entering into the temporary parking space 201 may be disposed in the landing area, as shown in fig. 4, a cross-sectional shape of the ramp 401 on a plane perpendicular to the advancing direction of the current vehicle is a right trapezoid mechanism, and a slope surface facing the vehicle climbing slope may have a slope of 15 degrees, so as to facilitate the current vehicle climbing slope; the top of the ramp is of a flat plate structure, and the top of the ramp 401 is flush with the top of the target AGV car 203; and the section of the ramp 401 toward the target AGV cart 203 is vertical.

As shown in FIG. 4, when the target AGV car 203 enters the temporary parking space, its end facing the ramp 401 abuts the vertical surface of the ramp 401 and brakes. The four-wheel drive current vehicle climbs the ramp 401 and continues to travel to the trailer plate disposed on the top of the target AGV cart 203; then the user gets off the vehicle, gets on the charging gun, and locks the vehicle to leave.

Further, the ramp 401 may be a movable member made of steel. When the ramp needs to be arranged, the ramp 401 is fixed on the ground by using expansion bolts; when it is desired to remove the expansion bolts and thus the ramp 401.

It will be appreciated that the current vehicle, being a two-drive vehicle, does not require a pit or ramp 401.

S102: the charging gun 301 is switched and connected to an energy storage device carried by the target AGV car 203, and the current vehicle is charged by the energy storage device through the charging gun 301.

Illustratively, the controller of the target AGV cart 203 determines whether the connection is correct based on the identification information of the current vehicle contained in the dispatch instructions; the target AGV 203 is internally provided with a charging circuit, and when the charging gun 301 is inserted into the charging port of the current vehicle by a user in a correct condition, the charging circuit is switched on, and the target AGV 203 charges the current vehicle by using an energy storage device in the target AGV 203.

The target AGV 203 may use a super capacitor as an energy storage device for the target AGV 203,

s103: transporting the current vehicle to the charging pile, then butting the self power receiving port with the charging pile, and switching and connecting the charging gun 301 to the power receiving port.

The target AGV 203 is provided with a power motor, and an energy storage device in the target AGV 203 drives the power motor to realize the movement of the target AGV 203.

After the target AGV dolly 203 transports the current vehicle to the place of charging pile, the position of the target AGV dolly 203 is automatically adjusted, and the self power receiving port is in butt joint with the charging pile. After docking is completed, the target AGV cart 203 controls the charging circuit to achieve connection between the charging pile and the charging gun 301. At this time, the current output by the charging pile sequentially passes through the receiving port of the target AGV cart 203, the charging circuit, and the charging gun 301 to enter the battery of the current vehicle.

Further, the charging circuit in the target AGV cart 203 may also shunt a portion of the current output by the charging pile to the energy storage device of the target AGV cart 203.

First, the embodiment of the invention is suitable for large plane parking lots, in particular to a large concrete structure three-dimensional parking lot and an underground parking lot with a complex structural model. The large-scale concrete structure stereo parking lot is usually of a multi-layer concrete structure, when parking, a user needs to drive a new energy vehicle into a stereo garage, and then the parking space is searched layer by layer in the stereo garage through a ramp to realize charging. In general, a stereo garage is built near a business district, an office building and the like, and the traffic flow density is high, so that the number of layers of multi-layer stereo parking spaces is usually built, and even reaches 6 layers; and then it is a relatively time-consuming thing to look for the empty parking stall in multilayer stereo garage. Underground parking garage is subject to the structure of building, and shape and overall arrangement are more complicated, and it is more difficult to look for new forms of energy charging parking stall in underground parking garage, and it needs more time to look for idle new forms of energy charging parking stall moreover. In addition, in the prior art, the vehicle can be charged only after the new energy vehicle is parked in a parking space. That is to say, in the prior art, the time consumed for charging the new energy vehicle is the time T1 for finding the parking space plus the time T2 for charging the new energy vehicle, and the whole charging process includes the ineffective charging time period T1.

In the embodiment of the invention, the user can lock the vehicle to leave when parking the vehicle in the temporary parking space; then the target AGV trolley 203 transports the new energy vehicle to the parking space, and the new energy vehicle is charged in the transportation process, even if the transportation process of the target AGV trolley 203 needs to consume a long time, the time of the transportation process is fully utilized, the whole process is effective charging time, and the total charging time is equal to the charging time T2 of the new energy vehicle, so that the whole charging time is shortened, the utilization efficiency of the charging parking space is improved, and the waste of time caused by long-time parking space searching of a user can be avoided.

Further, lift AGV dolly and trailer AGV dolly and can accomplish after charging at the new forms of energy vehicle, be not enough with current vehicle transport to getting under the condition in car district at the electric quantity of AGV dolly, utilize charging circuit to switch, will receive the power port and be connected with the energy storage module of self, charge for energy storage module. The electric quantity at the AGV dolly is enough to transport current vehicle to getting under the condition that the car went the district, lifts AGV dolly and trailer AGV dolly and can return to the AGV dolly and charge in the district that charges after getting the car and accomplish, can also be changed the energy storage module of AGV dolly by the staff to improve the turnover efficiency of AGV dolly.

Moreover, four-wheel drive vehicles are expensive, and the sales amount of the four-wheel drive vehicles only accounts for about 1% of the total sales amount of the automobiles. Therefore, can be equipped with the AGV that lifts that the quantity is less, and most dollies are trailer AGV dolly in the AGV dolly promptly. The trailer AGV trolley only needs to lift the driving wheels, and the floor area of the trailer AGV trolley is only one third or one half of the projection area of the trailer AGV trolley, so that more charging piles for the trailer AGV trolley can be deployed; and can deploy the place that can not be used for parking current vehicle such as the corner in parking area with the stake of charging of trailer AGV dolly, when not only improving space utilization, avoided AGV dolly to charge the district moreover and to the occupation on parking stall, it shares by the AGV dolly when still charging long with the part simultaneously, has shortened the time that new energy vehicle took to charge the stake.

Secondly, the invention patent application with the application number of 201810585255.7 discloses a novel AGV trolley carrying trolley for an intelligent stereo garage, wherein the trolley carrying trolley is provided with a carrying board, an electric appliance connection male head is installed on the carrying board, a new energy vehicle is connected with a charging pile on the carrying board when in use, and then the carrying board is transported to the stereo garage by the AGV trolley; the stereo garage receives the car carrying plate, and then butt joints the male head on the car carrying plate with the female head that charges on the parking stall, and then realizes charging. However, in the technical scheme, the AGV trolley unloads the vehicle carrying plates on the rails, and the connecting heads on the vehicle carrying plates are pushed by the rails to realize connection, so that the AGV trolley is only suitable for a three-dimensional parking garage and cannot be suitable for an underground garage and a common multi-layer concrete garage. And charging cannot be achieved during vehicle transit.

The invention patent with application number 201810269510.7 discloses an automatic charging system for an electric vehicle in a parking lot. Only can realize transfer device and the connection of filling electric pile in this scheme, can not charge for the new forms of energy vehicle in the transportation.

The utility model application No. 201621206257.3 discloses a power supply system for an intelligent parking lot, which is characterized in that a first methanol fuel cell set and a first methanol fuel cell set are arranged on a parking space for charging a new energy automobile; and a second methanol fuel cell stack is deployed on the AGV trolley and used for driving the AGV trolley to move. Although the power generation amount of the AGV trolley is high, the electric power of the charging pile cannot be utilized, if a large number of AGV trolleys are deployed in a parking lot, the pollution of the parking lot is serious, and the energy efficiency of the small generator set is low, so that the technical problem of how to charge the new energy vehicle is not thoroughly solved in the prior art.

The invention patent application with application number 201910912044.4 discloses a method and a system for realizing mobile charging of a parking lot based on an AGV. The invention patent with application number 201710717865.3 discloses an intelligent shared energy block with positioning reservation and identity recognition functions, and in the technical scheme, an AGV trolley automatically transports the energy block to a user-specified position to finish quick power supply or power replacement operation. The AGV dolly charges for the vehicle near moving the vehicle in this scheme, and its purpose is how to realize the technical problem who charges under the condition of not filling electric pile. However, the electric quantity stored in the AGV is limited, and the AGV cannot be fully charged with the new energy vehicle, so that the technical problem of how to charge the new energy vehicle is not thoroughly solved in the prior art. In the invention, the new energy vehicle is charged only in the transfer process, and the charging pile is used for continuously charging the new energy vehicle after the new energy vehicle moves to the charging pile.

Example 2

Based on the embodiment 1, the method and the device in the embodiment 2 of the invention can be used for determining the target AGV trolley 203 and/or determining the assistant AGV trolley so as to realize the transportation of the current vehicle.

Embodiment 2 of the present invention is preferably applied to a control center of a parking lot, and the execution sequence of embodiment 2 should be prior to step S101 in embodiment 1. The specific process of example 2 comprises:

s201: firstly, a current vehicle needing to be charged enters a parking lot, a control center acquires identification information of the current vehicle by using a sensor arranged in the parking lot or from interaction between the current vehicle and the control center, for example, after a camera shoots an image of the vehicle, the identification information of the vehicle, such as a license plate number, a frame number or a serial number of a vehicle-mounted intelligent terminal, is identified. And the control center uploads one or a combination of the identification information to the cloud server.

The cloud server receives identification information of the vehicle sent by the control center, and firstly judges whether the control center has the authority of receiving the driving type of the vehicle; if the control center does not have the authority, no information is returned; if the control center has the authority, the cloud server searches the driving type corresponding to the current vehicle from the corresponding relation database of the identification information and the driving type of the vehicle stored in the cloud server: such as a four-drive vehicle, a front-drive in a two-drive vehicle, or a rear-drive in a two-drive vehicle. The cloud server then returns the driving type of the current vehicle to the control center, and then returns the information of the driving type of the current vehicle to the control center.

After receiving the information of the driving type of the current vehicle, the control center respectively adopts different processing modes aiming at four-drive vehicles and two-drive vehicles: that is, the control center allocates the target AGV cart 203 of the corresponding type to the current vehicle according to the driving type of the vehicle: if the current vehicle is four-wheel drive, the target AGV car 203 of the corresponding type is a lifting AGV car.

Because the cost of the lifting target AGV trolley 203 is higher, if the parking lot is completely provided with the lifting target AGV trolley 203, the cost is higher; if all the trailer target AGV trolleys 203 are equipped, the four-wheel drive can not be serviced, and in the embodiment of the invention, the lifting target AGV trolleys 203 and the trailer target AGV trolleys 203 are equipped in the parking lot in a mixed manner, so that the deployment cost can be reduced while the current vehicles with different driving types are serviced.

S202: under the condition that the driving type of the current vehicle is a four-wheel drive vehicle, the control center randomly selects one AGV from the idle lifting AGV trolleys as a target AGV trolley 203, and plans a path from the AGV charging area to a temporary parking space of a passenger dropping area and a transportation path from the temporary parking space to a charging pile path for the target AGV trolley 203; the control center then packages and broadcasts the identification information and transport path of the target AGV cart 203 so that the target AGV cart 203 receives and executes the data.

Further, in order to avoid the target AGV 203 from being dropped in the middle of the transport route, the AGV with the largest remaining power may be selected as the target AGV 203 from the empty lifting AGV.

Because the connection mode of each AGV trolley and the control center is wireless connection, the control center can broadcast the scheduling instruction in a broadcasting mode. After each AGV receives the scheduling instruction, the scheduling instruction is analyzed to obtain the identification information of the target AGV 203 and the transport path contained in the scheduling instruction. Each AGV compares the identification information of the target AGV 203 with the identification information of the AGV, and if the identification information is consistent with the identification information of the target AGV, the AGV is determined to be the target AGV 203; if not, indicating that the AGV is not the target AGV 203, the next dispatching command continues to be received.

Under the condition that the AGV does not work, the AGV trolley is parked in the AGV trolley charging area to be charged per se. After the AGV trolley executes a scheduling instruction, the AGV trolley automatically returns to the charging area and is automatically butted with a charging interface of the charging area to realize charging operation.

Similarly, when the new energy vehicle is a two-drive vehicle, the operation process is the same as the above process, and the difference is only the difference of the AGV vehicles receiving the dispatching command.

The planning of the transportation path generally preferentially plans to a parking space with a lower layer number. In addition, when the target AGV is selected, the AGV with the largest residual electric quantity is not necessary, and the residual capacity can be matched with the electric consumption of the current vehicle transportation path; or the AGV with the longest remaining life.

S203: and the target AGV trolley 203 runs to the corresponding temporary parking space according to the scheduling instruction. Further, fig. 2 is a schematic structural diagram of a drop zone in the embodiment of the present invention, and as shown in fig. 2, in order to improve efficiency and avoid confusion, a four-drive drop zone and a two-drive drop zone may be planned for a parking lot. The four-drive user drives the current vehicle onto a temporary parking spot 201 in the four-drive drop zone.

Further, in order to improve the transportation efficiency of current vehicle, divide into four drives passenger area and two drives passenger area with passenger area.

Under the condition that the new energy vehicle is a four-wheel drive vehicle, guiding the vehicle to run to a temporary parking space of the four-wheel drive vehicle, and selecting a target AGV from the idle lifting AGV 203; generating a corresponding scheduling instruction according to the identification information of the target AGV trolley 203 so that the target AGV trolley 203 lifts the whole four-wheel drive current vehicle for transportation;

under the condition that the current vehicle is a two-drive vehicle, guiding the vehicle to run to a two-drive temporary parking space, and selecting a target AGV from idle trailer AGV trolleys 203; and generating a corresponding scheduling instruction according to the identification information of the target AGV trolley 203 so that the target AGV trolley 203 lifts the driving wheels of the two-drive current vehicle for dragging and transporting.

Example 3

The embodiment 3 of the invention is added with the following steps on the basis of the embodiment 2:

when the number of layers in the parking lot is large, or the scale is large, the electric quantity of the energy storage device carried by the target AGV cart 203 is not enough to transport the current vehicle to the temporary parking space: the control center calculates the maximum driving distance of the target AGV 203 for transporting the current vehicle in advance, then judges whether the length of the transportation path corresponding to the target AGV 203 is greater than the maximum driving distance, and if not, the target AGV 203 is always anchored midway during the transportation of the current vehicle. In order to avoid the midway breakdown, the control center dispatches the target AGV 203 to assist the AGV to relay the current vehicle.

S301: first, a target AGV cart 203 and a helper AGV cart are selected: the control center can choose to assist the AGV with the following two ways:

the first, target AGV cart 203 is selected in the manner described with reference to the flow chart of example 1. The control center calculates the length of the remaining path according to the difference between the length of the transport path and the maximum travel distance of the target AGV trolley 203; and selecting the assistant AGV with the maximum travel distance larger than the residual path length from other idle AGV trolleys according to the residual path length.

Or selecting a first number, such as 2 idle AGVs, from other idle AGVs as a set, combining every two AGVs to obtain a plurality of candidate sets, calculating the total travel distance of the AGVs included in each candidate set, taking the candidate set with the total travel distance greater than the remaining path length as a target set, randomly selecting one from the target set as a scheduling result, and then taking the AGVs in the scheduling result as assisting AGVs.

In practical application, the maximum driving distance is a driving distance corresponding to the target AGV cart 203 transporting the current vehicle, and may be obtained through a preset load, such as a 1.8 ton test; the total travel distance is the sum of the maximum travel distances of all AGV trolleys in the scheduling result. Similarly, the maximum travel distance of the assisting AGV carts may be determined using a similar method, except that the load should be adjusted to 2 tons, or 2.5 tons, when determining the maximum travel distance of the assisting AGV carts. Further, when confirming to assist the AGV dolly, can will lift AGV dolly and trailer AGV dolly mixed use: for example, the assisting AGV equipped for lifting the AGV can be a trailer AGV or a lifting AGV, and the number of the trailer AGV can be more than one; similarly, the AGV assisting vehicle provided for the trailer AGV vehicle may be the trailer AGV vehicle or the lifting AGV vehicle, and the blending mode of the AGV assisting vehicle is not limited in the embodiment of the invention.

The first process of assisting the AGV car selection can be executed synchronously with the process of determining the target AGV car 203, and also can be executed in the process that the target AGV car 203 advances along the transport path, so that the calculation amount can be shared to each time interval, and the problem that the load of a control center is concentrated due to centralized calculation is avoided.

Secondly, the control center plans out a transportation path corresponding to the current vehicle reaching the charging parking space, and calculates the length of the transportation path. Then, a first number of the idle AGV carts with the corresponding types, such as 2 and/or 3, are selected as a set, and a plurality of candidate sets are obtained after exhaustive combination. Aiming at each candidate set, taking a set, of which the sum of the maximum travel distances of the AGV trolleys is greater than the length of the transport path, as a target set; one set is selected from the target set as a scheduling result, one AGV in the scheduling result is used as a target AGV 203, and other trolleys except the target AGV 203 in the scheduling result are used as assistant AGV.

S302: the control center plans a transport path and a contact point for the target AGV car 203; and respectively planning a path reaching the relay point and a path from the relay point to the charging pile for assisting the AGV.

For example, taking two assisting AGV carts as an example, the control center may determine the first contact point based on the maximum travel distance of the target AGV cart 203. The first relay point should be a point on the transport path before the target AGV cart 203 reaches the maximum travel distance. A second force contact point is then planned on the transport path before the first assisting AGV car reaches its maximum travel distance.

The control center includes information such as the transport path of the target AGV cart 203, the position of the first contact point, identification information of the assisting AGV cart docked with the control center at the first contact point, the position of the second contact point, and identification information of the assisting AGV cart docked with the control center at the second contact point.

The control center can be used for assisting the AGV to plan an assisting path, the assisting path is composed of two parts, the first part is used for assisting the AGV to move from a starting point to a relay point, and the second part is used for assisting the AGV to move from the relay point to a charging pile. Thus, the control center includes in the assistance instructions for the first assisting AGV car: the location of the first point of contact, the path from the first assisting AGV cart's current location to the first point of contact, and the identification of the target AGV cart 203 docked with the first point of contact, the location of the second point of contact, etc. The control center includes in the assistance instructions for a second assisting AGV: the location of the second interface point, the path from the second assistance AGV cart's current location to the second interface point, and the identification of the target AGV cart 203 docked thereto at the second interface point.

It should be understood that, when the number of assisted AGV carts is one, three, or more, the generation process of the corresponding assistance instructions is the same as the above process, and the detailed description of the embodiment of the present invention is omitted here.

The control center generates the assistance instruction according to the planned assistance path and the identification information of the assistance AGV car and broadcasts the assistance instruction, and the process of receiving and analyzing the assistance instruction by the assistance AGV car is the same as the process of receiving and analyzing the scheduling instruction by the target AGV car 203, and the embodiment of the invention is not repeated herein.

It can be understood that the calculation of the above path and the maximum travel distance is premised on reserving 5% or 10% of the electricity for the target AGV 203 as the reserve electricity, and reserving the margin for charging the current vehicle; meanwhile, 5% or 10% of electric quantity is reserved for assisting the AGV to serve as reserve electric quantity, so that the situation that the electric quantity in the energy storage device of the AGV is completely consumed is avoided.

S303: and receiving identification information for assisting the AGV and position information of the contact point.

After receiving the corresponding scheduling instruction, the target AGV cart 203 analyzes the scheduling instruction to obtain information about the position of the first contact point, the assistance path from the current position of the first assistance AGV cart to the first contact point, the target AGV cart 203 docked with the first contact point at the first contact point, and the like.

S304: target AGV 203 in the implementation of example 1After the step, the transportation of the current vehicle has already started. The target AGV cart 203 proceeds along the transport path toward the first point of force. As the target AGV cart 203 moves to the point of attachment,root of herbaceous plantJudging whether the assisting AGV trolley exists or not according to the identification information of the assisting AGV trolley; if yes, go to step S305; if not, go to step S306.

Illustratively, after the target AGV 203 reaches the point of attachment, a broadcast is sent to the surroundings, including the identification information of the target AGV 203 and the identification information of the first assisting vehicle.

The first assisting AGV car will send a response message after receiving the broadcast. When the target AGV 203 receives the response message returned by the first assisting AGV within the set time period, it indicates that the target AGV 203 can be docked with the first assisting AGV.

When the response of the first assisting AGV is not received within the set time period, the target AGV 203 moves to the temporary waiting area at the side of the transport path to wait for the first assisting AGV to arrive. If the first assisting AGV car does not arrive after waiting for a certain time, the target AGV car 203 sends feedback information to the control center, so that the control center dispatches a new AGV car as the first assisting AGV car again, and the control center recalls the previous first assisting AGV car.

S305: to assist in the traction of the AGV cart.

When assisting the AGV to dock with the target AGV 203 to realize relay, the docking modes of the AGV and the target AGV may include, but are not limited to, the following three types:

first, assist the AGV dolly can be with the power supply end and the butt joint of receiving the port of target AGV dolly 203, simultaneously, assist the drawing hook of AGV dolly can articulate with the drawing hook of target AGV dolly 203, and then when realizing assisting the AGV dolly to charge for target AGV dolly 203, pull target AGV dolly 203 and advance.

And secondly, assisting the AGV to only hitch the towing hook of the target AGV 203 and the towing hook of the target AGV 203, and further realizing the forward movement of the target AGV 203.

Thirdly, when the number of the assisting AGV trolleys is more than two, when the second assisting AGV trolley provides relay service, the first assisting AGV trolley can be separated from the target AGV trolley, and then the second assisting AGV trolley replaces the position of the first assisting AGV trolley; or the second assistance AGV trolley is connected in series with the first assistance AGV trolley, and after the current vehicle is transported to the charging pile, the second assistance AGV trolley transports the target AGV trolley and the first assistance AGV trolley to the AGV charging place.

S306: and waiting for the assistant AGV to arrive, and returning to execute the step of judging whether the assistant AGV exists or not until the assistant AGV is pulled.

It should be understood that the above embodiments of the present invention only describe one assisting AGV cart, and in practical applications, there may be more assisting AGV carts, for example, 2, 3, 4, etc.

Example 4

Under the condition that the current vehicle is a four-wheel drive vehicle, acquiring an idle lifting AGV trolley list; to avoid this, the present invention also provides embodiment 4 based on embodiment 2 or 3, if there is no free lifting AGV cart in the list that can service the four drive current vehicle. In embodiment 4 of the present invention, the target AGV cart 203 may be determined by the following method;

s401: acquiring an idle AGV car list serving the driving type, and executing S403 when no idle lifting AGV car serving a four-wheel drive current vehicle exists in the list; or when there are insufficient AGV carts to lift from the list, S402 is performed.

Further, the control center can send an instruction whether the four-wheel drive current vehicle is about to enter the field or not to the cloud server, so that the cloud server can judge whether the four-wheel drive current vehicle needs to enter the field or not according to the running track of the networked four-wheel drive new energy vehicle. If not, go to S402. Furthermore, the embodiment of the invention preferentially ensures that the limited AGV lifting trolley can be properly used. The situation that no AGV trolley is used after the four-wheel drive current vehicle enters the field is avoided.

S402: two trailer AGV dollies are selected from the trailer AGV dollies aiming at each four-wheel-drive current vehicle to be entered into the field, and an assistance instruction is sent to the two trailer AGV dollies so that one of the trailer AGV dollies lifts the front axle and the other trailer AGV dollies lifts the rear axle to transport the four-wheel-drive current vehicle.

For example, since the trailer AGV cart only lifts the drive axle of the current vehicle and cannot lift the current vehicle in its entirety, two trailer AGV carts can be used in conjunction to lift the entire four-wheel drive: one of the trailer AGV carts can be used for lifting the front axle of the current vehicle, and the trailer AGV cart normally tows; another trailer AGV is used to lift the rear axle of the current vehicle and the trailer AGV travels in reverse. The two vehicles keep synchronously advancing and coordinately turning, and further the purpose that two trailer AGV trolleys transport a four-wheel-drive current vehicle can be achieved. Thus, two trailer AGV carts may be selected from the list of free trailer AGV carts in this step.

It will be appreciated that the maximum travel distance of the first of the two trailer AGV carts selected should be greater than the transport path length. Ideally, the maximum travel distance of the second trailer AGV should also be greater than the transport path length, but if the maximum travel distance of the trailer AGV is less than the transport path length, the first trailer AGV pushes or pulls the whole consisting of the two trailer AGVs and the current vehicle, and at this time, the second trailer AGV only assumes the attaching function. Further, the first trailer AGV car is towed in the front part of the transport path; pushing by a second trailer AGV cart in a later portion of the transport path; or may be pushed by a first trailer AGV cart in a previous portion of the transport path; a second trailer AGV cart tows in a later part of the transport path; alternatively dragging the first trailer AGV and pushing the second trailer AGV; the current vehicle can be charged by the first trailer AGV trolley, and the other trailer AGV trolley only provides driving force. The embodiment of the present invention does not limit the specific way of matching.

And finally, when the two selected trailer AGV trolleys cannot transport the current vehicle to the temporary parking space due to the limitation of the maximum driving mileage, the control center can dispatch and assist the AGV trolleys to provide relay service at the relay point.

S403: and when no idle trailer AGV trolley serving the two current vehicles exists in the list or the number of the trailer AGV trolleys in the list is not enough, selecting a second number of lifting AGV trolleys from the trailer AGV trolleys so as to enable the lifting AGV trolleys to lift the driving wheels of the two current vehicles for dragging and transporting.

Similar to the step 402, when there is no empty trailer AGV, or the empty trailer AGV still cannot transport the two-wheel drive current vehicle to the temporary parking space in the relay dispatching mode, the empty lift AGV may be used to transport the current vehicle to the temporary parking space.

The lifting AGV trolley is used for conveying two-wheel-drive current vehicles for integral lifting and conveying, and the driving wheels can also be lifted and then pulled for conveying.

Example 5

Embodiment 5 provides a dispatch system of new energy vehicle in internet of vehicles, the system includes:

a target AGV cart 203 according to embodiment 1;

the control center according to any one of embodiments 2 to 4.

The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The scheduling method of the new energy vehicles in the Internet of vehicles is characterized by being applied to a target AGV, and comprises the following steps:

13) transporting the current vehicle to a charging pile, butting a power receiving port of the current vehicle with the charging pile, and switching and connecting a charging gun to the power receiving port; in order to avoid midway breakdown in the process of transporting the current vehicle to the charging pile, the specific steps of transportation are as follows: firstly, selecting a target AGV and an assistant AGV; then, the control center plans a transportation path and a contact point for the target AGV; respectively planning a path reaching the relay point and a path from the relay point to the charging pile for assisting the AGV; the target AGV receives identification information assisting the AGV and position information of the contact point; the target AGV trolley proceeds along the transport path toward a first point of force; when the target AGV cart moves to the point of attachment,root of herbaceous plantJudging whether the assisting AGV trolley exists or not according to the identification information of the assisting AGV trolley; if so, receiving assistance to the traction of the AGV; if not, waiting for the assistant AGV to arrive, and returning to execute the step of judging whether the assistant AGV exists or not until the assistant AGV is pulled.

2. The method of scheduling new energy vehicles in internet of vehicles according to claim 1, wherein before the step of obtaining a signal that the user connects the charging gun on the target AGV with the current vehicle, the method further comprises:

14) receiving and analyzing a scheduling instruction sent by a control center, analyzing the scheduling instruction to obtain identification information and a transportation path of a target AGV, and judging whether the identification information is matched with the identification information, wherein the identification information is generated by the control center according to the driving type of a current vehicle and the current state of the target AGV;

15) and if so, moving to the temporary parking space to transport the current vehicle before the current vehicle moves to the temporary parking space according to the transport path.

3. The method for scheduling new energy vehicles in the internet of vehicles according to claim 1, applied to a control center, and comprising the following steps:

22) selecting a target AGV and an assistant AGV, and planning a transportation path and a force connection point for the target AGV by a control center; respectively planning a path reaching the relay point and a path from the relay point to the charging pile for assisting the AGV; generating a corresponding scheduling instruction according to the driving type of the current vehicle and the current state of the target AGV, sending the scheduling instruction to the target AGV so that the target AGV transports the current vehicle, judging whether an assisting AGV exists or not according to the identification information of the assisting AGV when the target AGV moves to a relay point, and if so, receiving the traction of the assisting AGV; if not, waiting for the assistant AGV to arrive, and returning to execute the step of judging whether the assistant AGV exists or not until the assistant AGV is pulled.

4. The method for dispatching new energy vehicles in the internet of vehicles according to claim 3, wherein the step 22) comprises:

acquiring an idle AGV trolley list serving the driving type according to the driving type of the current vehicle, and taking the AGV trolley with the most residual electric quantity in the list as a target AGV trolley; planning a transportation path reaching a charging parking space for a current vehicle transported by a target AGV trolley, and calculating the length of the transportation path;

randomly extracting a first number of AGV trolleys from the list to be used as a set to obtain a plurality of candidate sets; for each candidate set, taking a set, in which the sum of the maximum travel distances of the AGV dollies is greater than the length of a transportation path, as a target set, wherein the first number is an integer greater than or equal to one;

sending a assisting instruction to the assisting AGV so that the assisting AGV can drag the target AGV at a relay point on the transport path; generating a dispatching instruction according to the identification information assisting the AGV, the transport path and the position information of the relay point, and sending the dispatching instruction to a target AGV so that the target AGV transports the current new energy vehicle, wherein the relay point comprises: a starting point of the transport path, an intermediate point of the transport path.

5. The method for dispatching new energy vehicles in the internet of vehicles according to claim 3, wherein the step 22) comprises:

6. The method for dispatching new energy vehicles in the vehicle internet of vehicles according to any one of claims 3-5, wherein when the dispatching command is sent to the target AGV car, the method further comprises:

7. The method for dispatching new energy vehicles in the internet of vehicles according to claim 4 or 5, wherein the step of obtaining a list of free AGV carts serving the driving type comprises:

the method comprises the steps that an idle AGV trolley list serving for the driving type is obtained, when no idle lifting AGV trolleys serving for four-wheel drive current vehicles exist in the list or the number of lifting AGV trolleys in the list is insufficient, an instruction whether the four-wheel drive current vehicles are going to enter the field is sent to a cloud server, so that the cloud server judges whether the four-wheel drive current vehicles need to enter the field according to the running track of the networked four-wheel drive new energy vehicles;

8. Scheduling system of new forms of energy vehicle in the car networking, its characterized in that, the system includes:

a target AGV cart for performing the method of any one of claims 1-2;

a control center for performing the method of any one of claims 3-7.