CN112537211A - Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium - Google Patents

Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium Download PDF

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Publication number
CN112537211A
CN112537211A CN201910901679.4A CN201910901679A CN112537211A CN 112537211 A CN112537211 A CN 112537211A CN 201910901679 A CN201910901679 A CN 201910901679A CN 112537211 A CN112537211 A CN 112537211A
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China
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charging
guided vehicle
electric quantity
automatic guided
current electric
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CN201910901679.4A
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Chinese (zh)
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傅新民
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Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Qianshi Technology Co Ltd
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Priority to CN201910901679.4A priority Critical patent/CN112537211A/en
Publication of CN112537211A publication Critical patent/CN112537211A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The disclosure relates to a charging method and device of an automatic guided vehicle, electronic equipment and a computer readable storage medium, and belongs to the technical field of automatic guided vehicles. The method comprises the following steps: monitoring the current electric quantity of a first automatic guided vehicle on a charging pile in real time; when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range; determining one automatic guided vehicle as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state, wherein the current electric quantity is less than or equal to the preset charging electric quantity; when the second automated guided vehicle reaches a waiting position associated with the charging post, moving the second automated guided vehicle from the waiting position to the charging post for charging. This is disclosed through near filling electric pile setting up relevant waiting position, can reduce the idle time who fills electric pile greatly, improves the utilization ratio that fills electric pile.

Description

Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium
Technical Field
The present disclosure relates to the technical field of automated guided vehicles, and in particular, to a charging method for an automated guided vehicle, a charging device for an automated guided vehicle, an electronic device, and a computer-readable storage medium.
Background
An Automated Guided Vehicle (AGV) is a Vehicle capable of traveling along a predetermined guide path and having a transfer function, and generally uses a rechargeable battery as a power source, and the traveling route and behavior thereof can be controlled by a computer.
The existing automatic guided vehicle charging method mainly reports the self electric quantity value in real time, once the self electric quantity value is lower than a set threshold value, the self electric quantity value can be charged to an idle charging pile, the self electric quantity value automatically leaves after the self electric quantity value is full of the charging pile, and the charging pile is released again to be used by other automatic guided vehicles.
However, each automated guided vehicle all needs to have the idle stake of charging as the prerequisite when charging, and other automated guided vehicles leave after being full of promptly and fill electric pile, and the system just can assign the automated guided vehicle of low-power to go to this idle stake of charging, and the alternation between two cars has certain interval from distance, time, has caused the idle of filling electric pile.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure is directed to a charging method for an automated guided vehicle, a charging device for an automated guided vehicle, an electronic device, and a computer readable storage medium, so as to overcome the problems of an excessively long idle time of a charging pile due to limitations of a charging method for a conventional automated guided vehicle, and waste of production resources and time of the automated guided vehicle, at least to a certain extent.
According to a first aspect of the present disclosure, there is provided a charging method of an automated guided vehicle, including:
monitoring the current electric quantity of a first automatic guided vehicle in a charging state on a charging pile in real time, and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to full electric quantity or not;
when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to the preset charging electric quantity or not;
determining one automatic guided vehicle as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state, wherein the current electric quantity is less than or equal to the preset charging electric quantity, and moving the second automatic guided vehicle to a waiting position associated with the charging pile;
when the second automatic guided vehicle reaches a waiting position associated with the charging pile, the first automatic guided vehicle leaves the charging pile, and the second automatic guided vehicle moves from the waiting position to the charging pile for charging.
In an exemplary embodiment of the present disclosure, the method further comprises:
monitoring the current electric quantity of a first automatic guided vehicle in a charging state on a charging pile in real time, and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to the working electric quantity or not; wherein the operational power is less than the full charge;
when the current electric quantity of the first automatic guided vehicle is larger than or equal to the operable electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to a preset necessary charging quantity or not; wherein the preset necessary charging amount is smaller than the preset charging electric quantity;
determining one automated guided vehicle as a second automated guided vehicle among the automated guided vehicles in the non-charging state in which the current electric quantity is less than or equal to a preset necessary charging amount, and moving the second automated guided vehicle to a waiting position associated with the charging pile;
when the second automatic guided vehicle reaches a waiting position associated with the charging pile, enabling the first automatic guided vehicle to leave the charging pile, and enabling the second automatic guided vehicle to move from the waiting position to the charging pile for charging;
and if the current electric quantity of the automatic guided vehicle in the non-charging state in the preset range is larger than the preset necessary charging amount, the first automatic guided vehicle is enabled to continuously keep the charging state so as to enable the electric quantity to reach the full-charge quantity.
In an exemplary embodiment of the present disclosure, the acquiring the current electric quantity of the automated guided vehicle in the non-charging state within the preset range, and determining whether the current electric quantity of the automated guided vehicle in the non-charging state within the preset range is less than or equal to a preset charging electric quantity includes:
acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a first preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the first preset range is less than or equal to a preset charging electric quantity or not;
if the current electric quantity of the automatic guided vehicle in the non-charging state in the first preset range is larger than the preset charging electric quantity, acquiring the current electric quantity of the automatic guided vehicle in the non-charging state in a second preset range;
judging whether the current electric quantity of the automatic guided vehicle in the non-charging state in the second preset range is less than or equal to a preset charging electric quantity; wherein the second preset range is larger than the first preset range.
In an exemplary embodiment of the present disclosure, the determining one automated guided vehicle as the second automated guided vehicle among the automated guided vehicles in the non-charging state in which the current charge amount is less than or equal to a preset charge amount includes:
and determining one automatic guided vehicle with the lowest current electric quantity as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset charging electric quantity.
In an exemplary embodiment of the present disclosure, the determining one automated guided vehicle as the second automated guided vehicle among the automated guided vehicles in the non-charging state in which the current charge amount is less than or equal to a preset charge amount includes:
and determining one automatic guided vehicle closest to the charging pile as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset charging electric quantity.
In an exemplary embodiment of the present disclosure, the moving the second automated guided vehicle to the waiting position associated with the charging pile includes:
acquiring the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field, and determining a target path according to the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field;
moving the second automated guided vehicle to a waiting position associated with the charging post in the target path.
In an exemplary embodiment of the present disclosure, after the moving the first automated guided vehicle away from the charging pile and the moving the second automated guided vehicle from the waiting position to the charging pile for charging, the method further includes:
and updating the occupation information of the second automatic guided vehicle on the charging pile, wherein the occupation information comprises the serial number and the charged time of the second automatic guided vehicle.
According to a second aspect of the present disclosure, there is provided a charging device of an automated guided vehicle, comprising:
the electric quantity monitoring module is used for monitoring the current electric quantity of a first automatic guided vehicle in a charging state on the charging pile in real time and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to full electric quantity or not;
the electric quantity judging module is used for acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to the preset charging electric quantity or not;
a transport vehicle moving module, configured to determine, among the automated guided transport vehicles in the non-charging state in which the current electric quantity is less than or equal to a preset charging electric quantity, one automated guided transport vehicle as a second automated guided transport vehicle, and move the second automated guided transport vehicle to a waiting position associated with the charging pile;
and the transport vehicle charging module is used for enabling the first automatic guided transport vehicle to leave the charging pile and enabling the second automatic guided transport vehicle to move from the waiting position to the charging pile for charging when the second automatic guided transport vehicle reaches the waiting position associated with the charging pile.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of charging an automated guided vehicle of any of the above via execution of the executable instructions.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of charging an automated guided vehicle of any of the above.
The exemplary embodiments of the present disclosure may have the following advantageous effects:
in the charging method of the automatic guided vehicle in the disclosed example embodiment, a waiting position associated with the charging pile is arranged near the charging pile, on one hand, when the charging of the automatic guided vehicle on the charging pile is finished and the two automatic guided vehicles are alternately charged, the waiting position near the charging pile delays the leaving of the automatic guided vehicle on the charging pile, so that the automatic guided vehicle continues to keep the charging state and the charging time is prolonged, meanwhile, the automatic guided vehicle to be charged arrives near the charging pile in advance, after the automatic guided vehicle to be charged arrives at the waiting position, the alternate use of the charging pile can be completed in a short time, the idle time of the charging pile is greatly shortened, and the utilization rate of the charging pile is improved; on the other hand, the method can minimize the stay time of the automatic guided vehicle to be charged at the waiting position, does not delay the normal operation and production time of the automatic guided vehicle, and reduces the influence of the charging process on the productivity and efficiency of the whole automatic guided vehicle system.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 shows a schematic flow diagram of a method of charging an automated guided vehicle according to an example embodiment of the present disclosure;
fig. 2 schematically illustrates a schematic diagram of a charging post waiting position according to a specific embodiment of the present disclosure;
FIG. 3 schematically illustrates a schematic view of an alternating process of an automated guided vehicle in a waiting position according to a specific embodiment of the present disclosure;
fig. 4 shows a schematic flow diagram of a method of charging an automated guided vehicle according to another example embodiment of the present disclosure;
FIG. 5 illustrates a flow chart for determining a current charge of an automated guided vehicle according to an exemplary embodiment of the present disclosure;
FIG. 6 shows a schematic flow diagram of an automated guided vehicle moving to a waiting position according to an example embodiment of the present disclosure;
FIG. 7 illustrates a flow diagram of a method of charging an automated guided vehicle in accordance with a particular embodiment of the present disclosure;
fig. 8 shows a block diagram of a charging device of an automated guided vehicle according to an example embodiment of the present disclosure;
FIG. 9 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In some related embodiments, the idle time of the charging pile is reduced by adding a buffer position beside the charging pile, so that one automatic guided vehicle charges on the charging pile, and meanwhile, another automatic guided vehicle waits beside the buffer position. However, according to the scheme of the charging buffer bit, when one automatic guided vehicle is charged, other automatic guided vehicles are buffered to wait, the production resources and time of the automatic guided vehicles are wasted, and the overall output efficiency is reduced.
The present exemplary embodiment provides a charging method for an automated guided vehicle, which adds a charging continuation procedure to an original buffer location setting and a logic of ending charging of the automated guided vehicle, that is, when the charging of the automated guided vehicle on a charging pile is about to end, another automated guided vehicle is allocated to charge the charging pile, and the charging continuation procedure is triggered. Referring to fig. 1, the method for charging an automated guided vehicle may include the steps of:
step S110, the current electric quantity of the first automatic guided vehicle in the charging state on the charging pile is monitored in real time, and whether the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity or not is judged.
The charging state refers to the state of the automatic guided vehicle when charging on the charging pile. The real-time monitoring of the current electric quantity of the automatic guided vehicle means that the electric quantity condition of the automatic guided vehicle is checked in real time and the current electric quantity of the automatic guided vehicle is reported to the control console of the automatic guided vehicle in the charging process of the automatic guided vehicle on a charging pile.
Full charge is the charging parameter of automated guided transporting vehicle, and when the current electric quantity more than or equal to full charge of automated guided transporting vehicle, it is full of to show automated guided transporting vehicle is about to be full of, can finish charging, and the stake of filling is vacated so that other automated guided transporting vehicles that need to charge go to fill the stake and charge. In a specific embodiment, if the saturation capacity is 100% of the capacity, the full charge capacity may be 80% of the saturation capacity, or may be 90% of the saturation capacity, and is not limited herein.
Through the current electric quantity of real time monitoring first automated guided transporting vehicle on filling electric pile, when first automated guided transporting vehicle is about to be full of, inform automated guided transporting vehicle dispatch system, this automated guided transporting vehicle can prepare to finish charging and leave and fill electric pile.
And S120, when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, acquiring the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to the preset charging electric quantity.
The non-charging state is a state in which the automated guided vehicle is not charged in the charging pile, and when the automated guided vehicle is in the non-charging state, the automated guided vehicle may be in a non-charging state such as a working state or a rest state.
The preset charging electric quantity is charging parameters that the current electric quantity of the automatic guided vehicle in the non-charging state is not enough to support the automatic guided vehicle to work for a long time and needs to be charged. In a specific embodiment, the preset charging capacity may be 30% of the saturation capacity, or may be 20% of the saturation capacity, and is not specifically limited herein.
The preset range is set because a plurality of charging piles may be arranged in the field, and each charging pile is responsible for charging the automatic guided vehicle in the fixed area around the charging pile, so that the automatic guided vehicle is prevented from reaching the charging pile too far, and time and resources are not wasted.
When the current electric quantity of the first automatic guided vehicle in the charging process is larger than or equal to the full electric quantity, whether the automatic guided vehicle needing to be charged exists in the automatic guided vehicles in the non-charging state in the preset range around the charging pile is judged by acquiring the current electric quantities of other automatic guided vehicles in the preset range.
And S130, determining one automatic guided vehicle as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset charging electric quantity, and moving the second automatic guided vehicle to a waiting position associated with the charging pile.
The waiting position associated with the charging pile means a charging waiting position provided at a fixed position point near the charging pile, and when the charging automated guided vehicle is about to be filled, another automated guided vehicle can be made to move to the waiting position to prepare for replacement charging.
The automatic guided vehicle needing to be charged, namely the automatic guided vehicle with lower electric quantity, is screened out by judging whether the current electric quantity of the automatic guided vehicle in a non-charging state is less than or equal to the preset charging electric quantity. And selecting one of the screened automatic guided vehicles as a second automatic guided vehicle to be charged, and enabling the second automatic guided vehicle to go to a waiting position associated with the charging pile to wait for charging.
In some embodiments of the present disclosure, the method for determining the second automated guided vehicle may be that, among the automated guided vehicles in the non-charging state in which the current electric quantity is less than or equal to the preset charging electric quantity within the preset range, the automated guided vehicle with the lowest electric quantity is selected as the second automated guided vehicle to be charged. When the distance difference between each automatic guided vehicle in a non-charging state in the preset range and the charging pile is not large, or when the automatic guided vehicle is low in electric quantity and needs to be charged urgently, the second automatic guided vehicle to be charged can be determined by the method.
In other embodiments of the present disclosure, the method for determining the second automated guided vehicle may also be that, in the automated guided vehicles in the non-charging state where the current electric quantity is less than or equal to the preset charging electric quantity within the preset range, the automated guided vehicle closest to the charging pile is selected as the second automated guided vehicle to be charged. When the electric quantity of each automated guided vehicle in the non-charging state within the preset range is not greatly different, the second automated guided vehicle to be charged can be determined by the method.
Specifically, as shown in fig. 2, an automated guided vehicle 202 is charging on the charging pile 201, and when the automated guided vehicle 202 is about to be fully charged, the dispatching system monitors that the electric quantity of the automated guided vehicle 203 is lower than a preset charging electric quantity, so that the automated guided vehicle 203 goes to a waiting position 204 of the charging pile to wait for charging.
And S140, when the second automatic guided vehicle arrives at the waiting position associated with the charging pile, enabling the first automatic guided vehicle to leave the charging pile, and enabling the second automatic guided vehicle to move from the waiting position to the charging pile for charging.
When the second automatic guided vehicle to be charged reaches the waiting position of the charging pile, the console informs the first automatic guided vehicle which is full of the second automatic guided vehicle to leave the charging pile. After the first automatic guided transporting vehicle leaves, the console informs a second automatic guided transporting vehicle to be charged to move to the charging pile from the waiting position for charging.
After the first automatic guided transporting vehicle leaves the charging pile and the second automatic guided transporting vehicle arrives at the charging pile to be charged, the console changes the occupation information of the charging pile, and the occupation information of the charging pile is updated to be the serial number and the charged time of the second automatic guided transporting vehicle.
Specifically, as shown in fig. 3, when the automated guided vehicle 203 arrives at the waiting position 204 of the charging pile, the console notifies the automated guided vehicle 202 to leave the charging pile 201, and after the automated guided vehicle 202 leaves, the automated guided vehicle 203 moves from the waiting position 204 to the charging pile 201 to start charging, and updates the occupancy information of the charging pile to the number of the automated guided vehicle 203 and the charged time.
In the charging method of the automatic guided vehicle in the disclosed example embodiment, the related waiting position is arranged near the charging pile, on one hand, when the charging of the automatic guided vehicle on the charging pile is finished and the two automatic guided vehicles are alternately charged, the waiting position beside the charging pile temporarily delays the leaving of the automatic guided vehicle on the charging pile, so that the automatic guided vehicle continuously keeps the charging state and the charging time is prolonged, meanwhile, the automatic guided vehicle to be charged arrives near the charging pile in advance, after the automatic guided vehicle to be charged arrives at the waiting position, the alternate use of the charging pile can be completed in a short time, the idle time of the charging pile is greatly shortened, and the utilization rate of the charging pile is improved; on the other hand, the staying time of the automatic guided vehicle to be charged at the waiting position can be shortest, the time of normal operation and production of the automatic guided vehicle is not delayed, the influence of the charging process on the productivity and efficiency of the whole automatic guided vehicle system is reduced, and more electric quantity is input in the same time.
Next, the above steps of the present exemplary embodiment will be described in more detail with reference to fig. 4 to 6.
When the charging automated guided vehicle is not fully charged, but the power has reached the operational power, if the power in the field is very low and the automated guided vehicle cannot maintain normal operation, referring to fig. 4, the charging method of the automated guided vehicle may further include the following steps:
s410, monitoring the current electric quantity of a first automatic guided vehicle in a charging state on a charging pile in real time, and judging whether the current electric quantity of the first automatic guided vehicle is larger than or equal to the working electric quantity or not; wherein the workable power is less than full charge.
The workable electric quantity is a charging parameter that the automatic guided vehicle can finish charging and start working even though the current electric quantity of the automatic guided vehicle does not reach full charge. In a specific embodiment, the operable electric power may be 60% of the saturation electric power, or may be 70% of the saturation electric power, and is not specifically limited herein.
Step S420, when the current electric quantity of the first automatic guided vehicle is larger than or equal to the working electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to a preset necessary charging quantity; wherein the preset necessary charging amount is smaller than the preset charging electric quantity.
The preset charging amount is a charging parameter that the current electric quantity of the automated guided vehicle is not enough to support the automated guided vehicle to continue working and needs to be charged immediately. In a specific embodiment, the preset necessary charge amount may be 5% of the saturated electric quantity, and may also be 10% of the saturated electric quantity, which is not specifically limited herein.
And S430, determining one automatic guided vehicle as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset necessary charging quantity, and moving the second automatic guided vehicle to a waiting position associated with the charging pile.
And screening out the automatic guided vehicle with extremely low electric quantity which needs to be immediately charged by judging whether the current electric quantity of the automatic guided vehicle in the non-charging state is less than or equal to the preset necessary charging quantity. And selecting one of the screened automatic guided vehicles as a second automatic guided vehicle to be charged, and enabling the second automatic guided vehicle to go to a waiting position associated with the charging pile to wait for charging.
Step S440, when the second automatic guided vehicle arrives at the waiting position associated with the charging pile, the first automatic guided vehicle leaves the charging pile, and the second automatic guided vehicle moves to the charging pile from the waiting position to be charged.
When the second automatic guided vehicle to be charged reaches the waiting position of the charging pile, the console informs the first automatic guided vehicle capable of working to leave the charging pile. After the first automatic guided transporting vehicle leaves, the console informs a second automatic guided transporting vehicle to be charged to move to the charging pile from the waiting position for charging.
Step S450, if the current electric quantity of the automatic guided vehicle in the non-charging state in the preset range is larger than the preset necessary charging amount, the first automatic guided vehicle is enabled to continue to keep the charging state so that the electric quantity reaches the full-charge quantity.
When the current electric quantity of the automatic guided vehicle in the charging process is larger than or equal to the operable electric quantity, if no electric quantity in other automatic guided vehicles around is lower than the preset charging amount, the automatic guided vehicle in the charging pile is enabled to keep the charging state until the electric quantity of the automatic guided vehicle reaches the full electric quantity, and then the process from the step S110 to the step S140 is executed.
In step S120, referring to fig. 5, the step of acquiring the current electric quantity of the automated guided vehicle in the non-charging state within the preset range, and determining whether the current electric quantity of the automated guided vehicle in the non-charging state within the preset range is less than or equal to the preset charging electric quantity may specifically include the following steps:
step 510, the current electric quantity of the automatic guided vehicle in the non-charging state in the first preset range is obtained, and whether the current electric quantity of the automatic guided vehicle in the non-charging state in the first preset range is smaller than or equal to the preset charging electric quantity is judged.
The method comprises the steps of firstly obtaining the current electric quantity of the automatic guided vehicle in an area close to a charging pile, and judging whether the automatic guided vehicle needing to be charged exists or not.
Step 520, if the current electric quantity of the automatic guided vehicle in the non-charging state in the first preset range is larger than the preset charging electric quantity, the current electric quantity of the automatic guided vehicle in the non-charging state in the second preset range is obtained.
If the current electric quantity of the automated guided transporting vehicle in the area close to the charging pile is enough and does not need to be charged, the current electric quantity of the automated guided transporting vehicle in the area in a larger range near the charging pile is obtained.
S530, judging whether the current electric quantity of the automatic guided vehicle in the non-charging state in the second preset range is less than or equal to the preset charging electric quantity; wherein the second preset range is larger than the first preset range.
Whether an automatic guided vehicle needing charging exists or not is searched in a wider area near the charging pile.
Specifically, as shown in fig. 2, first, an automated guided vehicle that needs to be charged is searched for in an area 205 that is close to the charging pile, and if there is no automated guided vehicle that needs to be charged in the area 205, the range is expanded, and an automated guided vehicle that needs to be charged is searched for in an area 206.
In step S130, referring to fig. 6, the moving the second automated guided vehicle to the waiting position associated with the charging pile may specifically include the following steps:
step S610, the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field are obtained, and a target path is determined according to the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field.
The control console gives an optimal path to the waiting position of the charging pile by analyzing the position information of other automatic guided vehicles in the field and combining the current position of the second automatic guided vehicle, and determines the moving speed of the second automatic guided vehicle according to the current electric quantity condition and the moving path of the second automatic guided vehicle.
Step S620, the second automatic guided vehicle is made to move to the waiting position associated with the charging pile in a target path.
After the optimal path for the second automatic guided vehicle to go to the charging pile waiting position is determined, the dispatching system distributes the second automatic guided vehicle to move to the charging pile waiting position.
Fig. 7 is a complete flow chart of a charging method for an automated guided vehicle according to an embodiment of the present disclosure, which is an illustration of the above steps in the exemplary embodiment, and the specific steps in the flow chart are as follows:
step s710. first automated guided vehicle AGV1 is charged to a sufficient charge value.
During charging of AGV1, power is reported to the console in real time. When the AGV1 is about to be fully charged, i.e., the current power level of the AGV1 is greater than or equal to full charge, the dispatch system is notified.
And S720, pre-releasing the charging pile.
After the dispatching system determines an automatic guided vehicle to be charged in a preset range, the charging pile is released in advance. When the charging post is in the pre-release state, the charging AGV1 may end immediately and leave the charging post as soon as it detects that the automated guided vehicle to be charged has reached the waiting position.
Step s730, a low-power second automated guided vehicle AGV2 is allocated to go to the charging pile waiting position.
The dispatching system allocates the AGV2 of the automated guided vehicle with the determined electric quantity within the preset range being less than or equal to the preset charging electric quantity to the waiting position of the charging pile.
And S740, enabling the AGV2 to reach a charging pile waiting position.
In the process that the AGV2 moves to the waiting position of the charging pile, the AGV1 continues to charge the charging pile, and when the AGV2 reaches the waiting position of the charging pile, the control console is reported.
And S750, leaving the charging pile by the AGV1.
The console notifies AGV1 to end the charge and to leave the charging post.
And S760, charging the charging pile by the AGV2.
Upon departure of the AGV1, the console notifies the AGV2 to move from the waiting position to the charging post to begin charging.
Step S770, charging pile occupation information is updated.
And the console changes the occupation information of the charging pile, namely, the serial number and time of the charging AGV are updated.
It should be noted that although the various steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Further, the present disclosure also provides a charging device of the automated guided vehicle. Referring to fig. 8, the charging apparatus for an automated guided vehicle may include a power monitoring module 810, a power determining module 820, a vehicle moving module 830, and a vehicle charging module 840. Wherein:
the electric quantity monitoring module 810 can be used for monitoring the current electric quantity of the first automated guided vehicle in a charging state on the charging pile in real time and judging whether the current electric quantity of the first automated guided vehicle is more than or equal to the full electric quantity.
The electric quantity determination module 820 may be configured to obtain the current electric quantity of the automated guided vehicle in the non-charging state within the preset range when the current electric quantity of the first automated guided vehicle is greater than or equal to the full charge quantity, and determine whether the current electric quantity of the automated guided vehicle in the non-charging state within the preset range is less than or equal to the preset charging electric quantity.
The transporter moving module 830 may be configured to determine one automated guided transporter as a second automated guided transporter in a non-charging state where the current electric quantity is less than or equal to a preset charging electric quantity, and move the second automated guided transporter to a waiting position associated with the charging pile.
The vehicle charging module 840 may be configured to cause the first automated guided vehicle to leave the charging pile and cause the second automated guided vehicle to move from the waiting position to the charging pile for charging when the second automated guided vehicle arrives at the waiting position associated with the charging pile.
In some exemplary embodiments of the present disclosure, the charging device of the automated guided vehicle may further include a power monitoring module, a power determining module, a vehicle moving module, a vehicle charging module, and a charge maintaining module. Wherein:
the electric quantity monitoring module can be used for monitoring the current electric quantity of the first automatic guided vehicle in a charging state on the charging pile in real time and judging whether the current electric quantity of the first automatic guided vehicle is larger than or equal to the working electric quantity or not; wherein the workable power is less than full charge.
The electric quantity judging module can be used for acquiring the current electric quantity of the automatic guided vehicle in the non-charging state within a preset range when the current electric quantity of the first automatic guided vehicle is more than or equal to the operable electric quantity, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is less than or equal to a preset necessary charging quantity; wherein the preset necessary charging amount is smaller than the preset charging electric quantity.
The transport vehicle moving module may be configured to determine one automated guided transport vehicle as a second automated guided transport vehicle in a non-charging state where the current electric quantity is equal to or less than a preset necessary charging amount, and move the second automated guided transport vehicle to a waiting position associated with the charging pile.
The transport vehicle charging module can be used for enabling the first automatic guided transport vehicle to leave the charging pile when the second automatic guided transport vehicle arrives at the waiting position associated with the charging pile, and enabling the second automatic guided transport vehicle to move to the charging pile from the waiting position for charging.
The charge keeping module can be used for enabling the first automatic guided vehicle to continuously keep the state of charge so as to enable the electric quantity to reach full charge if the current electric quantity of the automatic guided vehicle in the non-charging state in the preset range is larger than the preset necessary charge quantity.
In some exemplary embodiments of the present disclosure, the power determining module 820 may include a first power determining unit, a second power acquiring unit, and a second power determining unit. Wherein:
the first electric quantity judgment unit can be used for acquiring the current electric quantity of the automatic guided vehicle in the non-charging state within the first preset range and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the first preset range is less than or equal to the preset charging electric quantity.
The second electric quantity obtaining unit may be configured to obtain the current electric quantity of the automated guided vehicle in the non-charging state within the second preset range if the current electric quantity of the automated guided vehicle in the non-charging state within the first preset range is greater than the preset charging electric quantity.
The second electric quantity judging unit can be used for judging whether the current electric quantity of the automatic guided vehicle in the non-charging state in the second preset range is less than or equal to the preset charging electric quantity; wherein the second preset range is larger than the first preset range.
In some exemplary embodiments of the present disclosure, the transporter movement module 830 may include a target path determination unit and a transporter movement unit. Wherein:
the target path determination unit may be configured to acquire a current position of the second automated guided vehicle and position information of other automated guided vehicles in the yard, and determine a target path based on the current position of the second automated guided vehicle and the position information of the other automated guided vehicles in the yard.
The transporter moving unit may be for moving the second automated guided transporter to a waiting position associated with the charging pile in a target path.
The details of the modules/units in the charging device of the automated guided vehicle are described in detail in the corresponding method embodiment section, and are not described herein again.
FIG. 9 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
It should be noted that the computer system 900 of the electronic device shown in fig. 9 is only an example, and should not bring any limitation to the function and the scope of the application of the embodiment of the present invention.
As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU)901 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for system operation are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted into the storage section 908 as necessary.
In particular, according to an embodiment of the present invention, the processes described below with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 909, and/or installed from the removable medium 911. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 901.
It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 1.
It should be noted that although in the above detailed description several modules of the device for action execution are mentioned, this division is not mandatory. Indeed, the features and functionality of two or more of the modules described above may be embodied in one module, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into embodiments by a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A method of charging an automated guided vehicle, comprising:
monitoring the current electric quantity of a first automatic guided vehicle in a charging state on a charging pile in real time, and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to full electric quantity or not;
when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to the preset charging electric quantity or not;
determining one automatic guided vehicle as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state, wherein the current electric quantity is less than or equal to the preset charging electric quantity, and moving the second automatic guided vehicle to a waiting position associated with the charging pile;
when the second automatic guided vehicle reaches a waiting position associated with the charging pile, the first automatic guided vehicle leaves the charging pile, and the second automatic guided vehicle moves from the waiting position to the charging pile for charging.
2. The method of charging an automated guided vehicle of claim 1, further comprising:
monitoring the current electric quantity of a first automatic guided vehicle in a charging state on a charging pile in real time, and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to the working electric quantity or not; wherein the operational power is less than the full charge;
when the current electric quantity of the first automatic guided vehicle is larger than or equal to the operable electric quantity, acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to a preset necessary charging quantity or not; wherein the preset necessary charging amount is smaller than the preset charging electric quantity;
determining one automated guided vehicle as a second automated guided vehicle among the automated guided vehicles in the non-charging state in which the current electric quantity is less than or equal to a preset necessary charging amount, and moving the second automated guided vehicle to a waiting position associated with the charging pile;
when the second automatic guided vehicle reaches a waiting position associated with the charging pile, enabling the first automatic guided vehicle to leave the charging pile, and enabling the second automatic guided vehicle to move from the waiting position to the charging pile for charging;
and if the current electric quantity of the automatic guided vehicle in the non-charging state in the preset range is larger than the preset necessary charging amount, the first automatic guided vehicle is enabled to continuously keep the charging state so as to enable the electric quantity to reach the full-charge quantity.
3. The method of claim 1, wherein the obtaining the current electric quantity of the automated guided vehicle in the non-charging state within the preset range and determining whether the current electric quantity of the automated guided vehicle in the non-charging state within the preset range is less than or equal to a preset charging electric quantity comprises:
acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a first preset range, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the first preset range is less than or equal to a preset charging electric quantity or not;
if the current electric quantity of the automatic guided vehicle in the non-charging state in the first preset range is larger than the preset charging electric quantity, acquiring the current electric quantity of the automatic guided vehicle in the non-charging state in a second preset range;
judging whether the current electric quantity of the automatic guided vehicle in the non-charging state in the second preset range is less than or equal to a preset charging electric quantity; wherein the second preset range is larger than the first preset range.
4. The method of claim 1, wherein the determining one of the automated guided vehicles as the second automated guided vehicle in the non-charging state in which the current charge amount is equal to or less than a preset charge amount comprises:
and determining one automatic guided vehicle with the lowest current electric quantity as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset charging electric quantity.
5. The method of claim 1, wherein the determining one of the automated guided vehicles as the second automated guided vehicle in the non-charging state in which the current charge amount is equal to or less than a preset charge amount comprises:
and determining one automatic guided vehicle closest to the charging pile as a second automatic guided vehicle from the automatic guided vehicles in the non-charging state with the current electric quantity less than or equal to the preset charging electric quantity.
6. The method of charging an automated guided vehicle of claim 1, wherein moving the second automated guided vehicle to a waiting position associated with the charging post comprises:
acquiring the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field, and determining a target path according to the current position of the second automatic guided vehicle and the position information of other automatic guided vehicles in the field;
moving the second automated guided vehicle to a waiting position associated with the charging post in the target path.
7. The method of charging an automated guided vehicle of claim 1, wherein after the moving the first automated guided vehicle away from the charging post and the moving the second automated guided vehicle from the waiting location to the charging post for charging, the method further comprises:
and updating the occupation information of the second automatic guided vehicle on the charging pile, wherein the occupation information comprises the serial number and the charged time of the second automatic guided vehicle.
8. A charging device for an automated guided vehicle, comprising:
the electric quantity monitoring module is used for monitoring the current electric quantity of a first automatic guided vehicle in a charging state on the charging pile in real time and judging whether the current electric quantity of the first automatic guided vehicle is more than or equal to full electric quantity or not;
the electric quantity judging module is used for acquiring the current electric quantity of the automatic guided vehicle in a non-charging state within a preset range when the current electric quantity of the first automatic guided vehicle is larger than or equal to the full electric quantity, and judging whether the current electric quantity of the automatic guided vehicle in the non-charging state within the preset range is smaller than or equal to the preset charging electric quantity or not;
a transport vehicle moving module, configured to determine, among the automated guided transport vehicles in the non-charging state in which the current electric quantity is less than or equal to a preset charging electric quantity, one automated guided transport vehicle as a second automated guided transport vehicle, and move the second automated guided transport vehicle to a waiting position associated with the charging pile;
and the transport vehicle charging module is used for enabling the first automatic guided transport vehicle to leave the charging pile and enabling the second automatic guided transport vehicle to move from the waiting position to the charging pile for charging when the second automatic guided transport vehicle reaches the waiting position associated with the charging pile.
9. An electronic device, comprising:
a processor; and
a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of charging an automated guided vehicle of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of charging an automated guided vehicle according to any one of claims 1 to 7.
CN201910901679.4A 2019-09-23 2019-09-23 Charging method and device for automatic guided transport vehicle, electronic equipment and storage medium Pending CN112537211A (en)

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Application publication date: 20210323