CN112550522B

CN112550522B - AGV system

Info

Publication number: CN112550522B
Application number: CN202011393259.9A
Authority: CN
Inventors: 黄衎澄; 汪峰; 朱莉慧; 张国亮
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-11-26
Anticipated expiration: 2040-12-02
Also published as: CN112550522A

Abstract

The invention discloses an AGV system which comprises N motors, N driving modules, a control module and M power modules, wherein the N driving modules correspond to the N motors one by one, and M is not more than N. This application is the power supply of one or more drive module respectively through a plurality of power module, is equivalent to and divides into groups the motor that one or more drive module and each drive module correspond, is convenient for carry out the modularized design, and has reduced the requirement to power module's capacity to a certain extent, the purchase, installation and the maintenance of the power module of being convenient for. In addition, by adopting the mode in the application, when the performance of a single power supply module is degenerated or damaged, only the single power supply module needs to be replaced and maintained, and the power supply modules are not connected in parallel, so that the current backflow does not exist.

Description

AGV system

Technical Field

The invention relates to the field of automatic handling, in particular to an AGV system.

Background

An AGV (automatic Guided Vehicle) generally uses a battery to supply power, and if the entire AGV uses one battery, the capacity of the battery is positively correlated with the load capacity of the AGV. For a heavy AGV, if one battery is used, the capacity of the battery needs to be large, and at this time, the volume and weight of the battery are both large, which is inconvenient for installation, maintenance or replacement of the battery.

In order to solve the above technical problems, in the prior art, a plurality of batteries are connected in series or in parallel to form a battery pack. Specifically, when a plurality of batteries are connected in series, the output voltage of the battery pack can be increased, but the maximum output current of the battery pack is the same as the output current of a single battery, and the rotational speed of a direct current motor in the AGV is in direct proportion to the input voltage, the torque is in direct proportion to the input current, and the AGV generally works in a low-speed and heavy-load (large-torque) mode, i.e., the batteries are required to continuously output a large current, so that the mode that the batteries are connected in series to form the battery pack is not suitable for supplying power to the AGV. In addition, when a plurality of batteries are connected in series to form a battery pack, if the performance of a single battery is degraded, the entire battery pack cannot be used, and the battery pack needs to be repaired or replaced. When parallelly connected the constitution group battery with a plurality of batteries, can improve the output current of group battery, but there may exist the inconsistent condition of voltage difference and discharge curve between a plurality of batteries, at this moment, can lead to the battery of high voltage to pass through parallel circuit and can assault the battery of low-voltage to the emergence electric current flows backward, has the potential safety hazard.

Disclosure of Invention

The invention aims to provide an AGV system which is convenient to modularly design, reduces the requirement on the capacity of a power module to a certain extent, and is convenient for purchasing, installing and maintaining the power module. In addition, by adopting the mode in the application, when the performance of a single power supply module is degenerated or damaged, only the single power supply module needs to be replaced and maintained, and the power supply modules are not connected in parallel, so that the current backflow does not exist.

To solve the above technical problem, the present invention provides an AGV system, including:

n motors, wherein N is not less than 1;

the N driving modules are in one-to-one correspondence with the N motors and are used for driving the corresponding motors to rotate according to the received control instruction;

the control module is used for respectively sending control instructions to the N drive modules;

and the M power supply modules are used for respectively supplying power to the N driving modules, wherein M is larger than 1, and M is not larger than N.

Preferably, the method further comprises the following steps:

the power management module is used for detecting the SOC of the M power modules and sending the SOC to the control module;

the control module is further used for judging whether the power supply module with the SOC smaller than the preset SOC exists or not, if yes, the control module sends charging control instructions to the N driving modules respectively to drive the AGV to move to a charging position.

Preferably, the control module is further configured to determine whether a difference between a maximum SOC and a minimum SOC of the M SOCs is greater than a difference threshold based on the M SOCs;

if so, sending a first adjustment instruction to a driving module corresponding to the power module corresponding to the maximum SOC so as to increase the power consumption of the driving module corresponding to the maximum SOC; and/or sending a second adjusting instruction to the driving module corresponding to the power module corresponding to the minimum SOC so as to reduce the power consumption of the driving module corresponding to the minimum SOC.

Preferably, a difference between the maximum SOC and the minimum SOC is greater than a difference threshold;

sending a second adjustment instruction to a driving module corresponding to the power module corresponding to the minimum SOC, wherein the second adjustment instruction comprises the following steps:

sending a current adjusting instruction to a driving module corresponding to the power module corresponding to the minimum SOC;

and the driving module corresponding to the power supply module corresponding to the minimum SOC is also used for reducing the maximum current limit value of the driving module based on the current adjusting instruction so as to reduce the power consumption of the driving module.

sending a follow-up instruction to a driving module corresponding to the power module corresponding to the minimum SOC;

and the driving module corresponding to the power module corresponding to the minimum SOC is also used for enabling the driving module to enter a follow-up control mode based on the follow-up instruction so as to reduce the power consumption of the driving module.

Preferably, the method further comprises the following steps:

the scheduling module is used for sending a scheduling instruction to the control module;

sending a first adjustment instruction to a driving module corresponding to the power module corresponding to the maximum SOC so as to increase the power consumption of the driving module corresponding to the maximum SOC; and/or sending a second adjustment instruction to a driving module corresponding to the power module corresponding to the minimum SOC so as to reduce the power consumption of the driving module corresponding to the minimum SOC, wherein the method comprises the following steps:

sending a first adjusting instruction to a driving module corresponding to the power module corresponding to the maximum SOC based on the scheduling instruction so as to increase the power consumption of the driving module corresponding to the maximum SOC; and/or sending a second adjusting instruction to the driving module corresponding to the power module corresponding to the minimum SOC based on the scheduling instruction so as to reduce the power consumption of the driving module corresponding to the minimum SOC.

Preferably, the scheduling instruction comprises a straight walking instruction;

when the difference value between the maximum SOC and the minimum SOC is greater than a difference threshold value, sending a first adjusting instruction to a driving module corresponding to a power module corresponding to the maximum SOC based on the scheduling instruction, including:

sending a speed instruction to a driving module corresponding to the power module corresponding to the maximum SOC based on the linear walking instruction;

and the driving module corresponding to the maximum SOC is specifically used for controlling the target rotating speed of the corresponding motor to increase based on the speed instruction so as to increase the power consumption of the driving module.

Preferably, the scheduling instruction comprises a light load instruction or an idle load instruction;

when the difference value between the maximum SOC and the minimum SOC is greater than a difference threshold value, sending a second adjustment instruction to a driving module corresponding to a power module corresponding to the minimum SOC based on the scheduling instruction, wherein the second adjustment instruction comprises:

sending a current output stopping instruction to a driving module corresponding to the power supply module corresponding to the minimum SOC based on the light load instruction or the no-load instruction so as to reduce the power consumption of the driving module;

and the driving module corresponding to the power module corresponding to the minimum SOC is specifically used for stopping outputting current to the corresponding motor based on the stopping current output instruction.

sending a reverse current instruction to a driving module corresponding to the power module corresponding to the minimum SOC based on the light load instruction or the no-load instruction so as to increase the power consumption of the driving module corresponding to the maximum SOC;

and the driving module corresponding to the power module corresponding to the minimum SOC is specifically used for outputting reverse current to the corresponding motor based on the reverse current stopping instruction.

Preferably, the control module is further configured to control, when the difference between the maximum SOC and the minimum SOC is not greater than the difference threshold, the driving module corresponding to the power module corresponding to the maximum SOC and/or the minimum SOC to resume a normal operating mode, where the normal operating mode is an operating mode in which the operating modes of the N driving modules are the same.

The application provides an AGV system, including N motors, with N drive module, control module and M power module of N motor one-to-one, wherein M is not more than N. This application is the power supply of one or more drive module respectively through a plurality of power module, is equivalent to and divides into groups the motor that one or more drive module and each drive module correspond, is convenient for carry out the modularized design, and has reduced the requirement to power module's capacity to a certain extent, the purchase, installation and the maintenance of the power module of being convenient for. In addition, by adopting the mode in the application, when the performance of a single power supply module is degenerated or damaged, only the single power supply module needs to be replaced and maintained, and the power supply modules are not connected in parallel, so that the current backflow does not exist.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a block diagram of an AGV system according to the present invention;

FIG. 2 is a block diagram of an AGV system according to the prior art;

fig. 3 is a schematic structural diagram of a power module and a driving module provided in the present invention;

fig. 4 is a schematic structural diagram of another power module and a driving module provided in the present invention;

FIG. 5 is a block diagram of another AGV system according to the present invention.

Detailed Description

The core of the invention is to provide an AGV system which is convenient for modular design, reduces the requirement on the capacity of a power module to a certain extent and is convenient for purchasing, installing and maintaining the power module. In addition, by adopting the mode in the application, when the performance of a single power supply module is degenerated or damaged, only the single power supply module needs to be replaced and maintained, and the power supply modules are not connected in parallel, so that the current backflow does not exist.

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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.

Referring to fig. 1, fig. 1 is a block diagram of an AGV system according to the present invention, which includes:

n motors 1, N is not less than 1;

the N driving modules 2 are in one-to-one correspondence with the N motors 1 and are used for driving the corresponding motors 1 to rotate according to the received control instruction;

the control module 3 is used for respectively sending control instructions to the N drive modules 2;

and the M power modules 4 are used for respectively supplying power to the N driving modules 2, wherein M is larger than 1, and M is not larger than N.

Referring to fig. 2, fig. 2 is a block diagram of an AGV system in the prior art according to the present invention, the AGV generally has a plurality of drivers and a plurality of motors 1, and the drivers and the motors 1 correspond to each other one by one, and generally, a large battery is used to respectively supply power to the plurality of driving modules 2, or a plurality of small batteries are connected in series or in parallel to form a battery pack to supply power to the plurality of driving modules 2, but the use of a large battery has the disadvantages of excessive battery capacity, high battery cost, and inconvenient battery installation and maintenance. The output current of a battery pack is small when a plurality of small batteries are connected in series to form the battery pack, the plurality of batteries are connected in parallel to form the battery pack, the current flows backwards between the plurality of small batteries, and the mode that the plurality of large batteries supply power in turn can be adopted when the plurality of large batteries are switched, so that the batteries are required to output extremely large current instantly, and the realizability and the use value of the scheme are limited.

In order to solve the technical problem, a plurality of power modules 4 with small capacity are arranged and respectively supply power to one or more driving modules 2, namely, the driving modules 2 and corresponding motors 1 are grouped, then one power module 4 is configured for each driving module 2 in each group to supply power to the driving modules 2 in the group, in addition, the driving modules 2 are uniformly controlled by control modules 3 on the AGV, specifically, the control modules 3 send control instructions to the driving modules 2 through communication lines, and each driving module 2 controls the corresponding motor 1 to rotate based on the received control instructions.

Specifically, when the number of the driving modules 2 is 1, that is, N is 1, the number of the power modules 4, that is, M may be 1, and when N is not 1, the number of the power modules 4 is not greater than the number of the driving modules 2. Specifically, when the power module 4 is a battery, please refer to fig. 3, fig. 3 is a schematic structural diagram of a power module and a driving module corresponding to the present invention, in which the AGV has four driving modules 2 corresponding to four motors 1, and one power module 4 supplies power to one driving module 2, fig. 4 is a schematic structural diagram of another power module and a driving module corresponding to the present invention, in which one power module 4 supplies power to two power modules 4, respectively. Of course, the AGV system is not limited to the two examples described above, but may also be a single steering wheel, a double steering wheel, a multi-truck or a maclam wheel, etc.

It should be noted that, the power module 4 in the present application may be, but is not limited to, a rechargeable battery, where the rechargeable battery can be used to charge the battery when the power is exhausted, so as to improve the availability of the battery. The motor 1 in the present application may be but not limited to a servo motor 1, the communication between the control module 3 and the N driving modules 2 is generally controlled through a communication bus, and the communication bus may be but not limited to a CAN (Controller Area Network) bus, an ethernet bus, an RS485, or a Profibus, and the power module 4, the motor 1, and the communication bus in the present application are not limited to the above examples, and the present application is not limited thereto.

In conclusion, this application is the power supply for one or more drive module 2 respectively through a plurality of power module 4, is equivalent to and divides into groups one or more drive module 2 and the motor 1 that each drive module 2 corresponds, is convenient for carry out the modularized design, and has reduced the requirement to power module 4's capacity to a certain extent, the purchase, installation and the maintenance of power module 4 of being convenient for. In addition, by adopting the mode in the application, when the performance of a single power module 4 is degenerated or damaged, only the single power module 4 needs to be replaced and maintained, and the power modules 4 are not connected in parallel, so that the current backflow does not exist.

On the basis of the above-described embodiment:

referring to fig. 5, fig. 5 is a block diagram of another AGV system according to the present invention.

As a preferred embodiment, the method further comprises the following steps:

the power management module 5 is configured to detect states of Charge (SOCs) of the M power modules 4, and send the M SOCs to the control module 3;

the control module 3 is further configured to determine whether there is a power module 4 with an SOC smaller than a preset SOC, and if yes, send a charging control instruction to the N driving modules 2, respectively, to drive the AGV to move to the charging position.

Considering that the output power of each driving module 2 cannot be completely consistent due to factors of mechanical design, the placement position of goods carried by the AGV, mechanical wear, the consistency of the motor 1, road conditions and the like, the currents output by the power modules 4 are different, and thus, after the AGV operates for a period of time, the residual electric quantity of each power module 4 is inconsistent. Before one of the power modules 4 reaches the lower limit of capacity, the AGV must be charged; at this time, the other power modules 4 may have more remaining power. Therefore, the operating efficiency of the AGV depends on the power module 4 whose power drops the fastest.

Based on this, the power management module 5 is arranged in the application and used for detecting the SOC of each power module 4 and sending the detected SOC to the control module 3, the control module 3 judges whether the power module 4 with the SOC smaller than the preset SOC exists or not based on the received SOC, and if the power module 4 with the SOC smaller than the preset SOC exists, the control module sends a charging control instruction to the N driving modules 2 to drive the AGVs to move to the charging position for charging.

Specifically, the route of the AGV moving to the charging position is that the control module 3 plans the moving route according to the current position and the charging position of the AGV, the AGV moves to the charging position according to the planned moving route, then the power modules 4 are charged respectively, and the charging is stopped when the SOC of each charging module reaches 100%.

It should be noted that, in the present application, the power management module 5 may send the detected SOCs of the M power modules 4 to the control module 3, or the control module 3 may obtain the SOCs of the M power modules 4 detected by the power management module 5, and a specific implementation manner is related to a communication protocol between the control module 3 and the power management module 5, which is not limited herein.

Therefore, the present embodiment realizes the power monitoring of each power module 4, and controls the AGV to charge when the power of the power module 4 is insufficient. Further, the preset SOC here may be zero; to enable the AGV to move to the charging position with sufficient power, the SOC in this application may be set to a value greater than zero, such as 10%.

As a preferred embodiment, the control module 3 is further configured to control the alarm device to send alarm information when it is determined that the SOC is zero.

Considering that there may be a situation where the power of the power module 4 is exhausted before the AGV moves to the charging position due to some circumstances, the AGV may stop at a certain position of the warehouse due to the exhausted power, and may block the moving route of other AGVs.

In order to solve the problem, when the control module 3 determines that the SOC is zero, the alarm device is controlled to send alarm information, so that a worker can find the situation in time and process the situation in time. The specific way to process the AGV with depleted power may be, but is not limited to, charging the depleted power module 4 with a temporary power.

In conclusion, when control module 3 judges that the SOC that has power module 4 is zero in this application, control alarm device sends alarm information, and the staff of being convenient for knows the condition that AGV electric quantity exhausts and in time handle this AGV, has guaranteed the security and the orderliness of other AGV operations.

As a preferred embodiment, the control module 3 is further configured to determine whether a difference between a maximum SOC and a minimum SOC of the M SOCs is greater than a difference threshold based on the M SOCs;

if so, sending a first adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC so as to increase the power consumption of the driving module 2 corresponding to the maximum SOC; and/or sending a second adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC so as to reduce the power consumption of the driving module 2 corresponding to the minimum SOC.

Considering that the output power of each driving module 2 cannot be completely consistent due to factors of mechanical design, the placement position of goods carried by the AGV, mechanical wear, the consistency of the motor 1, road conditions and the like, the currents output by the power modules 4 are different, and thus, after the AGV operates for a period of time, the residual electric quantity of each power module 4 is inconsistent. Before one of the power modules 4 reaches the lower limit of capacity, the AGV must be charged; at this time, the other power modules 4 may have more remaining power. Therefore, the operating efficiency of the AGV is limited by the power module 4 that drops the fastest. If there are a plurality of power modules 4 in the AGV, the SOC of one power module 4 reaches the lower limit of the capacity, and all the power modules 4 need to be charged.

In order to solve the technical problem, the control module 3 in the present application selects the maximum SOC and the minimum SOC based on the received M SOCs, and determines whether a difference between the maximum SOC and the minimum SOC is greater than a difference threshold, and if so, takes measures to reduce the difference between the maximum SOC and the minimum SOC, so as to improve the working efficiency of the AGV. Specifically, the method and the device send a first adjustment instruction to the maximum SOC to increase the power consumption of the driving module 2 corresponding to the maximum SOC, send a second adjustment instruction to the minimum SOC to reduce one or two combinations of the power consumption of the driving module 2 corresponding to the minimum SOC, and further reduce the difference between the maximum SOC and the minimum SOC.

The first adjustment instruction and the second adjustment instruction may include, but are not limited to, adjusting a configuration parameter, an operation mode, or a control command of the corresponding driving module 2.

As a preferred embodiment, the difference between the maximum SOC and the minimum SOC is greater than a difference threshold;

sending a second adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC, including:

sending a current adjusting instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC;

the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC is also used for reducing the maximum current limit value of the driving module based on the current adjusting instruction so as to reduce the power consumption of the driving module.

The embodiment aims to provide a specific implementation manner for reducing the difference between the maximum SOC and the minimum SOC, specifically, when the AGV is in a traveling state, that is, when the AGV operates in a control mode of a speed loop, a current adjustment instruction is sent to the driving module 2 corresponding to the minimum SOC, the corresponding driving module 2 controls the maximum current limit value of itself to be reduced based on the received current adjustment instruction, and the maximum current limit value is reduced to be smaller than the current average value of the driving module 2 in the normal operation mode. For example, in the normal operation mode, if the average current value of the driving module 2 is 10A, the maximum current limit value may be adjusted to 8A, so as to reduce the power consumption of the driving module 2, so as to reduce the difference between the maximum SOC and the minimum SOC, improve the operating efficiency of the AGV, and reduce the number of charging times.

sending a follow-up instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC;

the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC is also used for enabling the driving module to enter a follow-up control mode based on a follow-up command so as to reduce the power consumption of the driving module.

The embodiment aims to provide another specific implementation manner for reducing the difference between the maximum SOC and the minimum SOC, specifically, when the AGV is in a traveling state, that is, in a control mode of working in a speed loop, a follow-up instruction is sent to the driving module 2 corresponding to the minimum SOC, the driving module 2 adjusts itself to a current loop control mode based on the follow-up instruction, and the driving module 2 enters the follow-up control mode. The following control mode is a following mode, specifically, the following control mode is a control system with a set value changing constantly, the change of the set value is unknown in advance, and the output of the system is required to change along with the change of the set value.

To sum up, the power consumption speed of the minimum SOC can be reduced by controlling the minimum SOC to enter the follow-up control mode, so that the difference between the maximum SOC and the minimum SOC is reduced, and the working efficiency of the AGV is improved.

As a preferred embodiment, the method further comprises the following steps:

the scheduling module 6 is used for sending a scheduling instruction to the control module 3;

sending a first adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC so as to increase the power consumption of the driving module 2 corresponding to the maximum SOC; and/or sending a second adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC to reduce the power consumption of the driving module 2 corresponding to the minimum SOC, including:

sending a first adjusting instruction to the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC based on the scheduling instruction so as to increase the power consumption of the driving module 2 corresponding to the maximum SOC; and/or sending a second adjusting instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC based on the scheduling instruction so as to reduce the power consumption of the driving module 2 corresponding to the minimum SOC.

It is contemplated that the control module 3 of the AGV operates specifically based on received scheduling instructions, which may include, but are not limited to, a travel route, a destination location, a load weight, etc. of the AGV. Based on this, the AGV system in this application further includes a scheduling module 6, which is configured to send a scheduling instruction to the control module 3, after the control module 3 receives the scheduling instruction, if the difference between the maximum SOC and the minimum SOC is greater than the difference threshold, the control module 3 specifically sends a first adjustment instruction to the maximum SOC based on the scheduling instruction to increase the power consumption of the driving module 2 corresponding to the maximum SOC, and sends a second adjustment instruction to the minimum SOC to reduce the power consumption of the driving module 2 corresponding to the minimum SOC, thereby reducing the difference between the maximum SOC and the minimum SOC, and improving the working efficiency of the AGV.

Therefore, the dispatching instruction sent by the dispatching module 6, namely the working state of the AGV, is taken into consideration, and the reliability of the AGV is improved.

As a preferred embodiment, the scheduling instruction includes a straight walking instruction;

when the difference between the maximum SOC and the minimum SOC is greater than the difference threshold, sending a first adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC based on the scheduling instruction, including:

sending a speed instruction to a driving module 2 corresponding to a power module 4 corresponding to the maximum SOC based on the straight-line walking instruction;

the driving module 2 corresponding to the maximum SOC is specifically configured to control the target rotation speed of the corresponding motor 1 to increase based on the speed command to increase the power consumption of the driving module.

The embodiment aims to provide a specific implementation manner for controlling the reduction of the difference between the maximum SOC and the minimum SOC based on the scheduling instruction, specifically, the scheduling instruction in this embodiment is a linear traveling instruction, that is, the traveling route of the AGV is a linear line at this time, if there is a difference between the maximum SOC and the minimum SOC greater than a difference threshold, the control module 3 controls the driving module 2 corresponding to the maximum SOC to control the target speed corresponding to the motor 1 to increase based on the linear traveling instruction, for example, the target speed is increased by 1% or 2%, the target speeds of the motors 1 corresponding to the other driving modules 2 are not changed, and for the whole AGV system, since only one target speed is increased, the traveling speed of the whole AGV system is not affected, but the power consumption speed of the maximum SOC is increased, so as to reduce the difference between the maximum SOC and the minimum SOC.

In summary, by adopting the implementation manner of increasing the target speed of the motor 1 corresponding to the maximum SOC in this embodiment, the power consumption speed of the maximum SOC can be increased, and the difference between the maximum SOC and the minimum SOC is reduced, so as to improve the working efficiency of the AGV.

In a preferred embodiment, the scheduling instruction includes a light load instruction or an idle load instruction;

when the difference between the maximum SOC and the minimum SOC is greater than the difference threshold, sending a second adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC based on the scheduling instruction, including:

sending a current output stopping instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC based on the light load instruction or the no-load instruction so as to reduce the power consumption of the driving module;

the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC is specifically configured to stop outputting the current to the corresponding motor 1 based on the stop current output instruction.

The embodiment is intended to provide another specific implementation manner for controlling the reduction of the difference between the maximum SOC and the minimum SOC based on the scheduling instruction, specifically, the scheduling instruction in this embodiment is an idle load instruction or a light load instruction, where if the load is a heavy load over 10 tons, a light load below 10 tons, and an idle load 0 ton, the scheduling instruction received by the AGV includes the weight to be borne, and if the load is 5 tons, the AGV is determined to be a light load, and at this time, if the difference between the maximum SOC and the minimum SOC is greater than a difference threshold, the control module 3 controls the driving module 2 corresponding to the minimum SOC to stop outputting current to the corresponding motor 1 based on the light load instruction, so as to reduce its own power consumption.

Specifically, when the power module 4 is a battery, please refer to fig. 4, there are four driving modules 2 and four motors 1 in fig. 4, the left side is the front end of the AGV, the right side is the rear end of the AGV, and there are two batteries, if the difference between the SOC of the battery supplying power to the two driving modules 2 at the front end and the SOC of the battery supplying power to the two driving modules 2 at the rear end is greater than the difference threshold and the SOC of the battery at the front end is smaller, the control module 3 controls the two driving modules 2 at the front end to stop outputting current to the corresponding motors 1, i.e., stop driving, and temporarily changes the four-wheel driving mode into the two-wheel driving mode.

In conclusion, when the AGV is in a light load or no load state, the driving module 2 corresponding to the minimum SOC is controlled to stop controlling the corresponding motor 1 to rotate, so that the difference between the maximum SOC and the minimum SOC can be reduced, and the working efficiency of the AGV is improved.

sending a reverse current instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC based on the light load instruction or the no-load instruction so as to increase the power consumption of the driving module 2 corresponding to the maximum SOC;

the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC is specifically configured to output a reverse current to the corresponding motor 1 based on the reverse current stop instruction.

The present embodiment aims to provide another specific implementation manner for controlling the reduction of the difference between the maximum SOC and the minimum SOC based on the scheduling instruction, specifically, the scheduling instruction in this embodiment is an idle load instruction or a light load instruction, at this time, a reverse current instruction may be sent to the driving module 2 corresponding to the minimum SOC, so that the corresponding driving module 2 may output a current opposite to the moving direction to the corresponding motor 1, thereby increasing the resistance of the AGV, and further accelerating the consumption of the electric quantity of the power module 4 corresponding to the maximum SOC, at this time, the electric quantity of the power module 4 corresponding to the minimum SOC may be recharged, so as to accelerate the reduction of the difference between the maximum SOC and the minimum SOC, and thus improve the working efficiency of the AGV.

For example, if the maximum SOC is 80% and the minimum SOC is 20%, and the AGV is in an idle load or light load state, a reverse current command is sent to the driving module 2 corresponding to the minimum SOC, and the driving module 2 applies a current opposite to the moving direction to the motor 1, where the current value may be 30% of the rated current or other reasonable proportion value. The reasonable proportion value is a reasonable proportion value which is that the reverse current can not influence the dragging of the wheels corresponding to the driving module 2 corresponding to the minimum SOC by the driving modules 2 of other SOCs and can not influence the movement of the whole vehicle. At this time, since the reverse current does not affect the corresponding motor 1 to be dragged, the minimum SOC does not actually output a current, but a recharging current is obtained by the rotation of the motor 1 so that the electric quantity of the power module 4 corresponding to the minimum SOC is gradually increased, and meanwhile, since the driving module 2 corresponding to the minimum SOC becomes a power generation damping module, the power consumption rates of the power module 4 corresponding to the maximum SOC and the other power modules 4 are increased.

It can be seen that the difference between the maximum SOC and the minimum SOC is shortened and the AGV service time is prolonged by accelerating the consumption of the electric quantity of the power module 4 corresponding to the SOC greater than the minimum SOC and recharging the energy of the power module 4 corresponding to the minimum SOC.

As a preferred embodiment, the control module 3 is further configured to control the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC and/or the minimum SOC to resume the normal operating mode when the difference between the maximum SOC and the minimum SOC is not greater than the difference threshold, where the normal operating mode is an operating mode in which the operating modes of the N driving modules 2 are all the same.

Considering that a first adjustment instruction is sent to the driving module 2 corresponding to the power module 4 corresponding to the maximum SOC through the control module 3 to increase the power consumption of the driving module 2 corresponding to the maximum SOC; and/or after sending a second adjustment instruction to the driving module 2 corresponding to the power module 4 corresponding to the minimum SOC based on the scheduling instruction to reduce the power consumption of the driving module 2 corresponding to the minimum SOC, the difference between the maximum SOC and the minimum SOC may be reduced, and if the difference is reduced to a difference threshold, the control module 3 controls the driving module 2 corresponding to the maximum SOC and/or the driving module 2 corresponding to the minimum SOC to resume the normal working mode, where the normal working mode is the working mode in which the working modes of all the driving modules 2 are the same, that is, the driving parameters, the running modes, or the control commands of all the driving modules 2 are the same, so that the AGV resumes normal operation, and the running reliability of the AGV is ensured.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AGV system, comprising:

n motors, wherein N is not less than 1;

the M power supply modules are used for respectively supplying power to the N driving modules, wherein M is larger than 1 and is not larger than N;

further comprising:

the control module is further used for judging whether a power supply module with the SOC smaller than a preset SOC exists or not, and if yes, sending a charging control instruction to the N driving modules respectively to drive the AGV to move to a charging position;

the control module is further used for judging whether the difference value between the maximum SOC and the minimum SOC in the M SOCs is larger than a difference value threshold value or not based on the M SOCs;

2. The AGV system of claim 1, wherein the difference between the maximum SOC and the minimum SOC is greater than a difference threshold;

3. The AGV system of claim 1, wherein the difference between the maximum SOC and the minimum SOC is greater than a difference threshold;

4. The AGV system of claim 1, further comprising:

5. The AGV system of claim 4, wherein said scheduling instructions include straight-line travel instructions;

6. The AGV system of claim 4, wherein said scheduling instructions comprise a light load instruction or an empty load instruction;

and the driving module corresponding to the power module corresponding to the minimum SOC is specifically used for outputting current to the corresponding motor based on the stop current output instruction.

7. The AGV system of claim 4, wherein said scheduling instructions comprise a light load instruction or an empty load instruction;

and the driving module corresponding to the power module corresponding to the minimum SOC is specifically used for outputting reverse current to the corresponding motor based on the reverse current instruction.

8. The AGV system according to any one of claims 3 to 7, wherein said control module is further configured to control the driving module corresponding to the power module corresponding to the maximum SOC and/or the minimum SOC to resume a normal operation mode when the difference between the maximum SOC and the minimum SOC is not greater than the difference threshold, wherein the normal operation mode is an operation mode in which N driving modules have the same operation mode.