CN113119790B

CN113119790B - Battery replacement method and device for automatic guided vehicle and storage medium

Info

Publication number: CN113119790B
Application number: CN201911416696.5A
Authority: CN
Inventors: 王树森
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2023-04-28
Anticipated expiration: 2039-12-31
Also published as: WO2021136530A1; CN113119790A

Abstract

The application discloses a battery replacement method, device and storage medium of an automatic guided vehicle, and belongs to the technical field of automatic equipment. The method comprises the following steps: receiving a battery replacement instruction from a control platform, wherein the battery replacement instruction comprises an identification of a target full-charge battery and position information of a target position, and the target position is a position used for replacing the battery in a battery replacement station; moving to the target position based on the position information of the target position; and sending a battery replacement request to the battery replacement station at the target position, wherein the battery replacement request comprises the identification of the target full battery, and the battery replacement request is used for indicating the battery replacement station to replace the battery lack of the target automatic guiding transport vehicle with the target full battery. That is, the automatic guiding transport vehicle can automatically move to the target position after receiving the battery replacement instruction and trigger the battery replacement station to replace the battery, so that the whole-course automation is realized, the manual participation is not needed, and the battery replacement efficiency is improved.

Description

Battery replacement method and device for automatic guided vehicle and storage medium

Technical Field

The present disclosure relates to the field of automation devices, and in particular, to a method and an apparatus for replacing a battery of an automatic guided vehicle, and a storage medium.

Background

An automated guided vehicle, also called AGV (Automated Guided Vehicle) trolley, is equipped with an electromagnetic or optical automated guide device, can travel along a predetermined guide path, has safety protection and various moving and carrying functions, and is generally used in intelligent warehouse systems in the logistics industry. When the automatic guiding transport vehicle runs in the intelligent storage system, a battery is needed, and when the electric quantity of the battery is insufficient, the battery needs to be charged, but the working strength and the working time of the automatic guiding transport vehicle are long, the required battery capacity is large, the required charging time is long, and the working efficiency of the automatic guiding transport vehicle is affected. Therefore, in the related art, a battery replacement method is proposed to solve the problem of insufficient battery capacity of the automatic guided vehicle, but manual battery replacement is time-consuming and labor-consuming, and the battery replacement efficiency is low.

Disclosure of Invention

The application provides a battery replacement method, device and storage medium of an automatic guided vehicle, which can solve the problems that the manual battery replacement in the related technology is time-consuming and labor-consuming and the battery replacement efficiency is low. The technical scheme is as follows:

in one aspect, a battery replacement method for an automatic guided vehicle is provided, and the method is applied to a target automatic guided vehicle, and includes:

Receiving a battery replacement instruction from a control platform, wherein the battery replacement instruction comprises an identification of a target full-charge battery and position information of a target position, and the target position is a position used for replacing the battery in a battery replacement station;

moving to the target position based on the position information of the target position;

and sending a battery replacement request to the battery replacement station at the target position, wherein the battery replacement request comprises an identification of the target full battery, and the battery replacement request is used for indicating the battery replacement station to replace the battery lack of the target automatic guiding transport vehicle with the target full battery.

In one possible implementation manner of the present application, before receiving the battery replacement instruction from the control platform, the method further includes:

receiving a scheduling instruction of the control platform;

moving to a designated position outside the power exchange station according to the scheduling instruction;

the receiving the battery replacement instruction from the control platform comprises the following steps:

and at the designated position, receiving a battery replacement instruction from the control platform, wherein the battery replacement instruction is sent by the control platform after the target automatic guided vehicle is determined to move to the designated position.

In one possible implementation manner of the present application, the target automated guided vehicle is configured with a camera device, and the moving to the target location based on the location information of the target location includes:

moving in the direction of the target position based on the position information of the target position;

in the moving process, the ground is scanned through the camera device, so that a scanned image is obtained;

when the scanned image includes a specified mark, correcting a moving direction according to the scanned image, wherein the specified mark is used for guiding the target automatic guiding transport vehicle to move from the specified position to the target position.

In one possible implementation manner of the present application, the method further includes:

determining a distance from the designated position to the target position, and determining to move to the target position if the product of the number of wheel revolutions and the wheel rotational distance is equal to the distance, wherein the wheel rotational distance is a distance moved by one wheel rotation; or alternatively, the process may be performed,

counting the number of scanned specified identifiers, and if the counted number of the identifiers is equal to the total number of the specified identifiers, determining to move to the target position; or alternatively, the process may be performed,

And when the specified mark is a two-dimensional code, identifying the scanned two-dimensional code, and if the position information is identified, determining to move to the target position.

In one possible implementation manner of the present application, before the sending, at the target location, a battery replacement request to the battery replacement station, the method further includes:

a first registration request is sent to the power exchange station, and the first registration request is used for establishing communication connection between the target automatic guiding transport vehicle and the power exchange station;

the sending a battery change request to the battery change station at the target location includes:

if a first registration response message from the battery exchange station is received, a battery exchange request is sent to the battery exchange station at the target position;

the moving to the target position based on the position information of the target position further includes:

and sending a first notification message to the control platform, wherein the first notification message is used for indicating that the target automatic guided vehicle is changing a battery.

In one possible implementation manner of the present application, after the sending, at the target location, a battery replacement request to the battery replacement station, the method further includes:

If the installation of the target full-charge battery is detected to be completed, detecting whether the installation of the target full-charge battery is abnormal;

if the installation of the target full-charge battery is not abnormal, an installation normal message is sent to the power exchange station;

and if the first task completion message fed back by the power exchange station based on the installation normal message is received, sending a second task completion message to the control platform.

In another aspect, a battery replacement method of an automatic guided vehicle is provided, and the method is applied to a control platform, and includes:

generating a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises a mark of a target full-charge battery and position information of a target position, and the target position is a position used for replacing the battery in a battery replacement station;

and sending the battery replacement instruction to the target automatic guiding transport vehicle, wherein the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to the target position and triggering the battery replacement station to replace the battery with the target full-charge battery.

In one possible implementation manner of the present application, before the generating the battery replacement instruction of the target automatic guiding transport vehicle, the method further includes:

Determining the target automatic guiding transport vehicle with a replacement battery according to first data reported by at least one automatic guiding transport vehicle in real time, wherein the first data of each automatic guiding transport vehicle at least comprises the current battery electric quantity of the automatic guiding transport vehicle;

receiving second data reported by at least one power exchange station, wherein the second data of each power exchange station at least comprises the identification of a full battery in the power exchange station;

selecting one of said at least one power exchange station;

the generating a battery replacement instruction of the target automatic guiding transport vehicle comprises the following steps:

and generating a battery replacement instruction of the target automatic guiding transport vehicle according to the identification of the target full-charge battery in the selected battery replacement station and the position information of the target position.

In one possible implementation manner of the present application, before the sending the battery replacement instruction to the target automated guided vehicle, the method further includes:

sending a scheduling instruction to the target automatic guiding transport vehicle, wherein the scheduling instruction is used for scheduling the target automatic guiding transport vehicle to move to a designated position outside the power exchange station;

the sending the battery replacement instruction to the target automatic guidance transport vehicle comprises the following steps:

And stopping the scheduling operation if the target automatic guided vehicle is determined to move to the designated position, and sending the battery replacement instruction to the target automatic guided vehicle.

In one possible implementation manner of the present application, after stopping the scheduling operation, the method further includes:

sending a door opening request to the power exchange station;

polling the door opening state of the power exchange station;

correspondingly, the sending the battery replacement instruction to the target automatic guidance transport vehicle comprises the following steps:

and when the door of the battery replacement station is in a completely opened state, sending the battery replacement instruction to the target automatic guiding transport vehicle.

In one possible implementation manner of the present application, after the sending the battery replacement instruction to the target automated guided vehicle, the method further includes:

and if the target automatic guided vehicle is determined to successfully enter the power exchange station, sending a door closing request to the power exchange station.

receiving a second task completion message and receiving a third task completion message;

sending a door opening request to a power exchange station which sends the third task completion message;

Polling the door opening state of the power exchange station;

and if the door of the power exchange station is in a completely opened state, the target automatic guide transport vehicle which sends the second task completion message is scheduled to leave the power exchange station.

In another aspect, a battery replacement method for an automatic guided vehicle is provided, and the method is applied to a battery replacement station, and includes:

receiving a battery replacement request from a target automatic guided vehicle, wherein the battery replacement request comprises an identification of a target full battery;

and replacing the battery which is lack of electricity of the target automatic guiding transport vehicle with the battery which is full of electricity of the target according to the battery replacement request.

In one possible implementation manner of the present application, before receiving the battery replacement request from the target automated guided vehicle, the method further includes:

receiving a first registration request from the target automated guided vehicle, the first registration request being for establishing a communication connection with the battery exchange station;

sending a first registration response message to the target automated guided vehicle;

the receiving a battery replacement request from a target automated guided vehicle comprises:

after a first registration response message is sent to the target automated guided vehicle, a battery change request from the target automated guided vehicle is received.

In one possible implementation manner of the present application, according to the battery replacement request, replacing the battery that is lack of power of the target automatic guided vehicle with the battery that is full of power of the target, further includes:

according to the identification of the target full battery included in the battery replacement request, the battery is replaced for the target automatic guiding transport vehicle;

and sending a second notification message to the control platform, wherein the second notification message is used for indicating that the battery is being replaced by the battery replacement station.

In one possible implementation manner of the present application, after the battery replacement for the target automatic guided vehicle according to the target full battery identifier included in the battery replacement request, the method further includes:

if the installation normal message from the target automatic guiding transport vehicle is received, a first task completion message is sent to the target automatic guiding transport vehicle;

and sending a third task completion message to the control platform.

In another aspect, there is provided a battery replacement system for an automated guided vehicle, the battery replacement system comprising a target automated guided vehicle, a control platform, and a battery replacement station, the method comprising:

the control platform generates a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises a mark of a target full-charge battery and position information of a target position, and the target position is a position for replacing the battery in the battery replacement station;

The control platform sends a scheduling instruction to the target automatic guiding transport vehicle, wherein the scheduling instruction is used for scheduling the target automatic guiding transport vehicle to move to a designated position outside the power exchange station;

the target automatic guiding transport vehicle receives a scheduling instruction of the control platform and moves to a designated position outside the power exchange station according to the scheduling instruction;

if the control platform determines that the target automatic guiding transport vehicle moves to the appointed position, sending the battery replacement instruction to the target automatic guiding transport vehicle, wherein the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to the target position and triggering the battery replacement station to replace a battery with the target full-charge battery;

the target automatic guiding transport vehicle receives a battery replacement instruction from the control platform and moves to the target position based on the position information of the target position;

the target automatic guiding transport vehicle sends a battery replacement request to the battery replacement station at the target position, wherein the battery replacement request comprises an identifier of the target full battery, and the battery replacement request is used for indicating the battery replacement station to replace the battery lack of the target automatic guiding transport vehicle with the target full battery;

And the battery replacement station receives a battery replacement request from the target automatic guiding transport vehicle, and replaces the battery which is lack of power of the target automatic guiding transport vehicle with the battery which is full of power of the target according to the battery replacement request.

In another aspect, there is provided a battery replacement apparatus for an automated guided vehicle, for use in a target automated guided vehicle, the apparatus comprising:

the first receiving module is used for receiving a battery replacement instruction from the control platform, wherein the battery replacement instruction comprises an identification of a target full-charge battery and position information of a target position, and the target position is a position used for replacing the battery in the battery replacement station;

a moving module for moving to the target position based on the position information of the target position;

the first sending module is used for sending a battery replacement request to the battery replacement station at the target position, the battery replacement request comprises the identification of the target full battery, and the battery replacement request is used for indicating the battery replacement station to replace the battery lack of the target automatic guiding transport vehicle with the target full battery.

In one possible implementation manner of the present application, the first receiving module is further configured to:

Receiving a scheduling instruction of the control platform;

In one possible implementation manner of the present application, the target automatic guidance transporter is configured with a camera device, and the mobile module is configured to:

In one possible implementation manner of the present application, the mobile module is further configured to:

In one possible implementation manner of the present application, the first sending module is further configured to:

In another aspect, a battery replacement device for an automated guided vehicle is provided, and the device is applied to a control platform, and includes:

the generation module is used for generating a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises a mark of a target full-charge battery and position information of a target position, and the target position is a position used for replacing the battery in the battery replacement station;

the second sending module is used for sending the battery replacement instruction to the target automatic guiding transport vehicle, and the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to the target position and triggering the battery replacement station to replace the battery with the target full battery.

In one possible implementation manner of the present application, the generating module is further configured to:

determining the target automatic guiding transport vehicle of the battery to be replaced according to first data reported by at least one automatic guiding transport vehicle in real time, wherein the first data of each automatic guiding transport vehicle at least comprises the current battery electric quantity of the automatic guiding transport vehicle;

selecting one of said at least one power exchange station;

In one possible implementation manner of the present application, the second sending module is further configured to:

sending a door opening request to the power exchange station;

polling the door opening state of the power exchange station;

and if the door of the battery replacement station is in a completely opened state, sending the battery replacement instruction to the target automatic guiding transport vehicle.

polling the door opening state of the power exchange station;

In another aspect, a battery replacement method for an automatic guided vehicle is provided, which is characterized in that the device is applied to a battery replacement station, and includes:

the second receiving module is used for receiving a battery replacement request from the target automatic guiding transport vehicle, wherein the battery replacement request comprises the identification of the full-charge battery of the target;

and the battery replacement module is used for replacing the battery which is lack of electricity of the target automatic guiding transport vehicle with the target full-charge battery according to the battery replacement request.

In one possible implementation manner of the present application, the second receiving module is further configured to:

In one possible implementation of the present application, the replacement battery module is further configured to:

and sending a third task completion message to the control platform.

In another aspect, there is provided an apparatus including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus, the memory is configured to store a computer program, and the processor is configured to execute the program stored on the memory, so as to implement the steps of the battery replacement method of the automated guided vehicle described above.

In another aspect, a computer readable storage medium is provided, in which a computer program is stored, which when executed by a processor, implements the steps of the battery replacement method of an automated guided vehicle described above.

In another aspect, a computer program product is provided containing instructions that, when executed on a computer, cause the computer to perform the steps of the battery replacement method of an automated guided vehicle described above.

The technical scheme that this application provided can bring following beneficial effect at least:

and receiving a battery replacement instruction from the control platform, wherein the battery replacement instruction comprises an identification of a target full battery and position information of a target position, and the target position refers to a position for replacing the battery inside the battery replacement station. The automated guided vehicle then moves to the target location based on the location information of the target location. A battery replacement request including an identification of a target full battery is sent to a battery replacement station at a target location, instructing the battery replacement station to replace a battery that is out of charge of the automated guided vehicle with the target full battery. That is, the automatic guiding transport vehicle can automatically move to the target position after receiving the battery replacement instruction and trigger the battery replacement station to replace the battery, so that the whole-course automation is realized, the manual participation is not needed, and the battery replacement efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an implementation environment, shown in accordance with an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of battery replacement for an automated guided vehicle according to an exemplary embodiment;

FIG. 3 is a flow chart illustrating a method of battery replacement for an automated guided vehicle according to another exemplary embodiment;

FIG. 4 is a flow chart illustrating a method of battery replacement for an automated guided vehicle according to another exemplary embodiment;

FIG. 5 is a flow chart illustrating a method of battery replacement for an automated guided vehicle according to another exemplary embodiment;

FIG. 6 is a schematic diagram illustrating an automated guided transport vehicle moving to a designated location according to an exemplary embodiment;

FIG. 7 is a schematic diagram illustrating movement of an automated guided vehicle from a designated location to a target location according to an exemplary embodiment;

FIG. 8 is a schematic diagram illustrating a battery replacement method for an automated guided vehicle according to another exemplary embodiment;

fig. 9 is a schematic structural view showing a battery replacing apparatus of an automated guided vehicle according to an exemplary embodiment;

fig. 10 is a schematic structural view of a battery exchanging apparatus of an automated guided vehicle according to another exemplary embodiment;

fig. 11 is a schematic structural view showing a battery replacing apparatus of an automated guided vehicle according to another exemplary embodiment;

fig. 12 is a schematic diagram illustrating a structure of an apparatus according to an exemplary embodiment.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the battery replacement method of the automatic guided vehicle in detail, the implementation environment provided in the embodiment of the present application is described.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating an implementation environment according to an exemplary embodiment. The implementation environment includes a battery replacement system that includes a control platform 101, at least one automated guided vehicle 102, and at least one battery exchange station 103. The control platform 101 can be connected in communication with at least one automated guided vehicle 102, at least one power exchange station 103, respectively. The communication connection is typically a wireless connection.

The control platform 101 is configured to receive first data reported in real time by at least one automated guided vehicle 102, and receive second data reported in real time by at least one power exchange station 103, generate a battery exchange instruction according to the received first data and second data, and control the automated guided vehicle to move. The control platform 101 may include an RCS (Robot Control System ) and a web server. The RCS is responsible for sending a battery replacement instruction to the automatic guided vehicle and scheduling the automatic guided vehicle to move, and the web server is used for generating the battery replacement instruction and controlling the opening and closing of the door of the battery replacement station.

After the at least one automated guided vehicle 102 establishes communication connection with the control platform 101, first data such as a current battery level, current location information, a current running state, etc. may be reported to the control platform 101 in real time.

Wherein each of the at least one battery exchange station 103 comprises a charger and a plurality of batteries for automatically guiding the transport vehicle to change batteries for a target requiring battery change. After the at least one power exchange station 103 establishes a communication connection with the control platform 101, second data such as the identification of the full battery may be reported to the control platform 101, or second data such as the identification of all batteries and the battery power of all batteries may be reported to the control platform 101.

Those skilled in the art will appreciate that the above-described control platform 101, at least one automated guided vehicle 102, and at least one power plant 103 are by way of example only, and that other existing or future possible control platforms, automated guided vehicles, or power plants are intended to be within the scope of the present application as applicable and are incorporated herein by reference.

After the implementation environment of the embodiment of the present application is introduced, a detailed explanation of the battery replacement method of the automatic guided vehicle provided in the embodiment of the present application is next provided.

Fig. 2 is a flowchart illustrating a battery replacement method of an automated guided vehicle according to an exemplary embodiment, which is applied to a target automated guided vehicle, which is an automated guided vehicle requiring battery replacement among at least one automated guided vehicle. Referring to fig. 2, the method may include the following steps.

Step 201: and receiving a battery replacement instruction from the control platform, wherein the battery replacement instruction comprises an identification of a target full-charge battery and position information of a target position, and the target position refers to a position for replacing the battery in the battery replacement station.

In one possible implementation manner of the present application, after the target automated guided vehicle receives the scheduling instruction of the control platform, the target automated guided vehicle moves to a designated location outside the power exchange station according to the scheduling instruction. And at the designated position, receiving a battery replacement instruction from the control platform, and sending the battery replacement instruction by the control platform after determining that the target automatic guided vehicle moves to the designated position.

Step 202: and moving to the target position based on the position information of the target position.

In one possible implementation manner of the present application, the target automated guided vehicle is configured with a camera device, and moving to the target location based on the location information of the target location includes: based on the position information of the target position, the movement is performed in the direction of the target position. In the moving process, the ground is scanned through the camera device to obtain a scanned image, and when the scanned image comprises a specified mark, the moving direction is corrected according to the scanned image, and the specified mark is used for guiding the target automatic guiding transport vehicle to move from a specified position to a target position.

In one possible implementation of the present application, the distance from the designated position to the target position is determined, and if the product of the number of wheel revolutions and the wheel rotation distance is equal to the distance, the movement to the target position is determined, and the wheel rotation distance refers to the distance moved by one wheel rotation. Or counting the number of the scanned specified identifiers, and if the counted number of the identifiers is equal to the total number of the specified identifiers, determining to move to the target position. Or when the designated identifier is a two-dimensional code, the scanned two-dimensional code is identified, and if the position information is identified, the moving to the target position is determined.

In one possible implementation of the present application, after moving to the target location, a first notification message may also be sent to the control platform, where the first notification message is used to indicate that the target automated guided vehicle is changing batteries.

Step 203: and sending a battery replacement request to the battery replacement station at the target position, wherein the battery replacement request comprises the identification of the target full battery, and the battery replacement request is used for indicating the battery replacement station to replace the battery lack of the target automatic guiding transport vehicle with the target full battery.

In one possible implementation of the present application, the target automated guided vehicle may send a first registration request to the battery exchange station before sending the battery exchange request to the battery exchange station at the target location, the first registration request being used to establish a communication connection between the target automated guided vehicle and the battery exchange station. If a first registration response message is received from the battery exchange station, a battery exchange request is sent to the battery exchange station at the target location.

In one possible implementation manner of the present application, after a battery replacement request is sent to a battery replacement station at a target position, if it is detected that the installation of the target full battery is completed, whether the installation of the target full battery is abnormal is detected. If the installation of the target full battery is not abnormal, an installation normal message is sent to the power exchange station. And if the first task completion message fed back by the power exchange station based on the installation normal message is received, sending a second task completion message to the control platform.

In the embodiment of the application, a battery replacement instruction from a control platform is received, wherein the battery replacement instruction comprises an identification of a target full battery and position information of a target position, and the target position refers to a position for replacing the battery inside a battery replacement station. The automated guided vehicle then moves to the target location based on the location information of the target location. A battery replacement request including an identification of a target full battery is sent to a battery replacement station at a target location, instructing the battery replacement station to replace a battery that is out of charge of the automated guided vehicle with the target full battery. That is, the automatic guiding transport vehicle can automatically move to the target position after receiving the battery replacement instruction and trigger the battery replacement station to replace the battery, so that the whole-course automation is realized, the manual participation is not needed, and the battery replacement efficiency is improved.

Fig. 3 is a flowchart illustrating a battery replacement method of an automated guided vehicle according to an exemplary embodiment, which is applied to the control platform shown in fig. 1. Referring to fig. 3, the method may include the following steps.

Step 301: and generating a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises the identification of the target full battery and the position information of a target position, and the target position refers to the position for replacing the battery inside the battery replacement station.

In one possible implementation manner of the present application, before generating the battery replacement instruction, the control platform may determine, according to the first data reported in real time by at least one automatic guiding transporter, a target automatic guiding transporter for a battery to be replaced, where the first data of each automatic guiding transporter includes at least a current battery power of the automatic guiding transporter. And receiving second data reported by at least one power exchange station, wherein the second data of each power exchange station at least comprises the identification of full batteries in the power exchange station. And selecting one battery exchange station from at least one battery exchange station, and generating a battery exchange instruction of the target automatic guiding transport vehicle according to the identification of the target full battery in the selected battery exchange station and the position information of the target position.

Step 302: and sending a battery replacement instruction to the target automatic guiding transport vehicle, wherein the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to a target position and triggering a battery replacement station to replace the battery with the target full battery.

In one possible implementation of the present application, before sending the battery replacement instruction to the target automated guided vehicle, the control platform may send a scheduling instruction to the target automated guided vehicle, where the scheduling instruction is used to schedule the target automated guided vehicle to move to a specified location outside the battery replacement station. And if the target automatic guiding transport vehicle is determined to move to the designated position, stopping the dispatching operation, and sending a battery replacement instruction to the target automatic guiding transport vehicle.

In one possible implementation manner of the present application, after stopping the scheduling operation, the control platform may send a door opening request to the power exchange station; and polling the door opening state of the power exchange station. And if the door of the power exchange station is in a completely opened state, sending a battery exchange instruction to the target automatic guiding transport vehicle.

In one possible implementation manner of the present application, after sending a battery replacement instruction to the target automated guided vehicle, if it is determined that the target automated guided vehicle successfully enters the battery replacement station, a door closing request is sent to the battery replacement station.

In one possible implementation manner of the present application, after sending a battery replacement instruction to the target automated guided vehicle, receiving a second task completion message, and receiving a third task completion message; sending a door opening request to a power exchange station which sends a third task completion message; polling the door opening state of the power exchange station; and if the door of the power exchange station is in a completely opened state, the target automatic guide transport vehicle for sending the second task completion message is scheduled to leave the power exchange station.

In the embodiment of the application, the control platform generates a battery replacement instruction of the target automatic guiding transport vehicle, the battery replacement instruction comprises an identification of a full-battery of the target and position information of a target position, the target position is a position for replacing the battery inside the battery replacement station, and then the battery replacement instruction is sent to the target automatic guiding transport vehicle and used for indicating the target automatic guiding transport vehicle to move to the target position and triggering the battery replacement station to replace the full-battery of the lack-battery. That is, after the control platform generates the battery replacement instruction, the battery replacement instruction is only required to be sent to the target automatic guiding transport vehicle, and then the target automatic guiding transport vehicle automatically moves to the target position and triggers the battery replacement station to replace the battery, so that the whole-course automation of battery replacement of the target automatic guiding transport vehicle is realized, and the battery replacement efficiency is improved.

Fig. 4 is a flow chart illustrating a method of battery replacement for an automated guided vehicle according to an exemplary embodiment, the method being applied in a power exchange station that replaces a battery for a targeted automated guided vehicle in at least one power exchange station. Referring to fig. 4, the method may include the following steps.

Step 401: a battery change request is received from a target automated guided vehicle, the battery change request including an identification of a target full battery.

In one possible implementation of the present application, the battery exchange station may receive a first registration request from the target automated guided vehicle prior to receiving the battery exchange request from the target automated guided vehicle, the first registration request being for establishing a communication connection with the battery exchange station. And sending a first registration response message to the target automatic guided vehicle, and receiving a battery replacement request from the target automatic guided vehicle after sending the first registration response message to the target automatic guided vehicle.

Step 402: and according to the battery replacement request, replacing the battery which is lack of electricity of the target automatic guiding transport vehicle with the battery which is full of electricity of the target.

In one possible implementation manner of the present application, according to the identification of the target full battery included in the battery replacement request, the battery replacement for the target automatic guidance transport vehicle is performed, and a second notification message is sent to the control platform, where the second notification message is used to indicate that the battery replacement station is replacing the battery.

In one possible implementation manner of the present application, after the battery is replaced for the target automatic guided vehicle, if an installation normal message from the target automatic guided vehicle is received, a first task completion message is sent to the target automatic guided vehicle, and a third task completion message is sent to the control platform.

In the embodiment of the application, the battery replacement station receives a battery replacement request from the target automatic guiding transport vehicle, wherein the battery replacement request comprises the identification of the target full battery, and then the battery lack of the target automatic guiding transport vehicle is replaced by the target full battery according to the battery replacement request. That is, the battery replacement station can automatically replace the battery for the target automatic guiding transport vehicle as long as the battery replacement request of the target automatic guiding transport vehicle is received, and the whole process automation of the battery replacement of the target automatic guiding transport vehicle is realized without a control platform and manual participation, so that the battery replacement efficiency is improved.

Fig. 5 is a flowchart illustrating a battery replacement method of an automated guided vehicle according to an exemplary embodiment, which is applied to the implementation environment shown in fig. 1. Referring to fig. 5, the method may include the following steps.

Step 501: the control platform generates a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises the identification of the target full-charge battery and the position information of a target position, and the target position refers to the position inside the battery replacement station for replacing the battery.

Wherein the identity of the target full battery may be used to uniquely indicate one full battery.

As an example, a battery bay may place a battery, and the identification of the target full battery may also be a bay number of the target full battery, so that the battery exchange station may take out the target full battery from the bay of the target full battery according to the bay number of the target full battery.

In an implementation, before the control platform generates the battery replacement instruction, the target automatic guided vehicle for battery replacement may be determined according to the first data reported by the at least one automatic guided vehicle in real time.

The first data of each automatic guiding transport vehicle at least comprises the current battery power of the automatic guiding transport vehicle, and the current battery power is used for determining whether the automatic guiding transport vehicle needs to replace a battery, namely whether the current battery is a power shortage battery. The target automatic guided vehicle is an automatic guided vehicle of which the battery needs to be replaced in at least one automatic guided vehicle.

As an example, after the automated guided vehicle completes the initialization start, a second registration request may be sent to the control platform, where the second registration request includes at least an identifier of the automated guided vehicle, and then a second registration response message sent by the control platform is received, and a communication connection with the control platform is established. The automatic guiding transport vehicle can report first data to the battery replacement station in real time, and the first data at least can comprise the current battery electric quantity of the automatic guiding transport vehicle, so that the control platform can know in time when the battery electric quantity is insufficient, and the battery replacement station can be rapidly distributed to replace batteries for the automatic guiding transport vehicle needing battery replacement.

In some embodiments, when determining that the battery needs to be replaced, a battery power threshold may be preset, and the target automatic guided vehicle for replacing the battery is determined according to a size relationship between the current battery power and the battery power threshold.

It should be noted that, the battery power threshold may be set by a user, or may be set by a control platform by default, and may be modified according to actual situations, which is not limited in this embodiment of the present application.

In one possible implementation, when the control platform receives first data of an automatic guiding transport vehicle, the current battery power in the first data may be compared with a battery power threshold, and if the current battery power is smaller than the battery power threshold, the automatic guiding transport vehicle may be determined to be the target automatic guiding transport vehicle. When the current battery level is greater than or equal to the battery level threshold, it may be determined that there is currently no automated guided vehicle that requires battery replacement.

In another possible implementation manner, when the control platform receives first data of a plurality of automatic guided vehicles, current battery electric quantity in the first data can be compared with a battery electric quantity threshold respectively, when current battery electric quantity smaller than the battery electric quantity threshold exists in the current battery electric quantities, first data corresponding to the current battery electric quantity smaller than the battery electric quantity threshold can be determined to be target first data, and when the number of the target first data is one, the automatic guided vehicle corresponding to the target first data is determined to be the target automatic guided vehicle. When the number of the target first data is multiple, determining the first data with the smallest current battery power in the target first data, and determining the automatic guiding transport vehicle corresponding to the first data with the smallest current battery power as the target automatic guiding transport vehicle. In addition, when the target automated guided vehicle finishes changing batteries, the control platform may continue to determine the next target automated guided vehicle in the manner described above.

Of course, in other embodiments, the battery power threshold may not be set when the vehicle is automatically guided by the destination that determines the need to replace the battery. When the control platform receives the first data of the plurality of automatic guided vehicles, the first data with the smallest current battery power in the plurality of first data can be determined, and the automatic guided vehicle corresponding to the first data with the smallest current battery power is determined as the target automatic guided vehicle.

Further, the first data may also include identification and status information of the automated guided vehicle.

The identification of the automatic guiding transport vehicle can be used for only indicating one automatic guiding transport vehicle, and the state information of the automatic guiding transport vehicle is used for indicating the current running state of the automatic guiding transport vehicle and can comprise, but is not limited to, idle, task execution, battery replacement completion and abnormality.

As an example, in determining a target automated guided vehicle for a battery to be replaced, the determination may be based on a current battery level and a current operating state. For example, the automatic guided vehicle in which the current operation state is idle may be determined among the at least one automatic guided vehicles according to the current operation state, and then the target automatic guided vehicle may be determined from among the automatic guided vehicles in which the current operation state is idle according to the battery level.

In an implementation, before the control platform generates the battery replacement instruction, the control platform may further receive second data reported by at least one battery replacement station, and select one battery replacement station from the at least one battery replacement station. Wherein the second data of each of the stations comprises at least an identification of full cells within the station.

The full-power battery is a battery which can be used for automatically guiding the transport vehicle to replace the battery for the target in each power exchange station.

In some embodiments, after the power exchange station completes the initialization start, a third registration request may be sent to the control platform, where the third registration request includes at least an identifier of the power exchange station, and then a third registration response message sent by the control platform is received, and a communication connection with the control platform is established.

In one possible implementation, the power exchange station may report second data to the control platform, where the second data may include an identification of a full battery in the power exchange station, so that the control platform may learn about a situation in the power exchange station, and may determine a target full battery for replacing a battery that is missing from the target automated guided vehicle when the battery needs to be replaced for the target automated guided vehicle.

In another possible implementation manner, the power exchange stations may report second data to the control platform, and since some power exchange stations may not have full batteries and cannot send the identifications of the full batteries, the second data may include the identifications of all batteries in the power exchange station and the battery power of all batteries, so that the identification of the target full battery may be determined according to the battery power of all batteries and the identifications of all batteries in each power exchange station.

As an example, the second data of each of the stations may also comprise status information of the station and location information of the target location.

The status information of the battery exchange station is used for indicating the current operation status of the battery exchange station, and may include, but is not limited to, idle, battery exchange completion and abnormality.

As an example, a specific implementation of selecting one of the at least one power exchange station may be: the control platform may determine the station in the idle state from the at least one station based on the status information of each station in the second data. If the number of stations in the idle state is one, the station can be determined as a station for changing batteries for the target automated guided vehicle. If the number of the stations in the idle state is a plurality of stations, one station can be randomly determined from the stations in the idle state for replacing the battery for the target automatic guided vehicle; or, according to the battery electric quantity of all the batteries in the battery exchange station, the battery exchange station with the maximum total battery electric quantity can be determined as the battery exchange station for automatically guiding the transport vehicle to replace the batteries.

The specific implementation of selecting one power exchange station from at least one power exchange station is merely an example, and in implementation, one power exchange station may also be selected from at least one power exchange station by other methods, which is not limited in the embodiments of the present application.

Further, after one power exchange station is selected from at least one power exchange station, a battery exchange instruction of the target automatic guiding transport vehicle can be generated according to the identification of the target full-power battery in the selected power exchange station and the position information of the target position.

As an example, since the position information of the target position corresponds to the power exchange station in a one-to-one correspondence manner, after one power exchange station is selected, the position information of the target position may be determined according to the second data reported by the power exchange station, or the position information of the target position corresponding to the power exchange station may be stored in the control platform in advance.

In one possible implementation manner, if the second data includes an identifier of the full battery, the control platform may randomly select one full battery from the full batteries corresponding to the identifier of the full battery, and determine the identifier of the full battery as the identifier of the target full battery.

In another possible implementation manner, if the second data includes the identifiers of all the batteries and the battery power of all the batteries, the control platform may determine, according to the identifiers of all the batteries and the battery power of all the batteries in the selected power exchange station, the battery with the largest battery power, determine the battery with the largest battery power as the target full battery, and further determine the identifier of the target full battery.

In an implementation, after determining the identification of the target full battery and the location information of the target location, a battery replacement instruction may be generated for the target automated guided vehicle, where the battery replacement instruction includes the identification of the target full battery and the location information of the target location.

Further, the second data may also include battery charger information and energy status information. The battery charger information of the battery replacement station comprises the highest temperature, the lowest temperature, the total voltage, the input current, the output current, the cycle use times, the residual electric quantity, the current alarm information and whether each battery is being charged or not. The energy status information includes whether each of the legs of the charger is being charged, an output current of each of the legs, a voltage of each of the legs, and a temperature of each of the legs.

Step 502: the control platform sends a battery replacement instruction to the target automatic guiding transport vehicle, and the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to a target position and triggering the battery replacement station to replace the battery with the target full-charge battery.

As an example, the target automated guided vehicle needs to go to the power plant to replace the battery, but the current position of the target automated guided vehicle may be far from the power plant, and the target automated guided vehicle needs to move to a position close to the power plant, so the target automated guided vehicle needs to report the current position information to the control platform, and the control platform needs to determine the position information of the designated position outside the power plant. Thus, the control platform can control the target automatic guiding transport vehicle to move to the appointed position outside the power exchange station according to the current position information of the target automatic guiding transport vehicle and the position information of the appointed position outside the power exchange station.

The position information outside the power exchange station can be obtained in two ways. The first way is: the second data reported by the power exchange station may include location information of a designated location outside the power exchange station. The second way is: the position information of the battery exchange station may be stored in the control platform in advance, and the control platform may determine the position information of the designated position outside the battery exchange station according to the position information of the battery exchange station.

In an implementation, the control platform may send a scheduling instruction to the target automated guided vehicle, the target automated guided vehicle receives the scheduling instruction of the control platform, moves to a designated location outside the battery exchange station according to the scheduling instruction, and receives a battery exchange instruction from the control platform at the designated location, where the battery exchange instruction is sent by the control platform after determining that the target automated guided vehicle moves to the designated location.

That is, the target automatic guiding transport vehicle can report the current position information to the control platform in real time, and the control platform can dispatch the target automatic guiding transport vehicle to the appointed position outside the battery replacement station according to the current position information and the position information of the appointed position, and then send a battery replacement instruction to the target automatic guiding transport vehicle.

As an example, before the control platform sends the battery replacement instruction to the target automatic guiding transport vehicle, the target automatic guiding transport vehicle may be further scheduled to move to the designated position according to the current position information and the position information of the designated position reported by the target automatic guiding transport vehicle in real time. Correspondingly, the target automatic guiding transport vehicle receives a scheduling instruction sent by the control platform based on the current position information reported in real time, the scheduling instruction comprises scheduling position information, the scheduling position information is used for indicating a position point which needs to be reached by the target automatic guiding transport vehicle at the next moment, and the target automatic guiding transport vehicle can move to a designated position according to the scheduling instruction. In the moving process, the target automatic guiding transport vehicle can report the current position information to the control platform in real time, and the control platform can receive the current position information reported by the target automatic guiding transport vehicle in real time. If the control platform determines that the target automatic guiding transport vehicle moves to the appointed position outside the battery exchange station according to the current position information reported by the target automatic guiding transport vehicle in real time, stopping scheduling operation, sending a battery exchange instruction to the target automatic guiding transport vehicle, and receiving the battery exchange instruction sent by the control platform by the target automatic guiding transport vehicle.

For example, referring to fig. 6, assuming that the current position information of the target automatic guided vehicle indicates a position a, the designated position outside the power exchange station is E, the control platform first sends a scheduling instruction to the power exchange station as the position information of the point B, the target automatic guided vehicle is instructed to move to the point B, then the target automatic guided vehicle arrives at the point B, the current position information is sent to the control platform, the control platform continues to issue the scheduling instruction moving to the point C after receiving the current position information of the target automatic guided vehicle, after the target automatic guided vehicle arrives at the point C, continues to issue the scheduling instruction moving to the point D, when the target automatic guided vehicle arrives at the point E, the control platform reports the current position information to the control platform, the control platform determines that the current position information reported by the target automatic guided vehicle at the time is the position information of the designated position outside the power exchange station, and stops the scheduling operation, so that the target automatic guided vehicle temporarily stays at the current position, and then sends the battery exchange instruction to the target automatic guided vehicle.

It should be noted that, when the target automatic guiding transport vehicle arrives at the designated position outside the power exchange station, the control platform stops the scheduling operation of the target automatic guiding transport vehicle, if the control platform directly sends the battery exchange instruction to the target automatic guiding transport vehicle at this time, the automatic guiding transport vehicle will automatically move to the target position based on the battery exchange instruction, if the power exchange station has a door, the target automatic guiding transport vehicle needs to enter the power exchange station, and the door of the power exchange station needs to be opened first.

In some embodiments, after stopping the scheduling operation, the control platform may send a door opening request to the battery exchange station and poll the battery exchange station for a door opening status. And when the door of the power exchange station is in a completely opened state, sending a battery exchange instruction to the target automatic guiding transport vehicle.

As an example, the control platform may send a door opening request to the power exchange station, after the power exchange station receives the door opening request, perform a door opening operation, in the process of opening the door, the control platform continuously sends a request for inquiring the door opening state to the power exchange station, the power exchange station replies the current door opening state to the control platform according to the progress of opening the door until the door is completely opened, the power exchange station replies a message that the door is completely opened to the control platform, the control platform determines that the door of the current power exchange station is in the completely opened state according to the received message, and determines that the target automatic guided vehicle can enter, and at this time, a battery replacement instruction may be sent to the target automatic guided vehicle.

For example, assuming that the door of the power exchange station needs 3 seconds to be fully opened, the control platform sends a request for inquiring the door opening state to the power exchange station every second, the first received reply is that the door is opened 1/3, the second received reply is that the door is opened 2/3, the third received reply is that the door is fully opened, at this time, the control platform can determine that the door is in the fully opened state, and can send a battery replacement instruction to the target automatic guided vehicle.

Step 503: the target automatic guiding transport vehicle receives a battery replacement instruction from the control platform and moves to a target position based on the position information of the target position.

That is, after the target automatic guided vehicle receives the battery replacement instruction, the control platform is not required to send a scheduling instruction to schedule, and the target automatic guided vehicle can automatically move to the target position based on the position information of the target position. Therefore, interaction between the control platform and the target automatic guiding transport vehicle is reduced, and under the condition that the control platform is very busy and possibly delays the dispatch instruction, the burden of the control platform is lightened, and the target automatic guiding transport vehicle is not delayed to replace a battery. In addition, communication interaction between the control platform and the battery replacement station is reduced, so that the flow is simpler, and the battery replacement efficiency is improved.

In an implementation, the target automated guided vehicle may be configured with an imaging device, and moving to the target location based on the location information of the target location may include: based on the position information of the target position, the movement is performed in the direction of the target position. In the moving process, the ground is scanned through the camera device, and a scanned image is obtained. When the scanned image includes a specified mark for guiding the target automated guided vehicle to move from the specified position to the target position, the moving direction is corrected according to the scanned image.

When the scanned image does not include the specified mark, the forward movement is continued in accordance with the current movement direction, and when the scanned image includes the specified mark, the movement direction can be corrected in accordance with the scanned image.

The specific identifier may be an arrow, a graphic identifier code, a lane line, a character, etc., for example, the graphic identifier code may be a two-dimensional code, which is not limited in the embodiment of the present application.

As an example, referring to fig. 7, the ground may be provided with a plurality of designation marks uniformly spaced, and after the target automated guided vehicle moves a certain distance, the camera of the target automated guided vehicle may scan the designation mark of the current position, and when the designation mark is located in the middle of the scanned image, it may be determined that the current moving direction is correct. When the designated mark is positioned at the left position of the scanned image, the current moving direction can be determined to be slightly right, and the correction module of the target automatic guiding device can correct the moving direction to be left in time. When the designated mark is positioned at the position on the right side of the scanned image, the current moving direction can be determined to be slightly left, and the correction module of the target automatic guiding device can correct the moving direction to be right in time.

In practice, determining that the target automated guided vehicle is moving to the target location may include three implementations.

The first implementation mode: and determining a distance from the designated position to the target position, and determining to move to the target position if the product of the number of wheel revolutions and the wheel rotational distance is equal to the distance, wherein the wheel rotational distance is the distance moved by one wheel rotation.

That is, the target automated guided vehicle may determine a distance to move from the specified position to the target position based on the position information of the specified position and the position information of the target position, determine a moving distance of the target automated guided vehicle based on a product of the number of wheel revolutions and the wheel rotational distance, and determine that the target automated guided vehicle has moved to the target position if the moving distance of the target automated guided vehicle and the distance from the specified position to the target position are equal.

The second implementation mode: and counting the number of the scanned specified identifiers, and if the counted number of the identifiers is equal to the total number of the specified identifiers, determining to move to the target position.

As an example, the ground may be provided with a plurality of specified marks uniformly spaced, and the last specified mark is at the target position, the target automated guided vehicle may scan the ground during movement, and the number of scanned specified marks may be counted during movement, and when the counted number of marks is equal to the total number of specified marks, movement to the target position may be determined.

As another example, the ground may be provided with a plurality of specified marks spaced uniformly, and after the target automated guided vehicle moves a specific distance, the camera of the target automated guided vehicle may scan the specified marks of the current position, and the target automated guided vehicle may determine the moving distance according to the number of the scanned specified marks and the distance between each two specified marks, and further determine the current position information according to the moving distance and the position information of the specified position. When it is determined to move to the target position based on the current position information, a designation at the target position may be scanned, and if the designation is located at the middle of the scanned image, it may be determined that the target position has been reached. If the specified mark is not in the middle of the scanned image, the position of the target automatic guiding transport vehicle can be corrected according to the position of the specified mark in the scanned image until the specified mark in the scanned image shot at the target position is in the middle of the scanned image, and the position reaching the target position can be determined.

Third implementation: when the designated identifier is a two-dimensional code, the scanned two-dimensional code is identified, and if the position information is identified, the scanned two-dimensional code is determined to move to the target position.

As an example, the imaging device configured by the target automated guided vehicle may be a code scanning camera, and the specified identifier may be a two-dimensional code. The ground may be provided with a plurality of two-dimensional codes at uniform intervals, and the two-dimensional codes at the target positions may contain position information. In the process that the target automatic guide transport vehicle moves to the target position, the two-dimensional code can be scanned through the camera device, and if the scanned two-dimensional code contains position information, the position where the target position is reached can be determined.

In addition to the above several implementations, the specific implementation of the target automated guided vehicle moving to the target location based on the location information of the target location may be: the ground can be provided with a plurality of two-dimensional codes with uniform intervals, and the two-dimensional codes can contain position information. In the process of moving the target automatic guided vehicle to the target position, the current position information of the target automatic guided vehicle can be determined through a positioning device configured by the target automatic guided vehicle, the two-dimensional code can be scanned through a camera device, the position information in the two-dimensional code is obtained, and then the moving direction of the target automatic guided vehicle is corrected according to the difference value between the current position information and the obtained position information.

In addition, the target automatic guiding transport vehicle can continuously scan the two-dimensional code in the moving process, and whether the target position is reached or not is determined according to the scanned position information. When the position information obtained by scanning the two-dimensional code, the current position information of the target automatic guided vehicle and the position information of the target position are the same, the position which has reached the target position can be determined.

The above description is given by taking the case where the specific marks on the ground are distributed in a straight line. In one possible implementation, the specified identifiers of the ground may also be distributed in a curve, which is not limited by the embodiments of the present application.

Further, in the process that the target automatic guiding transport vehicle moves from the front of the power exchange station door to the target position, current position information can be sent to the control platform in real time, and when the control platform determines that the target automatic guiding transport vehicle enters the power exchange station based on the current position information, a door closing request can be sent to the power exchange station to instruct the power exchange station to close.

In one possible implementation manner, if the control platform determines that the position indicated by the current position information is located inside the power exchange station based on the current position information reported by the target automatic guiding transport vehicle in real time, it may be determined that the target automatic guiding transport vehicle has successfully entered inside the power exchange station, and a door closing request may be sent to the power exchange station.

In another possible implementation, the target automated guided vehicle may send a first registration request to the station once it enters the station, and if the station receives the first registration request, the station may consider that the target automated guided vehicle has entered the station, and the station may send a message to the control platform that the target automated guided vehicle has successfully entered the station. Based on the message, the control platform can determine that the target automated guided vehicle has successfully entered the interior of the power exchange station, and can send a door closing request to the power exchange station.

Wherein the first registration request may include at least an identification of the target automated guided vehicle so that the battery exchange station may determine which target automated guided vehicle the communication connection is established with.

The control platform may send a door closing request to the power exchange station, after the power exchange station receives the door closing request, perform a door closing operation, in the process of closing the door, the control platform continuously sends a request for inquiring a door closing state to the power exchange station, the power exchange station replies the current door closing state to the control platform according to the door closing progress, until the door is completely closed, the power exchange station replies the control platform with information that the door is completely closed, and the control platform determines that the door of the current power exchange station is in the completely closed state according to the received information that the door is completely closed.

It should be noted that, after the target automatic guided vehicle enters the power exchange station, closing the door of the power exchange station can improve the condition that rainwater, mice and the like enter the power exchange station to damage the power exchange station. In addition, since the charging temperatures of the plurality of batteries inside the battery exchange station cannot be excessively high, an air conditioner is generally disposed in the battery exchange station, and in order to maintain the temperature inside the battery exchange station, it is necessary to close the door of the battery exchange station.

Further, after the target automated guided vehicle moves to the target location, a first notification message may be sent to the control platform, the first notification message indicating that the target automated guided vehicle is changing batteries. That is, the target automatic guided vehicle can inform the control platform of its own state information, so that the control platform is prevented from issuing tasks to the target automatic guided vehicle in the process of replacing the battery by the target automatic guided vehicle, the operation of replacing the battery is not only affected, but also execution of the issued tasks may be delayed.

Step 504: the target automatic guiding transport vehicle sends a battery replacement request to the battery replacement station at the target position, wherein the battery replacement request comprises an identification of a target full battery, and the battery replacement request is used for indicating the battery replacement station to replace a battery lack of the target automatic guiding transport vehicle with the target full battery.

In some embodiments, the target automated guided vehicle may send a first registration request to the battery exchange station before sending the battery exchange request to the battery exchange station at the target location, the first registration request being for establishing a communication connection between the target automated guided vehicle and the battery exchange station. If a first registration response message is received from the battery exchange station, a battery exchange request is sent to the battery exchange station at the target location.

Wherein the first registration response message may include at least an identification of the station so that the target automated guided vehicle can determine which station the communication connection is established with.

Wherein the communication connection between the target automated guided vehicle and the station is typically a UDP (User Datagram Protocol ) communication connection.

In one possible implementation, the target automated guided vehicle may send a first registration request to the battery exchange station after reaching the target location. If a first registration response message from the battery exchange station is received, a battery exchange request is directly sent to the battery exchange station at the target location.

In another possible implementation, the target automated guided vehicle may send the first registration request to the station after entering the station interior, i.e. once entering the station interior, the first registration request is sent to the station. And if the first registration response message from the battery exchange station is received, judging the current position information of the target automatic guiding transport vehicle, and when the target automatic guiding transport vehicle is determined to reach the target position, sending a battery exchange request to the battery exchange station.

When the target automated guided vehicle arrives at the target location, there is no sequence between sending the first notification message to the control platform at the target location and sending the first registration request to the power exchange station at the target location.

In practice, after the communication connection is established, the target automated guided vehicle may be in data communication with the battery exchange station, and the target automated guided vehicle may send a battery exchange request to the battery exchange station.

Step 505: the battery replacement station receives a battery replacement request from the target automatic guiding transport vehicle, and the battery lack of the target automatic guiding transport vehicle is replaced by the target full-charge battery according to the battery replacement request.

In the implementation, after the battery replacement request is received by the battery replacement station, the battery is replaced for the target automatic guiding transport vehicle according to the identification of the target full battery included in the battery replacement request.

As an example, the target automatic guiding transport vehicle may be lifted up by a lifting device within the battery exchange station, the battery that lacks electricity in the target automatic guiding transport vehicle may be taken out, the target battery that is full may be obtained based on the identification of the target battery that is full, the target battery that is full may be installed in the target automatic guiding transport vehicle, and the battery that lacks electricity may be placed in a bin of the battery charger for charging.

As an example, after the battery exchange station receives the battery exchange request, a second notification message may be sent to the control platform, where the second notification message is used to indicate that the battery exchange station is exchanging batteries. That is, the power exchange station can inform the control platform of its own state information, so that the control platform is prevented from distributing another automatic guiding transport vehicle to the power exchange station to replace the battery in the process of replacing the battery by the power exchange station, the operation of replacing the battery at present is affected, and the battery replacement by the other automatic guiding transport vehicle is possibly delayed.

Further, if the target automated guided vehicle detects that the installation of the target full battery is completed, it may be detected whether the installation of the target full battery is abnormal. If the installation of the target full battery is not abnormal, an installation normal message is sent to the power exchange station. And if the first task completion message fed back by the power exchange station based on the installation normal message is received, sending a second task completion message to the control platform. Correspondingly, if the power exchange station receives the installation normal message of the target automatic guiding transport vehicle, the power exchange station sends a first task completion message to the target automatic guiding transport vehicle and sends a third task completion message to the control platform.

Wherein the second task completion message may include at least an identification of the target automated guided vehicle so that the control platform may determine which target automated guided vehicle is completing the task.

Wherein the third task completion message may include an identification of the battery exchange station so that the control platform may determine which battery exchange station completed the battery exchange task.

That is, after the target automatic guiding transport vehicle detects that the installation of the target full-charge battery is completed, whether the installation is normal or not can be detected, if the installation is normal, an installation normal message can be sent to the power exchange station, after the power exchange station receives the installation normal message, a first task completion message is sent to the target automatic guiding transport vehicle, and a third task completion message is sent to the control platform. And after the target automatic guided vehicle receives the first task completion message, sending a second task completion message to the control platform.

As an example, when the target automated guided vehicle detects that the installation of the target full-charge battery is completed, relevant data of the target full-charge battery including battery power, voltage, and the like may be acquired, and if the data may be acquired normally, it is indicated that the communication of the target full-charge battery is normal. And then, acquiring the battery voltage through ADC sampling, judging whether the voltage is normal, and if the voltage is normal, determining that the power supply of the target full-charge battery is normal. When the communication of the target full-charge battery is determined to be normal and the power supply is determined to be normal, the installation of the target full-charge battery can be determined to be normal, and an installation normal message is sent to the power exchange station. When the battery replacement station receives the normal installation message, the target automatic guiding transport vehicle is put down, then a first task completion message is sent to the target automatic guiding transport vehicle, and a third task completion message is sent to the control platform, wherein the third task completion message is used for informing the control platform that the battery replacement station has completed a battery replacement task, and the battery replacement station is in an idle state at the moment. After the target automatic guiding transport vehicle receives the first task completion message sent by the battery exchange station, a second task completion message can be sent to the control platform, and the second task completion message is used for informing the control platform that the target automatic guiding transport vehicle has completed the battery exchange task at the moment.

Further, the target automated guided vehicle may, for example, send a disconnect request to the station, indicating that the connection with the station has been broken if a disconnect response message is received from the station. Alternatively, the disconnection request may not be sent, and when no data interaction is performed between the target automated guided vehicle and the station, the communication connection between the target automated guided vehicle and the station may be considered to have been disconnected.

Further, the control platform receives the second task completion message and the third task completion message, and can send a door opening request to the power exchange station sending the third task completion message, poll the door opening state of the power exchange station, and schedule the target automatic guide transport vehicle sending the second task completion message to leave the power exchange station if the door of the power exchange station is in the completely opened state.

As an example, after receiving the second task message and the third task message, the control platform determines that both the battery exchange station that sends the third task completion message and the target automated guided vehicle that sends the second task completion message have completed the battery exchange task, and are currently in an idle state. In this case, the control platform may send a door opening request to the station and poll the door opening status, and when it is determined that the door of the station is fully open, the dispatch target automatically directs the transporter away from the station. When it is determined that the target automated guided vehicle has left based on the current position information reported by the target automated guided vehicle, a door closing request is sent to the battery exchange station and the door closing state of the battery exchange station is polled to confirm that the door has been completely closed.

In an embodiment of the application, a battery replacement instruction from a control platform is received, wherein the battery replacement instruction comprises an identification of a target full battery and position information of a target position, and the target position refers to a position for replacing the battery inside a battery replacement station. The automated guided vehicle then moves to the target location based on the location information of the target location. A battery replacement request including an identification of a target full battery is sent to a battery replacement station at a target location, instructing the battery replacement station to replace a battery that is out of charge of the automated guided vehicle with the target full battery. That is, the automatic guiding transport vehicle can automatically move to the target position after receiving the battery replacement instruction and trigger the battery replacement station to replace the battery, so that the whole-course automation is realized, the manual participation is not needed, and the battery replacement efficiency is improved.

For easy understanding, the following is an example of a battery replacement method of an automatic guided vehicle according to an embodiment of the present application with reference to fig. 8, which may specifically include:

a. the target automatic guiding transport vehicle reports the first data to the control platform.

b. And the power exchange station reports the second data to the control platform.

c. And the control platform generates a battery replacement instruction of the target automatic guided vehicle according to the first data and the second data.

d. And the control platform issues a dispatching instruction to dispatch the target automatic guided vehicle to a designated position outside the power exchange station.

e. The control platform sends a door opening request to the power exchange station.

f. The control platform sends a request to the power exchange station to obtain the door status.

g. When the door is determined to be opened, the control platform sends a battery replacement instruction to the target automatic guided vehicle, wherein the battery replacement instruction comprises the identification of the full battery of the target and the position information of the target position.

h. The target automatic guiding transport vehicle moves to the target position according to the position information of the target position.

i. And the control platform determines that the target automatic guiding transport vehicle enters the power exchange station according to the current position information reported by the target automatic guiding transport vehicle, and then sends a door closing request to the power exchange station.

j. The control platform sends a request to obtain door status to determine that the door of the battery exchange station has been fully closed.

k. And after the target automatic guiding transport vehicle reaches the target position, sending a first registration request to the power exchange station.

And I, the target automatic guiding transport vehicle sends a first notification message to the control platform.

And m, after the registration is successful, the target automatic guiding transport vehicle sends a battery replacement request to the battery replacement station.

And n, the power exchange station sends a second notification message to the control platform.

And o, the power exchange station exchanges the electricity-shortage battery in the target automatic guiding transport vehicle with the target full-charge battery.

And p, after the target automatic guiding transport vehicle detects that the replacement of the target full-charge battery is finished and the installation is normal, sending an installation normal message to the power exchange station.

q, the power exchange station sends a first task completion message to the target automatic guiding transport vehicle.

And r, the power exchange station sends a third task completion message to the control platform.

And s, after the target automatic guiding transport vehicle receives the first task completion message sent by the power exchange station, sending a second task completion message to the control platform.

And t, after the control platform confirms that the task is completed, sending a door opening request to the power exchange station.

And u, the control platform sends a request for acquiring the door state.

And v, after the door is determined to be completely opened, the control platform dispatches the target automatic guide transport vehicle to leave the power exchange station.

And w, after the target automatic guiding transport vehicle is determined to leave, the control platform sends a door closing request to the power exchange station.

The control platform sends a request for acquiring the door state to the power exchange station to determine that the door of the power exchange station is completely closed.

Fig. 9 is a schematic structural view showing a battery replacement apparatus of an automated guided vehicle according to an exemplary embodiment, which is applied to a target automated guided vehicle. Referring to fig. 9, the apparatus includes: a receiving module 901, a moving module 902 and a transmitting module 903.

The first receiving module 901 is configured to receive a battery replacement instruction from the control platform, where the battery replacement instruction includes an identifier of a target full-charge battery and location information of a target location, and the target location is a location for replacing a battery inside the battery replacement station;

a moving module 902 for moving to a target position based on position information of the target position;

the first sending module 903 is configured to send a battery replacement request to the battery replacement station at the target location, where the battery replacement request includes an identifier of the target full battery, and the battery replacement request is used to instruct the battery replacement station to replace the electric lack battery of the target automatic guiding carrier vehicle with the target full battery.

In one possible implementation manner of the present application, the first receiving module 901 is further configured to:

receiving a scheduling instruction of a control platform;

and at the designated position, receiving a battery replacement instruction from the control platform, and sending the battery replacement instruction by the control platform after determining that the target automatic guided vehicle moves to the designated position.

In one possible implementation of the present application, the target automated guided vehicle is configured with a camera device, and the movement module 902 is configured to:

in the moving process, the ground of the power exchange station is scanned through the camera device, so that a scanned image is obtained;

correcting the moving direction according to the scanning image when the scanning image comprises a designated mark, wherein the designated mark is used for guiding the target automatic guiding transport vehicle to move from a designated position to a target position;

when moving to the target position, position correction is performed according to the specified identification at the target position.

In one possible implementation of the present application, the mobile module 902 is further configured to:

and sending a first notification message to the control platform, wherein the first notification message is used for indicating that the target automatic guided vehicle is changing the battery.

In one possible implementation manner of the present application, the first sending module 903 is further configured to:

if a first registration response message is received from the battery exchange station, a battery exchange request is sent to the battery exchange station at the target location.

It should be noted that: the battery replacing device for an automatic guided vehicle according to the above embodiment is only exemplified by the above-mentioned division of each functional module when replacing the battery of the automatic guided vehicle, and in practical application, the above-mentioned functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the device is divided into different functional modules to perform all or part of the above-mentioned functions. In addition, the battery replacement device of the automatic guided vehicle and the battery replacement method of the automatic guided vehicle provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the device and the method are detailed in the embodiments, and are not described herein.

Fig. 10 is a schematic structural view showing a battery replacing apparatus of an automated guided vehicle according to an exemplary embodiment, which is applied to a control platform. Referring to fig. 10, the apparatus includes: a generation module 1001 and a transmission module 1002.

The generating module 1001 is configured to generate a battery replacement instruction of the target automatic guiding transporter, where the battery replacement instruction includes an identifier of a target full-charge battery and location information of a target location, and the target location is a location for replacing a battery inside the battery replacement station;

the second sending module 1002 is configured to send a battery replacement instruction to the target automatic guided vehicle, where the battery replacement instruction is configured to instruct the target automatic guided vehicle to move to a target position and trigger the battery replacement station to replace the battery with the target full battery.

In one possible implementation manner of the present application, the generating module 1001 is further configured to:

determining a target automatic guiding transport vehicle of a battery to be replaced according to first data reported by at least one automatic guiding transport vehicle in real time, wherein the first data of each automatic guiding transport vehicle at least comprises the current battery electric quantity of the automatic guiding transport vehicle;

receiving second data reported by at least one power exchange station, wherein the second data of each power exchange station at least comprises state information of the power exchange station and identification of full-power batteries in the power exchange station and position information of a target position;

Selecting one of the at least one of the stations based on the status information of each station;

In one possible implementation manner of the present application, the second sending module 1002 is further configured to:

a scheduling instruction is sent to the target automatic guiding transport vehicle, and the scheduling instruction is used for scheduling the target automatic guiding transport vehicle to move to a designated position outside the power exchange station;

and if the target automatic guiding transport vehicle is determined to move to the designated position, stopping the dispatching operation, and sending a battery replacement instruction to the target automatic guiding transport vehicle.

sending a door opening request to a power exchange station;

polling the door opening state of the power exchange station;

and if the door of the power exchange station is in a completely opened state, sending a battery exchange instruction to the target automatic guiding transport vehicle.

and if the target automatic guiding transport vehicle is determined to successfully enter the power exchange station, sending a door closing request to the power exchange station.

sending a door opening request to a power exchange station which sends a third task completion message;

polling the door opening state of the power exchange station;

and if the door of the power exchange station is in a completely opened state, the target automatic guide transport vehicle for sending the second task completion message is scheduled to leave the power exchange station.

Fig. 11 is a schematic structural view showing a battery replacing apparatus of an automated guided vehicle according to an exemplary embodiment, which is applied to a battery replacing station. Referring to fig. 11, the apparatus includes: a receiving module 1101 and a replacement battery module 1102.

A second receiving module 1101, configured to receive a battery replacement request from a target automated guided vehicle, where the battery replacement request includes an identifier of a target full battery;

the battery replacement module 1102 is configured to replace a battery that is not charged by the target automated guided vehicle with a battery that is full of the target according to a battery replacement request.

In one possible implementation manner of the present application, the second receiving module 1101 is further configured to:

receiving a first registration request from a target automated guided vehicle, the first registration request being for establishing a communication connection with a power exchange station;

after sending the first registration response message to the target automated guided vehicle, a battery change request from the target automated guided vehicle is received.

In one possible implementation of the present application, replacement battery module 1102 is also used to:

according to the identification of the target full-charge battery included in the battery replacement request, automatically guiding the transport vehicle to replace the battery for the target;

and sending a third task completion message to the control platform.

Fig. 12 is a schematic structural diagram of an apparatus provided in an embodiment of the present application, where the apparatus may be a control platform. The apparatus 1200 includes a Central Processing Unit (CPU) 1201, a system memory 1204 including a Random Access Memory (RAM) 1202 and a Read Only Memory (ROM) 1203, and a system bus 1205 connecting the system memory 1204 and the central processing unit 1201. The device 1200 also includes a basic input/output system (I/O system) 1206, which helps to transfer information between various devices within the computer, and a mass storage device 1207 for storing an operating system 1213, application programs 1214, and other program modules 1215.

The basic input/output system 1206 includes a display 1208 for displaying information and an input device 1209, such as a mouse, keyboard, etc., for user input of information. Wherein both the display 1208 and the input device 1209 are coupled to the central processing unit 1201 via an input-output controller 1210 coupled to a system bus 1205. The basic input/output system 1206 can also include an input/output controller 1210 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, the input output controller 1210 also provides output to a display screen, a printer, or other type of output device.

The mass storage device 1207 is connected to the central processing unit 1201 through a mass storage controller (not shown) connected to the system bus 1205. The mass storage device 1207 and its associated computer-readable media provide non-volatile storage for the device 1200. That is, mass storage device 1207 may include a computer readable medium (not shown), such as a hard disk or CD-ROM drive.

Computer readable media may include computer storage media and communication media without loss of generality. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the ones described above. The system memory 1204 and mass storage device 1207 described above may be collectively referred to as memory.

According to various embodiments of the present application, the device 1200 may also operate by a remote computer connected to the network through a network, such as the Internet. I.e., the device 1200 may be connected to the network 1212 through a network interface unit 1211 coupled to the system bus 1205, or alternatively, the network interface unit 1211 may be used to connect to other types of networks or remote computer systems (not shown).

The memory also includes one or more programs, one or more programs stored in the memory and configured to be executed by the CPU.

In some embodiments, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the battery replacement method of the automated guided vehicle of the above embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

It is noted that the computer readable storage medium mentioned in the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of the above-described battery replacement method of an automated guided vehicle.

The above embodiments are provided for the purpose of not limiting the present application, but rather, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

1. A battery replacement method for an automated guided vehicle, the method being applied to a target automated guided vehicle, the method comprising:

receiving a scheduling instruction of a control platform;

moving to a designated position outside the power exchange station according to the scheduling instruction, and stopping scheduling operation after determining that the target automatic guided vehicle moves to the designated position by the control platform;

at the appointed position, a battery replacement instruction from the control platform is received, the battery replacement instruction comprises an identification of a target full battery and position information of a target position, the target position is a position used for replacing the battery in the battery replacement station, and the battery replacement instruction is sent by the control platform after the control platform determines that the target automatic guided transport vehicle moves to the appointed position;

and if a first registration response message from the battery exchange station is received, a battery exchange request is sent to the battery exchange station at the target position, wherein the battery exchange request comprises the identification of the target full battery, and the battery exchange request is used for indicating the battery exchange station to exchange the battery lack of the target automatic guiding transport vehicle for the target full battery.

2. The method of claim 1, wherein the target automated guided vehicle is configured with a camera, the moving to the target location based on the location information of the target location comprises:

3. The method of claim 2, wherein the method further comprises:

4. The method of claim 1, wherein the moving to the target location based on the location information of the target location further comprises:

5. The method of claim 1, wherein after the sending of the battery change request to the battery change station at the target location, further comprising:

6. A battery replacement method for an automated guided vehicle, the method comprising:

a scheduling instruction is sent to a target automatic guiding transport vehicle, and the scheduling instruction is used for scheduling the target automatic guiding transport vehicle to move to a designated position outside a power exchange station;

generating a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises a mark of a target full-charge battery and position information of a target position, and the target position is a position for replacing the battery in the battery replacement station;

stopping scheduling operation if the target automatic guiding transport vehicle is determined to move to the designated position, and sending the battery replacement instruction to the target automatic guiding transport vehicle, wherein the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to the target position and sending a battery replacement request to the battery replacement station so as to trigger the battery replacement station to replace a battery which is lack of electricity with the target full battery, and the battery replacement request comprises an identification of the target full battery;

The target automatic guiding transport vehicle is further used for sending a first registration request to the power exchange station, and the first registration request is used for establishing communication connection between the target automatic guiding transport vehicle and the power exchange station.

7. The method of claim 6, wherein prior to generating the battery change command for the target automated guided vehicle, further comprising:

determining the target automatic guiding transport vehicle of a battery to be replaced according to first data reported by at least one automatic guiding transport vehicle in real time, wherein the first data of each automatic guiding transport vehicle at least comprises the current battery electric quantity of the automatic guiding transport vehicle;

receiving second data reported by at least one power exchange station, wherein the second data of each power exchange station at least comprises an identifier of a full battery in the power exchange station;

selecting one of said at least one power exchange station;

the generating the battery replacement instruction of the target automatic guided vehicle comprises the following steps:

8. The method of claim 6, wherein after the stopping the scheduling operation, further comprising:

Sending a door opening request to the power exchange station;

polling the door opening state of the power exchange station;

9. The method of claim 6, wherein after the sending the battery change command to the target automated guided vehicle, further comprising:

10. The method of claim 6, wherein the method further comprises:

polling the door opening state of the power exchange station;

11. A battery replacement method for an automated guided vehicle, the method comprising:

Receiving a first registration request of a target automatic guided vehicle, wherein the first registration request is used for establishing communication connection with the power exchange station;

a first registration response message is sent to the target automatic guiding transport vehicle, a battery replacement request sent by the target automatic guiding transport vehicle at a target position is received, the battery replacement request comprises an identifier of a target full-charge battery, and the target position refers to a position used for replacing the battery inside a battery replacement station;

according to the battery replacement request, replacing the battery which is lack of electricity of the target automatic guiding transport vehicle with the battery which is full of electricity of the target;

the target automatic guiding transport vehicle moves to the target position based on the position information of the target position; the target position and the identification of the target full-charge battery are included in a battery replacement instruction sent by a control platform; the battery replacement instruction is received by the target automatic guiding transport vehicle at a designated position; and the target automatic guiding transport vehicle moves to a designated position outside the power exchange station according to a scheduling instruction sent by a control platform, and scheduling operation is stopped after the control platform determines that the target automatic guiding transport vehicle moves to the designated position.

12. The method of claim 11, wherein said exchanging the battery-out battery of the target automated guided vehicle for the target full battery based on the battery-exchange request comprises:

13. The method of claim 12, wherein after automatically guiding the transporter to change battery for the target according to the identification of the target full battery included in the battery change request, further comprising:

and sending a third task completion message to the control platform.

14. A battery replacement system for an automated guided vehicle, the battery replacement system comprising a target automated guided vehicle, a control platform, and a battery replacement station, the system comprising:

The target automatic guiding transport vehicle receives a scheduling instruction of a control platform; according to the scheduling instruction, moving to a designated position outside the power exchange station, and stopping scheduling operation after determining that the target automatic guided vehicle moves to the designated position by the control platform;

if the control platform determines that the target automatic guiding transport vehicle moves to the designated position, stopping scheduling operation, and sending the battery replacement instruction to the target automatic guiding transport vehicle, wherein the battery replacement instruction is used for indicating the target automatic guiding transport vehicle to move to the target position and sending a battery replacement request to the battery replacement station so as to trigger the battery replacement station to replace a battery which is lack of electricity with the target full battery, and the battery replacement request comprises an identifier of the target full battery;

The target automatic guiding transport vehicle sends a first registration request to the power exchange station, wherein the first registration request is used for establishing communication connection between the target automatic guiding transport vehicle and the power exchange station; if a first registration response message from the battery exchange station is received, a battery exchange request is sent to the battery exchange station at the target position, wherein the battery exchange request comprises the identification of the target full battery, and the battery exchange request is used for indicating the battery exchange station to exchange the battery lack of the target automatic guiding transport vehicle for the target full battery;

the method comprises the steps that the power exchange station receives a first registration request of the target automatic guided vehicle, wherein the first registration request is used for establishing communication connection with the power exchange station; and sending a first registration response message to the target automatic guiding transport vehicle, receiving a battery replacement request from the target automatic guiding transport vehicle, and replacing the battery which is lack of power of the target automatic guiding transport vehicle with the target full power battery according to the battery replacement request.

15. A battery replacement apparatus for an automated guided vehicle, the apparatus being adapted for use in a target automated guided vehicle, the apparatus comprising:

The first receiving module is used for receiving a scheduling instruction of the control platform; moving to a designated position outside the power exchange station according to the scheduling instruction, and stopping scheduling operation after determining that the target automatic guided vehicle moves to the designated position by the control platform; at the appointed position, a battery replacement instruction from the control platform is received, the battery replacement instruction comprises an identification of a target full battery and position information of a target position, the target position is a position used for replacing the battery in the battery replacement station, and the battery replacement instruction is sent by the control platform after the control platform determines that the target automatic guided transport vehicle moves to the appointed position;

the first sending module is used for sending a first registration request to the power exchange station, wherein the first registration request is used for establishing communication connection between the target automatic guiding transport vehicle and the power exchange station; and if a first registration response message from the battery exchange station is received, a battery exchange request is sent to the battery exchange station at the target position, wherein the battery exchange request comprises the identification of the target full battery, and the battery exchange request is used for indicating the battery exchange station to exchange the battery lack of the target automatic guiding transport vehicle for the target full battery.

16. A battery changing apparatus for an automated guided vehicle, for use in a control platform, the apparatus comprising:

the second sending module is used for sending a scheduling instruction to the target automatic guiding transport vehicle, wherein the scheduling instruction is used for scheduling the target automatic guiding transport vehicle to move to a designated position outside the power exchange station;

the generation module is used for generating a battery replacement instruction of the target automatic guiding transport vehicle, wherein the battery replacement instruction comprises a mark of a target full-charge battery and position information of a target position, and the target position is a position for replacing the battery in the battery replacement station;

the second sending module is further configured to stop a scheduling operation if it is determined that the target automatic guided vehicle moves to the designated position, send the battery replacement instruction to the target automatic guided vehicle, where the battery replacement instruction is used to instruct the target automatic guided vehicle to move to the target position and send a battery replacement request to the battery replacement station to trigger the battery replacement station to replace a battery with the target full battery, and the battery replacement request includes an identifier of the target full battery;

17. A battery changing device for an automated guided vehicle, for use in a power exchange station, the device comprising:

the second receiving module is used for receiving a first registration request of the target automatic guided vehicle, and the first registration request is used for establishing communication connection with the power exchange station; a first registration response message is sent to the target automatic guiding transport vehicle, a battery replacement request sent by the target automatic guiding transport vehicle at a target position is received, the battery replacement request comprises an identifier of a target full-charge battery, and the target position refers to a position used for replacing the battery inside a battery replacement station;

the battery replacement module is used for replacing the battery which is lack of electricity of the target automatic guiding transport vehicle with the target full-charge battery according to the battery replacement request;

18. An apparatus comprising a processor, a communication interface, a memory and a communication bus, the processor, the communication interface and the memory performing communication with each other via the communication bus, the memory storing a computer program, the processor being configured to execute the program stored on the memory to perform the steps of the method of any one of claims 1-5, or to perform the steps of the method of any one of claims 6-10, or to perform the steps of the method of any one of claims 11-13.

19. A computer readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-5, or implements the steps of the method of any of claims 6-10, or implements the steps of the method of any of claims 11-13.