CN113306421A - Method for realizing energy space-time optimization based on charging equipment and AGV - Google Patents

Method for realizing energy space-time optimization based on charging equipment and AGV Download PDF

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Publication number
CN113306421A
CN113306421A CN202110553192.9A CN202110553192A CN113306421A CN 113306421 A CN113306421 A CN 113306421A CN 202110553192 A CN202110553192 A CN 202110553192A CN 113306421 A CN113306421 A CN 113306421A
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Prior art keywords
charging
vehicle
agv
sems
power
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CN113306421B (en
Inventor
侯磊
马涛
王伊晓
潘俊
陈云辉
曹凌捷
任天宇
李烨星
汪保成
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Zhengzhou Tiamaes Technology Co ltd
Xiongan New Area Power Supply Company State Grid Hebei Electric Power Co
Shanghai Electric Power Design Institute Co Ltd
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Zhengzhou Tiamaes Technology Co ltd
Xiongan New Area Power Supply Company State Grid Hebei Electric Power Co
Shanghai Electric Power Design Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/62—Monitoring or controlling charging stations in response to charging parameters, e.g. current, voltage or electrical charge
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/63—Monitoring or controlling charging stations in response to network capacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the technical field of electric vehicle charging, in particular to a method for realizing energy space-time optimization based on charging equipment and an AGV.

Description

Method for realizing energy space-time optimization based on charging equipment and AGV
The technical field is as follows:
the invention relates to the technical field of electric vehicle charging, in particular to a method for realizing energy space-time optimization based on charging equipment and an AGV.
Background art:
with the development of science and technology, the market scale of electric automobiles is larger and larger, when the electric automobiles need to be charged, the electric automobiles need to go to a charging station, but the charging of the electric automobiles is lack of scheduling at present, users randomly select time and select the charging station nearby for charging, so that the charging station in a peak charging period or a densely populated area runs in an overload mode, and when the existing charging station charges the vehicles, the charging power of the vehicles cannot be reasonably distributed, the flexible control of the power of the whole station cannot be realized, and the charging requirement of the vehicles cannot be met in the peak charging period, so that the charging time of the vehicles is prolonged; when the vehicle is parked at the charging station, the balance of parking is poor, the AGV dispatching capacity is insufficient, the dispatching time of the vehicle is long, the efficiency of parking and taking the vehicle is low, and the charging efficiency of the vehicle is reduced.
The invention content is as follows:
aiming at the defects and problems, the invention provides a method for realizing energy construction optimization based on charging equipment and an AGV (automatic guided vehicle), which is characterized in that a station control level energy management unit (SEMS) is used for uniformly managing power transformation and distribution equipment, charging equipment and energy storage equipment in a charging station, the charging power of each parking space is flexibly distributed, the charging efficiency is improved, the influence of the application of an ordered charging function on the vehicle is reduced to the minimum by utilizing the time-space heterogeneity of the vehicle using behavior, and the transportation efficiency of the vehicle is improved by scheduling the AGV.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for realizing energy space-time optimization based on charging equipment and an AGV is characterized by comprising the following steps:
s1, vehicle entering: the method comprises the following steps that a vehicle enters a charging station and drives to an AGV interaction area to be parked, a vehicle carrying plate is arranged in the AGV interaction area, a charging man-machine interaction terminal is arranged in a garage, a positioning mark is arranged in the garage and used for positioning and navigation of the AGV, when the vehicle drives into the AGV interaction area, an SEMS system obtains vehicle information, whether registration is carried out or not is judged according to the vehicle information, if the registration is carried out, a garage door is opened, and the vehicle is parked on the vehicle carrying plate; if the vehicle is not registered, the vehicle information is input through the charging man-machine interaction terminal, the garage door is opened, and the vehicle stops on the vehicle carrying board.
S2, connecting a charging gun: after the vehicle stops, the AGV informs the SEMS system that the vehicle needs to be charged, a mobile gun-grabbing type charging robot is arranged in an AGV interaction area, if a charging port of the vehicle is in the moving range of the mobile gun-grabbing type charging robot, the SEMS system schedules the mobile gun-grabbing type charging robot to insert a charging gun into the charging port of the vehicle, and the mobile gun-grabbing type charging robot transmits gun-inserting state communication to the SEMS system; if the vehicle charging port is not in the moving range of the movable gun-grabbing type charging robot, the AGV adjusts the position of the vehicle, and adjusts the vehicle charging port to the moving range of the movable gun-grabbing type charging robot; the mobile gun grabbing type charging robot is in butt joint with the SEMS through a wireless network, is in bidirectional communication with the SEMS based on TCP/IP communication, reports state information to the SEMS, and receives an instruction issued by the SEMS.
S3, vehicle transfer: after the SEMS system receives the successful signal of inserting the rifle of rifle that charges, according to the parking stall condition, charge and the balanced condition of distribution equipment load, send the instruction to the AGV, the AGV passes through the location sign in the garage, transport the vehicle, be connected vehicle and battery charging outfit, the AGV passes through wireless network and the butt joint of SEMS system, carry out two-way communication with the SEMS system based on TCP/IP communication, the SEMS system carries out the instruction distribution to the AGV based on vehicle charging position according to battery charging outfit's the balanced condition of power, length prediction and distance exit position distance during charging, the length is long in total scheduling of AGV one day:
Figure RE-GDA0003184859060000031
in the formula: t ishiIndicating the time taken for horizontal movement, TviRepresenting the time taken for vertical movement, the optimization of the charging duration is mainly optimized by ThiIn the part of time, according to the estimated charging time of the vehicle, the SEMS system schedules the AGV to convey the vehicle with the long charging time to an AGV interaction area close to the charging station exit, and conveys the vehicle with the long charging time to an AGV interaction area far away from the charging station exit.
S4, constructing an AGV control model and a scheduling algorithm: the balance of vehicle parking is controlled by adopting a heuristic algorithm and a stroke which changes along with time, the total running mileage of the AGV is reduced, an aging estimation model is established, the overall working time of the AGV is converted, the management of the SEMS system on the charging vehicle is matched, the working efficiency of the charging equipment is improved, the distance for the AGV to convey the vehicle is short, the consumed time is short, and the conveying efficiency of the vehicle is improved.
S5, charging power distribution: the SEMS system judges whether the distribution equipment is in an optimal conversion efficiency interval or not, when the distribution equipment is in the optimal conversion efficiency interval and the distribution equipment can meet the charging requirement, the vehicle is charged according to the maximum required power, if the newly added charging load enables the distribution equipment to exceed the optimal conversion efficiency interval, the SEMS system reads the electric quantity of the energy storage equipment, and when the electric quantity of the energy storage equipment can meet the maximum charging requirement, the SEMS system controls the energy storage equipment to charge the vehicle according to the maximum required power; when the electric quantity of the energy storage equipment cannot meet the maximum charging requirement, the SEMS system analyzes the vehicle SOC in the charging station, reduces the charging power of a higher vehicle SOC, distributes the released charging power to the vehicles with the requirements, and meets the vehicle charging requirement.
S6, station network interaction: in the vehicle charging process, when the charging power of the charging station is lower than the power distribution capacity of the power distribution equipment, the SEMS system controls the charging equipment to charge the vehicle with the maximum required power; when the charging power of the charging station is higher than the power distribution capacity of the power distribution equipment, the SEMS system dispatches the energy storage equipment to intervene to provide extra power supply power for the charging equipment, monitors the SOC of the energy storage equipment, and dynamically adjusts the charging power of the vehicle according to the load prediction result.
S7, vehicle taking: after charging is finished, the charging man-machine interaction terminal is used for carrying out vehicle taking operation, the SEMS system informs the AGV of conveying the vehicle to the AGV interaction area, and informs the movable gun-grabbing type charging robot of pulling out a charging gun.
Furthermore, the charging equipment has a power automatic switching function, can switch the power module according to the actual charging requirement sent by the vehicle, can realize high-power quick charging through a lower power module, and can also realize uniform power output of a plurality of charging guns.
Furthermore, during the peak period of power utilization, the SEMS system controls the power distribution equipment and the energy storage equipment to release energy to support the upper-level power grid, and when the capacity of the upper-level power grid is low at night, surplus power of the upper-level power grid is used for supplementing electric energy for the energy storage equipment.
Further, the SEMS system schedules the mobile gun-grabbing type charging robot to insert a charging gun into a vehicle charging port, if the mobile gun-grabbing type charging robot fails to insert the gun three times, the mobile gun-grabbing type charging robot transmits a gun inserting state to the SEMS system to inform the SEMS system of gun inserting failure, and the SEMS system informs an administrator of gun inserting failure to insert the gun and carries out manual gun inserting.
Further, carry the sweep and be higher than ground, reserve out the AGV and dive the space of carrying the sweep below.
Further, after the vehicle is connected with the charging equipment, the SEMS system starts the charging equipment to charge, and if the charging equipment fails to be started, the SEMS system controls the AGV to reconnect the vehicle and the charging equipment.
Further, in step S3, the distance is calculated by using a manhattan distance algorithm.
The invention has the beneficial effects that:
firstly, the substation control level energy management unit (SEMS) is used for uniformly managing the power transformation and distribution equipment, the charging equipment and the energy storage equipment in the charging station, the charging power of each parking space is flexibly distributed, the charging efficiency is improved, the influence of the application of the ordered charging function on the vehicle is reduced to the minimum by utilizing the time-space heterogeneity of the vehicle using behavior, the gun-grabbing type charger robot and the AGV in the charging station are dispatched, the coordination and ordered operation are achieved, the power transformation and distribution equipment is guaranteed to work in the state of the optimal conversion efficiency all the time, and the improvement of the whole energy efficiency of the charging station is realized.
Secondly, the SEMS system can distribute the AGV based on the information of the vehicle charging position according to the power balance condition of the charging equipment, the charging time prediction, the distance position and the like, according to the estimated charging time of the vehicle, the vehicle with short charging time is placed at the position close to the charging station outlet through the AGV, the vehicle with long charging time is placed at the position far away from the charging station outlet through the AGV, the balance of vehicle parking is ensured, the SEMS system controls the AGV by constructing an AGV control model and adopting a heuristic algorithm, the total running mileage of the AGV is reduced, the AGV effectively cooperates with the SEMS system to charge and manage the vehicle, the AGV transfers the vehicle with short distance and less consumed time, the transport efficiency of the vehicle is improved, and the scheduling time of the vehicle is reduced.
Thirdly, when the charging station charges the vehicle, the SEMS system can judge whether the transformer is in an optimal conversion efficiency interval or not, when the optimal conversion efficiency interval is reached, the vehicle is charged according to the maximum required power, if the transformer exceeds the optimal conversion efficiency interval due to a newly added charging load, the SEMS system reads the residual electric quantity of the energy storage device, when the energy storage device meets the maximum charging requirement, the SEMS system charges the vehicle according to the maximum required power, if the energy storage device does not meet the maximum charging requirement, the SEMS system can analyze the SOC of the charging vehicle in the whole station, the charging power of the vehicle with higher SOC is preferentially reduced, the released charging power is reasonably distributed, the charging requirement of the vehicle is met, the flexible control of the power of the whole station is realized, and the condition that the charging time of the vehicle is prolonged due to the insufficient charging power is avoided.
Fourthly, when the charging power of the charging station is lower than the power distribution capacity, the SEMS system controls the charging equipment to charge the vehicle with the maximum required power, when the charging power of the charging station is higher than the power distribution capacity, the SEMS system can dispatch the energy storage equipment to intervene to provide extra power supply power for the charging equipment, monitors the SOC of the energy storage equipment from time to time, dynamically adjusts the charging power of the vehicle in the charging station according to a load prediction result, and ensures that the transformer is in an optimal conversion efficiency interval in the charging process, and in the peak period of power utilization, the SEMS system can control the power distribution equipment and the energy storage equipment to release energy to support a superior power grid, and when the capacity of the power grid at night is lower, the surplus power of the power grid is used for supplementing electric energy for the energy storage equipment.
Description of the drawings:
FIG. 1 is a control flow chart of the present invention.
FIG. 2 is a flow chart of the vehicle charging power distribution of the present invention.
Fig. 3 is a schematic diagram of matrix power distribution of the charging device.
The specific implementation mode is as follows:
the invention is further illustrated with reference to the following figures and examples.
In the embodiment 1, when the existing charging station charges the vehicle, the charging power of the vehicle cannot be reasonably distributed, the flexible control of the power of the whole station cannot be realized, and the charging requirement of the vehicle cannot be met in the peak period of charging, so that the charging time of the vehicle is prolonged; and when the vehicle parks at the charging station, the balance of parking of the vehicle is poor, so that the scheduling time of the vehicle is long, and the charging efficiency of the vehicle is reduced.
In view of the above problems, the present embodiment provides a method for implementing energy space-time optimization based on a charging device and an AGV, including the following steps: s1, vehicle entering: the method comprises the steps that a vehicle enters a charging station and drives to an AGV interaction area to park, a vehicle carrying plate is arranged in the AGV interaction area and is higher than the ground, a space for the AGV to dive below the vehicle carrying plate is reserved, a charging man-machine interaction terminal is arranged in a garage, and a positioning mark is arranged in the garage and is used for realizing positioning and navigation of the AGV.
S2, connecting a charging gun: after the vehicle stops, a user confirms at a charging man-machine interaction terminal, an AGV informs an SEMS system that the vehicle needs to be charged, a mobile gun-grabbing type charging robot is arranged in an AGV interaction area, a charging gun fixing frame is arranged on a vehicle carrying plate, a charging gun is electrically connected with the vehicle carrying plate, if a charging port of the vehicle is in the moving range of the mobile gun-grabbing type charging robot, the SEMS system schedules the mobile gun-grabbing type charging robot to insert the charging gun into the charging port of the vehicle, and the mobile gun-grabbing type charging robot transmits gun-inserting state communication to the SEMS system; if the vehicle charging port is not in the moving range of the movable gun-grabbing type charging robot, the AGV adjusts the position of the vehicle, adjusts the vehicle charging port to the moving range of the movable gun-grabbing type charging robot, and the SEMS dispatches the movable gun-grabbing type charging robot to insert a charging gun into the vehicle charging port; if the mobile gun grabbing type charging robot fails to insert the gun for three times, the mobile gun grabbing type charging robot transmits the gun inserting state to the SEMS system, the SEMS system is informed of the gun inserting failure, the SEMS system informs an administrator of the gun inserting failure, and manual gun inserting is carried out; the mobile gun grabbing type charging robot is in butt joint with the SEMS through a wireless network, bidirectional communication is carried out with the SEMS based on TCP/IP communication, the mobile gun grabbing type charging robot can report state information such as the capacity of a driving battery, the working state, faults and diagnosis information to the SEMS, and can receive a control instruction issued by the SEMS; the movable gun-grabbing type charging robot comprises a movable trolley and six mechanical arms, wherein a positioning camera is arranged on each of the six mechanical arms, a charging port of a vehicle can be positioned, and the six mechanical arms can grab a charging gun to insert the gun and pull the gun.
S3, vehicle transfer: after the SEMS system receives a signal that a mobile gun-grabbing type charging robot successfully inserts a gun, an instruction for conveying a vehicle to a designated parking space to charge is sent to the AGV according to the charging parking space condition in a charging station and the charging and power distribution equipment load balancing condition, after the AGV receives the instruction, the AGV guides the vehicle to the charging parking space at the designated position through a positioning mark in a garage based on a visual mark, a vehicle carrying plate for carrying the vehicle is conveyed to the charging parking space at the designated position, after the vehicle is conveyed to the charging parking space at the designated position, an automatic charging seat is arranged beside the charging equipment of the charging parking space and is electrically connected with the charging equipment, a charging head in the automatic charging seat can be connected with a charging port on the side edge of the vehicle carrying plate, so that the charging equipment charges the vehicle, the charging equipment has a power automatic switching function, a power module can be switched according to the actual charging requirement sent by the vehicle, high-power quick charging can be realized through a lower power module, uniform power output of a plurality of charging guns can be realized; the AGV carries out two-way communication with the SEMS system based on TCP/IP communication, and the SEMS system carries out instruction distribution to the AGV according to the power balance condition of the charging equipment, the charging time prediction and the distance from an exit position based on the vehicle charging position, and the total one-day scheduling time of the AGV is as follows:
Figure RE-GDA0003184859060000091
in the formula: t ishiIndicating the time taken for horizontal movement, TviRepresenting the time taken for vertical movement, the optimization of the charging duration is mainly optimized by ThiAccording to the estimated charging time of the vehicle, the SEMS system schedules the AGV to convey the vehicle with the long charging time to an AGV interaction area close to an outlet of a charging station, conveys the vehicle with the long charging time to an AGV interaction area far away from the outlet of the charging station, ensures the balance of vehicle parking, reduces the influence of the application of the ordered charging function on the vehicle to the minimum by utilizing the time-space nonuniformity of the vehicle using behaviors, and calculates the distance by adopting a Manhattan distance algorithm.
S4, constructing an AGV control model and an in-station dispatching routing algorithm: the balance of vehicle parking is controlled by adopting a heuristic algorithm and a stroke which changes along with time, the total running mileage of the AGV is reduced, an aging estimation model is constructed for converting the overall working time of the AGV, the working efficiency of the charging equipment is improved by matching with the management of the SEMS system on the charging vehicle, the service life of the charging equipment in batches is balanced, the distance and the time consumed by the AGV for transporting the vehicle are shortened, the transporting efficiency of the vehicle is improved, and the dispatching time of the vehicle is reduced.
S5, charging power distribution: the charging equipment has a dynamic power distribution characteristic of 0-150KW, when charging, the SEMS system judges whether the distribution equipment is in an optimal conversion efficiency interval (total required power is within 640KW as the optimal conversion efficiency interval), when the distribution equipment is in the optimal conversion efficiency interval and the distribution equipment can meet the charging requirement, the vehicle is charged according to the maximum required power, if the distribution equipment exceeds the optimal conversion efficiency interval due to a newly added charging load, the SEMS system reads the electric quantity of the energy storage equipment, when the electric quantity of the energy storage equipment can meet the maximum charging requirement, the SEMS system charges the vehicle according to the maximum required power, if the energy storage equipment does not meet the maximum charging requirement, the SEMS system can analyze the SOC of the charging vehicle in the whole station, preferentially reduce the charging power of the vehicle with higher SOC, and reasonably distribute the released charging power through the charging equipment, for vehiclesThe charging requirement is realized, the flexible control of the power of the whole station is realized, the charging efficiency is improved, and the condition that the charging time of the vehicle is prolonged due to insufficient charging power is avoided; the charging power distribution algorithm is as follows: a46 charging parking spaces are planned to be built, one hour is taken as a time division point in one day, and the charging demand in one day is Load { P ═ PL1,PL2,…,PL24The electric energy obtained from the power grid end is Supply ═ PS1,PS2,…,PS24And calculating to obtain the optimal charging and discharging capacity of the energy storage Battery per hour (P)B1,PB2,…,PB24The solution group needs to satisfy the condition that the total energy sum (Load-Supply) is less than or equal to the total electric quantity of the energy storage equipment, and an attenuation coefficient group (decay ═ eta [. eta. ])1,η2,…,η24The set of coefficients indicates that charging power for some vehicles is reduced when grid supply + energy storage battery is unable to meet demand for electricity.
ηiPLi＝PSi+PBi
Then for i e [1,24]Time ηi∈(0,1]When ηiIf the charging power of a vehicle is less than 1, the charging power of the vehicle with the SOC exceeding 80% is reduced, assuming that the psychological charging percentage of the user is 80%.
If charging power reduction is needed for the vehicles in the station at the moment i, the real-time power of the vehicles is expressed as
Figure RE-GDA0003184859060000101
PVjThe actual charging power for the jth vehicle,
ηiPLithe actual charging power in the entire station at time i.
The average charging power of each charging stall of 46 charging stalls of planning to build is 60kw, capacity of 2.76MW is required altogether, distribution equipment's capacity is 800kVa, the remaining capacity is provided by energy storage equipment, energy storage equipment capacity is 1.89MW/0.806MWh, energy storage equipment is by power type lithium iron phosphate group, battery management system BMS, energy storage converter (PCS), the prefabricated cabin of container is constituteed, energy storage equipment can support and restrain the power shortage that the short-time quantity of vehicle charging or other high-power loads arouses in the charging station, effectively reduced distribution equipment capacity configuration, and the increase of charging power has been realized.
S6, battle net interaction: in the vehicle charging process, when the SEMS system monitors that the charging power of the charging station is lower than the distribution capacity of the distribution equipment, the SEMS system controls the charging equipment to charge the vehicle at the maximum required power, when the SEMS system monitors that the charging power of the charging station is higher than the distribution capacity of the distribution equipment, the SEMS system schedules the energy storage equipment to intervene to provide extra power supply power for the charging equipment, monitors the SOC of the energy storage equipment, dynamically adjusts the charging power of the vehicle through the charging equipment according to a load prediction result, ensures that the distribution equipment is in an optimal conversion efficiency interval in the charging process, and can control the distribution equipment and the energy storage equipment to release energy to support a superior power grid during a power consumption peak period, and when the capacity of the superior power grid is lower, the energy of the superior power grid is used for supplementing electric energy for the energy storage equipment.
S7, vehicle taking: the user gets the car operation through the man-machine interaction terminal that charges to the AGV interactive region, the SEMS system detects whether the battery charging outfit is charging, if the battery charging outfit is in charged state then stop charging, the head that charges of automatic charging seat pulls out from carrying the charging mouth of sweep, the SEMS system sends control command to AGV and transports the AGV interactive region with the vehicle, the vehicle transports the AGV interactive region back through AGV, the SEMS system sends control command to removing the rifle formula machine ware people that grabs, pull out of rifle charges.
The station control level energy management unit (SEMS) is used for uniformly managing the power transformation and distribution equipment, the charging equipment and the energy storage equipment in the charging station, the charging power of each parking space is flexibly distributed, the charging efficiency is improved, the influence of the application of the ordered charging function on the vehicle is reduced to the minimum by utilizing the time-space heterogeneity of the vehicle using behavior, and the movable gun-grasping type charger robot and the AGV in the charging station are scheduled, so that the coordination and ordered operation are achieved, the power transformation and distribution equipment is ensured to work in the state of the optimal conversion efficiency all the time, the improvement of the overall energy efficiency of the charging station is realized, and the time-space optimization is performed on the energy.
In embodiment 2, a method for performing energy space-time optimization based on a charging facility and an AGV in this embodiment will be described centering on differences from embodiment 1.
In this embodiment, after the vehicle is connected with the charging device, the SEMS system starts the charging device to charge, and when the start of the charging device fails, the SEMS system controls the AGV to reconnect the vehicle with the charging device, and if the start of the charging device fails three times, the charging device is started through manual intervention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.

Claims (7)

1. A method for realizing energy space-time optimization based on charging equipment and an AGV is characterized by comprising the following steps:
s1, vehicle entering: the method comprises the following steps that a vehicle enters a charging station and drives to an AGV interaction area to be parked, a vehicle carrying plate is arranged in the AGV interaction area, a charging man-machine interaction terminal is arranged in a garage, a positioning mark is arranged in the garage and used for positioning and navigation of the AGV, when the vehicle drives into the AGV interaction area, an SEMS system obtains vehicle information, whether registration is carried out or not is judged according to the vehicle information, if the registration is carried out, a garage door is opened, and the vehicle is parked on the vehicle carrying plate; if the vehicle is not registered, the vehicle information is input through the charging man-machine interaction terminal, the garage door is opened, and the vehicle stops on the vehicle carrying board.
S2, connecting a charging gun: after the vehicle stops, the AGV informs the SEMS system that the vehicle needs to be charged, a mobile gun-grabbing type charging robot is arranged in an AGV interaction area, if a charging port of the vehicle is in the moving range of the mobile gun-grabbing type charging robot, the SEMS system schedules the mobile gun-grabbing type charging robot to insert a charging gun into the charging port of the vehicle, and the mobile gun-grabbing type charging robot transmits gun-inserting state communication to the SEMS system; if the vehicle charging port is not in the moving range of the movable gun-grabbing type charging robot, the AGV adjusts the position of the vehicle, and adjusts the vehicle charging port to the moving range of the movable gun-grabbing type charging robot; the mobile gun grabbing type charging robot is in butt joint with the SEMS through a wireless network, is in bidirectional communication with the SEMS based on TCP/IP communication, reports state information to the SEMS, and receives an instruction issued by the SEMS.
S3, vehicle transfer: after the SEMS system receives the successful signal of inserting the rifle of rifle that charges, according to the parking stall condition, charge and the balanced condition of distribution equipment load, send the instruction to the AGV, the AGV passes through the location sign in the garage, transport the vehicle, be connected vehicle and battery charging outfit, the AGV passes through wireless network and the butt joint of SEMS system, carry out two-way communication with the SEMS system based on TCP/IP communication, the SEMS system carries out the instruction distribution to the AGV based on vehicle charging position according to battery charging outfit's the balanced condition of power, length prediction and distance exit position distance during charging, the length is long in total scheduling of AGV one day:
Figure FDA0003076071660000021
in the formula: t ishiIndicating the time taken for horizontal movement, TviRepresenting the time taken for vertical movement, the optimization of the charging duration is mainly optimized by ThiIn the part of time, according to the estimated charging time of the vehicle, the SEMS system schedules the AGV to convey the vehicle with the long charging time to an AGV interaction area close to the charging station exit, and conveys the vehicle with the long charging time to an AGV interaction area far away from the charging station exit.
S4, constructing an AGV control model and a scheduling algorithm: the balance of vehicle parking is controlled by adopting a heuristic algorithm and a stroke which changes along with time, the total running mileage of the AGV is reduced, an aging estimation model is established, the overall working time of the AGV is converted, the management of the SEMS system on the charging vehicle is matched, the working efficiency of the charging equipment is improved, the distance for the AGV to convey the vehicle is short, the consumed time is short, and the conveying efficiency of the vehicle is improved.
S5, charging power distribution: the SEMS system judges whether the distribution equipment is in an optimal conversion efficiency interval or not, when the distribution equipment is in the optimal conversion efficiency interval and the distribution equipment can meet the charging requirement, the vehicle is charged according to the maximum required power, if the newly added charging load enables the distribution equipment to exceed the optimal conversion efficiency interval, the SEMS system reads the electric quantity of the energy storage equipment, and when the electric quantity of the energy storage equipment can meet the maximum charging requirement, the SEMS system controls the energy storage equipment to charge the vehicle according to the maximum required power; when the electric quantity of the energy storage equipment cannot meet the maximum charging requirement, the SEMS system analyzes the vehicle SOC in the charging station, reduces the charging power of a higher vehicle SOC, distributes the released charging power to the vehicles with the requirements, and meets the vehicle charging requirement.
S6, station network interaction: in the vehicle charging process, when the charging power of the charging station is lower than the power distribution capacity of the power distribution equipment, the SEMS system controls the charging equipment to charge the vehicle with the maximum required power; when the charging power of the charging station is higher than the power distribution capacity of the power distribution equipment, the SEMS system dispatches the energy storage equipment to intervene to provide extra power supply power for the charging equipment, monitors the SOC of the energy storage equipment, and dynamically adjusts the charging power of the vehicle according to the load prediction result.
S7, vehicle taking: after charging is finished, the charging man-machine interaction terminal is used for carrying out vehicle taking operation, the SEMS system informs the AGV of conveying the vehicle to the AGV interaction area, and informs the movable gun-grabbing type charging robot of pulling out a charging gun.
2. The method for achieving energy space-time optimization based on the charging device and the AGV according to claim 1, wherein the charging device has an automatic power switching function, power modules can be switched according to actual charging requirements sent by a vehicle, and high-power quick charging can be achieved through the lower power modules, and even power output of a plurality of charging guns can also be achieved.
3. The method as claimed in claim 1, wherein the SEMS system controls the power distribution device and the energy storage device to release energy to support the upper level grid during peak periods of power consumption, and the energy storage device is replenished with surplus power from the upper level grid during the night when the capacity of the upper level grid is low.
4. The method for energy space-time optimization based on the charging equipment and the AGV according to claim 1, wherein the SEMS schedules the mobile pistol-grasping type charging robot to insert the charging gun into the charging port of the vehicle, if the mobile pistol-grasping type charging robot fails to insert the gun three times, the mobile pistol-grasping type charging robot transmits a gun insertion state to the SEMS system to inform the SEMS system of gun insertion failure, and the SEMS system informs an administrator of gun insertion failure to perform manual gun insertion.
5. The method for achieving energy space-time optimization based on the charging device and the AGV according to claim 1, wherein the vehicle carrying plate is higher than the ground, and a space for the AGV to dive below the vehicle carrying plate is reserved.
6. The method for energy space-time optimization based on the charging device and the AGV according to claim 1, wherein after the vehicle is connected with the charging device, the SEMS system starts the charging device to charge, and if the starting of the charging device fails, the SEMS system controls the AGV to reconnect the vehicle with the charging device.
7. The method for energy space-time optimization based on the charging device and the AGV according to claim 1, wherein in step S3, the distance is calculated by using a Manhattan distance algorithm.
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