CN113651002B - Stacker multi-bin scheduling method, device and medium - Google Patents
Stacker multi-bin scheduling method, device and medium Download PDFInfo
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- CN113651002B CN113651002B CN202110794974.1A CN202110794974A CN113651002B CN 113651002 B CN113651002 B CN 113651002B CN 202110794974 A CN202110794974 A CN 202110794974A CN 113651002 B CN113651002 B CN 113651002B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- 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
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- 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
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Abstract
The invention provides a stacker multi-bin scheduling method, equipment and a medium in the technical field of power change stations, wherein the method comprises the following steps: s10, running the stacker to the position right in front of the charging bin, and recording track data and the serial number of the charging bin; s20, identifying first light intensity data of a positioning piece arranged on the charging bin through a photoelectric sensor, and binding the track data, the serial number of the charging bin and the first light intensity data to generate binding data; s30, controlling the stacker to run to a specified position by the programmable logic controller based on a battery pack scheduling instruction and binding data sent by the upper computer; s40, after receiving a feedback signal when the stacker runs to a specified position, the programmable logic controller acquires second light intensity data of the photoelectric sensor; s50, the programmable logic controller checks the second light intensity data based on the binding data; and S60, controlling the stacker to schedule the battery pack by the programmable logic controller. The invention has the advantages that: the scheduling precision of the battery pack is greatly improved.
Description
Technical Field
The invention relates to the technical field of power change stations, in particular to a stacker multi-bin scheduling method, stacker multi-bin scheduling equipment and stacker multi-bin scheduling media.
Background
With the rapid development of electric vehicles, the electric vehicles have a larger and larger share in the market. However, since the battery technology does not make a breakthrough progress, the electric vehicle needs to be loaded with more batteries to achieve longer endurance, and the loading of more batteries leads to a series of problems that the cost of the whole vehicle is high, and the like, so the endurance problem of the electric vehicle always troubles users, mileage anxiety is caused to the users, the time spent on fully charging the electric vehicle is far longer than the time spent on once charging the oil for the traditional fuel vehicle, and the power station is generated by transportation, and the endurance mileage is directly obtained by replacing the fully charged battery pack for the electric vehicle.
Trade the power station and change the in-process of battery package for electric automobile, need carry the battery package of insufficient voltage to the storehouse of charging and charge so that recycle, pack the battery of full charge to electric automobile on again, because the volume and the weight of battery package are all very big, be difficult to direct manual handling, need utilize the stacker to carry out automatic dispatch.
Conventionally, after the stacker runs for a long time, due to reasons such as changes of external environment, the position where the stacker runs can be deviated, so that the risk of collision exists, or a battery pack cannot be accurately obtained and placed, and even the battery pack is damaged in severe cases. Therefore, how to provide a method, a device and a medium for scheduling multiple bins of a stacker to improve the scheduling accuracy of battery packs becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a multi-bin scheduling method, equipment and medium for a stacker, so as to improve the scheduling precision of battery packs.
In a first aspect, the present invention provides a stacker multi-bin scheduling method, including the following steps:
s10, sequentially running the stacker to the position right ahead of each charging bin, and recording track data and charging bin numbers of the stacker;
s20, identifying first light intensity data of a positioning piece arranged on a charging bin through a photoelectric sensor arranged on the stacker, and binding the track data, the charging bin number and the first light intensity data to generate binding data;
s30, the upper computer sends a battery pack scheduling instruction to a programmable logic controller, and the programmable logic controller controls the stacker to operate to a specified position based on the battery pack scheduling instruction and binding data;
s40, after receiving a feedback signal when the stacker runs to a specified position, the programmable logic controller acquires second light intensity data of the photoelectric sensor;
s50, the programmable logic controller verifies second light intensity data based on the binding data;
and S60, controlling the stacker to schedule the battery pack by the programmable logic controller.
Further, the step S10 is specifically:
the programmable logic controller controls the stacker to sequentially run to the position right ahead of each charging bin, so that the stacker records the track data of the stacker and the serial number of the charging bins after no deviation exists on an X axis, a Y axis and a Z axis;
the track data are the running speed, position parameters and acceleration and deceleration of a servo motor of the stacker.
Further, the step S20 specifically includes:
the programmable logic controller controls a photoelectric sensor arranged on the stacker, identifies first light intensity data of a positioning piece arranged on a charging bin, binds the track data, the serial number of the charging bin and the first light intensity data to generate binding data, and stores the binding data;
the surface roughness of the positioning pieces of each charging bin is different, so that the photoelectric sensors receive different first light intensity data reflected by the positioning pieces.
Further, the step S30 specifically includes:
step S31, the upper computer sends a battery pack scheduling instruction carrying the serial number of the charging bin to the programmable logic controller;
step S32, the programmable logic controller receives the battery pack dispatching instruction, analyzes the battery pack dispatching instruction to obtain a charging bin number, and matches track data corresponding to the charging bin number with the binding data;
s33, the programmable logic controller controls the stacker to run to a specified position based on the track data;
and step S34, sending a feedback signal to the programmable logic controller after the stacker runs to a specified position.
Further, the step S50 specifically includes:
the programmable logic controller judges whether the first light intensity data and the second light intensity data are consistent or not by utilizing the binding data to match the first light intensity data corresponding to the charging bin number, if so, the verification is passed, and the step S60 is carried out; if not, the verification is not passed, staff are reminded to correct the position of the stacker through an audible and visual alarm or a display screen, the binding data are updated, and the step S60 is carried out.
Further, the step S60 specifically includes:
after the programmable logic controller controls the charging bin corresponding to the serial number of the charging bin to be disconnected from the charging interface of the battery pack, the controller controls the stacker to schedule the battery pack.
In a second aspect, the present invention provides a stacker multi-bin scheduling apparatus, including a memory, a processor, and a programmable controller program stored on the memory and executable on the processor, where the processor executes the program to implement the method of the first aspect.
In a third aspect, the present invention provides a stacker multi-bin scheduling medium having a programmable controller program stored thereon, which when executed by a processor implements the method of the first aspect.
One or more technical schemes provided in the embodiments of the present invention have at least the following technical effects or advantages:
the stacker moves the orbit data and the photoelectric sensor discernment of the storehouse of charging in the dead ahead through prerecording the stacker and locates the first light intensity data of the setting element on the storehouse of charging, when needs are dispatched to the battery package, the stacker moves the assigned position based on the orbit data, gather second light intensity data by photoelectric sensor again, because the roughness diverse surface of each setting element, make photoelectric sensor receive the first light intensity data inequality that each setting element reflects, consequently whether the position of stacker takes place the skew through comparing first light intensity data and second light intensity data can be judged, and then very big promotion the precision of battery package dispatch, the stability of stacker operation has been promoted, unnecessary work load has been reduced, the efficiency of battery package dispatch has been promoted.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
The invention will be further described with reference to the following examples and figures.
FIG. 1 is a flow chart of a stacker multi-bin scheduling method of the present invention.
FIG. 2 is a schematic structural diagram of a stacker multi-bin dispatching device of the present invention.
FIG. 3 is a schematic diagram of a stacker multi-bin dispatch media configuration of the present invention.
Detailed Description
The embodiment of the application provides a stacker multi-bin scheduling method, device and medium, so that the accuracy of battery pack scheduling is improved.
The technical scheme in the embodiment of the application has the following general idea: the stacker is operated to the track data right in front of each charging bin and the first light intensity data of the positioning piece arranged on the charging bin are identified by the photoelectric sensor through prerecording, when the battery pack is required to be dispatched, the stacker operates to the designated position based on the track data, then the photoelectric sensor is used for collecting the second light intensity data, and whether the position of the stacker deviates or not is judged by comparing the first light intensity data with the second light intensity data so as to improve the dispatching precision of the battery pack.
Example one
The embodiment provides a stacker multi-bin scheduling method, as shown in fig. 1, including the following steps:
s10, sequentially running the stacker to the position right ahead of each charging bin, and recording track data of the stacker and the serial number of the charging bins;
s20, identifying first light intensity data of a positioning piece arranged on a charging bin through a photoelectric sensor arranged on the stacker, and binding the track data, the charging bin number and the first light intensity data to generate binding data;
s30, the upper computer sends a battery pack scheduling instruction to a programmable logic controller, and the programmable logic controller controls the stacker to operate to a specified position based on the battery pack scheduling instruction and binding data;
s40, after receiving a feedback signal when the stacker runs to a specified position, the programmable logic controller acquires second light intensity data of the photoelectric sensor;
s50, the programmable logic controller verifies second light intensity data based on the binding data; in specific implementation, other sensors can be adopted to perform secondary verification on the position of the stacker, such as sensors such as a proximity switch;
and S60, after the programmable logic controller controls the charging bin corresponding to the charging bin number to be disconnected from the charging interface of the battery pack, the controller controls the stacker to schedule the battery pack.
The light intensity data of the photoelectric sensor identification positioning piece is used for carrying out secondary verification on the position of the stacker, so that the position deviation caused by the change of the external environment can be found in time, the collision risk and the battery pack falling risk caused by the instruction error issued by an upper computer are avoided, and the fool-proof performance and the stability are enhanced.
The step S10 specifically includes:
a Programmable Logic Controller (PLC) controls the stacker to sequentially run right ahead each charging bin, and after the position of the stacker is manually adjusted to ensure that the stacker has no deviation on an X axis, a Y axis and a Z axis, the track data of the stacker and the serial number of the charging bins are recorded;
the track data are the running speed, position parameters and acceleration and deceleration of a servo motor of the stacker.
The step S20 is specifically:
the programmable logic controller controls a photoelectric sensor arranged on the stacker, identifies first light intensity data of a positioning piece arranged on a charging bin, binds the track data, the serial number of the charging bin and the first light intensity data to generate binding data, and stores the binding data;
the surface roughness of the positioning pieces of each charging bin is different, so that the photoelectric sensors receive different first light intensity data reflected by the positioning pieces.
The step S30 specifically includes:
s31, the upper computer sends a battery pack scheduling instruction carrying the serial number of the charging bin to the programmable logic controller;
step S32, the programmable logic controller receives the battery pack dispatching instruction, analyzes the battery pack dispatching instruction to obtain a charging bin number, and matches track data corresponding to the charging bin number with the binding data;
s33, the programmable logic controller controls the stacker to run to a specified position based on the track data;
and S34, sending a feedback signal to the programmable logic controller after the stacker runs to a specified position.
The step S50 specifically includes:
the programmable logic controller judges whether the first light intensity data and the second light intensity data are consistent or not by utilizing the binding data to match the first light intensity data corresponding to the charging bin number, if so, the verification is passed, and the step S60 is carried out; if not, the verification is not passed, staff are reminded to correct the position of the stacker through an audible and visual alarm or a display screen, the binding data are updated, and the step S60 is carried out.
Based on the same inventive concept, the application provides an electronic device embodiment corresponding to the first embodiment, and the second embodiment is shown in detail.
Example two
The embodiment provides a stacker multi-bin scheduling device, as shown in fig. 2, which includes a memory, a processor, and a programmable controller program stored in the memory and capable of running on the processor, and when the processor executes the programmable controller program, any implementation manner of the first embodiment may be implemented.
Since the electronic device described in this embodiment is a device used for implementing the method in the first embodiment of the present application, based on the method described in the first embodiment of the present application, a specific implementation of the electronic device in this embodiment and various variations thereof can be understood by those skilled in the art, and therefore, how to implement the method in the first embodiment of the present application by the electronic device is not described in detail herein. The equipment used by those skilled in the art to implement the methods in the embodiments of the present application is within the scope of the present application.
Based on the same inventive concept, the application provides a storage medium corresponding to the third embodiment.
EXAMPLE III
The embodiment provides a stacker multi-bin scheduling medium, as shown in fig. 3, on which a programmable controller program is stored, and when the programmable controller program is executed by a processor, any one of the embodiments may be implemented.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the stacker moves to the track data in front of each charging bin and the first light intensity data of the positioning piece on the charging bin are identified and arranged by the photoelectric sensor through the prerecording stacker, when the battery pack is required to be dispatched, the stacker moves to the designated position based on the track data, the second light intensity data are collected by the photoelectric sensor again, the roughness of the surface of each positioning piece is different, the first light intensity data reflected by each positioning piece are different when the photoelectric sensor receives the battery pack, whether the position of the stacker deviates or not can be judged by comparing the first light intensity data with the second light intensity data, the dispatching precision of the battery pack is greatly improved, the running stability of the stacker is improved, unnecessary workload is reduced, and the dispatching efficiency of the battery pack is improved.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (7)
1. A multi-bin scheduling method of a stacker is characterized in that: the method comprises the following steps:
s10, sequentially running the stacker to the position right ahead of each charging bin, and recording track data and charging bin numbers of the stacker;
s20, the programmable logic controller controls a photoelectric sensor arranged on the stacker, identifies first light intensity data of a positioning piece arranged on a charging bin, binds the track data, the charging bin number and the first light intensity data to generate binding data, and stores the binding data;
the roughness of the surface of the positioning piece of each charging bin is different, so that the photoelectric sensors receive different first light intensity data reflected by the positioning pieces;
s30, the upper computer sends a battery pack scheduling instruction to a programmable logic controller, and the programmable logic controller controls the stacker to operate to a specified position based on the battery pack scheduling instruction and binding data;
s40, after receiving a feedback signal when the stacker runs to a specified position, the programmable logic controller acquires second light intensity data of the photoelectric sensor;
s50, the programmable logic controller verifies second light intensity data based on the binding data;
and S60, controlling the stacker to schedule the battery pack by the programmable logic controller.
2. The stacker multi-bin scheduling method according to claim 1, wherein: the step S10 specifically includes:
the programmable logic controller controls the stacker to sequentially run to the position right ahead of each charging bin, so that the stacker records the track data of the stacker and the serial number of the charging bins after no deviation exists on an X axis, a Y axis and a Z axis;
the track data are the running speed, position parameters and acceleration and deceleration of a servo motor of the stacker.
3. The stacker multi-bin scheduling method according to claim 1, wherein: the step S30 specifically includes:
s31, the upper computer sends a battery pack scheduling instruction carrying the serial number of the charging bin to the programmable logic controller;
step S32, the programmable logic controller receives the battery pack dispatching instruction, analyzes the battery pack dispatching instruction to obtain a charging bin number, and matches track data corresponding to the charging bin number with the binding data;
s33, the programmable logic controller controls the stacker to run to a specified position based on the track data;
and S34, sending a feedback signal to the programmable logic controller after the stacker runs to a specified position.
4. The stacker multi-bin scheduling method according to claim 1, wherein: the step S50 specifically includes:
the programmable logic controller judges whether the first light intensity data and the second light intensity data are consistent or not by utilizing the binding data to match the first light intensity data corresponding to the charging bin number, if so, the verification is passed, and the step S60 is carried out; if not, the verification is not passed, staff are reminded to correct the position of the stacker through an audible and visual alarm or a display screen, the binding data are updated, and the step S60 is carried out.
5. The stacker multi-bin scheduling method according to claim 1, wherein: the step S60 specifically includes:
after the programmable logic controller controls the charging bin corresponding to the serial number of the charging bin to be disconnected with the charging interface of the battery pack, the controller controls the stacker to schedule the battery pack.
6. A stacker multi-bin scheduler comprising a memory, a processor and a programmable controller program stored on the memory and executable on the processor, wherein the processor when executing said program implements the method of any of claims 1 to 5.
7. A stacker multi-bin scheduling medium having a programmable controller program stored thereon, the program when executed by a processor implementing the method of any one of claims 1 to 5.
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