CN117141263B

CN117141263B - AGV trolley charging control method, AGV trolley charging control system, intelligent terminal and storage medium

Info

Publication number: CN117141263B
Application number: CN202311439042.0A
Authority: CN
Inventors: 范依清; 洪建云; 潘美琳; 马钱杰
Original assignee: Ningbo Shunyu Bell Robot Co ltd
Current assignee: Ningbo Shunyu Bell Robot Co ltd
Priority date: 2023-11-01
Filing date: 2023-11-01
Publication date: 2024-01-16
Anticipated expiration: 2043-11-01
Also published as: CN117141263A

Abstract

The application relates to the technical field of battery charging, in particular to an AGV trolley charging control method, an AGV trolley charging control system, an intelligent terminal and a storage medium, wherein the AGV trolley charging control method comprises the following steps: acquiring the battery residual capacity of the AGV; calculating the difference value between the residual electric quantity and the low electric quantity threshold value to determine an available electric quantity value; comparing the available electric quantity value with a low electric quantity approaching threshold range to judge whether the available electric quantity value is in the low electric quantity approaching threshold range or not; if so, sending a charging prompt, and acquiring a charging position of a preset charging pile; the AGV trolley is instructed to move to a charging position based on the charging prompt, a super capacitor preset on the AGV trolley is charged and stored with high current, charging is stopped until the super capacitor finishes storing energy, and a carrying prompt is sent out; AGV trolley is instructed to carry out carrying operation based on carrying prompt, and the storage battery of AGV trolley is charged with little electric current to instruct super capacitor. The AGV car charging time length reduction method has the effect of reducing AGV car charging time length of being provided with a large-capacity storage battery.

Description

AGV trolley charging control method, AGV trolley charging control system, intelligent terminal and storage medium

Technical Field

The application relates to the technical field of battery charging, in particular to an AGV trolley charging control method, an AGV trolley charging control system, an intelligent terminal and a storage medium.

Background

In the transport operation in an automated shop, an AGV is widely used as a carrier for automatic transport, and when transporting objects, the AGV is powered by a battery mounted on the AGV.

In the related art, when the battery on the AGV dolly has lower condition of electric quantity, need in time charge, generally need wait for the power to carry out the transport operation again after full to ensure that the AGV has sufficient power and accomplish the transport operation of different distances, and the AGV dolly of carrying large-scale article can install the battery of great capacity.

To the above-mentioned related art, when the AGV dolly charges to the battery, the charge time can increase along with the capacity increase of battery, so the great battery of capacity is when charging, and the time that needs to wait is longer for the transport operating efficiency of AGV dolly declines to some extent.

Disclosure of Invention

In order to reduce the charging time of an AGV trolley provided with a large-capacity storage battery, the application provides an AGV trolley charging control method, an AGV trolley charging control system, an intelligent terminal and a storage medium.

In a first aspect, the present application provides an AGV trolley charging control method, which adopts the following technical scheme:

an AGV trolley charge control method includes:

acquiring the battery residual capacity of the AGV;

calculating a difference value based on the residual electric quantity and a preset low electric quantity threshold value to determine an available electric quantity value;

based on the available power value and a preset low power approach threshold range, comparing to determine whether the available power value is within the low power approach threshold range;

if the available electric quantity value is in the range of the low electric quantity approaching threshold value, a charging prompt is sent out, and the charging position of a preset charging pile is obtained;

the AGV trolley is instructed to move to a charging position based on the charging prompt, a super capacitor preset on the AGV trolley is charged and stored with high current, charging is stopped until the super capacitor finishes storing energy, and a carrying prompt is sent out;

AGV trolley is instructed to carry out carrying operation based on carrying prompt, and the storage battery of AGV trolley is charged with little electric current to instruct super capacitor.

Through adopting above-mentioned technical scheme, when AGV dolly electric quantity is lower, charge to the charge position to bear heavy current quick charge through super capacitor, with the quick energy storage of accomplishing the power, charge the battery of AGV dolly with the electric energy conversion of storage again for the undercurrent, help reducing substantially the great battery charge time of capacity, and be difficult for causing the damage to the battery.

Optionally, when the available power value is within the low power proximity threshold range, the method further includes:

acquiring the working state of an AGV;

comparing the working state with a preset carrying working state;

if the working state is inconsistent with the preset carrying working state, a charging prompt is sent out;

if the working state is consistent with the preset carrying working state, acquiring a working task node;

analyzing whether the job task node is consistent with a preset carrying ending node;

if the operation task node is inconsistent with the preset carrying end node, marking the AGV trolley as a trolley to be charged;

analyzing the electric quantity of the AGV trolley after the carrying is finished to determine the replacement AGV trolley with the electric quantity not lower than the available electric quantity value;

indicating to replace the AGV trolley and the trolley to be charged to exchange work tasks, and sending an exchange completion prompt;

based on the exchange prompt, the AGV is replaced to continuously finish the carrying operation corresponding to the operation task node, and the trolley to be charged is instructed to carry out high-current charging energy storage.

Through adopting above-mentioned technical scheme, carry out operation task node and electric quantity analysis to the AGV dolly that is in under the transport operation state, when the AGV dolly needs to continue to carry out transport operation and the electric quantity is lower, seek the replacement AGV dolly that the electric quantity is sufficient and accomplish semicircle operation, and replace the AGV dolly with waiting to charge the dolly and carry out operation task replacement, instruct to wait to charge the dolly and go forward to charge, thereby when can not influencing transport operation, can carry out electric energy to the lower AGV dolly of electric quantity and supply, help the AGV dolly to follow-up to accomplish other transport operation tasks.

Optionally, when analyzing the AGV dolly electric quantity that the transport ended, include:

judging whether the number of the replaced AGV trolleys with the electric quantity not lower than the available electric quantity value is larger than zero or not;

if the power consumption is not greater than the preset power consumption, matching the job task node with the preset job power consumption to determine the minimum power value required by the rest job task nodes;

acquiring a replacement power supply electric quantity value of a charging position, and comparing a minimum electric quantity value with the replacement power supply electric quantity value;

if the replacement power supply electric quantity value is larger than the minimum electric quantity value, marking the power supply as a replaceable power supply;

the AGV is instructed to change the power supply based on the replaceable power supply, and a power supply change prompt is sent out;

and based on the power supply replacement prompt, indicating the AGV trolley to continuously finish the carrying operation corresponding to the operation task node.

Through adopting above-mentioned technical scheme, when the electric quantity that replaces the AGV dolly all does not satisfy the demand of substitution operation, carry out power replacement through instructing the AGV dolly to charging position to make the required electric energy of AGV dolly ability supplementary work, and reduce waiting time consuming, and continue to accomplish current operation task node.

Optionally, when comparing the minimum power value with the replacement power supply power value, further comprising:

if the replacement power supply electric quantity value is smaller than the minimum electric quantity value, marking the replacement power supply as a low electric quantity value power supply;

The power supplies with the low electric quantity values are arranged in a descending order to determine the replacement power supply with the maximum electric quantity value, and the replacement power supply is marked as the best available power supply;

summing based on the best available power source and the remaining power of the AGV trolley to determine a series power source power value;

performing difference calculation on the serial power supply power value and the low power threshold value to determine available power of the serial power supply;

analyzing the size relation between the available power quantity of the serial power supply and the low power quantity near the threshold value range;

when the amount of power available from the serial power source exceeds the low power threshold range, the best available power source is indicated to be installed and connected in series with the battery on the AGV.

Through adopting above-mentioned technical scheme, when the change power in the charge position all is in under the state of charging, screen the electric quantity of all change power to establish ties the biggest best available power of electric quantity and dolly power, so that the available electric quantity of AGV dolly exceeds low electric quantity threshold value, thereby the AGV dolly is difficult for appearing the condition of electric quantity shortage when carrying out follow-up transport operation, is favorable to the battery to carry out stable power supply.

Optionally, when charging energy storage with the heavy current to the super capacitor of predetermining on the AGV dolly, include:

acquiring charging input power of a super capacitor;

Comparing the charging input power with a preset upper limit input power to judge whether the charging input power is smaller than the preset upper limit input power or not;

if the charging input power is smaller than the preset upper limit input power, the preset charging device is instructed to continue to increase the output voltage;

if the charging input power is equal to the preset upper limit input power, prompting a preset charging device to stop increasing the output voltage;

if the charging input power is larger than the preset upper limit input power, the preset charging device is instructed to disconnect the charging output of the super capacitor.

Through adopting above-mentioned technical scheme, when carrying out the energy storage that charges with the heavy current to the super capacitor, whether analysis charges input power can continue to increase to when improving the power charging efficiency, make the input power that charges be difficult for exceeding upper limit input power, in order to reduce the super capacitor and take place the probability that voltage overload, and under the condition that appears the overload, in time break off charging device to super capacitor's voltage output, help improving the security that charges.

Optionally, when the charging device continues to increase the output voltage, the charging device includes:

acquiring the temperature rising rate of the super capacitor in a preset unit time;

Based on the comparison of the temperature rising rate and the preset retarded rising rate, judging whether the temperature rising rate is greater than the preset retarded rising rate or not;

if the temperature rising rate is greater than the preset retarded rising rate, acquiring the working temperature of the super capacitor;

comparing the working temperature with a preset overload approaching temperature range to judge whether the working temperature falls into the preset overload approaching temperature range;

and when the working temperature falls within a preset near overload temperature range, indicating the preset charging device to stop increasing the output voltage.

Through adopting above-mentioned technical scheme, analyze the operating temperature of super capacitor when continuously increasing output voltage to judge whether super capacitor's operating temperature is close to the overload, thereby in time adjust charging device, make charging device no longer increase output voltage, help in time reducing super capacitor operating temperature overload's condition to take place, further improve super capacitor's operational safety.

Optionally, when the super capacitor charges the storage battery of the AGV with a small current, the method includes:

acquiring a handling operation type;

matching is carried out based on the carrying operation type and preset power consumption power so as to determine carrying power consumption corresponding to the operation type;

Based on the comparison of the carrying power consumption and the charging input power, judging whether the carrying power consumption is larger than the charging input power or not;

if the carrying power consumption is larger than the charging input power, carrying out difference calculation on the carrying power consumption and the charging input power to determine a difference power;

matching is carried out based on the difference power and a preset output current so as to determine an adaptive output current value;

and indicating the super capacitor to charge the storage battery of the AGV by adapting to the output current value.

Through adopting above-mentioned technical scheme, carry out the power consumption when carrying the operation to the AGV dolly and analyze to judge whether the super capacitor carries out the charging input power when the low current power supply can satisfy the consumption needs, and match the current output value that corresponds with the operation and in time adjust, reduce because supply current is not enough and influence the AGV dolly and normally carry out the probability of operation, improve the job stabilization nature of AGV dolly.

In a second aspect, the present application provides an AGV trolley charging control system, which adopts the following technical scheme:

an AGV cart charge control system, comprising:

the acquisition module is used for acquiring the residual electric quantity of the battery, the charging position, the working state, the operation task node, the power supply replacement electric quantity value, the charging input power, the temperature rising rate, the working temperature and the carrying operation type;

The storage is used for storing any program of the AGV trolley charging control method;

and the processor is used for loading and executing programs in the memory, and realizing any AGV trolley charging control method.

Through adopting above-mentioned technical scheme, the AGV dolly that indicates the electric quantity is not enough goes to the charge position and charges to charge through the mode that uses the heavy current to super capacitor, after accomplishing super capacitor's energy storage, use the low current to charge the energy supply to the battery on the AGV dolly, can reduce the great battery charging time of capacity by a wide margin when being difficult for causing the battery to damage.

In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:

an intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any AGV trolley charging control method.

Through adopting above-mentioned technical scheme, through intelligent terminal's use, the AGV dolly that indicates the electric quantity is not enough goes to charging position and charges to charge through the mode that uses the heavy current to super capacitor, after accomplishing super capacitor's energy storage, use the low current to charge the energy supply to the battery on the AGV dolly, can reduce the great battery charging time of capacity by a wide margin when being difficult for causing the battery to damage.

In a fourth aspect, the present application provides a computer storage medium, capable of storing a corresponding program, and having the characteristics of reducing the charging time length of an AGV trolley equipped with a large-capacity storage battery and improving the charging efficiency, and adopts the following technical scheme:

a computer readable storage medium storing a computer program loadable by a processor and configured to perform any one of the above-described AGV cart charging control methods.

Through adopting above-mentioned technical scheme, there is AGV dolly charge control method's computer program in the storage medium, when executing computer program, the AGV dolly that indicates the electric quantity is not enough goes to the charge position and charges to charge through the mode that uses the heavy current to super capacitor, after accomplishing super capacitor's energy storage, use the low current to charge the energy supply to the battery on the AGV dolly, can reduce the great battery charge time of capacity by a wide margin when being difficult for causing the battery to damage.

In summary, the present application includes at least one of the following beneficial technical effects:

when the electric quantity of the AGV trolley is low, the AGV trolley is charged to a charging position, and is subjected to high-current rapid charging through the super capacitor so as to finish rapid energy storage of a power supply, and then the stored electric energy is converted into low current to charge a battery of the AGV trolley, so that the charging time of the battery with large capacity is greatly reduced, and the battery is not easy to damage;

2. The AGV trolley in the carrying operation state is subjected to operation task node and electric quantity analysis, when the AGV trolley needs to continue carrying operation and the electric quantity is low, the replacement AGV trolley with sufficient electric quantity and complete semicircular operation is searched, the replacement AGV trolley is replaced by the replacement AGV trolley and the trolley to be charged, the trolley to be charged is indicated to be charged, and therefore the electric energy supplement can be carried out on the AGV trolley with low electric quantity while carrying operation is not affected, and other carrying operation tasks are completed subsequently by the AGV trolley;

3. when the replacement power supplies in the charging positions are all in a charging state, the electric quantity of all the replacement power supplies is screened, so that the best available power supply with the largest electric quantity and the trolley power supply are connected in series, the available electric quantity of the AGV trolley exceeds a low electric quantity threshold value, and therefore the situation that the AGV trolley is not easy to generate electric quantity shortage when carrying out subsequent carrying operation is facilitated, and stable power supply of the battery is facilitated.

Drawings

Fig. 1 is a flowchart of the method of steps S100 to S105 in the present application.

Fig. 2 is a flow chart of the method of steps S200 to S208 in the present application.

Fig. 3 is a flowchart of the method of steps S300 to S305 in the present application.

Fig. 4 is a flowchart of the method of steps S400 to S405 in the present application.

Fig. 5 is a method flowchart of steps S500 to S5013 in the present application.

Fig. 6 is a flow chart of the method of steps S600 to S604 in the present application.

Fig. 7 is a flowchart of the method of steps S700 to S705 in the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 7 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

Embodiments of the invention are described in further detail below with reference to the drawings.

The embodiment of the application discloses AGV dolly charge control method, through carrying out the analysis to the residual capacity of AGV dolly, when the residual capacity falls into the low electric quantity that presets near in the threshold value scope, instruct the AGV dolly to go to the charge position and charge, and through carrying out the energy storage that charges with the super large capacity on the heavy current to the AGV dolly, with increase charge rate, and charge the energy supply through the battery that the low current charges on the AGV dolly by the super capacitor after charging, can reduce the probability that the battery took place the damage, also can reduce the high capacity battery and charge long time, help improving the transport operating efficiency of AGV dolly.

Referring to fig. 1, the method flow of the agv cart charge control method includes the steps of:

step S100: acquiring the battery residual capacity of the AGV;

the battery residual capacity is a battery residual capacity value used for supplying power on the AGV trolley, and is determined by installing a battery tester on the AGV trolley.

Step S101: calculating a difference value based on the residual electric quantity and a preset low electric quantity threshold value to determine an available electric quantity value;

the low battery threshold is a battery threshold set by a worker according to actual conditions, and represents that the battery level is in a lower remaining battery level range, for example, the low battery threshold is set to fifteen percent of the total battery level. The residual electric quantity and a preset low electric quantity threshold value are subjected to difference value calculation, and the calculated value is defined as available electric quantity, wherein the available electric quantity is a percentage value obtained by conversion after comparison with the total electric quantity.

Step S102: based on the available power value and a preset low power approach threshold range, comparing to determine whether the available power value is within the low power approach threshold range;

the low battery approach threshold range is an interval value near the low battery threshold, for example, the low battery threshold is fifteen percent, and when used in ten percent units, the low battery approach threshold range is equal to twenty-five percent. By comparing the available power value with the low power approach threshold range, it is known whether the available power value is within an interval value corresponding to the low power approach threshold range, so as to facilitate further analysis and adjustment.

Step S103: if the available electric quantity value is in the range of the low electric quantity approaching threshold value, a charging prompt is sent out, and the charging position of a preset charging pile is obtained;

if available electric quantity value is in low electric quantity and approaches threshold value within range, then it is lower to indicate the battery electric quantity of AGV dolly, be difficult to provide stable electric energy supply for carrying the operation for the AGV dolly continuously, send the signal of charging suggestion this moment, with instruct the AGV dolly to acquire the position of charging, wherein the position of charging is the station of charging that sets up in advance in the work area, through installing the electric pile that charges in the station of charging, in order to charge in time the AGV dolly, and the position of charging the station is established plane coordinate by the staff to the facility in the work area and is confirmed, and in loading to the navigation of AGV dolly, in this embodiment, the position of charging is provided with a plurality of, thereby the AGV dolly can select the position of charging that approaches to charge.

If the available electricity value is not in the low electricity approaching threshold range, the remaining electricity of the AGV trolley is relatively sufficient, and a battery is not required to be charged at the moment, so that an electricity sufficient signal is generated.

Step S104: the AGV trolley is instructed to move to a charging position based on the charging prompt, a super capacitor preset on the AGV trolley is charged and stored with high current, charging is stopped until the super capacitor finishes storing energy, and a carrying prompt is sent out;

Step S105: AGV trolley is instructed to carry out carrying operation based on carrying prompt, and the storage battery of AGV trolley is charged with little electric current to instruct super capacitor.

The super capacitor is a charging capacitor unit which is arranged on the AGV trolley in advance, can receive the input of large current and store electric energy, has larger limitation on the input of voltage and current compared with the direct storage of electric energy in the battery, so that the input voltage or current is smaller, and the charging rate is greatly reduced.

When the super capacitor is charged, a carrying prompt is sent out to instruct the AGV trolley to continue carrying out the carrying operation.

Referring to fig. 2, when the available power value is within the low power approach threshold range, further including:

step S200: acquiring the working state of an AGV;

the working state is the current working state of the AGV trolley, and whether the AGV trolley works or stands by can be known through the acquisition of the working state, so that control instruction analysis can be conducted on the AGV trolley in the low-power approach threshold range.

Step S201: comparing the working state with a preset carrying working state;

the transport operation state is a continuous power consumption state of the AGV when the transport operation is performed, and can be determined by analyzing the power consumption of the AGV.

Step S202: if the working state is inconsistent with the preset carrying working state, a charging prompt is sent out;

through comparing operating condition and transport operating condition, can learn whether the AGV dolly is in the state of being operated to the follow-up control adjustment of being convenient for to the AGV dolly. The working state is inconsistent with the preset carrying working state, so that the AGV trolley is not carried out, is in a standby state, cannot influence the operation of the trolley because of going to the charging position, and sends out a charging prompt to instruct the AGV trolley to charge to the charging position.

Step S203: if the working state is consistent with the preset carrying working state, acquiring a working task node;

if the working state is consistent with the preset carrying working state, the AGV trolley is in carrying operation at the moment, the AGV trolley can not be directly charged to the charging position, the completion of carrying operation is influenced, then the operation task node is further acquired, and the operation task node is an operation flow step when the trolley carries the article, the operation flow step can pass through a plurality of nodes from the beginning of carrying to the end of carrying, and whether the AGV trolley can be directly charged or not can be known by analyzing the operation task node.

Step S204: analyzing whether the job task node is consistent with a preset carrying ending node;

the end-of-transfer node is the last node when the article is transferred to the destination, and by comparing the job task node with the end-of-transfer node, it can be known whether the transfer task has been completed or not, so that further analysis can be performed later. If the operation task node is consistent with the carrying ending node, indicating that the carrying operation of the AGV trolley is ended, sending a carrying ending prompt to prompt the AGV trolley to charge.

Step S205: if the operation task node is inconsistent with the preset carrying end node, marking the AGV trolley as a trolley to be charged;

if the operation task node is inconsistent with a preset carrying end node, the AGV trolley is not finished in carrying operation, carrying operation needs to be continuously carried out, the electric quantity of the AGV trolley is in a lower state, charging is needed to facilitate the subsequent completion of carrying operation tasks, and the AGV trolley is marked as a trolley to be charged.

Step S206: analyzing the electric quantity of the AGV trolley after the carrying is finished to determine the replacement AGV trolley with the electric quantity not lower than the available electric quantity value;

through carrying out electric quantity analysis and operating condition analysis to other floor truck to find out the AGV dolly that accomplishes the transport operation and the electric quantity is not less than usable electric quantity, and define as replacing the AGV dolly, in order to follow-up calling.

Step S207: indicating to replace the AGV trolley and the trolley to be charged to exchange work tasks, and sending an exchange completion prompt;

step S208: based on the exchange prompt, the AGV is replaced to continuously finish the carrying operation corresponding to the operation task node, and the trolley to be charged is instructed to carry out high-current charging energy storage.

The work task is the transport operation task that the dolly of waiting to charge did not finish, carries out work task exchange through replacing AGV dolly and waiting to charge the dolly, when accomplishing task exchange, sends the transport operation progress that the dolly of waiting to charge can be ended to replace the AGV dolly and carry out continuous operation according to task operation node with the transport operation that does not finish, and take the dolly of charging to charge the position and adopt the heavy current to charge the energy storage, can enough utilize the AGV dolly of accomplishing the operation, also can charge in time the lower AGV dolly of electric quantity.

Referring to fig. 3, when analyzing the electric quantity of the AGV after the conveyance is completed, the method includes:

step S300: judging whether the number of the replaced AGV trolleys with the electric quantity not lower than the available electric quantity value is larger than zero or not;

when carrying out the electric quantity analysis to the AGV dolly that the transport was accomplished, carry out quantity statistics through the AGV dolly that accords with the condition to define as replacing AGV dolly quantity, through carrying out the analysis with replacing AGV dolly quantity, with judging whether the quantity is greater than zero, thereby learn whether there is the dolly that accords with the condition, in order to follow-up calling.

Step S301: if the power consumption is not greater than the preset power consumption, matching the job task node with the preset job power consumption to determine the minimum power value required by the rest job task nodes;

if the number of the replaced AGV trolleys is not greater than zero, the fact that the replaced AGV trolleys meeting the conditions do not exist is indicated, and other ways are needed to be adopted for supplementing power to the trolley to be charged, so that the method for adjusting the AGV trolleys is further as follows: the method comprises the steps of pre-establishing a job power consumption database, storing different tasks in the job power consumption database, storing the electric quantity required to be consumed when executing different job task nodes in the job power consumption database, enabling job power consumption, job task nodes and the electric quantity consumed to form a mapping relation, and outputting the corresponding electric quantity required to be consumed and defining the electric quantity as a minimum electric quantity value when inputting the job task nodes.

If the number of the replaced AGV trolleys is greater than zero, the AGV trolleys meeting the conditions can be directly replaced, and the replaced AGV trolleys and the trolley with the charging function are replaced.

Step S302: acquiring a replacement power supply electric quantity value of a charging position, and comparing a minimum electric quantity value with the replacement power supply electric quantity value;

the replacement power supply electric power value is an electric power value possessed by a battery being charged or a battery having been charged in the charging position, and by comparing the minimum electric power value with the replacement power supply electric power value, it is known whether or not there is a battery power source capable of being directly replaced in the charging position.

Step S303: if the replacement power supply electric quantity value is larger than the minimum electric quantity value, marking the power supply as a replaceable power supply;

the change power supply electric quantity value is greater than minimum electric quantity value, and the instruction change power supply satisfies the AGV dolly and carries out subsequent transport operation needs, marks the power as removable power supply this moment to supply the AGV dolly to directly carry out battery replacement, can practice thrift latency, the AGV dolly of being convenient for directly carries out the operation.

Step S304: the AGV is instructed to change the power supply based on the replaceable power supply, and a power supply change prompt is sent out;

when the power supply is known to be replaced, at least the AGV trolley replaces the power supply and sends a power supply replacement prompt to prompt that the replacement of the power supply is completed.

Step S305: and based on the power supply replacement prompt, indicating the AGV trolley to continuously finish the carrying operation corresponding to the operation task node.

After the power supply replacement is completed, the AGV trolley has enough electric quantity to complete subsequent carrying operation, and the AGV trolley is instructed to continuously complete carrying operation corresponding to the operation task node.

Referring to fig. 4, when comparing the minimum power value and the replacement power supply power value, further comprising:

step S400: if the replacement power supply electric quantity value is smaller than the minimum electric quantity value, marking the replacement power supply as a low electric quantity value power supply;

When the minimum electric quantity value is compared with the replacement power supply electric quantity value, the condition that the replacement power supply electric quantity value is smaller than the minimum electric quantity value is further included, the condition that a battery in the replacement power supply is in a charged state is explained, and the power supply does not meet the requirements of subsequent carrying operation, the replacement energy source is marked as a low electric quantity value power supply, so that subsequent adjustment is facilitated.

Step S401: the power supplies with the low electric quantity values are arranged in a descending order to determine the replacement power supply with the maximum electric quantity value, and the replacement power supply is marked as the best available power supply;

when the replacement power supplies are screened, the power supplies with low electric quantity values do not meet the condition that the electric quantity value is larger than the minimum electric quantity value, so that the replacement power supply with the largest electric quantity value can be obtained through descending order of the electric quantity values of the replacement power supplies, and the replacement power supply is defined as the best available power supply.

Step S402: summing based on the best available power source and the remaining power of the AGV trolley to determine a series power source power value;

after the best available power supply is known, namely, the best available power supply and the residual electric quantity of the AGV are calculated and summed, and the result obtained by summation is defined as the series power supply electric quantity value so as to be convenient for calling in the subsequent analysis.

Step S403: performing difference calculation on the serial power supply power value and the low power threshold value to determine available power of the serial power supply;

and calculating the difference value between the serial power supply power value and the low power threshold value to obtain whether the serial power supply power value is larger than the low power threshold value or not, and defining the calculation result as available serial power.

Step S404: analyzing the size relation between the available power quantity of the serial power supply and the low power quantity near the threshold value range;

by comparing the available power in the series with the low power threshold range, it can be known whether the power value corresponding to the available power in the series is within the low power threshold range, for example, the low power threshold is fifteen percent, the low power threshold range is fifteen to twenty-five percent, the difference between fifteen percent and twenty-five percent is ten percent, if the available power in the series is sixteen percent, the power value of the series is greater than the low power threshold range, which indicates that the power corresponding to the power value of the series is sufficient.

Step S405: when the amount of power available from the serial power source exceeds the low power threshold range, the best available power source is indicated to be installed and connected in series with the battery on the AGV.

When the available electric quantity of the series power supply exceeds the low electric quantity near the threshold range, the alternative power supply and the battery on the AGV trolley can be directly connected in series for use, and the best available energy source and the battery on the AGV trolley are directly connected in series, so that the total energy storage quantity of the power supply is increased.

Referring to fig. 5, when charging and storing energy with a large current for a super capacitor preset on an AGV trolley, the method includes:

step S500: acquiring charging input power of a super capacitor;

the charging input power of the super capacitor is a voltage value input by the charging device to the capacitor, and the voltage value has at least two adaptive voltage values so as to be convenient for charging under different voltages.

Step S501: comparing the charging input power with a preset upper limit input power to judge whether the charging input power is smaller than the preset upper limit input power or not;

the upper limit input power is the maximum input voltage value, and when the input voltage value exceeds the maximum input voltage value, the battery is liable to be unstable in charging, and when the charging is performed by using the charging input power with a larger input voltage value, the charging speed can be increased, so that whether the input voltage at the current charging position can be further increased can be obtained by judging whether the currently used charging input power exceeds the upper limit input power.

Step S5011: if the charging input power is smaller than the preset upper limit input power, the preset charging device is instructed to continue to increase the output voltage;

if the charging input power is smaller than the preset upper limit input power, the charging input power can be further increased, and the charging device is instructed to increase the output voltage in order to improve the charging efficiency.

Step S5012: if the charging input power is equal to the preset upper limit input power, prompting a preset charging device to stop increasing the output voltage;

if the charging input power is equal to the preset upper limit input power, the output voltage of the charging device cannot be continuously regulated, the battery is easy to break down, and the charging device is instructed to stop increasing of the output voltage.

Step S5013: if the charging input power is larger than the preset upper limit input power, the preset charging device is instructed to disconnect the charging output of the super capacitor.

If the charging input power is greater than the preset upper limit input power, the charging device is instructed to disconnect the charging of the super capacitor so as to reduce and regulate the output voltage of the charging device, and the charging device cannot damage the battery.

Referring to fig. 6, when the charging device continues to increase the output voltage, it includes:

step S600: acquiring the temperature rising rate of the super capacitor in a preset unit time;

the unit time is set by a worker according to actual needs, and is used as a unit time of 1 minute, for example, and the internal temperature rise rate is a rate of change of temperature in the unit time.

Step S601: based on the comparison of the temperature rising rate and the preset retarded rising rate, judging whether the temperature rising rate is greater than the preset retarded rising rate or not;

the temperature rising speed is the temperature change speed when the temperature change is relatively slow, and is set by staff according to actual needs, and the temperature rising speed is compared with the preset temperature rising speed, so that whether the temperature rising speed is in a state of slowly rising or exceeds the state of slowly rising can be known.

Step S602: if the temperature rising rate is greater than the preset retarded rising rate, acquiring the working temperature of the super capacitor;

if the temperature rising rate is larger than the preset retarded rising rate, the temperature rising of the super capacitor is faster when the super capacitor is charged by high current, the temperature of the super capacitor is acquired at the moment and is defined as the working temperature of the super capacitor, and the super capacitor is detected by setting a temperature sensor during acquisition.

Step S603: comparing the working temperature with a preset overload approaching temperature range to judge whether the working temperature falls into the preset overload approaching temperature range;

step S604: and when the working temperature falls within a preset near overload temperature range, indicating the preset charging device to stop increasing the output voltage.

The temperature range close to overload is the temperature change range when the super capacitor is about to be charged in overload, which indicates that the super capacitor is not overloaded during charging, and the super capacitor can be charged quickly at the moment, but is dangerous, and the possibility of damage of the super capacitor exists. Therefore, when the working temperature falls within the range close to the overload temperature, the charging device is instructed to stop increasing the output voltage, and the magnitude of the output voltage is reduced, so that the super capacitor is charged in a relatively safe temperature state.

Referring to fig. 7, when the super capacitor charges the battery of the AGV car with a small current, it includes:

step S700: acquiring a handling operation type;

the type of carrying operation refers to that the AGV trolley carries a heavy object or carries a light object, and when carrying the heavy object, the power consumption generated in the moving process and the object lifting process has different changes.

Step S701: matching is carried out based on the carrying operation type and preset power consumption power so as to determine carrying power consumption corresponding to the operation type;

the method comprises the steps of establishing a power consumption database, storing different conveying operation types and power consumption corresponding to the conveying operation types into the power consumption database, enabling the power consumption and the conveying operation types to have corresponding relations, outputting corresponding power consumption when the conveying operation types are input, and defining the power consumption as conveying power consumption.

Step S702: based on the comparison of the carrying power consumption and the charging input power, judging whether the carrying power consumption is larger than the charging input power or not;

the charging input power is the current input power when the super capacitor charges the battery with small current, and whether the power consumption speed is higher than the charging speed can be known by comparing the carrying power consumption power with the charging input power.

If the carrying power consumption is less than or equal to the charging input power, the carrying power consumption is not influenced by normal operation of the AGV trolley, and the AGV trolley can be continuously supplied with power.

Step S703: if the carrying power consumption is larger than the charging input power, carrying out difference calculation on the carrying power consumption and the charging input power to determine a difference power;

If the power consumption of the transportation is greater than the charging input power, it is indicated that the power consumption of the transportation is greater, and there may be an unbalanced power supply, and further adjustment is required.

Step S704: matching is carried out based on the difference power and a preset output current so as to determine an adaptive output current value;

an output current analysis database is established, different difference powers and output currents corresponding to the difference powers are stored in the output current analysis database, so that the difference powers and the output currents form a mapping relation, and when the difference powers are input, the corresponding output currents can be output and defined as adaptive output currents.

Step S705: and indicating the super capacitor to charge the storage battery of the AGV by adapting to the output current value.

After the adaptive output current is obtained, the super capacitor is instructed to charge the storage battery according to the adaptive output current, and the power supply function and the charging energy storage requirement of the corresponding carrying operation type can be met.

Based on the same inventive concept, an embodiment of the present invention provides an AGV trolley charging control system, including:

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.

The embodiment of the invention provides a computer readable storage medium which stores a computer program capable of being loaded by a processor and executing an AGV trolley charging control method.

The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute an AGV trolley charging control method.

The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.

Claims

1. The AGV trolley charging control method is characterized by comprising the following steps of:

acquiring the battery residual capacity of the AGV; the residual electric quantity is a residual electric quantity value of a storage battery used for supplying power on the AGV trolley;

calculating a difference value based on the residual electric quantity and a preset low electric quantity threshold value to determine an available electric quantity value; the low electric quantity threshold is an electric quantity threshold set by a worker according to actual conditions;

based on the available power value and a preset low power approach threshold range, comparing to determine whether the available power value is within the low power approach threshold range; the low power approach threshold range is an interval value close to the low power threshold;

based on the transport prompt, the AGV trolley is instructed to carry out transport operation, and the super capacitor is instructed to charge a storage battery of the AGV trolley with small current;

When the available electric quantity value is in the low electric quantity near threshold value range, the method further comprises the following steps:

acquiring the working state of an AGV;

comparing the working state with a preset carrying working state;

based on the exchange prompt, indicating the replacement AGV trolley to continuously complete the carrying operation corresponding to the operation task node, and indicating the trolley to be charged to perform high-current charging energy storage;

when the AGV dolly electric quantity that analysis transport was accomplished includes:

based on the power supply replacement prompt, indicating the AGV trolley to continuously finish carrying operation corresponding to the operation task node;

when comparing the minimum power value with the replacement power supply power value, further comprising:

2. The method for controlling the charging of the AGV according to claim 1, wherein when charging and storing energy of a super capacitor preset on the AGV with a large current, the method comprises:

acquiring charging input power of a super capacitor;

3. The AGV cart charge control method according to claim 2, wherein the charging means further increases the output voltage, comprising:

4. The AGV cart charge control method according to claim 1, wherein when the super capacitor charges the battery of the AGV cart with a small current, comprising:

acquiring a handling operation type;

5. An AGV cart charge control system, comprising:

a memory for storing a program of the AGV dolly charge control method according to any one of claims 1 to 4;

a processor, a program in a memory capable of being loaded by the processor and implementing the AGV cart charge control method according to any one of claims 1 to 4.

6. An intelligent terminal comprising a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the AGV cart charging control method according to any one of claims 1 to 4.

7. A computer readable storage medium storing a computer program that can be loaded by a processor and that performs the AGV cart charge control method of any one of claims 1 to 4.