TWI789269B - Automatic charging scheduling system - Google Patents
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本發明是關於一種充電進度自動排程系統。本發明特別是關於一種應用於自動導引車(Automated Guided Vehicle,AGV)的充電進度自動排程系統。 The invention relates to an automatic scheduling system for charging progress. In particular, the present invention relates to an automatic charging scheduling system applied to an automatic guided vehicle (Automated Guided Vehicle, AGV).
近年來,隨著工業自動化的興起,自動導引車已經廣泛運用在工廠和倉庫中,負責物料的裝載、卸載、移動、儲存和運送。傳統上,產品的製造過程中通常僅有5%的時間用於製造,其餘95%的時間都在儲存、裝卸、等待加工和運送等過程,因此,導入自動導引車可以減少時間的浪費提升整體生產效率,還可以大幅降低人力成本、節省廠房空間配置,有效降低營運成本。 In recent years, with the rise of industrial automation, automated guided vehicles have been widely used in factories and warehouses to be responsible for loading, unloading, moving, storing and delivering materials. Traditionally, only 5% of the time in the manufacturing process of products is spent on manufacturing, and the remaining 95% of the time is spent on storage, loading and unloading, waiting for processing and delivery. Therefore, the introduction of automatic guided vehicles can reduce the waste of time. The overall production efficiency can also greatly reduce labor costs, save factory space allocation, and effectively reduce operating costs.
目前,自動導引車一般採用可充電蓄電池作為移動之動力來源,但是目前常見的充電蓄電池仍無法提供自動導引車完整工作一整天之電量,一旦電池電能耗盡則必須給電池進行充電,由於自動導引車一般主要用來執行性質單調的工作,這類型的工作是不斷重複相同的動作,無須具備自行決策的需求,因此極少需要人力介入。目前市面上雖有自動化的充電模組,其充電排程主要仰賴的是派工法則與邏輯,但由於當前工廠管理中,經常面對設備新增與淘汰等各種應變情況,以致很多排程系統在生產現況改變後,因無法排出符合現場生產需求的排程結果而被廢棄,需要人為介入代為修改,自動導引車就處於非連續的任務環,這勢必將破壞自動導引車的工作完整性,降低自動導引車的工作效率同時大幅提升人力成本。 At present, automatic guided vehicles generally use rechargeable batteries as the power source for movement, but the current common rechargeable batteries still cannot provide the power for automatic guided vehicles to work for a full day. Once the battery power is exhausted, the battery must be charged. Since automatic guided vehicles are generally used to perform monotonous tasks, this type of work is to repeat the same actions repeatedly without the need for self-decision making, so human intervention is rarely required. Although there are automated charging modules currently on the market, their charging scheduling mainly relies on the rules and logic of dispatching workers. However, due to the current factory management, it is often faced with various contingencies such as new additions and eliminations of equipment, so many scheduling systems After the current production status changes, it is discarded because the scheduling results that meet the on-site production requirements cannot be discharged, and manual intervention is required to modify it. The automatic guided vehicle is in a discontinuous task loop, which will inevitably destroy the work integrity of the automatic guided vehicle. Sex, reduce the work efficiency of automatic guided vehicles and greatly increase labor costs.
中國專利號CN109591649A專利案公開了一種基於RFID通信和互聯網技術的自動導引車電源系統,包括後臺伺服器和若干個自動導引車系統,自動導引車系統包括充電站管理電腦、若干個給自動導引車充電的充電站 以及若干個需要充電的自動導引車;要充電的自動導引車的電池管理系統將自動導引車的電池的參數即時的通過RFID傳遞到相應充電站,充電站將電池的參數通過充電站管理電腦傳遞到後臺伺服器,後臺伺服器根據電池的參數判斷並修正蓄電池充電曲線,並將該曲線發送到充電站,充電站根據修正後的充電曲線進行合理的充電,從而確保了自動導引車的電池的充電安全,延長了自動導引車的電池的使用壽命並且可以滿足現場上百台自動導引車的電池組資料的可靠採集和傳輸。 Chinese Patent No. CN109591649A discloses an automatic guided vehicle power supply system based on RFID communication and Internet technology, including a background server and several automatic guided vehicle systems. The automatic guided vehicle system includes a charging station management computer, several power supply Charging station for automatic guided vehicle charging And several automatic guided vehicles that need to be charged; the battery management system of the automatic guided vehicle to be charged will transmit the parameters of the battery of the automatic guided vehicle to the corresponding charging station through RFID in real time, and the charging station will pass the parameters of the battery through the charging station The management computer sends it to the background server. The background server judges and corrects the battery charging curve according to the battery parameters, and sends the curve to the charging station. The charging station performs reasonable charging according to the corrected charging curve, thus ensuring automatic guidance. The charging safety of the battery of the vehicle prolongs the service life of the battery of the automatic guided vehicle and can meet the reliable collection and transmission of the battery pack data of hundreds of automatic guided vehicles on site.
然而,上述電源系統的問題在於無法根據產線的生產現況改變調整充電排程,在生產製程中,產線的生產現況係為動態的變動,若自動導引車無法即時滿足物料調度需求,將導致產線延滯後續流程。因此,如何提供一種透過執行演算法的方式,讓充電站能夠根據當下生產現況改變後,即時做出供電動態調整,以排列出符合現場生產需求的充電排程結果,該充電排程結果能夠讓生產與充電管理兩端,在資訊無縫接軌的情況下,有效減少生產鏈之間的缺料需求以提升整體產能,此為一亟待解決的問題。 However, the problem with the above-mentioned power supply system is that it is impossible to adjust the charging schedule according to the current production status of the production line. During the production process, the production status of the production line is a dynamic change. Cause the production line to delay the follow-up process. Therefore, how to provide a way to implement algorithms so that the charging station can make real-time dynamic adjustments to the power supply according to the current production status changes, so as to arrange the charging schedule results that meet the on-site production needs. The charging scheduling results can make At the two ends of production and charging management, under the condition of seamless information integration, it is an urgent problem to effectively reduce the demand for materials shortage between the production chains and improve the overall production capacity.
有鑑於上述缺點,發明人乃針對該等缺點研究改進之道,終於有本發明產生。 In view of the above-mentioned shortcoming, the inventor researches the way of improvement aiming at these shortcoming, finally has the present invention to produce.
本發明之主要目的在於提供一種充電進度自動排程系統,其係應用於複數自動導引車,充電進度自動排程系統藉由充電模組接收自動導引車的剩餘電量之電池資訊,並藉由控制模組接收生產模組傳送之工作資訊,使得控制模組根據自動導引車之剩餘電量計算所需的充電時間,同時根據充電時間計算該自動導引車恢復工作之等待時間,透過演算法做出即時判斷產生自動導引車的充電進度排程,本系統搭配工業無線傳輸設備,即時傳輸各產線的工作資訊,成功實現自動導引車監控以及調度系統解決方案,協助企業創造智慧製造等效益。 The main purpose of the present invention is to provide an automatic scheduling system for charging progress, which is applied to a plurality of automatic guided vehicles. The automatic scheduling system for charging progress receives the battery information of the remaining power of the automatic guided vehicle through the charging module, and borrows The control module receives the work information sent by the production module, so that the control module calculates the required charging time according to the remaining power of the automatic guided vehicle, and at the same time calculates the waiting time for the automatic guided vehicle to resume work according to the charging time, through calculation There is no way to make real-time judgments to generate the charging schedule of automatic guided vehicles. This system is equipped with industrial wireless transmission equipment to transmit the work information of each production line in real time, and successfully realizes automatic guided vehicle monitoring and dispatching system solutions, helping enterprises create wisdom manufacturing benefits.
為達成上述目的及功效,本發明提供一種充電進度自動排程系統,其係應用於複數自動導引車,該充電進度自動排程系統包括:複數充電模組,其係用於對該等自動導引車充電,且可接收該等自動導引車包含一剩餘電量之電池資訊;一生產模組:用以產生該等自動導引車之工作資訊;一控制模 組,其係耦接於該等充電模組以及該生產模組,該控制模組接收該等自動導引車的包含該剩餘電量之該電池資訊;其中,當該自動導引車之該剩餘電量低於一應充電電量時,該自動導引車移動至該充電模組進行充電,該控制模組依照該自動導引車設定之一目標電量控制該充電模組進行充電,當該控制模組接收該生產模組傳送之該自動導引車之該工作資訊,該控制模組依據該充電模組之充電速率及該自動導引車之該剩餘電量計算自接收該工作資訊之時間點至該自動導引車充電至該目標電量所需的一充電時間乘以一獎勵參數產生該自動導引車之一充電效益,依據該充電時間計算該自動導引車恢復工作之一等待時間乘以一懲罰參數產生該自動導引車之一工作效益,該控制模組以該充電效益減該工作效益產生一差值;若該自動導引車之該剩餘電量大於該應充電電量且該差值小於零,則該控制模組控制該充電模組停止對該自動導引車充電,且將該工作資訊經由該充電模組傳送至該自動導引車。 In order to achieve the above purpose and effect, the present invention provides an automatic scheduling system for charging progress, which is applied to a plurality of automatic guided vehicles. The automatic charging scheduling system includes: a plurality of charging modules, which are used for automatic The guided vehicle is charged, and can receive the battery information of the automatic guided vehicle including a remaining power; a production module: used to generate the working information of the automatic guided vehicle; a control module group, which is coupled to the charging modules and the production module, the control module receives the battery information of the automatic guided vehicles including the remaining power; wherein, when the remaining power of the automatic guided vehicles When the power is lower than a charging power, the automatic guided vehicle moves to the charging module for charging, and the control module controls the charging module to charge according to a target power set by the automatic guided vehicle. The group receives the work information of the automatic guided vehicle sent by the production module, and the control module calculates from the time point of receiving the work information to A charging time required for the automatic guided vehicle to charge to the target power is multiplied by a reward parameter to generate a charging benefit of the automatic guided vehicle, and a waiting time for the automatic guided vehicle to resume work is calculated based on the charging time multiplied by A penalty parameter generates a working benefit of the automatic guided vehicle, and the control module generates a difference by subtracting the charging benefit from the working benefit; if the remaining power of the automatic guided vehicle is greater than the chargeable power and the difference If it is less than zero, the control module controls the charging module to stop charging the automatic guided vehicle, and transmits the working information to the automatic guided vehicle through the charging module.
較佳地,根據本發明之充電進度自動排程系統,其中,該應充電電量為該自動導引車之充滿電量之40%以下,然而本發明不限於此。 Preferably, according to the charging schedule automatic scheduling system of the present invention, the amount of charge to be charged is less than 40% of the full charge of the automatic guided vehicle, but the present invention is not limited thereto.
較佳地,根據本發明之充電進度自動排程系統,其中,該自動導引車的該剩餘電量低於該充滿電量之20%以下之充電排序先於該自動導引車的該剩餘電量介於該充滿電量之20%至40%之充電排序,然而本發明不限於此。 Preferably, according to the charging progress automatic scheduling system of the present invention, wherein, the charging order of the remaining power of the automatic guided vehicle is lower than 20% of the full power is prior to the remaining power of the automatic guided vehicle The charging sequence is between 20% and 40% of the full charge, but the invention is not limited thereto.
較佳地,根據本發明之充電進度自動排程系統,其中,該目標電量為該自動導引車之該充滿電量之80%以上,然而本發明不限於此。 Preferably, according to the charging progress automatic scheduling system of the present invention, the target electric quantity is more than 80% of the full electric quantity of the automatic guided vehicle, but the present invention is not limited thereto.
較佳地,根據本發明之充電進度自動排程系統,其中,該自動導引車的該剩餘電量大於該充滿電量之95%以上之停止充電排序先於該自動導引車的該剩餘電量介於該充滿電量之80%至95%之停止充電排序,然而本發明不限於此。 Preferably, according to the charging progress automatic scheduling system of the present invention, wherein the charging stop when the remaining power of the automatic guided vehicle is greater than 95% of the full power is ranked before the remaining power of the automatic guided vehicle The charging sequence is stopped at 80% to 95% of the full charge, but the invention is not limited thereto.
較佳地,根據本發明之充電進度自動排程系統,其中,該電池資訊包含電池壽命,該等自動導引車中有二台以上之該剩餘電量低於該應充電電量時,該控制模組依據該剩餘電量較低者優先進行充電;若該二剩餘電量相同時,該控制模組依據該電池壽命較長者優先進行充電。 Preferably, according to the charging progress automatic scheduling system of the present invention, the battery information includes battery life, and when the remaining power of two or more of the automatic guided vehicles is lower than the charging power, the control module The battery is charged according to the battery with the lower remaining power; if the two remaining powers are the same, the control module is charged with the battery with the longer service life.
較佳地,根據本發明之充電進度自動排程系統,其中,若該自動導引車之該差值大於零,則該控制模組間隔一檢查時間依據該充電模組之充電 速率及該自動導引車之該已充電量計算該檢查時間之時間點之該充電效益、該工作效益及該差值。 Preferably, according to the charging progress automatic scheduling system of the present invention, if the difference value of the automatic guided vehicle is greater than zero, the control module checks the charging time according to the charging of the charging module Calculate the charging benefit, the working benefit and the difference at the time point of the inspection time based on the speed and the charged amount of the automatic guided vehicle.
較佳地,根據本發明之充電進度自動排程系統,進一步包含:一電價模組,其係耦接於該控制模組,該電價模組係傳輸一電價資訊至該控制模組,該電價資訊系隨時間產生變動;其中,該控制模組係進一步根據該電價資訊以及該充電時間產生該充電效益。 Preferably, the automatic scheduling system for charging progress according to the present invention further includes: an electricity price module, which is coupled to the control module, and the electricity price module transmits an electricity price information to the control module, and the electricity price The information changes with time; wherein, the control module further generates the charging benefit according to the electricity price information and the charging time.
為使熟悉該項技藝人士瞭解本發明之目的、特徵及功效,茲藉由下述具體實施例,並配合所附之圖式,對本發明詳加說明如下。 In order to enable those skilled in the art to understand the purpose, features and effects of the present invention, the present invention will be described in detail below by means of the following specific embodiments and accompanying drawings.
100:充電進度自動排程系統 100: Automatic scheduling system for charging progress
11:充電模組 11: Charging module
12:生產模組 12: Production module
13:控制模組 13: Control module
200:自動導引車 200: Automatic guided vehicle
30:電池資訊 30:Battery information
31:剩餘電量 31: remaining power
32:應充電電量 32: Electricity to be charged
33:目標電量 33: Target power
34:工作資訊 34: Job information
35:充電時間 35: Charging time
36:充電效益 36: Charging benefits
37:工作效益 37: Work Benefits
38:差值 38: difference
39:檢查時間 39: Check the time
41:充電上限 41: Charging upper limit
42:可提前離開值 42: early departure value
43:充電下限 43: Charging lower limit
44:可提前充電值 44: The value that can be charged in advance
45:充電需求 45: Charging needs
46:電池壽命 46:Battery life
51:電價資訊 51: Electricity price information
圖1為根據本發明之充電進度自動排程系統的示意圖;圖2為說明根據本發明之充電進度自動排程系統實際執行過程之流程圖;圖3為說明根據本發明之充電進度自動排程系統實際執行過程之方塊圖;圖4為根據本發明第一實施例之充電進度自動排程系統的示意圖;圖5為說明根據本發明第一實施例之充電規則實際執行的流程圖;圖6為說明根據本發明第一實施例之充電規則實際執行的方塊圖;圖7為說明根據本發明第一實施例使用馬可夫決策過程之流程圖;圖8為根據本發明第二實施例之充電進度自動排程系統的示意圖。 Fig. 1 is a schematic diagram of an automatic scheduling system for charging progress according to the present invention; Fig. 2 is a flow chart illustrating the actual execution process of the automatic scheduling system for charging progress according to the present invention; Fig. 3 is a diagram illustrating an automatic scheduling system for charging progress according to the present invention A block diagram of the actual execution process of the system; FIG. 4 is a schematic diagram of an automatic scheduling system for charging progress according to the first embodiment of the present invention; FIG. 5 is a flow chart illustrating the actual execution of charging rules according to the first embodiment of the present invention; FIG. 6 A block diagram illustrating the actual implementation of charging rules according to the first embodiment of the present invention; FIG. 7 is a flow chart illustrating the use of Markov decision-making process according to the first embodiment of the present invention; FIG. 8 is a charging progress according to the second embodiment of the present invention Schematic diagram of the automated scheduling system.
現在將參照其中示出本發明概念的示例性實施例的附圖在下文中更充分地闡述本發明概念。以下藉由參照附圖更詳細地闡述的示例性實施例,本發明概念的優點及特徵以及其達成方法將顯而易見。然而,應注意,本發明概念並非僅限於以下示例性實施例,而是可實施為各種形式。因此,提供示例性實施例僅是為了揭露本發明概念並使熟習此項技術者瞭解本發明概念的類別。在圖式中,本發明概念的示例性實施例並非僅限於本文所提供的特定實例且為清晰起見而進行誇大。 The inventive concept will now be explained more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the inventive concept are shown. Advantages and features of the inventive concept and methods for achieving it will be apparent below by referring to the exemplary embodiments described in more detail with reference to the accompanying drawings. It should be noted, however, that the inventive concept is not limited to the following exemplary embodiments, but can be implemented in various forms. Therefore, the exemplary embodiments are provided only to disclose the inventive concept and to make one skilled in the art understand the category of the inventive concept. In the drawings, the exemplary embodiments of the inventive concepts are not limited to the specific examples provided herein and are exaggerated for clarity.
本文所用術語僅用於闡述特定實施例,而並非旨在限制本發明。除非上下文中清楚地另外指明,否則本文所用的單數形式的用語「一」及「該」 旨在亦包括複數形式。本文所用的用語「及/或」包括相關所列項其中一或多者的任意及所有組合。 The terminology used herein is for describing particular embodiments only and is not intended to be limiting of the invention. Unless the context clearly indicates otherwise, the terms "a" and "the" used herein It is intended to include plural forms as well. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
相似地,應理解,當在本文中使用用語「包括」、「包含」時,是表明所陳述的特徵、整數、步驟、操作、元件、及/或組件的存在,但不排除一或多個其他特徵、整數、步驟、操作、元件、組件、及/或其群組的存在或添加。 Similarly, it should be understood that when the words "comprising" and "comprising" are used herein, it indicates the existence of the stated features, integers, steps, operations, elements, and/or components, but does not exclude one or more The presence or addition of other features, integers, steps, operations, elements, components, and/or groups thereof.
此外,將藉由作為本發明概念的理想化示例性圖的剖視圖來闡述詳細說明中的示例性實施例。相應地,可根據製造技術及/或可容許的誤差來修改示例性圖的形狀。因此,本發明概念的示例性實施例並非僅限於示例性圖中所示出的特定形狀,而是可包括可根據製造製程而產生的其他形狀。圖式中所例示的區域具有一般特性,且用於說明元件的特定形狀。因此,此不應被視為僅限於本發明概念的範圍。 Furthermore, exemplary embodiments in the detailed description will be explained by means of cross-sectional views that are idealized exemplary views of the inventive concept. Accordingly, the shapes of the exemplary figures may be modified according to manufacturing techniques and/or allowable errors. Accordingly, exemplary embodiments of the inventive concepts are not limited to the specific shapes shown in the exemplary figures, but may include other shapes that may be produced according to manufacturing processes. Regions illustrated in the drawings have general characteristics and are used to illustrate specific shapes of elements. Accordingly, this should not be seen as limiting the scope of the inventive concept.
此外,本文中參照剖視圖及/或平面圖來闡述示例性實施例,其中所述剖視圖及/或平面圖是理想化示例性說明圖。因此,預期存在由例如製造技術及/或容差所造成的相對於圖示形狀的偏離。因此,示例性實施例不應被視作僅限於本文中所示區的形狀,而是欲包括由例如製造所導致的形狀偏差。因此,圖中所示的區為示意性的,且其形狀並非旨在說明裝置的區的實際形狀、亦並非旨在限制示例性實施例的範圍。 Additionally, exemplary embodiments are described herein with reference to cross-sectional and/or plan views, which are idealized exemplary illustrations. Accordingly, deviations from the illustrated shapes as a result, for example, of manufacturing techniques and/or tolerances are to be expected. Thus, example embodiments should not be construed as limited to the shapes of regions illustrated herein but are to include deviations in shapes that result, for example, from manufacturing. Thus, the regions shown in the figures are schematic and their shapes are not intended to illustrate the actual shape of a region of a device and are not intended to limit the scope of example embodiments.
請參閱圖1-3所示,圖1為根據本發明之充電進度自動排程系統的示意圖;圖2為說明根據本發明之充電進度自動排程系統實際執行過程之流程圖;圖3為說明根據本發明之充電進度自動排程系統實際執行過程之方塊圖。如圖1所示,根據本發明之充電進度自動排程系統100,其係應用於複數自動導引車200,充電進度自動排程系統100包括:充電模組11、生產模組12、以及控制模組13。
Please refer to Figs. 1-3, Fig. 1 is a schematic diagram of the charging progress automatic scheduling system according to the present invention; Fig. 2 is a flow chart illustrating the actual execution process of the charging progress automatic scheduling system according to the present invention; Fig. 3 is an illustration A block diagram of the actual execution process of the charging schedule automatic scheduling system according to the present invention. As shown in FIG. 1 , the charging schedule
具體地,根據本發明之充電模組11,其係用於對自動導引車200充電,且可接收該等自動導引車200包含剩餘電量31之電池資訊30。具體地,在一些實施例中,充電模組11可以是接觸式充電,亦即所有充電迴路需要用電纜和充電觸頭將自動導引車200與充電模組11連接,以便可以直接對自動導引車200進行充電。接觸式充電的優點在於可提供較大的充電電流,以實現快速充電。然而,接觸式充電的缺點在於不適用於頻繁的隨機充電,且存在充電觸頭
磨損的問題,需要定期更換,同時存在充電過程中產生火花等安全隱患,無法在低溫、潮濕、易燃或者易爆等環境下正常工作。具體地,在一些實施例中,充電模組11可以是非接觸充電,非接觸充電不需要另外使用電纜將自動導引車200與充電模組11進行連接,其優點在於,充電模組11及自動導引車200可以實現無導電接點外露的優勢,無線充電技術使充電模組11與自動導引車200之間實現電氣隔離,消除接觸式充電方法造成的風險,大幅提升充電模組11的安全性以及適用性。然而,非接觸充電的缺點在於技術需求較複雜,且執行成本較高,同時高瓦數的無線充電器體積較大,不適合自動導引車200使用。
Specifically, the charging
具體地,根據本發明之生產模組12,其係用以產生該等自動導引車之工作資訊34。在一些實施例中,工作資訊34可以是針對產線流程上的物料調度需求,工作資訊34必須透過自動導引車200即時處理,以確保生產模組12能夠持續穩定執行生產工作,從而若自動導引車200無法即時處理工作資訊34,將導致生產模組12的產能下降,並延滯後續流程,從而產生相對應的工作效益,然而本發明不限於此。
Specifically, the
具體地,根據本發明之控制模組13,其係可以為包含軟體、硬體、以及韌體之組合,該控制模組13係可以用於控制該充電模組11,以針對自動導引車200的充電順序及釋放順序進行排序。需要進一步說明的是,控制模組13係可以選取一種以上的群體智慧分群演算法實現人工智慧(artificial intelligence,AI),可為但不限於K-means集群分析(K-Means Clustering)、蟻群演算法(Ant Colony Optimization,ACO)、粒子群優化演算法(Particle Swarm Optimization,PSO)、菌群覓食演算法(Bacterial Foraging Optimization,BFO)、混合蛙跳演算法(Shuffled Frog Leaping Algorithm,SFLA)、人工蜂群演算法(Artificial Bee Colony,ABC)或其組合,進行數據處理,以評估該等自動導引車200的充電效益以及工作效益。
Specifically, according to the
為供進一步瞭解本發明構造特徵、運用技術手段及所預期達成之功效,茲將本發明控制模組13的演算法過程加以敘述,相信當可由此而對本發明有更深入且具體瞭解,如下所述:具體地,請參閱圖2及圖3所示,首先,當自動導引車200之剩餘電量31低於應充電電量32時,自動導引車200移動至充電模組11進行充電,控制模組13依照自動導引車200設定之目標電量33控制充電模組11進行充電;之後,
當一部分的自動導引車200移動至充電模組11進行充電時,若控制模組13未接收生產模組12傳送的工作資訊34,則控制模組13依照自動導引車200設定之目標電量33控制充電模組11進行充電,並持續偵測自動導引車200的剩餘電量31是否高於目標電量33;反之,若控制模組13接收到生產模組12傳送的工作資訊34,則控制模組13依據充電模組11之充電速率及自動導引車200目前的剩餘電量產生充電時間35,控制模組13依據充電時間35乘以獎勵參數產生自動導引車200之充電效益36,依據充電時間計算自動導引車200恢復工作之等待時間乘以懲罰參數產生自動導引車200之工作效益37,並透過充電效益36以及工作效益37進行相減運算產生差值38;其中,若自動導引車200之剩餘電量31大於應充電電量32且該差值38小於零,則控制模組13控制充電模組11停止對自動導引車200充電,且將工作資訊34經由充電模組11傳送至自動導引車200。
In order to further understand the structural features of the present invention, the use of technical means and the expected effects, the algorithm process of the
需要進一步說明的是,請參閱圖2及圖3所示,若自動導引車200之差值38大於零,則該控制模組間隔檢查時間39後再次依據充電模組11之充電速率及自動導引車200之剩餘電量31計算該檢查時間39之時間點之充電效益36、工作效益37及差值38。
It should be further explained that, please refer to FIG. 2 and FIG. 3 , if the
值得一提的是,在一些實施例中,控制模組13可以根據產線的現況自主設定該等自動導引車200的應充電電量32以及目標電量33,或者控制模組13可以透過使用啟發式演算法、機器學習演算法、或深度學習演算法依據生產模組12的負載能力預測自動導引車200較佳的應充電電量32及目標電量33,避免出現生產瓶頸。具體地,在一些實施例中,應充電電量32為自動導引車200之充滿電量(圖未示)的40%以下,並且目標電量33為自動導引車200充滿電量之80%以上,然而本發明不限於此。
It is worth mentioning that, in some embodiments, the
值得再提的是,在一些實施例中,應充電電量32可以進一步劃分為充電下限以及可提前充電值,且目標電量33可以進一步劃分為充電上限以及可提前離開值,其中,充電下限代表自動導引車200不論在何種情況下皆必須前往充電模組11進行充電,可提前充電值代表自動導引車200係可以根據產線的現況透過演算法執行自主決策是否繼續進行充電,另,充電上限代表自動導引車200不論在何種情況下皆離開充電模組11結束充電,可提前離開值代表自動導引車200係可以根據產線的現況透過演算法執行自主決策是否結束充電。如此一來,透過進一步細分應充電電量32以及目標電量33,本發明提供一種具體可行
的充電規則,並藉由充電進度自動排程系統100透過演算法自主決策並具體施行,達成極少量的人力控管,有效減少生產鏈之間以人工進行操作,提升整體產能。具體地,在一些實施例中,充電下限可以是自動導引車200的剩餘電量低於充滿電量之20%以下,可提前充電值可以是自動導引車200的剩餘電量介於充滿電量之20%至40%之間,充電上限可以是自動導引車200的剩餘電量高於充滿電量之95%以上,可提前離開值可以是自動導引車200的剩餘電量介於充滿電量之80%至95%之間,然而本發明不限於此。
It is worth mentioning that, in some embodiments, the amount to be charged 32 can be further divided into a lower limit for charging and a value that can be charged in advance, and the target amount of
藉此,由上述說明可知,本發明之充電進度自動排程系統100採取一種動態演算的方式,讓充電模組11能夠根據當下生產現況的改變,即時做出供電動態調整,以排列出符合現場生產需求的充電排程結果,該充電排程結果能夠讓生產與充電管理兩端,在資訊無縫接軌的情況下,有效減少生產鏈之間的缺料需求以提升整體產能。
Therefore, it can be known from the above description that the charging progress
以下,參照圖式,說明本發明的充電進度自動排程系統100的第一實施之實施形態,以使本發明所屬技術領域中具有通常知識者更清楚的理解可能的變化。以與上述相同的元件符號指示的元件實質上相同於上述參照圖1-3所敘述者。與充電進度自動排程系統100相同的元件、特徵、和優點將不再贅述。
Hereinafter, with reference to the drawings, the first embodiment of the charging progress
請參閱圖4-7所示,圖4為根據本發明第一實施例之充電進度自動排程系統的示意圖;圖5A-5C為說明根據本發明第一實施例之充電規則實際執行的流程圖;圖6A-6C為說明根據本發明第一實施例之充電規則實際執行的方塊圖;圖7為說明根據本發明第一實施例使用馬可夫決策過程之流程圖。如圖4所示,根據本發明第一實施例之充電進度自動排程系統100包括:充電模組11、生產模組12、控制模組13、以及產線14。
Please refer to Figs. 4-7, Fig. 4 is a schematic diagram of an automatic scheduling system for charging progress according to the first embodiment of the present invention; Figs. 5A-5C are flow charts illustrating the actual execution of charging rules according to the first embodiment of the present invention ; FIGS. 6A-6C are block diagrams illustrating the actual implementation of charging rules according to the first embodiment of the present invention; FIG. 7 is a flowchart illustrating the use of Markov decision-making process according to the first embodiment of the present invention. As shown in FIG. 4 , the charging progress
具體地,在本實施例中,充電模組11接收該等自動導引車200的電池資訊30可以進一步包含有電池壽命46,電池壽命46係用於表示自動導引車200的電池新舊,並且電池壽命46與充電效率係呈正相關,亦即當電池壽命46愈新時,電池的充電效率愈佳,反之,當電池壽命46愈舊時,電池的充電效率愈差,藉此,本發明之充電進度自動排程系統100藉由使電池壽命46較新者優先充電,進一步提升自動導引車200之稼動率以及充電效率。
Specifically, in this embodiment, the
具體地,在本實施例中,產線14係耦接於生產模組12,產線14可以進一步包含有高度自動化與大數據資料庫,以透過預測產能需求傳輸工作
資訊34至生產模組12,並藉由自動導引車200的移動滿足工作資訊34,實現智能物流,達到根據訂單需求彈性生產以及單一產線多樣產品等目標。
Specifically, in this embodiment, the
值得一提的是,在本實施例中,控制模組13與自動導引車200之間係可以藉由物聯網(Internet of Things,IoT)進行資訊傳輸,使得控制模組13可以進一步直接接收自動導引車200之電池資訊30,以進一步藉由自動導引車200當下之電池資訊30自動排程自動導引車200的充電順序,然而本發明不限於此。
It is worth mentioning that, in this embodiment, the information transmission between the
具體地,請參閱圖5A至圖6C所示,在本實施例中,控制模組13控制充電模組11根據如圖5A-5C所示的充電規則對自動導引車200進行充電,其中,該充電規則主要可以分為三個部分,分別是產生充電需求、結束充電排程、以及充電順序排程。需要進一步說明的是,該充電規則之產生充電需求部分主要藉由自動導引車200偵測自身的電池資訊30之剩餘電量31,判斷自動導引車200是否產生充電需求45;該充電規則之結束充電排程部分主要藉由充電模組11接收充電中的自動導引車200的電池資訊30之剩餘電量31,判斷是否控制充電模組11結束對自動導引車200進行充電,以釋出一部分的充電模組11供之後的充電規則中充電順序排程部分使用;該充電規則之充電順序排程部分主要藉由控制模組13接收具有充電需求45的自動導引車200的電池資訊30之剩餘電量31以及電池壽命46,並搭配計算目前剩餘的充電模組11,透過演算法產生最佳的充電順序,以建立自動導引車200的充電順序排程,藉此提升自動導引車200的稼動率,然而本發明不限於此。
Specifically, please refer to FIG. 5A to FIG. 6C. In this embodiment, the
具體地,如圖5A及圖6A所示,自動導引車200執行充電規則中產生充電需求部分,自動導引車200確認自身的電池資訊30之剩餘電量31是否低於充電下限43,若是,則自動導引車200產生充電需求45,並移動至充電模組11進行充電;反之,自動導引車200進一步確認自身的電池資訊30之剩餘電量31是否低於可提前充電值44,若是,則自動導引車200產生充電需求45,並移動至充電模組11進行充電,其中,具有充電需求45的自動導引車200在之後的充電規則中充電順序排程部分進行充電順序排程。
Specifically, as shown in FIG. 5A and FIG. 6A , the automatic guided
具體地,請參閱圖5B及圖6B所示,控制模組13執行充電規則中結束充電排程部分,控制模組13接收所有處於充電中的自動導引車200之剩餘電量31,並確認剩餘電量31是否超過充電上限41,若是,則控制模組13控制充電模組11結束對自動導引車200進行充電;反之,控制模組13確認所有處於充電中
的自動導引車200之剩餘電量31是否超過可提前離開值42,同時控制模組13進一步確認使否接收來自生產模組12的工作資訊34,若同時接收生產模組12的工作資訊34並且自動導引車200之剩餘電量31超過可提前離開值42,則停止對自動導引車200充電,且將工作資訊34經由充電模組11傳送至自動導引車200;否則,則控制模組13間隔檢查時間39後再次重複執行充電規則中結束充電排程部分。值得一提的是,當充電模組11結束對自動導引車200進行充電,充電模組11將釋放自動導引車200,代表同時釋出一部分的充電模組11以供之後的充電規則中充電順序排程部分使用。
Specifically, please refer to FIG. 5B and FIG. 6B , the
具體地,請參閱圖5C及圖6C所示,控制模組13執行充電規則中充電順序排程部分,控制模組13接收當下具有充電需求45的自動導引車200之剩餘電量31,並確認剩餘電量31低於充電下限43者優先進行充電,同時控制模組13根據該電池壽命46對具有充電需求45的自動導引車200的充電順序進行排序,以使電池壽命較長者優先進行充電;控制模組13確認剩餘電量31低於充電下限43者是否已皆進行充電;若所有自動導引車200之剩餘電量31低於充電下限43者皆進行充電後,仍存在其他的充電模組11時,控制模組13接收當下具有充電需求45的自動導引車200之剩餘電量31,並確認剩餘電量31低於可提前充電值44者優先進行充電,同時控制模組13係根據該電池壽命46對具有充電需求45的自動導引車200的充電順序進行排序;若所有自動導引車200之剩餘電量31低於可提前充電值44者皆進行充電後,仍存在其他的充電模組11時,控制模組13確認是否仍存在具有充電需求45的自動導引車200;最後,控制模組13重複執行充電規則中產生充電需求部分。
Specifically, as shown in FIG. 5C and FIG. 6C , the
藉此,本發明第一實施例之充電進度自動排程系統100,藉由產生充電需求部分、結束充電排程部分、以及充電順序排程部分相互搭配,根據不同狀態下之自動導引車200的剩餘電量31,提供一種可以透過演算法產生充電進度及排程的充電進度自動排程系統100,達成優化場內物流作業,提高作業效率和產品質量的目的。
In this way, the charging progress
具體地,請參閱圖7所示,在本實施例中,控制模組13係透過馬可夫決策過程(Markov decision process,MDP)控制充電模組11根據上述之充電規則對自動導引車200進行充電排程並實現自主決策能力。如圖7所示,在本實施例中,It係表示未具有工作資訊34且停在待命區的自動導引車200,Jt係表示在
充電模組11充電但尚未充電完成之自動導引車200,Lt係表示具有工作資訊34的自動導引車200。具體地,藉由下述公式(1)表示各個自動導引車200於隨機過程中所處的某種狀態,其中,Cit係表示考量It狀態或Jt狀態下自動導引車200之剩餘電量31,BAit係表示考量自動導引車200之電池壽命46的狀態。具體地,搭配下述公式(2),其中,At表示某狀態下可執行的某種動作,其中,變數xit係表示控制模組13決策要給在Jt狀態下自動導引車200的當時的充電量,變數yit係表示自動導引車200是否需要進行充電;其中,當自動導引車200的變數yit為1時,其係表示自動導引車200之剩餘電量31低於充電下限43或自動導引車200之剩餘電量31低於可提前充電值44,反之,當自動導引車200的變數yit為0時,其係表示剩餘電量31已超過充電上限41或自動導引車200之剩餘電量31超過可提前離開值42,然而本發明不限於此。
Specifically, please refer to FIG. 7. In this embodiment, the
需要進一步說明的是,為確保控制模組13控制充電模組11根據上述之充電規則對自動導引車200進行充電排程,本發明進一步藉由變數pit表示此工作資訊34需要消耗多少電量進行搬運,透過與自動導引車200當刻的電量去進行比較,如果Cit大於pit此自動導引車200可去服務此需求,然而本發明不限於此。
It should be further explained that, in order to ensure that the
為供進一步瞭解本發明構造特徵、運用技術手段及所預期達成之功效,茲將本發明第一實施例之馬可夫決策過程加以敘述,相信當可由此而對本發明有更深入且具體瞭解,如下所述:具體地,請參閱圖7所示,其中,Jt係表示在充電模組11充電但尚未充電完成之自動導引車200,當處於Jt狀態進行更新時,控制模組13藉由下述公式(3)判斷處於Jt之狀態的自動導引車200是否移除,公式(3)係表示移除處於Jt狀態中的自動導引車200之剩餘電量31已超過充電上限41者,或在具有工作資訊34的前提下處於Jt狀態中的自動導引車200之剩餘電量31超過可提前離開值42者,亦即公式(3)將處於Jt狀態中的自動導引車200之變數yit為0者進行移除。又,當處於Jt狀態進行更新時,控制模組13藉由下述公式(4)判斷自動導引車200是否轉換為Jt之狀態,公式(4)係表示將處於It狀態中的自動導引車200之剩餘電量31低於充電下限43者,或自動導引車200之剩餘電量31低於可提前充電值44者轉換
為Jt之狀態,亦即公式(4)將處於It狀態中的自動導引車200之變數yit為1者轉換為Jt狀態。
In order to further understand the structural features, technical means and expected effects of the present invention, the Markov decision-making process of the first embodiment of the present invention is described. It is believed that the present invention can be understood more deeply and specifically as follows. Description: Specifically, please refer to FIG. 7 , where J t represents the automatic guided
具體地,請參閱圖7所示,其中,It係表示未具有工作資訊34且停在待命區的自動導引車200,當處於It狀態進行更新時,控制模組13藉由下述公式(5)以及公式(6)判斷處於It之狀態的自動導引車200是否移除,公式(5)係表示移除處於It狀態中的自動導引車200之剩餘電量31低於充電下限43者或低於可提前充電值44者,公式(6)係表示移除處於It狀態中的自動導引車200具有工作資訊34且剩餘電量31超過(含)可提前離開值42(即20%BCi)者,亦即公式(5)將處於It狀態中符合條件的自動導引車200轉換為Jt狀態,公式(6)將處於It狀態中符合條件的自動導引車200轉換為Lt狀態。又,當處於It狀態進行更新時,控制模組13藉由下述公式(7)以及公式(8)判斷自動導引車200是否轉換為It之狀態,公式(7)係表示將處於Jt狀態中的自動導引車200不需充電且不具有工作資訊34者轉換為It之狀態,公式(8)係表示將處於Lt狀態中的自動導引車200不具有工作資訊34者或自動導引車200的剩餘電量31小於可提前離開值42者轉換為It之狀態,亦即公式(7)將處於Jt狀態中符合條件的自動導引車200轉換為It狀態,公式(8)將處於Lt狀態中符合條件的自動導引車200轉換為It狀態。
Specifically, please refer to Fig. 7, wherein, I t represents the automatic guided
具體地,請參閱圖7所示,其中,Lt係表示具有工作資訊34的自動導引車200,當處於Lt狀態進行更新時,控制模組13藉由下述公式(9)判斷處於Lt之狀態的自動導引車200是否移除,公式(9)係表示移除處於Lt狀態中的自動導引車200不具有工作資訊34者或自動導引車200的剩餘電量31小於可提前離開值42者,亦即公式(9)將處於Lt狀態中符合條件的自動導引車200轉換為It之狀態。又,當處於Lt狀態進行更新時,控制模組13藉由下述公式(10)以及公式(11)判斷自動導引車200是否轉換為Lt之狀態,公式(10)係表示將處於Jt狀態中的自動導引車200不需充電且具有工作資訊34者轉換為Lt之狀態,公式(11)係表示將處於It狀
態中的自動導引車200具有工作資訊34且剩餘電量31超過(含)可提前離開值42者轉換為Lt之狀態,亦即公式(10)將處於Jt狀態中符合條件的自動導引車200轉換為Lt狀態,公式(11)將處於It狀態中符合條件的自動導引車200轉換為Lt狀態。
Specifically, please refer to FIG. 7 , where L t represents the automatic guided
需要進一步說明的是,在本實施例中,為確保控制模組13控制充電模組11根據上述之充電規則對自動導引車200進行充電排程,本發明進一步藉由下述限制公式(12)-(20),使得控制模組13穩定控制充電模組11,從而根據當下生產現況的改變,即時做出供電動態調整。可以理解的是,公式(12)係表示限制在充電模組11充電之自動導引車200的數量不得超過充電模組11的數量(C);公式(13)係表示限制充電模組11的剩餘數量必須大於(含)處於It狀態即將轉換為Jt狀態之自動導引車200的數量;公式(14)係表示針對於It狀態中的自動導引車200之剩餘電量31低於充電下限43者或低於可提前充電值44者,控制模組13優先對剩餘電量31低於充電下限43者進行充電;公式(15)係表示限制當自動導引車200之剩餘電量31過低時不能接收工作資訊34;公式(16)係表示限制在充電模組11充電但尚未充電完成之自動導引車200的變數yit為0或1;公式(17)係表示限制在充電模組11充電之自動導引車200的剩餘電量31已超過充電上限41者結束充電;公式(18)係表示限制在充電模組11充電之自動導引車200在具有工作資訊34的前提下剩餘電量31超過可提前離開值42者結束充電。
It should be further explained that in this embodiment, in order to ensure that the
值得一提的是,在本實施例中,控制模組13藉由下述公式(19)以及(20),分別使用等差數列以及等比數列加權計算,以確保在充電模組11充電但尚未充電完成之自動導引車200中,控制模組13依據剩餘電量31較高者優先進行充電,若自動導引車200的剩餘電量31相同時,控制模組13依據電池壽命46較長者優先進行充電。具體地,公式(19)係表示透過等差數列排列自動導引車200的電池壽命46,在本實施例中,以θ1為0.1作為等差數列的公差值,並依據電池壽命46將自動導引車200分群(例如:1,...,BNt),其中,電池壽命46較長者具有較大公差值進行加權計算,電池壽命46較短者具有較小公差值進行加權計算,控制模組13對公式(19)計算出數值較大者優先進行充電,實現對電池壽命46較長者優先進行充電,使得本發明之充電進度自動排程系統100可以具有較佳的充電效率,提升自動導引車200的稼動率。具體地,公式(20)係表示透過等比數列排列自動導引車200的剩餘電量31,在本實施例中,以θ2為0.9作為等比數列的公比值,並依據剩餘電量31將自動導引車200分群(例如:1,...,DNt),剩餘電量31較多者具有較大公差值進行加權計算,剩餘電量31較少者具有較小公差值進行加權計算,控制模組13對公式(20)計算出數值較大者優先進行充電,實現對剩餘電量31較高者優先進行充電,使得本發明之充電進度自動排程系統100可以具有較佳的充電效率,進一步提升自動導引車200的稼動率。
It is worth mentioning that in this embodiment, the
值得再提的是,在本實施例中,控制模組13進一步優化差值38之計算形成報酬函數,透過下述公式(21)作為報酬函數,以計算充電進度自動排程系統100根據當下生產現況的改變所產生的報酬,以作為充電進度自動排程系統100實現人工智慧之依據,其中,報酬函數包含計算充電上限41為充滿電量之95%的充電時間(即Ti(95%))減去目前自動排程系統100根據當下生產現況產生的充電上限41的充電時間(即Ti(ci(t+1)/BCi))所節省的時間後乘上預估節省每分鐘的產值(即R),乘上關於變數pit的二元函數b(即b(pit))之判斷式,以確保自動導引車200提前提供服務生產需求,再乘上乘上關於變數yit之判斷式,以確保充電模組11上有自動導引車200則停止充電,並加總以計算當下繼續充電所提供的產值,
其中產值相當於本發明所述之獎勵參數,另,報酬函數包含計算所有當下處於充電模組11充電但尚未充電完成且具有工作資訊34之自動導引車200繼續充電的時間乘上預估花費每分鐘的成本(即P),並加總以計算當下繼續充電所產生的成本,其中成本相當於本發明所述之懲罰參數。如此一來,控制模組13可以透過報酬函數之計算尋找較佳的數值,以強化自動排程系統100的準確度與彈性,讓充電模組11能夠根據當下生產現況改變後,即時做出供電動態調整,以排列出符合現場生產需求的充電排程結果。
It is worth mentioning that, in this embodiment, the
藉此,本發明之自動排程系統100透過馬可夫決策過程以及上述之公式(1)-(21),實現一種根據自動導引車200之剩餘電量31計算繼續充電所提供的產值,同時根據充電時間計算計算當下繼續充電所產生的成本,透過演算法做出即時判斷產生自動導引車的充電進度排程,本系統搭配工業無線傳輸設備,即時傳輸各產線的工作資訊34,成功實現一種自動導引車200監控以及調度系統解決方案,協助企業創造智慧製造等效益。
In this way, the
以下提供自動排程系統100的其他示例,以使本發明所屬技術領域中具有通常知識者更清楚的理解可能的變化。以與上述實施例相同的元件符號指示的元件實質上相同於上述參照圖1、圖2所敘述者。與自動排程系統100相同的元件、特徵、和優點將不再贅述。
Other examples of the
請參閱圖8所示,圖8為根據本發明第二實施例之充電進度自動排程系統的示意圖。如圖8所示,根據本發明第一實施例之充電進度自動排程系統100包括:充電模組11、生產模組12、控制模組13、產線14、以及電價模組15。
Please refer to FIG. 8 , which is a schematic diagram of an automatic scheduling system for charging progress according to a second embodiment of the present invention. As shown in FIG. 8 , the charging schedule
具體地,根據本發明第二實施例與第一實施例的主要差別在於,第二實施例之充電進度自動排程系統100進一步包含電價模組15,其係耦接於控制模組11,電價模組15係傳輸電價資訊51至控制模組13,電價資訊51系隨時間產生變動,並且控制模組13係進一步根據電價資訊51優化差值38之計算以形成報酬函數。
Specifically, the main difference between the second embodiment of the present invention and the first embodiment is that the charging progress
具體地,在本實施例中,透過下述公式(22)作為報酬函數,以計算充電進度自動排程系統100根據當下生產現況的改變所產生的報酬,以作為充電進度自動排程系統100實現人工智慧之依據。相比於第一實施例的報酬函數,第二實施例的報酬函數進一步包含計算當下在充電模組11充電但尚未充電完成之自動導引車200在當刻充多少的電量(即xit)乘上電價資訊51(即σt),並加總以計算當下繼續充電所t產生的充電成本。如此一來,控制模組13可以進一步透過電價資訊51計算報酬函數尋找較佳的數值,進一步強化自動排程系統100的準確度,讓充電模組11能夠根據當下電價資訊51隨時間改變後,即時做出供電動態調整,以排列出符合經濟效益及生產需求的充電排程結果。
Specifically, in this embodiment, the following formula (22) is used as the reward function to calculate the reward generated by the charging
茲,再將本發明之特徵及其可達成之預期功效陳述如下: Hereby, the features of the present invention and the expected effect that can be achieved are stated as follows:
其一,本發明之充電進度自動排程系統100採取一種動態演算的方式,讓充電模組11能夠根據當下生產現況的改變,即時做出供電動態調整,以排列出符合現場生產需求的充電排程結果,該充電排程結果能夠讓生產與充電管理兩端,在資訊無縫接軌的情況下,有效減少生產鏈之間的缺料需求以提升整體產能。
First, the automatic
其二,本發明之充電進度自動排程系統100,藉由產生充電需求部分、結束充電排程部分、以及充電順序排程部分相互搭配,根據不同狀態下之自動導引車200的剩餘電量31,提供一種可以透過演算法產生充電進度及排程的充電進度自動排程系統100,達成優化場內物流作業及提高作業效率的目的。
Second, the charging progress
其三,本發明之自動排程系統100透過馬可夫決策過程以及上述之公式(1)-(21),實現一種根據自動導引車200之剩餘電量31計算繼續充電所提供的產值,同時根據充電時間計算計算當下繼續充電所產生的成本,透過演算法做出即時判斷產生自動導引車的充電進度排程,本系統搭配工業無線傳輸設備,即時傳輸各產線的工作資訊34,成功實現自動導引車200監控以及調度系統解決方案,協助企業創造智慧製造等效益。
Third, the
其四,根據本發明第二實施例之充控制模組13可以進一步透過電價資訊51計算報酬函數尋找較佳的數值,進一步強化自動排程系統100的準確度,讓充電模組11能夠根據當下電價資訊51隨時間改變後,即時做出供電動態調整,以排列出符合經濟效益及生產需求的充電排程結果。
Fourth, according to the second embodiment of the present invention, the charging
以上係藉由特定的具體實施例說明本發明之實施方式,所屬技術領域具有通常知識者可由本說明書所揭示之內容輕易地瞭解本發明之其他優點及功效。 The above is to illustrate the implementation of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.
以上所述僅為本發明之較佳實施例,並非用以限定本發明之範圍;凡其它未脫離本發明所揭示之精神下所完成之等效改變或修飾,均應包含在下述之專利範圍內。 The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all other equivalent changes or modifications that do not deviate from the spirit disclosed in the present invention should be included in the scope of the following patents Inside.
100:充電進度自動排程系統 100: Automatic scheduling system for charging progress
11:充電模組 11: Charging module
12:生產模組 12: Production module
13:控制模組 13: Control module
200:自動導引車 200: Automatic guided vehicle
30:電池資訊 30:Battery information
34:工作資訊 34: Job information
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US20120239224A1 (en) * | 2011-03-18 | 2012-09-20 | Mccabe Paul P | Integration of an autonomous industrial vehicle into an asset management system |
JP5991209B2 (en) * | 2013-01-22 | 2016-09-14 | 株式会社豊田自動織機 | Operation control system for automated guided vehicles |
TW202127776A (en) * | 2019-12-31 | 2021-07-16 | 新加坡商台達電子國際(新加坡)私人有限公司 | Method for optimizing placement of otg wireless charging units |
CN113844314A (en) * | 2021-09-22 | 2021-12-28 | 益模(重庆)智能制造研究院有限公司 | AGV charging scheduling control method for automatic guided vehicle |
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US20120239224A1 (en) * | 2011-03-18 | 2012-09-20 | Mccabe Paul P | Integration of an autonomous industrial vehicle into an asset management system |
JP5991209B2 (en) * | 2013-01-22 | 2016-09-14 | 株式会社豊田自動織機 | Operation control system for automated guided vehicles |
TW202127776A (en) * | 2019-12-31 | 2021-07-16 | 新加坡商台達電子國際(新加坡)私人有限公司 | Method for optimizing placement of otg wireless charging units |
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