A charging method, device and medium for an unmanned vehicle

Abstract

The application discloses a charging method, device and medium for unmanned vehicles, the method comprising: making the current vehicle execute the feeding task of the current round; determining that the current vehicle has reached the feeding point, judging whether the current vehicle meets the starting charging condition; if yes, controlling the current vehicle to enter the pulse charging mode, making the current vehicle place the rack in the waiting feeding state hung on the current vehicle at the feeding point, controlling the current vehicle to be unhooked from the rack and go to the charging area for charging; determining that the current vehicle or other vehicles meet the stopping charging condition; and sending an instruction to the current vehicle to continue executing the feeding task. Through condition judgment, it is determined that the vehicle meets the condition, which means that the charging action of the vehicle will not affect the feeding and unloading process, so that the vehicle is made to enter the pulse charging mode, and the vehicle is made to charge as much as possible in the feeding process without affecting unloading, so that the production rhythm is satisfied as much as possible for 24 hours without interruption.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, specifically to a charging method, device, and medium for autonomous vehicles. Background Technology

[0002] With the development of technology, driverless vehicles are increasingly being used in the industrial field.

[0003] For autonomous vehicles, traditional automatic charging strategies typically involve sending commands to control the vehicle or having the vehicle automatically drive to a charging station when the battery is low or the vehicle has no tasks (such as during rest periods at night).

[0004] However, in actual production, it may be necessary to meet the requirements of the 24 / 7 production line. In order to keep up with the production pace, vehicles may not have enough time to charge, so they often run into situations where the battery is too low. In such cases, the vehicles need to spend more time charging, which makes it difficult to meet the requirements of the 24 / 7 production line and reduces production efficiency. Summary of the Invention

[0005] To address the aforementioned problems, this application proposes a charging method for autonomous vehicles, comprising:

[0006] Send a command to the current vehicle to instruct it to perform the loading task for this round;

[0007] Determine if the current vehicle has reached the loading point, and then determine if the current vehicle meets the conditions for starting charging.

[0008] If the conditions are met, the current vehicle is controlled to enter the pulse charging mode. An instruction is sent to the current vehicle so that after the current vehicle places the rack that is in the waiting-to-load state on the loading point, the current vehicle is controlled to detach from the rack and proceed to the charging area for charging.

[0009] Monitor the current vehicle that is charging, as well as other vehicles other than the current vehicle, and determine whether the current vehicle or the other vehicles meet the conditions for stopping charging;

[0010] Send an instruction to the current vehicle so that it can proceed to the loading point, attach to the rack, and continue to perform the loading task.

[0011] On the other hand, this application also proposes a charging device for autonomous vehicles, comprising:

[0012] At least one processor; and,

[0013] A memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a charging method for an autonomous vehicle as described in the above example.

[0015] On the other hand, this application also proposes a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as the charging method for autonomous vehicles described in the above example.

[0016] The charging method for autonomous vehicles proposed in this application can bring the following beneficial effects:

[0017] By judging the conditions, it is determined that when a vehicle meets the conditions, it means that the charging action of the vehicle will not affect the loading and unloading process. The vehicle is then put into pulse charging mode. Under the premise of not affecting unloading, the vehicle is charged as much as possible during the loading process, so as to meet the production rhythm 24 hours a day as much as possible. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart illustrating the charging method for autonomous vehicles in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the feeding point in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the unloading point in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram illustrating the duration of a single process in an embodiment of this application;

[0023] Figure 5 This is a flowchart illustrating the pulse charging mode in an embodiment of this application.

[0024] Figure 6 This is a flowchart illustrating the centralized charging mode in an embodiment of this application.

[0025] Figure 7 This is a schematic diagram of a charging device for an autonomous vehicle in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, this application embodiment provides a charging method for autonomous vehicles, including:

[0029] S101: Send an instruction to the current vehicle to enable it to perform the loading task for this round.

[0030] Upon receiving a loading task, the vehicle control system sends instructions to the vehicle (which, being primarily used for mounting and transporting material racks, can also be called a tractor-trailer), and the vehicle begins executing the loading task. Loading points (e.g., in the engine workshop) and unloading points (e.g., in the final assembly workshop) are set up within the area. The vehicle can automatically mount and unmount the material racks, and the vehicle needs to transport the workpieces from the loading point to the unloading point via the material racks.

[0031] S102: Determine that the current vehicle has reached the loading point, and determine whether the current vehicle meets the conditions for starting charging.

[0032] Typically, multiple vehicles are needed to ensure uninterrupted material transport from the engine shop to the final assembly shop. For ease of description, this embodiment uses three vehicles as an example. In this case, 12 racks can be set up, with each vehicle capable of simultaneously mounting four racks, and three charging devices can be installed for convenient vehicle charging.

[0033] Identify all vehicles including the current vehicle, sort all vehicles so that all vehicles can perform loading tasks in sequence according to the sorting result, and then perform unloading tasks in sequence, and enable each vehicle to perform loading and unloading tasks in a loop.

[0034] Specifically, the loading task execution process includes: identifying the first material rack currently mounted on the vehicle and in a loading-awaited state; after arriving at the loading point, disengaging from the first material rack and placing it at the loading point to facilitate loading. Then, mounting the vehicle on the second material rack located at the loading point and in a loading-awaited state, and proceeding to the unloading point.

[0035] In this context, "awaiting loading" usually refers to an empty rack. In some special cases, it can also refer to a rack that is not fully loaded. For ease of description, this application will use an empty rack as an example. Similarly, "awaiting unloading" usually refers to a fully loaded rack. In some special cases, it can also refer to a rack that is not empty. For ease of description, this application will use a fully loaded rack as an example.

[0036] like Figure 2 As shown, the loading point in the engine workshop can be set to two locations: loading location A and loading location B. At this point, by default, there is an empty rack at loading location A. When the worker fills the empty rack, the unmanned vehicle (UAV) will trigger a loading task. Currently executing the loading task, the UAV, carrying an empty rack, travels to loading location B and automatically disengages, leaving the empty rack at location B. It then travels back to the hook position at loading location A, automatically attaching the fully loaded rack located at parking location A, and travels to the final assembly workshop to complete the loading.

[0037] At this point, an empty and full material rack exchange is completed in the engine workshop. After the vehicle leaves the engine workshop, the workers will continue to load materials at the loading point B. The next vehicle heading to the loading point will place the empty material rack at the loading point A and drive to the loading point B to automatically load the full material rack.

[0038] Only one vehicle is allowed to enter the loading point at a time in the engine workshop to perform the loading task. Other vehicles that have completed the unloading task need to wait at the loading waiting point.

[0039] The unloading process includes: determining that the vehicle is currently mounted on a second material rack that is in the unloading state; after arriving at the unloading point, confirming that the second material rack has been unloaded; mounting the second material rack that is in the loading state; and driving to the loading point.

[0040] like Figure 3 As shown, in the final assembly workshop, a vehicle carrying a set of fully loaded material racks drives to unloading point E in the final assembly workshop and automatically docks the three material racks at the unloading point in sequence. After the line worker completes the unloading of each material rack, he will notify the vehicle to dock the next material rack at the unloading point in sequence. After the unloading of the three material racks is completed, the vehicle will return to the engine workshop with empty material racks to wait for loading.

[0041] Typically, to meet production pace, the entire loading and unloading process is completed by three vehicles in a queue, with each vehicle having the same workflow.

[0042] At this point, according to the sorting results, whenever the current vehicle finishes its assigned task, the next vehicle in the sorting results continues to perform its assigned task; the assigned task is either a loading task or an unloading task.

[0043] For each vehicle, the loading and unloading tasks are combined sequentially as a combined task, and the combined task is executed cyclically. This ensures an uninterrupted workflow.

[0044] like Figure 4 As shown, a single transport task takes a total of 64 minutes, and the unloading time in the final assembly workshop is 30 minutes. Only one vehicle is allowed to unload at a time, and the remaining vehicles wait at unloading waiting point F. Based on this, a pulse charging mode is set up to allow vehicles to charge as much as possible in the engine workshop without affecting the supply of the final assembly workshop, so as to meet the production rhythm as much as possible for 24 hours without interruption.

[0045] Specifically, such as Figure 5 As shown, when the vehicle completes its unloading task and arrives at the loading point in the engine workshop, the system will decide whether to directly perform the loading task or enter pulse charging mode based on the starting charging conditions.

[0046] The conditions for initiating charging may include: determining that the current battery level of the current vehicle is lower than a first preset threshold (e.g., 60%, which can be adjusted based on the actual situation), determining that all other vehicles besides the current vehicle are not in pulse charging mode, and determining that a designated vehicle among the other vehicles has not triggered an unloading task.

[0047] In this process, the vehicle preceding the current vehicle in the sorting results is designated as the designated vehicle. In other words, if the vehicle preceding the current vehicle has already completed its unloading task, the time for the current vehicle to complete its unloading task is not far off. If it were to recharge at this point, it could easily delay the current vehicle's unloading opportunity.

[0048] S103: If satisfied, control the current vehicle to enter the pulse charging mode, send an instruction to the current vehicle so that after the current vehicle places the rack that is in the waiting-to-load state on the loading point, control the current vehicle to detach from the rack and go to the charging area for charging.

[0049] Pulse charging mode refers to a short charging process based on demand and conditions, rather than a long charging period, similar to a pulse.

[0050] like Figure 5 As shown, when the charging start conditions are met, the system, based on the parking status of the material racks at loading positions A and B, instructs the vehicle to automatically unhook the empty material rack to an available position. After unhooking, the vehicle will travel to the charging area. Upon arrival, the system generates a charging task and notifies the charging device (automatic charger) to begin automatic charging.

[0051] S104: Monitor the current vehicle that is charging, as well as other vehicles other than the current vehicle, and determine that the current vehicle or the other vehicles meet the conditions for stopping charging.

[0052] During the charging process, the system will monitor the conditions for stopping charging in real time. The conditions for stopping charging are that the current vehicle's battery level is higher than the second preset threshold (e.g., fully charged) or the designated vehicle has triggered an unloading task.

[0053] S105: Send an instruction to the current vehicle to cause the current vehicle to go to the loading point, attach to the material rack, and continue to perform the loading task.

[0054] like Figure 5 As shown, once the charging conditions are met, the system will notify the automatic charger to end charging and instruct the vehicle to automatically attach to the full-load rack at loading points A and B, then drive to the final assembly workshop to complete loading. Because the total time from when the vehicle ends charging until it reaches the waiting point in the final assembly workshop is less than the single unloading time in the final assembly workshop, the pulse charging mode will not affect the production cycle.

[0055] In one embodiment, in addition to the pulse charging mode, a centralized charging mode can also be set, thereby combining the pulse charging mode with the centralized charging mode to make the overall charging process more complete.

[0056] Specifically, such as Figure 6 As shown, once it's confirmed that all rounds of material loading tasks have been completed and no new material loading tasks will be generated for this shift, the issuance of new material loading tasks will cease. The system will then manually or automatically trigger all vehicles to enter centralized charging mode. Once centralized charging mode is activated, the system will prohibit the issuance of new material loading tasks, but will not affect the execution of any existing material loading tasks. At this point, a conditional check will be performed. If any vehicle is currently in pulse charging mode, the actions required in both pulse charging and centralized charging modes are essentially the same; therefore, this vehicle will default to entering centralized charging mode and continue charging.

[0057] Once the centralized charging mode is triggered, after all vehicles have completed their unloading tasks, they proceed sequentially to their designated preset locations. The system automatically issues charging tasks based on the vehicle arrival order (which is also the sorting result mentioned above). This causes each vehicle to detach its attached rack (which is now empty since the unloading task has been completed) to an available position, proceed to an available charging point in the charging area, generate and execute a charging task, and notify the charging device to automatically charge.

[0058] like Figure 2 As shown, when the loading points in the engine workshop include loading position A and loading position B, multiple loading waiting points are set up sequentially from the nearest to the farthest loading point.

[0059] At this time, after all vehicles have completed their unloading tasks, they will proceed to the preset positions with the highest priority in the order in which they have completed unloading. The priority of the preset positions, from highest to lowest, is as follows: loading positions without material racks, and loading waiting points from nearest to farthest.

[0060] by Figure 2 Taking the following scenario as an example, the order of unhooking points for the empty material rack is as follows: loading position A, an empty position within loading position B, loading waiting position C (which can be used as a parking position), and loading waiting position D. C is closer to A and B than D is to A and B. The first vehicle unhooks the empty material rack to an empty position between loading positions A and B, and then proceeds to charging point 1 for automatic charging. The second vehicle unhooks the empty material rack to point C and proceeds to charging point 2 for automatic charging. The third vehicle unhooks the empty material rack to the waiting point, passes point D, and proceeds to charging point 3 for automatic charging.

[0061] When a new loading task is received, the staff triggers or the system automatically triggers an instruction to end the centralized charging mode. The charging device stops charging, the system issues a loading task, and all vehicles stop charging. Following the order in which they completed unloading in the previous round, they proceed to the following locations in sequence: the location of the racks waiting to be unloaded among the multiple loading positions, the location of the racks waiting to be loaded among the multiple loading positions, and the loading waiting points from nearest to farthest, where they are loaded and the loading task is executed.

[0062] The system notifies the three charging stations to finish charging. Vehicle at charging station 1 automatically attaches to the fully loaded material rack at loading positions A and B and proceeds to the final assembly workshop for unloading. Vehicle at charging station 2 passes through the empty positions at loading positions A and B, attaches to the empty material rack at the waiting point, and awaits a new material loading task. Vehicle at charging station 3 attaches to the empty material rack at point C and proceeds to the waiting point to queue for a new material loading task. After the three vehicles complete their work, the system will continue to receive new material loading tasks from the engine workshop.

[0063] like Figure 7 As shown in the illustration, this application also provides a charging device for autonomous vehicles, comprising:

[0064] At least one processor; and,

[0065] A memory communicatively connected to the at least one processor; wherein,

[0066] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a charging method for an autonomous vehicle as described in any of the above embodiments.

[0067] This application also provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as the charging method for autonomous vehicles described in any of the above embodiments.

[0068] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the description of the method embodiments.

[0069] The devices and media provided in this application are one-to-one with the methods. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0070] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0072] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0074] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0075] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0076] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0077] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A charging method for autonomous vehicles, characterized in that, include: Send a command to the current vehicle to instruct it to perform the loading task for this round; Determine if the current vehicle has reached the loading point, and then determine if the current vehicle meets the conditions for starting charging. If the conditions are met, the current vehicle is controlled to enter the pulse charging mode. An instruction is sent to the current vehicle so that after the current vehicle places the rack that is in the loading state at the loading point, the current vehicle is controlled to detach from the rack and proceed to the charging area for charging. The current vehicle that is charging, as well as other vehicles other than the current vehicle, are monitored to determine whether the current vehicle or the other vehicles meet the conditions for stopping charging. Send an instruction to the current vehicle to cause the current vehicle to go to the loading point, attach to the material rack, and continue to perform the loading task; Determining whether the current vehicle meets the conditions for starting charging specifically includes: It is determined that the current battery level of the current vehicle is lower than a first preset threshold, and that all other vehicles except the current vehicle are not in pulse charging mode, and that a designated vehicle among the other vehicles has not triggered an unloading task; Before determining that the designated vehicle among the other vehicles has not triggered the unloading task, the method further includes: Identify all vehicles including the current vehicle; All vehicles are sorted so that they can perform loading and unloading tasks in sequence according to the sorting result, and each vehicle can perform loading and unloading tasks in a loop. The vehicle that is one position ahead of the current vehicle in the sorting results is selected as the designated vehicle. Determining whether the current vehicle or the other vehicle meets the conditions for stopping charging specifically includes: The current battery level of the vehicle is determined to be higher than the second preset threshold, or the designated vehicle has triggered an unloading task.

2. The method according to claim 1, characterized in that, After all vehicles are ordered to perform loading tasks sequentially, they will then perform unloading tasks sequentially. Each vehicle can cyclically perform both loading and unloading tasks. Specifically, this includes: According to the sorting result, whenever the current vehicle completes the set task, the vehicle in the next order of the sorting result continues to perform the set task; the set task is one of loading task and unloading task. For each vehicle, the loading task and the unloading task are combined in sequence as a combined task, and the combined task is executed cyclically. The execution process of the material loading task includes: Once the vehicle is determined to be attached to a first material rack that is in a waiting-to-load state, after driving to the loading point, it is unhooked from the first material rack and placed at the loading point to facilitate loading the first material rack. It is attached to the second material rack located at the loading point and is in the unloading state, and then driven to the unloading point; The unloading task execution process includes: Once it is determined that the second material rack currently mounted on the vehicle is in a state of waiting to be unloaded, after driving to the unloading point, it is determined that the second material rack has been unloaded, and the vehicle is mounted on the second material rack in a state of waiting to be loaded, and then drives to the loading point.

3. The method according to claim 1, characterized in that, The method further includes: Confirm that all rounds of material loading tasks have been completed; Stop issuing material loading tasks and control all vehicles to enter centralized charging mode, including vehicles already in pulse charging mode; After completing the unloading task, all vehicles are controlled to proceed to their respective preset positions in sequence, and after unhooking from their attached racks, proceed to the charging area for charging.

4. The method according to claim 3, characterized in that, The loading point includes multiple loading positions, and multiple loading waiting points are set up sequentially from the nearest to the farthest from the loading point; After completing the unloading task, all vehicles are controlled to proceed sequentially to their respective preset locations, specifically including: After all vehicles have completed their unloading tasks, they will proceed to the highest priority preset positions in the order in which they completed unloading. The priority of the preset positions, from highest to lowest, is as follows: loading positions without material racks, and loading waiting points from nearest to farthest.

5. The method according to claim 4, characterized in that, The method further includes: Receive new material loading task; The charging equipment in the charging area is instructed to stop all vehicles from charging and proceed in the order of unloading completed in the previous round: the location of the material rack in the unloading state among the multiple loading positions, the location of the material rack in the loading state among the multiple loading positions, and the loading waiting point from near to far. Mount the material to the rack at the destination location.

6. A charging device for autonomous vehicles, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform, for example, the charging method for an autonomous vehicle according to any one of claims 1 to 5.

7. A non-volatile computer storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are configured as follows: a charging method for an unmanned vehicle as described in any one of claims 1 to 5.

Images