An intelligent battery swap station and system for AGV

Abstract

The present invention provides an intelligent battery swap station and system for AGV, including: tracking the activity trajectory and activity operation of each AGV within the working range to establish its corresponding power consumption information, controlling the low-power AGV with insufficient remaining power to reach the battery swap area to replace the battery, controlling the battery swap mechanical grabbing arm to replace the battery for the low-power AGV, judging whether the low-power AGV meets the working standards after the battery swap, and sending the corresponding next execution instruction according to the judgment result, supervising the charging work corresponding to each spare battery in the charging area, and analyzing the battery capacity information corresponding to each spare battery, and moving the spare batteries with normal battery capacity information and completed charging to the battery swap area, realizing automatic battery replacement without human participation, improving the intelligence level of the workshop and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control of battery swap stations, and in particular to an intelligent battery swap station and system for AGVs. Background Art

[0002] AGV is an unmanned vehicle that can drive and transport goods autonomously. It is usually used as a tool vehicle for material handling and transportation in factories, warehouses, logistics centers and other places. It needs batteries to provide power when working. When the battery of AGV runs out during operation, it needs to be replaced. This is an operation performed to ensure the continuous operation of AGV.

[0003] The general process of battery replacement usually includes the following steps:

[0004] Entering the battery swap station: The AGV drives into the battery swap station according to the preset path.

[0005] Stop working: The AGV stops working and stops at the designated location of the battery swap station.

[0006] Unloading the battery: The operator or operator-controlled robot removes the exhausted battery from the AGV.

[0007] Install new battery: The operator or operator-controlled robot installs the charged new battery into the AGV.

[0008] Check the connections: Make sure the new battery is properly connected and securely fastened.

[0009] Start charging: After the new battery is installed, the AGV starts charging so that it is fully charged before the next use.

[0010] Leaving the battery swap station: After charging is completed, the AGV leaves the battery swap station and continues to perform its mission.

[0011] Existing battery swapping stations use battery swapping technology to charge. Although it can improve charging efficiency, users cannot determine whether the battery in the vehicle is compatible with the AGV in actual use. The battery swapping station cannot determine the battery status of the existing battery, and the replacement process is mostly manual to move the empty battery out of the AGV and then move the full battery into the AGV to achieve the empty and full battery exchange. This process cannot be automated, which will lead to a decrease in the efficiency of the entire workshop.

[0012] Therefore, the present invention provides an intelligent battery swap station and system for AGV. Summary of the invention

[0013] The present invention provides an intelligent battery replacement station and system for AGV, which realizes automatic battery replacement without manual participation, improves the intelligence level of the workshop and improves efficiency.

[0014] The present invention provides an intelligent battery swap station for AGV, comprising:

[0015] The battery replacement operation actuator is used to control the battery replacement mechanical grabbing arm to replace the battery for the low-power AGV when the low-power AGV with insufficient remaining power arrives at the battery replacement area;

[0016] The battery swap monitoring actuator is used to judge whether the low-power AGV meets the working standards after the battery swap is completed according to the battery swap process of the low-power AGV, and send the corresponding next step execution instruction according to the judgment result;

[0017] The power station monitoring actuator is used to monitor the charging work corresponding to each backup battery in the charging area, and analyze the battery capacity information corresponding to each backup battery, and move the backup batteries with normal battery capacity information and completed charging to the battery replacement area.

[0018] In one practicable manner,

[0019] The battery replacement operation actuator comprises:

[0020] The battery matching sub-actuator is used to find the applicable battery type and battery quantity corresponding to the low-power AGV when the low-power AGV enters the battery replacement area, and collect the appearance image of the low-power AGV, and determine the battery compartment area of ​​the low-power AGV according to the appearance image;

[0021] A plan formulation sub-executor, used to determine the battery loading and unloading execution conditions according to the battery compartment area, and establish a battery replacement plan in combination with the applicable battery type and battery quantity;

[0022] The battery replacement sub-actuator is used to control the idle mechanical grabbing arm with the shortest distance to the parking position of the low-power AGV in the battery replacement area to replace the battery for the low-power AGV using the battery replacement scheme.

[0023] In one practicable manner,

[0024] The battery swap monitoring actuator comprises:

[0025] A preliminary monitoring sub-actuator is used to collect the battery replacement progress of the low-power AGV in real time to establish the battery replacement process of the low-power AGV, mark several key battery replacement information during the battery replacement process, and establish a battery replacement logic diagram according to the logical relationship between different key battery replacement information;

[0026] A deep monitoring sub-executor is used to generate a battery replacement result of the low-power AGV according to the battery replacement logic diagram, use the battery replacement result to establish a number of executable tasks after the low-power AGV is replaced, and use the work standard to perform a deep evaluation on each executable task to obtain a legal weight of each executable task;

[0027] The instruction-retrieving sub-executor is used to issue a normal working instruction to the low-power AGV when each of the legal weights is within the standard weight range; otherwise, the abnormal battery swapping information contained in the battery swapping process is tracked according to the battery swapping logic diagram, and a waiting-for-processing instruction is issued to the low-power AGV according to the abnormal state corresponding to the abnormal battery swapping information;

[0028] The abnormal repair sub-executor is used to control the corresponding mechanical grabbing arm to make abnormal adjustments according to the abnormal state when the low-power AGV is connected to the waiting processing instruction, and send normal working instructions to the low-power AGV when each of the legal weights is within the standard weight range.

[0029] In one practicable manner,

[0030] The power station supervisory actuator comprises:

[0031] The charging supervision sub-executor is used to respectively collect the charging data corresponding to each of the backup batteries in the charging area, analyze the power information of the corresponding backup battery according to the charging data, and stop charging the corresponding backup battery when the power information is 100;

[0032] A data analysis sub-executor, used to respectively obtain the charging cycle corresponding to each of the backup batteries, and establish the charge change information and open circuit voltage of the corresponding backup battery during the charging process according to the charging data corresponding to each of the backup batteries;

[0033] A battery analysis sub-executor, configured to determine a time range of a charging cycle according to the open circuit voltage adjustment, map the charge change information into the time range to obtain a charge increase curve of the backup battery during the charging process, and extract suspected abnormal backup batteries whose curve slope of the charge increase curve is higher than a standard slope;

[0034] A capacity analysis sub-executor is used to connect the suspected abnormal backup battery to a low-consumption load to perform power consumption analysis, and obtain the throughput power of the backup battery within a specified analysis time period. When the throughput power is higher than a preset throughput value, it is determined that the suspected abnormal backup battery is suspected to have insufficient life, and an abnormality identifier is added to the suspected abnormal backup battery;

[0035] The battery supply sub-actuator is used to control the handling mechanical grabbing arm to carry the spare batteries that do not contain the abnormal identifier to the battery replacement area, and classify and place the spare batteries according to the battery types corresponding to the spare batteries.

[0036] In one practicable manner,

[0037] Also includes:

[0038] The abnormality reporting sub-executor is used to obtain the abnormal backup battery with the abnormal identifier, and transmit the battery description corresponding to the abnormal backup battery to the cloud storage and to the administrator's device for display.

[0039] An intelligent battery swapping system for AGV, including an intelligent battery swapping station, and further comprising:

[0040] A power consumption analysis subsystem, used to track the activity trajectory and activity operation of each AGV within the working range, and establish power consumption information corresponding to each AGV;

[0041] The central control analysis subsystem is used to control the low-power AGV with insufficient remaining power to arrive at the battery replacement area to replace the battery according to the power consumption information.

[0042] In one practicable manner,

[0043] The power consumption analysis subsystem comprises:

[0044] The tracking and analysis sub-executor is used to respectively obtain the equipment components of each of the AGVs, determine the execution activities corresponding to the corresponding AGVs in different equipment states, respectively track the activity trajectory and activity operation of each of the AGVs, and respectively match the corresponding execution activities for each of the activity operations;

[0045] An activity analysis sub-executor is used to mark each of the execution activities in the activity track, obtain the execution activity changes of the AGV in the activity track according to the marking structure, construct the component activity information of the AGV, and calculate the unit power consumption corresponding to each of the equipment components of the AGV;

[0046] The power consumption analysis sub-executor is used to analyze the real-time power consumption of the AGV when performing the activity trajectory and the total power consumption of the AGV when performing the activity trajectory according to the component activity information and the unit power consumption corresponding to each of the equipment components, and obtain the power consumption information corresponding to each of the AGVs.

[0047] In one practicable manner,

[0048] The central control analysis subsystem includes:

[0049] A low-power analysis sub-actuator, used to determine the remaining power of the corresponding AGV according to the power consumption information corresponding to each of the AGVs, establish the power consumption trend of the corresponding AGV according to the power consumption information, and establish the maximum remaining working time of the AGV according to the remaining power and power consumption trend corresponding to the same AGV;

[0050] A low-power positioning sub-actuator is used to analyze the corresponding walking time of each AGV from the corresponding current position to the battery replacement area according to the current position of each AGV in the working range, and add a low-power distinguisher to the corresponding AGV when the walking time of the AGV is greater than the maximum remaining working time;

[0051] The battery replacement guiding sub-actuator is used to control the low-battery AGV with a low-battery identifier to move from the corresponding current position to the battery replacement area to replace the battery using autonomous obstacle avoidance technology.

[0052] In one practicable manner,

[0053] The central control analysis subsystem includes:

[0054] A power station layout subsystem is used to respectively obtain the battery storage sub-areas corresponding to each battery type in the battery swap area, establish a battery storage layout diagram, and establish a battery swap walking weight corresponding to each battery storage sub-area according to the entrance position of the battery swap area;

[0055] Collect the replacement frequency corresponding to each battery type within a preset time period, and establish the battery replacement usage weight of the corresponding battery storage sub-area according to the replacement frequency;

[0056] Adjust the layout of the battery storage layout diagram based on the battery swap travel weight and the battery swap usage weight to obtain a low-consumption battery storage layout diagram;

[0057] According to the battery storage layout diagram and the low-consumption battery storage layout diagram, the corresponding handling mechanical grabbing arm is controlled to perform the rearrangement work.

[0058] In one practicable manner,

[0059] include:

[0060] A UPS is provided for each AGV respectively, and when the AGV is in the process of power replacement, the UPS is controlled to supply power to the AGV;

[0061] After the AGV completes the battery replacement, the current battery in the AGV is controlled to charge the UPS.

[0062] The beneficial effects that can be achieved by the present invention are: in order to build an autonomous battery swap station that can provide batteries for AGVs at any time, when an AGV with insufficient power arrives at the battery swap area in the battery swap station, the robot in the battery swap station will replace its battery, and monitor the process of replacing the battery to determine whether the AGV that has completed the battery swap meets the next working standards, and then issue different execution instructions to the AGV according to different judgment results, and charge the replaced battery. After charging is completed, the spare battery with qualified battery capacity and completed charging is transferred to the battery swap area to wait for the next battery swap. In this way, not only automatic battery swapping is realized, but also corresponding analysis is performed on each battery to avoid long-term battery aging leading to low battery capacity. If the AGV is used to age the battery, it is easy to delay work efficiency. Therefore, in the battery preparation stage, aging batteries are prevented from entering the battery swap area, which eliminates the problem from the root, improves the work efficiency of the AGV, and provides it with a strong energy supply backup.

[0063] By tracking the AGV to collect information, the power consumption information of the AGV during the working process is established, so that the power level of the AGV can be reflected based on the power consumption information. The low-power AGV with insufficient remaining power can be moved to the battery replacement area to wait for battery replacement. The entire battery replacement process does not require human participation, the intelligence level of the workshop is improved, and the efficiency is improved.

[0064] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0065] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0067] Figure 1 This is a schematic diagram of the composition flow of a smart battery swap station for AGV in an embodiment of the present invention;

[0068] Figure 2 The figure is a schematic diagram of the composition of an intelligent battery replacement system for AGV in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0070] Example 1

[0071] This embodiment provides an intelligent detection system for carbon, hydrogen and nitrogen in coal for coal quality detection, such as Figure 1 As shown, including:

[0072] The battery replacement operation actuator is used to control the battery replacement mechanical grabbing arm to replace the battery for the low-power AGV when the low-power AGV with insufficient remaining power arrives at the battery replacement area;

[0073] The battery swap monitoring actuator is used to judge whether the low-power AGV meets the working standards after the battery swap is completed according to the battery swap process of the low-power AGV, and send the corresponding next step execution instruction according to the judgment result;

[0074] The power station monitoring actuator is used to monitor the charging work corresponding to each backup battery in the charging area, and analyze the battery capacity information corresponding to each backup battery, and move the backup batteries with normal battery capacity information and completed charging to the battery replacement area.

[0075] In this example, insufficient remaining power means that the remaining current of the GAV is insufficient to support its subsequent work;

[0076] In this example, the battery swapping mechanical grasping arm may be a manipulator, a robot, or other machines corresponding to autonomous grasping methods that perform battery swapping work;

[0077] In this example, the low-power AGV refers to an AGV with insufficient remaining power;

[0078] In this example, the battery replacement area indicates the area where the battery replacement is performed;

[0079] In this example, the working standard is: can work continuously for 2 hours or more;

[0080] In this example, the spare battery refers to a battery that is stored or being charged in the charging area;

[0081] In this example, the battery capacity information indicates the capacity information of the backup battery, for example: the power of battery A in a fully charged state is 100% of the total power, and the power of battery B in a fully charged state is 75% of the total power.

[0082] The working principle and beneficial effects of the above technical solution are as follows: in order to build an autonomous battery swap station that can provide batteries for AGVs at any time, when an AGV with insufficient power arrives at the battery swap area in the battery swap station, the robot in the battery swap station will replace its battery and monitor the process of replacing the battery to determine whether the AGV that has completed the battery swap meets the next working standards, and then issue different execution instructions to the AGV according to different judgment results, and charge the replaced battery. After charging is completed, the spare battery with qualified battery capacity and completed charging is transferred to the battery swap area to wait for the next battery swap. In this way, not only automatic battery swapping is realized, but also each battery is analyzed accordingly to avoid long-term aging of the battery resulting in too low battery capacity. If the AGV is used to age the battery, it is easy to delay work efficiency. Therefore, in the battery preparation stage, aging batteries are prevented from entering the battery swap area, eliminating the problem from the root, improving the work efficiency of the AGV, and providing it with a strong energy supply backing.

[0083] Example 2

[0084] On the basis of Embodiment 1, the intelligent battery swap station for AGV, the battery swap operation actuator includes:

[0085] The battery matching sub-actuator is used to find the applicable battery type and battery quantity corresponding to the low-power AGV when the low-power AGV enters the battery replacement area, and collect the appearance image of the low-power AGV, and determine the battery compartment area of ​​the low-power AGV according to the appearance image;

[0086] A plan formulation sub-executor, used to determine the battery loading and unloading execution conditions according to the battery compartment area, and establish a battery replacement plan in combination with the applicable battery type and battery quantity;

[0087] The battery replacement sub-actuator is used to control the idle mechanical grabbing arm with the shortest distance to the parking position of the low-power AGV in the battery replacement area to replace the battery for the low-power AGV using the battery replacement scheme.

[0088] In this example, a low-power AGV corresponds to an appearance image;

[0089] In this example, the applicable battery type indicates the type of battery that can be used by the low-power AGV. One low-power AGV can correspond to one or more types of batteries.

[0090] In this example, based on the actual situation of the low-power AGV, one low-power AGV can use one or more batteries at a time;

[0091] In this example, the battery compartment area represents the area on the low-power AGV where the battery is installed;

[0092] In this example, the loading and unloading execution conditions include the prerequisite conditions that need to be met when replacing the battery in the battery compartment, the operating conditions during the battery replacement process, and the feedback conditions after the battery replacement;

[0093] In this example, the battery replacement plan represents the plan executed when a low-power AGV replaces its battery.

[0094] The working principle and beneficial effects of the above technical solution: In order to achieve rapid battery replacement and improve the accuracy of battery replacement, when the low-power AGV enters the battery replacement area, the battery replacement plan for this battery replacement is determined according to the applicable battery type and battery quantity of the low-power AGV and the position of the battery compartment on the low-power AGV, and then a most suitable idle mechanical grabbing arm is called to replace the battery for the low-power AGV according to the battery replacement plan. In this way, not only can the battery replacement of a single AGV be completed, but it can also be applicable to multiple different types of AGVs for simultaneous battery replacement without the phenomenon of wrong replacement or missed replacement, which greatly improves the coverage of the battery replacement station.

[0095] Example 3

[0096] On the basis of Example 1, the intelligent battery swap station for AGV, the battery swap monitoring actuator includes:

[0097] A preliminary monitoring sub-actuator is used to collect the battery replacement progress of the low-power AGV in real time to establish the battery replacement process of the low-power AGV, mark several key battery replacement information during the battery replacement process, and establish a battery replacement logic diagram according to the logical relationship between different key battery replacement information;

[0098] A deep monitoring sub-executor is used to generate a battery replacement result of the low-power AGV according to the battery replacement logic diagram, use the battery replacement result to establish a number of executable tasks after the low-power AGV is replaced, and use the work standard to perform a deep evaluation on each executable task to obtain a legal weight of each executable task;

[0099] The instruction-retrieving sub-executor is used to issue a normal working instruction to the low-power AGV when each of the legal weights is within the standard weight range; otherwise, the abnormal battery swapping information contained in the battery swapping process is tracked according to the battery swapping logic diagram, and a waiting-for-processing instruction is issued to the low-power AGV according to the abnormal state corresponding to the abnormal battery swapping information;

[0100] The abnormal repair sub-executor is used to control the corresponding mechanical grabbing arm to make abnormal adjustments according to the abnormal state when the low-power AGV is connected to the waiting processing instruction, and send normal working instructions to the low-power AGV when each of the legal weights is within the standard weight range.

[0101] In this example, the battery replacement progress indicates the progress of the battery replacement process;

[0102] In this example, the key information for battery replacement indicates information corresponding to the moment when errors are likely to occur during the battery replacement process;

[0103] In this example, the battery swap logic diagram represents the logic between various battery swap operations during the battery swap process in the form of a diagram;

[0104] In this example, the battery replacement result indicates the result presented after the battery replacement work is completed;

[0105] In this example, executable work means the work that the low-power AGV can perform after the battery is replaced;

[0106] In this example, the legal weight represents the legality of the state presented by the low-power AGV after battery replacement when performing an executable work;

[0107] In this example, the standard weight range indicates the range within which the AGV does not have erroneous data during operation;

[0108] In this example, when the AGV receives a normal working instruction, the AGV returns to the work shop to work, and when the AGV receives a pending processing instruction, the AGV arrives at the processing area to wait for the mechanical gripper arm to make abnormal adjustments;

[0109] In this example, abnormal battery replacement information refers to information corresponding to unreasonable operations that occur during the battery replacement process.

[0110] The working principle and beneficial effects of the above technical solution: In order to further ensure the working quality and work efficiency of AGV, the battery replacement process is constructed according to the real-time progress of the low-power AGV during the battery replacement process, and several key battery replacement information is determined during the battery replacement process. Then, a battery replacement logic diagram is established based on the logical relationship between the key battery replacement information, and then the battery replacement result of the low-power AGV is generated in the battery replacement logic diagram, and several executable tasks that can be performed by the low-power AGV after the battery replacement are determined. Further in-depth evaluation is performed to determine the legal weight of each executable task. If the value of the legal weight is abnormal, a waiting processing instruction is issued to the low-power AGV, and then the corresponding mechanical grabbing arm is used to adjust the abnormality to ensure that the legal weight of the low-power AGV is normal. Finally, after the legal weight of the low-power AGV is normal, a normal working instruction is issued to it. In this case, the low-power AGV can leave the battery replacement area to perform its job.

[0111] Example 4

[0112] On the basis of Example 1, the intelligent battery swap station for AGV, the station supervisory actuator includes:

[0113] The charging supervision sub-executor is used to respectively collect the charging data corresponding to each of the backup batteries in the charging area, analyze the power information of the corresponding backup battery according to the charging data, and stop charging the corresponding backup battery when the power information is 100;

[0114] A data analysis sub-executor, used to respectively obtain the charging cycle corresponding to each of the backup batteries, and establish the charge change information and open circuit voltage of the corresponding backup battery during the charging process according to the charging data corresponding to each of the backup batteries;

[0115] A battery analysis sub-executor, configured to determine a time range of a charging cycle according to the open circuit voltage adjustment, map the charge change information into the time range to obtain a charge increase curve of the backup battery during the charging process, and extract suspected abnormal backup batteries whose curve slope of the charge increase curve is higher than a standard slope;

[0116] A capacity analysis sub-executor is used to connect the suspected abnormal backup battery to a low-consumption load to perform power consumption analysis, and obtain the throughput power of the backup battery within a specified analysis time period. When the throughput power is higher than a preset throughput value, it is determined that the suspected abnormal backup battery is suspected to have insufficient life, and an abnormality identifier is added to the suspected abnormal backup battery;

[0117] The battery supply sub-actuator is used to control the handling mechanical grabbing arm to carry the spare batteries that do not contain the abnormal identifier to the battery replacement area, and classify and place the spare batteries according to the battery types corresponding to the spare batteries.

[0118] In this example, a charging cycle represents a cycle in which the backup battery is charged from 0 to full;

[0119] In this example, the charge change information indicates the charge change of the backup battery when the positive and negative polarity directions of the backup battery change during the charging process;

[0120] In this example, the open circuit voltage indicates the voltage of the backup battery when only charging is performed;

[0121] In this example, the method for determining the time range is: determining the periodic voltage consistent with the open circuit voltage in the charging cycle as the time start point, and determining the moment when charging is stopped in the charging cycle as the time end point;

[0122] In this example, the charge increase curve represents the result of plotting the increase in charge during the charging process;

[0123] In this example, the standard slope is 60% for the constant current charging stage and 30% for the constant voltage charging stage;

[0124] In this example, low-consumption load means a load that consumes less than 1 kWh of electricity in five minutes;

[0125] In this example, the analysis period is specified to be 5 minutes;

[0126] In this example, the preset throughput value is 1 degree;

[0127] In this example, the abnormality distinguisher is a mark used to distinguish a suspected abnormal backup battery from a normal backup battery.

[0128] The working principle and beneficial effects of the above technical solution: In order to further ensure the working efficiency and quality of the battery swap station, when the spare batteries in the charging area have completed charging, the charge increase curve of the spare batteries during the charging process is drawn according to the charging cycle of the spare batteries and the charge change information and open circuit voltage during the charging process, so as to preliminarily screen the suspected abnormal spare batteries through the slope, and then when the suspected abnormal spare batteries are connected to the low-consumption load for power consumption analysis, the suspected abnormal spare batteries are further identified and marked by their throughput in a short period of time, and finally the spare batteries without marks are moved by the handling robot to the battery swap area to wait for the next battery swap. At the same time, in order to facilitate the battery swap, the spare batteries are classified and stored according to their types, which not only ensures the quality of the batteries in the battery swap station but also further ensures orderly battery swap.

[0129] Example 5

[0130] On the basis of Embodiment 4, the intelligent battery swap station for AGV further includes:

[0131] The abnormality reporting sub-executor is used to obtain the abnormal backup battery with the abnormal identifier, and transmit the battery description corresponding to the abnormal backup battery to the cloud storage and to the administrator's device for display.

[0132] Example 6

[0133] This embodiment provides an intelligent battery replacement system for AGV, such as Figure 2 As shown, the smart battery swap station described in embodiments 1-4 further includes:

[0134] A power consumption analysis subsystem, used to track the activity trajectory and activity operation of each AGV within the working range, and establish power consumption information corresponding to each AGV;

[0135] The central control analysis subsystem is used to control the low-power AGV with insufficient remaining power to arrive at the battery replacement area to replace the battery according to the power consumption information.

[0136] In this example, the equipment component represents the device that makes up the AGV;

[0137] In this example, the AGV corresponds to different execution activities in different equipment states.

[0138] The working principle and beneficial effects of the above technical solution are as follows: by tracking the AGV to collect information, the power consumption information of the AGV during the working process is established, so as to reflect the power level of the AGV based on the power consumption information, and move the low-power AGV with insufficient remaining power to the battery replacement area to wait for battery replacement. The entire battery replacement process does not require human participation, the intelligence level of the workshop is improved, and the efficiency is improved.

[0139] Example 7

[0140] On the basis of Example 6, the intelligent power replacement system for AGV, the power consumption analysis subsystem includes:

[0141] The tracking and analysis sub-executor is used to respectively obtain the equipment components of each of the AGVs, determine the execution activities corresponding to the corresponding AGVs in different equipment states, respectively track the activity trajectory and activity operation of each of the AGVs, and respectively match the corresponding execution activities for each of the activity operations;

[0142] An activity analysis sub-executor is used to mark each of the execution activities in the activity track, obtain the execution activity changes of the AGV in the activity track according to the marking structure, construct the component activity information of the AGV, and calculate the unit power consumption corresponding to each of the equipment components of the AGV;

[0143] The power consumption analysis sub-executor is used to analyze the real-time power consumption of the AGV when performing the activity trajectory and the total power consumption of the AGV when performing the activity trajectory according to the component activity information and the unit power consumption corresponding to each of the equipment components, and obtain the power consumption information corresponding to each of the AGVs.

[0144] In this example, the unit power consumption refers to the power consumption of a device component when it works for a unit time (1 minute);

[0145] In this example, the component activity information indicates the activities of different equipment components when the AGV is working.

[0146] The working principle and beneficial effects of the above technical solution: In order to prevent the AGV from suddenly losing power and stopping working, the corresponding activity trajectory and activity operation are collected during the operation of the AGV, and then an execution activity is matched for each activity operation in combination with the status of its equipment components when performing different activities, thereby determining the execution activity changes of the AGV in the activity trajectory, constructing the construction activity information of the AGV, and then combining the corresponding unit power consumption of each equipment construction to analyze the real-time power consumption and total power consumption of the AGV, thereby generating the power consumption information of the AGV, which serves as a basis for the subsequent analysis of the remaining power of the AGV.

[0147] Example 8

[0148] On the basis of Example 6, the intelligent battery replacement system for AGV, the central control analysis subsystem includes:

[0149] A low-power analysis sub-actuator, used to determine the remaining power of the corresponding AGV according to the power consumption information corresponding to each of the AGVs, establish the power consumption trend of the corresponding AGV according to the power consumption information, and establish the maximum remaining working time of the AGV according to the remaining power and power consumption trend corresponding to the same AGV;

[0150] A low-power positioning sub-actuator is used to analyze the corresponding walking time of each AGV from the corresponding current position to the battery replacement area according to the current position of each AGV in the working range, and add a low-power distinguisher to the corresponding AGV when the walking time of the AGV is greater than the maximum remaining working time;

[0151] The battery replacement guiding sub-actuator is used to control the low-battery AGV with a low-battery identifier to move from the corresponding current position to the battery replacement area to replace the battery using autonomous obstacle avoidance technology.

[0152] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the power consumption information of each AGV to determine its power consumption trend, and further determining the maximum remaining working time of each AGV. If the maximum remaining working time is less than the time the AGV has traveled while charging, and is longer than the maximum remaining working time, in order to avoid the AGV from powering off, guide it to the battery replacement area to replace the battery. This allows the AGV to work to the maximum extent and improves work efficiency.

[0153] Example 9

[0154] On the basis of Example 6, the intelligent battery replacement system for AGV, the central control analysis subsystem includes:

[0155] A power station layout subsystem is used to respectively obtain the battery storage sub-areas corresponding to each battery type in the battery swap area, establish a battery storage layout diagram, and establish a battery swap walking weight corresponding to each battery storage sub-area according to the entrance position of the battery swap area;

[0156] Collect the replacement frequency corresponding to each battery type within a preset time period, and establish the battery replacement usage weight of the corresponding battery storage sub-area according to the replacement frequency;

[0157] Adjust the layout of the battery storage layout diagram based on the battery swap travel weight and the battery swap usage weight to obtain a low-consumption battery storage layout diagram;

[0158] Control the corresponding handling mechanical grabbing arm to perform the re-layout work according to the battery storage layout diagram and the low-consumption battery storage layout diagram;

[0159] After the AGV completes the battery replacement, the current battery in the AGV is controlled to charge the UPS.

[0160] The working principle and beneficial effects of the above technical solution: Since the order pattern of the workshop is uncertain, different types of AGVs will work in different time periods. In order to improve the working efficiency of the AGV, when different AGVs are working, the storage positions of various batteries in the battery exchange area are adjusted according to the type of battery used, and commonly used batteries are placed at the inner entrance, which further improves the working efficiency of the AGV.

[0161] Example 10

[0162] Based on Example 6, the intelligent battery replacement system for AGV includes:

[0163] A UPS is provided for each AGV respectively, and when the AGV is performing power replacement, the UPS is controlled to supply power to the AGV.

[0164] The working principle and beneficial effects of the above technical solution: A UPS is set up for the AGV, which can ensure the basic operation of the AGV when the power is replaced, reduce the number of power outages, and slow down the aging speed of the AGV.

[0165] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent battery swap station for AGV, characterized in that: include: The battery replacement operation actuator is used to control the battery replacement mechanical grabbing arm to replace the battery for the low-power AGV when the low-power AGV with insufficient remaining power arrives at the battery replacement area; The battery swap monitoring actuator is used to judge whether the low-power AGV meets the working standards after the battery swap is completed according to the battery swap process of the low-power AGV, and send the corresponding next step execution instruction according to the judgment result; Among them, the working standards are: continuous work for 2 hours or more; Among them, the next execution instruction includes a waiting processing instruction and a normal working instruction; The power station monitoring actuator is used to monitor the charging work corresponding to each backup battery in the charging area, analyze the battery capacity information corresponding to each backup battery, and move the backup batteries with normal battery capacity information and completed charging to the battery replacement area; The power station supervisory actuator comprises: The charging supervision sub-executor is used to respectively collect the charging data corresponding to each of the backup batteries in the charging area, analyze the power information of the corresponding backup battery according to the charging data, and stop charging the corresponding backup battery when the power information is 100; A data analysis sub-executor, used to respectively obtain the charging cycle corresponding to each of the backup batteries, and establish the charge change information and open circuit voltage of the corresponding backup battery during the charging process according to the charging data corresponding to each of the backup batteries; A battery analysis sub-executor, configured to determine a time range of a charging cycle according to the open circuit voltage adjustment, map the charge change information into the time range to obtain a charge increase curve of the backup battery during the charging process, and extract suspected abnormal backup batteries whose curve slope of the charge increase curve is higher than a standard slope; A capacity analysis sub-executor is used to connect the suspected abnormal backup battery to a low-consumption load to perform power consumption analysis, and obtain the throughput power of the backup battery within a specified analysis time period. When the throughput power is higher than a preset throughput value, it is determined that the suspected abnormal backup battery is suspected to have insufficient life, and an abnormality identifier is added to the suspected abnormal backup battery; The battery supply sub-actuator is used to control the handling mechanical grabbing arm to carry the spare batteries that do not contain the abnormal identifier to the battery replacement area, and classify and place the spare batteries according to the battery types corresponding to the spare batteries.

2. The intelligent battery swap station for AGV according to claim 1, characterized in that: The battery replacement operation actuator comprises: The battery matching sub-actuator is used to find the applicable battery type and battery quantity corresponding to the low-power AGV when the low-power AGV enters the battery replacement area, and collect the appearance image of the low-power AGV, and determine the battery compartment area of ​​the low-power AGV according to the appearance image; A plan formulation sub-executor, used to determine the battery loading and unloading execution conditions according to the battery compartment area, and establish a battery replacement plan in combination with the applicable battery type and battery quantity; The battery replacement sub-actuator is used to control the idle mechanical grabbing arm with the shortest distance to the parking position of the low-power AGV in the battery replacement area to replace the battery for the low-power AGV using the battery replacement scheme.

3. The intelligent battery swap station for AGV according to claim 1, characterized in that: The battery swap monitoring actuator comprises: A preliminary monitoring sub-actuator is used to collect the battery replacement progress of the low-power AGV in real time to establish the battery replacement process of the low-power AGV, mark several key battery replacement information during the battery replacement process, and establish a battery replacement logic diagram according to the logical relationship between different key battery replacement information; Among them, the key information of battery replacement indicates the information corresponding to the moment when errors are likely to occur during the battery replacement process; Among them, the battery swap logic diagram represents the logic between various battery swap operations in the process of battery swapping in the form of a diagram; A deep monitoring sub-executor is used to generate a battery replacement result of the low-power AGV according to the battery replacement logic diagram, use the battery replacement result to establish a number of executable tasks after the low-power AGV is replaced, and use the work standard to perform a deep evaluation on each executable task to obtain a legal weight of each executable task; Among them, the battery replacement result refers to the result presented after the battery replacement work is completed; Among them, executable work means the work that the low-power AGV can perform after the battery is replaced; Among them, the legal weight represents the legality of the state presented by the low-power AGV after battery replacement when performing an executable work; The instruction-retrieving sub-executor is used to issue a normal working instruction to the low-power AGV when each of the legal weights is within the standard weight range; otherwise, the abnormal battery swapping information contained in the battery swapping process is tracked according to the battery swapping logic diagram, and a waiting-for-processing instruction is issued to the low-power AGV according to the abnormal state corresponding to the abnormal battery swapping information; Among them, the standard weight range indicates the range in which the AGV does not have erroneous data during the working process; The abnormal repair sub-executor is used to control the corresponding mechanical grabbing arm to make abnormal adjustments according to the abnormal state when the low-power AGV is connected to the waiting processing instruction, and send normal working instructions to the low-power AGV when each of the legal weights is within the standard weight range.

4. The intelligent battery swap station for AGV according to claim 1, characterized in that: Also includes: The abnormality reporting sub-executor is used to obtain the abnormal backup battery with the abnormal identifier, and transmit the battery description corresponding to the abnormal backup battery to the cloud storage and to the administrator's device for display.

5. An intelligent battery replacement system for AGV, characterized in that: The smart battery swap station according to any one of claims 1 to 3 further comprises: A power consumption analysis subsystem, used to track the activity trajectory and activity operation of each AGV within the working range, and establish power consumption information corresponding to each AGV; The central control analysis subsystem is used to control the low-power AGV with insufficient remaining power to arrive at the battery replacement area to replace the battery according to the power consumption information.

6. The intelligent battery replacement system for AGV according to claim 5, characterized in that: The power consumption analysis subsystem comprises: The tracking and analysis sub-executor is used to respectively obtain the equipment components of each of the AGVs, determine the execution activities corresponding to the corresponding AGVs in different equipment states, respectively track the activity trajectory and activity operation of each of the AGVs, and respectively match the corresponding execution activities for each of the activity operations; An activity analysis sub-executor is used to mark each of the execution activities in the activity track, obtain the execution activity changes of the AGV in the activity track according to the marking structure, construct the component activity information of the AGV, and calculate the unit power consumption corresponding to each of the equipment components of the AGV; The power consumption analysis sub-executor is used to analyze the real-time power consumption of the AGV when performing the activity trajectory and the total power consumption of the AGV when performing the activity trajectory according to the component activity information and the unit power consumption corresponding to each of the equipment components, and obtain the power consumption information corresponding to each of the AGVs.

7. The intelligent battery replacement system for AGV according to claim 5, characterized in that: The central control analysis subsystem includes: A low-power analysis sub-actuator, used to determine the remaining power of the corresponding AGV according to the power consumption information corresponding to each of the AGVs, establish the power consumption trend of the corresponding AGV according to the power consumption information, and establish the maximum remaining working time of the AGV according to the remaining power and power consumption trend corresponding to the same AGV; A low-power positioning sub-actuator is used to analyze the corresponding walking time of each AGV from the corresponding current position to the battery replacement area according to the current position of each AGV in the working range, and add a low-power distinguisher to the corresponding AGV when the walking time of the AGV is greater than the maximum remaining working time; The battery replacement guiding sub-actuator is used to control the low-battery AGV with a low-battery identifier to move from the corresponding current position to the battery replacement area to replace the battery using autonomous obstacle avoidance technology.

8. The intelligent battery replacement system for AGV according to claim 5, characterized in that: The central control analysis subsystem includes: A power station layout subsystem is used to respectively obtain the battery storage sub-areas corresponding to each battery type in the battery swap area, establish a battery storage layout diagram, and establish a battery swap walking weight corresponding to each battery storage sub-area according to the entrance position of the battery swap area; Collect the replacement frequency corresponding to each battery type within a preset time period, and establish the battery replacement usage weight of the corresponding battery storage sub-area according to the replacement frequency; Adjust the layout of the battery storage layout diagram based on the battery swap travel weight and the battery swap usage weight to obtain a low-consumption battery storage layout diagram; Control the corresponding handling mechanical grabbing arm to perform the re-layout work according to the battery storage layout diagram and the low-consumption battery storage layout diagram; After the AGV completes the battery replacement, the current battery in the AGV is controlled to charge the UPS.

9. The intelligent battery replacement system for AGV according to claim 5, characterized in that: include: A UPS is provided for each AGV respectively, and when the AGV is performing power replacement, the UPS is controlled to supply power to the AGV.

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