AGV (Automatic Guided Vehicle) electricity taking situation awareness system

Abstract

The invention discloses an AGV (Automatic Guided Vehicle) electricity taking situation sensing system, which is characterized in that the position adjustment in the dynamic charging process of AGV equipment is monitored in real time through an electricity taking position sensing device, and when the position adjustment causes deformation of a slide wire bracket and / or an AGV electricity taking trolley, the control equipment disconnects a battery charging loop; meanwhile, the electricity taking temperature in the dynamic charging process of the AGV equipment is detected through an electricity taking temperature sensing device, the current electricity taking temperature is judged through a single-machine electricity taking temperature situation model and a vehicle-connected electricity taking temperature situation model, and when it is judged that the charging temperature is abnormal through comparison according to any model, the equipment is controlled to disconnect a battery charging loop; when an abnormal electricity taking situation occurs, a charging loop is cut off in time, and an equipment electricity taking device and a battery system are protected to the maximum extent; moreover, the method achieves the precise prediction of the abnormal power-taking situation based on the single-machine power-taking temperature situation model and the vehicle-connected power-taking situation model of the full-wharf AGV equipment, and reduces the fault occurrence rate.

Description

Technical Field

[0001] The present invention belongs to the technical field of container terminals, and in particular, relates to an AGV power supply situation awareness system. Background Art

[0002] Automated guided vehicles (AGVs) are key equipment for horizontal container transportation at automated terminals. The replacement of the AGV power system from internal combustion engines to battery capacitor components has greatly reduced the cost of using AGVs and improved the automation level of automated terminals. After that, fixed busbar brackets were used to replace battery swap stations and fixed-point charging piles, so that AGVs can be charged in fixed cyclic operating conditions without having to leave the operating conditions, saving AGV charging and battery replacement time.

[0003] However, since the AGV is in a dynamic charging process inside the busbar bracket, there is a position error during the movement of the equipment. The walking mechanism fine-tunes the equipment posture in real time according to the driving status. During this process, the fine-tuning of the AGV equipment will cause poor contact between the carbon brush and the busbar, resulting in electrical sparks, damage to the power-taking device and the equipment battery system, and cause major safety risks.

[0004] In order to solve the problem of abnormal sparking due to poor contact between the carbon brush and the busbar during the movement of the AGV, the existing solutions are mostly to limit the fine-tuning of the direction of the AGV inside the bracket and adjust the distance of the busbar bracket. However, these solutions cannot ensure the safety of AGV driving. When the AGV deviates, the power supply device is prone to abnormal force and mechanical deformation. In addition, fine-tuning the AGV driving status and the busbar bracket cannot completely avoid the problem of electrical sparking due to poor contact, and does not protect the AGV battery system. Summary of the invention

[0005] Aiming at the technical problem that the poor contact between the carbon brush and the busbar during the dynamic charging of the AGV in the busbar causes damage to the equipment, the present invention proposes an AGV power supply situation awareness system to monitor the AGV charging process in real time and play a necessary protective role for the AGV power supply device and battery system.

[0006] The present invention is implemented by the following technical solutions:

[0007] An AGV power supply situation awareness system is proposed, including:

[0008] The busbar is connected to the power supply device and assembled on the busbar support; the busbar support

[0009] Rack mounted on

[0010] In the AGV operation site;

[0011] The AGV power supply trolley is integrated into the AGV and contacts the

[0012] Busbar

[0013] Get electricity;

[0014] A power supply position sensing device is installed on the AGV power supply trolley, and generates a first sensing signal when a specified position of the busbar support is detected; wherein the specified position is set when the AGV power supply trolley changes position relative to the busbar support, and when the specified position can be detected, deformation of the AGV power supply trolley and the busbar support can be avoided;

[0015] A power supply temperature sensing device is installed on the AGV power supply vehicle to detect the current power supply temperature of the AGV power supply vehicle during power supply;

[0016] The power supply temperature situation database receives the temperature data reported by each AGV device, and constructs a power supply temperature situation model in combination with the temperature data of all AGV devices; the power supply temperature situation model includes a single-machine power supply temperature situation model and a vehicle-connected power supply temperature situation model; the construction of the single-machine power supply temperature situation model includes: obtaining the temperature data of the single machine in different operating areas within a set time period, calculating the single-machine temperature characteristic values ​​in different operating areas through a clustering algorithm, and constructing a single-machine power supply temperature situation model with each single-machine temperature characteristic value as the clustering center; the construction of the vehicle-connected power supply temperature situation model includes: obtaining the temperature data of each AGV device in the same operating area within a set time period, calculating the vehicle-connected temperature characteristic values ​​of each AGV device in the same operating area through a clustering algorithm, and constructing a vehicle-connected power supply temperature situation model with each vehicle-connected temperature characteristic value as the clustering center;

[0017] A power supply monitoring module is used to detect whether the first sensing signal is received during AGV charging, and issue a first charging disconnection instruction when the first sensing signal is not received; and obtain the single-machine power supply temperature situation model, calculate the first distance between the current power supply temperature and its cluster center, and issue a second charging disconnection instruction when the first distance exceeds a first threshold; and obtain the vehicle-connected power supply temperature situation model, calculate the second distance between the current power supply temperature and its cluster center, and issue a third charging disconnection instruction when the second distance exceeds a second threshold;

[0018] The charging control module is used to control the charging circuit to be disconnected if any one of the first charging disconnection instruction, the second charging disconnection instruction and the third charging disconnection instruction is received during charging, otherwise, the charging circuit is maintained.

[0019] In some embodiments of the present invention, the system further comprises:

[0020] The three-phase phase sequence detection device is installed on the AGV equipment, and detects the phase sequence of the three-phase charging circuit of the AGV equipment through a phase sequence relay, and issues a fourth charging disconnection instruction when the phase sequence is abnormal; the charging control module controls the charging circuit to be disconnected when receiving the fourth charging disconnection instruction.

[0021] In some embodiments of the present invention, the power supply temperature sensing device is installed at the rear end of the carbon brush of the AGV power supply vehicle.

[0022] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the AGV power supply situation perception system proposed in the present invention monitors the position adjustment of the AGV equipment in the dynamic charging process in real time through the power supply position perception device. Once the position adjustment causes the busbar bracket and / or the AGV power supply cart to deform, the control device disconnects the battery charging circuit; at the same time, the power supply temperature of the AGV equipment in the dynamic charging process is detected through the power supply temperature sensing device, and the current power supply temperature is judged by using the single-machine power supply temperature situation model and the vehicle-connected power supply temperature situation model. When the charging temperature is judged to be abnormal according to any model comparison, the control device disconnects the battery charging circuit; the present invention provides safety protection for the AGV charging circuit from the two perspectives of power supply temperature and power supply position. When an abnormal power supply situation occurs, the charging circuit is cut off in time to protect the equipment power supply device and the battery system to the greatest extent; and the present invention realizes accurate prediction of abnormal power supply situation based on the single-machine power supply temperature situation model and the vehicle-connected power supply situation model of the AGV equipment in the whole terminal, thereby reducing the occurrence rate of failures.

[0023] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0025] Figure 1 This is a system architecture diagram of the AGV power supply situation awareness system proposed by the present invention;

[0026] Figure 2 The figure is a schematic diagram of the charging structure of the AGV circulation trolley and the busbar support in the present invention;

[0027] Figure 3 It is a schematic diagram of the power supply temperature situation model constructed in the present invention;

[0028] Figure 4It is a schematic diagram of the single-machine power supply temperature situation model constructed in the present invention;

[0029] Figure 5 It is a schematic diagram of the vehicle-connected power supply temperature situation model constructed in the present invention;

[0030] Figure 6 It is a schematic diagram of the charging control circuit in the present invention.

[0031] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0033] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] like Figure 1 and Figure 2 As shown, the AGV power supply situation awareness system proposed by the present invention includes:

[0036] The busbar is connected to the power supply device and assembled on the busbar bracket 1. The busbar bracket 1 is installed in various AGV operation sites, including but not limited to the bridge crane operation area, AGV command standby area, high-speed lane area, yard bracket direct interaction area, etc.

[0037] The AGV power supply trolley 2 is integrated in the AGV and obtains power by contacting the busbar 11 through the carbon brush 21 during the operation of the AGV.

[0038] The power supply position sensing device 3 is installed on the AGV power supply trolley 2. When the AGV equipment performs charging operation during operation, the AGV power supply trolley 2 extends from the AGV, and its carbon brush 21 extends to contact the busbar (not shown in the figure) to perform power supply. During this period, if the power supply position sensing device 3 can detect the specified position 11 of the busbar bracket 1, it will generate a first sensing signal. If the AGV equipment cannot detect the specified position of the busbar bracket 1 because the navigation system performs real-time correction on it, the first sensing signal cannot be generated. In the present invention, the specified position 11 of the busbar bracket 1 is set to when the AGV power supply trolley 2 changes its position relative to the busbar bracket 1. When the specified position 11 can be detected, the deformation of the AGV power supply trolley 2 and the busbar bracket 1 can be avoided. That is, only when the power supply position sensing device 3 detects the specified position 22 and generates the first sensing signal, the AGV power supply trolley 2 and / or the busbar bracket 1 will not be deformed due to abnormal force at the power supply position. Figure 2 As shown, the present invention sets the designated position at the lower platform of the busbar support 1.

[0039] The power temperature sensing device 4 is installed on the AGV power trolley 2, preferably at the rear end of the carbon brush 21, to detect the current power temperature of the AGV power trolley 2 during power collection. In order to avoid poor contact between the carbon brush and the busbar when the AGV equipment is charging and reduce the possibility of electrical sparks, the present invention uses the power temperature sensing device 3 to monitor the power temperature of the AGV equipment in real time.

[0040] The power temperature situation library 5 is interconnected with each AGV device, receives the temperature data reported by each AGV device, and builds a power temperature situation model in combination with the temperature data of all AGV devices. In the present invention, the power temperature situation model includes a single-machine power temperature situation model and a vehicle-connected power temperature situation model.

[0041] The power supply monitoring module 6 is used to detect whether a first sensing signal is received during AGV charging, and issue a first charging disconnection instruction when the first sensing signal is not received; and, obtain a single-machine power supply temperature situation model, calculate a first distance between the current power supply temperature and its cluster center, and issue a second charging disconnection instruction when the first distance exceeds a first threshold; and, obtain a vehicle-connected power supply temperature situation model, calculate a second distance between the current power supply temperature and its cluster center, and issue a third charging disconnection instruction when the second distance exceeds a second threshold.

[0042] The three-phase phase sequence detection device 7 is installed on the AGV equipment, and detects the phase sequence of the three-phase charging circuit of the AGV equipment through the phase sequence relay, and issues a fourth charging interruption instruction when the phase sequence is abnormal.

[0043] The charging control module 7 is arranged on the AGV equipment, and is used to control the charging circuit to be disconnected if any one of the first charging disconnection instruction, the second charging disconnection instruction, the third charging disconnection instruction and the fourth power-off instruction is received during charging, otherwise, the charging circuit is maintained.

[0044] refer to Figure 3 As shown, the construction of the power supply temperature situation model of the present invention includes: obtaining the temperature data of each AGV device in different operating areas within a set time period; establishing a power supply temperature model with the AGV device number as the X-axis, the operating area number as the Y-axis, and the temperature data as the Z-axis, such as Figure 3 shown.

[0045] based on Figure 3 The power supply temperature situation model shown in the figure is a reference for the construction of a single-machine power supply temperature situation model. Figure 4 ,include:

[0046] 1. Fix the X-axis coordinate data according to the AGV equipment number, and form a single

[0047] The scatter plot of the power supply temperature of the AGV equipment, such as Figure 4 As shown in the left figure.

[0048] 2. Calculate the temperature characteristic value of each AGV device in different operating areas through clustering algorithm.

[0049] This can be achieved by using any existing clustering algorithm.

[0050] 3. Use the temperature characteristic value of each single machine as the cluster center to build a single machine power supply temperature situation model, such as Figure 4 As shown in the right figure.

[0051] The cluster center calculation formula is:

[0052]

[0053] In the formula, C i is the cluster center of the ith region, n is the number of power supply temperature scatter points in the region, y n is the y coordinate of the AGV center point of the nth scattered point, z n Take the electrical temperature for the z coordinate of the nth scattered point.

[0054] based on Figure 3 The power supply temperature situation model shown in the figure is a reference for the construction of the vehicle-connected power supply temperature situation model. Figure 5 ,include:

[0055] 1. Fix the Y-axis coordinate data according to the operation area number, and use the Y-axis and Z-axis data as the

[0056] All AGVs

[0057] The scatter plot of power supply temperature of the equipment in the same operating area, such as Figure 5 As shown in the diagram.

[0058] 2. Calculate the vehicle-connected temperature characteristic values ​​of each AGV device in the same operating area through clustering algorithm.

[0059] 3. Use the temperature characteristic value of each vehicle as the cluster center to build a vehicle-connected power supply temperature situation model, such as Figure 5

[0060] As shown in the right figure.

[0061] The power supply monitoring module 6 calculates the distance between the current power supply temperature and the cluster center according to the following formula:

[0062]

[0063] In the formula, is the y coordinate of the cluster center of the group where the current sample point is located, is the z-coordinate of the cluster center of the group where the current sample point is located, y is the y-coordinate of the AGV center point of the current sample point, and z is the power-taking temperature of the current sample point z-coordinate.

[0064] Faults are predicted based on the power supply temperature situation model. When the current power supply temperature is greater than the fault prediction threshold of the power supply temperature situation model, the corresponding data is the predicted fault point of the power supply.

[0065] The charging control circuit of the AGV power supply situation awareness system of the present invention is shown in FIG. Figure 6 . The AGV stand-alone equipment charging control module (designed with PLC) controls the KM1 and KM2 coils to be attracted and disconnected according to the power-taking temperature sensing device, the power-taking temperature situation database and the power-taking position sensing device, so that the charging circuit is closed and opened. The alarm threshold of the stand-alone power-taking temperature sensing device is set to 100°C, which can filter out minor ignitions and sensor false alarms below 100°C, and only detect serious ignition faults caused by poor contact. At the same time, the phase sequence relay KVS is connected in parallel to the AGV charging main circuit. When the three-phase electricity phase sequence is correct, the relays KM3 and KM4 coils are attracted in turn, and finally the KM4 charging main circuit is closed and the equipment is charged. When the power-taking device has an abnormal power-taking situation, the fault information will be transmitted to the remote alarm system to notify the remote operator. At the same time, the charging control circuit KM1, KM2 and KM4 relays are disconnected, cutting off the charging circuit to protect the AGV power-taking device and the battery system.

[0066] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An AGV power supply situation awareness system, comprising: The busbar is connected to the power supply device and assembled on the busbar bracket; the busbar bracket is installed in the AGV operation site; The AGV power supply trolley is integrated in the AGV and contacts the busbar with a carbon brush to obtain power during the operation of the AGV. It is characterized by further comprising: A power supply position sensing device is installed on the AGV power supply trolley, and generates a first sensing signal when a specified position of the busbar support is detected; wherein the specified position is set when the AGV power supply trolley changes position relative to the busbar support, and when the specified position can be detected, deformation of the AGV power supply trolley and the busbar support can be avoided; A power supply temperature sensing device is installed on the AGV power supply vehicle to detect the current power supply temperature of the AGV power supply vehicle during power supply; The power supply temperature situation database receives the temperature data reported by each AGV device, and constructs a power supply temperature situation model in combination with the temperature data of all AGV devices; the power supply temperature situation model includes a single-machine power supply temperature situation model and a vehicle-connected power supply temperature situation model; the construction of the single-machine power supply temperature situation model includes: obtaining the temperature data of the single machine in different operating areas within a set time period, calculating the single-machine temperature characteristic values ​​in different operating areas through a clustering algorithm, and constructing a single-machine power supply temperature situation model with each single-machine temperature characteristic value as the clustering center; the construction of the vehicle-connected power supply temperature situation model includes: obtaining the temperature data of each AGV device in the same operating area within a set time period, calculating the vehicle-connected temperature characteristic values ​​of each AGV device in the same operating area through a clustering algorithm, and constructing a vehicle-connected power supply temperature situation model with each vehicle-connected temperature characteristic value as the clustering center; A power supply monitoring module is used to detect whether the first sensing signal is received during AGV charging, and issue a first charging disconnection instruction when the first sensing signal is not received; and obtain the single-machine power supply temperature situation model, calculate the first distance between the current power supply temperature and its cluster center, and issue a second charging disconnection instruction when the first distance exceeds a first threshold; and obtain the vehicle-connected power supply temperature situation model, calculate the second distance between the current power supply temperature and its cluster center, and issue a third charging disconnection instruction when the second distance exceeds a second threshold; The charging control module is used to control the charging circuit to be disconnected if any one of the first charging disconnection instruction, the second charging disconnection instruction and the third charging disconnection instruction is received during charging, otherwise, the charging circuit is maintained.

2. The AGV power supply situation awareness system according to claim 1 is characterized in that: The system further comprises: The three-phase phase sequence detection device is installed on the AGV equipment, and detects the phase sequence of the three-phase charging circuit of the AGV equipment through a phase sequence relay, and issues a fourth charging disconnection instruction when the phase sequence is abnormal; the charging control module controls the charging circuit to be disconnected when receiving the fourth charging disconnection instruction.

3. The AGV power supply situation awareness system according to claim 1, characterized in that: The power supply temperature sensing device is installed at the rear end of the carbon brush of the AGV power supply vehicle.

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