AGV (Automatic Guided Vehicle) automatic battery replacing equipment, battery replacing method, battery replacing system and storage medium

Abstract

The invention discloses AGV automatic battery replacing equipment, a battery replacing method, a battery replacing system and a storage medium, the system comprises a control system, a charging station, a plurality of battery replacing points, a plurality of working AGVs and a plurality of battery replacing AGVs, at least two battery cabins are arranged on each working AGV, at least one battery cabin is an empty cabin, and a first battery replacing mechanism is arranged in each battery cabin; a plurality of battery storage cabin groups are arranged on the battery replacement AGV, at least one battery storage cabin in each group is an empty cabin, and a second battery replacement mechanism is arranged in each battery storage cabin; when the working AGV carries out battery replacement, a first-in and second-out mode is adopted for battery replacement. The problems of work interruption and low efficiency caused by a fixed charging station in an existing AGV system are solved. The working AGV can automatically replace the battery under the condition that the working AGV does not return to the charging station. Meanwhile, through accurate butt joint and an intelligent scheduling mechanism, high efficiency and automation of battery replacement are realized, task delay is reduced, the overall operation efficiency is improved, and the system operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automatic battery replacement technology, and in particular to an AGV automatic battery replacement device, a battery replacement method, a battery replacement system and a storage medium. Background Art

[0002] Traditional AGV systems usually rely on fixed charging stations to replenish power, and AGVs must interrupt their work to go to charging stations for charging. This method not only increases the non-productive time of AGVs and causes task interruptions, but may also lead to problems such as charging waiting and unbalanced resource scheduling due to the limited number of charging stations. Especially in large-scale scenarios, the efficiency of this charging mode is particularly low.

[0003] In order to deal with the problem of low efficiency during AGV charging, some systems have introduced automatic charging or automatic battery replacement mechanisms. For example:

[0004] CN118560432A discloses an intelligent battery swap station and system for AGVs, which collects information by tracking the AGV and establishes the power consumption information of the AGV during operation. The power consumption information indirectly reflects the power level of the AGV, and moves the low-power AGV with insufficient remaining power to the battery swap area to wait for battery swapping. The entire battery swapping process does not require human participation, the intelligence level of the workshop is improved, and the efficiency is improved.

[0005] CN118457509A discloses a battery replacement method, a battery replacement device, an automatic guided vehicle, a battery replacement system and a medium. The AGV moves to a preset battery replacement device, receives the battery to be replaced transmitted by the automatic guided vehicle, and provides the target battery to the vehicle, thereby completing the replacement of the automatic guided vehicle (AGV) battery.

[0006] The above systems require AGVs to go to special battery swap stations for battery replacement, which still results in wasted round-trip time and delays in task execution, making it difficult to adapt to continuous operation requirements in complex scenarios. Summary of the invention

[0007] In response to the above problems, the present invention provides an AGV automatic battery replacement device, method, system and storage medium to solve the problems of work interruption and inefficiency caused by fixed charging stations in existing AGV systems. The working AGV of the present invention can automatically replace the battery without returning to the charging station to ensure 24-hour uninterrupted operation. At the same time, through precise docking and intelligent scheduling mechanisms, the efficiency and automation of battery replacement can be achieved, task delays can be reduced, overall operation efficiency can be improved, and system operating costs can be reduced.

[0008] Specifically, the present invention is achieved by:

[0009] An AGV automatic battery replacement device, comprising:

[0010] A plurality of working AGVs, each of which is provided with at least two battery compartments, at least one of which is an empty compartment, and each of which is provided with a first battery replacement mechanism;

[0011] A plurality of battery-swapping AGVs are provided with a plurality of battery storage compartment groups, at least one battery storage compartment in each group is an empty compartment, and a second battery-swapping mechanism is provided in each of the battery storage compartments; when the working AGV is changing batteries, the second battery-swapping mechanism storing new batteries transfers the new batteries to the entrance of the empty battery compartment of the working AGV, and then the new batteries are moved into the empty battery compartment by the first battery-swapping mechanism of the empty battery compartment. After the new batteries are in place, the first battery-swapping mechanism of the battery compartment storing the old batteries of the working AGV is activated to move the old batteries to the entrance of the empty battery storage compartment, and then the old batteries are moved into the empty battery storage compartment by the second battery-swapping mechanism of the empty battery storage compartment.

[0012] Furthermore, the first power exchange mechanism and the second power exchange mechanism have the same structure, and both include:

[0013] Battery delivery components;

[0014] A guide assembly, provided at the cabin door, for guiding the battery into the cabin;

[0015] A positioning piece is provided at the battery compartment door, and a positioning sensor is provided on the battery storage compartment. The positioning sensor senses the positioning piece to realize the positioning of the battery compartment and the battery storage compartment;

[0016] The battery is provided with a battery contact, and the battery compartment of the working AGV is provided with a pressing contact. When the battery is located in the battery compartment, the pressing contact is connected to the battery contact.

[0017] The present invention also provides a battery replacement method based on the above-mentioned AGV automatic battery replacement device, comprising:

[0018] Step S1: Acquire the power status, task load and location information of the working AGV and the battery-swapping AGV in real time;

[0019] Step S2: Determine the power status of the working AGV;

[0020] When the second threshold is greater than or equal to the working AGV power, the working AGV cannot complete the current task, the working AGV enters an emergency state, and immediately generates a battery swap request and joins the battery swap queue;

[0021] When the second threshold < working AGV power ≤ first threshold, evaluate whether the current task is urgent. If it is urgent, continue to execute the current task. Otherwise, generate a battery swap request and join the battery swap queue;

[0022] Step S3: Allocate battery swap tasks to the battery swap requests in the battery swap queue according to the battery swap priority, and select a battery swap AGV to perform the battery swap task;

[0023] Step S4: selecting a battery swap point according to the position information of the working AGV and the battery swap AGV in the battery swap task and the battery swap point selection strategy, and dispatching the working AGV and the battery swap AGV to move to the battery swap point for battery swap;

[0024] When replacing the battery, the battery-swapping AGV first transfers the new battery to the empty battery compartment of the working AGV, and the working AGV then transfers the old battery to the empty battery storage compartment of the battery-swapping AGV.

[0025] Furthermore, in step S3, the battery replacement priority includes:

[0026] First priority: working AGVs whose battery level is lower than the second threshold;

[0027] Second priority: The second threshold < working AGV power ≤ the first threshold, and the working AGV has a lower working priority;

[0028] Third priority: The second threshold < working AGV power ≤ the first threshold, but the working AGV is performing a high-priority task.

[0029] Furthermore, in step S4, the battery swap point selection strategy includes:

[0030] (1) Prioritize the battery replacement point on the working AGV task path;

[0031] (2) In an emergency, select the nearest battery swapping point or send a battery swapping AGV directly to the location of the working AGV.

[0032] Furthermore, in step S4, before battery replacement, the position of the battery replacement AGV is adjusted according to the battery compartment situation of the working AGV so that its available battery storage compartment group corresponds to the position of the battery compartment of the working AGV;

[0033] After the old battery of the working AGV is removed, a self-test is performed to confirm the working status of the new battery;

[0034] The battery-swapping AGV records the location and status of the old battery.

[0035] Furthermore, the step S3 further includes:

[0036] Check the availability of the battery swap AGV. If all battery swap AGVs are performing battery swap tasks and cannot immediately respond to new battery swap requests, the battery swap request will wait in the battery swap queue.

[0037] If there is an idle battery-swapping AGV, the nearest idle battery-swapping AGV is selected to perform the battery-swapping task.

[0038] The present invention also provides a computer-readable storage medium on which a computer program is stored. The computer program can be executed by a processor to implement the steps of the method described above.

[0039] The present invention further provides an AGV automatic battery replacement system, comprising:

[0040] The control system has the above-mentioned computer-readable storage medium built in; the specific modules are divided into:

[0041] Task scheduling module: responsible for managing and allocating work tasks, ensuring the coordination between the work tasks of the AGV and battery replacement, and optimizing the utilization of system resources.

[0042] Energy management module: monitors the power status of all AGVs and arranges battery replacement tasks when the power is lower than the preset threshold to maintain continuous energy supply for AGVs.

[0043] Path planning module: Plan the optimal path for the working AGV and the battery-swapping AGV, taking into account the task location, battery-swapping point, and current traffic conditions to avoid congestion and improve efficiency.

[0044] Communication management module: Establish a stable wireless communication link to realize real-time data exchange between the central control system and the working AGV and battery-swapping AGV, ensuring the timely transmission and execution of instructions.

[0045] The above-mentioned AGV automatic battery replacement equipment integrates a battery management system (BMS) on both the working AGV and the battery replacement AGV to monitor the battery power, temperature and health status in real time;

[0046] Several battery exchange points are distributed at designated locations in the work area for working AGVs to exchange batteries with battery exchange AGVs;

[0047] The charging station includes a battery area to be charged and a charged battery area. The battery area to be charged is used to store old batteries transported back from the battery swapping AGV, waiting for charging; the charged battery area is used to store fully charged batteries for the battery swapping AGV to take and carry out subsequent battery swapping tasks.

[0048] Furthermore, the battery swapping points are evenly arranged in a grid manner at the key nodes or task-intensive areas of the working AGV operation path. The horizontal and vertical spacings of the battery swapping points are both S, and the spacing S between the battery swapping points satisfies:

[0049] S≤Dmax×√2

[0050] Dmax is the maximum distance that the AGV needs to travel to the nearest battery exchange point.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] (1) The battery-swapping AGV of the present invention can automatically go to the working AGV's location to replace the battery when the working AGV is low on battery, thus avoiding the phenomenon of wasting time or delaying task execution caused by the working AGV going back and forth to replace the battery, and greatly improving the work efficiency.

[0053] (2) The present invention fully considers the relationship between the battery power of the working AGV and the urgency of the task, dynamically adjusts the priority of the battery replacement request, ensures the fairness and efficiency of resource allocation, and avoids affecting key tasks.

[0054] (3) By rationally selecting the battery swapping point and the battery swapping AGV, the additional driving distance of the AGV can be reduced, efficiency can be improved, resource idleness or overload can be avoided, and system utilization can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of the working AGV in Example 1;

[0056] Figure 2 This is a schematic diagram of the structure of the battery-swapping AGV in Example 1;

[0057] Figure 3 This is a front view of the battery compartment in Example 1;

[0058] Figure 4 is a schematic diagram of the structure of the battery in Example 1;

[0059] Figure 5 This is a schematic diagram of the state of battery replacement in Example 1;

[0060] Figure 6 This is a schematic diagram of the battery replacement action in Example 1;

[0061] Figure 7 This is a schematic diagram of the structure of the charging station in Example 1;

[0062] Figure 8 This is the battery replacement flow chart in Example 1;

[0063] Fig. 9 This is a flowchart of the working AGV battery replacement request and priority determination in Example 1;

[0064] Fig.10 This is the battery-swapping AGV allocation flow chart in Example 1.

[0065] Reference numerals:

[0066] 1-working AGV; 11-battery compartment; 2-battery exchange AGV; 21-battery storage compartment; 3-battery; 31-battery contact; 41-guide plate; 42-conveying roller; 43-pressing contact; 44-spring; 45-pressure block, 51-photoelectric switch; 52-positioning plate; 6-battery exchange point; 7-charging station; 71-cache area to be charged; 72-transport area to be charged; 73-charging device; 74-charged transport area; 75-charged cache area. DETAILED DESCRIPTION

[0067] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0068] Example 1

[0069] This embodiment discloses an AGV automatic battery replacement system, including: a control system, a charging station 7, several battery replacement points 6, several working AGV1 and several battery replacement AGV2. The control system is the core of the entire energy distribution system. Its function is to realize the scheduling management, power monitoring, path planning and communication coordination of the working AGV1 and the battery replacement AGV2, and use the battery replacement AGV2 to replace the battery of the working AGV1.

[0070] The control system includes: a task scheduling module, an energy management module, a path planning module and a communication management module. Among them, the task scheduling module is responsible for managing and allocating work tasks, ensuring the coordination between the work tasks of the working AGV 1 and the battery replacement, and optimizing the utilization of system resources. The energy management module monitors the power status of all AGVs, and arranges the battery replacement task when the power is lower than the preset threshold to maintain the continuous power supply of the AGV. The path planning module plans the optimal path for the working AGV 1 and the battery replacement AGV2, taking into account the task location, the battery replacement point 6 and the current traffic conditions to avoid congestion and improve efficiency. The communication management module establishes a stable wireless communication link to realize real-time data exchange between the control system and the working AGV1 and the battery replacement AGV2, ensuring the timely communication and execution of instructions. The battery management system (BMS) is integrated on both the working AGV1 and the battery replacement AGV2 to monitor the battery power, temperature and health status in real time, and upload this information to the control system.

[0071] Working AGV1 is responsible for performing daily material handling tasks. There are N working AGV1s in the system. The average power consumption rate of the working AGV is X. The total capacity of each battery is C. The first threshold and the second threshold are a% and b% of the battery capacity respectively (a>b). When the power of the working AGV1 drops from 100% to the second threshold, the battery life of the working AGV is T, T = ((100%-b%)×C) / X.

[0072] The battery swap AGV2 is a device that provides battery replacement services for the working AGV1. The average time for each battery swap AGV2 to complete a battery swap task is Z, including driving time, docking time and battery swap operation time. In order to meet the battery swap needs of the system, the required number of battery swap AGV2 M should at least meet the following requirements: M ≥ Fsys / Fb-agv = (N×Z) / T.

[0073] Fsys is the total power replacement demand frequency of all operating AGV1 in the system, Fsys = N × Fagv;

[0074] Fagv is the power replacement frequency of a single working AGV1, Fagv = 1 / T;

[0075] Fb-agv is the service capacity of a single battery-swapping AGV2, that is, the number of battery swaps that a battery-swapping AGV2 can complete in a unit of time, Fb-agv = 1 / Z;

[0076] Taking into account the uncertainty in system operation (such as traffic congestion, equipment failure, etc.), it is necessary to introduce a safety factor (K≥1): M=K×((N×Z) / T).

[0077] The work area is a rectangular area with dimensions of L (length) and W (width), and the number P of battery exchange points 6 is:

[0078]

[0079] The battery swapping points 6 are evenly arranged in a grid manner at the key nodes or task-intensive areas of the working AGV1 operation path. The horizontal and vertical spacings of the battery swapping points 6 are both S. The spacing S between the battery swapping points must meet the following requirements:

[0080]

[0081] Dmax is the maximum distance that the AGV needs to travel to the nearest battery exchange point.

[0082] like Figure 1 As shown, two battery compartments 11 are arranged vertically on the working AGV 1, one of which is an empty compartment (spare compartment) and the other is a power supply compartment equipped with a battery 3. A first battery exchange mechanism is arranged in each battery compartment 11. Figure 2As shown, the battery-swapping AGV2 is provided with a plurality of battery storage compartment groups, each of which includes two battery storage compartments 21 arranged in a vertical direction. At least one battery storage compartment 21 in each group is an empty compartment, which is used to accommodate the old batteries replaced from the working AGV1. A second battery-swapping mechanism is provided in each battery storage compartment 21. The first battery-swapping mechanism and the second battery-swapping mechanism adopt the same structure, including a battery conveying assembly, a guide assembly and a positioning assembly. The battery conveying assembly is a conveying roller 42 driven by a motor on the AGV, and the motor on the working AGV is powered by the battery in the battery compartment 11. An anti-reverse charging circuit (such as an anti-reverse charging circuit using a diode, MOSFET or relay as a control switch device) is provided in the battery storage compartment 21 of the working AGV1 to prevent the new battery from charging the old battery.

[0083] like Figure 5-6 As shown, when the working AGV1 changes power, the conveying roller 42 in the battery storage compartment 21 storing the new battery moves to transfer the new battery to the entrance of the empty battery compartment 11 of the working AGV1. At the same time, the conveying roller 42 of the empty battery compartment 11 receives the new battery and moves it into the empty battery compartment 11. After it is in place, the conveying roller 42 of the battery compartment 11 storing the old battery of the working AGV1 moves to move the old battery to the entrance of the empty battery storage compartment 21, and then the conveying roller 42 of the empty battery storage compartment 21 moves it into the empty battery storage compartment 21. By adopting the method of dislocation exchange of batteries, and first putting the new battery in and then taking out the old battery, there is no need to configure an additional conveying roller 42 drive power supply, and if the new battery cannot supply power normally after entering the battery compartment 11, an error can be reported to ensure normal power supply.

[0084] The guide assembly is arranged at the cabin door, and is composed of two guide plates 41 that guide the closing of the cabin. The guide plate 41 can guide the battery 3 into the cabin, improve the fault tolerance, adapt to slight positioning deviations, and ensure that the battery 3 enters the cabin smoothly. A photoelectric switch 51 is provided under the battery storage cabin 21, and a positioning plate 52 is provided at the corresponding position under the battery cabin 11. After determining the working AGV1 and the battery-swapping AGV2, the control system selects the battery storage cabin group that can be used for battery swapping on the battery-swapping AGV2 according to the position of the battery 3 in the working AGV1. When the battery-swapping AGV2 approaches the working AGV1, only the photoelectric switch 51 of the battery storage cabin 21 that needs to be used is enabled, and the positioning plate 52 of the corresponding battery cabin 11 is sensed to assist the working AGV to stop accurately. The position signal provided by the photoelectric switch 51 ensures that the working AGV 1 stops accurately during the docking process, avoids interference, and improves the docking accuracy.

[0085] like Figure 3-4As shown, the upper part of the battery 3 is provided with a battery contact 31, and the front and rear ends of the lower part are provided with arc chamfers to facilitate the battery 3 to enter and exit the battery compartment 11 / battery storage compartment 21. The battery compartment 11 and the battery storage compartment 21 are both provided with a clamping contact 43, and the clamping contact 43 has a spring 44 and a pressing block 45 built in. After the battery 3 is moved into the compartment, the battery contact 31 squeezes the pressing block 45 and compresses the spring 44 to form a simple spring fixing structure, and the circuit connection is achieved through the clamping contact 43 and the battery contact 31, and the battery 3 in the battery compartment 11 supplies power to the working AGV.

[0086] like Figure 7 As shown, the charging station 7 is the key part of the system responsible for charging and managing the exhausted batteries. The charging station 7 is equipped with an intelligent charging management system for real-time monitoring of the charging status, temperature and health of the batteries. Its hardware part includes a battery area to be charged, a charged battery area and a charging device 73. The battery area to be charged is divided into a charging buffer area 71 and a charging transport area 72. Both the charging buffer area 71 and the charging transport area 72 are ground rollers. The charging buffer area 71 is used to dock with the battery swap AGV2 and receive the old batteries from the battery swap AGV2. The charging transport area 72 is responsible for transporting the old batteries to the charging device 73, which is charged by the charging device 73. The charged battery area includes a charged transport area 74 and a charged buffer area 75. The fully charged batteries are transported from the charged transport area 74 to the charged buffer area 75 for caching, so that the battery swap AGV2 can take them and perform subsequent battery swap tasks.

[0087] like Figure 8-10 As shown in the figure, the specific battery replacement process is as follows:

[0088] Step S1: Acquire the power status, task load and location information of the working AGV and the battery-swapping AGV in real time;

[0089] Step S2: Determine the power status of the working AGV;

[0090] When the second threshold (b%) is ≥ the working AGV power, the working AGV cannot complete the current task, the working AGV enters an emergency situation, and immediately generates a battery replacement request and joins the battery replacement queue;

[0091] When the second threshold (b%) < working AGV power ≤ first threshold (a%), evaluate whether the current task is urgent. If it is urgent, continue to execute the current task. Otherwise, generate a battery swap request and join the battery swap queue;

[0092] Step S3: Allocate battery swap tasks to the battery swap requests in the battery swap queue according to the battery swap priority, and select a battery swap AGV to perform the battery swap task. The battery swap priority includes:

[0093] First priority: working AGVs whose battery level is lower than the second threshold;

[0094] Second priority: the second threshold (b%) < working AGV power ≤ the first threshold (a%), and the working AGV with lower working priority;

[0095] Third priority: The second threshold (b%) < the working AGV power ≤ the first threshold (a%), but the working AGV is performing a high-priority task.

[0096] According to the urgency of the working AGV1 task, the battery replacement plan can be flexibly adjusted to avoid affecting key tasks.

[0097] Select the battery swap AGV2 according to the following process:

[0098] Check the availability of battery swap AGV2. If all battery swap AGVs are performing battery swap tasks and cannot immediately respond to new battery swap requests, the battery swap request waits in the battery swap queue.

[0099] If there is an idle battery-swapping AGV2, the nearest idle battery-swapping AGV is selected to perform the battery-swapping task for the highest priority battery-swapping request.

[0100] When working AGV1 has no task, working AGV1 waits at the spot and selects the nearest available battery swapping AGV2 to go to working AGV1 to perform the battery swapping task;

[0101] When the working AGV1 has a task, it predicts whether its power is sufficient to complete the task. If it is sufficient, the nearest available battery-swapping AGV2 is selected to go to the battery-swapping point 6 near the task point of the working AGV1; otherwise, a battery-swapping location is estimated, and the available battery-swapping AGV2 closest to the estimated location is selected to perform the battery-swapping task;

[0102] If the working AGV1 has a task and the second threshold (b%) is ≥ the power level, the nearest available battery swapping AGV2 is selected to perform the battery swapping task. The basis for determining whether the battery swapping AGV2 is available is whether there is a battery storage compartment group that can be compatible with the working AGV1 to be swapped.

[0103] Step S4: Select a battery swap point according to the battery swap point selection strategy based on the location information of the working AGV and the battery swap AGV in the battery swap task, and schedule the working AGV and the battery swap AGV to move to the battery swap point for battery swapping. When swapping batteries, the battery swap AGV2 first transfers the new battery to the empty battery compartment 11 of the working AGV1, and the working AGV1 then transfers the old battery to the empty battery storage compartment 21 of the battery swap AGV2.

[0104] The battery swap point selection strategies include:

[0105] (1) Prioritize the battery replacement points on the working AGV task path and reduce the additional driving distance of the AGV.

[0106] (2) In an emergency, select the nearest battery swapping point 6 or directly send the battery swapping AGV 2 to the location of the working AGV 1.

[0107] The control system performs path planning to plan the optimal path for the working AGV1 and the battery-swapping AGV2, and adjusts the path or speed of other AGVs to coordinate traffic conditions and avoid interfering with the execution of the task.

[0108] Before battery replacement, adjust the position of the battery replacement AGV2 according to the situation of the working AGV battery compartment 11 so that its available battery storage compartment group corresponds to the position of the working AGV battery compartment 11. The battery replacement AGV2 inserts the new battery in the battery storage compartment 21 into the empty battery compartment 11 of the working AGV1 to ensure continuous power supply to the working AGV1, and then takes out the old battery from the working AGV1 and stores it in the empty battery storage compartment 21 of the battery replacement AGV2. After the old battery of the working AGV1 is removed, it performs a self-inspection to confirm the working status of the new battery and ensure normal power supply. At the same time, the battery replacement AGV2 records the position and status of the old battery. After the battery replacement is completed, the contact docking relationship is established, the working AGV is ready to continue the task, and the battery replacement AGV2 returns to the charging station 7 to charge the old battery or perform the next battery replacement task.

[0109] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. An AGV automatic battery replacement device, characterized in that: include: A plurality of working AGVs, each of which is provided with at least two battery compartments, at least one of which is an empty compartment, and each of which is provided with a first battery replacement mechanism; Several battery-swapping AGVs are provided with several battery storage compartment groups, at least one battery storage compartment in each group is an empty compartment, and a second battery-swapping mechanism is provided in each of the battery storage compartments; when the working AGV needs to replace the battery, the second battery-swapping mechanism storing the new battery transfers the new battery to the entrance of the empty battery compartment of the working AGV, and then the first battery-swapping mechanism of the empty battery compartment of the battery-swapping AGV moves the new battery into the empty battery compartment. After the battery compartment is in place, the first battery-swapping mechanism of the battery compartment storing the old battery of the working AGV is actuated to move the old battery to the entrance of the empty battery storage compartment, and then the second battery-swapping mechanism of the empty battery storage compartment of the battery-swapping AGV moves the old battery into the empty battery storage compartment; The battery is provided with a battery contact, and the battery compartment of the working AGV is provided with a pressing contact. After the new battery is moved into the battery compartment, the pressing contact is connected with the battery contact.

2. The AGV automatic battery replacement device according to claim 1, characterized in that: The first power exchange mechanism and the second power exchange mechanism have the same structure and both include: Battery delivery components; A guide assembly, provided at the battery compartment door, for guiding the battery into the compartment; A positioning piece is provided at the battery compartment door, and a positioning sensor is provided on the battery storage compartment. The positioning sensor senses the positioning piece to realize the positioning of the battery compartment and the battery storage compartment.

3. A battery replacement method based on the AGV automatic battery replacement device according to claim 1 or 2, characterized in that: include: Step S1: Acquire the power status, task load and location information of the working AGV and the battery-swapping AGV in real time; Step S2: Determine the power status of the working AGV; When the second threshold is greater than or equal to the working AGV power, the working AGV cannot complete the current task, the working AGV enters an emergency state, and immediately generates a battery swap request and joins the battery swap queue; When the second threshold < working AGV power ≤ first threshold, evaluate whether the current task is urgent. If it is urgent, continue to execute the current task. Otherwise, generate a battery swap request and join the battery swap queue; Step S3: Allocate battery swap tasks to the battery swap requests in the battery swap queue according to the battery swap priority, and select a battery swap AGV to perform the battery swap task; Step S4: Select a battery swap point according to the location information of the working AGV and the battery swap AGV in the battery swap task and the battery swap point selection strategy, and dispatch the working AGV and the battery swap AGV to move to the battery swap point for battery swap; When replacing the battery, the battery-swapping AGV first transfers the new battery to the empty battery compartment of the working AGV, and the working AGV then transfers the old battery to the empty battery storage compartment of the battery-swapping AGV.

4. The method according to claim 3, characterized in that In step S3, the battery replacement priority includes: First priority: working AGVs whose battery level is lower than the second threshold; Second priority: The second threshold < working AGV power ≤ the first threshold, and the working AGV has a lower working priority; Third priority: The second threshold < working AGV power ≤ the first threshold, but the working AGV is performing a high-priority task.

5. The method according to claim 3, characterized in that In step S4, the battery swap point selection strategy includes: (1) Prioritize the battery replacement point on the working AGV task path; (2) In an emergency, select the nearest battery swapping point or send a battery swapping AGV directly to the location of the working AGV.

6. The method according to claim 3, characterized in that In step S4, before battery replacement, the position of the battery replacement AGV is adjusted according to the battery compartment situation of the working AGV so that its available battery storage compartment group corresponds to the position of the battery compartment of the working AGV; After the old battery of the working AGV is removed, a self-test is performed to confirm the working status of the new battery; The battery-swapping AGV records the location and status of the old battery.

7. The method according to claim 3, characterized in that The step S3 further comprises: Check the availability of the battery swap AGV. If all battery swap AGVs are performing battery swap tasks and cannot immediately respond to new battery swap requests, the battery swap request will wait in the battery swap queue. If there is an idle battery-swapping AGV, the nearest idle battery-swapping AGV is selected to perform the battery-swapping task.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program can be executed by a processor to implement the steps of the method according to any one of claims 4 to 8.

9. An AGV automatic battery replacement system, characterized in that: include: A control system having a built-in computer-readable storage medium according to claim 8; The AGV automatic battery-swapping device according to claim 1 or 2, wherein the working AGV and the battery-swapping AGV are both communicatively connected to the control system; Several battery exchange points are distributed at designated locations in the work area for the working AGV to exchange batteries with the battery exchange AGV; The charging station includes a battery area to be charged and a charged battery area. The battery area to be charged is used to store old batteries transported back from the battery swapping AGV, waiting for charging; the charged battery area is used to store fully charged batteries for the battery swapping AGV to take and carry out subsequent battery swapping tasks.

10. The AGV automatic battery replacement system according to claim 9, characterized in that: The battery swapping points are evenly arranged in a grid manner at the key nodes or task-intensive areas of the AGV operation path. The horizontal and vertical spacing of the battery swapping points are both S, and the spacing S between the battery swapping points satisfies: S≤Dmax×√2 Dmax is the maximum distance that the AGV needs to travel to the nearest battery exchange point.

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