Charging method and device applied to AGV, electronic equipment and storage medium

Abstract

The invention relates to a charging method and device applied to an AGV, electronic equipment and a storage medium, and the method comprises the steps: determining a charging area to which the current position of the AGV belongs if it is judged that the AGV needs to be charged; and a charging accompanying mechanism in the charging accompanying area is controlled to move along with the AGV, and the AGV is charged in the process of moving along with the AGV. The charging accompanying mechanism is controlled to move along with the AGV, the AGV is charged in the moving process, the situation that the AGV is stopped due to charging is avoided, and the working efficiency is improved. Compared with the prior art, an existing charging mode needs to stop charging of the AGV, the charging method can achieve charging in the operation process of the AGV, and the charging method is particularly suitable for scenes needing continuous operation and has remarkable advantages and innovation points.

Description

Technical Field

[0001] The present invention relates to the field of AGV charging technology, and in particular to a charging method, device, electronic device and storage medium applied to AGV. Background Art

[0002] AGV (Automated Guided Vehicles) is a transport vehicle equipped with an automatic guidance device that can travel along a specified guidance path. It is currently widely used in the fields of automated production lines, smart factories, etc. At present, the power unit of AGV is a rechargeable battery. When the AGV is running, the power of the battery gradually decreases, so the AGV battery needs to be charged during the cycle operation.

[0003] AGV charging methods are mainly divided into the following categories: 1. Manual charging (applicable to: small scale, low frequency demand); 2. Automatic docking charging (applicable to: medium and high frequency automation needs); 3. Wireless charging (applicable to: medium and high frequency automation needs); 4. Battery replacement mode (applicable to: high-density tasks and uninterrupted operation); 5. Wireless power supply (applicable to: the vehicle body does not stop and relatively high power is required).

[0004] In the current AGV application scenarios, except for wireless power supply, the other four methods all require the vehicle to stop and then dock for charging, which will affect the rhythm. For some scenarios that cannot be stopped, such as automobile main line AGV, the applicability is relatively low. The main line AGV needs to run continuously and reduce the stop time as much as possible (or not allowed to stop). Although wireless power supply can charge / power the vehicle without stopping, it has extremely high requirements on the vehicle cost, great construction difficulty, and great difficulty in changing the route. Summary of the invention

[0005] In view of this, it is necessary to provide a charging method, device, electronic device and storage medium for AGV, so as to solve the defects of the prior art that the wired charging method used in AGV application cannot run continuously, and the wireless charging method has high cost and difficult construction.

[0006] In order to solve the above problems, in a first aspect, an embodiment of the present invention provides a charging method applied to an AGV, comprising: If it is determined that the automatic guided vehicle AGV needs to be charged, then determining the charging area to which the current position of the AGV belongs; The charging accompanying mechanism in the accompanying charging area is controlled to follow the movement of the AGV, and the AGV is charged in the process of following the movement of the AGV.

[0007] Preferably, if it is determined that the automatic guided vehicle AGV needs to be charged, the method specifically includes: Acquire the remaining power of the AGV in real time, and if the remaining power is less than a preset threshold, determine that the AGV needs to be charged; or, The movement position of the AGV is acquired in real time, and if it is determined that the movement position reaches the charging area, it is determined that the AGV needs to be charged.

[0008] Preferably, the on-demand charging area includes a plurality of on-demand charging areas, and the plurality of on-demand charging areas are distributed on the operating route of the AGV, and the plurality of on-demand charging areas cover the operating route.

[0009] Preferably, when not charging, each of the accompanying mechanisms is located at an initial position, and the initial position corresponds to a charging starting point; After determining the charging area to which the current position of the AGV belongs, the method further includes: Determine whether the AGV has reached the accompanying charging area. If it has, and the corresponding accompanying charging mechanism is at the starting position, it is determined that the AGV can be charged, and the AGV is controlled to enter the charging starting point. Otherwise, it is determined that the AGV cannot be charged, and the AGV is not allowed to enter the charging starting point.

[0010] Preferably, controlling the charging accompanying mechanism in the accompanying charging area to follow the movement of the AGV and charging the AGV in the process of following the movement of the AGV includes: Control the AGV to open the charging port and continue to move forward to the charging starting point, and the corresponding charging accompanying mechanism drives the charging head to dock with the charging port and move forward with the AGV; If the charging head detects the body voltage of the AGV, charging is performed; when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

[0011] As a preferred embodiment, it also includes: If the charging head fails to detect the body voltage of the AGV, charging is not performed, and when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

[0012] Preferably, after controlling the charging head to be disconnected from the charging port, the method further includes: The charging accompanying mechanism returns to the starting position.

[0013] In a second aspect, the present invention provides a charging device for an AGV, comprising: A charging judgment module is used to determine the charging area to which the current position of the AGV belongs if it is determined that the AGV needs to be charged; The accompanying charging control module is used to control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and to charge the AGV in the process of following the movement of the AGV.

[0014] In a third aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the charging method applied to the AGV described in the first aspect above.

[0015] In a third aspect, the present invention provides a computer-readable storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the steps of the charging method applied to an AGV described in the first aspect above.

[0016] The present invention provides a charging method, device, electronic device and storage medium for AGV. During the operation of the AGV, the charging accompanying mechanism drives the charging head to follow the AGV to move, and charges the AGV in real time during the movement. The charging equipment is optimized and integrated, so that the AGV can be charged intermittently during operation, and at the same time solves the problems of difficult deployment, high cost and difficult route change of wireless power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a charging method for AGV provided by the present invention; Figure 2 This is a schematic diagram of a specific flow chart of a charging method applied to an AGV according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a charging device applied to an AGV according to an embodiment of the present invention; Figure 4 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0020] At present, transport vehicles that can travel along the prescribed guide path are widely used in handling AGVs in the fields of automated production lines, smart factories, etc. At present, the power unit of AGV is a rechargeable battery. When the AGV is running, the power of the battery gradually decreases, so the AGV battery needs to be charged during the cycle operation. In the current application scenarios of AGV, except for wireless power supply, the other charging methods require the vehicle body to stop and then dock for charging, which will affect the rhythm. For some scenarios that cannot be stopped, such as the main line AGV of the car, the applicability is relatively low. The main line AGV needs to run continuously and reduce the stop time as much as possible (or stop is not allowed); although wireless power supply can charge / power the vehicle body without stopping, it has extremely high requirements on the vehicle body cost, high construction difficulty, and great difficulty in changing the route.

[0021] In view of this, the present invention provides a charging method, device, electronic device and storage medium for AGV. During the operation of AGV, the charging accompanying mechanism drives the charging head to follow the AGV to move, and the AGV is charged in real time during the movement. The charging equipment is optimized and integrated, so that the AGV can be charged intermittently during operation, and the problems of difficult deployment, high cost and difficult route change of wireless power supply are solved. The following will be explained and introduced through multiple embodiments.

[0022] Figure 1 and Figure 2 The present invention provides a schematic diagram of a charging method for AGV. Figure 1 As shown, including: S1. If it is determined that the automatic guided vehicle AGV needs to be charged, determine the charging area to which the current position of the AGV belongs; S2. Control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and charge the AGV during the process of following the movement of the AGV.

[0023] It should be noted that the charging accompanying mechanism is a mechanism or device that can move with the AGV equipment and provide charging services for it. The charging accompanying mechanism includes components such as a charging pile, a charging robot, a charging cable and its management system, wherein the charging robot may include a motion mechanism, a mechanical arm, and a charging head. The mechanical arm drives the charging head to dock with the charging port of the AGV to achieve charging. A floating mechanism in three dimensions is designed on the charging robot, which can absorb the forward direction of the charging robot, the up and down directions caused by the uneven ground, and the left and right direction errors caused by the navigation accuracy of the AGV, with an up and down error of ±20mm and a left and right error of ±15mm. The charging accompanying mechanism in this embodiment can be equipped with a charging power supply and a charging head, and can directly carry the charging power supply to follow the AGV for charging, or it can only carry a charging head and follow the AGV for charging by extending the charging distance.

[0024] Compared with the prior art, the charging method of the present application controls the charging accompanying mechanism to follow the movement of the AGV and charges the AGV during the movement, thereby avoiding the situation where the AGV is shut down due to charging and improving work efficiency. The existing charging method requires the AGV to stop for charging, while the charging method of the present application can achieve charging during the operation of the AGV, which is particularly suitable for scenarios that require continuous operation and has significant advantages and innovations.

[0025] Through the above technical solution, the AGV can be charged without stopping during operation, ensuring the continuous operation of the AGV, reducing the downtime caused by charging, and improving work efficiency. The technical feature of judging whether the AGV needs to be charged is used to identify the charging needs of the AGV, the technical feature of determining the charging area to which the current position of the AGV belongs is used to locate the current position of the AGV, and the technical feature of controlling the charging accompanying mechanism in the charging area to follow the movement of the AGV and charge is used to realize charging during the operation of the AGV. These technical features cooperate with each other to enable the AGV to be charged uninterruptedly during operation, thereby solving the problem that the AGV needs to be charged during operation.

[0026] Based on the above embodiment, as a preferred implementation, if it is determined that the automatic guided vehicle AGV needs to be charged, it specifically includes: Acquire the remaining power of the AGV in real time, and if the remaining power is less than a preset threshold, determine that the AGV needs to be charged; or, The movement position of the AGV is acquired in real time, and if it is determined that the movement position reaches the charging area, it is determined that the AGV needs to be charged.

[0027] Specifically, in this embodiment, the first method is to ignore the remaining power of the AGV. Every time the AGV enters the charging area, it will be charged to avoid the AGV from stopping working due to exhaustion of power, ensuring the continuous working ability of the AGV. The real-time acquisition of the movement position of the AGV can be achieved through the positioning system installed on the AGV. The system can monitor the position of the AGV in real time and determine whether it has entered the charging area. When the AGV enters the charging area, the control system will issue a charging instruction. The second method is to obtain the characteristics of the remaining power in real time to ensure that it can be charged in time when the power is insufficient to avoid the AGV from stopping working due to exhaustion. The real-time acquisition of the remaining power of the AGV can be achieved through the power detection module installed on the AGV. The module can monitor the battery power in real time and transmit the data to the control system. When the power is lower than the preset threshold, the control system will issue a charging instruction.

[0028] Compared with the existing technology, the advantage of this application is that it can judge the charging needs of AGV more timely and accurately, ensure that AGV can continue to receive power support during operation, and has stronger adaptability.

[0029] On the basis of the above-mentioned embodiment, as a preferred implementation manner, the on-demand charging area includes multiple on-demand charging areas, and the multiple on-demand charging areas are distributed on the operation route of the AGV, and the multiple on-demand charging areas cover the operation route.

[0030] This embodiment sets up multiple charging areas on the AGV's operating route, so that the AGV can be charged at different locations during the operation. Each charging area covers a part of the operating route, ensuring that when the AGV needs to be charged, no matter where it is, it can find a charging area to charge. This technical solution effectively solves the problem of how to ensure that the AGV can be charged at multiple locations on the operating route.

[0031] Specifically, multiple charging areas can be realized by pre-setting multiple charging areas on the AGV's operating route. These charging areas can be reasonably distributed according to the AGV's operating route and frequent stops to ensure that the entire operating route is covered. One or more charging accompanying mechanisms can be set up in each charging area, which can automatically follow the AGV for charging when the AGV enters its charging area. The charging accompanying mechanism can dock the AGV's charging head with the charging port through a robotic arm, a slide rail, etc., and maintain the docking state while the AGV continues to move forward, thereby realizing charging anytime and anywhere.

[0032] Therefore, the present application sets up multiple charging areas to ensure that the AGV can be charged at any location on the operation route. This method not only improves the working efficiency of the AGV and reduces the downtime caused by charging, but also reduces the dependence on charging facilities and improves the flexibility and adaptability of the system. Compared with the prior art, the technical solution of the present application has significant advantages and is particularly suitable for application scenarios that require continuous operation and reduce downtime.

[0033] Based on the above embodiment, as a preferred implementation, when not charging, each of the accompanying mechanisms is located at an initial position, and the initial position corresponds to a charging starting point; After determining the charging area to which the current position of the AGV belongs, the method further includes: Determine whether the AGV has arrived at the accompanying charging area. If it has arrived and the corresponding accompanying charging mechanism is at the starting position, it is determined that the AGV can be charged and the AGV is controlled to enter the charging starting point. Otherwise, it is determined that the AGV cannot be charged and the AGV is not allowed to enter the charging starting point.

[0034] Specifically, in this embodiment, the initial position of the accompanying mechanism, the charging starting point, the judgment of the charging area, the judgment of whether the AGV has reached the charging area, the judgment of whether the charging accompanying mechanism is at the starting position, and the control of whether the AGV is allowed to enter the charging starting point. These technical features cooperate with each other to ensure that when the AGV needs to be charged, the charging accompanying mechanism can follow and charge the AGV in time. Through the above scheme, the problem of how to ensure that the charging accompanying mechanism can follow and charge the AGV in time when the AGV needs to be charged is solved. Specifically, by judging whether the AGV has reached the charging area and whether the charging accompanying mechanism is at the starting position, it is ensured that the AGV is allowed to enter the charging starting point only when the charging conditions are met, thereby achieving an efficient and safe charging process.

[0035] When not charging, each accompanying mechanism is located at the initial position, and the initial position corresponds to the charging starting point. After determining the charging area to which the current position of the AGV belongs, it is also necessary to determine whether the AGV has reached the charging area. If the AGV reaches the charging area and the corresponding charging accompanying mechanism is at the starting position, it can be determined that the AGV can be charged, and the AGV can be controlled to enter the charging starting point. If the AGV has not reached the charging area or the charging accompanying mechanism is not at the starting position, it is determined that the AGV cannot be charged, and the AGV is not allowed to enter the charging starting point. This technical solution can be implemented in a variety of ways, for example, using sensors to monitor the position and power status of the AGV in real time, combining the AGV's navigation system and the control system of the charging accompanying mechanism to achieve the above-mentioned judgment and control process.

[0036] This embodiment solves the problem of insufficient efficiency and safety of the AGV charging process in the prior art by ensuring that the charging accompanying mechanism can follow and charge the AGV in time when the AGV needs to be charged. Compared with the prior art, the advantage of this application is that by judging whether the AGV has reached the charging area and whether the charging accompanying mechanism is at the starting position, it is ensured that the AGV is allowed to enter the charging starting point only when the charging conditions are met, thereby improving the efficiency and safety of the charging process.

[0037] Based on the above embodiment, as a preferred implementation, controlling the charging accompanying mechanism in the accompanying charging area to follow the movement of the AGV and charging the AGV during the movement of following the AGV includes: Control the AGV to open the charging port and continue to move forward to the charging starting point, and the corresponding charging accompanying mechanism drives the charging head to dock with the charging port and move forward with the AGV; If the charging head detects the body voltage of the AGV, charging is performed; when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

[0038] Specifically, by controlling the charging accompanying mechanism to follow the AGV, and docking the charging port when the AGV moves to the charging starting point, the charging head detects the body voltage and then charges, and finally disconnects at the charging end point, solving the problem of how to charge during the AGV movement. This solution avoids the need for the AGV to stop for charging, improves the operating efficiency of the AGV, and is suitable for scenarios that require continuous operation.

[0039] Specifically, when controlling the charging accompanying mechanism in the charging area to follow the movement of the AGV, a variety of methods can be used. For example, the movement of the charging accompanying mechanism can be achieved through a robotic arm or a guide rail system. The robotic arm can be adjusted according to the position and movement trajectory of the AGV to ensure that the charging head can accurately dock with the charging port. The guide rail system can guide the charging accompanying mechanism to move along the guide rail set on the AGV's travel path, thereby achieving the following of the charging accompanying mechanism.

[0040] When the AGV opens the charging port and moves to the charging starting point, the AGV's motion trajectory and speed can be precisely controlled through communication with the AGV control system to ensure that the charging head can dock with the charging port smoothly. When the charging accompanying mechanism drives the charging head to dock with the charging port, mechanical docking or magnetic docking can be used to ensure the stability and reliability of the charging process.

[0041] If the charging head detects the body voltage of the AGV, charging will start. During the charging process, the charging current and voltage can be monitored in real time to ensure the safety and efficiency of the charging process. When the AGV moves to the charging end point, the charging head is controlled to disconnect from the charging port. After disconnection, the charging accompanying mechanism can return to the initial position and wait for the next charging task.

[0042] Therefore, through the technical solution of the present application, charging can be achieved during the movement of the AGV, avoiding the situation where the AGV needs to stop for charging, improving the operating efficiency of the AGV, and being suitable for scenarios that require continuous operation. The technical solution has high applicability and flexibility and can be adjusted and optimized according to different AGV models and application scenarios.

[0043] Based on the above embodiment, as a preferred implementation, it also includes: If the charging head fails to detect the body voltage of the AGV, charging is not performed, and when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

[0044] In this embodiment, the charging operation is stopped when the charging head fails to detect the AGV body voltage, and the charging head is controlled to disconnect from the charging port when the AGV moves to the charging end point, thereby solving the problem of charging when the charging head fails to detect the voltage, and avoiding possible charging failures or safety hazards. In this way, the safety and reliability of the charging process are ensured.

[0045] After understanding the above technical solution, it can be further explained as follows: When the AGV enters the charging area and is ready to charge and establish a connection, the system first detects whether the charging head detects the AGV body voltage. If the body voltage is not detected, the system will stop the charging operation to avoid charging failure. At the same time, when the AGV continues to move to the charging end point, the system controls the charging head to disconnect from the charging port to ensure that the charging head will not continue to try to charge without detecting voltage. In this way, the system can effectively avoid the potential risks of charging due to failure to detect voltage.

[0046] For example, as a preferred embodiment, the system can monitor the body voltage of the AGV in real time through a voltage detection sensor installed on the charging head. If the sensor does not detect a voltage signal, the system will immediately stop the charging instruction and automatically disconnect the charging head from the charging port when the AGV reaches the preset charging end point. In addition, the system can also perform real-time analysis of the voltage detection signal through software algorithms to ensure the accuracy and reliability of the charging operation.

[0047] Therefore, the technical solution of the present application has significant advantages over the prior art. First, by stopping charging when no voltage is detected, possible charging failures or safety hazards are avoided, thereby improving the safety of the charging process. Secondly, by automatically disconnecting the connection between the charging head and the charging port when the AGV moves to the charging end point, the reliability of the charging operation is ensured. Finally, the technical solution is simple and easy to implement, can be easily implemented in the existing AGV charging system, and has high practical value.

[0048] Based on the above embodiment, as a preferred implementation manner, after controlling the charging head to be disconnected from the charging port, the method further includes: The charging accompanying mechanism returns to the starting position.

[0049] In this embodiment, the technical feature of controlling the charging accompanying mechanism to return to the starting position after the charging head is disconnected from the charging port ensures that the charging accompanying mechanism can automatically return to the initial position after charging is completed and prepare for the next charging, thereby improving the automation and efficiency of the charging system.

[0050] The technical feature of the charging accompanying mechanism returning to the starting position can be achieved in a variety of ways. For example, an electric motor can be used to drive the charging accompanying mechanism, and the motor can be controlled to move in the opposite direction through a preset control program to return the charging accompanying mechanism to the starting position. Furthermore, a position sensor can be set on the charging accompanying mechanism to monitor its position in real time, and when it is detected that the charging accompanying mechanism reaches the starting position, the driving of the motor is stopped. In addition, a mechanical limit device can be used to ensure that the charging accompanying mechanism accurately returns to the starting position.

[0051] Through the above technical solution, the present application can effectively solve the problem in the prior art that the accompanying charging mechanism cannot automatically return to the starting position after charging is completed, avoiding the need for manual intervention and improving the automation and work efficiency of the charging process. Compared with the prior art, the present application provides a more intelligent and efficient charging method, reduces the complexity of manual operation, and is suitable for AGV systems that require high-frequency charging.

[0052] The present invention provides a charging device for AGV, based on the charging method for AGV described in the above embodiment, such as Figure 3 As shown in, including: A charging determination module 310 is used to determine the charging area to which the current position of the AGV belongs if it is determined that the AGV needs to be charged; The accompanying charging control module 320 is used to control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and to charge the AGV in the process of following the movement of the AGV.

[0053] It should be noted that the remote sensing image classification device provided by the present invention can execute the charging applied to AGV described in any of the above embodiments during specific operation, which will not be elaborated in this embodiment.

[0054] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communications interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the charging applied to the AGV, and the method includes: S1. If it is determined that the automatic guided vehicle AGV needs to be charged, determine the charging area to which the current position of the AGV belongs; S2. Control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and charge the AGV during the process of following the movement of the AGV.

[0055] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0056] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can perform the charging for AGV provided in the above embodiments, the method comprising: S1. If it is determined that the automatic guided vehicle AGV needs to be charged, determine the charging area to which the current position of the AGV belongs; S2. Control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and charge the AGV during the process of following the movement of the AGV.

[0057] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for charging an AGV provided in the above embodiments is implemented, and the method includes: S1. If it is determined that the automatic guided vehicle AGV needs to be charged, determine the charging area to which the current position of the AGV belongs; S2. Control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and charge the AGV during the process of following the movement of the AGV.

[0058] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0059] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A charging method for AGV, characterized in that: include: If it is determined that the automatic guided vehicle AGV needs to be charged, then determining the charging area to which the current position of the AGV belongs; The charging accompanying mechanism in the accompanying charging area is controlled to follow the movement of the AGV, and the AGV is charged in the process of following the movement of the AGV.

2. The charging method for AGV according to claim 1, characterized in that: If it is determined that the automatic guided vehicle AGV needs to be charged, it specifically includes: Acquire the remaining power of the AGV in real time, and if the remaining power is less than a preset threshold, determine that the AGV needs to be charged; or, The movement position of the AGV is acquired in real time, and if it is determined that the movement position reaches the charging area, it is determined that the AGV needs to be charged.

3. The charging method for AGV according to claim 2, characterized in that: The on-demand charging areas include a plurality of on-demand charging areas, and the plurality of on-demand charging areas are distributed on the operating route of the AGV, and the plurality of on-demand charging areas cover the operating route.

4. The charging method for AGV according to claim 3, characterized in that: When not charging, each of the accompanying mechanisms is located at an initial position, and the initial position corresponds to a charging starting point; After determining the charging area to which the current position of the AGV belongs, the method further includes: Determine whether the AGV has reached the accompanying charging area. If it has, and the corresponding accompanying charging mechanism is at the starting position, it is determined that the AGV can be charged, and the AGV is controlled to enter the charging starting point. Otherwise, it is determined that the AGV cannot be charged, and the AGV is not allowed to enter the charging starting point.

5. The charging method for AGV according to claim 4, characterized in that: Controlling the charging accompanying mechanism in the accompanying charging area to follow the movement of the AGV, and charging the AGV in the process of following the movement of the AGV, including: Control the AGV to open the charging port and continue to move forward to the charging starting point, and the corresponding charging accompanying mechanism drives the charging head to dock with the charging port and move forward with the AGV; If the charging head detects the body voltage of the AGV, charging is performed; when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

6. The charging method for AGV according to claim 5, characterized in that: Also includes: If the charging head fails to detect the body voltage of the AGV, charging is not performed, and when the AGV moves to the charging end point, the charging head is controlled to be disconnected from the charging port.

7. The charging method for AGV according to claim 5, characterized in that: After the controlling the charging head to be disconnected from the charging port, the method further includes: The charging accompanying mechanism returns to the starting position.

8. A charging device for AGV, characterized in that: include: A charging judgment module is used to determine the charging area to which the current position of the AGV belongs if it is determined that the AGV needs to be charged; The accompanying charging control module is used to control the accompanying charging mechanism in the accompanying charging area to follow the movement of the AGV, and to charge the AGV in the process of following the movement of the AGV.

9. An electronic device, It is characterized in that comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the charging method applied to the AGV as described in any one of claims 1 to 7 above.

10. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the charging method applied to an AGV as described in any one of claims 1 to 7 above.

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