Charging detection control system and method for automated guided vehicle

Abstract

The invention provides an automatic guided vehicle charging detection control system and method. The automatic guided vehicle charging detection control system comprises an automatic guided vehicle, a charging subsystem and a wharf production control server. The charging subsystem comprises a sliding contact line electrical control cabinet and a plurality of AGV interactive charging positions which are arranged at equal intervals, sliding contact lines are arranged between the adjacent AGV interactive charging positions, temperature sensing cables are installed in the sliding contact lines, and the sliding contact lines and the temperature sensing cables are in signal connection with the sliding contact line electrical control cabinet; a main control unit is installed on the side face of a vehicle body of the automated guided vehicle. A temperature sensor, a smoke sensor and an open fire detection camera are installed in the main control unit in an integrated mode. The wharf production control server is in data connection with the slide wire electrical control cabinet and the main control unit. By comprehensively monitoring the states of the sliding contact line and the power taking device, once abnormity is found, alarm information is sent out in time, measures are automatically taken to cut off power supply of the sliding contact line, and the charging safety and reliability of the AGV are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicle control, and more particularly to a charging detection control system and method for an automatic guided vehicle. Background Art

[0002] An automated guided vehicle (AGV) is a highly intelligent handling device that achieves unmanned operation and automated logistics distribution through built-in navigation systems, electromagnetic or optical devices, etc. As an indispensable horizontal transportation core of modern automated terminals, AGV has greatly promoted the automation and efficiency of port logistics with its highly intelligent and unmanned operation characteristics. In the busy operations of automated terminals, the continuous operation capability of AGV is crucial to maintaining overall operational efficiency. Therefore, the opportunistic charging method using busbars and power-taking devices came into being. This innovative design cleverly converts the idle time of AGVs waiting in the bracket delivery box into a charging period, effectively extending the continuous working time of AGVs, reducing operation interruptions caused by battery replacement, and significantly improving terminal operation efficiency and throughput.

[0003] However, compared with the traditional AGV battery replacement method of replacing batteries, the opportunistic charging method of using busbars and power-taking devices will not only lead to low charging efficiency, but also may cause abnormal ignition if there is a poor contact problem between the busbars and the power-taking device. In extreme cases, it may even cause a fire. Considering the particularity of the operating area of ​​the automated terminal, such fires often occur in an environment where no one is monitoring in real time. The initial fire is difficult to be discovered in time. Once the fire spreads, it will pose a huge threat to the safety of the terminal. In addition, when a fire occurs, in order to ensure the safety of personnel, it is necessary to quickly contact the remote operator to close the site and then send professionals to the scene to cut off the power supply of the busbar. This process is not only time-consuming, but may also increase additional risks due to improper operation. Therefore, solving the safety hazards in AGV opportunistic charging and ensuring the safety and reliability of the charging process have become an important issue in the current technical upgrade of automated terminals. Summary of the invention In view of the problems existing in the prior art, the purpose of the present invention is to provide an automatic guided vehicle charging detection control system and method, which comprehensively monitors the status of the busbar and the power supply device during the charging process of the AGV. Once an abnormality is found, an alarm message is issued in time and measures are automatically taken to disconnect the busbar power supply, thereby effectively improving the safety and reliability of AGV charging.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions: An automatic guided transport vehicle charging detection and control system, comprising: an automatic guided transport vehicle, a charging subsystem and a terminal production control server; The charging subsystem includes: a busbar electrical control cabinet and a plurality of AGV interactive charging positions arranged at equal intervals. A busbar is arranged between adjacent AGV interactive charging positions, and a temperature sensing cable is installed inside the busbar. The busbar and the temperature sensing cable are connected to the busbar electrical control cabinet signal. A main control unit is installed on the side of the body of the automated guided transport vehicle, and a temperature sensor, a smoke sensor and an open flame detection camera are integrated in the main control unit; The terminal production control server has a built-in automated terminal production system, and the terminal production control server is respectively connected to the busbar electrical control cabinet and the main control unit data.

[0005] Furthermore, when the automated guided vehicle is at the AGV interactive charging position, the temperature sensor is used to collect the charging temperature and send it to the main control unit; the smoke sensor is used to collect the smoke signal and send it to the main control unit; the open flame detection camera is used to detect open flames in a preset area in real time through image recognition technology, and send the fire image to the main control unit after identifying it; the main control unit is used to send the charging temperature information, smoke signal, and fire image to the terminal production control server, and receive the control signal issued by the terminal production control server.

[0006] Furthermore, the temperature sensing cable is used to collect the busbar temperature in real time and send it to the busbar electrical control cabinet; the busbar electrical control cabinet is used to send the busbar temperature to the terminal production control server.

[0007] Correspondingly, the present invention also discloses a charging detection control method for an automatic guided transport vehicle, comprising: Set warning value, alarm value and fault value for busbar temperature and charging temperature respectively; Real-time acquisition of charging temperature, smoke signals, fire images and busbar temperature; When a smoke signal and / or a fire image is acquired, a first safety processing mechanism is executed; According to the early warning value, alarm value and fault value of the charging temperature and the busbar temperature, the abnormality of the charging temperature and the busbar temperature is identified, and the type of the abnormality is determined, and the second safety processing mechanism is executed according to the type of the abnormality.

[0008] Furthermore, the first security processing mechanism includes: When the main control unit receives the smoke signal, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the main control unit receives the fire image, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the terminal produces smoke signals and / or fire images, the AGV interactive charging position where the corresponding automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the corresponding automated guided transport vehicle to control the automated guided transport vehicle to leave the production prohibited zone; Generate corresponding warning information according to the set production prohibited areas and send it to the main control units of all automatic guided vehicles connected to the terminal production control server.

[0009] Further, the warning value is smaller than the alarm value, and the alarm value is smaller than the fault value.

[0010] Further, the method of identifying the abnormality of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the type of the abnormality, and executing the second safety processing mechanism according to the type of the abnormality includes: Compare the charging temperature and busbar temperature with the corresponding fault value, alarm value and early warning value in turn; When both the charging temperature and the busbar temperature reach corresponding fault values, it is determined to be a first abnormality, and the first abnormality handling process is executed; The first exception handling process includes: Controlling the automatic guided transport vehicle to disconnect the electrical connection with the busbar; The AGV interactive charging position where the automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the automated guided transport vehicle in the AGV interactive charging position adjacent to the production prohibited zone to control the automated guided transport vehicle to stop charging and drive to a preset safe parking area; Generate fault information and send the fault information to the mobile terminal of the on-duty personnel, until the restoration instruction sent by the mobile terminal is received, restore the electrical connection between the automatic guided transport vehicle and the busbar, and release the production prohibited area; When any one of the charging temperature and the busbar temperature reaches the corresponding fault value, it is determined as the second abnormality, and the second abnormality processing flow is executed; The second exception handling process includes: Generate fault information, control the automatic guided transport vehicle to disconnect the electrical connection with the busbar, and send the fault information to the mobile terminal of the on-duty personnel until the power restoration command sent by the mobile terminal is received, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

[0011] Further, the method of identifying the abnormality of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the abnormality type, and executing the second safety processing mechanism according to the abnormality type also includes: When both the charging temperature and the busbar temperature reach the corresponding alarm values, it is determined to be a second abnormality, and the second abnormality handling process is executed; When any one of the charging temperature and the busbar temperature reaches the corresponding alarm value, it is determined as the third abnormality, and the third abnormality processing flow is executed; The third exception handling process includes: Generate an alarm message and control the automatic guided transport vehicle to disconnect the electrical connection with the busbar until the charging temperature and the busbar temperature are both lower than the corresponding warning values, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

[0012] Further, the method of identifying the abnormality of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the abnormality type, and executing the second safety processing mechanism according to the abnormality type also includes: When both the charging temperature and the busbar temperature reach the corresponding warning values, it is determined to be a third abnormality, and the third abnormality handling process is executed; When any one of the charging temperature and the busbar temperature reaches the corresponding warning value, it is judged as an abnormal false alarm, the automatic guided transport vehicle is charged normally, and the busbar is powered normally.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention integrates multiple sensors (including temperature sensors, smoke sensors and open flame detection cameras) and temperature sensing cables to build a comprehensive, multi-level safety monitoring network. This design can capture any abnormal signs in the charging process in real time, such as temperature surges, smoke generation or open flames, thereby effectively preventing safety accidents such as fires and ensuring the safety and reliability of the AGV charging process.

[0014] 2. The present invention can set the warning value, alarm value and fault value according to the charging temperature and busbar temperature. By intelligently analyzing these data, it can automatically identify and respond to abnormal situations of different levels. From simple warning prompts to emergency power outages and demarcation of production restricted areas, the system adopts step-by-step escalation measures to ensure safety and avoid overreaction. This intelligent hierarchical warning and processing mechanism improves the response speed and accuracy of the system and ensures the continuity and efficiency of production.

[0015] 3. The present invention realizes highly automated and intelligent control, reducing the need for manual intervention. At the same time, the terminal production control server shares information and collaborates with all connected AGV main control units, ensuring that relevant equipment can be quickly notified and appropriate measures can be taken in abnormal situations. This automation and collaborative operation capability not only improves the operating efficiency of the system, but also enhances the emergency response capability and overall operating stability of the entire automated terminal.

[0016] It can be seen that compared with the prior art, the present invention has outstanding substantive features and significant progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the structure of an automatic guided transport vehicle according to a specific embodiment of the present invention.

[0019] Figure 2 It is a system layout diagram of a charging subsystem according to a specific embodiment of the present invention.

[0020] Figure 3 It is a schematic structural diagram of a busbar according to a specific embodiment of the present invention.

[0021] Figure 4 It is a system principle diagram of a specific implementation mode of the present invention.

[0022] Figure 5 It is a method flow chart of a specific implementation mode of the present invention. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0024] The present invention discloses a charging detection and control system for an automatic guided transport vehicle, comprising: an automatic guided transport vehicle 1, a charging subsystem and a terminal production control server 2.

[0025] like Figure 1 As shown, a main control unit 3 is installed on the side of the body of the automatic guided transport vehicle 1, and a temperature sensor 4, a smoke sensor 5 and an open fire detection camera 6 are integrated in the main control unit 3.

[0026] like Figure 2 As shown, the charging subsystem includes: a busbar electrical control cabinet 7 and a plurality of AGV interactive charging positions 8 arranged at equal intervals, and busbars 9 are arranged between adjacent AGV interactive charging positions 8. Figure 3 As shown, a temperature sensing cable 10 is installed inside the busbar 9.

[0027] The terminal production control server 2 has a built-in automated terminal production system, such as Figure 4As shown, the terminal production control server 2 is respectively connected to the busbar electrical control cabinet 7 and the main control unit 3 for data, and the busbar 9 and the temperature sensing cable 10 are connected to the busbar electrical control cabinet 7 for signal.

[0028] Specifically, the temperature sensor 4 is used to collect the charging temperature and send it to the main control unit 3; the smoke sensor 5 is used to collect the smoke signal and send it to the main control unit 3; the open fire detection camera 6 is used to detect the open fire in the preset area in real time through image recognition technology, and send the fire image to the main control unit 3 after identifying it. The main control unit 3 is used to send the charging temperature information, smoke signal, and fire image to the terminal production control server 2, and receive the control signal sent by the terminal production control server 2. The temperature sensing cable 10 is used to collect the busbar temperature in real time and send it to the busbar electrical control cabinet 7; the busbar electrical control cabinet 7 is used to send the busbar temperature to the terminal production control server 2.

[0029] It can be seen that in the above system, the main control unit is installed on the side of the AGV body, and various sensors and cameras are integrated inside it. During the charging process, multiple items such as temperature, open flame, and smoke can be detected; temperature sensing cables are installed inside the busbar to detect the temperature of the busbar. The main control unit installed on the AGV body will collect the temperature values, smoke, and open flame conditions detected by each sensor and transmit them to the AGV stand-alone PLC, and transmit them to the automated terminal production system through the AGV's original on-board wireless communication system. The AGV charging detection control part in the system will evaluate the charging status of the equipment and issue corresponding instructions to the AGV stand-alone. The temperature sensing cable installed inside the busbar transmits data to the busbar electrical control cabinet, which is directly connected to the automated terminal production system. Once an abnormality is detected, the automated terminal production system will send instructions to the charging AGV to inform the AGV stand-alone to generate an alarm or control the AGV stand-alone to disconnect the power supply of the equipment to ensure the safety of the equipment.

[0030] In actual use, personnel can pre-set the warning value, alarm value and fault value in this system. Once the detection items reach the warning value, alarm value and fault value, the system will automatically generate instructions according to the set logic to adjust the operation status of the automation equipment. The operation status of the busbars in each area can also be observed through the central control room, and the detection values ​​and detection positions of each item can be displayed, and the data within a period of time can be saved for later analysis and processing.

[0031] Correspondingly, such as Figure 5 As shown, the present invention also discloses a charging detection control method for an automatic guided transport vehicle, comprising the following steps: S1: Set the warning value, alarm value and fault value for the busbar temperature and charging temperature respectively.

[0032] In a specific implementation manner, the set early warning value is smaller than the alarm value, and the set alarm value is smaller than the fault value.

[0033] As an example, the early warning value, alarm value and fault value of the busbar temperature are set to 40 degrees Celsius, 70 degrees Celsius and 100 degrees Celsius respectively. The early warning value, alarm value and fault value of the charging temperature are set to 40 degrees Celsius, 70 degrees Celsius and 100 degrees Celsius respectively.

[0034] S2: Real-time acquisition of charging temperature, smoke signals, fire images and busbar temperature.

[0035] In a specific implementation, when the AGV reaches the AGV interactive charging position, the charging temperature is collected in real time through the temperature sensor and sent to the terminal production control server through the main control unit. When the smoke sensor and the open flame detection camera obtain the smoke signal and the fire image, they are also sent to the terminal production control server through the main control unit. At the same time, the temperature sensing cable continuously collects the busbar temperature and sends it to the terminal production control server through the busbar electrical control cabinet.

[0036] S3: When a smoke signal and / or a fire image is acquired, a first safety processing mechanism is executed.

[0037] In a specific implementation, the execution process of the first security processing mechanism is as follows: When the main control unit receives the smoke signal, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the main control unit receives the fire image, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the terminal produces smoke signals and / or fire images, the AGV interactive charging position where the corresponding automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the corresponding automated guided transport vehicle to control the automated guided transport vehicle to leave the production prohibited zone; Generate corresponding warning information according to the set production prohibited areas and send it to the main control units of all automatic guided vehicles connected to the terminal production control server.

[0038] As an example, the smoke sensor is installed on the side of the vehicle body and integrated into the main control unit. Once the sensor detects smoke, it will immediately generate fault information in the AGV's main control unit, and the main control unit will control the AGV to power off. At this time, the AGV's wireless system will send the smoke signal to the dock production system, and the dock production system will set the area as a production restricted area to prevent other AGVs from entering the area, and issue dispatch instructions to the equipment within the area to force the equipment to leave the abnormal area. The open fire detection camera is installed in the main control unit, and detects open flames through image recognition technology. After identifying the fire image, the information is summarized to the main control unit, and the information is transmitted in the order of AGV stand-alone and dock production system, and the same processing measures are performed.

[0039] S4: According to the warning value, alarm value and fault value of the charging temperature and the busbar temperature, the abnormality of the charging temperature and the busbar temperature is identified, and the type of the abnormality is determined, and the second safety processing mechanism is executed according to the type of the abnormality.

[0040] In a specific implementation, first, the charging temperature and the busbar temperature are compared with the corresponding fault values, alarm values, and warning values ​​in turn; and it is determined in turn whether the corresponding fault values, alarm values, and warning values ​​are reached.

[0041] At this time, the abnormality type is determined based on the value range of the charging temperature and the busbar temperature, and the abnormality handling process is executed based on the determination result. Specifically, the following situations are included: 1. When both the charging temperature and the busbar temperature reach the corresponding fault values, it is determined to be the first abnormality and the first abnormality handling process is executed.

[0042] The first exception handling process is as follows: Controlling the automatic guided transport vehicle to disconnect the electrical connection with the busbar; The AGV interactive charging position where the automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the automated guided transport vehicle in the AGV interactive charging position adjacent to the production prohibited zone to control the automated guided transport vehicle to stop charging and drive to a preset safe parking area; Generate fault information and send it to the mobile terminal of the on-duty personnel until a recovery command is received from the mobile terminal, restore the electrical connection between the automatic guided transport vehicle and the busbar, and release the production prohibited area.

[0043] 2. When any one of the charging temperature and the busbar temperature reaches the corresponding fault value, it is determined as the second abnormality and the second abnormality handling process is executed.

[0044] The second exception handling process includes: Generate fault information, control the automatic guided transport vehicle to disconnect the electrical connection with the busbar, and send the fault information to the mobile terminal of the on-duty personnel until the power restoration command sent by the mobile terminal is received, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

[0045] When both the charging temperature and the busbar temperature reach corresponding alarm values, it is determined to be a second abnormality, and the second abnormality handling process is executed.

[0046] The judgment logic for the above two situations is: when a single value reaches the fault value, the AGV will automatically power off and cannot be automatically powered on, and a fault will be generated in the system to promptly notify the on-duty personnel. The fault can only be manually cleared after the equipment status is confirmed to be normal on site. When both values ​​reach the fault value at the same time, the system will immediately generate a regional ban, and equipment is strictly prohibited from entering the area. The production system will automatically generate instructions to dispatch equipment in adjacent areas to evacuate, and manually restore power to the on-site equipment and lift the ban area after the fault is resolved. If neither value reaches the fault value, but both values ​​reach the alarm value, it will be handled according to the exception handling process when the single value reaches the fault value.

[0047] 3. When any one of the charging temperature and the busbar temperature reaches the corresponding alarm value, it is determined as the third abnormality and the third abnormality handling process is executed.

[0048] The third exception handling process is as follows: Generate an alarm message and control the automatic guided transport vehicle to disconnect the electrical connection with the busbar until the charging temperature and the busbar temperature are both lower than the corresponding warning values, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

[0049] When both the charging temperature and the busbar temperature reach the corresponding warning values, it is determined to be a third abnormality, and the third abnormality handling process is executed; The judgment logic of the above situation is: when a single value reaches the alarm value, the system will automatically disconnect the AGV power supply. When the value drops to the normal level within the specified time, the AGV automatically resumes power and generates an alarm message in the system. This process does not require manual intervention. If both values ​​do not reach the alarm value, but both values ​​reach the warning value, they will be handled according to the abnormal handling process of a single value reaching the alarm value.

[0050] 4. When any one of the charging temperature and the busbar temperature reaches the corresponding warning value, it is judged as an abnormal false alarm, the automatic guided transport vehicle is charged normally, and the busbar is powered normally.

[0051] The judgment logic for the above situation is: if only a single value jumps briefly or reaches the warning value, the charging detection control system will automatically determine it as a false alarm and generate a warning, the on-site equipment will operate normally, and the busbar will be powered normally. This process does not require manual intervention, and engineers can regularly query the system history for unified inspection and processing.

[0052] The present invention discloses a charging detection and control method for an automated guided transport vehicle, which can set warning values, alarm values, and fault values ​​according to the charging temperature and busbar temperature. By intelligently analyzing these data, it can automatically identify and respond to abnormal situations of different levels. From simple warning prompts to emergency power outages and the demarcation of production restricted areas, the system adopts step-by-step escalation measures to ensure safety and avoid overreaction. This intelligent hierarchical warning and processing mechanism improves the response speed and accuracy of the system, ensuring the continuity and efficiency of production.

[0053] The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art may make various changes or modifications to the present invention, and these equivalent forms also fall within the scope limited by the application.

Claims

1. An automatic guided vehicle charging detection and control system, characterized in that: include: Automated guided transport vehicles, charging subsystems and terminal production control servers; The charging subsystem includes: a busbar electrical control cabinet and a plurality of AGV interactive charging positions arranged at equal intervals. A busbar is arranged between adjacent AGV interactive charging positions, and a temperature sensing cable is installed inside the busbar. The busbar and the temperature sensing cable are connected to the busbar electrical control cabinet signal. A main control unit is installed on the side of the body of the automated guided transport vehicle, and a temperature sensor, a smoke sensor and an open flame detection camera are integrated in the main control unit; The terminal production control server has a built-in automated terminal production system, and the terminal production control server is respectively connected to the busbar electrical control cabinet and the main control unit data.

2. The automatic guided vehicle charging detection and control system according to claim 1, characterized in that: When the automated guided vehicle is at the AGV interactive charging position, the temperature sensor is used to collect the charging temperature and send it to the main control unit; the smoke sensor is used to collect the smoke signal and send it to the main control unit; the open fire detection camera is used to detect the open fire in the preset area in real time through image recognition technology, and send the fire image to the main control unit after identification; The main control unit is used to send charging temperature information, smoke signals, and fire images to the terminal production control server, and receive control signals sent by the terminal production control server.

3. The automatic guided vehicle charging detection and control system according to claim 2 is characterized in that: The temperature sensing cable is used to collect the busbar temperature in real time and send it to the busbar electrical control cabinet; The busbar electrical control cabinet is used to send the busbar temperature to the terminal production control server.

4. A charging detection and control method for an automatic guided transport vehicle, characterized in that: The method adopts the automatic guided transport vehicle charging detection and control system as claimed in any one of claims 1 to 3; The method comprises: Set warning value, alarm value and fault value for busbar temperature and charging temperature respectively; Real-time acquisition of charging temperature, smoke signals, fire images and busbar temperature; When a smoke signal and / or a fire image is acquired, a first safety processing mechanism is executed; According to the early warning value, alarm value and fault value of the charging temperature and the busbar temperature, the abnormality of the charging temperature and the busbar temperature is identified, and the type of the abnormality is determined, and the second safety processing mechanism is executed according to the type of the abnormality.

5. The automatic guided vehicle charging detection control method according to claim 4, characterized in that: The first security processing mechanism includes: When the main control unit receives the smoke signal, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the main control unit receives the fire image, it generates fault information and controls the automatic guided transport vehicle to disconnect the electrical connection with the busbar; When the terminal produces smoke signals and / or fire images, the AGV interactive charging position where the corresponding automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the corresponding automated guided transport vehicle to control the automated guided transport vehicle to leave the production prohibited zone; Generate corresponding warning information according to the set production prohibited areas and send it to the main control units of all automatic guided vehicles connected to the terminal production control server.

6. The automatic guided vehicle charging detection control method according to claim 4, characterized in that: The early warning value is smaller than the alarm value, and the alarm value is smaller than the fault value.

7. The automatic guided vehicle charging detection control method according to claim 6, characterized in that: The method of identifying the abnormality of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the abnormality type, and executing the second safety processing mechanism according to the abnormality type includes: Compare the charging temperature and busbar temperature with the corresponding fault value, alarm value and early warning value in turn; When both the charging temperature and the busbar temperature reach corresponding fault values, it is determined to be a first abnormality, and the first abnormality handling process is executed; The first exception handling process includes: Controlling the automatic guided transport vehicle to disconnect the electrical connection with the busbar; The AGV interactive charging position where the automated guided transport vehicle is located and the area covered within its preset range are set as a production prohibited zone, and a control signal is sent to the main control unit of the automated guided transport vehicle in the AGV interactive charging position adjacent to the production prohibited zone to control the automated guided transport vehicle to stop charging and drive to a preset safe parking area; Generate fault information and send the fault information to the mobile terminal of the on-duty personnel, until the restoration instruction sent by the mobile terminal is received, restore the electrical connection between the automatic guided transport vehicle and the busbar, and release the production prohibited area; When any one of the charging temperature and the busbar temperature reaches the corresponding fault value, it is determined as the second abnormality, and the second abnormality processing flow is executed; The second exception handling process includes: Generate fault information, control the automatic guided transport vehicle to disconnect the electrical connection with the busbar, and send the fault information to the mobile terminal of the on-duty personnel until the power restoration command sent by the mobile terminal is received, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

8. The automatic guided vehicle charging detection control method according to claim 7, characterized in that: The method of identifying abnormalities of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the type of abnormality, and executing the second safety processing mechanism according to the type of abnormality also includes: When both the charging temperature and the busbar temperature reach the corresponding alarm values, it is determined to be a second abnormality, and the second abnormality handling process is executed; When any one of the charging temperature and the busbar temperature reaches the corresponding alarm value, it is determined as the third abnormality, and the third abnormality processing flow is executed; The third exception handling process includes: Generate an alarm message and control the automatic guided transport vehicle to disconnect the electrical connection with the busbar until the charging temperature and the busbar temperature are both lower than the corresponding warning values, and then restore the electrical connection between the automatic guided transport vehicle and the busbar.

9. The automatic guided vehicle charging detection control method according to claim 8, characterized in that: The method of identifying abnormalities of the charging temperature and the busbar temperature according to the early warning value, the alarm value and the fault value of the charging temperature and the busbar temperature, determining the type of abnormality, and executing the second safety processing mechanism according to the type of abnormality also includes: When both the charging temperature and the busbar temperature reach the corresponding warning values, it is determined to be a third abnormality, and the third abnormality handling process is executed; When any one of the charging temperature and the busbar temperature reaches the corresponding warning value, it is judged as an abnormal false alarm, the automatic guided transport vehicle is charged normally, and the busbar is powered normally.

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