AGV electric quantity calibration method based on dynamic current monitoring

Abstract

The invention discloses an AGV electric quantity calibration method based on dynamic current monitoring, and is applied to the technical field of automatic guided vehicle battery management. According to the method, a dynamic charging frequency threshold value is determined according to a workload parameter, a battery state parameter and an environment parameter, a full charging task is automatically triggered on the basis of the dynamic charging frequency threshold value, manual intervention is not needed, the intelligent level of charging management of the automatic guided vehicle is improved, and the method adapts to a complex and changeable working scene of a project site; and the full charge task is executed regularly, so that accurate battery current data can be provided for the battery management system, the battery management system can calculate the current displayed electric quantity of the automatic guided vehicle and whether the battery electric quantity is the same according to the battery current data more accurately, and then whether the electric quantity of the automatic guided vehicle needs to be calibrated or not is judged; and work interruption caused by electric quantity misjudgment is avoided. Meanwhile, the cycle service life of the battery can be effectively prolonged, and the replacement cost is reduced.

Description

Technical Field

[0001] This application relates to the field of automated guided vehicle (AGV) battery management technology, and in particular to an AGV power calibration method based on dynamic current monitoring. Background Technology

[0002] Automated Guided Vehicles (AGVs) are battery-powered transport vehicles equipped with electromagnetic, vision, and laser navigation modules. They are capable of autonomously navigating planned routes, possessing safety protection features and various transfer functions, and are a type of industrial robot. Current AGVs can autonomously travel to designated locations and complete tasks such as handling, sorting, and assembly according to instructions from a backend robot control system.

[0003] In real-world scenarios, AGVs typically operate on a "charge during idle, work during busy" charging mode. Frequent charging and other operations can cause battery performance degradation, meaning the actual battery level may differ from the level displayed on the AGV. Current traditional AGV calibration methods rely on a 100% battery level display or a fixed charging time, but these methods cannot verify the battery's true saturation state. This leads to accumulated errors in the Battery Management System (BMS), impacting battery life.

[0004] In view of the above-mentioned technologies, seeking a dynamic current monitoring-based AGV power calibration method that can extend lithium battery life and ensure power metering accuracy is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide an AGV power calibration method based on dynamic current monitoring. This can solve the problem in existing technologies where the true saturation state of the battery cannot be verified, leading to accumulated errors in the battery management system and affecting battery life.

[0006] To address the aforementioned technical problems, this application provides a method for calibrating AGV power based on dynamic current monitoring, comprising:

[0007] Within the power calibration cycle, the corresponding charging number threshold is determined based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle.

[0008] After the automated guided vehicle has continuously used the normal charging mode to charge for a certain number of times, it will switch to full charge mode and continue charging after the automated guided vehicle displays that the battery is fully charged.

[0009] Collect battery current data inside the vehicle with automatic guidance and determine whether the battery current data meets the current change rules corresponding to a fully charged battery.

[0010] If the battery current data meets the current change rules, the displayed battery level of the automated guided vehicle will be equal to the battery level.

[0011] If the battery current data does not meet the current change rules, the displayed battery level of the automated guided vehicle will not be equal to the battery level, and the battery level of the automated guided vehicle will be calibrated.

[0012] Preferably, within the power calibration cycle, a corresponding charging number threshold is determined based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle, including:

[0013] Obtain the single working duration and the average number of charging times per day within the preset time from the working parameters;

[0014] Obtain the battery health status and current change cycle within a preset number of full charge cycles from the battery status parameters;

[0015] Obtain the temperature parameter from the environmental parameters;

[0016] The corresponding charging number threshold is determined based on single working duration, average daily charging times, battery health, current change cycle, and temperature parameters.

[0017] Preferably, the formula corresponding to the charging number threshold is:

[0018] ;

[0019] in, This is a threshold for the number of charging cycles. It is a rounding function; Basic coefficient; For battery health; For temperature parameters; Average number of charging times per day; Duration of a single work session; The period of current change.

[0020] Preferably, the process of determining the threshold number of times the automated guided vehicle (AGV) will continuously charge in the normal charging mode includes:

[0021] If a task signal is received when the displayed battery level of the automated guided vehicle is within the first battery level range, the vehicle will first charge in normal charging mode, and then execute the task corresponding to the task signal when the displayed battery level is within the second battery level range.

[0022] If a task signal is received when the displayed battery level of the automated guided vehicle is within the second battery level range, charging will end and the task corresponding to the task signal will be executed.

[0023] Preferably, the process of setting a threshold for the number of consecutive charging cycles using the normal charging mode for the automated guided vehicle further includes:

[0024] If the displayed battery level of the automated guided vehicle is within the third battery level range, charging will stop and the vehicle will proceed to the standby point.

[0025] Preferably, battery current data inside the automated guided vehicle is collected, and it is determined whether the battery current data meets the current change rules corresponding to a fully charged battery, including:

[0026] Within multiple current acquisition cycles, current data are continuously acquired a preset number of times at preset intervals, and these data are used to construct battery current data.

[0027] The current data in each current acquisition cycle is filtered, and the average current value of each filtered current data is obtained.

[0028] If the average current value corresponding to each current acquisition cycle shows a current change rule of negative-zero-positive, then the displayed power level of the automated guided vehicle is equal to the battery power level.

[0029] Preferably, it further includes:

[0030] After initially determining that the average current value of each current acquisition cycle follows a current change rule of negative-zero-positive, continue to determine whether the average current value of subsequent current acquisition cycles is positive.

[0031] If the average current value corresponding to multiple current acquisition cycles is positive, and the battery voltage corresponding to multiple current acquisition cycles is within the float charge voltage range, then the displayed power level of the automated guided vehicle is equal to the battery power level.

[0032] Preferably, it further includes:

[0033] Collect battery voltage data inside the automated guided vehicle;

[0034] If the battery voltage data is within the float charge voltage range and the duration is longer than the voltage calibration time, the displayed battery level of the automated guided vehicle will be equal to the battery level.

[0035] The AGV power calibration method based on dynamic current monitoring provided in this application determines a dynamic charging frequency threshold based on workload parameters, battery status parameters, and environmental parameters. Based on this threshold, a full-charge task is automatically triggered without manual intervention, improving the intelligence level of AGV charging management and adapting to complex and changing work scenarios on project sites. Furthermore, by periodically executing full-charge tasks, accurate full-charge data (battery current data) is provided to the battery management system. This helps the system more accurately calculate the current displayed power level of the AGV and whether the battery power is consistent, thus determining whether power calibration is needed and avoiding work interruptions due to misjudgment of power levels. Simultaneously, for the battery itself, a reasonable full-charge operation can fully activate and balance the active materials inside the battery, reducing battery polarization, effectively extending the battery's cycle life, and reducing the cost of battery replacement for enterprises. Attached Figure Description

[0036] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A flowchart illustrating an AGV power calibration method based on dynamic current monitoring, provided in this application embodiment. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0039] The core of this application is to provide a method for calibrating the power of AGVs based on dynamic current monitoring.

[0040] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 A flowchart illustrating an AGV power calibration method based on dynamic current monitoring, as provided in this application embodiment, is shown below. Figure 1 As shown, the process includes the following:

[0042] S10: During the power calibration cycle, determine the corresponding charging number threshold based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle.

[0043] S11: After the automated guided vehicle has continuously used the normal charging mode to charge for a certain number of times, it will switch to the full charge mode for charging and continue charging after the automated guided vehicle displays that the battery is fully charged.

[0044] In a specific embodiment, subsequent steps are performed within the power calibration cycle (e.g., power calibration is performed once a month), which can avoid the waste of resources caused by subsequent judgments for each charge or each day of charging.

[0045] In the specific implementation of the AGV power calibration method based on dynamic current monitoring, due to the usage scenarios and methods of the automated guided vehicle, it cannot be guaranteed that every charge will be fully charged. Therefore, the corresponding charging number threshold is determined based on the workload parameters, battery status parameters and environmental parameters of the automated guided vehicle. After charging the pre-set charging number threshold in the normal charging mode, the vehicle will automatically or receive an automatically issued full charge command to charge in the full charge mode, ensuring that the automated guided vehicle displays a fully charged battery, which can be understood as the automated guided vehicle displaying a 100% battery level.

[0046] For example, when the charging threshold is 5 times, the counter will increment by one after each normal charge until it reaches 5. Then, the 6th charge will use the full charge mode until the automated guided vehicle displays 100% charge.

[0047] One point to note is that in normal charging mode, the automated guided vehicle's battery will be charged to about 80%, and then the automated guided vehicle will go to the standby point or perform the corresponding task.

[0048] The charging number thresholds in these two steps are flexibly set, taking into full account the use of automated guided vehicles and the current social environment. After automatically charging to the threshold in the normal charging mode, the system will switch to full charge mode. This reasonable full charge operation can fully activate and balance the active materials inside the battery, reduce battery polarization, effectively extend the battery's cycle life, and reduce the cost of battery replacement for enterprises.

[0049] S12: Collect battery current data inside the automatic guidance vehicle and determine whether the battery current data meets the current change rules corresponding to a fully charged battery.

[0050] S13: If the battery current data meets the current change rules, the displayed battery level of the automated guided vehicle is equal to the battery level.

[0051] S14: If the battery current data does not meet the current change rules, the displayed power level of the automated guided vehicle will not be equal to the battery power level, and the power level of the automated guided vehicle will be calibrated.

[0052] In a specific embodiment, after the battery is fully charged, it continues to charge. Internally, the battery switches from fully charged to discharging, meaning the internal current changes from negative to zero and then back to positive. Based on this principle, after the automated guided vehicle (AGV) displays a fully charged (100%) battery and continues charging, battery current data is collected within the AGV. If the battery current data follows the current change rule—that is, if the battery current data changes from negative to zero and then back to positive—the displayed battery level of the AGV is equal to the battery level, which can be interpreted as the battery not experiencing any damage, meaning the displayed battery level is the actual battery level. If the battery current data does not follow the current change rule, the displayed battery level of the AGV is not equal to the battery level, which can be interpreted as the battery experiencing damage, meaning the displayed battery level is not the actual battery level, and battery calibration is required.

[0053] Therefore, the AGV power calibration method based on dynamic current monitoring provided in this application determines a dynamic charging frequency threshold based on workload parameters, battery status parameters, and environmental parameters. Based on this threshold, a full-charge task is automatically triggered without manual intervention, improving the intelligence level of AGV charging management and adapting to complex and changing work scenarios at project sites. Furthermore, by periodically executing full-charge tasks, accurate full-charge data (battery current data) is provided to the battery management system. This helps the system more accurately calculate the current displayed power level of the AGV and whether the battery power is consistent, thus determining whether power calibration is needed and avoiding work interruptions due to misjudgment of power levels. Simultaneously, for the battery itself, a reasonable full-charge operation can fully activate and balance the active materials, reducing battery polarization, effectively extending battery cycle life, and lowering battery replacement costs for enterprises.

[0054] Based on the above embodiments, as a preferred embodiment, the specific implementation method for determining the corresponding charging number threshold based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle within the power calibration cycle is as follows: Obtain the single working duration and the average daily charging number within a preset time from the working parameters; obtain the battery health and the current change cycle within a preset number of full charges from the battery status parameters; obtain the temperature parameter from the environmental parameters; and determine the corresponding charging number threshold based on the single working duration, average daily charging number, battery health, current change cycle, and temperature parameter.

[0055] The formula corresponding to its charging number threshold is:

[0056] ;

[0057] in, This is a threshold for the number of charging cycles. It is a rounding function; Basic coefficient; For battery health; For temperature parameters; Average number of charging times per day; Duration of a single work session; The period of current change.

[0058] In a specific embodiment, three types of core parameters (workload parameters, battery status parameters, and environmental parameters) are collected in real time, with the data being updated once an hour to ensure the timeliness of the parameters.

[0059] Regarding the workload parameter, the "average number of daily charging times" is obtained through the AGV scheduling system. (Average number of charges per day within a preset time (7 days)) (e.g., during a major promotional period) Off-season "Single work duration" (e.g., sorting scenarios) Moving scenes These two data points reflect the intensity of AGV usage.

[0060] For battery status parameters, the "battery health" is read in real time through the AGV's Battery Management System (BMS). (its new battery) Aging batteries "Current variation period" (Preset current change cycle within 3 full charge cycles) (i.e., the time from 100% charge to positive current, for a new battery) Aging batteries These two parameters reflect the current performance of the battery.

[0061] Regarding environmental parameters, the temperature parameters are obtained through the temperature sensor in the charging area of ​​the AGV. (such as summer) ,winter This is used to reflect the impact of the environment on battery charging.

[0062] A charging number threshold is established based on the above parameters. The dynamic adjustment formula:

[0063] ;

[0064] in, This is a threshold for the number of charging cycles. It is a rounding function; Basic coefficient; For battery health; For temperature parameters; Average number of charging times per day; Duration of a single work session; This represents the period of current change. Furthermore, the fundamental coefficient... It can be preset according to the AGV application scenario (AGV retrieval for warehouse sorting) Heavy-duty AGVs in the workshop ); rounding function make sure The value is an integer because an integer number of charging operations are required.

[0065] In the formula, This can be understood as a temperature correction term, when The time correction term is the largest, that is to say The greater the deviation, the smaller the correction term, to avoid extreme temperatures. An excessively large value causes calibration failure; molecular part Reflects "battery compatibility". The higher the temperature and the better, the larger the molecules. The value tends to increase; the denominator part Reflects "work intensity and battery response" , The larger (the more frequent the work), The smaller the value (the weaker the battery's ability to accept the signal), the larger the denominator. The value tends to decrease.

[0066] As can be seen from the above, this application uses a "multi-dimensional parameter linkage algorithm" to... The value is adjusted in real time according to the actual working conditions. The core logic is to dynamically balance the calibration accuracy and battery wear based on the AGV's "usage intensity," "battery health," and "environmental adaptability." Higher usage intensity (more daily charging times and longer single working time) results in higher battery wear. The smaller the value (the more frequent the calibration is required to avoid error accumulation); the lower the battery health. decline), The smaller the value (precise calibration is needed to reduce the risk of battery overcharging); the lower the ambient temperature deviation. (The farther away the battery's optimal operating temperature) Adjust the value appropriately (e.g., reduce it appropriately if battery activity is low at low temperatures). (To ensure calibration is effective).

[0067] This design approach is more adaptable to different scenarios, breaking through the limitations of traditional fixed solutions. Overcoming the limitations of traditional methods, this system can adapt to different scenarios such as "busy / idle", "warm / cold", and "new / old battery" of the AGV, making flexible adjustments to avoid the "one-size-fits-all" problem of traditional solutions, thereby achieving a better balance between calibration accuracy and battery life.

[0068] Based on the above embodiments, as a preferred embodiment, the process of continuously charging the automated guided vehicle using the normal charging mode for a certain number of times includes:

[0069] If a task signal is received when the displayed battery level of the automated guided vehicle is within the first battery level range, the vehicle will first charge in normal charging mode, and then execute the task corresponding to the task signal when the displayed battery level is within the second battery level range.

[0070] If a task signal is received within the second battery level range when the displayed battery level of the automated guided vehicle is within this range, charging will stop and the task corresponding to the task signal will be executed.

[0071] If the displayed battery level of the automated guided vehicle is within the third battery level range, charging will stop and the vehicle will proceed to the standby point.

[0072] In specific implementations, AGVs are not fully charged for efficiency, as batteries charge fastest at 80% (the third power range). AGVs are charged when not accepting tasks, and if the battery is high enough when a task is accepted, charging will be disconnected to perform the task.

[0073] In normal operation, charging typically involves setting thresholds: a first, a second, and a third battery level range. When the AGV's displayed battery level is below 20% (first range), it will not accept any tasks and will proceed to charging. Above 60% (second range), it will accept any available tasks. Charging stops once the battery level reaches 80% (third range), regardless of whether there are any tasks, and the AGV proceeds to its standby point. In normal charging mode, charging stops based on the displayed battery level. Essentially, the AGV obtains the battery's battery level information and uploads it to the dispatch system. It's important to note that the battery level information is generated by the battery management system (BMS), and the information from the BMS is generally considered the most accurate.

[0074] Based on the above embodiments, as a preferred embodiment, the specific implementation method for collecting battery current data in the automated guided vehicle and determining whether the battery current data meets the current change rule corresponding to a fully charged battery is as follows: In multiple current acquisition cycles, current data are continuously collected a preset number of times at preset intervals to form battery current data; the current data in each current acquisition cycle is filtered, and the average current value of the filtered current data is obtained; if the average current value corresponding to each current acquisition cycle shows a current change rule of negative-zero-positive, then the displayed battery level of the automated guided vehicle is equal to the battery level.

[0075] Furthermore, during this process, after initially determining that the average current value corresponding to each current acquisition cycle exhibits a current change rule of negative-zero-positive, it continuously determines whether the average current value corresponding to multiple subsequent current acquisition cycles is positive. If the average current value corresponding to multiple current acquisition cycles is positive, and the battery voltage corresponding to multiple current acquisition cycles is within the float charge voltage range, then the displayed power level of the automated guided vehicle is equal to the battery power level.

[0076] In a specific embodiment, the AGV's monitoring system continuously reads battery current data. Its current dynamic criterion is based on the identification of the 'micro-current oscillation' characteristic at the end of the battery's float charging phase. When the battery reaches true saturation, the BMS enters a pulsed, low-current charge-discharge equilibrium state to maintain a constant voltage. This application captures a complete 'charge absorption-equilibrium-slight backflow' (i.e., current from negative to zero and then back to positive) current change sequence as a marker that the internal electrochemical reaction of the battery has reached equilibrium and that the active material is fully lithiated, thus providing an unprecedented benchmark based on the battery's true physical state for the BMS's SOC (State of Charge) calibration.

[0077] During this process, AGV charging is subject to interference from motor start-stop and voltage fluctuations in the charging equipment, which can easily lead to momentary anomalies in the current data (such as the current turning positive and then immediately returning to a negative value), potentially misjudging the full charge status and affecting calibration accuracy. Therefore, this application specifically adopts an algorithm of "sliding window filtering + secondary verification" to determine whether the battery current data meets the current change rules corresponding to a fully charged battery.

[0078] Its sliding window filtering: It takes current data for a preset number of consecutive times (e.g., 5 times) at preset intervals (e.g., 1 second), removes the maximum and minimum values, and takes the average value as the current valid value. When the AGV is powered on, the motor unexpectedly starts or stops, causing instantaneous interference current (e.g., instantaneous interference current I = +0.2A). After sliding window filtering, the average current value I_avg remains negative, avoiding misjudgment. When the AGV is fully charged, a second verification is performed after 10 seconds to ensure stable current changes and eliminate fluctuation interference. For example, if the 5 collected values ​​are [-0.8A, -0.7A, +0.3A, -0.9A, -0.6A], the maximum value (+0.3A) and the minimum value (-0.9A) are removed, leaving [-0.8A, -0.7A, -0.6A]. I_avg = -0.7A is calculated, effectively filtering out the instantaneous abnormal value (+0.3A).

[0079] Secondary verification: When I_avg is first detected to change from negative to positive, it is not immediately determined to be fully charged. Instead, it is continuously monitored for multiple subsequent current acquisition cycles (e.g., 10s). If I_avg remains positive within 10s (fluctuation does not exceed ±0.05A) and the battery voltage is stable within the float charge voltage range (e.g., ±50mV), then it is determined to be fully charged.

[0080] During this process, if the current monitoring module malfunctions (such as sensor damage or circuit disconnection), it will result in no current data for 30 consecutive seconds. At this time, it will automatically switch to the "voltage platform criterion" as a backup to avoid the full charging task from stalling. The current backup criterion continuously monitors the battery voltage. If the voltage is stable within the float charge voltage range (±50mV) and the duration is greater than the voltage calibration time (15min), then the full charge is considered successful.

[0081] If a current detection failure occurs during this process, a "current monitoring failure" alarm will be sent to the upper-level system to remind maintenance personnel to inspect the sensor or filter circuit and ensure that subsequent calibrations return to normal. For example, when the AGV is charging, if the motor unexpectedly starts or stops, generating a momentary interference current (such as I=+0.2A at an instant), I_avg will still be negative after sliding window filtering to avoid misjudgment; when fully charged, a second verification is performed every 10 seconds to ensure that the current change is stable and to eliminate fluctuation interference.

[0082] In addition, through the above-mentioned methods, this application can filter out more than 95% of instantaneous interference and noise, reducing the false positive rate from 12% in traditional solutions to below 0.5%. Furthermore, secondary verification ensures that the current change is a "stable full-charge signal" rather than an "interference signal," further reducing the BMS calibration error from ±4.5% (fixed-cycle solution) to ±2.1%. The backup criterion for abnormal branches in this application avoids the problem of "equipment failure causing full-charge stagnation," significantly improving the fault tolerance of the solution.

[0083] Therefore, the AGV power calibration method based on dynamic current monitoring provided in this application has the following advantages:

[0084] 1. Ensure accurate BMS data: By regularly performing full-charge tasks, accurate full-charge data can be provided to the Battery Management System (BMS), which helps the BMS to more accurately calculate parameters such as remaining battery power and health status, thereby improving the accuracy of AGV power monitoring and avoiding work interruptions caused by power misjudgment.

[0085] 2. Extend battery life: Proper full charging can fully activate and balance the active materials inside the battery, reduce battery polarization, effectively extend the battery's cycle life, and reduce the cost of battery replacement for enterprises.

[0086] 3. Intelligent full charge control: Based on the upper-level system settings and charging history, the full charge task is automatically triggered without manual intervention, which improves the intelligence level of AGV charging management and adapts to the complex and ever-changing working scenarios on the project site.

[0087] 4. By combining periodic triggering with dynamic current verification, the industry problem of relying on estimated values ​​in traditional BMS calibration methods is solved, providing a high-precision, low-loss calibration solution for AGV battery management.

[0088] The above provides a detailed description of an AGV power calibration method based on dynamic current monitoring provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0089] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for calibrating the power of an AGV based on dynamic current monitoring, characterized in that, include: Within the power calibration cycle, the corresponding charging number threshold is determined based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle. After the automated guided vehicle has been continuously charged to the charging number threshold in normal charging mode, it is charged in full charge mode, and continues to charge after the automated guided vehicle displays that the battery is fully charged. Collect battery current data inside the automated guided vehicle and determine whether the battery current data meets the current change rules corresponding to a fully charged battery. If the battery current data satisfies the current change rule, then the displayed battery level of the automated guided vehicle is equal to the battery level. If the battery current data does not meet the current change rule, the displayed battery level of the automated guided vehicle will not be equal to the battery level, and the battery level of the automated guided vehicle will be calibrated.

2. The AGV power calibration method based on dynamic current monitoring according to claim 1, characterized in that, The process of determining the corresponding charging number threshold based on the workload parameters, battery status parameters, and environmental parameters of the automated guided vehicle within the power calibration cycle includes: Obtain the single working duration and the average number of charging times per day within a preset time from the working parameters; Obtain the battery health and current change cycle within a preset number of full charge cycles from the battery status parameters; Obtain the temperature parameter from the environmental parameters; The corresponding charging frequency threshold is determined based on the single working duration, the average number of daily charging cycles, the battery health, the current change cycle, and the temperature parameter.

3. The AGV power calibration method based on dynamic current monitoring according to claim 2, characterized in that, The formula corresponding to the charging number threshold is: ； in, The threshold number of charging cycles; It is a rounding function; Basic coefficient; The battery health status; The temperature parameter is mentioned above; The average number of charging times per day; The duration of a single operation; The period of the current change is denoted as .

4. The AGV power calibration method based on dynamic current monitoring according to claim 1, characterized in that, During the process of the automated guided vehicle continuously charging the charging number threshold using the normal charging mode, the following is included: If a task signal is received when the displayed battery level of the automated guided vehicle is within the first battery level range, the normal charging mode is used to charge the vehicle first, and the task corresponding to the task signal is executed when the displayed battery level is within the second battery level range. If the task signal is received when the displayed battery level of the automated guided vehicle is within the second battery level range, charging will end and the task corresponding to the task signal will be executed.

5. The AGV power calibration method based on dynamic current monitoring according to claim 4, characterized in that, During the process of the automated guided vehicle continuously charging the charging number threshold using the normal charging mode, the method further includes: If the displayed battery level of the automated guided vehicle is within the third battery level range, charging will end and the vehicle will proceed to the standby point.

6. The AGV power calibration method based on dynamic current monitoring according to claim 1, characterized in that, The process of collecting battery current data within the automated guided vehicle and determining whether the battery current data meets the current change rules corresponding to a fully charged battery includes: Within multiple current acquisition cycles, current data are continuously acquired a preset number of times at preset intervals, and these data constitute the battery current data. The current data within each current acquisition cycle is filtered, and the average current value of the filtered current data is obtained. If the average current value corresponding to each current acquisition cycle follows the current change rule of negative-zero-positive, then the displayed power level of the automated guided vehicle is equal to the battery power level.

7. The AGV power calibration method based on dynamic current monitoring according to claim 6, characterized in that, Also includes: Once it is determined for the first time that the average current value corresponding to each current acquisition cycle follows the current change rule of negative-zero-positive, it is continuously determined whether the average current value corresponding to multiple subsequent current acquisition cycles is positive. If the average current value corresponding to multiple current acquisition cycles is positive, and the battery voltage corresponding to multiple current acquisition cycles is within the float charge voltage range, then the displayed power level of the automated guided vehicle is equal to the battery power level.

8. The AGV power calibration method based on dynamic current monitoring according to any one of claims 1-7, characterized in that, Also includes: Collect battery voltage data inside the automated guided vehicle; If the battery voltage data is within the float charge voltage range and the duration is greater than the voltage calibration time, then the displayed battery level of the automated guided vehicle is equal to the battery level.

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