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CN114801792B - AGV wireless charging method, device, electronic equipment and system - Google Patents

AGV wireless charging method, device, electronic equipment and system Download PDF

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Publication number
CN114801792B
CN114801792B CN202210289676.1A CN202210289676A CN114801792B CN 114801792 B CN114801792 B CN 114801792B CN 202210289676 A CN202210289676 A CN 202210289676A CN 114801792 B CN114801792 B CN 114801792B
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China
Prior art keywords
agv
wireless charger
charger body
information
position information
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CN202210289676.1A
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Chinese (zh)
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CN114801792A (en
Inventor
付鑫
袁悦
韩乐
张校志
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Ji Hua Laboratory
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Ji Hua Laboratory
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The application belongs to the technical field of automatic charging, and discloses a wireless charging method, a wireless charging device, electronic equipment and a wireless charging system for an AGV, wherein a wireless charger body and a double-shaft driving device are arranged below the ground of an AGV working site, and charging request information sent by the AGV is obtained, wherein the charging request information comprises first position information and moving path information of the current position of the AGV; acquiring second position information of the current position of the wireless charger body; acquiring reference movement time according to the second position information; calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time is passed according to the first position information and the moving path information; controlling the wireless charger body to move to a theoretical position; after the AGV meets the wireless charger body, the wireless charger body is controlled to move along with the AGV and simultaneously carry out wireless charging on the AGV; therefore, the efficiency of the charging equipment reaching the position of the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.

Description

AGV wireless charging method, device, electronic equipment and system
Technical Field
The application relates to the technical field of automatic charging, in particular to an AGV wireless charging method, an AGV wireless charging device, electronic equipment and an AGV wireless charging system.
Background
At present, an AGV is used in some factories to transport products or workpieces, a fixed charging point is arranged in a working area of the AGV, when the residual electric quantity of the AGV is too low, the AGV actively moves to the charging point to charge, and after the charging is completed, an unfinished task is continued. And cannot work in the process of charging (refer to that the task cannot be continuously executed).
For this reason, there are some factories to set up mobile charging device, by mobile charging device initiative remove to the AGV department that lacks the electricity and follow this AGV and remove, charge this AGV in the removal in-process to realize that the AGV can continue the operation in the charging process.
However, when a large number of AGVs and/or other devices are present in the factory, the path to be traversed by the mobile charging device during the process of moving to the power-failure AGV needs to be planned by taking the position of each AGV and/or other devices into consideration, so that the planning efficiency is low, and the planned path is long (the path is generally not a straight line and the path is long), and the time elapsed from the time when the mobile charging device receives the charging request to the time when the mobile charging device moves to the power-failure AGV is long, so that the production efficiency of the factory is affected.
Disclosure of Invention
The application aims to provide an AGV wireless charging method, device, electronic equipment and system, which can effectively improve the efficiency of the charging equipment reaching the position of an electric-lacking AGV and are beneficial to improving the production efficiency of factories.
In a first aspect, the application provides an AGV wireless charging method, which is applied to a control system of a wireless charger, wherein the wireless charger comprises a wireless charger body and a double-shaft driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site;
The AGV wireless charging method comprises the following steps:
A1. acquiring charging request information sent by an AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
A2. Acquiring second position information of the current position of the wireless charger body;
A3. acquiring reference movement time according to the second position information;
A4. Calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time passes according to the first position information and the moving path information;
A5. Controlling the wireless charger body to move to the theoretical position;
A6. After the AGV meets the wireless charger body, the wireless charger body is controlled to follow the AGV to move and simultaneously carry out wireless charging on the AGV.
Because the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site, the movement of the wireless charger body is not influenced by equipment on the ground of the AGV working site and the position of the AGV, the path planning is simple and quick, and the wireless charger body can quickly reach the position of the power failure AGV; in addition, the wireless charger body can continue to operate when approaching to the power failure AGV, so that the influence on the production efficiency of a factory is small; the wireless charger body charges in a wireless charging mode, the butt joint of a charging interface is not needed, the butt joint time is saved, and the influence on the production efficiency of a factory can be further reduced; because there is not physical connection between wireless charger body and AGV, can not cause the influence to the removal route of AGV following the in-process. Compared with the existing following charging technology, the efficiency of the charging equipment reaching the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
Preferably, step A3 comprises:
A301. acquiring the furthest distance between the wireless charger body and the edge point of the AGV working site;
A302. and calculating the minimum time required by the wireless charger body to move the farthest distance, and taking the minimum time as the reference movement time.
Because in this reference moving time, the wireless charger body can move to the below of any point in the AGV working place, and the distance between the follow-up theoretical position and the current position of the wireless charger body can not be greater than this furthest distance, consequently, can guarantee that in the follow-up process, the time that the wireless charger body required to move to the theoretical position can not be greater than this reference moving time, and the wireless charger body can not be slower than AGV and reach this theoretical position promptly to avoid the AGV to reach the theoretical position before the wireless charger body and need wait.
In some embodiments, the AGV work site is a rectangular site;
Step a301 includes:
According to the second position information, calculating first distances between four corner points of the AGV working site and the wireless charger body;
and extracting the largest first distance as the farthest distance.
Because only the first distance between the four corner points and the wireless charger body needs to be calculated, the calculated amount is less, the processing efficiency is high, and the efficiency of the wireless charger body reaching the power failure AGV can be further improved.
Preferably, step a302 includes:
Acquiring a first maximum acceleration of the wireless charger body in a first direction; the first direction is a direction pointing to the farthest edge point from the current position of the wireless charger body; the furthest edge point is the edge point which is the furthest distance from the wireless charger body;
and calculating the minimum time required by the wireless charger body to linearly move from the current position to the farthest edge point according to the first maximum acceleration and the farthest distance, and taking the minimum time as the reference moving time.
Preferably, the moving path information includes position information, velocity information, and acceleration information of a plurality of path points;
step A4 includes:
Acquiring the path point closest to the current position of the AGV as a first reference path point according to the first position information;
Searching a second reference path point from the path points downstream of the first reference path point according to the position information, the speed information and the acceleration information of the path points; the time interval between the second reference path point and the first reference path point is closest to the reference movement time;
and extracting the position information of the second reference path point as the theoretical position information.
Preferably, step A5 comprises:
and controlling the wireless charger body to move to the theoretical position along a straight line.
Preferably, step A6 comprises:
Judging whether the AGV meets the wireless charger body or not according to whether the AGV enters a first neighborhood of the wireless charger body or not; the first neighborhood is a preset area taking the wireless charger body as a center;
After the AGV meets the wireless charger body, controlling the wireless charger body to move to the position right below the AGV;
after the wireless charger body moves to the position right below the AGV, the wireless charger body is controlled to follow the AGV to move according to the moving path information, and meanwhile, the AGV is charged wirelessly.
In a second aspect, the application provides an AGV wireless charging device, which is applied to a control system of a wireless charger, wherein the wireless charger comprises a wireless charger body and a double-shaft driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site;
the wireless charging device of AGV includes:
The first acquisition module is used for acquiring charging request information sent by the AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
The second acquisition module is used for acquiring second position information of the current position of the wireless charger body;
the third acquisition module is used for acquiring reference movement time according to the second position information;
the first calculation module is used for calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time passes according to the first position information and the moving path information;
The first execution module is used for controlling the wireless charger body to move to the theoretical position;
the second execution module is used for controlling the wireless charger body to follow the AGV to move and simultaneously carrying out wireless charging on the AGV after the AGV meets the wireless charger body.
Because the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site, the movement of the wireless charger body is not influenced by equipment on the ground of the AGV working site and the position of the AGV, the path planning is simple and quick, and the wireless charger body can quickly reach the position of the power failure AGV; in addition, the wireless charger body can continue to operate when approaching to the power failure AGV, so that the influence on the production efficiency of a factory is small; the wireless charger body charges in a wireless charging mode, the butt joint of a charging interface is not needed, the butt joint time is saved, and the influence on the production efficiency of a factory can be further reduced; because there is not physical connection between wireless charger body and AGV, can not cause the influence to the removal route of AGV following the in-process. Compared with the existing following charging technology, the efficiency of the charging equipment reaching the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
In a third aspect, the present application provides an electronic device comprising a processor and a memory, said memory storing a computer program executable by said processor, when executing said computer program, running steps in an AGV wireless charging method as described above.
In a fourth aspect, the application provides a wireless charging system for an AGV, which is used for charging the AGV, and comprises a wireless charger and a control system, wherein the wireless charger comprises a wireless charger body and a double-shaft driving device for driving the wireless charger body to move, and the wireless charger body and the double-shaft driving device are both arranged below the ground of an AGV working site;
The control system is used for acquiring charging request information sent by the AGV, the charging request information comprises first position information and moving path information of the current position of the AGV, second position information of the current position of the wireless charger body is acquired, reference moving time is acquired according to the second position information, theoretical position information of a theoretical position reached by the AGV after the reference moving time is calculated according to the first position information and the moving path information, the wireless charger body is controlled to move to the theoretical position, and after the AGV meets the wireless charger body, the wireless charger body is controlled to carry out wireless charging on the AGV while following the movement of the AGV.
The beneficial effects are that:
According to the AGV wireless charging method, device, electronic equipment and system provided by the application, the wireless charger body and the double-shaft driving device are arranged below the ground of an AGV working site, and charging request information sent by the AGV is obtained; the charging request information comprises first position information and moving path information of the current position of the AGV; acquiring second position information of the current position of the wireless charger body; acquiring reference movement time according to the second position information; calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time passes according to the first position information and the moving path information; controlling the wireless charger body to move to the theoretical position; after the AGV meets the wireless charger body, controlling the wireless charger body to move along with the AGV and simultaneously carrying out wireless charging on the AGV; therefore, the efficiency of charging equipment (namely, the wireless charger body) reaching the position of the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
FIG. 1 is a flow chart of an AGV wireless charging method provided by an embodiment of the application.
Fig. 2 is a schematic structural diagram of an AGV wireless charging device according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an AGV wireless charging system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic diagram of an AGV wireless charging method according to some embodiments of the present application, which is applied to a control system of a wireless charger, where the wireless charger includes a wireless charger body and a dual-axis driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of an AGV working site (namely the working area of the AGV);
The AGV wireless charging method comprises the following steps:
A1. Acquiring charging request information sent by an AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
A2. Acquiring second position information of the current position of the wireless charger body;
A3. Acquiring reference movement time according to the second position information;
A4. calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time is passed according to the first position information and the moving path information;
A5. Controlling the wireless charger body to move to a theoretical position;
A6. after the AGV meets the wireless charger body, the wireless charger body is controlled to carry out wireless charging on the AGV while following the movement of the AGV.
Because the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site, the movement of the wireless charger body is not influenced by equipment on the ground of the AGV working site and the position of the AGV, the path planning is simple and quick, and the wireless charger body can quickly reach the position of the power failure AGV; in addition, the wireless charger body can continue to operate when approaching to the power failure AGV, so that the influence on the production efficiency of a factory is small; the wireless charger body charges in a wireless charging mode, the butt joint of a charging interface is not needed, the butt joint time is saved, and the influence on the production efficiency of a factory can be further reduced; because there is not physical connection between wireless charger body and AGV, can not cause the influence to the removal route of AGV following the in-process. Compared with the existing following charging technology, the efficiency of the charging equipment reaching the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
The wireless charger body is wireless charging equipment with a complete wireless charging function. The double-shaft driving device is provided with two mutually perpendicular linear driving mechanisms, the first linear driving mechanism is used for driving the second linear driving mechanism to move along the x-axis direction, and the second linear driving mechanism is used for driving the wireless charger body to move along the y-axis direction; the x-axis direction and the y-axis direction are two mutually perpendicular directions on a plane parallel to the floor of the AGV work site. The linear drive mechanism may be, but is not limited to, a linear motor, a screw drive mechanism, a rack and pinion drive mechanism, and the like. Wherein, can set up the cavity in order to install this wireless charger body and biax drive arrangement in the ground below in AGV place of working, also can directly install this wireless charger body and biax drive arrangement in the bottom of the floor at AGV place of working place.
For example, in some embodiments, the AGV wireless charging method is applied to the control system of the AGV wireless charging system shown in FIG. 4, and the specific structure of the AGV wireless charging system is described in detail later.
In practical applications, when the remaining power of the AGV is lower than a preset first power threshold (which may be set according to practical needs, for example, but not limited to, 30% of the full power), charging request information is sent to the control system, and the first position information of the current position of the AGV and movement path information (i.e., the movement path information of the pre-planned movement path of the AGV) are included in the charging request information. After receiving the charging request information, the control system determines the AGV as an off-power AGV, and accordingly controls the wireless charger to charge the off-power AGV.
The second position information of the current position of the wireless charger body can be obtained through a positioning module (such as a positioning module, an inertial measurement module and the like, but not limited to the positioning module and the inertial measurement module) arranged on the wireless charger body, and the second position information of the current position of the wireless charger body can also be obtained through a rotary encoder on a driving motor in the double-shaft driving device.
The reference movement time may be a fixed preset time, or may be calculated by a preset calculation formula or calculation model (the calculation formula or calculation model takes the second position information as input and takes the reference movement time as output), but is not limited thereto.
For example, in some preferred embodiments, step A3 comprises:
A301. acquiring the farthest distance between the wireless charger body and the edge point of the AGV working site;
A302. and calculating the minimum time required by the wireless charger body to move the farthest distance, and taking the minimum time as the reference moving time.
Because in this reference moving time, the wireless charger body can move to the below of any point in the AGV working place, and the distance between the follow-up theoretical position and the current position of the wireless charger body can not be greater than this furthest distance, consequently, can guarantee that in the follow-up process, the time that the wireless charger body required to move to the theoretical position can not be greater than this reference moving time, and the wireless charger body can not be slower than AGV and reach this theoretical position promptly to avoid the AGV to reach the theoretical position before the wireless charger body and need wait.
The edge points of the AGV working site are position points on edge lines of the AGV working site.
In some embodiments, step a301 comprises: distances between a plurality of edge points which are distributed on the edge line of the AGV working site at equal intervals and the current position of the wireless charger body are calculated respectively, and the farthest distance is extracted from the distances.
In other embodiments, step a301 comprises: and respectively calculating the distance between each corner point on the edge line of the AGV working site and the current position of the wireless charger body, and extracting the farthest distance from the distances. The method is more suitable for the polygonal AGV working field, the calculated amount can be reduced, and the processing efficiency is improved.
For example, in one particular embodiment, the AGV work site is a rectangular site;
Step a301 includes:
According to the second position information, calculating first distances between four corner points of the AGV working site and the wireless charger body;
the largest first distance is extracted as the furthest distance.
Because only the first distance between the four corner points and the wireless charger body needs to be calculated, the calculated amount is less, the processing efficiency is high, and the efficiency of the wireless charger body reaching the power failure AGV can be further improved.
Preferably, step a302 includes:
acquiring a first maximum acceleration of the wireless charger body in a first direction; the first direction is a direction pointing to the farthest edge point from the current position of the wireless charger body; the farthest edge point is the edge point which is farthest from the wireless charger body;
And calculating the minimum time required by the wireless charger body to linearly move from the current position to the farthest edge point according to the first maximum acceleration and the farthest distance, and taking the minimum time as the reference moving time.
The step of acquiring the first maximum acceleration of the wireless charger body in the first direction comprises the following steps:
The first maximum acceleration is calculated according to the following formula:
；
Wherein, For this first maximum acceleration it is possible,For maximum acceleration of the wireless charger body in the x-axis direction (which is known to be determined by the performance of the linear drive mechanism in the x-axis direction),For maximum acceleration of the wireless charger body in the y-axis direction (which is known to be determined by the performance of the linear drive mechanism in the y-axis direction),、Respectively, the x coordinate value and the y coordinate value of the current position of the wireless charger body (namely, the x coordinate value and the y coordinate value in the second position information),、The x-coordinate value and the y-coordinate value of the furthest edge point, respectively.
Preferably, the step of calculating a minimum time required for the wireless charger body to linearly move from the current position to the farthest edge point according to the first maximum acceleration and the farthest distance, and taking the minimum time as a reference moving time includes:
the reference movement time is calculated according to the following formula:
；
Wherein, For the reference movement time of the object,Is the furthest distance. In fact, the reference moving time calculated by the formula is the total time required by the wireless charger body to uniformly accelerate and linearly move from the current position to the farthest distance of half by the first maximum acceleration and then uniformly decelerate and linearly move to the static state by the first maximum acceleration, and when the wireless charger body moves in the mode, the shortest time for the wireless charger body to start to move from the current position and stop at the farthest edge point can be ensured; the reference moving time calculated by the formula is the minimum time for ensuring that the wireless charger body can reach any point of the AGV working site.
Preferably, the moving path information includes position information, velocity information, and acceleration information of a plurality of path points;
step A4 includes:
A401. acquiring a path point closest to the current position of the AGV according to the first position information, and taking the path point as a first reference path point;
A402. Searching a second reference path point from the path points downstream of the first reference path point (i.e., the path points with sequence numbers after the sequence number of the first reference path point) according to the position information, the speed information and the acceleration information of the path points; the time interval between the second reference path point and the first reference path point is closest to the reference movement time;
A403. and extracting the position information of the second reference path point as theoretical position information.
The distance from the position point corresponding to the first position information (i.e., the position point of the current position of the AGV) to each path point may be calculated, and the path point corresponding to the minimum value in these distances may be extracted as the first reference path point.
The distance from the position point corresponding to the first position information to each path point may be calculated to determine two nodes closest to the current position of the AGV (it is to be noted that, here, the distance between each path point (including the two nodes) and the position point corresponding to the first position information is calculated, and the path point corresponding to the minimum value of these distances is extracted as the first reference path point, where the distance is selected at equal intervals among the travel paths of the AGV as the nodes (where the distance is to be noted, the distance is 10, and the 1 st path point is the 1 st node, the 11 st path point is the 2 nd node, the 21 st path point is the 3 rd node, and so on). The method does not need to calculate the distance between all path points and the current position of the AGV, so that the calculated amount can be reduced, and the processing efficiency can be improved.
In some embodiments, step a402 comprises:
The arrival time of each of the path points downstream of the first reference path point (i.e., the time required from the first reference path point to the corresponding path point) is sequentially calculated according to the following formula until the arrival time is not less than the reference movement time, stopping calculating the next arrival time:
Wherein, Downstream of the first reference path pointThe arrival times of the individual path points,Downstream of the first reference path pointThe path segment (i.e. the first reference path point downstream of the firstPath segment between a waypoint and its last waypoint),Downstream of the first reference path pointThe length of each path segment (equal to the distance between the first path point downstream of the first reference path point and the last path point thereon),Downstream of the first reference path pointSpeed information of each route point (ifAt the point of zero, the number of the channels is zero,Speed information representing a first reference path point),Downstream of the first reference path pointAcceleration information of each route point (ifAt the point of zero, the number of the channels is zero,Acceleration information representing a first reference path point);
The path point whose arrival time is closest to the reference movement time among the two path points whose arrival times are calculated last is taken as the second reference path point.
In some preferred embodiments, step A5 comprises:
and controlling the wireless charger body to move to a theoretical position along a straight line.
Since the moving track of the wireless charger body is not limited by the AGV or other obstacles, the wireless charger body can move to the theoretical position in any path, wherein the distance along the straight line is the shortest, and the time consumption is the least.
The control system drives the wireless charger body to move through the double-shaft driving device, and specifically, the control system controls the two linear driving mechanisms of the double-shaft driving device to work so as to drive the wireless charger body to move according to a planned track.
Preferably, the step of controlling the wireless charger body to move to the theoretical position along the straight line includes:
acquiring a second maximum acceleration of the wireless charger body in a second direction; the second direction is the direction pointing to the theoretical position from the current position of the wireless charger body (the specific calculation process refers to the calculation process of the first maximum acceleration in the previous process, and the theoretical position is used for replacing the farthest edge point in the calculation process);
And controlling the wireless charger body to uniformly accelerate the linear motion (initial speed is 0) along a second direction by using a second maximum acceleration until the wireless charger body moves to a midpoint between the current position and the theoretical position of the wireless charger body, and uniformly decelerate the linear motion by using the second maximum acceleration until the speed is zero.
In this way, the wireless charger body can be made to reach the theoretical position in the shortest time, thereby reliably ensuring that the wireless charger body reaches the theoretical position no later than the AGV.
In practical application, because the road surface is wet smooth, tire skids or other reasons, when the AGV moves according to the planning route, can have the error between its actual motion track and the planning route, consequently, after the reference travel time, there is certain deviation between AGV's actual position and the theoretical position, if the accurate process of following and charging that reaches the theoretical position just triggers of AGV, then often be difficult to satisfy the condition and can't trigger the process of following and charging, consequently, can set up a first neighborhood as the center by wireless charger body, if the AGV gets into the scope of this first neighborhood, just judge that AGV meets with wireless charger body, thereby reliably trigger the process of following and charging. Thus, in some embodiments, step A6 comprises:
judging whether the AGV meets the wireless charger body according to whether the AGV enters a first neighborhood of the wireless charger body or not; the first neighborhood is a preset area taking the wireless charger body as the center;
After the AGV meets the wireless charger body, the wireless charger body is controlled to move to the position right below the AGV;
After the wireless charger body moves to the position right below the AGV, the wireless charger body is controlled to follow the movement of the AGV according to the movement path information, and meanwhile the AGV is charged wirelessly.
The shape and size of the first neighborhood may be set according to practical needs, for example, a circle with a preset radius, but is not limited thereto.
In some embodiments, after the AGV encounters the wireless charger body, the step of controlling the wireless charger body to move directly under the AGV includes: and sending a pause instruction to the AGV to pause the AGV to move, and controlling the wireless charger body to move to the position right below the AGV according to the actual position of the AGV. Further, after the wireless charger body moves to the position right below the AGV, the step of wirelessly charging the AGV while controlling the wireless charger body to follow the movement of the AGV according to the movement path information includes: after the wireless charger body moves to the position right below the AGV, a starting instruction is sent to the AGV, so that the AGV continues to move, and the wireless charger body is controlled to follow the movement of the AGV according to the movement path information and simultaneously carry out wireless charging on the AGV.
In this process, because the position of AGV is not adjusted and only the position of wireless charger body is adjusted to can not influence the motion track of AGV, reduce the influence to the AGV operation process.
However, in practical application, only the position of the AGV or both the AGV and the wireless charger body can be adjusted to realize the up-down alignment between the two.
It should be noted that, the position information of the actual position of the AGV may be obtained through a positioning module (such as a positioning module, an inertial measurement module, etc., but not limited thereto) on the AGV, or may be obtained using a positioning algorithm in the existing SLAM process.
According to the AGV wireless charging method, the wireless charger body and the double-shaft driving device are arranged below the ground of an AGV working site, and charging request information sent by the AGV is obtained; the charging request information comprises first position information and moving path information of the current position of the AGV; acquiring second position information of the current position of the wireless charger body; acquiring reference movement time according to the second position information; calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time is passed according to the first position information and the moving path information; controlling the wireless charger body to move to a theoretical position; after the AGV meets the wireless charger body, the wireless charger body is controlled to move along with the AGV and simultaneously carry out wireless charging on the AGV; therefore, the efficiency of charging equipment (namely, the wireless charger body) reaching the position of the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
Referring to fig. 2, the present application provides an AGV wireless charging device, which is applied to a control system of a wireless charger, wherein the wireless charger includes a wireless charger body and a dual-shaft driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site;
AGV wireless charging device includes:
The first acquisition module 1 is used for acquiring charging request information sent by the AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
a second obtaining module 2, configured to obtain second location information of a current location of the wireless charger body;
a third acquisition module 3, configured to acquire a reference movement time according to the second position information;
A first calculation module 4, configured to calculate theoretical position information of a theoretical position reached by the AGV after the reference movement time according to the first position information and the movement path information;
the first execution module 5 is used for controlling the wireless charger body to move to a theoretical position;
and the second execution module 6 is used for controlling the wireless charger body to carry out wireless charging on the AGV while following the movement of the AGV after the AGV meets the wireless charger body.
Because the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site, the movement of the wireless charger body is not influenced by equipment on the ground of the AGV working site and the position of the AGV, the path planning is simple and quick, and the wireless charger body can quickly reach the position of the power failure AGV; in addition, the wireless charger body can continue to operate when approaching to the power failure AGV, so that the influence on the production efficiency of a factory is small; the wireless charger body charges in a wireless charging mode, the butt joint of a charging interface is not needed, the butt joint time is saved, and the influence on the production efficiency of a factory can be further reduced; because there is not physical connection between wireless charger body and AGV, can not cause the influence to the removal route of AGV following the in-process. Compared with the existing following charging technology, the efficiency of the charging equipment reaching the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
The wireless charger body is wireless charging equipment with a complete wireless charging function. The double-shaft driving device is provided with two mutually perpendicular linear driving mechanisms, the first linear driving mechanism is used for driving the second linear driving mechanism to move along the x-axis direction, and the second linear driving mechanism is used for driving the wireless charger body to move along the y-axis direction; the x-axis direction and the y-axis direction are two mutually perpendicular directions on a plane parallel to the floor of the AGV work site. The linear drive mechanism may be, but is not limited to, a linear motor, a screw drive mechanism, a rack and pinion drive mechanism, and the like. Wherein, can set up the cavity in order to install this wireless charger body and biax drive arrangement in the ground below in AGV place of working, also can directly install this wireless charger body and biax drive arrangement in the bottom of the floor at AGV place of working place.
For example, in some embodiments, the AGV wireless charging device is applied to a control system of an AGV wireless charging system shown in FIG. 4, and the specific structure of the AGV wireless charging system is described in detail later.
In practical applications, when the remaining power of the AGV is lower than a preset first power threshold (which may be set according to practical needs, for example, but not limited to, 30% of the full power), charging request information is sent to the control system, and the first position information of the current position of the AGV and movement path information (i.e., the movement path information of the pre-planned movement path of the AGV) are included in the charging request information. After receiving the charging request information, the control system determines the AGV as an off-power AGV, and accordingly controls the wireless charger to charge the off-power AGV.
The second position information of the current position of the wireless charger body can be obtained through a positioning module (such as a positioning module, an inertial measurement module and the like, but not limited to the positioning module and the inertial measurement module) arranged on the wireless charger body, and the second position information of the current position of the wireless charger body can also be obtained through a rotary encoder on a driving motor in the double-shaft driving device.
The reference movement time may be a fixed preset time, or may be calculated by a preset calculation formula or calculation model (the calculation formula or calculation model takes the second position information as input and takes the reference movement time as output), but is not limited thereto.
For example, in some preferred embodiments, the third acquisition module 3 is configured to, when acquiring the reference movement time according to the second position information, perform:
Acquiring the farthest distance between the wireless charger body and the edge point of the AGV working site;
And calculating the minimum time required by the wireless charger body to move the farthest distance, and taking the minimum time as the reference moving time.
Because in this reference moving time, the wireless charger body can move to the below of any point in the AGV working place, and the distance between the follow-up theoretical position and the current position of the wireless charger body can not be greater than this furthest distance, consequently, can guarantee that in the follow-up process, the time that the wireless charger body required to move to the theoretical position can not be greater than this reference moving time, and the wireless charger body can not be slower than AGV and reach this theoretical position promptly to avoid the AGV to reach the theoretical position before the wireless charger body and need wait.
The edge points of the AGV working site are position points on edge lines of the AGV working site.
In some embodiments, the third acquisition module 3 performs, when acquiring the furthest distance between the wireless charger body and the edge point of the AGV work site: distances between a plurality of edge points which are distributed on the edge line of the AGV working site at equal intervals and the current position of the wireless charger body are calculated respectively, and the farthest distance is extracted from the distances.
In other embodiments, the third acquisition module 3 performs, when acquiring the furthest distance between the wireless charger body and the edge point of the AGV work site: and respectively calculating the distance between each corner point on the edge line of the AGV working site and the current position of the wireless charger body, and extracting the farthest distance from the distances. The method is more suitable for the polygonal AGV working field, the calculated amount can be reduced, and the processing efficiency is improved.
For example, in one particular embodiment, the AGV work site is a rectangular site;
the third acquisition module 3 performs, when acquiring the farthest distance between the wireless charger body and the edge point of the AGV work site:
According to the second position information, calculating first distances between four corner points of the AGV working site and the wireless charger body;
the largest first distance is extracted as the furthest distance.
Because only the first distance between the four corner points and the wireless charger body needs to be calculated, the calculated amount is less, the processing efficiency is high, and the efficiency of the wireless charger body reaching the power failure AGV can be further improved.
Preferably, the third obtaining module 3 performs, when calculating the minimum time required for the wireless charger body to move the farthest distance and taking the minimum time as the reference movement time:
acquiring a first maximum acceleration of the wireless charger body in a first direction; the first direction is a direction pointing to the farthest edge point from the current position of the wireless charger body; the farthest edge point is the edge point which is farthest from the wireless charger body;
And calculating the minimum time required by the wireless charger body to linearly move from the current position to the farthest edge point according to the first maximum acceleration and the farthest distance, and taking the minimum time as the reference moving time.
Wherein, the third acquisition module 3 performs, when acquiring the first maximum acceleration of the wireless charger body in the first direction:
The first maximum acceleration is calculated according to the following formula:
；
Wherein, For this first maximum acceleration it is possible,For maximum acceleration of the wireless charger body in the x-axis direction (which is known to be determined by the performance of the linear drive mechanism in the x-axis direction),For maximum acceleration of the wireless charger body in the y-axis direction (which is known to be determined by the performance of the linear drive mechanism in the y-axis direction),、Respectively, the x coordinate value and the y coordinate value of the current position of the wireless charger body (namely, the x coordinate value and the y coordinate value in the second position information),、The x-coordinate value and the y-coordinate value of the furthest edge point, respectively.
Preferably, the third obtaining module 3 calculates a minimum time required for the wireless charger body to linearly move from the current position to the farthest edge point according to the first maximum acceleration and the farthest distance, and performs:
the reference movement time is calculated according to the following formula:
；
Wherein, For the reference movement time of the object,Is the furthest distance. In fact, the reference moving time calculated by the formula is the total time required by the wireless charger body to uniformly accelerate and linearly move from the current position to the farthest distance of half by the first maximum acceleration and then uniformly decelerate and linearly move to the static state by the first maximum acceleration, and when the wireless charger body moves in the mode, the shortest time for the wireless charger body to start to move from the current position and stop at the farthest edge point can be ensured; the reference moving time calculated by the formula is the minimum time for ensuring that the wireless charger body can reach any point of the AGV working site.
Preferably, the moving path information includes position information, velocity information, and acceleration information of a plurality of path points;
The first calculation module 4 is configured to, when calculating theoretical position information of a theoretical position reached by the AGV after the reference movement time based on the first position information and the movement path information, perform:
acquiring a path point closest to the current position of the AGV according to the first position information, and taking the path point as a first reference path point;
Searching a second reference path point from the path points downstream of the first reference path point (i.e., the path points with sequence numbers after the sequence number of the first reference path point) according to the position information, the speed information and the acceleration information of the path points; the time interval between the second reference path point and the first reference path point is closest to the reference movement time;
and extracting the position information of the second reference path point as theoretical position information.
The distance from the position point corresponding to the first position information (i.e., the position point of the current position of the AGV) to each path point may be calculated, and the path point corresponding to the minimum value in these distances may be extracted as the first reference path point.
The distance from the position point corresponding to the first position information to each path point may be calculated to determine two nodes closest to the current position of the AGV (it is to be noted that, here, the distance between each path point (including the two nodes) and the position point corresponding to the first position information is calculated, and the path point corresponding to the minimum value of these distances is extracted as the first reference path point, where the distance is selected at equal intervals among the travel paths of the AGV as the nodes (where the distance is to be noted, the distance is 10, and the 1 st path point is the 1 st node, the 11 st path point is the 2 nd node, the 21 st path point is the 3 rd node, and so on). The method does not need to calculate the distance between all path points and the current position of the AGV, so that the calculated amount can be reduced, and the processing efficiency can be improved.
In some embodiments, the first calculation module 4 performs, when searching for a second reference path point from among the path points downstream of the first reference path point based on the position information, the velocity information, and the acceleration information of the path points:
The arrival time of each of the path points downstream of the first reference path point (i.e., the time required from the first reference path point to the corresponding path point) is sequentially calculated according to the following formula until the arrival time is not less than the reference movement time, stopping calculating the next arrival time:
Wherein, Downstream of the first reference path pointThe arrival times of the individual path points,Downstream of the first reference path pointThe path segment (i.e. the first reference path point downstream of the firstPath segment between a waypoint and its last waypoint),Downstream of the first reference path pointThe length of the path segment (equal to the first reference path point downstreamThe distance between a path point and the last path point),Downstream of the first reference path pointSpeed information of each route point (if it isZero is used to make the zero-point code,Speed information representing a first reference path point),Downstream of the first reference path pointAcceleration information of each route point (if it isZero is used to make the zero-point code,Acceleration information representing a first reference path point);
The path point whose arrival time is closest to the reference movement time among the two path points whose arrival times are calculated last is taken as the second reference path point.
In some preferred embodiments, the first execution module 5 is configured to execute, when controlling the wireless charger body to move to the theoretical position:
and controlling the wireless charger body to move to a theoretical position along a straight line.
Since the moving track of the wireless charger body is not limited by the AGV or other obstacles, the wireless charger body can move to the theoretical position in any path, wherein the distance along the straight line is the shortest, and the time consumption is the least.
The control system drives the wireless charger body to move through the double-shaft driving device, and specifically, the control system controls the two linear driving mechanisms of the double-shaft driving device to work so as to drive the wireless charger body to move according to a planned track.
Preferably, the first execution module executes when controlling the wireless charger body to move to the theoretical position along the straight line:
acquiring a second maximum acceleration of the wireless charger body in a second direction; the second direction is the direction pointing to the theoretical position from the current position of the wireless charger body (the specific calculation process refers to the calculation process of the first maximum acceleration in the previous process, and the theoretical position is used for replacing the farthest edge point in the calculation process);
And controlling the wireless charger body to uniformly accelerate the linear motion (initial speed is 0) along a second direction by using a second maximum acceleration until the wireless charger body moves to a midpoint between the current position and the theoretical position of the wireless charger body, and uniformly decelerate the linear motion by using the second maximum acceleration until the speed is zero.
In this way, the wireless charger body can be made to reach the theoretical position in the shortest time, thereby reliably ensuring that the wireless charger body reaches the theoretical position no later than the AGV.
In practical application, because the road surface is wet smooth, tire skids or other reasons, when the AGV moves according to the planning route, can have the error between its actual motion track and the planning route, consequently, after the reference travel time, there is certain deviation between AGV's actual position and the theoretical position, if the accurate process of following and charging that reaches the theoretical position just triggers of AGV, then often be difficult to satisfy the condition and can't trigger the process of following and charging, consequently, can set up a first neighborhood as the center by wireless charger body, if the AGV gets into the scope of this first neighborhood, just judge that AGV meets with wireless charger body, thereby reliably trigger the process of following and charging. Thus, in some embodiments, the second execution module 6 is configured to execute, when the AGV is wirelessly charged while the wireless charger body is controlled to follow the movement of the AGV after the AGV meets the wireless charger body:
judging whether the AGV meets the wireless charger body according to whether the AGV enters a first neighborhood of the wireless charger body or not; the first neighborhood is a preset area taking the wireless charger body as the center;
After the AGV meets the wireless charger body, the wireless charger body is controlled to move to the position right below the AGV;
After the wireless charger body moves to the position right below the AGV, the wireless charger body is controlled to follow the movement of the AGV according to the movement path information, and meanwhile the AGV is charged wirelessly.
The shape and size of the first neighborhood may be set according to practical needs, for example, a circle with a preset radius, but is not limited thereto.
In some embodiments, the second execution module 6 executes when controlling the wireless charger body to move directly below the AGV after the AGV meets the wireless charger body: and sending a pause instruction to the AGV to pause the AGV to move, and controlling the wireless charger body to move to the position right below the AGV according to the actual position of the AGV. Furthermore, after the wireless charger body moves to the position right below the AGV, the second execution module 6 executes when it wirelessly charges the AGV while controlling the wireless charger body to follow the movement of the AGV according to the movement path information: after the wireless charger body moves to the position right below the AGV, a starting instruction is sent to the AGV, so that the AGV continues to move, and the wireless charger body is controlled to follow the movement of the AGV according to the movement path information and simultaneously carry out wireless charging on the AGV.
In this process, because the position of AGV is not adjusted and only the position of wireless charger body is adjusted to can not influence the motion track of AGV, reduce the influence to the AGV operation process.
However, in practical application, only the position of the AGV or both the AGV and the wireless charger body can be adjusted to realize the up-down alignment between the two.
It should be noted that, the position information of the actual position of the AGV may be obtained through a positioning module (such as a positioning module, an inertial measurement module, etc., but not limited thereto) on the AGV, or may be obtained using a positioning algorithm in the existing SLAM process.
According to the AGV wireless charging device, the wireless charger body and the double-shaft driving device are arranged below the ground of an AGV working site, and charging request information sent by the AGV is obtained; the charging request information comprises first position information and moving path information of the current position of the AGV; acquiring second position information of the current position of the wireless charger body; acquiring reference movement time according to the second position information; calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time is passed according to the first position information and the moving path information; controlling the wireless charger body to move to a theoretical position; after the AGV meets the wireless charger body, the wireless charger body is controlled to move along with the AGV and simultaneously carry out wireless charging on the AGV; therefore, the efficiency of charging equipment (namely, the wireless charger body) reaching the position of the power failure AGV can be effectively improved, and the production efficiency of a factory can be improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device includes: processor 301 and memory 302, the processor 301 and memory 302 being interconnected and in communication with each other by a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the processor 301 executing the computer program when the electronic device is running to perform the AGV wireless charging method in any of the alternative implementations of the above embodiments to perform the following functions: acquiring charging request information sent by an AGV; the charging request information comprises first position information and moving path information of the current position of the AGV; acquiring second position information of the current position of the wireless charger body; acquiring reference movement time according to the second position information; calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time is passed according to the first position information and the moving path information; controlling the wireless charger body to move to a theoretical position; after the AGV meets the wireless charger body, the wireless charger body is controlled to carry out wireless charging on the AGV while following the movement of the AGV.
Referring to fig. 4, the present application provides an AGV wireless charging system, which is used for charging an AGV, and includes a wireless charger 100 and a control system 200, wherein the wireless charger 100 includes a wireless charger body 101 and a dual-shaft driving device 102 for driving the wireless charger body 101 to move, and the wireless charger body 101 and the dual-shaft driving device 102 are both disposed below the ground of an AGV working site;
The control system 200 is configured to obtain charging request information sent by the AGV, obtain second position information of a current position of the wireless charger body 101, obtain a reference movement time according to the second position information, calculate theoretical position information of a theoretical position reached by the AGV after the reference movement time passes according to the first position information and the movement path information, control the wireless charger body 101 to move to the theoretical position, and control the wireless charger body 101 to wirelessly charge the AGV while following the movement of the AGV after the AGV meets the wireless charger body 101; the charging request information includes first position information of the current position of the AGV and movement path information (specific process refers to the steps of the wireless charging method of the AGV).
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (7)

1. The AGV wireless charging method is applied to a control system of a wireless charger and is characterized in that the wireless charger comprises a wireless charger body and a double-shaft driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site;
The AGV wireless charging method comprises the following steps:
A1. Acquiring charging request information sent by an AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
A2. Acquiring second position information of the current position of the wireless charger body;
A3. acquiring reference movement time according to the second position information;
A4. Calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time passes according to the first position information and the moving path information;
A5. Controlling the wireless charger body to move to the theoretical position;
A6. After the AGV meets the wireless charger body, controlling the wireless charger body to move along with the AGV and simultaneously carrying out wireless charging on the AGV;
The step A3 comprises the following steps:
A301. acquiring the furthest distance between the wireless charger body and the edge point of the AGV working site;
A302. calculating the minimum time required by the wireless charger body to move the farthest distance, and taking the minimum time as the reference movement time;
Step a302 includes:
Acquiring a first maximum acceleration of the wireless charger body in a first direction; the first direction is a direction pointing to the farthest edge point from the current position of the wireless charger body; the furthest edge point is the edge point which is the furthest distance from the wireless charger body;
according to the first maximum acceleration and the farthest distance, calculating the minimum time required by the wireless charger body to linearly move from the current position to the farthest edge point, and taking the minimum time as the reference moving time;
The moving path information includes position information, speed information, and acceleration information of a plurality of path points;
step A4 includes:
Acquiring the path point closest to the current position of the AGV as a first reference path point according to the first position information;
Searching a second reference path point from the path points downstream of the first reference path point according to the position information, the speed information and the acceleration information of the path points; the time interval between the second reference path point and the first reference path point is closest to the reference movement time;
and extracting the position information of the second reference path point as the theoretical position information.
2. The method of wireless charging of an AGV of claim 1 wherein the AGV work site is a rectangular site;
Step a301 includes:
According to the second position information, calculating first distances between four corner points of the AGV working site and the wireless charger body;
and extracting the largest first distance as the farthest distance.
3. The AGV wireless charging method according to claim 1, wherein step A5 comprises:
and controlling the wireless charger body to move to the theoretical position along a straight line.
4. The AGV wireless charging method according to claim 1, wherein step A6 comprises:
Judging whether the AGV meets the wireless charger body or not according to whether the AGV enters a first neighborhood of the wireless charger body or not; the first neighborhood is a preset area taking the wireless charger body as a center;
After the AGV meets the wireless charger body, controlling the wireless charger body to move to the position right below the AGV;
after the wireless charger body moves to the position right below the AGV, the wireless charger body is controlled to follow the AGV to move according to the moving path information, and meanwhile, the AGV is charged wirelessly.
5. The AGV wireless charging device is applied to a control system of a wireless charger and is characterized by comprising a wireless charger body and a double-shaft driving device for driving the wireless charger body to move; the wireless charger body and the double-shaft driving device are arranged below the ground of the AGV working site;
the wireless charging device of AGV includes:
The first acquisition module is used for acquiring charging request information sent by the AGV; the charging request information comprises first position information and moving path information of the current position of the AGV;
The second acquisition module is used for acquiring second position information of the current position of the wireless charger body;
the third acquisition module is used for acquiring reference movement time according to the second position information;
the first calculation module is used for calculating theoretical position information of a theoretical position reached by the AGV after the reference moving time passes according to the first position information and the moving path information;
The first execution module is used for controlling the wireless charger body to move to the theoretical position;
The second execution module is used for controlling the wireless charger body to move along with the AGV and simultaneously carrying out wireless charging on the AGV after the AGV meets the wireless charger body;
the third acquisition module performs, when acquiring the reference movement time according to the second position information:
Acquiring the furthest distance between the wireless charger body and the edge point of the AGV working site;
Calculating the minimum time required by the wireless charger body to move the farthest distance, and taking the minimum time as the reference movement time;
the third obtaining module performs, when calculating a minimum time required for the wireless charger body to move the farthest distance and taking the minimum time as the reference moving time:
Acquiring a first maximum acceleration of the wireless charger body in a first direction; the first direction is a direction pointing to the farthest edge point from the current position of the wireless charger body; the furthest edge point is the edge point which is the furthest distance from the wireless charger body;
according to the first maximum acceleration and the farthest distance, calculating the minimum time required by the wireless charger body to linearly move from the current position to the farthest edge point, and taking the minimum time as the reference moving time;
The moving path information includes position information, speed information, and acceleration information of a plurality of path points;
The first calculation module performs, when calculating theoretical position information of a theoretical position reached by the AGV after the reference movement time based on the first position information and the movement path information:
Acquiring the path point closest to the current position of the AGV as a first reference path point according to the first position information;
Searching a second reference path point from the path points downstream of the first reference path point according to the position information, the speed information and the acceleration information of the path points; the time interval between the second reference path point and the first reference path point is closest to the reference movement time;
and extracting the position information of the second reference path point as the theoretical position information.
6. An electronic device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and wherein the processor, when executing the computer program, operates steps in the AGV wireless charging method according to any of claims 1-4.
7. The wireless charging system for the AGVs is used for charging the AGVs and is characterized by comprising a wireless charger and a control system, wherein the wireless charger comprises a wireless charger body and a double-shaft driving device used for driving the wireless charger body to move, and the wireless charger body and the double-shaft driving device are both arranged below the ground of an AGV working site;
the control system is configured to perform steps in the wireless charging method of the AGV of any of claims 1-4.
CN202210289676.1A 2022-03-23 2022-03-23 AGV wireless charging method, device, electronic equipment and system Active CN114801792B (en)

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CN107380002A (en) * 2017-08-17 2017-11-24 陕西隆翔停车设备集团有限公司 A kind of AGV dollies wireless charging system and its charging method
CN112744093A (en) * 2019-10-30 2021-05-04 宁波三星智能电气有限公司 AGV wireless charging pile system and using method thereof

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KR100696134B1 (en) * 2005-04-25 2007-03-22 엘지전자 주식회사 System for computing Location of a moving robot, and system for going the moving robot to charging equipment using the computing location and method thereof

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CN107380002A (en) * 2017-08-17 2017-11-24 陕西隆翔停车设备集团有限公司 A kind of AGV dollies wireless charging system and its charging method
CN112744093A (en) * 2019-10-30 2021-05-04 宁波三星智能电气有限公司 AGV wireless charging pile system and using method thereof

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