AGV transport vehicle charging method, charging device and AGV system

Abstract

The present application provides a charging method, a charging device and an AGV system for an AGV transport vehicle, the method comprising: determining a target AGV transport vehicle, the target AGV transport vehicle being one of the AGV transport vehicles that have not performed a task; determining a target charging amount based on at least a first power consumption and a second power consumption, the first power consumption being the amount of power required for the target AGV transport vehicle to move from a first predetermined position to a second predetermined position, the second power consumption being the average amount of power consumed by the target AGV transport vehicle to perform a task, the first predetermined position being the position of the center of a map, and the second predetermined position being the position of a charging pile; controlling the target AGV transport vehicle to charge based on the target charging amount; and controlling the target AGV transport vehicle to perform a target task when the target AGV transport vehicle is charged with the target charging amount, thereby ensuring that the target AGV transport vehicle performs the assigned task in a more timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

Description

Technical Field

[0001] The present application relates to the field of AGV charging, and more specifically, to a charging method, a charging device, a computer-readable storage medium, a processor, and an AGV system for an AGV transport vehicle. Background Art

[0002] At present, the charging strategy of AGV (Automated Guided Vehicle, AGV for short) is usually that when the power is low to a certain threshold, the scheduling system dispatches a charging task. When the power reaches a certain threshold, it can accept new tasks. If the AGV transport vehicle that is being charged does not receive a task, it will continue to charge until the AGV transport vehicle is fully charged and reaches the parking area. This solution is simple in logic and easy to implement.

[0003] During a certain period of time, since the AGV transport vehicle has not received any new tasks, it will be continuously triggered to charge during this period of time. However, when a new task arrives, the charged power of the AGV transport vehicle does not reach the set threshold, resulting in no AGV transport vehicle to execute the new task in time, resulting in low operating efficiency of the AGV transport vehicle.

[0004] Therefore, there is an urgent need for a method that can improve the operating efficiency of AGV transport vehicles.

[0005] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Summary of the invention

[0006] The main purpose of the present application is to provide a charging method, a charging device, a computer-readable storage medium, a processor and an AGV system for an AGV transport vehicle, so as to solve the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0007] According to one aspect of an embodiment of the present invention, a charging method for an AGV transport vehicle is provided, including: determining a target AGV transport vehicle, the target AGV transport vehicle being one of the AGV transport vehicles that has not performed a task; determining a target charging amount based on at least a first power consumption and a second power consumption, the first power consumption being the amount of power required for the target AGV transport vehicle to move from a first predetermined position to a second predetermined position, the second power consumption being the average amount of power consumed by the target AGV transport vehicle to perform a task, the first predetermined position being the position of a map center, and the second predetermined position being the position of a charging pile; controlling the target AGV transport vehicle to charge based on the target charging amount; and controlling the target AGV transport vehicle to perform a target task when the target AGV transport vehicle is charged with the target charging amount.

[0008] Optionally, determining the target AGV transport vehicle includes: determining the AGV transport vehicle that has not performed the task; calculating a first value for each of the AGV transport vehicles that has not performed the task, the first value being obtained by weighted average of a current remaining power, a target distance, and a target time, the current remaining power being the current remaining power, the target distance being the distance from the charging pile, and the target time being the time already running; determining the target AGV transport vehicle based on the size of multiple first values.

[0009] Optionally, determining the target AGV transport vehicle according to the sizes of multiple first numerical values ​​includes: determining the smallest first numerical value among the multiple first numerical values; and determining the AGV transport vehicle that has not performed the task and corresponds to the smallest first numerical value as the target AGV transport vehicle.

[0010] Optionally, the target charging amount is determined based on at least the first power consumption and the second power consumption, including: dividing the target difference by the second value and then multiplying it by the second power consumption to obtain a third power consumption, wherein the target difference is the difference between the number of tasks completed within a predetermined time period and the average number of tasks completed within the predetermined time period historically, and the second value is the number of uncharged AGV transport vehicles; multiplying the second power consumption by the number of tasks expected to be performed to obtain a fourth power consumption; and adding the first power consumption, the third power consumption and the fourth power consumption to obtain the target charging amount.

[0011] Optionally, when the target AGV transport vehicle is charged with the target charge amount, controlling the target AGV transport vehicle to perform a target task includes: determining the target task; and controlling the target AGV transport vehicle to perform the target task.

[0012] Optionally, determining the target task includes: determining tasks to be executed and prioritizing the tasks to be executed; and determining the task to be executed with the highest priority as the target task.

[0013] Optionally, determining the target task also includes: determining the task to be executed; when the third numerical value is greater than the fourth numerical value, determining the task to be executed as the target task, the third numerical value is the product of the target time difference and the time required to complete the task to be executed, the target time difference is the difference between the dispatch time of the task to be executed and the current time, the fourth numerical value is the product of the second power consumption, the second numerical value and the empirical coefficient, the second numerical value is the number of the uncharged AGV transport vehicles, and the empirical coefficient is a constant greater than zero.

[0014] According to another aspect of an embodiment of the present invention, a charging device for an AGV transport vehicle is also provided, including: a first determination unit, used to determine a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that has not performed a task; a second determination unit, used to determine a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the amount of power required for the target AGV transport vehicle to move from a first predetermined position to a second predetermined position, and the second power consumption is an average value of the amount of power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of a map, and the second predetermined position is the position of a charging pile; a first control unit, used to control the target AGV transport vehicle to charge according to the target charging amount; and a second control unit, used to control the target AGV transport vehicle to perform a target task when the target AGV transport vehicle is charged with the target charging amount.

[0015] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described.

[0016] According to yet another aspect of the embodiments of the present invention, a processor is provided, wherein the processor is used to run a program, wherein any one of the methods is executed when the program is run.

[0017] According to one aspect of an embodiment of the present invention, there is also provided an AGV system, comprising: an AGV transport vehicle, one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0018] In an embodiment of the present invention, in the charging method of the AGV transport vehicle, first, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed a task; then, a target charging amount is determined based on at least a first power consumption and a second power consumption; thereafter, based on the target charging amount, the target AGV transport vehicle is controlled to charge; finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform a target task, wherein the first power consumption is the amount of power required for the target AGV transport vehicle to move from a first predetermined position to a second predetermined position, the second power consumption is the average amount of power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the center of the map, and the second predetermined position is the location of the charging pile. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A schematic diagram showing a charging method for an AGV transport vehicle according to an embodiment of the present application is shown;

[0021] Figure 2 A schematic diagram of a charging device for an AGV transport vehicle according to an embodiment of the present application is shown;

[0022] Figure 3 A flow chart of a charging method for an AGV transport vehicle according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] As mentioned in the background technology, the operating efficiency of the AGV transport vehicle in the prior art is low. In order to solve the above problem, in a typical embodiment of the present application, a charging method, a charging device, a computer-readable storage medium, a processor and an AGV system for an AGV transport vehicle are provided.

[0027] According to an embodiment of the present application, a charging method for an AGV transport vehicle is provided.

[0028] Figure 1 FIG. 1 is a flow chart of a charging method for an AGV transport vehicle according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0029] Step S101, determining a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task;

[0030] Step S102, determining a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile;

[0031] Step S103, controlling the target AGV transport vehicle to charge according to the target charging amount;

[0032] Step S104, when the target AGV transport vehicle is charged with the target charging amount, controlling the target AGV transport vehicle to perform the target task.

[0033] In the above-mentioned charging method for the AGV transport vehicle, first, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed a task; then, a target charging amount is determined based on at least a first power consumption and a second power consumption; thereafter, based on the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to be charged; finally, when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to perform a target task, wherein the above-mentioned first power consumption is the power required for the above-mentioned target AGV transport vehicle to move from the first predetermined position to the second predetermined position, the above-mentioned second power consumption is the average power consumed by the above-mentioned target AGV transport vehicle to perform the task, the above-mentioned first predetermined position is the position of the center of the map, and the above-mentioned second predetermined position is the position of the charging pile. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0034] In the actual application process, when the target AGV transport vehicle is controlled to charge according to the target charge amount, the target AGV transport vehicle is set to a state that cannot accept new tasks, and after the target AGV transport vehicle is charged with the target charge amount, the target AGV transport vehicle is set to a state that can accept new tasks. In addition, the above map is a map preset and saved in the database.

[0035] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0036] In one embodiment of the present application, determining the target AGV transport vehicle includes: determining the above-mentioned AGV transport vehicle that has not performed the task; calculating the above-mentioned first value as a weighted average obtained based on the current remaining power, target distance and target time, wherein the above-mentioned current remaining power is the current remaining power, the above-mentioned target distance is the distance from the above-mentioned charging pile, and the above-mentioned target time is the time that has been running; and determining the above-mentioned target AGV transport vehicle according to the size of multiple first values. In this scheme, the first value of each of the above-mentioned AGV transport vehicles that have not performed the task is calculated, and then the target AGV transport vehicle is determined according to the size of the multiple first values ​​obtained, which ensures that the AGV transport vehicle that really needs to be charged can be determined in time, and ensures that the method for determining the target AGV transport vehicle is more flexible.

[0037] Specifically, the target distance may be the distance required for the current position of each of the AGV transport vehicles that have not performed a task to reach the position of the charging pile.

[0038] In a specific embodiment of the present application, determining the above-mentioned AGV transport vehicle that has not performed a task includes: determining a successfully issued task, the above-mentioned successfully issued task is a task that is successfully issued to the above-mentioned AGV transport vehicle; determining the above-mentioned AGV transport vehicle that has not performed a task based on the above-mentioned successfully issued task and the above-mentioned AGV transport vehicle, thereby ensuring that the above-mentioned AGV transport vehicle that has not performed a task can be determined more accurately.

[0039] Specifically, first determine the number of successfully issued tasks, where the successfully issued tasks are the tasks that have been successfully issued to the AGV transport vehicles at the current moment, but the AGV transport vehicles have not started to execute them, then determine the number of all AGV transport vehicles at that moment, and finally, determine the AGV transport vehicles that have not executed the tasks based on the number of successfully issued tasks and the number of AGV transport vehicles. In order to understand the technical solution of the present application more clearly, the technical solution is described below through a specific embodiment. For example, the number of successfully issued tasks is currently 10, and the number of AGV transport vehicles waiting to be executed in the idle area is 15, that is, only 10 AGV transport vehicles have accepted the tasks, and there are 5 AGV transport vehicles that have not executed the tasks at this time. Subsequently, the first values ​​of the 5 AGV transport vehicles that have not executed the tasks are calculated, and the AGV transport vehicle that has not executed the tasks corresponding to the first value with the smallest value is determined as the target AGV transport vehicle.

[0040] In another specific embodiment of the present application, when the number of the successfully issued tasks is less than the number of the AGV transport vehicles, it is determined that the charging tasks can be issued.

[0041] In order to further determine the target AGV transport vehicle that actually needs to be charged, in another embodiment of the present application, the target AGV transport vehicle is determined based on the sizes of multiple first numerical values, including: determining the smallest first numerical value among the multiple first numerical values; determining the AGV transport vehicle that has not performed the task and corresponds to the smallest first numerical value as the target AGV transport vehicle.

[0042] In another embodiment of the present application, the target charge amount is determined based on at least the first power consumption and the second power consumption, including: dividing the target difference by the second value and then multiplying it by the second power consumption to obtain a third power consumption, the target difference is the difference between the number of tasks completed within the predetermined time period and the average number of tasks completed within the predetermined time period in history, and the second value is the number of the uncharged AGV transport vehicles; multiplying the second power consumption by the number of tasks expected to be executed to obtain a fourth power consumption; adding the first power consumption, the third power consumption and the fourth power consumption to obtain the target charge amount. In this scheme, the first power consumption, the third power consumption and the fourth power consumption are added to obtain the target charge amount, which ensures that the determined target charge amount is more reasonable, further ensures that the target AGV transport vehicle that has subsequently charged the target charge amount can accept new urgent tasks in a timely manner, and further ensures that the efficiency of the AGV transport vehicle is high.

[0043] In actual application, the above-mentioned predetermined time period can be a time period between a certain moment and another moment. For example, the above-mentioned predetermined time period can be 14:00-16:00 on the 14th. In addition, the above-mentioned historical predetermined time period can be a time period corresponding to the above-mentioned predetermined time period on the previous day or within the previous N days. For example, the above-mentioned historical predetermined time period can be 14:00-16:00 on the 13th, and it can also be 14:00-16:00 on each of the days from the 10th to the 13th.

[0044] In order to further ensure that a large amount of running time is not wasted on the round trip, and to further ensure the high efficiency of the AGV transport vehicle, in another embodiment of the present application, when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to perform the target task, including: determining the above-mentioned target task; controlling the above-mentioned target AGV transport vehicle to perform the above-mentioned target task.

[0045] In one embodiment of the present application, determining the above-mentioned target task includes: determining the tasks to be executed, and prioritizing the above-mentioned tasks to be executed; determining the above-mentioned tasks to be executed with the highest priority as the above-mentioned target task. In this scheme, the task to be executed with the highest priority is determined as the target task, that is, the task to be executed with the highest urgency is determined as the target task, and the target AGV transport vehicle is subsequently controlled to execute the target task, which ensures that the task with the highest urgency can be executed in a timely manner. In addition, the present application determines whether to interrupt the charging task of the target AGV transport vehicle according to the priority of the task, that is, determines whether to let the AGV transport vehicle that is being charged to execute the task, which ensures that the conversion between the charging task and the execution task can be realized more intelligently, and further ensures that the operation efficiency of the AGV transport vehicle is high.

[0046] In actual application, the priorities of the above-mentioned tasks to be executed can be divided into three levels, namely normal priority, medium priority and highest priority. For tasks to be executed at normal priority, they cannot be queued up for priority execution, nor can they be executed by the target AGV transport vehicle that is being charged. For tasks to be executed at medium priority, they can be queued up for priority execution, but cannot be executed by the target AGV transport vehicle that is being charged. For tasks to be executed at the highest priority, they can be queued up for priority execution, and can also be executed by the target AGV transport vehicle that is being charged.

[0047] In order to further more accurately determine the task to be executed with the highest degree of urgency as the target task, in another embodiment of the present application, determining the above-mentioned target task also includes: determining the task to be executed; when the third value is greater than the fourth value, determining the above-mentioned task to be executed as the above-mentioned target task, the above-mentioned third value is the product of the target time difference and the time required to complete the above-mentioned task to be executed, the above-mentioned target time difference is the difference between the dispatch time of the above-mentioned task to be executed and the current time, the above-mentioned fourth value is the product of the above-mentioned second power consumption, the second value and the empirical coefficient, the above-mentioned second value is the number of the above-mentioned AGV transport vehicles that have not been charged, and the above-mentioned empirical coefficient is a constant greater than zero.

[0048] In the actual application process, when the above two schemes for determining the above target tasks do not determine that there are sufficiently urgent tasks that need to be performed by the AGV transport vehicle being charged, it is necessary to re-determine the unexecuted AGV transport vehicles, and then determine the target AGV transport vehicle from the determined AGV transport vehicles that have not performed the tasks. The specific method for determining the target AGV transport vehicle can still use the first numerical value of each of the above AGV transport vehicles that have not performed the tasks, and determine the above target AGV transport vehicle according to the size of the multiple first numerical values. However, the target AGV transport vehicle re-determined again may also be the target AGV transport vehicle determined last time, or it may not be the target AGV transport vehicle determined last time, that is, the target AGV transport vehicles determined twice may be the same, but may also be different, and then the target AGV transport vehicle is controlled to charge the target charging amount determined again. Of course, the target charging amount calculated again may be the same as the target charging amount calculated last time, or it may be different from the target charging amount calculated last time.

[0049] The embodiment of the present application also provides a charging device for an AGV transport vehicle. It should be noted that the charging device for an AGV transport vehicle in the embodiment of the present application can be used to execute the charging method for an AGV transport vehicle provided in the embodiment of the present application. The charging device for an AGV transport vehicle provided in the embodiment of the present application is introduced below.

[0050] Figure 2 Schematic diagram of a charging device for an AGV transport vehicle according to an embodiment of the present application. Figure 2 As shown, the device comprises:

[0051] A first determination unit 10 is used to determine a target AGV transport vehicle, where the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task;

[0052] A second determination unit 20 is used to determine a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile;

[0053] A first control unit 30 is used to control the target AGV transport vehicle to charge according to the target charging amount;

[0054] The second control unit 40 is used to control the target AGV transport vehicle to perform the target task when the target AGV transport vehicle is charged with the target charging amount.

[0055] In the charging device of the above-mentioned AGV transport vehicle, the first determination unit is used to determine the target AGV transport vehicle, and the above-mentioned target AGV transport vehicle is one of the AGV transport vehicles that have not performed the task; the second determination unit is used to determine the target charging amount based on at least the first power consumption and the second power consumption, the above-mentioned first power consumption is the power required for the above-mentioned target AGV transport vehicle to move from the first predetermined position to the second predetermined position, and the above-mentioned second power consumption is the average power consumed by the above-mentioned target AGV transport vehicle to perform the task, the above-mentioned first predetermined position is the position of the center of the map, and the above-mentioned second predetermined position is the position of the charging pile; the first control unit is used to control the above-mentioned target AGV transport vehicle to charge according to the above-mentioned target charging amount; the second control unit is used to control the above-mentioned target AGV transport vehicle to perform the target task when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0056] In actual application, when the target AGV transport vehicle is controlled to charge according to the target charging amount, the target AGV transport vehicle is set to a state that cannot accept new tasks. After the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is set to a state that can accept new tasks.

[0057] In one embodiment of the present application, the first determination unit includes a first determination module, a first calculation module and a second determination module, wherein the first determination module is used to determine the AGV transport vehicle that has not performed the task; the first calculation module is used to calculate the first value as a weighted average of the current remaining power, the target distance and the target time, wherein the current remaining power is the current remaining power, the target distance is the distance from the charging pile, and the target time is the time that has been running; the second determination module is used to determine the target AGV transport vehicle according to the size of the multiple first values. In this solution, the first value of each of the AGV transport vehicles that have not performed the task is calculated, and then the target AGV transport vehicle is determined according to the size of the multiple first values ​​obtained. This ensures that the AGV transport vehicle that really needs to be charged can be determined in a timely manner, and ensures that the method for determining the target AGV transport vehicle is more flexible.

[0058] Specifically, the target distance may be the distance required for the current position of each of the AGV transport vehicles that have not performed a task to reach the position of the charging pile.

[0059] In a specific embodiment of the present application, determining the above-mentioned AGV transport vehicle that has not performed a task includes: determining a successfully issued task, the above-mentioned successfully issued task is a task that is successfully issued to the above-mentioned AGV transport vehicle; determining the above-mentioned AGV transport vehicle that has not performed a task based on the above-mentioned successfully issued task and the above-mentioned AGV transport vehicle, thereby ensuring that the above-mentioned AGV transport vehicle that has not performed a task can be determined more accurately.

[0060] Specifically, first determine the number of successfully issued tasks, where the successfully issued tasks are those that have been successfully issued to the AGV transport vehicle at the current moment, but the AGV transport vehicle has not yet started to execute, then determine the number of all AGV transport vehicles at that moment, and finally, determine the AGV transport vehicle that executes the task based on the number of successfully issued tasks and the number of AGV transport vehicles. In order to more clearly understand the technical solution of the present application, the technical solution is described below through a specific embodiment. For example, the number of successfully issued tasks is currently 10, and the number of AGV transport vehicles waiting to be executed in the idle area is 15, that is, only 10 AGV transport vehicles have accepted the tasks, and there are 5 AGV transport vehicles that have not executed the tasks at this time. Subsequently, the first values ​​of the 5 AGV transport vehicles that have not executed the tasks are calculated, and the AGV transport vehicle that has not executed the tasks corresponding to the first value with the smallest value is determined as the target AGV transport vehicle.

[0061] In another specific embodiment of the present application, when the number of the successfully issued tasks is less than the number of the AGV transport vehicles, it is determined that the charging tasks can be issued.

[0062] In order to further determine the target AGV transport vehicle that actually needs to be charged, in another embodiment of the present application, the second determination module includes a first determination submodule and a second determination submodule, wherein the first determination submodule is used to determine the smallest first value among multiple first values; the second determination submodule is used to determine that the AGV transport vehicle that has not performed the task and corresponds to the smallest first value is the target AGV transport vehicle.

[0063] In another embodiment of the present application, the second determination unit includes a second calculation module, a third calculation module and a fourth calculation module, wherein the second calculation module is used to divide the target difference by the second value and then multiply it by the second power consumption to obtain the third power consumption, the target difference is the difference between the number of tasks completed in the predetermined time period and the average number of tasks completed in the predetermined time period in history, and the second value is the number of the uncharged AGV transport vehicles; the third calculation module is used to multiply the second power consumption by the number of tasks expected to be executed to obtain the fourth power consumption; the fourth calculation module is used to add the first power consumption, the third power consumption and the fourth power consumption to obtain the target charge amount. In this scheme, the first power consumption, the third power consumption and the fourth power consumption are added to obtain the target charge amount, which ensures that the determined target charge amount is more reasonable, further ensures that the target AGV transport vehicle that has been charged with the target charge amount can accept new urgent tasks in time, and further ensures that the efficiency of the AGV transport vehicle is high.

[0064] In actual application, the above-mentioned predetermined time period can be a time period between a certain moment and another moment. For example, the above-mentioned predetermined time period can be 14:00-16:00 on the 14th. In addition, the above-mentioned historical predetermined time period can be a time period corresponding to the above-mentioned predetermined time period on the previous day or within the previous N days. For example, the above-mentioned historical predetermined time period can be 14:00-16:00 on the 13th, and it can also be 14:00-16:00 on each of the days from the 10th to the 13th.

[0065] In order to further ensure that a large amount of running time is not wasted on the round trip, and to further ensure the high efficiency of the AGV transport vehicle, in another embodiment of the present application, the second control unit includes a third determination module and a control module, wherein the third determination module is used to determine the target task; the control module is used to control the target AGV transport vehicle to perform the target task.

[0066] In one embodiment of the present application, the third determination module includes a third determination submodule and a fourth determination submodule, wherein the third determination submodule is used to determine the tasks to be executed and prioritize the tasks to be executed; the fourth determination submodule is used to determine the tasks to be executed with the highest priority as the target tasks. In this scheme, the task to be executed with the highest priority is determined as the target task, that is, the task to be executed with the highest urgency is determined as the target task, and the target AGV transport vehicle is subsequently controlled to execute the target task, thus ensuring that the task with the highest urgency can be executed in a timely manner. In addition, the present application determines whether to interrupt the charging task of the target AGV transport vehicle according to the priority of the task, that is, to determine whether to let the AGV transport vehicle that is being charged to execute the task, thus ensuring that the conversion between the charging task and the execution task can be realized more intelligently, further ensuring that the operation efficiency of the AGV transport vehicle is high.

[0067] In actual application, the priorities of the above-mentioned tasks to be executed can be divided into three levels, namely normal priority, medium priority and highest priority. For tasks to be executed at normal priority, they cannot be queued up for priority execution, nor can they be executed by the target AGV transport vehicle that is being charged. For tasks to be executed at medium priority, they can be queued up for priority execution, but cannot be executed by the target AGV transport vehicle that is being charged. For tasks to be executed at the highest priority, they can be queued up for priority execution, and can also be executed by the target AGV transport vehicle that is being charged.

[0068] In order to further and more accurately determine the task to be executed with the highest degree of urgency as the target task, in another embodiment of the present application, the above-mentioned third determination module also includes a fifth determination submodule and a sixth determination submodule, wherein the above-mentioned fifth determination submodule is used to determine the task to be executed; the above-mentioned sixth determination submodule is used to determine the task to be executed as the above-mentioned target task when the third numerical value is greater than the fourth numerical value, the above-mentioned third numerical value is the product of the target time difference and the time required to complete the above-mentioned task to be executed, the above-mentioned target time difference is the difference between the dispatch time of the above-mentioned task to be executed and the current time, the above-mentioned fourth numerical value is the product of the above-mentioned second power consumption, the second numerical value and the empirical coefficient, the above-mentioned second numerical value is the number of the above-mentioned AGV transport vehicles that have not been charged, and the above-mentioned empirical coefficient is a constant greater than zero.

[0069] In the actual application process, when the above two schemes for determining the above target tasks do not determine that there are sufficiently urgent tasks that need to be performed by the AGV transport vehicle being charged, it is necessary to re-determine the unexecuted AGV transport vehicles, and then determine the target AGV transport vehicle from the determined AGV transport vehicles that have not performed the tasks. The specific method for determining the target AGV transport vehicle can still use the first numerical value of each of the above AGV transport vehicles that have not performed the tasks, and determine the above target AGV transport vehicle according to the size of the multiple first numerical values. However, the target AGV transport vehicle re-determined again may also be the target AGV transport vehicle determined last time, or it may not be the target AGV transport vehicle determined last time, that is, the target AGV transport vehicles determined twice may be the same, but may also be different, and then the target AGV transport vehicle is controlled to charge the target charging amount determined again. Of course, the target charging amount calculated again may be the same as the target charging amount calculated last time, or it may be different from the target charging amount calculated last time.

[0070] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the following will be described in conjunction with specific embodiments:

[0071] Example

[0072] like Figure 3As shown, first, according to the number of successfully issued tasks and the number of AGV transport vehicles, the AGV transport vehicles that have not executed the tasks are determined, that is, when the number of successfully issued tasks is less than the number of AGV transport vehicles, it is determined that a charging task can be issued, and then, the target AGV transport vehicle is determined among the determined AGV transport vehicles that have not executed the tasks. The specific method for determining the target AGV transport vehicle can be: calculating the first numerical value of each AGV transport vehicle that has not executed the task, determining the target AGV transport vehicle according to the size of multiple first numerical values, and setting the state of the target AGV transport vehicle to be unacceptable for new tasks; then, determining the target charging amount according to at least the first power consumption and the second power consumption, and determining the target charging amount; when the target AGV transport vehicle is charged with the target charging amount, the state of the target AGV transport vehicle is set to allow acceptance of new tasks. At the same time, in order to ensure efficiency, not all tasks are urgent enough to be executed by the target AGV transport vehicle, that is, not all tasks are urgent enough to be executed by the AGV transport vehicle that is being charged, so it is necessary to judge the priority of the task to be executed, and set the task to be executed with the highest priority as the target task. The specific method for determining the target task is as follows: There are two schemes. The first scheme is to prioritize the tasks to be executed and determine the task to be executed with the highest priority as the target task; the second scheme is to determine the task to be executed as the target task when the third value is greater than the fourth value. The specific calculation formula is: (dispatching time of the task to be executed-current time)×time required to complete the task to be executed>average value of power consumption of the target AGV transport vehicle to execute the task×number of the above-mentioned AGV transport vehicles that are not charged×empirical coefficient, that is, the third value is (dispatching time of the task to be executed-current time)×time required to complete the task to be executed, and the fourth value is average value of power consumption of the target AGV transport vehicle to execute the task×number of the above-mentioned AGV transport vehicles that are not charged×empirical coefficient; finally, if the target AGV transport vehicle has not had a task with sufficient priority to interrupt the charging task within the time allowed to accept the task, it is considered that the tasks in the current and subsequent period are not urgent, and the number of uncharged AGV transport vehicles is sufficient to cope with these tasks, so the target AGV transport vehicle is again set to a state of being unable to accept the execution of the task, and the target AGV transport vehicle and the target charging amount are re-determined again.

[0073] The charging device of the above-mentioned AGV transport vehicle includes a processor and a memory. The above-mentioned first determination unit, second determination unit, first control unit, second control unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0074] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low operating efficiency of the AGV transport vehicle in the prior art can be solved by adjusting the kernel parameters.

[0075] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0076] An embodiment of the present invention provides a storage medium on which a program is stored. When the program is executed by a processor, the charging method of the AGV transport vehicle is implemented.

[0077] An embodiment of the present invention provides a processor, which is used to run a program, wherein the charging method of the AGV transport vehicle is executed when the program is run.

[0078] In a typical embodiment of the present application, an AGV system is also provided, comprising: an AGV transport vehicle, one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the above methods.

[0079] In the above-mentioned AGV system, the system includes a charging method that can execute any one of the above-mentioned AGV transport vehicles. In the above-mentioned charging method, first, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed a task; then, a target charging amount is determined based on at least a first power consumption and a second power consumption; thereafter, based on the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to be charged; finally, when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to perform a target task, wherein the above-mentioned first power consumption is the power required for the above-mentioned target AGV transport vehicle to move from the first predetermined position to the second predetermined position, the above-mentioned second power consumption is the average power consumed by the above-mentioned target AGV transport vehicle to perform a task, the above-mentioned first predetermined position is the position of the center of the map, and the above-mentioned second predetermined position is the position of the charging pile. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0080] An embodiment of the present invention provides a device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0081] Step S101, determining a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task;

[0082] Step S102, determining a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile;

[0083] Step S103, controlling the target AGV transport vehicle to charge according to the target charging amount;

[0084] Step S104, when the target AGV transport vehicle is charged with the target charging amount, controlling the target AGV transport vehicle to perform the target task.

[0085] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0086] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0087] Step S101, determining a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task;

[0088] Step S102, determining a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile;

[0089] Step S103, controlling the target AGV transport vehicle to charge according to the target charging amount;

[0090] Step S104, when the target AGV transport vehicle is charged with the target charging amount, controlling the target AGV transport vehicle to perform the target task.

[0091] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0093] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0094] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0095] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0096] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0097] 1) In the charging method of the AGV transport vehicle of the present application, first, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed a task; then, a target charging amount is determined based on at least a first power consumption and a second power consumption; thereafter, based on the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to be charged; finally, when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to perform a target task, wherein the above-mentioned first power consumption is the power required for the above-mentioned target AGV transport vehicle to move from the first predetermined position to the second predetermined position, the above-mentioned second power consumption is the average power consumed by the above-mentioned target AGV transport vehicle to perform the task, the above-mentioned first predetermined position is the position of the center of the map, and the above-mentioned second predetermined position is the position of the charging pile. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0098] 2) In the charging device of the AGV transport vehicle of the present application, the first determination unit is used to determine the target AGV transport vehicle, and the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task; the second determination unit is used to determine the target charging amount based on at least the first power consumption and the second power consumption, the first power consumption is the power required for the target AGV transport vehicle to move from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform the task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile; the first control unit is used to control the target AGV transport vehicle to charge according to the target charging amount; the second control unit is used to control the target AGV transport vehicle to perform the target task when the target AGV transport vehicle is charged with the target charging amount. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0099] 3) In the AGV system of the present application, the system includes a charging method that can execute any of the above-mentioned AGV transport vehicles. In the above-mentioned charging method, first, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed a task; then, a target charging amount is determined based on at least a first power consumption and a second power consumption; thereafter, based on the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to be charged; finally, when the above-mentioned target AGV transport vehicle is charged with the above-mentioned target charging amount, the above-mentioned target AGV transport vehicle is controlled to perform a target task, wherein the above-mentioned first power consumption is the power required for the above-mentioned target AGV transport vehicle to move from the first predetermined position to the second predetermined position, the above-mentioned second power consumption is the average power consumed by the above-mentioned target AGV transport vehicle to perform the task, the above-mentioned first predetermined position is the position of the center of the map, and the above-mentioned second predetermined position is the position of the charging pile. In this scheme, a target AGV transport vehicle is determined among the AGV transport vehicles that have not performed the task, and then a target charging amount is determined based on at least the first power consumption and the second power consumption, and the target AGV transport vehicle is controlled to charge the target charging amount. Finally, when the target AGV transport vehicle is charged with the target charging amount, the target AGV transport vehicle is controlled to perform the target task. This ensures that the target AGV transport vehicle that is short of power can be charged in time, and that the target AGV transport vehicle can perform the task after charging the target charging amount. Compared with the prior art in which the AGV transport vehicle is controlled to reach a charging threshold before accepting the task, this scheme only needs to charge the target charging amount, that is, it can perform the task without reaching a larger charging threshold. This ensures that the target AGV transport vehicle can perform the assigned task in a relatively timely manner, thereby solving the problem of low operating efficiency of AGV transport vehicles in the prior art.

[0100] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A charging method for an AGV transport vehicle, characterized in that: include: Determine a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that have not performed the task; The target charging amount is determined at least according to a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile; According to the target charging amount, controlling the target AGV transport vehicle to charge; When the target AGV transport vehicle is charged with the target charge amount, controlling the target AGV transport vehicle to perform the target task; Determining a target charge amount at least according to the first power consumption and the second power consumption includes: The target difference is divided by the second value and then multiplied by the second power consumption to obtain a third power consumption, wherein the target difference is the difference between the number of tasks completed within a predetermined time period and the average number of tasks completed within the predetermined time period in history, and the second value is the number of the uncharged AGV transport vehicles; Multiplying the second power consumption by the number of tasks expected to be executed to obtain a fourth power consumption; The first power consumption, the third power consumption, and the fourth power consumption are added together to obtain the target charge amount.

2. The method according to claim 1, characterized in that Determine the target AGV transporter, including: Determine the AGV transport vehicle that has not performed a task; Calculate a first value of each of the AGV transport vehicles that have not performed a task, where the first value is obtained by weighted average of the current remaining power, the target distance, and the target time, where the current remaining power is the current remaining power, the target distance is the distance from the charging pile, and the target time is the running time; The target AGV transport vehicle is determined according to the sizes of the multiple first numerical values.

3. The method according to claim 2, characterized in that Determining the target AGV transport vehicle according to the magnitudes of the plurality of first values ​​includes: determining a minimum first value among a plurality of first values; The AGV transport vehicle that has not performed the task and corresponds to the smallest first value is determined as the target AGV transport vehicle.

4. The method according to any one of claims 1 to 3, characterized in that When the target AGV transport vehicle is charged with the target charge amount, controlling the target AGV transport vehicle to perform a target task includes: Determine the target task; Control the target AGV transport vehicle to perform the target task.

5. The method according to claim 4, characterized in that Determine the objectives and tasks, including: Determining tasks to be performed and prioritizing the tasks to be performed; The task to be executed with the highest priority is determined as the target task.

6. The method according to claim 4, characterized in that Determining the target task also includes: Identify tasks to be performed; When the third value is greater than the fourth value, the task to be executed is determined to be the target task, the third value is the product of the target time difference and the time required to complete the task to be executed, the target time difference is the difference between the dispatch time of the task to be executed and the current time, the fourth value is the product of the second power consumption, the second value and the empirical coefficient, the second value is the number of the uncharged AGV transport vehicles, and the empirical coefficient is a constant greater than zero.

7. A charging device for an AGV transport vehicle, characterized in that: include: A first determining unit is used to determine a target AGV transport vehicle, wherein the target AGV transport vehicle is one of the AGV transport vehicles that have not performed a task; A second determination unit is used to determine a target charging amount based on at least a first power consumption and a second power consumption, wherein the first power consumption is the power required for the target AGV transport vehicle to travel from the first predetermined position to the second predetermined position, and the second power consumption is the average power consumed by the target AGV transport vehicle to perform a task, the first predetermined position is the position of the center of the map, and the second predetermined position is the position of the charging pile; A first control unit, configured to control the target AGV transport vehicle to charge according to the target charging amount; A second control unit is used to control the target AGV transport vehicle to perform a target task when the target AGV transport vehicle is charged with the target charge amount; The second determination unit includes a second calculation module, a third calculation module and a fourth calculation module, wherein the second calculation module is used to divide the target difference by a second value and then multiply it by the second power consumption to obtain the third power consumption, the target difference is the difference between the number of tasks completed within a predetermined time period and the average number of tasks completed within the predetermined time period in history, and the second value is the number of uncharged AGV transport vehicles; the third calculation module is used to multiply the second power consumption by the number of tasks expected to be executed to obtain the fourth power consumption; the fourth calculation module is used to add the first power consumption, the third power consumption and the fourth power consumption to obtain the target charging amount.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method of any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. An AGV system, characterized in that: include: An AGV transport vehicle, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 6.

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