Energy control method and system of electric forklift

Abstract

The invention discloses an energy control method and system for an electric forklift, and relates to the technical field of electric forklifts.If the electric quantity consumed by a plurality of working paths is smaller than the available electric quantity of the electric forklift, the power supply modes of the working paths are determined according to the working paths and the available electric quantity of the electric forklift, and the power supply modes of the working paths are controlled according to the power supply modes. And the use safety of the available power consumption of the electric forklift is ensured. Therefore, if the electric quantity consumed by the plurality of working paths is greater than the available electric quantity of the electric forklift, the uncompleted working paths of the electric forklift are determined according to the priorities of the plurality of working paths and the available electric quantity; the to-be-supplemented electric quantity is determined based on the uncompleted working path, the cooperative response of the electric forklift is triggered according to the to-be-supplemented electric quantity, at the moment, the cooperative equipment of the electric forklift is determined based on the uncompleted working path and the to-be-supplemented electric quantity, and it is guaranteed that the electric forklift smoothly completes the multiple sub-tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of electric forklifts, and in particular to an energy control method and system for an electric forklift. Background Art

[0002] With the development of science and technology, forklifts are gradually applied to people's lives. As a type of forklift, electric forklifts are mainly powered by electricity. Electric forklifts present a corresponding amount of electricity when in working state. In the existing technology, electric forklifts are compatible with both movement and work. Both movement and work of electric forklifts require the consumption of corresponding electricity. Electric forklifts undertake multiple subtasks and execute multiple subtasks. Subtasks include carrying specific goods, moving to specific locations, and performing specific operations. However, electric forklifts do not estimate the energy required for multiple subtasks, nor can they guarantee whether the available power of electric forklifts can complete multiple subtasks. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and the present invention provides an energy control method and system for an electric forklift.

[0004] An embodiment of the present invention provides an energy control method for an electric forklift, comprising: when the electric forklift is in a moving state, determining the available power of the electric forklift based on the remaining moving path of the electric forklift and the current power; determining multiple subtasks based on the detection of the electric forklift, and determining multiple working paths of the electric forklift at a target position according to the analysis of the multiple subtasks; if the power consumed by the multiple working paths is less than the available power of the electric forklift, determining the power supply modes of the multiple working paths according to the multiple working paths of the electric forklift and the available power; if the power consumed by the multiple working paths is greater than the available power of the electric forklift, determining the unfinishable working paths of the electric forklift according to the priorities of the multiple working paths and the available power; determining the power to be replenished based on the unfinishable working paths, and triggering a coordinated response of the electric forklift according to the power to be replenished, and at this time, determining the coordinated equipment of the electric forklift based on the unfinishable working paths and the power to be replenished.

[0005] An embodiment of the present invention provides an energy control system for an electric forklift, which is applied to the above-mentioned energy control method for an electric forklift. The energy control system for an electric forklift includes:

[0006] The available power module is used to determine the available power of the electric forklift based on the remaining moving path and the current power of the electric forklift when the electric forklift is in a moving state;

[0007] A first working path module is configured to determine a plurality of subtasks based on the detection of the electric forklift, and determine a plurality of working paths of the electric forklift at a target location according to the analysis of the plurality of subtasks;

[0008] A power supply module, configured to determine power supply modes for the multiple working paths according to the multiple working paths and the available power of the electric forklift if the power consumed by the multiple working paths is less than the available power of the electric forklift;

[0009] A second work path module is configured to determine an unachievable work path for the electric forklift according to the priorities of the multiple work paths and the available power if the power consumed by the multiple work paths is greater than the available power of the electric forklift;

[0010] The collaborative module is used to determine the amount of electricity to be replenished based on the unfinished work path, and trigger the collaborative response of the electric forklift according to the amount of electricity to be replenished. At this time, the collaborative device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] (1) The present invention estimates the amount of electricity required for multiple subtasks of an electric forklift. Specifically, based on the analysis of multiple subtasks, multiple working paths of the electric forklift at the target location are determined, and the amount of electricity consumed by the multiple working paths is calculated. The estimated amount of electricity is compared with the available amount of electricity, and different work controls are performed based on the comparison results, thereby improving the effective utilization rate of electricity and ensuring the smooth completion of multiple subtasks.

[0013] (2) When the estimated power is less than the available power of the electric forklift, the present invention determines the corresponding power priorities according to the multiple working paths of the electric forklift, and determines the power supply mode of each working path according to the power priorities of the working paths and the available power of the electric forklift. Through such a decision-making process, the power of the electric forklift and the order of task execution are intelligently managed to ensure that critical tasks are prioritized and the operating time of the electric forklift is maximized, which helps to improve overall operational efficiency, reduce downtime, and optimize the use of the electric forklift;

[0014] (3) When the power consumed by multiple work paths is greater than the available power of the electric forklift, the present invention determines the unfinishable work paths of the electric forklift according to the priorities of the multiple work paths and the available power; determines the power to be replenished based on the unfinishable work paths, and triggers the coordinated response of the electric forklift according to the power to be replenished. At this time, the coordinated equipment of the electric forklift is determined based on the unfinishable work paths and the power to be replenished, and introduces the situation that the power consumed by multiple work paths is greater than the available power of the electric forklift, and performs coordinated management and control for the shortage of the available power of the electric forklift, thereby ensuring the coordination of the electric forklift and the coordinated equipment, thereby ensuring the smooth completion of multiple subtasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of an energy control method for an electric forklift in an embodiment of the present invention;

[0016] Figure 2 1 is a flow chart of step S11 in the energy control method for an electric forklift according to an embodiment of the present invention;

[0017] Figure 3 1 is a flow chart of step S12 in the energy control method for an electric forklift according to an embodiment of the present invention;

[0018] Figure 4 1 is a flow chart of step S13 in the energy control method for an electric forklift according to an embodiment of the present invention;

[0019] Figure 5 1 is a flow chart of step S14 in the energy control method for an electric forklift according to an embodiment of the present invention;

[0020] Figure 6 1 is a flow chart of step S15 in the energy control method for an electric forklift according to an embodiment of the present invention;

[0021] Figure 7 Schematic diagram of the structure of the energy control system of the electric forklift in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] See also Figures 1 to 7 , an energy control method for an electric forklift, comprising:

[0024] Step S11: when the electric forklift is in a moving state, determining the available power of the electric forklift based on the remaining moving path of the electric forklift and the current power;

[0025] Step S12: determining a plurality of subtasks based on the detection of the electric forklift, and determining a plurality of working paths of the electric forklift at the target location according to the analysis of the plurality of subtasks;

[0026] Step S13: If the power consumed by the multiple working paths is less than the available power of the electric forklift, then determining the power supply modes of the multiple working paths according to the multiple working paths and the available power of the electric forklift;

[0027] Step S14: If the power consumed by the multiple work paths is greater than the available power of the electric forklift, then determining an unachievable work path for the electric forklift based on the priorities of the multiple work paths and the available power;

[0028] Step S15: determining the amount of power to be replenished based on the unfinished work path, and triggering a coordinated response of the electric forklift according to the amount of power to be replenished. At this time, the coordinated device of the electric forklift is determined based on the unfinished work path and the amount of power to be replenished;

[0029] refer to Figure 2 In step S11, when the electric forklift is in a moving state, the available power of the electric forklift is determined based on the remaining moving path of the electric forklift and the current power;

[0030] In the specific implementation process of the present invention, the specific steps are:

[0031] S111: collecting multiple movement parameters of the electric forklift, and determining a movement state of the electric forklift according to the multiple movement parameters, where the movement state includes uniform movement, accelerated movement, or decelerated movement;

[0032] S112: monitoring the movement status of the electric forklift in real time, determining the remaining movement path of the electric forklift based on the current position and target position of the electric forklift, and determining the required power of the electric forklift in the movement dimension based on the mapping relationship between the remaining movement path of the electric forklift and the movement power;

[0033] S113: Collecting the past power data of the electric forklift, determining the power loss coefficient of the electric forklift based on the past power data of the electric forklift and the usage time of the electric forklift, and determining the usable power of the electric forklift based on the power loss coefficient of the electric forklift, the current power of the electric forklift, and the power required by the electric forklift in the moving dimension. The usable power of the electric forklift reflects the power of the electric forklift in the working dimension.

[0034] In an embodiment of the present application, a plurality of movement parameters of the electric forklift are collected, and a movement state of the electric forklift is determined based on the plurality of movement parameters, where the movement state includes uniform movement, accelerated movement, or decelerated movement;

[0035] At this time, key status information of the electric forklift during driving is obtained to provide a basis for subsequent judgment of the moving state; moving parameters include but are not limited to speed (v), acceleration (a), steering angle (θ), motor current (I), battery voltage (V), etc.; these data are collected in real time through sensors installed on the electric forklift (such as speed sensors, acceleration sensors, gyroscopes, current sensors, voltage sensors, etc.).

[0036] The movement status is classified into uniform movement, accelerated movement, and decelerated movement; uniform movement: when the speed v remains relatively stable for a certain period of time (the fluctuation range is less than the preset threshold) and the acceleration a is close to zero, it is judged as uniform movement; accelerated movement: when the speed v continues to increase and the acceleration a is greater than zero, it is judged as accelerated movement; the size of the acceleration a is further subdivided into the severity of the acceleration; decelerated movement: when the speed v continues to decrease and the acceleration a is less than zero, it is judged as decelerated movement; similarly, the absolute value of the acceleration a reflects the severity of the deceleration.

[0037] Furthermore, the moving status of the electric forklift is monitored in real time, the remaining moving path of the electric forklift is determined according to the current position and target position of the electric forklift, and the required power of the electric forklift in the moving dimension is determined according to the mapping relationship between the remaining moving path of the electric forklift and the moving power. This is compatible with the overall consideration of the mapping relationship between the remaining moving path of the electric forklift and the moving power, ensuring the accuracy of the required power of the electric forklift in the moving dimension.

[0038] At this point, ensuring that the system can obtain the latest status of the electric forklift in real time is crucial for subsequently determining the remaining movement path and required power. The monitoring content mainly includes the electric forklift's current speed, acceleration, steering angle, and whether it is in the starting, driving, braking and other states. This information is collected in real time by sensors installed on the electric forklift. Optionally, the system reads data from the sensors periodically (such as every second) and processes this data through algorithms to update the movement status of the electric forklift.

[0039] Plan the optimal path from the current position to the target position for subsequent calculation of the required power; optionally, the system needs to have an accurate map of the warehouse or work area; through GPS or indoor positioning technology, the system determines the current position of the electric forklift and matches it with the position on the map; based on the target position, the system uses a path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.) to plan the optimal path from the current position to the target position on the map. This path takes into account multiple factors, such as obstacles, road width, turning radius, etc.; the planned path is refined into a series of specific movement instructions, such as how many meters to drive in a straight line, how many degrees to turn left or right, etc., so that the electric forklift can execute it accurately.

[0040] Based on the moving path and energy consumption characteristics of the electric forklift, the amount of electricity required to complete the path is calculated; the moving power mapping relationship is a pre-established model or database, which describes the amount of electricity required for the electric forklift to travel a certain distance under different moving states (such as uniform speed, acceleration, and deceleration). This model is based on historical data, simulation results, or experimental measurements. Optionally, the remaining moving path is subdivided into multiple small segments, each corresponding to a specific moving state (such as straight-line uniform speed, turning acceleration, etc.); for each small segment, the corresponding power consumption is found according to the moving power mapping relationship, and these powers are added together to obtain the power required to complete the entire path.

[0041] Specifically, suppose an electric forklift needs to move goods from shelf 1 in area A of the warehouse to shelf 2 in area B. After the electric forklift is started, the system begins to monitor its movement status in real time, such as current speed and acceleration. The system determines that the electric forklift is currently located near shelf 1 in area A through map matching, and then uses the path planning algorithm to plan the optimal path based on the target location (shelf 2 in area B). Assume that the path includes driving straight from shelf 1 in area A to the aisle intersection, then turning right to area B, and finally driving straight to shelf 2.

[0042] The system divides the route into multiple segments and calculates the power consumption of each segment based on the mobile power mapping relationship. For example, traveling in a straight line at a constant speed requires 0.01 kWh of power per meter, while accelerating around a corner requires an additional 0.02 kWh of power. Adding these power consumptions together, the total power required to complete the entire route is X kWh. In this way, the system can monitor the movement of the electric forklift in real time, plan the optimal route based on the current and target locations, and calculate the power required to complete the route. This is crucial for the electric forklift's energy management and mission planning.

[0043] Therefore, the electric forklift's previous power data is collected, and the electric forklift's power loss coefficient is determined based on the electric forklift's previous power data and the electric forklift's usage time. The electric forklift's usable power is determined based on the electric forklift's power loss coefficient, the electric forklift's current power, and the electric forklift's required power in the moving dimension. The electric forklift's usable power presents the electric forklift's power in the working dimension, and is compatible with the overall consideration of the electric forklift's power loss coefficient, the electric forklift's current power, and the electric forklift's required power in the moving dimension, to ensure the accuracy of the electric forklift's usable power.

[0044] At this time, the power usage of the electric forklift in the past period of time is collected, including the number of charges, the initial power after each charge, the power consumption during the task, the remaining power, etc. These data are usually recorded by the battery management system (BMS) of the electric forklift or a dedicated power monitoring device; the power data under different working conditions, different time periods, and different operating modes should be covered to fully reflect the power usage of the electric forklift.

[0045] By analyzing past power data, the power loss trend of the electric forklift during use is identified, and then a power loss coefficient is determined to correct the current power estimate; the power loss coefficient is a coefficient that reflects the impact of factors such as battery aging and capacity degradation on power; it is a function that increases with time, indicating that battery performance gradually decreases over time; optionally, statistical analysis, machine learning and other methods are used to establish a power loss model based on past power data and usage time, and then the power loss coefficient is calculated.

[0046] Taking into account the current power of the electric forklift, the power loss and the power required to complete the task, a reasonable usable power value is determined to guide subsequent energy management and task planning; optionally, the current power is corrected according to the power loss coefficient to obtain a corrected power value; then, this value is compared with the required power in the moving dimension, and the smaller one is taken as the usable power; if the required power is greater than the corrected power, it is necessary to consider charging or adjusting the task plan. The "power in the working dimension" here refers to the power required by the electric forklift to complete a specific work task (such as handling, stacking, etc.); it varies according to factors such as task type, load size, and driving distance.

[0047] In one embodiment of the present application, it is assumed that there is a power loss coefficient matching table for determining the power loss coefficient based on the usage time and previous power data of the electric forklift; the power loss coefficient matching table is shown in Table 1:

[0048] Table 1 Power loss coefficient matching table

[0049] Use time (years) Power loss coefficient 0-1 1.00 1-2 0.95 2-3 0.90 3-4 0.85 4+ 0.80

[0050] Assume that an electric forklift has been in use for 2.5 years. According to the power loss coefficient matching table, the corresponding power loss coefficient of the electric forklift is 0.90 (because it falls within the 2-3 year usage period). If the current power of the electric forklift is displayed as 50kWh, and the system calculates that the power required in the mobile dimension is 40kWh, the corrected current power is 45kWh (50kWh*0.90). Since 45kWh is greater than the required 40kWh, the available power is determined to be 40kWh.

[0051] refer to Figure 3In step S12, a plurality of subtasks are determined based on the detection of the electric forklift, and a plurality of working paths of the electric forklift at the target position are determined according to the analysis of the plurality of subtasks;

[0052] In the specific implementation process of the present invention, the specific steps are:

[0053] S121: Collecting a database of electric forklifts, determining a corresponding task space based on traversal of the database of electric forklifts, and determining multiple subtasks based on detection of the task space, wherein the multiple subtasks all occur at a target position of the electric forklift;

[0054] S122: Preliminary analysis is performed on the multiple subtasks, and corresponding work contents are marked for the multiple subtasks. At this time, the electric forklift presents multiple different work contents based on the multiple subtasks, and executes the multiple work contents in sequence;

[0055] S123: determining multiple motion dimensions of the electric forklift based on the motion detection of the electric forklift, and determining multiple working paths of the electric forklift at the target location based on matching the multiple motion dimensions of the electric forklift with the multiple work contents, where each working path corresponds to one work content;

[0056] In an embodiment of the present application, a database of electric forklifts is collected, a corresponding task space is determined based on the traversal of the database of electric forklifts, and multiple subtasks are determined based on the detection of the task space. The multiple subtasks all occur at the target position of the electric forklift, introducing multiple subtasks.

[0057] At this time, the necessary information is obtained from the electric forklift's built-in database or the management system connected to it. This information usually includes the electric forklift's operation log, historical task records, location tracking data, cargo handling records, etc. The database is located on the electric forklift and also on a remote server or cloud storage. The data is usually transmitted via a wireless connection (such as Wi-Fi, Bluetooth or a dedicated communication protocol). The data that the system needs to collect includes the electric forklift's current status, historical location, task execution status, cargo information (such as weight, size, type), etc.

[0058] By traversing the information in the database, the geographical or logical space where the electric forklift needs to perform the task is identified; the task space is a specific area within the warehouse, a station on the production line, or an area where goods are stored and retrieved; the system uses algorithms (such as depth-first search and breadth-first search) to traverse the records in the database to identify spatial information related to the current task; based on the location data, cargo layout information or historical task records in the database, the system determines the boundaries and characteristics of the task space.

[0059] After the task space is determined, it is further subdivided into multiple specific subtasks for more efficient management and execution; a subtask is part of the overall task and usually involves more specific operations or actions, such as carrying specific goods, moving to a specific location, and performing specific operations (such as loading and unloading); the system uses a preset machine learning model to detect key points or features in the task space and divides subtasks accordingly; there are sequential, dependent or parallel relationships between subtasks, which need to be considered in task planning.

[0060] Specifically, suppose a logistics company uses an electric forklift to move goods in a warehouse; the system obtains the current status of the electric forklift (such as power level, speed), historical location data, and recent cargo handling records from the electric forklift's built-in database; in addition, it also obtains the warehouse's cargo layout map from a remote server; by traversing the location data and cargo layout map in the database, the system identifies the warehouse area where the task needs to be performed; specifically, the system determines the location of the shelf where the goods need to be moved (such as shelf 3 in area A) and the destination where the goods need to be delivered (such as the production line in area B).

[0061] Determine multiple subtasks: Based on the characteristics of the task space, the system divides the following subtasks: Subtask 1: Remove the specified goods from shelf 3 in area A; Subtask 2: Move the goods to the transportation channel of the warehouse; Subtask 3: Drive along the transportation channel to the production line in area B; Subtask 4: Unload the goods on the production line in area B.

[0062] Furthermore, a preliminary analysis is performed on the multiple subtasks, and the corresponding work contents are marked for the multiple subtasks. At this time, the electric forklift presents multiple different work contents based on the multiple subtasks, and executes the multiple work contents in sequence, ensuring the accuracy of the work content.

[0063] At this point, each subtask is analyzed and understood in detail to clarify the specific requirements, steps and restrictions of each subtask, including the location information of the subtask (such as starting point, end point, path), cargo information (such as weight, size, type), operational requirements (such as handling method, placement), etc.; optionally, the analysis involves reading relevant records in the database, analyzing the warehouse layout diagram, considering the technical specifications and operating restrictions of the electric forklift, etc.; the result of the preliminary analysis is a detailed description of each subtask, including the specific operations to be performed and the challenges encountered.

[0064] One or more work content tags are assigned to each subtask. These tags describe the specific operations that the electric forklift needs to perform when executing each subtask. The work content includes lifting goods, moving the electric forklift, placing goods, adjusting the height of the electric forklift, turning, accelerating, decelerating, etc. Optionally, the system uses a predefined set of tags to mark the work content, or dynamically generates tags based on the parsing results. Each subtask is marked with one or more work content tags, which provide clear guidance for subsequent task execution.

[0065] According to the marked work content, the electric forklift performs each subtask in sequence according to the predetermined order; at this time, the system uses a task scheduling algorithm to determine the execution order, taking into account factors such as the priority of the subtask, the current position of the electric forklift, the power status, the order of cargo handling, etc.; during the execution process, the system uses sensors or cameras to monitor the status and operation of the electric forklift to ensure that the task is executed in the predetermined manner; the electric forklift completes all subtasks in sequence, and each subtask is executed according to the marked work content, and finally completes the overall task.

[0066] Specifically, suppose a logistics company uses an electric forklift to move goods in the warehouse. Subtask 1: Remove the specified goods from shelf 3 in area A; the analysis results show that the weight of the goods is 50kg and the dimensions are 0.5mx 0.6mx 0.8m, requiring the lifting function of the electric forklift; Subtask 2: Move the goods to the transport aisle of the warehouse; the analysis results show that the distance from the shelf to the transport aisle is about 10 meters, and the electric forklift needs to travel in a straight line; Subtask 3: Drive along the transport aisle to the production line in area B; the analysis results show that the distance from the transport aisle to the production line in area B is about 20 meters, and several obstacles need to be bypassed; Subtask 4: Unload the goods from the production line in area B; the analysis results show that the goods need to be placed on the designated production line workstation, and the height of the electric forklift needs to be adjusted to match the workstation.

[0067] Mark the corresponding work content for multiple subtasks: Subtask 1: marked as "lifting cargo"; Subtask 2: marked as "driving in a straight line"; Subtask 3: marked as "avoiding obstacles"; Subtask 4: marked as "adjusting height and placing cargo".

[0068] The electric forklift presents multiple different work contents based on multiple subtasks, which are executed in sequence: the electric forklift first performs subtask 1, using the lifting function to remove the goods from shelf 3 in area A; then performs subtask 2, driving in a straight line to the transportation channel of the warehouse; then performs subtask 3, bypassing obstacles and driving along the transportation channel to the production line in area B; finally, performs subtask 4, adjusts the height of the electric forklift and places the goods on the designated production line workstation.

[0069] Therefore, based on the motion detection of the electric forklift, the multiple motion dimensions of the electric forklift are determined, and based on the matching of the multiple motion dimensions of the electric forklift and the multiple work contents, the multiple work paths of the electric forklift at the target position are determined. Each work path corresponds to a work content, which is compatible with the overall consideration of the matching of the multiple motion dimensions of the electric forklift and the multiple work contents, thereby ensuring the accuracy of the multiple work paths of the electric forklift at the target position.

[0070] At this time, the movement of the electric forklift is detected in real time through sensors, cameras or other monitoring equipment to identify its different operating dimensions; the movement dimensions include the moving direction of the electric forklift (forward, backward, left turn, right turn), speed, acceleration, lifting or lowering height, extension or retraction of the fork arm, etc.; optionally, the system uses an image recognition algorithm to detect the movement and steering of the electric forklift, uses sensors to measure speed and acceleration, and uses a height sensor to detect the lifting or lowering of the fork arm; the detected movement dimensions provide the system with real-time feedback on the current operating status of the electric forklift.

[0071] The detected action dimensions are matched with the previously determined work content to determine the specific path that the electric forklift should take when performing each work content at the target location; the system uses a rule engine or machine learning model to match the action dimensions and work content and generate corresponding work paths; for example, if the work content is "moving goods from the shelf to the transport channel", the matching action dimensions include "driving in a straight line" and "lifting goods"; based on the matching results, the system generates the optimal path from the current position to the target location, taking into account factors such as the shortest distance, avoiding obstacles, and complying with the warehouse layout; for each work content, the system generates one or more work paths, which describe the specific actions that the electric forklift should take when performing the work content.

[0072] Ensure that each work content has a clear work path corresponding to it so that the electric forklift can perform the task accurately; the system maintains a mapping relationship between work content and work path to ensure that the corresponding path can be found when executing each work content; during the execution process, the system continuously monitors the movement dimensions of the electric forklift to ensure that it follows the predetermined work path; the electric forklift can accurately perform tasks according to the work path corresponding to each work content, improving work efficiency and accuracy.

[0073] Specifically, suppose a logistics company uses an electric forklift to perform a series of handling tasks in a warehouse. The system detects that the electric forklift is moving in a straight line at a speed of 5 km / h while the fork arm is lifting goods. Then, the system detects that the electric forklift begins to turn left, slowing down slightly but still lifting goods. The system then detects that the electric forklift stops lifting goods and begins to travel along a curve to bypass an obstacle in the warehouse.

[0074] Work content 1: "Move goods from the shelf to the transport channel"; the matching action dimensions include "driving in a straight line" and "lifting goods"; the system generates a shortest path from the shelf to the transport channel; Work content 2: "Bypass obstacles to reach area B"; the matching action dimensions include "turn left" and "driving in a curve"; the system generates a path to bypass obstacles and lead to area B.

[0075] For work content 1, the work path generated by the system is a straight path from the shelf to the transport channel, and the electric forklift travels along this path and lifts the goods; for work content 2, the work path generated by the system is a curved path that bypasses obstacles, and the electric forklift travels along this path to reach area B; through step S123, the electric forklift can determine and execute the corresponding work path based on the matching results of the real-time detected action dimensions and the work content, thereby completing the task efficiently and accurately.

[0076] In one embodiment of the present application, it is assumed that when an electric forklift is performing a task, the system detects the following motion dimensions: speed: 3 km / h; acceleration: 0.1 m / s 2 (Forward acceleration); Direction change: Turn left 90°; Height change: Lift the cargo to a height of 1.5 meters. The collection work content matching table is shown in Table 2:

[0077] Table 2 Work content matching table

[0078] Job Description Speed ​​range Acceleration range Direction Change Height variation range Moving goods to shelves 2-4km / h <![CDATA[0-0.2m / s 2 ]]> Straight line / fine adjustment Increased to 1.2-1.8 meters Driving around obstacles 1-5km / h <![CDATA[0-0.5m / s 2 ]]> Any angle Maintain current altitude Placing goods on the production line <1km / h <![CDATA[0-0.1m / s 2 ]]> Straight line / fine adjustment Reduced to 0.8-1.0 meters

[0079] According to the detected motion dimensions (speed: 3km / h, acceleration: 0.1m / s 2 , direction change: turn left 90°, height change: lift the goods to a height of 1.5 meters), the system searches for matching work content in the work content matching table; in this case, the action dimension best matches the work content of "moving goods to the shelf".

[0080] For each work content, calculate its matching score with the detected action dimension; the higher the score, the more the work content matches the detected action dimension;

[0081] Score for moving goods to shelves:

[0082] Speed ​​score: 3 / 4*0.3=0.225; Acceleration score: 0.1 / 0.2*0.1=0.05;

[0083] Direction change score: 0.2; height change score: 1.5 / 1.8*0.4=0.333; total score: 0.225+0.05+0.2+0.333=0.808; based on the calculated scores, the work path corresponding to the work content with the highest score is selected as the optimal work path; in this example, the work content of "moving goods to the shelf" has the highest score (0.808), so the system selects the corresponding work path.

[0084] refer to Figure 4 In step S13, if the power consumed by the multiple working paths is less than the available power of the electric forklift, the power supply modes of the multiple working paths are determined according to the multiple working paths and the available power of the electric forklift;

[0085] In the specific implementation process of the present invention, the specific steps are:

[0086] S131: Estimating the power consumption corresponding to each of the multiple work paths. At this time, the power consumption of each work path is determined based on the power consumption of each work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship;

[0087] S132: If the power consumed by the multiple working paths is less than the available power of the electric forklift, the electric forklift is in a sufficient power state; and a first remaining power is determined based on a comparison between the available power of the electric forklift and the power consumed by the multiple working paths.

[0088] S133: Determine power priorities of the multiple working paths according to the first remaining power, the multiple working paths of the electric forklift, and the power priority mapping relationship, and determine power supply modes of the multiple working paths according to the power priorities of the multiple working paths and the available power.

[0089] In an embodiment of the present application, corresponding power consumption estimates are performed for multiple work paths respectively. At this time, the power consumed by each work path is determined based on the power consumed by each work path, the electric forklift in the corresponding work dimension and the power consumption mapping relationship, which is compatible with the overall consideration of the power consumed by each work path, the electric forklift in the corresponding work dimension and the power consumption mapping relationship, and ensures the accuracy of the power consumed by each work path.

[0090] At this point, the system first obtains detailed information on each work path, including path length, number of turns, height and number of times the goods are lifted or lowered, expected driving speed, etc. This information usually comes from the warehouse management system, task scheduling system or manual input; the system needs to understand the power consumption of the electric forklift in different working dimensions (such as driving speed, lifting height, turning radius, etc.), which is usually based on the electric forklift's specifications, historical data or experimental data.

[0091] The system also needs to consider the circuit consumption of the electric forklift, which includes factors such as motor efficiency, battery internal resistance, and controller power consumption. These factors will affect the power consumption of the electric forklift in actual work, so a corresponding mapping relationship needs to be established; based on the above information, the system estimates the power consumption of each work path, which involves complex calculations, including breaking down the work path into a series of actions, and then accumulating the power consumption of each action. The system finally outputs the estimated power consumption of each work path for use in subsequent steps.

[0092] Specifically, suppose a logistics company uses an electric forklift to perform the following three work paths in the warehouse: Work path A: transporting goods from shelf area A to the loading area, the path length is 50 meters, the goods need to be lifted to a height of 1.5 meters, and the expected driving speed is 3km / h; Work path B: transporting goods from shelf area B to the production line, the path length is 80 meters, including two 90-degree turns, the goods need to be lifted to a height of 1.2 meters, and the expected driving speed is 2.5km / h; Work path C: transporting goods from shelf area C to the storage area, the path length is 100 meters, driving in a straight line, the goods need to be lowered to a height of 0.8 meters (starting from a height of 1.5 meters), and the expected driving speed is 3.5km / h.

[0093] The system estimates power consumption based on the following information: Electric forklift specifications: battery capacity is 200Ah, motor efficiency is 85%, and battery internal resistance is 0.01Ω; historical data: under similar conditions, lifting cargo 1.5 meters high consumes approximately 0.2kWh per lift, and driving 100 meters consumes approximately 0.1kWh (average speed is 3km / h); experimental data: each 90-degree turn consumes approximately 0.01kWh of additional power.

[0094] Based on this information, the system makes the following estimates:

[0095] Working path A: lifting cargo consumes 0.2kWh, driving consumes 0.05kWh (50m / 100m*0.1kWh), and the total consumption is about 0.25kWh; working path B: lifting cargo consumes 0.2kWh (assuming the same lifting consumption at the same height as path A), driving consumes 0.08kWh (80m / 100m 0.1kWh), turning consumes 0.02kWh (2 times 0.01kWh / time), and the total consumption is about 0.3kWh; working path C: lowering cargo consumption is assumed to be similar to lifting consumption, which is 0.2kWh (simplified estimate), driving consumption is 0.1kWh (100m / 100m*0.1kWh), and the total consumption is about 0.3kWh.

[0096] Furthermore, if the power consumed by multiple working paths is less than the usable power of the electric forklift, the electric forklift is in a fully charged state; the first remaining power is determined based on the comparison between the usable power of the electric forklift and the power consumed by multiple working paths, which is compatible with the overall consideration of the comparison between the usable power of the electric forklift and the power consumed by multiple working paths, thereby ensuring the accuracy of the first remaining power.

[0097] At this time, the system first compares the power consumed by multiple work paths with the available power of the electric forklift; if the power consumption of all work paths is less than the available power of the electric forklift, the system determines that the electric forklift is in a sufficient power state; determine the first remaining power: after confirming that the electric forklift has sufficient power, the system further calculates the remaining power after each work path is executed, that is, the first remaining power, which usually involves subtracting the power consumption of the corresponding work path from the available power of the electric forklift; for each work path, the system will calculate a first remaining power value, which reflects how much power the electric forklift has left after executing the path.

[0098] Specifically, it is assumed that the available power of the electric forklift is 100% or an equivalent power unit (such as 200Ah), and the power consumption of the three working paths A, B, and C has been estimated according to step S131: Working path A: power consumption is approximately 25% or 50Ah; Working path B: power consumption is approximately 30% or 60Ah; Working path C: power consumption is approximately 30% or 60Ah.

[0099] Determining the sufficient power state: the power consumption of work path A is 25%, which is less than 100% of the electric forklift's usable power; the power consumption of work path B is 30%, which is also less than 100% of the electric forklift's usable power; the power consumption of work path C is 30%, which is also less than 100% of the electric forklift's usable power; since the power consumption of all work paths is less than the electric forklift's usable power, the system determines that the electric forklift is in a sufficient power state.

[0100] Determine the first remaining power: for work path A, the first remaining power after execution is 100%-25%=75% or 150Ah; for work path B, due to the larger power consumption (30%), the first remaining power after execution is 100%-30%=70% or 140Ah; for work path C, the first remaining power after execution is also 70% or 140Ah (because the power consumption is the same as work path B); through these calculations, the system not only confirms that the electric forklift is in a sufficient power state when executing any single work path, but also provides specific remaining power information after each work path is executed. This information is crucial for subsequent task scheduling, power management and charging decisions.

[0101] Furthermore, the power priorities of multiple working paths are determined based on the first remaining power, multiple working paths of the electric forklift and the power priority mapping relationship, and the power supply modes of multiple working paths are determined based on the power priorities of multiple working paths and the available power. This is compatible with the overall consideration of the first remaining power, multiple working paths of the electric forklift and the power priority mapping relationship, ensuring the accuracy of the power priorities of multiple working paths. At the same time, it is compatible with the scenario where the power consumed by multiple working paths is less than the available power of the electric forklift, ensuring the safe use of the available power of the electric forklift, controlling the power supply modes of multiple working paths, and further realizing the effective use of the available power of the electric forklift.

[0102] At this time, the system determines the power priority of each work path based on the first remaining power (i.e., the power remaining after executing a certain work path), multiple work paths of the electric forklift, and a preset power priority mapping relationship; the power priority mapping relationship is based on multiple factors, such as the importance of the work path, urgency, execution time, ratio of power consumption to task value, etc.; the system uses an algorithm or rule engine to calculate the power priority of each work path based on these factors.

[0103] After determining the power priorities of the work paths, the system determines the power supply mode for each work path based on these priorities and the available power of the electric forklift. The power supply modes include full power supply, energy-saving mode, limiting some functions to reduce power consumption, or even postponing execution until charging. The system also considers the current status of the electric forklift (such as battery temperature, charging history, etc.) and external environmental factors (such as temperature and humidity in the warehouse) to determine the optimal power supply mode.

[0104] Specifically, assume that there are three working paths A, B, and C, and the following power-related information: working path A: power consumption is approximately 25%, and the first remaining power is 75%; working path B: power consumption is approximately 35%, and the first remaining power is 65%; working path C: power consumption is approximately 40%, and the first remaining power is 60%.

[0105] At the same time, the following power priority mapping relationships are preset:

[0106] High priority: The task is urgent and important, and should be executed first even if the battery consumption is high; Medium priority: The task is important but not urgent, and should be executed when the battery is sufficient, or postponed if necessary; Low priority: The task is not urgent and has low importance, and its execution should be postponed until charging or when the battery is more sufficient.

[0107] Assume that work path A is a high-priority task because it involves an urgent goods delivery; work path B is considered medium priority because it is a routine production line replenishment task; work path C is considered low priority because it is a non-urgent inventory sorting task; although work path C consumes the most power, the system will not execute it immediately due to its low task priority.

[0108] For high-priority work path A, the system will adopt full-power supply mode to ensure that the task is completed quickly; for medium-priority work path B, the system will adopt energy-saving mode or limit some functions (such as reducing driving speed) to reduce power consumption while ensuring that the task can be completed; for low-priority work path C, the system will postpone execution until the electric forklift is charged or has more power; or, if the electric forklift still has enough power after executing paths A and B (taking into account power recovery and charging plans), it will execute path C in energy-saving mode; through such a decision-making process, the system can intelligently manage the power of the electric forklift and the order of task execution to ensure that critical tasks are given priority while maximizing the running time of the electric forklift. Such a strategy helps to improve overall operational efficiency, reduce downtime, and optimize the use of electric forklifts.

[0109] In one embodiment of the present application, the power supply mode matching table matches and determines the power priority and power supply mode of the working path according to preset rules or conditions; the power supply mode matching table is shown in Table 3:

[0110] Table 3 Power supply mode matching table

[0111]

[0112] Assume that the first remaining power of work path A is 75% and it is an urgent task; according to the matching table, the power priority of work path A is "high" and the power supply mode is "full power"; suppose that the first remaining power of work path B is 60% and it is an important but not urgent task; the system will determine the power supply mode based on the power level and task priority. For example, if the electric forklift still has enough power after executing path A, "energy saving mode" will be used to execute path B.

[0113] refer to Figure 5 In step S14, if the power consumed by the multiple working paths is greater than the available power of the electric forklift, the unfinishable working path of the electric forklift is determined according to the priorities of the multiple working paths and the available power;

[0114] In the specific implementation process of the present invention, the specific steps are:

[0115] S141: If the power consumed by the multiple working paths is greater than the available power of the electric forklift, the electric forklift is in a power shortage state; a first power shortage is determined based on a comparison between the available power of the electric forklift and the power consumed by the multiple working paths;

[0116] S142: comparing priorities of the multiple work paths and the models of the electric forklifts to determine the priorities of the multiple work paths;

[0117] S143: Determine a normal energy supply combination based on the available power of the electric forklift, the priorities of the multiple work paths, and the power consumed by the multiple work paths, and determine the incomplete work paths of the electric forklift based on a comparison between the multiple work paths and the normal energy supply combination; the normal energy supply combination covers some work paths that can be completed by the available power of the electric forklift.

[0118] In an embodiment of the present application, if the power consumed by multiple working paths is greater than the available power of the electric forklift, the electric forklift is in a low-power state; the first power shortage is determined based on the comparison between the available power of the electric forklift and the power consumed by multiple working paths, which is compatible with the overall consideration of the comparison between the available power of the electric forklift and the power consumed by multiple working paths, thereby ensuring the accuracy of the first power shortage.

[0119] At this time, the system first calculates the total amount of electricity required for multiple work paths; then, the system compares this total amount of electricity with the available electricity of the electric forklift; if the total amount of electricity required for multiple work paths is greater than the available electricity of the electric forklift, the system determines that the electric forklift is in an insufficient power state.

[0120] Determine the first power deficit: After confirming that the electric forklift is low on power, the system calculates the first power deficit. The first power deficit refers to the difference between the available power of the electric forklift and the power required for multiple work paths. This value reflects how much additional power the electric forklift needs to complete all work paths.

[0121] Specifically, the available power of the electric forklift is 200 Ah (ampere-hour); the three working paths that need to be executed are A, B, and C; the power consumption of working path A is 60 Ah, the power consumption of working path B is 80 Ah, and the power consumption of working path C is 70 Ah.

[0122] The total power required for the three working paths is calculated as follows: 60Ah (path A) + 80Ah (path B) + 70Ah (path C) = 210Ah. This total is then compared with the available power of the electric forklift: 210Ah (total power demand) > 200Ah (available power). Because the total power demand is greater than the available power, the system determines that the electric forklift is low on power.

[0123] Determine the first lack of power: After confirming the lack of power, calculate the first lack of power: 210Ah (total power demand) - 200Ah (usable power) = 10Ah, which means that in order to complete all three work paths, the electric forklift needs an additional 10Ah of power. Through such steps, the system can accurately determine whether the electric forklift is in a state of insufficient power and calculate how much additional power is needed to complete the task. This helps operators make timely decisions, such as adjusting the order of tasks, prioritizing key tasks, or arranging charging for the electric forklift, etc., to ensure efficient and smooth operations.

[0124] Furthermore, the priorities of the multiple working paths and the models of the electric forklift are compared to determine the priorities of the multiple working paths, and the priorities of the multiple working paths are introduced.

[0125] At this time, the system first collects detailed information about multiple work paths, including the task type, urgency, importance, customer requirements, time limit, etc. of each path; at the same time, the system also obtains the model information of the electric forklift, including the performance parameters of the electric forklift (such as maximum load, driving speed, battery capacity, etc.), maintenance records, historical usage data, etc.

[0126] A set of criteria is established to evaluate the priority of work paths. These criteria are based on factors such as the urgency of the task, the impact on operations, customer priority, and the performance compatibility of electric forklifts. Next, the system compares the information of each work path with the model information of the electric forklift. Based on the set priority criteria, the system scores or ranks each work path. This process involves complex algorithms or decision-making logic to ensure that the most urgent, important tasks that are most compatible with the performance of electric forklifts receive the highest priority. Finally, the system determines the priority order of each work path based on the comparison results. This order will be used to guide subsequent task scheduling and power management decisions.

[0127] Specifically, the electric forklift model is EFG-1234, which has a high-performance battery and fast charging capabilities, and is suitable for performing heavy-load and long-duration tasks; the three work paths that need to be executed are A, B, and C; Work Path A: urgent orders, which need to be executed quickly, but the task volume is not large; Work Path B: routine replenishment tasks, which are of medium importance, but the task volume is large and requires heavy-load capacity; Work Path C: non-urgent inventory sorting tasks, which do not require high time.

[0128] The system collects detailed information about work paths A, B, and C, including task type and urgency. It also obtains model information for the electric forklift EFG-1234, including its high-performance battery and heavy-load capacity. The system sets the following priority criteria: urgent orders have the highest priority, followed by heavy-load and long-duration tasks, and finally non-urgent tasks have the lowest priority.

[0129] The system compares work path A with the electric forklift EFG-1234 and finds that although A is urgent, the task volume is not large, and its performance match with the electric forklift is average; comparing work path B with the electric forklift, it finds that B has a large task volume and requires heavy-load capacity, which is highly matched with the performance of the electric forklift; comparing work path C with the electric forklift, it finds that C has low time requirements and a small task volume, and its performance match with the electric forklift is the lowest; based on the comparison results, the system determines that work path B has the highest priority because it is highly matched with the performance of the electric forklift EFG-1234 and has a large task volume; work path A has the second highest priority because it is an urgent order; work path C has the lowest priority because it is a non-urgent task and has the lowest performance match with the electric forklift; through such steps, the system can accurately determine the priority order of multiple work paths, thereby guiding subsequent task scheduling and power management decisions, which helps to ensure that critical tasks are prioritized while maximizing the performance and power of the electric forklift.

[0130] Therefore, the normal energy supply combination is determined based on the available power of the electric forklift, the priorities of multiple working paths and the power consumed by the multiple working paths, and the incomplete working paths of the electric forklift are determined based on the comparison between the multiple working paths and the normal energy supply combination; the normal energy supply combination covers some of the work paths that can be completed by the available power of the electric forklift, and is compatible with the overall consideration of the available power of the electric forklift, the priorities of multiple working paths and the power consumed by multiple working paths, to ensure the accuracy of the normal energy supply combination.

[0131] At this time, in step S143, the main task of the system is to determine a "normal energy supply combination", that is, a combination of partial work paths that can be completed with the available power of the electric forklift, and to determine which work paths cannot be completed accordingly.

[0132] The system first collects information on the available power of the electric forklift; at the same time, the system obtains the priorities of the multiple work paths determined in the previous step and the power consumed by each path; the system tries to build an energy supply combination from high to low according to the priority of the work path; initially, the combination is empty, and the system adds work paths one by one, while calculating the total power consumption of the added paths; if the total power consumption exceeds the available power of the electric forklift after adding a path, the system stops adding the path and goes back to the last valid combination state.

[0133] In the process of constructing candidate energy supply combinations, the system will record all valid combinations that do not exceed the available power of the electric forklift; from these valid combinations, the system selects the combination with the highest total priority as the normal energy supply combination, which usually means that the combination contains the most high-priority tasks; once the normal energy supply combination is determined, the system will compare this combination with the set of all work paths; those work paths that are not included in the normal energy supply combination are determined to be work paths that the electric forklift cannot complete with the current power.

[0134] Specifically, the available power of an electric forklift is 150Ah; there are four work paths that need to be executed, A, B, C, and D, and their priorities and power consumption are as follows: A: high priority, power consumption 40Ah; B: medium priority, power consumption 50Ah; C: medium priority, power consumption 60Ah; D: low priority, power consumption 70Ah.

[0135] The available power of the electric forklift is 150 Ah. The work path priorities and power consumption are A (high, 40 Ah), B (medium, 50 Ah), C (medium, 60 Ah), and D (low, 70 Ah). Starting with the highest priority, the following attempts are made: A (40 Ah) is added first, leaving 110 Ah of power remaining. Next, B (50 Ah) is added, resulting in a total power consumption of 90 Ah and a remaining power of 60 Ah, which is still within an acceptable range. Then, C (60 Ah) is added, but the total power consumption reaches 150 Ah, exceeding the available power of the electric forklift. Therefore, the addition of C is stopped and the process goes back to the last valid combination (A + B). D is not considered due to its low priority and high power consumption.

[0136] Among the constructed candidate energy supply combinations, the A+B combination has the highest total priority and the power consumption is within an acceptable range, so it is determined to be the normal energy supply combination; comparing the normal energy supply combination (A+B) with the set of all work paths, it is found that C and D are not included in the combination; therefore, C and D are determined to be work paths that the electric forklift cannot complete with the current power; through such steps, the system can intelligently determine which tasks to complete and which tasks need to be postponed or rescheduled based on the available power of the electric forklift, the priority of the work path and the power consumption, thereby optimizing resource utilization and task execution efficiency.

[0137] In one embodiment of the present application, a usable power matching table of an electric forklift is collected, and the usable power matching table of an electric forklift is shown in Table 4:

[0138] Table 4 Available power matching table for electric forklifts

[0139]

[0140] In this example, the electric forklift has 150Ah of available power. Paths A and B are added to the normal energy supply combination because the total power they require (90Ah) does not exceed the available power of the electric forklift. Path C is excluded due to insufficient remaining power, so D is automatically considered unachievable (although its power requirement is lower, due to the failure of C, the remaining power is insufficient to complete D).

[0141] refer to Figure 6 In step S15, the amount of electricity to be replenished is determined based on the unfinished work path, and the coordinated response of the electric forklift is triggered according to the amount of electricity to be replenished. At this time, the coordinated device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished;

[0142] In the specific implementation process of the present invention, the specific steps are:

[0143] S151: Estimating the power consumption corresponding to the unfinishable work path, and determining the amount of power to be replenished for the electric forklift based on a mapping relationship between the unfinishable work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption;

[0144] S152: triggering the electric forklift to collect equipment based on the target location according to the amount of electricity to be replenished, so as to collect operating equipment related to the unfinishable work path, and determining a coordinated system of the electric forklift according to the operating equipment, the unfinishable work path, and the amount of electricity to be replenished;

[0145] S153: The electric forklift triggers a collaborative response based on the collaborative system, and determines the supporting equipment for the unfinished work path among multiple operating devices. The collaborative equipment of the electric forklift is determined based on the matching of the current power of the supporting equipment and the power to be replenished. The collaborative equipment of the electric forklift can complete the unfinished work path without occupying the power of the electric forklift.

[0146] In an embodiment of the present application, a corresponding power consumption estimation is performed for an incomplete work path, and the amount of power to be replenished of the electric forklift is determined based on the incomplete work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship. This is compatible with the overall consideration of the incomplete work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship, thereby ensuring the accuracy of the amount of power to be replenished of the electric forklift.

[0147] At this point, the system's primary task is to estimate the power consumption of those work paths that cannot be completed due to insufficient power on the electric forklift, and to determine the amount of power required to replenish the electric forklift accordingly. The system first determines, based on the previous analysis (e.g., step S143), which work paths cannot be completed with the current power of the electric forklift. For each unfinishable work path, the system collects relevant work dimension information, including path length, weight of the cargo to be handled, operating speed, and environmental conditions (e.g., slope, humidity, temperature, etc.).

[0148] Application power consumption mapping:

[0149] The system utilizes a pre-established power consumption mapping relationship that can estimate the power consumption of an electric forklift when performing a specific task based on work dimension information; the power consumption mapping relationship is based on historical data, experimental data or theoretical calculations.

[0150] For each unfinishable work path, the system uses a power consumption mapping model to estimate the amount of power required to complete the path. This estimate takes into account all relevant work dimensions and the performance characteristics of the electric forklift. The system compares the difference between the estimated power consumption of each unfinishable work path and the current remaining power of the electric forklift to determine the amount of power the electric forklift needs to replenish in order to complete these paths.

[0151] Specifically, the electric forklift currently has 80 Ah of battery life. There are two unfinishable work paths: Path X and Path Y. Path X's information: length: 1000 meters, load weight: 2 tons, operating speed: 3 km / h, environmental conditions: flat road. Path Y's information: length: 1500 meters, load weight: 1.5 tons, operating speed: 2 km / h, environmental conditions: 5% slope.

[0152] Now, the operation of step S151 is performed.

[0153] The system determines that Path X and Path Y are work routes that the current electric forklift cannot complete with its current battery capacity. Path X is 1000 meters long, has a cargo weight of 2 tons, an operating speed of 3 km / h, and is on a flat surface. Path Y is 1500 meters long, has a cargo weight of 1.5 tons, an operating speed of 2 km / h, and a 5% slope. The system uses a power consumption mapping that accounts for the effects of factors such as path length, cargo weight, operating speed, and slope on power consumption. For Path X, the system estimates that approximately 40 Ah of power is required to complete the route. For Path Y, due to the slope, the system estimates that approximately 65 Ah of power is required to complete the route.

[0154] The system calculates the total power required for Path X and Path Y (40Ah + 65Ah = 105Ah). Since the electric forklift currently has 80Ah of remaining power, the system determines that the amount of power required to complete these two paths is 105Ah - 80Ah = 25Ah. Through this process, the system can accurately estimate the amount of power required to complete the unfinished work path, providing an important basis for subsequent charging or power management decisions.

[0155] Furthermore, according to the amount of electricity to be replenished of the electric forklift, the electric forklift is triggered to collect equipment based on the target position to collect operating equipment related to the unfinished work path, and the collaborative system of the electric forklift is determined according to the operating equipment, the unfinished work path and the amount of electricity to be replenished of the electric forklift, which is compatible with the overall consideration of the operating equipment, the unfinished work path and the amount of electricity to be replenished of the electric forklift, ensuring the accuracy of the collaborative system of the electric forklift. At the same time, it introduces the situation that the electricity consumed by multiple work paths is greater than the available electricity of the electric forklift, and collaborative management is carried out for the shortage of the available electricity of the electric forklift, ensuring the coordination between the electric forklift and the collaborative equipment, so as to ensure the smooth completion of multiple subtasks by the electric forklift.

[0156] At this time, the device collection is triggered according to the amount of power to be replenished of the electric forklift, the operating equipment related to the unfinishable work path is found and determined, and a collaborative system is built to support the electric forklift to complete these paths.

[0157] The system first triggers a device acquisition process based on the target location (i.e., the current location of the electric forklift or the expected location) based on the information about the amount of power to be replenished of the electric forklift. This process involves scanning nearby wireless networks, querying databases, or sending requests to nearby devices to identify available operating devices. During the device acquisition process, the system identifies all operating devices that are related to the current task of the electric forklift and provide power support or alternative operating capabilities. These devices include backup power supplies, mobile charging stations, other electric forklifts, or autonomous vehicles.

[0158] For each identified operating device, the system evaluates whether its capabilities meet the conditions required for the electric forklift to complete the incomplete work path, which includes factors such as the remaining power of the device, operating range, operating speed, compatibility, etc.; based on the device capabilities and the specific requirements of the incomplete work path, the system builds a collaborative system that involves the collaboration of multiple devices to ensure that the electric forklift can complete the task in the most efficient way while minimizing the need for additional power; finally, the system determines the specific collaborative strategy, including which devices will participate in the collaborative operation, how they will allocate tasks, and how the electric forklift interacts with other devices. These strategies are designed to optimize work efficiency, reduce energy consumption and ensure the successful completion of the task.

[0159] Specifically, the electric forklift has 30Ah of power left to be replenished; there are two unfinished work paths: Path A (requiring an additional 20Ah of power) and Path B (requiring an additional 15Ah of power); there are two available operating devices nearby: Device 1 (a backup power supply with a remaining power of 50Ah) and Device 2 (another electric forklift with a remaining power of 40Ah and currently idle).

[0160] The system triggers the device acquisition process and identifies nearby devices 1 and 2. The system recognizes that both devices 1 and 2 are relevant to the current task of the electric forklift because they can provide power support or alternative operating capabilities. For device 1 (backup power supply): the remaining power is 50Ah, which is sufficient to support the electric forklift to complete path A and path B. For device 2 (another electric forklift): the remaining power is 40Ah, which is sufficient to support the electric forklift to complete one of path A or path B, but not enough to complete both paths at the same time.

[0161] The system builds a collaborative system in which device 1 acts as a backup power source to provide power support for the electric forklift, while device 2 acts as an alternative work vehicle to take over part of the electric forklift's tasks when necessary; the system determines the collaborative strategy as follows: first, use device 1 to charge the electric forklift to a power level sufficient to complete paths A and B (i.e., at least 55Ah, taking into account power loss); then, the electric forklift first completes path A (consuming 20Ah) and continues to complete path B (consuming 15Ah) if the remaining power allows; if the electric forklift runs out of power after completing path A, device 2 will take over and complete path B; through such steps, the system can intelligently identify and utilize nearby available resources to build an effective collaborative system to ensure that the electric forklift can complete the work path that was originally unable to be completed due to insufficient power.

[0162] Therefore, the electric forklift triggers a collaborative response based on the collaborative system, and determines the supporting equipment for the unfinished work path among multiple operating devices, and determines the collaborative equipment of the electric forklift based on the matching of the current power of the supporting equipment and the power to be replenished. The collaborative equipment of the electric forklift can complete the unfinished work path and does not occupy the power of the electric forklift. It is compatible with the overall consideration of the matching of the current power of the supporting equipment and the power to be replenished, thereby ensuring the accuracy of the collaborative equipment of the electric forklift.

[0163] At this time, ensure that the electric forklift can effectively trigger a coordinated response based on the previously built collaborative system, and select the most suitable supporting equipment from multiple available operating devices to complete the work tasks that were originally unable to be performed due to insufficient power.

[0164] The system first instructs the electric forklift to start a collaborative operation process based on the previously constructed collaborative system, which involves sending collaborative requests to other operating devices or starting a preset collaborative operation mode; among multiple available operating devices, the system needs to identify which devices serve as supporting equipment for the electric forklift to complete an unfinished work path.

[0165] For each potential supporting device, the system will perform a detailed power matching analysis, which includes comparing the current power of the device with the power required to be replenished by the electric forklift to complete a specific path, to ensure that the selected device can provide sufficient power support; based on the results of the power matching analysis, the system selects the most suitable device from the potential supporting devices as the collaborative device of the electric forklift. This collaborative device should be able to meet the power requirements of the electric forklift without interfering with its normal operating process.

[0166] Specifically, the electric forklift needs to complete two unfinished work paths: Path C (requiring an additional 25Ah of power) and Path D (requiring an additional 18Ah of power); there are three available operating devices nearby: Device A (backup power supply with a remaining power of 60Ah), Device B (a mobile charging station that can quickly charge the electric forklift to full power), and Device C (another electric forklift with a remaining power of 45Ah and currently not performing any tasks).

[0167] The system instructs the electric forklift to send a collaboration request to nearby devices A, B, and C based on the previously constructed collaboration system; the system recognizes that devices A, B, and C all have supporting equipment for the electric forklift to complete paths C and D; however, considering the fast charging capability of device B, it is a more efficient choice; for device A: the remaining power is 60Ah, which is enough to support the electric forklift to complete paths C and D (a total of 43Ah), but it takes a longer charging time; for device B: as a mobile charging station, it quickly charges the electric forklift to full power, so that it can easily complete paths C and D; for device C: the remaining power is 45Ah, which is enough to support the electric forklift to complete one of paths C or D, but not enough to complete both paths at the same time.

[0168] Based on the results of the power matching analysis, the system selects device B as the auxiliary device for the electric forklift. Because device B acts as a mobile charging station, it can quickly replenish the required power for the electric forklift without affecting its normal operation process. The system instructs the electric forklift to move to the location of device B and start the charging process. Once charging is complete, the electric forklift can continue to perform the task at full power, including paths C and D that were originally unable to complete due to insufficient power.

[0169] In one embodiment of the present application, an electric forklift needs to complete an unfinished work path, which requires an additional 20Ah of power. There are three available operating devices nearby: device A (backup power supply, with a remaining power of 40Ah), device B (a mobile charging station that can provide 30Ah of power for the electric forklift), and device C (another electric forklift, with a remaining power of 15Ah). A matching degree table is collected, and the matching degree table is shown in Table 5:

[0170] Table 5. Matching degree table

[0171]

[0172] The current power of device A is sufficient to meet the power demand, and it is assumed that it can supply all the power. Although the power provided by device B is slightly less than that of device A, it is still sufficient to meet the demand. The power of device C is not enough to meet the power demand.

[0173] See also Figure 7 , Figure 7 : is a schematic diagram of the structure of the energy control system of an electric forklift in an embodiment of the present invention; the energy control system of the electric forklift includes:

[0174] The available power module 21 is used to determine the available power of the electric forklift based on the remaining moving path and the current power of the electric forklift when the electric forklift is in a moving state;

[0175] A first working path module 22 is configured to determine a plurality of subtasks based on the detection of the electric forklift, and determine a plurality of working paths of the electric forklift at a target location according to the analysis of the plurality of subtasks;

[0176] The power supply module 23 is configured to determine the power supply modes of the multiple working paths according to the multiple working paths and the available power of the electric forklift if the power consumed by the multiple working paths is less than the available power of the electric forklift;

[0177] A second working path module 24 is configured to determine an unachievable working path for the electric forklift based on the priorities of the multiple working paths and the available power if the power consumed by the multiple working paths is greater than the available power of the electric forklift;

[0178] The collaborative module 25 is used to determine the amount of electricity to be replenished based on the unfinished work path, and trigger the collaborative response of the electric forklift according to the amount of electricity to be replenished. At this time, the collaborative device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished.

[0179] The technical features of the above embodiments are arbitrarily combined. In order to make the description more concise, not all combinations of the technical features in the above embodiments are described. However, as long as there is no technical contradiction in the combination of these technical features, they should be considered as the main scope recorded in this specification.

Claims

1. An energy control method for an electric forklift, characterized in that: include: When the electric forklift is in a moving state, determining the available power of the electric forklift based on the remaining moving path of the electric forklift and the current power; Determining a plurality of subtasks based on detection of the electric forklift, and determining a plurality of working paths of the electric forklift at a target location based on analysis of the plurality of subtasks; If the power consumed by the multiple working paths is less than the available power of the electric forklift, then the power supply modes of the multiple working paths are determined according to the multiple working paths and the available power of the electric forklift; If the power consumed by multiple work paths is greater than the available power of the electric forklift, the unfinishable work path of the electric forklift is determined based on the priorities of the multiple work paths and the available power; The amount of electricity to be replenished is determined based on the unfinished work path, and the coordinated response of the electric forklift is triggered according to the amount of electricity to be replenished. At this time, the coordinated device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished.

2. The energy control method for an electric forklift according to claim 1, characterized in that: The method of determining the available power of the electric forklift based on the remaining moving path and the current power of the electric forklift when the electric forklift is in the moving state includes: Collecting multiple movement parameters of the electric forklift and determining the movement state of the electric forklift according to the multiple movement parameters, the movement state including uniform movement, accelerated movement or decelerated movement; Monitor the movement status of the electric forklift in real time, determine the remaining movement path of the electric forklift based on the current position and target position of the electric forklift, and determine the required power of the electric forklift in the movement dimension based on the mapping relationship between the remaining movement path and the movement power; Collect the previous power data of the electric forklift, determine the power loss coefficient of the electric forklift based on the previous power data and the usage time of the electric forklift, and determine the usable power of the electric forklift based on the power loss coefficient, the current power of the electric forklift and the power required by the electric forklift in the moving dimension. The usable power of the electric forklift reflects the power of the electric forklift in the working dimension.

3. The energy control method for an electric forklift according to claim 1, characterized in that: The method of determining a plurality of subtasks based on the detection of the electric forklift and determining a plurality of working paths of the electric forklift at the target location according to the analysis of the plurality of subtasks includes: A database of electric forklifts is collected, a corresponding task space is determined based on the traversal of the database of electric forklifts, and multiple subtasks are determined based on the detection of the task space, where the multiple subtasks all occur at a target position of the electric forklift; Perform a preliminary analysis of the multiple subtasks and mark the corresponding work contents for the multiple subtasks. At this time, the electric forklift presents multiple different work contents based on the multiple subtasks and executes the multiple work contents in sequence; Based on the motion detection of the electric forklift, multiple motion dimensions of the electric forklift are determined, and multiple working paths of the electric forklift at the target position are determined according to the matching of the multiple motion dimensions of the electric forklift and multiple work contents, each working path corresponds to one work content.

4. The energy control method for an electric forklift according to claim 1, characterized in that: If the power consumed by the multiple working paths is less than the available power of the electric forklift, determining the power supply modes of the multiple working paths according to the multiple working paths and the available power of the electric forklift includes: The corresponding power consumption of multiple working paths is estimated respectively. At this time, the power consumed by each working path is determined according to the mapping relationship between each working path, the power consumed by the electric forklift in the corresponding working dimension, and the power consumption.

5. The energy control method for an electric forklift according to claim 4, characterized in that: If the power consumed by the multiple working paths is less than the available power of the electric forklift, determining the power supply modes of the multiple working paths according to the multiple working paths and the available power of the electric forklift also includes: If the power consumed by the multiple working paths is less than the available power of the electric forklift, the electric forklift is in a state of sufficient power; and a first remaining power is determined based on a comparison between the available power of the electric forklift and the power consumed by the multiple working paths; The power priorities of the multiple working paths are determined according to the first remaining power, the multiple working paths of the electric forklift, and the power priority mapping relationship, and the power supply modes of the multiple working paths are determined according to the power priorities of the multiple working paths and the available power.

6. The energy control method for an electric forklift according to claim 1, characterized in that: If the power consumed by the multiple work paths is greater than the available power of the electric forklift, determining an unfinishable work path of the electric forklift according to the priorities of the multiple work paths and the available power includes: If the power consumed by the multiple working paths is greater than the available power of the electric forklift, the electric forklift is in a power shortage state; the first power shortage is determined based on a comparison between the available power of the electric forklift and the power consumed by the multiple working paths.

7. The energy control method for an electric forklift according to claim 6, characterized in that: If the power consumed by the multiple working paths is greater than the available power of the electric forklift, determining an unfinishable working path of the electric forklift according to the priorities of the multiple working paths and the available power, further comprising: Compare the priorities of multiple work paths and electric forklift models to determine the priorities of multiple work paths; A normal energy supply combination is determined based on the available power of the electric forklift, the priorities of multiple work paths, and the power consumed by the multiple work paths. Based on the comparison between the multiple work paths and the normal energy supply combination, the incomplete work paths of the electric forklift are determined; the normal energy supply combination covers some of the work paths that can be completed by the available power of the electric forklift.

8. The energy control method for an electric forklift according to claim 1, characterized in that: The method of determining the amount of electricity to be replenished based on the unfinished work path and triggering the coordinated response of the electric forklift according to the amount of electricity to be replenished, wherein the coordinated device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished, including: The corresponding power consumption of the unfinished work path is estimated, and the amount of power to be replenished of the electric forklift is determined according to the mapping relationship between the unfinished work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption.

9. The energy control method for an electric forklift according to claim 8, characterized in that: The amount of electricity to be replenished is determined based on the unfinished work path, and the coordinated response of the electric forklift is triggered according to the amount of electricity to be replenished. In this case, the coordinated device for determining the electric forklift based on the unfinished work path and the amount of electricity to be replenished further includes: Triggering the electric forklift to collect equipment based on the target location based on the amount of electricity to be replenished, so as to collect operating equipment related to the unfinished work path, and determining the coordinated system of the electric forklift based on the operating equipment, the unfinished work path, and the amount of electricity to be replenished; The electric forklift triggers a coordinated response based on the collaborative system, and determines the supporting equipment for the unfinished work path among multiple operating devices. The coordinated equipment of the electric forklift is determined based on the matching of the current power of the supporting equipment and the power to be replenished. The coordinated equipment of the electric forklift can complete the unfinished work path without occupying the power of the electric forklift.

10. An energy control system for an electric forklift, characterized in that: The energy control system of the electric forklift is applied to the energy control method of the electric forklift according to any one of claims 1 to 9, and the energy control system of the electric forklift includes: The available power module is used to determine the available power of the electric forklift based on the remaining moving path and the current power of the electric forklift when the electric forklift is in a moving state; A first working path module is configured to determine a plurality of subtasks based on the detection of the electric forklift, and determine a plurality of working paths of the electric forklift at a target location according to the analysis of the plurality of subtasks; A power supply module, configured to determine power supply modes for the multiple working paths according to the multiple working paths and the available power of the electric forklift if the power consumed by the multiple working paths is less than the available power of the electric forklift; A second work path module is configured to determine an unachievable work path for the electric forklift according to the priorities of the multiple work paths and the available power if the power consumed by the multiple work paths is greater than the available power of the electric forklift; The collaborative module is used to determine the amount of electricity to be replenished based on the unfinished work path, and trigger the collaborative response of the electric forklift according to the amount of electricity to be replenished. At this time, the collaborative device of the electric forklift is determined based on the unfinished work path and the amount of electricity to be replenished.

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