Energy control method and system for an electric fork lift truck

Abstract

The application discloses an energy control method and system of an electric forklift, and relates to the technical field of electric forklifts. If the power consumption of multiple work paths is less than the available power of the electric forklift, the power supply mode of the multiple work paths is determined according to the multiple work paths and the available power of the electric forklift, thereby ensuring the use safety of the available power of the electric forklift. Therefore, if the power consumption of the multiple work paths is greater than the available power of the electric forklift, the uncompleted work path of the electric forklift is determined according to the priority of the multiple work paths and the available power; the power to be supplemented is determined based on the uncompleted work path, the cooperative response of the electric forklift is triggered according to the power to be supplemented, at this time, the cooperative equipment of the electric forklift is determined based on the uncompleted work path and the power to be supplemented, thereby ensuring the smooth completion of the multiple sub-tasks of the electric forklift.

Description

TECHNICAL FIELD

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

[0002] With the development of science and technology, forklifts are gradually applied to people's lives. As a kind of forklift, the energy of an electric forklift is mainly electric energy. The electric forklift presents a corresponding amount of electricity in a working state. In the prior art, the electric forklift is compatible with both moving and working. The moving and working of the electric forklift both need to consume corresponding electric energy. The electric forklift undertakes multiple sub-tasks and executes the multiple sub-tasks. The sub-tasks include carrying specific goods, moving to a specific position, and performing specific operations. However, the electric forklift cannot estimate the energy required for the multiple sub-tasks, and cannot guarantee whether the usable amount of electricity of the electric forklift can complete the multiple sub-tasks. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art. The present application provides an energy control method and system for electric forklifts.

[0004] The present application provides an energy control method for electric forklifts. The method comprises: determining a usable amount of electricity of the electric forklift based on a remaining moving path and a current amount of electricity of the electric forklift when the electric forklift is in a moving state; determining multiple sub-tasks based on detection of the electric forklift, determining multiple working paths of the electric forklift at a target position according to analysis of the multiple sub-tasks; if an amount of electricity consumed by the multiple working paths is less than the usable amount of electricity of the electric forklift, determining a power supply mode of the multiple working paths according to the multiple working paths and the usable amount of electricity of the electric forklift; if the amount of electricity consumed by the multiple working paths is greater than the usable amount of electricity of the electric forklift, determining an uncompleted working path of the electric forklift according to a priority of the multiple working paths and the usable amount of electricity; determining an amount of electricity to be supplemented based on the uncompleted working path, triggering a coordinated response of the electric forklift according to the amount of electricity to be supplemented, and determining a coordinated device of the electric forklift based on the uncompleted working path and the amount of electricity to be supplemented.

[0005] The present application provides an energy control system for electric forklifts. The energy control system for electric forklifts is applied to the energy control method for electric forklifts described above. The energy control system for electric forklifts comprises:

[0006] A usable amount of electricity module is configured to determine a usable amount of electricity of the electric forklift based on a remaining moving path and a current amount of electricity of the electric forklift when the electric forklift is in a moving state.

[0007] The first working path module is used to determine multiple sub-tasks based on the detection of the electric forklift, and to determine multiple working paths of the electric forklift at the target location based on the parsing of the multiple sub-tasks.

[0008] The power supply module is used to determine the power supply mode of multiple working paths based on the multiple working paths and the available power of the electric forklift if the power consumed by multiple working paths is less than the available power of the electric forklift.

[0009] The second work path module is used to determine the uncompleted work paths of the electric forklift based on the priority of the multiple work paths and the available power if the power consumed by multiple work paths is greater than the available power of the electric forklift.

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

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] (1) The present invention estimates the power required for multiple sub-tasks of an electric forklift. Specifically, based on the analysis of multiple sub-tasks, multiple working paths of the electric forklift at the target location are determined, and the power consumed by multiple working paths is calculated. The estimated power is compared with the available power, and different work controls are implemented based on the comparison results, which improves the effective utilization rate of power and ensures the smooth completion of multiple sub-tasks.

[0013] (2) When the estimated power consumption is less than the usable power consumption of the electric forklift, the present invention determines the corresponding power priority based on the multiple working paths of the electric forklift, and determines the power supply mode of each working path based on the power priority of the working path and the usable power consumption of the electric forklift. Through such a decision-making process, the power consumption of the electric forklift and the task execution order are intelligently managed to ensure that critical tasks are given priority and to maximize the running time of the electric forklift, which helps to improve overall operating efficiency, reduce downtime, and optimize the use of the electric forklift.

[0014] (3) When the power consumption of multiple working paths exceeds the available power of the electric forklift, the present invention determines the uncompleted working paths of the electric forklift based on the priority of multiple working paths and the available power; determines the power to be replenished based on the uncompleted working paths, and triggers the coordinated response of the electric forklift based on the power to be replenished. At this time, the coordinated equipment of the electric forklift is determined based on the uncompleted working paths and the power to be replenished. The invention introduces the problem that the power consumption of multiple working paths exceeds the available power of the electric forklift, and performs coordinated control to address the insufficient available power of the electric forklift, thereby ensuring the coordination between the electric forklift and the coordinated equipment, and thus ensuring the smooth completion of multiple sub-tasks. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the energy control method for an electric forklift in an embodiment of the present invention.

[0016] Figure 2 This is a flowchart illustrating step S11 of the energy control method for an electric forklift in an embodiment of the present invention.

[0017] Figure 3 This is a flowchart illustrating step S12 in the energy control method for an electric forklift according to an embodiment of the present invention.

[0018] Figure 4 This is a flowchart illustrating step S13 of the energy control method for an electric forklift in an embodiment of the present invention.

[0019] Figure 5 This is a flowchart illustrating step S14 of the energy control method for an electric forklift in an embodiment of the present invention.

[0020] Figure 6 This is a flowchart illustrating step S15 of the energy control method for an electric forklift in an embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram of the structure of the energy control system of the electric forklift in an embodiment of the present invention. Detailed Implementation

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

[0023] Please see Figures 1 to 7 An energy control method for an electric forklift, comprising:

[0024] Step S11: When the electric forklift is in motion, determine the available power of the electric forklift based on the remaining movement path of the electric forklift and the current power level.

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

[0026] Step S13: if the electric quantity consumed by the plurality of working paths is less than the available electric quantity of the electric forklift, determining a power supply mode of the plurality of working paths according to the plurality of working paths and the available electric quantity of the electric forklift;

[0027] Step S14: if the electric quantity consumed by the plurality of working paths is greater than the available electric quantity of the electric forklift, determining an uncompleted working path of the electric forklift according to the priority of the plurality of working paths and the available electric quantity;

[0028] Step S15: determining the electric quantity to be supplemented based on the uncompleted working path, triggering a cooperative response of the electric forklift according to the electric quantity to be supplemented, and determining a cooperative device of the electric forklift based on the uncompleted working path and the electric quantity to be supplemented;

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

[0030] In the specific implementation process of the present application, the specific steps are as follows:

[0031] S111: collecting a plurality of moving parameters of the electric forklift, and determining a moving state of the electric forklift according to the plurality of moving parameters, wherein the moving state includes uniform speed movement, acceleration movement or deceleration movement;

[0032] S112: real-time monitoring the moving state of the electric forklift, determining a remaining moving path of the electric forklift according to the current position and the target position of the electric forklift, and determining the required electric quantity of the electric forklift in the moving dimension according to the remaining moving path of the electric forklift and the moving electric quantity mapping relationship;

[0033] S113: collecting past electric quantity data of the electric forklift, determining an electric quantity loss coefficient of the electric forklift according to the past electric quantity data of the electric forklift and the use time of the electric forklift, and determining the available electric quantity of the electric forklift according to the electric quantity loss coefficient of the electric forklift, the current electric quantity of the electric forklift and the required electric quantity of the electric forklift in the moving dimension, wherein the available electric quantity of the electric forklift represents the electric quantity in the working dimension of the electric forklift.

[0034] In the embodiment of the present application, a plurality of moving parameters of the electric forklift are collected, and a moving state of the electric forklift is determined according to the plurality of moving parameters, wherein the moving state includes uniform speed movement, acceleration movement or deceleration movement;

[0035] At this time, the key state information of the electric forklift during driving is acquired, providing a basis for subsequent judgment of the moving state; the 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 by sensors installed on the electric forklift, such as speed sensor, acceleration sensor, gyroscope, current sensor, voltage sensor, etc.

[0036] The moving state is classified into uniform speed movement, acceleration movement, and deceleration movement; uniform speed movement: when the speed v remains relatively stable (fluctuation range is less than a preset threshold) within a certain time, and the acceleration a is close to zero, it is judged as uniform speed movement; acceleration movement: when the speed v continuously increases, and the acceleration a is greater than zero, it is judged as acceleration movement; the size of the acceleration a further subdivides the severity of acceleration; deceleration movement: when the speed v continuously decreases, and the acceleration a is less than zero, it is judged as deceleration movement; similarly, the absolute value of the acceleration a reflects the severity of deceleration.

[0037] Further, the moving state 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 the target position of the electric forklift, and the required power of the electric forklift in the moving dimension is determined according to the remaining moving path and the moving power mapping relationship of the electric forklift, which takes into account the overall consideration of the remaining moving path and the moving power mapping relationship of the electric forklift, and ensures the accuracy of the required power of the electric forklift in the moving dimension.

[0038] At this time, it is ensured that the system can acquire the latest state of the electric forklift in real time, which is crucial for subsequent determination of the remaining moving path and the required power; the monitoring content mainly includes the current speed, acceleration, steering angle of the electric forklift, and whether it is in the state of starting, driving, braking, etc., and these information is collected in real time by sensors installed on the electric forklift. Optionally, the system reads data from the sensors regularly (such as every second), and processes these data through algorithms to update the moving state of the electric forklift.

[0039] The optimal path from the current position to the target position is planned, so as to calculate the required power subsequently; optionally, the system needs an accurate map of the warehouse or working 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; according to the target position, the system uses 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, which considers various factors such as obstacles, road width, turning radius, etc.; the planned path is refined into a series of specific moving instructions, such as straight driving for how many meters, left or right turning for how many degrees, etc., so that the electric forklift can accurately execute.

[0040] According to the moving path and energy consumption characteristics of the electric forklift, the required electric quantity for completing the path is calculated; the moving electric quantity mapping relationship is a pre-established model or database which describes the required electric quantity for the electric forklift to travel a certain distance under different moving states (such as uniform speed, acceleration, deceleration), and the model is obtained 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 travel, turning acceleration, etc.); for each small segment, the corresponding electric quantity consumption is found according to the moving electric quantity mapping relationship, and the electric quantities are added to obtain the required electric quantity for completing the entire path.

[0041] Specifically, assume that an electric forklift needs to transport goods from rack 1 in warehouse A area to rack 2 in warehouse B area; after the electric forklift starts, the system begins to monitor its moving state in real time, such as current speed, acceleration, etc.; the system determines that the electric forklift is currently located near rack 1 in area A through map matching, and then plans an optimal path according to the target position (rack 2 in area B) using a path planning algorithm; assume that the path includes straight-line travel from rack 1 in area A to the intersection of the passageway, then right turn travel to area B, and finally straight-line travel to rack 2.

[0042] The system subdivides the path into multiple small segments and calculates the electric quantity consumption of each segment according to the moving electric quantity mapping relationship; for example, straight-line uniform speed travel requires 0.01 kWh of electric quantity per meter, and acceleration turning requires an additional 0.02 kWh of electric quantity; adding these electric quantities, the required electric quantity for completing the entire path is X kWh; in this way, the system can monitor the moving state of the electric forklift in real time, and plan an optimal path according to the current position and the target position, while calculating the required electric quantity for completing the path, which is crucial for energy management and task planning of the electric forklift.

[0043] Therefore, the past electric quantity data of the electric forklift is collected, the electric quantity loss coefficient of the electric forklift is determined according to the past electric quantity data of the electric forklift and the use time of the electric forklift, and the usable electric quantity of the electric forklift is determined according to the electric quantity loss coefficient of the electric forklift, the current electric quantity of the electric forklift and the required electric quantity of the electric forklift in the moving dimension. The usable electric quantity of the electric forklift presents the electric quantity of the working dimension of the electric forklift, and is compatible with the overall consideration of the electric quantity loss coefficient of the electric forklift, the current electric quantity of the electric forklift and the required electric quantity of the electric forklift in the moving dimension, thereby ensuring the accuracy of the usable electric quantity of the electric forklift.

[0044] At this time, the electric forklift's power usage over the past period is collected, including the number of charges, initial power after each charge, power consumption during task execution, remaining power, etc. These data are usually recorded by the electric forklift's battery management system (BMS) or specialized power monitoring equipment; it should cover power data under different working conditions, different time periods, and different operating modes to comprehensively reflect the electric forklift's power usage.

[0045] By analyzing past power data, the power consumption trend of the electric forklift during use is identified, and a power consumption coefficient is determined to correct the estimated value of the current power; the power consumption coefficient is a coefficient reflecting the impact of factors such as battery aging and capacity decline on power; it is a function that increases with time, indicating that battery performance gradually declines over time; optionally, statistical analysis, machine learning, etc. are used to establish a power consumption model based on past power data and usage time, and then calculate the power consumption coefficient.

[0046] Considering the electric forklift's current power, power consumption, 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 based on the power consumption coefficient to obtain the corrected power value; then, compare this value with the required power in the movement dimension, and take the smaller one as the usable power; if the required power is greater than the corrected power, charging or adjusting the task plan needs to be considered. The "power in the work dimension" refers to the power required by the electric forklift to complete a specific work task (such as handling, stacking, etc.); it varies depending on factors such as task type, load size, and travel distance.

[0047] In an embodiment of the present application, there is a power consumption coefficient matching table that determines the power consumption coefficient based on the electric forklift's usage time and past power data; the power consumption coefficient matching table is shown in Table 1:

[0048] Table 1 Power consumption coefficient matching table

[0049] Time of use (years) Power consumption factor 0-1 1.00 1-2 0.95 2-3 0.90 3-4 0.85 4+ 0.80

[0050] Suppose an electric forklift has been in use for 2.5 years; according to the power consumption coefficient matching table, the electric forklift's corresponding power consumption coefficient is 0.90 (because it falls within the 2-3 year usage period); if the electric forklift's current power is displayed as 50 kWh, and the system calculates that the power required in the movement dimension is 40 kWh, the corrected current power is 45 kWh (50 kWh * 0.90); since 45 kWh is greater than 40 kWh, the usable power is determined to be 40 kWh.

[0051] Reference Figure 3In step S12, a plurality of sub-tasks are determined based on the detection of the electric forklift, and a plurality of work paths of the electric forklift at the target position are determined according to the analysis of the plurality of sub-tasks;

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

[0053] S121: Collect the database of the electric forklift, determine the corresponding task space according to the traversal of the database of the electric forklift, and determine a plurality of sub-tasks according to the detection of the task space, wherein the plurality of sub-tasks all occur at the target position of the electric forklift;

[0054] S122: Preliminary analysis is performed on the plurality of sub-tasks, and the corresponding work content is marked on the plurality of sub-tasks. At this time, the electric forklift presents a plurality of different work contents based on the plurality of sub-tasks, and the plurality of work contents are executed in turn;

[0055] S123: A plurality of action dimensions of the electric forklift are determined based on the action detection of the electric forklift, and a plurality of work paths of the electric forklift at the target position are determined according to the matching of the plurality of action dimensions of the electric forklift and the plurality of work contents, wherein each work path corresponds to one work content;

[0056] In the embodiment of the present application, the database of the electric forklift is collected, the corresponding task space is determined according to the traversal of the database of the electric forklift, and a plurality of sub-tasks are determined according to the detection of the task space, wherein the plurality of sub-tasks all occur at the target position of the electric forklift, and a plurality of sub-tasks are introduced.

[0057] At this time, necessary information is obtained from the built-in database of the electric forklift or the management system connected thereto. These information usually includes the operation log, historical task record, position tracking data, and cargo handling record of the electric forklift; the database is located on the electric forklift, also in a remote server or cloud storage; the data is usually transmitted through wireless connection (such as Wi-Fi, Bluetooth or special communication protocol); the data collected by the system includes the current state of the electric forklift, historical position, task execution, cargo information (such as weight, size, type) and the like.

[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 in the warehouse, a certain station on the production line, or an area for storing and retrieving goods; the system uses algorithms (such as depth-first search, breadth-first search) to traverse the records in the database to identify the space information related to the current task; according to the position data, cargo layout information or historical task record in the database, the system determines the boundary and characteristics of the task space.

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

[0060] Specifically, assume a logistics company uses an electric forklift to handle goods in the warehouse; the system obtains the current state of the electric forklift (such as power, speed), historical location data, and recent goods handling records from the electric forklift's built-in database; in addition, it also obtains the warehouse's goods layout map from a remote server; by traversing the location data in the database and the goods layout map, the system identifies the warehouse area where the task needs to be performed; specifically, the system determines the rack location where the goods need to be handled (such as rack 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: take down the specified goods from rack 3 in area A; subtask 2: move the goods to the transportation channel in the warehouse; subtask 3: drive along the transportation channel to the production line in area B; subtask 4: unload the goods at the production line in area B.

[0062] Further, the multiple subtasks are analyzed and the corresponding work content is marked, at this time, the electric forklift presents multiple different work contents based on the multiple subtasks, and sequentially executes the multiple work contents, ensuring the accuracy of the work content.

[0063] At this time, each subtask is analyzed and understood in detail, and the specific requirements, steps and restrictions of each subtask are clarified, which includes the location information of the subtask (such as starting point, ending point, path), the goods information (such as weight, size, type), the operation requirements (such as handling method, placement position) etc.; optionally, the analysis involves reading relevant records in the database, analyzing the warehouse layout map, considering the technical specifications and operation 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] Assign one or more work content tags to each subtask, which describe the specific operations the electric forklift needs to perform while executing each subtask; work content includes lifting cargo, moving the electric forklift, placing cargo, adjusting the height of the electric forklift, steering, accelerating, decelerating, etc.; optionally, the system uses a predefined set of tags to label work content or dynamically generates tags based on the analysis results; each subtask is labeled with one or more work content tags, which provide clear guidance for subsequent task execution.

[0065] According to the labeled work content, the electric forklift executes each subtask in a 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 location of the electric forklift, the power state, the sequence of cargo handling, etc.; during execution, the system uses sensors or cameras to monitor the state 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, each subtask is executed according to the labeled work content, and the overall task is finally completed.

[0066] Specifically, assume that a logistics company uses an electric forklift to transport goods in a warehouse, subtask 1: take the specified goods from rack 3 in area A; the analysis result shows that the goods weigh 50 kg and measure 0.5m x 0.6m x 0.8m, and the lifting function of the electric forklift needs to be used; subtask 2: move the goods to the transport channel of the warehouse; the analysis result shows that the distance from the rack to the transport channel is about 10 meters, and the electric forklift needs to travel in a straight line; subtask 3: travel along the transport channel to the B area production line; the analysis result shows that the distance from the transport channel to the B area production line is about 20 meters and needs to bypass several obstacles; subtask 4: unload the goods on the B area production line; the analysis result shows that the goods need to be placed on the designated production line station, and the height of the electric forklift needs to be adjusted to match the station.

[0067] Label the corresponding work content for multiple subtasks: subtask 1: labeled as "lift cargo"; subtask 2: labeled as "straight-line travel"; subtask 3: labeled as "obstacle avoidance travel"; subtask 4: labeled as "adjust height and place cargo".

[0068] The electric forklift presents multiple different work contents based on multiple subtasks and executes them in sequence: the electric forklift first executes subtask 1, uses the lifting function to take the goods from rack 3 in area A; then executes subtask 2, travels in a straight line to the transport channel of the warehouse; then executes subtask 3, bypasses obstacles and travels along the transport channel to the B area production line; finally, execute subtask 4, adjust the height of the electric forklift and place the goods on the designated production line station.

[0069] Therefore, based on the action detection of the electric forklift, the multiple action dimensions of the electric forklift are determined, and the multiple work paths of the electric forklift at the target position are determined according to the matching of the multiple action dimensions of the electric forklift and the multiple work contents. Each work path corresponds to a work content. The compatibility of the matching of the multiple action dimensions of the electric forklift and the multiple work contents ensures the accuracy of the multiple work paths of the electric forklift at the target position.

[0070] At this time, the action of the electric forklift is detected in real time by sensors, cameras or other monitoring devices, and different operation dimensions are recognized; the action dimensions include the moving direction of the electric forklift (forward, backward, left turn, right turn), speed, acceleration, lifting or lowering height, extension or contraction of the fork arm, etc.; optionally, the system uses image recognition algorithms to detect the movement and turning of the electric forklift, uses sensors to measure speed and acceleration, and uses height sensors to detect the lifting or lowering of the fork arm; the detected action dimensions provide real-time feedback of the current operation state of the electric forklift to the system.

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

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

[0073] Specifically, assume that a logistics company uses an electric forklift to perform a series of moving tasks in a warehouse, the system detects that the electric forklift is moving straight ahead at a speed of 5 km / h, while the fork arm is lifting the goods; then, the system detects that the electric forklift starts to turn left, the speed decreases slightly, but the goods are still being lifted; then, the system detects that the electric forklift stops lifting the goods and starts to drive 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 "straight driving" and "lifting goods"; the system generates a shortest path from the shelf to the transport channel; work content 2: "avoid obstacles to reach B area"; the matching action dimensions include "left turn" and "curve driving"; the system generates a path that avoids obstacles to reach B area.

[0075] For work content 1, the system generates a straight path from the shelf to the transport channel, and the electric forklift drives along the path and lifts the goods; for work content 2, the system generates a curve path that avoids obstacles to reach B area, and the electric forklift drives along the path to reach B area; through the S123 step, the electric forklift can determine and execute the corresponding work path according to the real-time detected action dimensions and the matching results of the work content, thereby efficiently and accurately completing the task.

[0076] In an embodiment of the present application, it is assumed that when the electric forklift is executing the task, the system detects the following action dimensions: speed: 3 km / h; acceleration: 0.1 m / s 2 (forward acceleration); direction change: left turn 90°; height change: lifting goods to 1.5 meters height. The work content matching table is shown in Table 2:

[0077] Table 2 Work content matching table

[0078] Work content Speed range Acceleration range Direction change Height change range Carrying goods to the shelf 2-4 km / h 0-0.2 m / s 2 ]] Straight line / fine adjustment Lifting to 1.2-1.8 meters Driving around obstacles 1-5 km / h 0-0.5 m / s 2 ]] Any angle Maintain the current height Placing goods on the production line <1 km / h 0-0.1 m / s 2 ]] Straight line / fine adjustment Lower to 0.8-1.0 meters

[0079] According to the detected action dimensions (speed: 3 km / h, acceleration: 0.1 m / s 2 , direction change: left turn 90°, height change: lifting goods to 1.5 meters height), the system looks up the work content matching table to find the matching work content; in this case, the action dimensions are most matched with the work content of "carrying goods to the shelf".

[0080] For each work content, calculate its matching score with the detected action dimensions; the higher the score, the more matched the work content is with the detected action dimensions;

[0081] Carrying goods to the shelf score:

[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; according to the calculated score, 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 "carrying goods to the shelf" has the highest score (0.808), so the system selects the work path corresponding thereto.

[0084] Reference Figure 4 In step S13, if the power consumption of the multiple work paths is less than the available power of the electric forklift, the power supply mode of the multiple work paths is determined according to the multiple work paths and the available power of the electric forklift;

[0085] In the specific implementation of the present application, the specific steps are as follows:

[0086] S131: The power consumption of each work path is estimated, and at this time, the power consumption of each work path is determined according to the work path, the power consumption of the electric forklift in the corresponding work dimension, and the power consumption mapping relationship;

[0087] S132: If the power consumption of the multiple work paths is less than the available power of the electric forklift, the electric forklift is in a sufficient power state; the first excess power is determined by comparing the available power of the electric forklift with the power consumption of the multiple work paths;

[0088] S133: The power priority of the multiple work paths is determined according to the first excess power, the multiple work paths of the electric forklift, and the power priority mapping relationship; the power supply mode of the multiple work paths is determined according to the power priority of the multiple work paths and the available power.

[0089] In the embodiment of the present application, the power consumption of each work path is estimated, and at this time, the power consumption of each work path is determined according to the work path, the power consumption of the electric forklift in the corresponding work dimension, and the power consumption mapping relationship, which is compatible with the overall consideration of the power consumption of the electric forklift in the corresponding work dimension and the power consumption mapping relationship, ensuring the accuracy of the power consumption of each work path.

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

[0091] The system also needs to consider the circuit consumption of the electric forklift, including motor efficiency, battery internal resistance, controller power consumption and other factors, which will affect the power consumption of the electric forklift in actual work, so it is necessary to establish a corresponding mapping relationship; Based on the above information, the system estimates the power consumption of each work path, which involves complex calculations, including decomposing 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 subsequent steps.

[0092] Specifically, assume that a logistics company uses an electric forklift to perform the following three work paths in the warehouse: Work path A: transport goods from rack A area to loading area, path length is 50 meters, need to lift goods to 1.5 meters height, estimated driving speed is 3 km / h; Work path B: transport goods from rack B area to production line, path length is 80 meters, contains two 90-degree turns, need to lift goods to 1.2 meters height, estimated driving speed is 2.5 km / h; Work path C: transport goods from rack C area to storage area, path length is 100 meters, straight driving, need to lower goods to 0.8 meters height (starting from 1.5 meters height), estimated driving speed is 3.5 km / h.

[0093] The system estimates the power consumption based on the following information: Electric forklift specifications: battery capacity is 200Ah, motor efficiency is 85%, battery internal resistance is 0.01Ω; Historical data: under similar conditions, lifting goods to 1.5 meters height consumes about 0.2kWh / time, driving 100 meters consumes about 0.1kWh (average speed 3km / h); Experimental data: each 90-degree turn consumes an additional 0.01kWh.

[0094] Based on this information, the system estimates as follows:

[0095] Work path A: lifting goods consumes 0.2kWh, driving consumes 0.05kWh (50m / 100m*0.1kWh), total consumption is about 0.25kWh; Work path B: lifting goods consumes 0.2kWh (assuming the same height as path A, the same lifting consumption), driving consumes 0.08kWh (80m / 100m*0.1kWh), turning consumes 0.02kWh (2 times 0.01kWh / time), total consumption is about 0.3kWh; Work path C: lowering goods consumes about 0.2kWh (simplified estimation), driving consumes 0.1kWh (100m / 100m*0.1kWh), total consumption is about 0.3kWh.

[0096] Further, if the consumed electric quantity of the multiple work paths is less than the available electric quantity of the electric forklift, the electric forklift is in an electric quantity sufficient state; the first residual electric quantity is determined according to the comparison between the available electric quantity of the electric forklift and the consumed electric quantity of the multiple work paths, which is compatible with the overall consideration of the comparison between the available electric quantity of the electric forklift and the consumed electric quantity of the multiple work paths, and ensures the accuracy of the first residual electric quantity.

[0097] At this time, the system first compares the consumed electric quantity of the multiple work paths with the available electric quantity of the electric forklift; if the electric quantity consumption of all work paths is less than the available electric quantity of the electric forklift, the system judges that the electric forklift is in an electric quantity sufficient state; the first residual electric quantity is determined: after confirming that the electric forklift is in an electric quantity sufficient state, the system further calculates the residual electric quantity after the execution of each work path, i.e. the first residual electric quantity, which usually involves subtracting the electric quantity consumption of the corresponding work path from the available electric quantity of the electric forklift; for each work path, the system will calculate a first residual electric quantity value, which reflects how much electric quantity the electric forklift will have left after executing the path.

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

[0099] Judge the electric quantity sufficient state: the electric quantity consumption of work path A is 25%, which is less than the available electric quantity 100% of the electric forklift; the electric quantity consumption of work path B is 30%, which is also less than the available electric quantity 100% of the electric forklift; the electric quantity consumption of work path C is 30%, which is also less than the available electric quantity 100% of the electric forklift; since the electric quantity consumption of all work paths is less than the available electric quantity of the electric forklift, the system judges that the electric forklift is in an electric quantity sufficient state.

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

[0101] Further, the first excess electric quantity, the plurality of working paths of the electric forklift, and the electric quantity priority mapping relationship are determined to determine the electric quantity priority of the plurality of working paths, and the electric quantity priority of the plurality of working paths and the available electric quantity are determined to determine the power supply mode of the plurality of working paths, which is compatible with the overall consideration of the first excess electric quantity, the plurality of working paths of the electric forklift, and the electric quantity priority mapping relationship, ensures the accuracy of the electric quantity priority of the plurality of working paths, and at the same time, is compatible with the scenario that the electric quantity consumed by the plurality of working paths is less than the available electric quantity of the electric forklift, ensures the use safety of the available electric quantity of the electric forklift, controls the power supply mode of the plurality of working paths, and further realizes the effective use of the available electric quantity of the electric forklift.

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

[0103] After determining the electric quantity priority of the working path, the system determines the power supply mode of each working path based on these priorities and the available electric quantity of the electric forklift; the power supply mode includes full-power supply, energy-saving mode, limiting part of the function to reduce electric quantity consumption, or even postponing execution until charging, etc.; the system also considers the current state of the electric forklift (such as battery temperature, charging history, etc.) and external environmental factors (such as temperature, humidity, etc. 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 electric quantity related information: working path A: electric quantity consumption is about 25%, first excess electric quantity is 75%; working path B: electric quantity consumption is about 35%, first excess electric quantity is 65%; working path C: electric quantity consumption is about 40%, first excess electric quantity is 60%.

[0105] At the same time, the following electric quantity priority mapping relationship is preset:

[0106] High priority: the task is urgent and important, and should be executed first even if the electric quantity consumption is large; medium priority: the task is important but not urgent, and is executed when the electric quantity is sufficient, or is postponed if necessary; low priority: the task is not urgent and has low importance, and is postponed until charging or when the electric quantity is more sufficient.

[0107] Assuming that work path A is a high-priority task because it involves an urgent cargo delivery; work path B is considered medium-priority as it is a regular production line restocking task; and work path C is considered low-priority as it is a non-urgent inventory organizing task; even though 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 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 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 electric forklift's power and task execution order to ensure that critical tasks are prioritized while maximizing the electric forklift's operating time, which helps 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 work path according to pre-set rules or conditions; the power supply mode matching table is shown in Table Three:

[0110] Table Three Power Supply Mode Matching Table

[0111]

[0112] Assuming that the first margin 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"; assuming that the first margin power of work path B is 60% and it is an important but not urgent task; the system will determine the power supply mode according to the power situation and task priority, such as if the electric forklift still has enough power after executing path A, it will execute path B in "energy-saving mode".

[0113] Reference Figure 5 In step S14, if the power consumed by multiple work paths is greater than the available power of the electric forklift, the uncompleted work path of the electric forklift is determined according to the priority and available power of the multiple work paths;

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

[0115] S141: If the total power consumption of the multiple work paths is greater than the available power of the electric forklift, the electric forklift is in a power shortage state; the first power deficiency is determined according to the comparison between the available power of the electric forklift and the total power consumption of the multiple work paths;

[0116] S142: The multiple work paths and the model of the electric forklift are compared in priority, and the priority of the multiple work paths is determined;

[0117] S143: The normal power supply combination is determined according to the available power of the electric forklift, the priority of the multiple work paths, and the total power consumption of the multiple work paths; the uncompleted work path of the electric forklift is determined based on the comparison between the multiple work paths and the normal power supply combination; the normal power supply combination covers the part of the work paths that can be completed by the available power of the electric forklift.

[0118] In the embodiment of the present application, if the total power consumption of the multiple work paths is greater than the available power of the electric forklift, the electric forklift is in a power shortage state; the first power deficiency is determined according to the comparison between the available power of the electric forklift and the total power consumption of the multiple work paths, which takes into account the overall comparison between the available power of the electric forklift and the total power consumption of the multiple work paths, and ensures the accuracy of the first power deficiency.

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

[0120] Determine the first power deficiency: after confirming that the electric forklift is in a power shortage state, the system calculates the first power deficiency; the first power deficiency refers to the difference between the available power of the electric forklift and the power required by the multiple work paths, which 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 work paths that need to be executed are A, B, and C; the power consumption of work path A is 60 Ah, the power consumption of work path B is 80 Ah, and the power consumption of work path C is 70 Ah.

[0122] Calculate the total power required by the three work paths: 60 Ah (A path) + 80 Ah (B path) + 70 Ah (C path) = 210 Ah; then, compare the total power with the available power of the electric forklift: 210 Ah (total power requirement) > 200 Ah (available power); since the total power requirement is greater than the available power, the system determines that the electric forklift is in a power shortage state.

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

[0124] Further, the priority of the multiple work paths and the model of the electric forklift are compared to determine the priority of the multiple work paths, and the priority of the multiple work paths is introduced.

[0125] At this time, the system first collects detailed information about the multiple work paths, which includes 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, which includes the performance parameters of the electric forklift (such as maximum load, speed, battery capacity, etc.), maintenance records, historical use data, etc.

[0126] A set of standards for evaluating the priority of work paths is set, which is based on factors such as the urgency of the task, the degree of impact on operation, customer priority, and the degree of performance matching of the electric forklift. Next, the system compares the information of each work path with the model information of the electric forklift; according to the set priority standards, the system scores or sorts each work path, which involves complex algorithms or decision logic to ensure that the most urgent, most important, and most performance-matched tasks of the electric forklift get the highest priority; finally, the system determines the priority order of each work path according to the comparison result, which will be used to guide subsequent task scheduling and power management decisions.

[0127] Specifically, the electric forklift model is EFG-1234, which has high-performance batteries and fast charging capabilities, suitable for executing heavy and long tasks; the three work paths that need to be executed are A, B, and C; work path A: urgent order, needs to be executed quickly, but the task volume is not large; work path B: regular replenishment task, importance is medium, but task volume is large and needs heavy load capacity; work path C: non-urgent inventory sorting task, time requirement is not high.

[0128] The system collects detailed information of work paths A, B, and C, including task type, urgency, etc.; at the same time, the system obtains the model information of the electric forklift EFG-1234, including its high-performance batteries and heavy load capacity, etc.; the system sets the following priority standards: urgent orders have the highest priority, heavy and long tasks have the second priority, and non-urgent tasks have the lowest priority.

[0129] The system compares work path A with electric forklift EFG-1234 and finds that A is urgent but has a small amount of tasks, and its performance matches that of the electric forklift in general; compares work path B with the electric forklift and finds that B has a large amount of tasks and requires heavy load capacity, and its performance is highly matched with that of the electric forklift; compares work path C with the electric forklift and finds that C has a low requirement for time and a small amount of tasks, and its performance matches that of the electric forklift the least; according to the comparison results, the system determines that the priority of work path B is the highest because it is highly matched with the performance of electric forklift EFG-1234 and has a large amount of tasks; the priority of work path A is the second because it is an urgent order; the priority of work path C is the lowest because it is a non-urgent task and its performance matches that of the electric forklift the least; 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 and the performance and power of the electric forklift are maximized.

[0130] Therefore, the normal power supply combination is determined according to the available power of the electric forklift, the priorities of the multiple work paths, and the power consumed by the multiple work paths, and the uncompleted work paths of the electric forklift are determined based on the comparison between the multiple work paths and the normal power supply combination; the normal power supply combination covers the part 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 the multiple work paths, and the power consumed by the multiple work paths, thereby ensuring the accuracy of the normal power supply combination.

[0131] At this time, in step S143, the main task of the system is to determine a "normal power supply combination", i.e., a combination of part of the work paths that can be completed by the available power of the electric forklift, and to determine which work paths are uncompleted accordingly.

[0132] The system first collects the available power information 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 attempts to build a power supply combination from high to low according to the priorities of the work paths; 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 certain path, the system stops adding the path and backtracks to the last valid combination state.

[0133] In the process of constructing candidate energy supply combinations, the system records 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 priority sum as the normal energy supply combination, which usually means that the combination contains as many high-priority tasks as possible; once the normal energy supply combination is determined, the system compares this combination with the set of all work paths; those work paths that are not included in the normal energy supply combination, i.e. are determined to be uncompleted by the electric forklift under the current power.

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

[0135] The available power of the electric forklift is 150 Ah; the work path priority and power consumption are A (high, 40 Ah), B (medium, 50 Ah), C (medium, 60 Ah), and D (low, 70 Ah); starting from high priority: first add A (40 Ah), leaving 110 Ah of remaining power; then try to add B (50 Ah), with a total power consumption of 90 Ah and 60 Ah of remaining power, still within the acceptable range; then try to add C (60 Ah), but at this time the total power consumption will reach 150 Ah, exceeding the available power of the electric forklift, so stop adding C and backtrack to the last valid combination (A+B); D is not in the consideration range due to low priority and high power consumption.

[0136] In the constructed candidate energy supply combinations, the combination A+B has the highest priority sum and the power consumption is within the acceptable range, so it is determined as 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 uncompleted by the electric forklift under the current power; through such steps, the system can intelligently determine which tasks to complete and which tasks to postpone or reschedule according to the available power of the electric forklift, the priority and power consumption of the work paths, thereby optimizing resource utilization and task execution efficiency.

[0137] In an embodiment of the present application, the available power matching table of the electric forklift is collected, and the available power matching table of the electric forklift is shown in Table Four:

[0138] Table Four Available Power Matching Table of Electric Forklift

[0139]

[0140] In this example, the available power of the electric forklift is 150 Ah; paths A and B are added to the normal power supply combination because the total power required by them (90 Ah) does not exceed the available power of the electric forklift; path C is excluded because the remaining power is insufficient, so D is also automatically considered as uncompleted (although its power requirement is lower, since C has failed, the remaining power is insufficient to complete D).

[0141] Reference Figure 6 In step S15, the power to be supplemented is determined based on the uncompleted work path, and the cooperative response of the electric forklift is triggered according to the power to be supplemented, at this time, the cooperative device of the electric forklift is determined based on the uncompleted work path and the power to be supplemented;

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

[0143] S151: corresponding power consumption estimation is performed on the uncompleted work path, and the power to be supplemented of the electric forklift is determined according to the uncompleted work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship;

[0144] S152: the device acquisition of the electric forklift based on the target position is triggered according to the power to be supplemented of the electric forklift, to collect the operating device related to the uncompleted work path, and the cooperative system of the electric forklift is determined according to the operating device, the uncompleted work path, and the power to be supplemented of the electric forklift;

[0145] S153: the electric forklift triggers the cooperative response based on the cooperative system, and determines the matching device of the uncompleted work path among the multiple operating devices, and determines the cooperative device of the electric forklift based on the matching of the current power of the matching device and the power to be supplemented, the cooperative device of the electric forklift can complete the uncompleted work path and does not occupy the power of the electric forklift.

[0146] In the embodiment of the present application, corresponding power consumption estimation is performed on the uncompleted work path, and the power to be supplemented of the electric forklift is determined according to the uncompleted work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship, which is compatible with the overall consideration of the uncompleted work path, the power consumed by the electric forklift in the corresponding work dimension, and the power consumption mapping relationship, and ensures the accuracy of the power to be supplemented of the electric forklift.

[0147] At this time, the main task of the system is to estimate the power consumption of those work paths that cannot be completed by the current electric forklift due to insufficient power, and to determine the power that needs to be supplemented by the electric forklift accordingly. The system first determines which work paths cannot be completed by the current electric forklift according to the previous analysis (such as step S143); for each uncompleted work path, the system collects relevant work dimension information, including the length of the path, the weight of the goods to be carried, the operating speed, environmental conditions (such as slope, humidity, temperature, etc.), and the like.

[0148] Apply the power consumption mapping relationship:

[0149] The system uses a pre-established power consumption mapping relationship that can estimate the power consumption of the 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 uncompleted work path, the system estimates the power required to complete the path using the power consumption mapping relationship model, which 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 uncompleted work path and the current remaining power of the electric forklift to determine the power that needs to be supplemented by the electric forklift to complete these paths.

[0151] Specifically, the current remaining power of the electric forklift is 80 Ah; there are two uncompleted work paths: path X and path Y; the information of path X: length 1000 meters, weight of goods to be carried 2 tons, operating speed 3 km / h, environmental conditions flat road; the information of path Y: length 1500 meters, weight of goods to be carried 1.5 tons, operating speed 2 km / h, environmental conditions 5% slope;

[0152] Now, let's proceed with the operation of step S151.

[0153] The system determines that paths X and Y are work paths that cannot be completed by the current electric forklift due to insufficient power; for path X: length 1000 meters, weight of goods 2 tons, operating speed 3 km / h, flat road; for path Y: length 1500 meters, weight of goods 1.5 tons, operating speed 2 km / h, 5% slope; the system uses a power consumption mapping relationship that takes into account the effects of path length, weight of goods, operating speed, and slope on power consumption; for path X, the system estimates that it requires about 40 Ah of power to complete the path; for path Y, due to the influence of the slope, the system estimates that it requires about 65 Ah of power to complete the path.

[0154] The system calculates the sum of the required power for path X and path Y (40Ah + 65Ah = 105Ah); since the electric forklift currently has 80Ah of remaining power, the system determines that the electric forklift needs to supplement 105Ah - 80Ah = 25Ah of power to complete these two paths; through such steps, the system can accurately estimate the amount of power the electric forklift needs to supplement to complete the unfinishable work paths, thereby providing an important basis for subsequent charging or power management decisions.

[0155] Further, according to the electric forklift's power to be supplemented, the electric forklift triggers device collection based on the target location to collect operating devices related to the unfinishable work paths, determines the electric forklift's coordination system according to the operating devices, the unfinishable work paths, and the electric forklift's power to be supplemented, and takes into account the overall consideration of the operating devices, the unfinishable work paths, and the electric forklift's power to be supplemented, ensuring the accuracy of the electric forklift's coordination system. At the same time, the introduction of the power consumed by multiple work paths being greater than the usable power of the electric forklift allows for coordinated management in response to the insufficient usable power of the electric forklift, ensuring the coordination of the electric forklift and the coordinated devices to ensure the smooth completion of multiple sub-tasks by the electric forklift.

[0156] At this time, according to the electric forklift's power to be supplemented, the electric forklift triggers device collection, finds and determines operating devices related to the unfinishable work paths, and constructs a coordination system that can support the electric forklift to complete these paths.

[0157] The system first triggers a device collection process based on the target location (i.e., the electric forklift's current location or the intended arrival location) according to the electric forklift's power to be supplemented information. This process involves scanning nearby wireless networks, querying databases, or sending requests to nearby devices to identify available operating devices. During the device collection process, the system identifies all operating devices related to the electric forklift's current task that provide power support or alternative work capabilities, including backup power sources, mobile charging stations, other electric forklifts, or autonomous vehicles, etc.

[0158] For each identified operating device, the system assesses whether its capabilities meet the requirements for the electric forklift to complete the unfinishable work paths, including factors such as the device's remaining power, work range, work speed, compatibility, etc. Based on the device capabilities and the specific needs of the unfinishable work paths, the system constructs a coordination 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 specific coordination strategies, including which devices will participate in the coordinated work, how they will allocate tasks, and how the electric forklift will interact with other devices, etc. These strategies aim to optimize work efficiency, reduce energy consumption, and ensure successful task completion.

[0159] Specifically, the electric forklift needs to be supplemented with 30 Ah of electricity; there are two uncompleted work paths: path A (which requires an additional 20 Ah of electricity) and path B (which requires an additional 15 Ah of electricity); there are two available operating devices nearby: device 1 (a backup power supply with a remaining electricity of 50 Ah) and device 2 (another electric forklift with a remaining electricity of 40 Ah and is currently idle).

[0160] The system triggers the device collection process and identifies device 1 and device 2 nearby; the system identifies that both device 1 and device 2 are related to the current task of the electric forklift as they can both provide electricity support or alternative work capacity; for device 1 (backup power supply): the remaining electricity of 50 Ah is sufficient to support the electric forklift to complete path A and path B; for device 2 (another electric forklift): the remaining electricity of 40 Ah is sufficient to support the electric forklift to complete one of path A or path B, but not both.

[0161] The system constructs a coordination system, in which device 1 serves as a backup power supply to provide electricity support for the electric forklift, and device 2 serves as an alternative work vehicle to take over part of the task of the electric forklift when necessary; the system determines the coordination strategy as follows: first, use device 1 to charge the electric forklift to a sufficient electricity level to complete path A and path B (i.e., at least 55 Ah, considering electricity loss); then, the electric forklift completes path A first (consumes 20 Ah) and continues to complete path B (consumes 15 Ah) if the remaining electricity allows; if the electric forklift is insufficient 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 construct an effective coordination system to ensure that the electric forklift can complete the work paths that cannot be completed due to insufficient electricity.

[0162] Therefore, the electric forklift triggers a coordinated response based on the coordination system and determines the matching device for the uncompleted work path among multiple operating devices, determines the coordination device of the electric forklift based on the matching of the current electricity and the electricity to be supplemented of the matching device, the coordination device of the electric forklift can complete the uncompleted work path and does not occupy the electricity of the electric forklift, and the overall consideration of the matching of the current electricity and the electricity to be supplemented of the matching device is compatible, ensuring the accuracy of the coordination device of the electric forklift.

[0163] At this time, it is ensured that the electric forklift can effectively trigger a coordinated response based on the previously constructed coordination system and select the most suitable matching device from multiple available operating devices to complete the work task that cannot be executed due to insufficient electricity.

[0164] The system first instructs the electric forklift to initiate the collaborative work process according to the previously constructed collaboration system, which involves sending a collaboration request to other operating devices or starting a preset collaborative work mode; among multiple available operating devices, the system needs to identify which devices as the supporting devices for the electric forklift to complete the unfinishable work paths.

[0165] For each potential supporting device, the system conducts a detailed power matching analysis, which includes comparing the current power of the device with the required power to be supplemented for 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 for the electric forklift, which should be able to meet the power needs of the electric forklift while not interfering with its normal work process.

[0166] Specifically, the electric forklift needs to complete two unfinishable work paths: path C (requires an additional 25 Ah of power) and path D (requires an additional 18 Ah of power); there are three available operating devices nearby: device A (a backup power source with a remaining power of 60 Ah), 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 45 Ah and currently not performing a task).

[0167] The system instructs the electric forklift to send a collaboration request to devices A, B, and C nearby according to the previously constructed collaboration system; the system identifies that devices A, B, and C all have the potential to be supporting devices 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: with a remaining power of 60 Ah, it is sufficient to support the electric forklift to complete paths C and D (a total of 43 Ah), but it requires a longer charging time; for device B: as a mobile charging station, it quickly charges the electric forklift to full power, making it easy to complete paths C and D; for device C: with a remaining power of 45 Ah, it is sufficient to support the electric forklift to complete one of paths C or D, but not both.

[0168] Based on the results of the power matching analysis, the system selects device B as the collaborative device for the electric forklift; because device B is a mobile charging station, it quickly supplements the required power for the electric forklift without affecting its normal work process; the system guides the electric forklift to move to the location of device B and starts the charging process; once the charging is complete, the electric forklift can continue to perform tasks, including paths C and D that were originally unable to be completed due to insufficient power.

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

[0170] Table 5: Matching degree matching table

[0171]

[0172] The current power of device A is sufficient to meet the demand of the power to be supplemented, and it is assumed that it can be fully supplied; 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 insufficient to meet the demand of the power to be supplemented.

[0173] Referring to Figure 7 , Figure 7 FIG. 1 is a structural composition schematic diagram of an energy control system of an electric forklift in an embodiment of the present application; the energy control system of the electric forklift comprises:

[0174] A usable power module 21 is used to determine the usable 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 work path module 22 is used to determine a plurality of sub-tasks based on the detection of the electric forklift, and determine a plurality of work paths of the electric forklift at a target position according to the analysis of the plurality of sub-tasks;

[0176] A power supply module 23 is used to determine a power supply mode of the plurality of work paths according to the plurality of work paths and the usable power of the electric forklift if the power consumed by the plurality of work paths is less than the usable power of the electric forklift;

[0177] A second work path module 24 is used to determine an unachievable work path of the electric forklift according to the priority of the plurality of work paths and the usable power if the power consumed by the plurality of work paths is greater than the usable power of the electric forklift;

[0178] A coordination module 25 is used to determine the power to be supplemented based on the unachievable work path, trigger the coordinated response of the electric forklift according to the power to be supplemented, and determine the coordination device of the electric forklift based on the unachievable work path and the power to be supplemented.

[0179] Any technical features of the above embodiments can be combined in any manner, and for the sake of brevity, not all combinations of the technical features are described, but it is understood that the scope of the present specification includes all possible combinations of the technical features.

Claims

1. An energy control method for an electric forklift, characterized in that, include: When the electric forklift is in motion, the available power of the electric forklift is determined based on the remaining travel path of the electric forklift and the current power level. Based on the detection of the electric forklift, multiple sub-tasks are determined, and based on the analysis of the multiple sub-tasks, multiple working paths of the electric forklift at the target location are determined. If the power consumption of multiple working paths is less than the usable power of the electric forklift, then the power supply mode of multiple working paths is determined based on the multiple working paths of the electric forklift and the usable power. If the power consumed by multiple work paths exceeds the available power of the electric forklift, then the work paths that the electric forklift cannot complete are determined based on the priority of the multiple work paths and the available power. The amount of power to be replenished is determined based on the unfinishable work path, and the coordinated response of the electric forklift is triggered based on the amount of power to be replenished. At this time, the coordinated equipment of the electric forklift is determined based on the unfinishable work path and the amount of power to be replenished. The process of determining multiple sub-tasks based on the detection of the electric forklift, and determining multiple working paths of the electric forklift at the target location based on the analysis of the multiple sub-tasks, includes: Collect the database of electric forklifts, determine the corresponding task space based on the traversal of the electric forklift database, and determine multiple sub-tasks based on the detection of the task space. All of the sub-tasks occur at the target position of the electric forklift. The electric forklift performs a preliminary analysis of multiple subtasks and marks the corresponding work content for each subtask. At this point, 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. Based on the matching of multiple motion dimensions of the electric forklift and multiple work contents, multiple work paths of the electric forklift at the target position are determined, and each work path corresponds to one work content. If the power consumption of multiple working paths is less than the usable power of the electric forklift, then the power supply mode of the multiple working paths is determined based on the multiple working paths of the electric forklift and the usable power, including: For each of the multiple work paths, the corresponding power consumption is estimated. Then, the power consumption of each work path is determined based on the power consumption of each work path, the power consumption of the electric forklift in the corresponding work dimension, and the power consumption mapping relationship. If the power consumed by multiple work paths is less than the available power of the electric forklift, the electric forklift is in a fully charged state; the first reserve power is determined by comparing the available power of the electric forklift with the power consumed by multiple work paths. The power priority of multiple working paths is determined based on the first remaining power capacity, the multiple working paths of the electric forklift, and the power priority mapping relationship. The power supply mode of multiple working paths is determined based on the power priority of multiple working paths and the available power capacity. If the power consumption of multiple work paths exceeds the available power of the electric forklift, then the uncompleted work paths of the electric forklift are determined based on the priority of the multiple work paths and the available power, including: If the power consumed by multiple work paths exceeds the available power of the electric forklift, the electric forklift is in a state of insufficient power. The first power shortage is determined by comparing the available power of the electric forklift with the power consumed by multiple work paths. The priority of multiple work paths is determined by comparing the models of multiple work paths and electric forklifts. The normal power supply combination is determined based on the available power of the electric forklift, the priority of multiple work paths, and the power consumed by multiple work paths. The work paths that the electric forklift cannot complete are determined based on the comparison between multiple work paths and the normal power supply combination. The normal power supply combination covers the work paths that the electric forklift can complete with its available power.

2. The energy control method for an electric forklift according to claim 1, characterized in that, The step of determining the usable power of the electric forklift based on its remaining travel path and current power level while it is in motion includes: Collect multiple movement parameters of the electric forklift, and determine the movement state of the electric forklift based on the multiple movement parameters. The movement state includes uniform movement, accelerated movement, or decelerated movement. The system monitors the movement status of the electric forklift in real time, determines the remaining movement path of the electric forklift based on its current position and target position, and determines the power required by the electric forklift in the movement dimension based on the remaining movement path and the power mapping relationship. Collect historical power consumption data of the electric forklift, determine the power consumption coefficient of the electric forklift based on the historical power consumption data and the usage time of the electric forklift, and determine the usable power consumption of the electric forklift based on the power consumption coefficient, the current power consumption of the electric forklift, and the power consumption required by the electric forklift in the movement dimension. The usable power consumption of the electric forklift presents the power consumption 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 process involves determining the required power supply based on an unachievable work path, and triggering a coordinated response from the electric forklift based on the required power supply. In this process, the coordinated equipment for the electric forklift, determined based on the unachievable work path and the required power supply, includes: For unfinishable work paths, the corresponding power consumption is estimated. Based on the unfinishable work paths, the power consumption of the electric forklift in the corresponding work dimension, and the power consumption mapping relationship, the power that the electric forklift needs to replenish is determined.

4. The energy control method for an electric forklift according to claim 3, characterized in that, The process of determining the amount of power to be replenished based on an unachievable work path and triggering a coordinated response of the electric forklift based on the amount of power to be replenished, further includes: The electric forklift is triggered to collect data based on the target location of its power supply. This data is then used to collect data on the operating equipment associated with unfinished work paths. The collaborative system of the electric forklift is determined based on the operating equipment, the unfinished work paths, and the power supply of the electric forklift. The electric forklift triggers a collaborative response based on a collaborative system and identifies the matching equipment for the unfinishable work path among multiple operating devices. The matching equipment is determined based on the current power and the power to be replenished of the matching equipment. The matching equipment of the electric forklift can complete the unfinishable work path without consuming the electric forklift's power.

5. 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 as described in any one of claims 1-4, and the energy control system of the electric forklift includes: A power module is available to determine the available power of the electric forklift based on the remaining travel path and the current power level when the electric forklift is in motion. The first working path module is used to determine multiple sub-tasks based on the detection of the electric forklift, and to determine multiple working paths of the electric forklift at the target location based on the parsing of the multiple sub-tasks. The power supply module is used to determine the power supply mode of multiple working paths based on the multiple working paths and the available power of the electric forklift if the power consumed by multiple working paths is less than the available power of the electric forklift. The second work path module is used to determine the uncompleted work paths of the electric forklift based on the priority of the multiple work paths and the available power if the power consumed by multiple work paths is greater than the available power of the electric forklift. The coordination module is used to determine the amount of power to be replenished based on the unfinishable work path, and to trigger the coordination response of the electric forklift based on the amount of power to be replenished. At this time, the coordination device of the electric forklift is determined based on the unfinishable work path and the amount of power to be replenished. The process of determining multiple sub-tasks based on the detection of the electric forklift, and determining multiple working paths of the electric forklift at the target location based on the analysis of the multiple sub-tasks, includes: Collect the database of electric forklifts, determine the corresponding task space based on the traversal of the electric forklift database, and determine multiple sub-tasks based on the detection of the task space. All of the sub-tasks occur at the target position of the electric forklift. The electric forklift performs a preliminary analysis of multiple subtasks and marks the corresponding work content for each subtask. At this point, 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. Based on the matching of multiple motion dimensions of the electric forklift and multiple work contents, multiple work paths of the electric forklift at the target position are determined, and each work path corresponds to one work content. If the power consumption of multiple working paths is less than the usable power of the electric forklift, then the power supply mode of the multiple working paths is determined based on the multiple working paths of the electric forklift and the usable power, including: For each of the multiple work paths, the corresponding power consumption is estimated. Then, the power consumption of each work path is determined based on the power consumption of each work path, the power consumption of the electric forklift in the corresponding work dimension, and the power consumption mapping relationship. If the power consumed by multiple work paths is less than the available power of the electric forklift, the electric forklift is in a fully charged state; the first reserve power is determined by comparing the available power of the electric forklift with the power consumed by multiple work paths. The power priority of multiple working paths is determined based on the first remaining power capacity, the multiple working paths of the electric forklift, and the power priority mapping relationship. The power supply mode of multiple working paths is determined based on the power priority of multiple working paths and the available power capacity. If the power consumption of multiple work paths exceeds the available power of the electric forklift, then the uncompleted work paths of the electric forklift are determined based on the priority of the multiple work paths and the available power, including: If the power consumed by multiple work paths exceeds the available power of the electric forklift, the electric forklift is in a state of insufficient power. The first power shortage is determined by comparing the available power of the electric forklift with the power consumed by multiple work paths. The priority of multiple work paths and electric forklift models is determined by comparing their priority. The normal power supply combination is determined based on the available power of the electric forklift, the priority of multiple work paths, and the power consumed by multiple work paths. The work paths that the electric forklift cannot complete are determined based on the comparison between multiple work paths and the normal power supply combination. The normal power supply combination covers the work paths that the electric forklift can complete with its available power.

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