Charging control method and system for robot carrying system and storage medium

Abstract

The invention discloses a charging control method and system for a robot carrying system and a storage medium, and belongs to the technical field of intelligent manufacturing logistics. The charging control method comprises the steps that the current electric quantity, the current operation state and the current available equipment number of multiple pieces of available robot carrying equipment in multiple pieces of robot carrying equipment and the carrying task number of target carrying tasks are obtained; a preset state charging threshold value is adjusted according to the number of the current available devices and the number of the carrying tasks, so that a dynamic state charging threshold value is obtained; according to the current electric quantity, the dynamic state charging threshold value and the current operation state, a charging strategy of available robot carrying equipment is determined; and controlling the available robot carrying equipment to work according to the charging strategy. The carrying efficiency of the robot carrying system can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent manufacturing logistics technology, specifically to a charging control method, system, and storage medium for a robot handling system. Background Technology

[0002] In material storage locations such as warehouses or factories, robotic handling systems are commonly used to move materials. A robotic handling system consists of multiple robotic handling devices, which are typically electrically powered. When the battery level of these devices is low, they need to be recharged promptly to ensure the normal operation of the entire robotic handling system.

[0003] Currently, when there are a large number of material handling tasks, the limited number of robotic handling devices and the fact that some devices with insufficient power are charging and unable to handle materials result in a backlog of tasks on fully charged devices. Furthermore, robotic handling devices cannot perform multiple tasks simultaneously; they must complete the current task before starting the next. This leads to long completion times and low efficiency for the robotic handling system. Therefore, existing technologies suffer from low handling efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a charging control method, system, and storage medium for a robot handling system, in order to solve the problem of low handling efficiency in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a charging control method for a robot handling system, the charging control method comprising: Obtain the current battery level, current operating status, number of currently available robotic handling devices, and number of handling tasks for the target handling task from among multiple available robotic handling devices; The preset state charging threshold is adjusted based on the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold. Based on the current battery level, dynamic charging threshold, and current operating status, determine the charging strategy for available robot handling equipment; The operation of available robotic handling equipment is controlled based on the charging strategy.

[0006] In this embodiment, the preset state charging threshold includes a preset idle charging threshold, and the dynamic state charging threshold includes a dynamic idle charging threshold. The dynamic idle charging threshold includes a dynamic idle charging lower limit threshold and a dynamic idle charging upper limit threshold. The preset state charging threshold is adjusted according to the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold. This includes: when the number of handling tasks is greater than the number of currently available devices, adjusting the preset idle charging threshold to the dynamic idle charging lower limit threshold; when the number of handling tasks is less than or equal to the number of currently available devices, adjusting the preset idle charging threshold to the dynamic idle charging upper limit threshold; and determining the charging strategy for available robot handling devices based on the current battery level, the dynamic state charging threshold, and the current operating state. This includes: when the current battery level is less than the dynamic idle charging threshold and the current operating state is idle, determining the charging strategy for available robot handling devices to control the available robot handling devices to perform charging operations.

[0007] In this embodiment, the preset state charging threshold includes a preset interrupt charging threshold, and the dynamic state charging threshold includes a dynamic interrupt charging threshold. The preset state charging threshold is adjusted based on the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold. This includes: determining that the number of handling tasks is less than or equal to the number of currently available devices; sorting the multiple available robot handling devices in descending order based on their current battery levels to obtain a sorting result; if the current battery level of the available robot handling device whose sorting position in the sorting result corresponds to the number of handling tasks is greater than the preset interrupt charging threshold, adjusting the preset interrupt charging threshold to the current battery level of the available robot handling device whose sorting position in the sorting result corresponds to the number of handling tasks to obtain the dynamic interrupt charging threshold; and determining the charging strategy for the available robot handling devices based on the current battery level, the dynamic state charging threshold, and the current operating state, including: if the current battery level is greater than the dynamic interrupt charging threshold and the current operating state is charging, determining the charging strategy for the available robot handling devices to be interrupted charging, and controlling the available robot handling devices to perform handling tasks.

[0008] In this embodiment of the application, the charging control method further includes: when the current power is less than a preset emergency charging threshold and the current operation state is working state, determining that the charging strategy for the available robot handling equipment is to perform charging operation after the available robot handling equipment completes the current handling task.

[0009] In this embodiment of the application, the charging control method further includes: when the current power is less than a preset emergency charging threshold and the current operation state is idle, determining the charging strategy of the available robot handling equipment to control the available robot handling equipment to perform charging operations.

[0010] In this embodiment, the robot handling system further includes a charging pile group, and the charging control method further includes: determining that there is a group of robot handling devices with charging needs among the multiple robot handling devices, wherein the group of robot handling devices with charging needs includes multiple target robot handling devices, and the target robot handling devices include robot handling devices waiting to be charged and / or robot handling devices currently being charged by charging piles in the charging pile group; acquiring the distance between each target robot handling device and each charging pile in the charging pile group, the real-time power of each target robot handling device, the charging pile occupancy status of each charging pile, and the emergency charging flag value of each target robot handling device, wherein the emergency charging flag value is determined based on the real-time power and a preset emergency charging threshold; and determining the distance coefficient corresponding to the distance, the power coefficient corresponding to the real-time power, and the occupancy coefficient corresponding to the charging pile occupancy status based on the distance, the real-time power, the charging pile occupancy status, and the emergency charging flag value, respectively. The system uses state coefficients and emergency charging coefficients corresponding to emergency charging flag values. The distance coefficient is positively correlated with distance, the power coefficient is positively correlated with real-time power, the occupancy state coefficient is positively correlated with charging pile occupancy status, and the emergency charging coefficient is positively correlated with the emergency charging flag value. Based on distance, real-time power, charging pile occupancy status, emergency charging flag value, distance coefficient, power coefficient, occupancy state coefficient, and emergency charging coefficient, the charging evaluation value of each robot handling device relative to each charging pile is determined. The charging evaluation value is negatively correlated with distance and real-time power, and positively correlated with charging pile occupancy status and emergency charging flag value. Based on the charging evaluation value, the charging pairing result between the group of robot handling devices requiring charging and the group of charging piles is determined, and charging operations are performed on the group of robot handling devices requiring charging based on the charging pairing result.

[0011] In this embodiment of the application, the charging pairing result between the charging demand robot handling equipment group and the charging pile group is determined based on the charging evaluation value, including: when the number of robot handling equipment in the charging demand robot handling equipment group is greater than the number of charging piles corresponding to the charging piles in the charging pile group, for the charging pile group, the target robot handling equipment with the highest charging evaluation value corresponding to the charging piles in the charging pile group is determined as the paired target robot handling equipment of the charging pile.

[0012] In this embodiment of the application, the charging pairing result between the group of robot handling equipment with charging demand and the group of charging piles is determined based on the charging evaluation value. This includes: when the number of robot handling equipment in the group of robot handling equipment with charging demand is less than or equal to the number of charging piles corresponding to the charging piles in the group of charging piles, the charging pile with the highest charging evaluation value corresponding to the target robot handling equipment is determined as the paired charging pile of the target robot handling equipment for the group of robot handling equipment with charging demand.

[0013] In this embodiment, the charging evaluation value of each robot handling device to be charged relative to each charging pile is determined based on distance, real-time power level, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to distance, power coefficient corresponding to real-time power level, occupancy status coefficient corresponding to charging pile occupancy status, and emergency charging coefficient corresponding to emergency charging indicator value. This includes determining the charging evaluation value according to the following formula:

[0014] in, For the first The target robot handling equipment is relative to the first The charging evaluation value of the No. 1 charging pile; Preset to positive numbers; This is the distance coefficient. is the power coefficient, c is the occupancy status coefficient, and d is the emergency charging coefficient; For the first The target robot handling equipment is relative to the first Distance to charging station number 1 For the first The target robot handling equipment is relative to the first The occupancy status of charging station No. [number] For the first Real-time battery level of the target robot handling equipment. For the first Emergency charging indicator value for the target robot's handling equipment.

[0015] A second aspect of this application provides a charging control device for a robot handling system, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the charging control method for the robot handling system described above.

[0016] A third aspect of this application provides a robot handling system, comprising: a charging control device for a robot handling system as described above; and robot handling equipment.

[0017] The fourth aspect of this application provides a robot handling system, which further includes a group of charging stations.

[0018] The fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the charging control method for a robot handling system described above.

[0019] The above technical solution obtains the current battery level, current operating status, number of available robotic handling devices, and target handling tasks from a pool of available robotic handling equipment. Then, it adjusts a preset state charging threshold based on the number of available devices and the number of handling tasks to obtain a dynamic state charging threshold. Based on the current battery level, dynamic state charging threshold, and current operating status, a charging strategy for the available robotic handling devices can be determined, and the charging operation of the available robotic handling devices can be controlled according to this strategy. Thus, compared to existing technologies, in robotic handling systems with a large number of handling tasks, this solution flexibly determines the dynamic state charging threshold by using the number of available devices and the number of handling tasks. Combined with the overall situation of the current battery level, dynamic state charging threshold, and current operating status, a charging strategy for the available robotic handling devices is determined, and the charging operation of the available robotic handling devices is controlled according to this strategy. This ensures both the battery level of the available robotic handling devices and the normal completion of the target handling tasks, improving the handling efficiency of the system.

[0020] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a charging control method for a robot handling system according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0026] Figure 1 The illustration schematically shows a flowchart of a charging control method for a robot handling system according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a charging control method for a robot handling system. Taking the application of this charging control method to a processor as an example, the charging control method may include the following steps.

[0027] Step S101: Obtain the current battery level, current operating status, number of currently available robots among multiple available robot handling devices, and number of handling tasks for the target handling task.

[0028] Step S102: Adjust the preset state charging threshold according to the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold.

[0029] Step S103: Determine the charging strategy for available robot handling equipment based on the current battery level, dynamic state charging threshold, and current operating status.

[0030] Step S104: Control the operation of available robot handling equipment according to the charging strategy.

[0031] It can be understood that robotic handling equipment refers to electrically powered devices used for handling target handling tasks, such as Automated Guided Vehicles (AGVs). Available robotic handling equipment refers to the usable or controllable electrically powered devices within the robotic handling equipment. Current battery level refers to the real-time battery level of the available robotic handling equipment at the current moment; current operating status refers to the real-time operating status of the available robotic handling equipment at the current moment; current number of available devices refers to the number of available robotic handling devices at the current moment; target handling task refers to the task that needs to be handled by the available robotic handling equipment; and the number of handling tasks refers to the number of target handling tasks at the current moment. Preset state charging threshold refers to the pre-set state charging threshold. Dynamic state charging threshold refers to the dynamically adjusted state charging threshold. Charging strategy refers to the strategy used to control the charging of the available robotic handling equipment.

[0032] Specifically, the processor can obtain in real-time the current battery level, current operating status, number of currently available robotic handling devices, and the number of target handling tasks through the panel of the robotic handling system. The processor can also use other data acquisition methods to obtain the above data, which are not limited here. Adjusting the preset state charging threshold based on the number of currently available devices and the number of handling tasks yields a dynamic state charging threshold. The processor can then determine the charging strategy for the available robotic handling devices based on the current battery level, the dynamic state charging threshold, and the current operating status. This charging strategy can be to interrupt charging or to charge after completing a handling task, and then control the operation of the available robotic handling devices through the charging strategy.

[0033] By acquiring the current battery level, current operating status, number of available robotic handling devices, and target handling tasks from multiple available robotic handling equipment, and then adjusting a preset state charging threshold based on the number of available devices and the number of handling tasks, a dynamic state charging threshold can be obtained. Based on the current battery level, dynamic state charging threshold, and current operating status, a charging strategy for the available robotic handling devices can be determined, and the charging operation of the available robotic handling devices can be controlled according to this charging strategy. Thus, compared to existing technologies, in robotic handling systems with a large number of handling tasks, by flexibly determining the dynamic state charging threshold based on the number of available devices and the number of handling tasks, and combining the current battery level, dynamic state charging threshold, and overall current operating status to determine the charging strategy for the available robotic handling devices, and controlling the charging operation of the available robotic handling devices according to this charging strategy, the system can ensure the normal completion of target handling tasks while maintaining the battery level of the available robotic handling devices, thereby improving the handling efficiency of the system.

[0034] In this embodiment, the preset state charging threshold includes a preset idle charging threshold, and the dynamic state charging threshold includes a dynamic idle charging threshold. The dynamic idle charging threshold includes a dynamic idle charging lower limit threshold and a dynamic idle charging upper limit threshold. The preset state charging threshold is adjusted according to the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold. This includes: when the number of handling tasks is greater than the number of currently available devices, adjusting the preset idle charging threshold to the dynamic idle charging lower limit threshold; when the number of handling tasks is less than or equal to the number of currently available devices, adjusting the preset idle charging threshold to the dynamic idle charging upper limit threshold; and determining the charging strategy for available robot handling devices based on the current battery level, the dynamic state charging threshold, and the current operating state. This may include: when the current battery level is less than the dynamic idle charging threshold and the current operating state is idle, determining the charging strategy for available robot handling devices to control the available robot handling devices to perform charging operations.

[0035] It can be understood that the preset idle charging threshold is a pre-set charging threshold in the idle state. The preset state charging threshold may include the preset idle charging threshold, and the dynamic state charging threshold may include the dynamic idle charging threshold. The dynamic idle charging threshold may include the dynamic idle charging lower limit threshold and the dynamic idle charging upper limit threshold, wherein the dynamic idle charging lower limit threshold is less than the dynamic idle charging upper limit threshold.

[0036] Specifically, the processor compares the number of transport tasks with the number of currently available devices, and adjusts the preset idle charging threshold to either a dynamic lower or upper limit threshold for idle charging. If the number of transport tasks exceeds the number of currently available devices, the available robotic transport devices are unlikely to handle the target transport tasks. In this case, the preset idle charging threshold can be adjusted to the dynamic lower threshold, reducing the charging time of the available robotic transport devices and allowing them to be quickly deployed to transport tasks, thereby improving the efficiency of the robotic transport system. Conversely, if the number of transport tasks is less than or equal to the number of currently available devices, it indicates that the available robotic transport devices can handle the target transport tasks. The preset idle charging threshold can be adjusted to a dynamic idle charging upper limit threshold to increase the dynamic idle charging threshold, thereby increasing the charging time and ensuring the battery power of the available robot handling equipment. Based on the current battery power, the dynamic state charging threshold, and the current working state, the processor determines the charging strategy for the available robot handling equipment. That is, if the processor determines that the current battery power of the available robot handling equipment is less than the dynamic idle charging threshold and the current working state of the available robot handling equipment is idle, it means that the available robot handling equipment has no handling task to process. If its current battery power is less than the dynamic idle charging threshold, it means that the battery power is low, and the processor will determine the charging strategy for the available robot handling equipment, which is to control the available robot handling equipment to perform charging operations.

[0037] The above solution compares the number of handling tasks with the number of currently available devices, and then adjusts the preset idle charging threshold to a dynamic idle charging lower limit or a dynamic idle charging upper limit. In other words, by determining whether the available robotic handling devices can handle the target handling task, the dynamic idle charging threshold is flexibly adjusted. In this way, the charging time of the available robotic handling devices can be adjusted to quickly adapt to the handling rhythm and improve the handling efficiency of the robotic handling system.

[0038] In this embodiment, the preset state charging threshold includes a preset interrupt charging threshold, and the dynamic state charging threshold includes a dynamic interrupt charging threshold. Adjusting the preset state charging threshold based on the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold may include: determining that the number of handling tasks is less than or equal to the number of currently available devices; sorting multiple available robot handling devices in descending order based on their current battery levels to obtain a sorting result; if the current battery level of an available robot handling device whose sorting position in the sorting result corresponds to the number of handling tasks is greater than the preset interrupt charging threshold, adjusting the preset interrupt charging threshold to the current battery level of the available robot handling device whose sorting position in the sorting result corresponds to the number of handling tasks to obtain the dynamic interrupt charging threshold; and determining a charging strategy for the available robot handling devices based on the current battery level, the dynamic state charging threshold, and the current operating state, including: if the current battery level is greater than the dynamic interrupt charging threshold and the current operating state is charging, determining the charging strategy for the available robot handling devices to be interrupted charging, and controlling the available robot handling devices to perform handling tasks.

[0039] It can be understood that the preset interruption charging threshold is a pre-set interruption charging threshold, the preset state charging threshold may include the preset interruption charging threshold, and the dynamic state charging threshold may include the dynamic interruption charging threshold. The available robot handling equipment sorting result is the result after sorting the available robot handling equipment.

[0040] Specifically, after determining that the number of handling tasks is less than or equal to the number of currently available devices, the processor indicates that a portion of the available robotic handling devices can handle the target number of handling tasks. Furthermore, if the processor determines that the current battery level of the available robotic handling devices ranked according to the number of handling tasks is greater than a preset interrupt charging threshold, the processor adjusts the preset interrupt charging threshold to the current battery level of the available robotic handling devices ranked according to the number of handling tasks. This indicates that the available robotic handling devices with higher ranked handling task numbers can fulfill the target number of handling tasks. Therefore, the available robotic handling devices with battery levels greater than the preset interrupt charging threshold are subjected to interrupt charging to execute the target handling task. Thus, when the current battery level is greater than the dynamic interrupt charging threshold and the current operating state is charging, it indicates that the current battery level of the available robotic handling device has reached the preset interrupt charging threshold, allowing for interrupt charging and control of that device to execute the handling task. The ranking result of the robotic handling devices is obtained by the processor sorting the available robotic handling devices in descending order according to their current battery levels.

[0041] If the processor determines that the number of handling tasks is less than or equal to the number of currently available devices, or if the current battery level of an available robot handling device whose sorting position in the available robot handling device sorting results is less than or equal to the preset interruption charging threshold, it indicates that the number of handling tasks is too large. In this case, the dynamic interruption charging threshold should be lowered and set to the preset interruption charging threshold to reduce the charging time of available robot handling devices, execute the target handling task as soon as possible, and improve the handling efficiency of the robot handling system.

[0042] The above solution can determine the urgency of the target handling task by comparing the number of handling tasks with the number of currently available devices and the current battery level of the available robotic handling devices with the preset interruption charging threshold. Based on the urgency of the task, the dynamic interruption threshold in the dynamic state charging threshold can be flexibly adjusted to quickly adapt to the urgency of the task, interrupt charging, execute the target handling task in a timely manner, and improve the handling efficiency of the robotic handling system.

[0043] In this embodiment of the application, the charging control method may further include: when the current power is less than a preset emergency charging threshold and the current operation state is working state, determining that the charging strategy for the available robot handling equipment is to perform charging operation after the available robot handling equipment completes the current handling task.

[0044] It is understandable that the preset emergency charging threshold is a pre-set emergency charging threshold.

[0045] Specifically, if the processor determines that the current battery level of the available robotic handling equipment is less than a preset emergency charging threshold, and the current operating state of the available robotic handling equipment is active, it indicates that the current battery level of the available robotic handling equipment is extremely low and needs to be charged as soon as possible to prevent the available robotic handling equipment from going into hibernation due to low battery. However, if the available robotic handling equipment is currently performing a handling task, the processor determines that the charging strategy for the available robotic handling equipment is to control the available robotic handling equipment to start charging after the current handling task is completed.

[0046] In this embodiment of the application, the charging control method may further include: when the current power is less than a preset emergency charging threshold and the current operation state is idle, determining that the charging strategy for the available robot handling equipment is to control the available robot handling equipment to perform charging operations.

[0047] Specifically, if the processor determines that the current battery level of the available robot handling equipment is less than the preset emergency charging threshold and the current working state of the available robot handling equipment is idle, it indicates that the current battery level of the available robot handling equipment is extremely low and needs to be charged as soon as possible to prevent the available robot handling equipment from going into hibernation due to low battery. Furthermore, if the available robot handling equipment is not performing any handling tasks at the current moment, it can be determined that the charging strategy for the available robot handling equipment is to control the available robot handling equipment to perform charging operations.

[0048] In this embodiment, the robot handling system further includes a charging pile group, and the charging control method may further include: determining that there is a group of robot handling devices with charging needs among the multiple robot handling devices, wherein the group of robot handling devices with charging needs includes multiple target robot handling devices, and the target robot handling devices include robot handling devices waiting to be charged and / or robot handling devices currently being charged by charging piles in the charging pile group; acquiring the distance between each target robot handling device and each charging pile in the charging pile group, the real-time power of each target robot handling device, the charging pile occupancy status of each charging pile, and the emergency charging flag value of each target robot handling device, wherein the emergency charging flag value is determined based on the real-time power and a preset emergency charging threshold; and determining the distance coefficient corresponding to the distance, the power coefficient corresponding to the real-time power, and the coefficient corresponding to the charging pile occupancy status, respectively, based on the distance, the real-time power, the charging pile occupancy status, and the emergency charging flag value. The occupancy status coefficient and the emergency charging coefficient corresponding to the emergency charging indicator value are calculated. The distance coefficient is positively correlated with distance, the power coefficient is positively correlated with real-time power, the occupancy status coefficient is positively correlated with the charging pile occupancy status, and the emergency charging coefficient is positively correlated with the emergency charging indicator value. Based on distance, real-time power, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to distance, power coefficient corresponding to real-time power, occupancy status coefficient corresponding to charging pile occupancy status, and emergency charging coefficient corresponding to emergency charging indicator value, the charging evaluation value of each robot handling equipment to be charged relative to each charging pile is determined. The charging evaluation value is negatively correlated with distance and real-time power, and positively correlated with charging pile occupancy status and emergency charging indicator value. Based on the charging evaluation value, the charging pairing result between the group of robot handling equipment requiring charging and the group of charging piles is determined, and charging operations are performed on the group of robot handling equipment requiring charging based on the charging pairing result.

[0049] It is understood that the robot handling system also includes a charging pile group, which is a collection of multiple charging piles. The charging demand robot handling equipment group is a collection of robot handling equipment with charging needs. This group may include multiple target robot handling equipment, which may include robot handling equipment awaiting charging and / or robot handling equipment currently charging from charging piles in the charging pile group. Distance is the distance between the target robot handling equipment and each charging pile in the charging pile group, for example, Manhattan distance or straight-line distance. Real-time battery level is the real-time battery percentage of the target robot handling equipment. Charging pile occupancy status is the occupancy status of the charging pile. The emergency charging indicator value is a value indicating that the real-time battery level is below a preset emergency charging threshold. Distance coefficient, battery level coefficient, occupancy status coefficient, and emergency charging coefficient are preset coefficient values, where the distance coefficient is positively correlated with distance, the battery level coefficient is positively correlated with real-time battery level, the occupancy status coefficient is positively correlated with charging pile occupancy status, and the emergency charging coefficient is positively correlated with the emergency charging indicator value. The charging evaluation value is an evaluation value of the urgency of requiring charging. The charging pairing result is the pairing result between the target robot handling equipment in the group of robot handling equipment with charging piles in the group of charging piles.

[0050] Specifically, after determining that there is a group of robotic handling devices with charging needs among multiple robotic handling devices, wherein the group of robotic handling devices with charging needs includes multiple target robotic handling devices, including robotic handling devices waiting to be charged and / or robotic handling devices currently being charged by charging piles in the charging pile group, the processor can obtain the distance (e.g., Manhattan distance) between each target robotic handling device and each charging pile in the charging pile group, the real-time battery level (expressed as a percentage) of each target robotic handling device, the occupancy status of each charging pile, and the emergency charging flag value of each target robotic handling device. Based on the distance, real-time battery level, charging pile occupancy status, and emergency charging flag value, the processor can determine the distance coefficient corresponding to each distance. The system calculates the charging evaluation value of each robot handling device relative to each charging pile based on factors such as distance, real-time battery level, charging pile occupancy status, emergency charging indicator value, distance coefficient, real-time battery level, charging pile occupancy status, and emergency charging indicator value. This evaluation value is then used to determine the charging pairing result between the target robot handling device and the charging pile in the charging pile group. Essentially, target robot handling devices with higher charging evaluation values ​​are prioritized for pairing. Charging operations are then performed on the target robot handling device group based on the pairing results. By comprehensively considering the distance between the target robot handling device and the charging pile, the real-time battery level of the target robot handling device, the charging pile occupancy status, and the emergency charging indicator value, the optimal charging pairing result is obtained. This ensures the battery level of the target robot handling device while combining convenience and efficiency, enabling the efficient operation of the robot handling system.

[0051] The emergency charging indicator value is determined based on the real-time battery level and a preset emergency charging threshold. The distance can be the Manhattan distance; the smaller the distance, the higher the charging evaluation value. The lower the real-time battery level, the higher the charging evaluation value. When the real-time battery level is less than the preset emergency charging threshold, the emergency charging indicator value can be 1. When the real-time battery level is greater than or equal to the preset emergency charging threshold, the emergency charging indicator value can be 0, indicating that the target robot handling equipment with a real-time battery level less than the preset emergency charging threshold needs emergency charging. To ensure that the target robot handling equipment with low battery level has charging priority, the emergency charging indicator value is increased, and its charging evaluation value increases accordingly. The charging pile occupancy status of the target robot handling equipment occupying the charging pile corresponds to the occupancy status system. A value of 1 indicates that the occupancy coefficient of a target robot handling equipment charging at an unoccupied charging pile is 0. This ensures that the occupancy coefficient of a target robot handling equipment charging at an occupied charging pile is higher than that of a target robot handling equipment charging at an unoccupied charging pile, thereby increasing its charging evaluation value. This helps prevent the same charging pile from being occupied multiple times by multiple target robot handling equipment in a short period of time, which would affect charging efficiency. Among these factors, the distance coefficient is positively correlated with distance and is used to normalize the output value of distance; the power coefficient is positively correlated with real-time power and is used to normalize the output value of real-time power; the occupancy coefficient is positively correlated with the charging pile occupancy status; and the emergency charging coefficient is positively correlated with the emergency charging indicator value.

[0052] In this embodiment of the application, determining the charging pairing result between the charging demand robot handling equipment group and the charging pile group based on the charging evaluation value may include: when the number of target robot handling equipment in the charging demand robot handling equipment group is greater than the number of charging piles corresponding to the charging piles in the charging pile group, for the charging pile group, the target robot handling equipment with the highest charging evaluation value corresponding to the charging piles in the charging pile group is determined as the paired target robot handling equipment for the charging pile.

[0053] It can be understood that the number of robot handling equipment refers to the number of target robot handling equipment in the group of robot handling equipment requiring charging, and the number of charging piles refers to the number of charging piles in the group of charging piles.

[0054] Specifically, the processor compares the number of target robot handling devices in the group of robot handling devices with the number of charging piles in the charging pile group. If the number of target robot handling devices in the group of robot handling devices exceeds the number of charging piles in the charging pile group, it indicates that the charging piles cannot meet the charging needs of each target robot handling device in the group of robot handling devices. For the charging pile group, multiple charging evaluation values ​​are determined for multiple target robot handling devices and each charging pile in the charging pile group. Then, the target robot handling device with the highest charging evaluation value is determined as the paired target robot handling device of the charging pile, so that the charging pile is used to charge the paired target robot handling device, thereby improving charging efficiency.

[0055] In this embodiment of the application, determining the charging pairing result between the group of robot handling equipment with charging demand and the group of charging piles based on the charging evaluation value may include: when the number of robot handling equipment with target robot handling equipment in the group of robot handling equipment with charging demand is less than or equal to the number of charging piles corresponding to the charging piles in the group of charging piles, for the group of robot handling equipment with charging demand, determining the charging pile with the highest charging evaluation value corresponding to the target robot handling equipment as the paired charging pile of the target robot handling equipment; for the group of robot handling equipment with charging demand, determining the charging evaluation value between a target robot handling equipment and multiple charging piles, determining the charging pile corresponding to the largest charging evaluation value, determining the paired charging pile corresponding to the target robot handling equipment, and charging the target robot handling equipment through the paired charging pile to improve charging efficiency.

[0056] Specifically, if the number of target robot handling devices in the group of robot handling equipment requiring charging is less than or equal to the number of charging piles in the charging pile group, it indicates that the charging piles can meet the charging needs of the target robot handling devices in the group of robot handling equipment requiring charging. In this embodiment, the charging evaluation value of each robot handling device relative to each charging pile is determined based on distance, real-time power level, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to distance, power coefficient corresponding to real-time power level, occupancy status coefficient corresponding to charging pile occupancy status, and emergency charging coefficient corresponding to emergency charging indicator value. The charging evaluation value can be determined using the following formula:

[0057] in, For the first The target robot handling equipment is relative to the first The charging evaluation value of the No. 1 charging pile; Preset to positive numbers; This is the distance coefficient. is the power coefficient, c is the occupancy status coefficient, and d is the emergency charging coefficient; For the first The target robot handling equipment is relative to the first Distance to charging station number 1 For the first The target robot handling equipment is relative to the first The occupancy status of charging station No. [number] For the first Real-time battery level of the target robot handling equipment. For the first Emergency charging indicator value for the target robot's handling equipment.

[0058] Specifically, by inputting the distance, real-time battery level, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to the distance, battery level coefficient corresponding to the real-time battery level, occupancy status coefficient corresponding to the charging pile occupancy status, and emergency charging indicator value corresponding to the emergency charging coefficient into the above formula, the charging evaluation value of each target robot handling device relative to each charging pile can be obtained. The above formula comprehensively considers distance, battery level, and emergency charging, and can accurately determine the charging evaluation value of each target robot handling device relative to each charging pile, thereby determining the optimal charging pile corresponding to each target robot handling device and ensuring charging efficiency.

[0059] In one specific embodiment, the processor can follow a fixed loading cycle. Data loading and the loading cycle are configured based on actual field usage. The loading cycle is typically set to a second-level parameter, such as 2 seconds or 5 seconds. A smaller loading cycle results in higher precision in time discretization, better real-time performance, and more accurate calculations, but also a greater computational load. The main contents of the loaded data are as follows: Number of transport tasks Number of AGVs in working status Number of AGVs in idle state Number of AGVs in charging status Number of AGVs in fault condition Available AGV number set ,gather Current battery level of AGV numbered i ,gather Current operating status of AGV numbered i ,gather The preset emergency charging threshold for AGV numbered i ,gather The lower limit threshold for dynamic idle charging of AGV with the number i in the middle. ,gather The upper limit threshold for dynamic idle charging of AGV with the number i in the middle. ,gather The preset interruption charging threshold for AGV numbered i AGV state set Number of charging stations in idle state Number of charging stations in charging status Number of charging stations in fault condition Collection of available charging station numbers A set of available charging station numbers ,gather Real-time status of charging pile numbered i The state set of charging piles ,gather The AGV with ID i in the middle uses a set The sign for charging station numbered j .

[0060] The number of available AGVs in the material handling system is calculated using the following formula. ,

[0061] renew Real-time power collection of available AGVs ,

[0062] When the number of pending tasks is no greater than the number of available AGVs, the real-time power set of the available AGVs is used. The first Large battery capacity And determine the real-time power set The flag indicating that the real-time battery level of AGV numbered i is below its emergency charging threshold. The value is 1 if the real-time battery level is below the emergency charging threshold, and 0 otherwise.

[0063] When the i-th AGV is idle, the preset state charging threshold is adjusted based on the number of currently available devices and the number of handling tasks to obtain a dynamic idle charging threshold. Specifically, the dynamic idle charging threshold can be determined by the following formula. ,

[0064] When the real-time battery level of an AGV in an idle state is lower than its idle charging threshold, the AGV will be assigned a charging task. When the number of handling tasks is greater than the number of currently available devices, the idle charging threshold should be set to a lower level; when the number of handling tasks is not greater than the number of currently available devices, the idle charging threshold should be set to a higher level, in accordance with the guiding principle of "reducing charging when there are more tasks and increasing charging when there are fewer tasks".

[0065] When the i-th AGV is charging, the preset interruption charging threshold is adjusted to the current battery level of the available robot handling equipment whose sorting position in the available robot handling equipment ranking results corresponds to the number of handling tasks. This results in a dynamic interruption charging threshold, which can be determined by the following formula. :

[0066] When the real-time battery level of an AGV that is charging exceeds its dynamic interruption charging threshold, the charging process of the AGV will be interrupted and it will be assigned a transport task.

[0067] When the number of handling tasks is no greater than the number of currently available devices, it means that the current AGV can fulfill the task execution requirements. Large battery capacity If the current battery level is greater than the preset interruption charging threshold of the i-th AGV, it means that the current battery level of all vehicles that meet the task execution requirements is greater than the charging capacity required when the i-th AGV needs to stop. This indicates that the current AGV stop charging threshold is set too low and remains at a low level among all AGVs.

[0068] In addition, in real-time battery level In this case, AGV numbered i is immediately scheduled to recharge after completing its current task; based on real-time battery level... In this case, the AGV numbered i is immediately scheduled to be charged.

[0069] Then, a group of robotic handling devices with charging needs was identified among multiple robotic handling devices. This group included multiple target robotic handling devices, comprising those awaiting charging and / or those currently charging at charging stations within the charging station group. The distance between each target robotic handling device and each charging station in the charging station group, the real-time battery level of each target robotic handling device, the occupancy status of each charging station, and the emergency charging flag value for each target robotic handling device were obtained. The emergency charging flag value was determined based on the real-time battery level and a preset emergency charging threshold. Based on the distance, real-time battery level, charging station occupancy status, and emergency charging flag value, a distance coefficient corresponding to the distance, a battery level coefficient corresponding to the real-time battery level, an occupancy status coefficient corresponding to the charging station occupancy status, and a coefficient corresponding to the emergency charging flag value were determined, respectively. The emergency charging coefficient is determined, where the distance coefficient is positively correlated with distance, the power coefficient is positively correlated with real-time power, the occupancy status coefficient is positively correlated with the charging pile occupancy status, and the emergency charging coefficient is positively correlated with the emergency charging indicator value. Based on the distance, real-time power, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to distance, power coefficient corresponding to real-time power, occupancy status coefficient corresponding to charging pile occupancy status, and emergency charging coefficient corresponding to emergency charging indicator value, the charging evaluation value of each robot handling equipment to be charged relative to each charging pile is determined. The charging evaluation value is negatively correlated with distance and real-time power, and positively correlated with charging pile occupancy status and emergency charging indicator value. Based on the charging evaluation value, the charging pairing result between the group of robot handling equipment requiring charging and the group of charging piles is determined, so that the charging operation of the group of robot handling equipment requiring charging can be carried out according to the charging pairing result.

[0070] Specifically, the charging evaluation value can be determined using the following formula:

[0071] in, For the first The target robot handling equipment is relative to the first The charging evaluation value of the No. 1 charging pile; Preset to positive numbers; This is the distance coefficient. is the power coefficient, c is the occupancy status coefficient, and d is the emergency charging coefficient; For the first The target robot handling equipment is relative to the first Distance to charging station number 1 For the first The target robot handling equipment is relative to the first The occupancy status of charging station No. [number] For the first Real-time battery level of the target robot handling equipment. For the first Emergency charging indicator value for the target robot's handling equipment.

[0072] The above technical solution solves the problem of when to charge AGVs by accurately calculating the dynamic state charging threshold of AGVs; it solves the problem of where to charge AGVs by performing global charging scheduling on the set of charging piles; and it solves the problem of multiple AGVs competing for the same charging pile while avoiding AGV shutdown due to power loss. This meets the production guidance principle of charging less during busy periods (reducing AGV charging time when there are many handling tasks) and charging more during idle periods (increasing AGV charging time when there are few handling tasks), thereby improving the handling efficiency of the robot handling system.

[0073] While ensuring that the AGVs do not lose power and shut down, the system guarantees the timely completion of the target transportation task, and at the same time, resolves the competition for charging stations among the AGVs, ensuring the efficient operation of the AGV transportation system.

[0074] This application also provides a charging control device for a robot handling system, which may include: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the charging control method for the robot handling system described above.

[0075] This application also provides a robot handling system, including: a charging control device for a robot handling system as described above; and a robot handling device.

[0076] This application also provides a robot handling system, which further includes a group of charging stations.

[0077] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the charging control method for a robot handling system described above.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0084] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0086] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A charging control method for a robot handling system, characterized in that, The robotic handling system includes multiple robotic handling devices, and the charging control method includes: The current battery level, current operating status, number of currently available devices, and number of target handling tasks are obtained from the plurality of available robotic handling devices. The preset state charging threshold is adjusted based on the number of currently available devices and the number of handling tasks to obtain a dynamic state charging threshold. The charging strategy for the available robot handling equipment is determined based on the current battery level, the dynamic state charging threshold, and the current operating state. The operation of the available robotic handling equipment is controlled according to the charging strategy.

2. The charging control method according to claim 1, characterized in that, The preset state charging threshold includes a preset idle charging threshold, and the dynamic state charging threshold includes a dynamic idle charging threshold, which includes a dynamic idle charging lower limit threshold and a dynamic idle charging upper limit threshold. Adjusting the preset state charging threshold based on the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold includes: If the number of transport tasks is greater than the number of currently available devices, the preset idle charging threshold will be adjusted to the dynamic idle charging lower limit threshold. If the number of transport tasks is less than or equal to the number of currently available devices, the preset idle charging threshold will be adjusted to the dynamic idle charging upper limit threshold. The step of determining the charging strategy for the available robot handling equipment based on the current battery level, the dynamic state charging threshold, and the current operating state includes: When the current battery level is less than the dynamic idle charging threshold and the current operating state is idle, the charging strategy for the available robot handling equipment is determined to be to control the available robot handling equipment to perform charging operations.

3. The charging control method according to claim 1, characterized in that, The preset state charging threshold includes a preset interruption charging threshold, and the dynamic state charging threshold includes a dynamic interruption charging threshold. Adjusting the preset state charging threshold based on the number of currently available devices and the number of handling tasks to obtain the dynamic state charging threshold includes: The number of transport tasks is determined to be less than or equal to the number of currently available devices; The available robotic handling devices are sorted in descending order based on their current battery levels to obtain a sorting result. If the current battery level of the available robot handling equipment whose sorting position in the available robot handling equipment sorting results is greater than the preset interruption charging threshold, the preset interruption charging threshold is adjusted to the current battery level of the available robot handling equipment whose sorting position in the available robot handling equipment sorting results is the number of handling tasks, so as to obtain the dynamic interruption charging threshold. The step of determining the charging strategy for the available robot handling equipment based on the current battery level, the dynamic state charging threshold, and the current operating state includes: If the current battery level is greater than the dynamic interruption charging threshold and the current operating state is charging, the charging strategy for the available robot handling equipment is determined to be interrupted charging, and the available robot handling equipment is controlled to perform handling tasks.

4. The charging control method according to claim 1, characterized in that, The charging control method further includes: If the current battery level is less than a preset emergency charging threshold and the current operation status is working, the charging strategy for the available robot handling equipment is determined to be to perform charging operations after the available robot handling equipment completes the current handling task.

5. The charging control method according to claim 1, characterized in that, The charging control method further includes: If the current battery level is less than a preset emergency charging threshold and the current operating state is idle, the charging strategy for the available robot handling equipment is determined to be to control the available robot handling equipment to perform charging operations.

6. The charging control method according to claim 1, characterized in that, The robot handling system also includes a group of charging stations, and the charging control method further includes: It is determined that there is a group of robot handling devices with charging needs among the plurality of robot handling devices, wherein the group of robot handling devices with charging needs includes a plurality of target robot handling devices, and the target robot handling devices include robot handling devices to be charged and / or robot handling devices that are currently being charged by charging piles in the charging pile group; The distance between each target robot handling device and each charging pile in the charging pile group is obtained, the real-time power of each target robot handling device, the charging pile occupancy status of each charging pile, and the emergency charging identifier value of each target robot handling device, wherein the emergency charging identifier value is determined based on the real-time power and a preset emergency charging threshold. Based on the distance, the real-time battery level, the charging pile occupancy status, and the emergency charging indicator value, a distance coefficient corresponding to the distance, a battery level coefficient corresponding to the real-time battery level, an occupancy status coefficient corresponding to the charging pile occupancy status, and an emergency charging coefficient corresponding to the emergency charging indicator value are determined respectively. The distance coefficient is positively correlated with the distance, the battery level coefficient is positively correlated with the real-time battery level, the occupancy status coefficient is positively correlated with the charging pile occupancy status, and the emergency charging coefficient is positively correlated with the emergency charging indicator value. Based on the distance, real-time power level, charging pile occupancy status, emergency charging indicator value, distance coefficient corresponding to the distance, power coefficient corresponding to the real-time power level, occupancy status coefficient corresponding to the charging pile occupancy status, and emergency charging coefficient corresponding to the emergency charging indicator value, a charging evaluation value for each robot handling device to be charged relative to each charging pile is determined. The charging evaluation value is negatively correlated with the distance and real-time power level, and positively correlated with the charging pile occupancy status and emergency charging indicator value. Based on the charging evaluation value, the charging pairing result between the group of robot handling equipment with charging demand and the group of charging piles is determined, so as to carry out charging operation on the group of robot handling equipment with charging demand according to the charging pairing result.

7. The charging control method according to claim 6, characterized in that, The step of determining the charging pairing result between the charging demand robot handling equipment group and the charging pile group based on the charging evaluation value includes: If the number of target robot handling devices in the group of charging demand robot handling devices is greater than the number of charging piles in the group of charging piles, then for the group of charging piles, the target robot handling device with the highest charging evaluation value corresponding to the charging pile in the group of charging piles is determined as the paired target robot handling device for the charging pile.

8. The charging control method according to claim 6, characterized in that, The step of determining the charging pairing result between the charging demand robot handling equipment group and the charging pile group based on the charging evaluation value includes: If the number of robot handling devices corresponding to the target robot handling device in the group of robot handling devices with charging demand is less than or equal to the number of charging piles corresponding to the charging piles in the group of charging piles, then for the group of robot handling devices with charging demand, the charging pile with the highest charging evaluation value corresponding to the target robot handling device is determined as the paired charging pile of the target robot handling device.

9. The charging control method according to claim 6, characterized in that, The step of determining the charging evaluation value of each of the robot handling devices to be charged relative to each of the charging piles based on the distance, the real-time power level, the charging pile occupancy status, the emergency charging indicator value, the distance coefficient corresponding to the distance, the power coefficient corresponding to the real-time power level, the occupancy status coefficient corresponding to the charging pile occupancy status, and the emergency charging coefficient corresponding to the emergency charging indicator value includes determining the charging evaluation value according to the following formula: in, For the first The target robot handling equipment is relative to the first The charging evaluation value of the No. 1 charging pile; Preset to positive numbers; This is the distance coefficient. is the power coefficient, c is the occupancy status coefficient, and d is the emergency charging coefficient; For the first The target robot handling equipment is relative to the first Distance to charging station number 1 For the first The target robot handling equipment is relative to the first The occupancy status of charging station No. [number] For the first Real-time battery level of the target robot handling equipment. For the first Emergency charging indicator value for the target robot's handling equipment.

10. A charging control device for a robot handling system, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the charging control method for a robot handling system according to any one of claims 1 to 9.

11. A robotic handling system, characterized in that, include: The charging control device for a robot handling system according to claim 10; Multiple robotic handling equipment.

12. The robot handling system according to claim 11, characterized in that, The robotic handling system also includes a network of charging stations.

13. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a charging control method for a robot handling system according to any one of claims 1 to 9.

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