A warehouse AGV scheduling method and system based on task allocation and charging planning

Abstract

The present application belongs to the technical field of intelligent warehouse logistics automation, and particularly relates to a warehouse AGV scheduling method and system based on task allocation and charging planning, which marks AGVs to be charged, and counts the number of power supply demand stations and accumulative available power; obtains all carrying tasks, divides the tasks into three levels according to priority, and respectively counts the total power consumption demand of each level; obtains the available number of charging piles, deducts the total power consumption of power supply and the basic power consumption from the accumulative available power to obtain the total amount of schedulable power; sequentially compares the total amount of schedulable power with the total power consumption demand of the three levels, and when the schedulable power is insufficient, the power supply target power is reduced first, and the power consumption demand of all reserved tasks is satisfied; and issues carrying instructions to each AGV. The present application realizes unified power budget management of task allocation and charging planning, guarantees the execution of high-priority tasks, and improves the scheduling efficiency and resource utilization rate of the AGV fleet.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing and logistics automation technology, specifically relating to a warehousing AGV scheduling method and system based on task allocation and charging planning. Background Technology

[0002] In warehousing and logistics systems, Automated Guided Vehicles (AGVs) serve as core equipment for automated material handling, undertaking critical tasks such as goods transportation, sorting, and storage location organization. With the expansion of warehousing scale, collaborative operation of multiple AGVs within the same warehousing environment has become a common practice.

[0003] Existing warehouse AGV scheduling methods typically treat task allocation and charging management as two independent modules. The task allocation module assigns tasks to each AGV based on factors such as the start and end points of the handling task and the weight of the goods, while the charging management module triggers a charging command when the remaining battery power of an AGV falls below a preset threshold. This separate processing approach has the following technical drawbacks: Firstly, when assigning tasks, the optimization objective is usually the shortest travel distance or the shortest task completion time, without incorporating the actual power consumption of each handling task into the measurement system of the assignment decision. When multiple AGVs are performing handling tasks with significantly different power consumption at the same time, some AGVs may stop midway due to power depletion, resulting in task interruption and channel blockage.

[0004] Secondly, in existing methods, charging decisions are typically triggered passively after task allocation, with charging operations and transport tasks each occupying separate AGV running time. When the number of charging stations is limited, multiple low-battery AGVs simultaneously requesting charging will lead to queuing and waiting, further reducing the number of available AGVs and lowering the overall system efficiency. Summary of the Invention

[0005] This invention provides a warehouse AGV scheduling method based on task allocation and charging planning. This invention uses electricity as a unified metric to achieve joint optimization of task allocation and charging planning, which effectively improves the power utilization efficiency and task execution reliability of the warehouse AGV system.

[0006] The methods include: S1: Read the remaining power and current position of each AGV in the warehouse environment at the start of the scheduling cycle; S2: Mark the AGVs to be charged according to the remaining power and count the number as the number of units required for power replenishment. Calculate the sum of the remaining power of all AGVs as the cumulative available power. S3: Obtain all handling tasks and read the starting coordinates, ending coordinates and cargo weight of each task. Calculate the travel path length and power consumption per handling for each task. Divide all tasks into three-level task sets according to priority rules and calculate the total power consumption of each level of task set. S4: Obtain the number of available charging piles and calculate the total power consumption for power replenishment based on the number of charging piles required for power replenishment. Subtract the total power consumption for power replenishment from the cumulative available power to obtain the total dispatchable power. S5: Subtract the total power consumption of the three-level task set from the total available power supply level by level. If the power supply of a certain level is insufficient, reduce the power supply target of the AGV to be charged or delete the task in the third-level task set to release power until the power demand of each level of task is met, and then issue the transport instruction. S6: Each AGV executes the transport task according to the transport instructions.

[0007] Preferably, step S5 specifically includes: Based on the current location of each AGV and the coordinates of the starting point of each transport task, calculate the empty travel distance of each AGV to the starting point of each transport task; based on the empty travel distance and all the transport tasks to be retained, adopt an allocation strategy that minimizes the total empty travel distance to allocate the retained transport tasks to each AGV; issue a transport instruction to each AGV containing the coordinates of the starting point, the coordinates of the ending point, and the travel path of the target transport task.

[0008] Preferably, the allocation strategy that minimizes the total empty driving distance specifically includes: Based on all the transport tasks retained in the first, second, and third level task sets of the three-level task set, transport instructions are issued to each AGV, specifically including: S51: Obtain the current location of each AGV and the coordinates of the starting point of each handling task, calculate the empty driving distance of each AGV from its current location to the coordinates of the starting point of each handling task, and construct an empty driving distance matrix. S52: Select the current global minimum empty driving distance value from the empty driving distance matrix, form an allocation pair between the AGV corresponding to the minimum empty driving distance value and the transport task, allocate the transport task in the allocation pair to the AGV in the allocation pair, and delete all distance values ​​in the row where the AGV is located and all distance values ​​in the column where the transport task is located from the empty driving distance matrix. S53: Repeat step S52, each time selecting the current global minimum empty driving distance value from the updated empty driving distance matrix and forming an allocation pair until all reserved handling tasks are allocated to each AGV; according to the starting point coordinates, ending point coordinates, and driving path of the handling task assigned to each AGV, issue handling instructions to each AGV respectively.

[0009] Preferably, step S2 specifically includes: The current location, remaining power value, and estimated travel distance to the nearest charging station of each AGV to be charged are associated and stored to form an AGV information list to be charged; the total number of all AGVs to be charged is counted and recorded as the number of units required for recharging. The number of records in the list of AGVs to be charged is counted, and the count result is used as the number of AGVs required for recharging.

[0010] Preferably, in step S3, calculating the travel path length for each task specifically includes: Using the starting point coordinates of the cargo location as the starting point and the ending point coordinates as the ending point, a shortest path algorithm is used to calculate the travel path from the starting point to the ending point on the road network topology map of the warehouse map, and the path length of the travel path is used as the travel path length of the handling task; the step of calculating the single handling power consumption required for each handling task based on the travel path length and the weight of the goods specifically includes: The power consumption per transport task is obtained by multiplying the travel path length, the weight of the goods, and the preset power consumption coefficient per unit distance and weight.

[0011] Preferably, in step S3, all tasks are divided into three levels of task sets according to priority rules, and the total power consumption of each level of task set is calculated. Specifically, this includes: Transport tasks with time constraints that will cause production line downtime are classified into the first-level task set; temporary transport tasks without time constraints but which need to be completed within the current scheduling cycle are classified into the second-level task set; and regular transport tasks that can tolerate execution delays and can be postponed to subsequent scheduling cycles are classified into the third-level task set.

[0012] Preferably, in step S4, obtaining the number of available charging piles specifically includes: Obtain the total number of charging piles in the warehouse environment, count the number of charging piles currently in use, and subtract the number of charging piles currently in use from the total number to obtain the available number of charging piles; The target power for replenishment is the amount of power required to bring the remaining power of the AGV to a preset target power level. The target power for replenishment is a preset percentage of the rated capacity of the AGV battery.

[0013] Preferably, step S5 specifically includes: According to the preset power adjustment step size, the target power of each AGV to be charged is reduced one by one. After each reduction, the total power consumption for power replenishment and the total amount of schedulable power are recalculated. When the total schedulable power supply is greater than or equal to the first total power demand, the reduction stops; When the number of reductions reaches the preset iteration limit, the reduction stops and the current total schedulable power is taken as the final total schedulable power.

[0014] Preferably, in step S5, deleting tasks in the third-level task set to release power specifically includes: sorting each transport task in the third-level task set according to the power consumption per transport in descending order, and deleting the transport task with the highest power consumption per transport in the sorting order. Alternatively, sort and delete tasks by creation time from latest to earliest. Sort third-level tasks by creation time from latest to earliest, and delete the most recently created tasks first.

[0015] According to another embodiment of this application, a warehouse AGV scheduling system based on task allocation and charging planning is provided, the system comprising: The data acquisition module is used to read the remaining power and current location of each AGV in the warehouse environment at the start of the scheduling cycle; The status recognition and statistics module is used to mark the AGVs to be charged according to the remaining power and count the number as the number of units required for power replenishment, and to count the sum of the remaining power of all AGVs as the cumulative available power. The task analysis and calculation module is used to obtain all handling tasks and read the starting coordinates, ending coordinates and weight of goods for each task. It calculates the travel path length and power consumption per handling for each task, divides all tasks into three levels of task sets according to priority rules, and calculates the total power consumption of each level of task set. The charging and power budget module is used to obtain the number of available charging piles and calculate the total power consumption for power replenishment based on the number of charging piles required for power replenishment. The total power consumption for power replenishment is deducted from the cumulative available power to obtain the total dispatchable power. The hierarchical allocation and adjustment module is used to deduct the total power consumption of the three-level task set from the total available power. If the power of a certain level is insufficient, the power replenishment target of the AGV to be charged is reduced or the task in the third-level task set is deleted to release power until the power demand of each level of task is met and the transportation instruction is issued. The transport execution module is used to receive transport instructions issued by the hierarchical allocation and adjustment module, and control each AGV to execute the corresponding transport task according to the transport instructions.

[0016] As can be seen from the above technical solutions, the present invention has the following advantages: This invention converts the power consumption of each handling task into a single handling operation based on its travel path length and cargo weight, using power consumption as a unified unit of measurement throughout the entire process of task classification, power budgeting, and hierarchical allocation. Task allocation is no longer independent of power constraints, but shares the same power budget system with charging planning, thus solving the problem of power outages during tasks caused by the disconnect between task allocation and charging management.

[0017] This invention divides all handling tasks into three levels of task sets according to preset priority rules, calculates the total power consumption of each level of task, and adjusts the power consumption through three rounds of sequential comparison and cyclical adjustment. Priority is given to mandatory tasks that cannot be delayed, followed by emergency replenishment tasks, and finally, the remaining power is used for flexible tasks that can be delayed. This hierarchical allocation mechanism ensures that high-priority tasks receive priority power support when power is insufficient.

[0018] This invention deducts the power consumption of replenishing AGVs from the fleet's available power, allowing replenishment operations and transport tasks to share the same power budget. When the total available power is insufficient to meet the needs of the first-level task, the charging consumption of the current scheduling cycle is reduced by progressively decreasing the target power for replenishment, freeing up more power for transport tasks. This task-demand-driven dynamic replenishment strategy transforms charging planning from a passive response to an active adaptation, effectively filling charging gaps.

[0019] When the power supply for a second- or third-level task is insufficient, this invention releases power by deleting transport tasks from the third-level task set and transferring the power consumption corresponding to the deleted tasks to the total available power supply or buffer power. This approach, while satisfying the hard power constraint, maximizes the number of third-level tasks executed within the current scheduling cycle, reduces the number of tasks postponed to subsequent scheduling cycles, and maximizes the task completion rate of the current cycle.

[0020] This invention distinguishes between two scenarios—one with sufficient charging piles and the other with insufficient charging piles—based on a comparison between the number of AGVs requiring charging and the number of available charging piles. When there are insufficient charging piles, the N AGVs with the lowest remaining power are selected as priority charging targets from all AGVs waiting to be charged. This ensures that the AGVs with the lowest power receive charging resources first, avoiding AGV shutdowns due to low power that could affect overall operations. Attached Figure Description

[0021] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1The flowchart shows a warehouse AGV scheduling method based on task allocation and charging planning. Figure 2 This is a schematic diagram of a warehouse AGV scheduling system based on task allocation and charging planning. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figure 1 The diagram shows a flowchart of a warehouse AGV scheduling method based on task allocation and charging planning in a specific embodiment. The method includes: S1: Read the remaining power and current location of each AGV in the warehouse environment at the start of the scheduling cycle.

[0025] It should be noted that the scheduling cycle is a preset fixed time period, and the start time of the scheduling cycle is the task scheduling trigger time corresponding to the current scheduling cycle; reading the remaining power of each AGV in the warehouse environment at the start time of the scheduling cycle specifically includes: The battery state of charge (SBC) value of each AGV is read through the vehicle battery management system, and the SBC value is converted into the remaining power value. The reading of the current location of each AGV in the warehouse environment at the start of the scheduling cycle specifically includes: obtaining the current location coordinates of each AGV in the warehouse map coordinate system through the warehouse positioning system.

[0026] S2: Compare the remaining power of each AGV with a preset low power threshold, mark AGVs with remaining power below the low power threshold as AGVs to be charged, and record the current location and remaining power value of the AGVs to be charged; count the number of all AGVs to be charged, and record it as the number of AGVs requiring power replenishment; count the cumulative available power of each AGV in the current scheduling cycle, where the cumulative available power is the sum of the remaining power of all AGVs.

[0027] Optionally, during the initialization phase, the warehouse management system obtains the rated battery capacity of each AGV, which is provided by the AGV manufacturer. Based on the AGV's battery discharge characteristic curve, the system sets 20% of the rated battery capacity as a low-power threshold.

[0028] The criteria for this value are as follows: Continuing to discharge a lithium battery after its remaining charge drops below 20% will shorten its lifespan; also, when the remaining charge is below 20%, after the AGV travels from any location within the warehouse to the nearest charging station, the remaining charge will be insufficient to support the normal execution of the next handling task. The system compares the low charge threshold with the current remaining charge reported by each AGV, marking AGVs with a current remaining charge below the threshold as AGVs awaiting charging.

[0029] In some specific embodiments, in step S2, the low battery threshold is determined based on the minimum battery level required for the AGV to travel from its current location to the nearest charging station; recording the current location and remaining battery level of the AGV to be charged specifically includes: The current location, remaining power value, and estimated travel distance to the nearest charging station of each AGV to be charged are associated and stored to form an AGV information list to be charged; the total number of all AGVs to be charged is counted and recorded as the number of units required for recharging. Specifically, this includes: counting the number of records in the list of AGVs to be charged, and using the counting result as the number of AGVs required for recharging.

[0030] S3: Obtain all handling tasks to be assigned within the current scheduling period, and read the starting point location coordinates, ending point location coordinates, and goods weight of each handling task; calculate the travel path length of each handling task on the warehouse map based on the starting point location coordinates and ending point location coordinates of each handling task; calculate the power consumption per handling operation required for each handling task based on the travel path length and goods weight of each handling task. All the transport tasks are divided into a first-level task set, a second-level task set, and a third-level task set according to a preset priority rule; The first total power demand is obtained by summing the power consumption of each handling task in the first-level task set, the second total power demand is obtained by summing the power consumption of each handling task in the second-level task set, and the third total power demand is obtained by summing the power consumption of each handling task in the third-level task set.

[0031] In some specific embodiments, step S3, which involves calculating the travel path length of each handling task on the warehouse map based on the starting and ending coordinates of each handling task, specifically includes: Using the starting point coordinates as the starting point and the ending point coordinates as the ending point, a shortest path algorithm is used to calculate the travel path from the starting point to the ending point on the road network topology of the warehouse map, and the path length of the travel path is used as the travel path length of the handling task; the step of calculating the single handling power consumption required for each handling task based on the travel path length and the weight of the goods specifically includes: The power consumption per transport task is obtained by multiplying the travel path length, the weight of the goods, and the preset power consumption coefficient per unit distance and weight.

[0032] In some specific embodiments, step S3, which involves dividing all the transport tasks into a first-level task set, a second-level task set, and a third-level task set according to a preset priority rule, specifically includes: Handling tasks with time constraints that will cause production line downtime are classified into the first-level task set; temporary handling tasks without time constraints but which need to be completed within the current scheduling cycle are classified into the second-level task set; and regular handling tasks that can tolerate execution delays and can be postponed to subsequent scheduling cycles are classified into the third-level task set.

[0033] As a specific example of the present invention, in an actual deployment case of a smart warehousing and logistics center, the scheduling system triggers task allocation and charging planning once in each scheduling cycle.

[0034] The execution process of step S3 is as follows: The scheduling system retrieves a list of all unassigned handling tasks from the database for the current scheduling period. Assume this list contains 12 handling tasks. The system reads the attributes of each task one by one: the coordinates of the starting location (e.g., row 03, column 05 in area A), the coordinates of the ending location (e.g., row 07, column 12 in area B), and the weight of the goods (e.g., 150 kg).

[0035] For each task, the system calls the road network topology map of the warehouse map, where all channel nodes, intersections, one-way traffic rules and obstacle areas are pre-built.

[0036] Taking task T001 as an example, the starting coordinates are (x1, y1) and the ending coordinates are (x2, y2). The system uses Algorithm A to calculate the shortest travel path from the starting point to the ending point on the road network. Algorithm A takes into account the channel width limit, the AGV can only travel along the designated channel and the one-way rule. Finally, it outputs a path composed of a sequence of nodes and accumulates the lengths of each segment to obtain the travel path length, for example, 85 meters.

[0037] The system reads the preset power consumption coefficient per unit distance and per unit weight, which is provided by the AGV manufacturer and determined to be 0.0025 amp-hours per meter per kilogram through on-site calibration.

[0038] Multiplying the travel path length of 85 meters and the cargo weight of 150 kilograms by a coefficient of 0.0025, the power consumption per transport run for this task is 31.875 amp-hours. The above calculation is repeated for all 12 tasks to obtain their respective power consumption.

[0039] The system categorizes tasks according to preset priority rules. It reads the tag field of each task: Tasks T001, T003, T007, and T009 are marked "Urgent Production Line Order," indicating that exceeding the time limit will cause production line shutdown; the system classifies them into the first-level task set. Tasks T002, T005, T011, and T012 are marked "Temporary Replenishment," with no strict time constraints but must be completed within the current scheduling cycle; they are classified into the second-level task set. The remaining tasks T004, T006, T008, and T010 are regular material handling tasks, tagged "Delayable," allowing execution to be postponed to subsequent scheduling cycles; they are classified into the third-level task set.

[0040] Finally, the system sums the power consumption of tasks within each of the three sets: the power consumption of the four tasks in the first level is 31.9, 28.4, 35.2, and 22.1 amp-hours, respectively, summing to a total first power demand of 117.6 amp-hours; the power consumption of the four tasks in the second level is 18.5, 21.3, 15.7, and 19.8 amp-hours, respectively, summing to a total second power demand of 75.3 amp-hours; and the power consumption of the four tasks in the third level is 12.4, 14.1, 9.8, and 11.2 amp-hours, respectively, summing to a total third power demand of 47.5 amp-hours. These three values ​​serve as inputs for subsequent power budgeting and task adjustments.

[0041] S4: Obtain the number of available charging piles in the current scheduling cycle; based on the number of charging piles required and the number of available charging piles, determine whether all AGVs to be charged can start charging simultaneously in the current scheduling cycle; if the number of charging piles required is less than or equal to the number of available charging piles, then accumulate the difference between the remaining power of all AGVs to be charged and their respective corresponding charging target power to obtain the total charging power consumption in the current scheduling cycle. If the number of AGVs requiring power replenishment is greater than the number of available charging piles, then the N AGVs with the lowest remaining power are selected from all AGVs to be charged as priority power replenishment targets, where N is equal to the number of available charging piles. The difference between the remaining power of each priority power replenishment target and the power replenishment target is calculated and accumulated to obtain the total power replenishment power consumption for the current scheduling cycle. The total dispatchable power of the AGV fleet for performing transport tasks within the current scheduling cycle is calculated based on the cumulative available power.

[0042] Optionally, considering the basic power consumption of the AGV during task execution, namely the unavoidable energy consumption during AGV movement and standby, the formula for calculating the total dispatchable power in this embodiment is as follows:

[0043] M: Total number of AGVs; : represents the current remaining power of the i-th AGV; : Total power consumption for replenishment; : This represents the base power consumption of the i-th AGV within the current scheduling cycle. It includes power consumption for non-transportation operations such as empty runs to the task start point, waiting, and turning. Base power consumption can be estimated using historical statistical data or real-time sensor readings.

[0044] In this embodiment, the base power consumption is set at 1.2 times the average empty-run power consumption of the AGV during the scheduling cycle to ensure sufficient margin. In practical applications, this can also be adjusted according to the AGV model and warehouse layout.

[0045] Optionally, the initial value of the target replenishment capacity is set to 80% of the battery's rated capacity. The selection method is as follows: lithium batteries have the highest charging and discharging efficiency and the slowest battery life degradation within the 20% to 80% capacity range; the time required to charge the AGV to 80% is moderate, allowing for the restoration of most usable power in a relatively short time. The system stores the target replenishment capacity as a global parameter for use in calculating the total replenishment power consumption and the total schedulable power.

[0046] The target charge level can be adjusted downwards in increments of 5% of the battery's rated capacity. The lower limit for downward adjustment is 50% of the battery's rated capacity, which is determined based on the minimum charge required for the AGV to perform one shortest transport task.

[0047] If the target power supply is reduced to 50%, and the total available power supply is still less than the total power demand for the first stage, the reduction will cease. The system will use the current total available power supply as the final available power supply and send a power shortage warning signal to the warehouse dispatch center. This warning signal indicates to management that the total power supply of the AGV fleet cannot meet the full demand of the first-level task within the current dispatch cycle, and that the task plan needs to be adjusted or the number of AGVs increased.

[0048] Further, in step S4, obtaining the number of available charging piles within the current scheduling period specifically includes: Obtain the total number of charging piles in the warehouse environment, count the number of charging piles currently in use, and subtract the number of charging piles currently in use from the total number to obtain the available number of charging piles; The target power level is the amount of additional power required to bring the remaining power of the AGV to the preset target power level, and the target power level is a preset percentage value of the rated capacity of the AGV battery.

[0049] S5: Compare the total available power supply with the total first power demand; If the total schedulable power is less than the first total power demand, the target power of each AGV to be charged is reduced step by step according to the preset power adjustment step size. After each reduction, the total power consumption and the total schedulable power are recalculated until the total schedulable power is greater than or equal to the first total power demand. Under the condition that the total dispatchable power is greater than or equal to the first total power demand, the total dispatchable power is obtained by subtracting the first total power demand from the total dispatchable power. Compare the total available power supply with the total second power demand. If the total schedulable power is less than the total second power demand, then a transport task is selected from the third-level task set and deleted. The power consumption of a single transport task is deducted from the total third power demand, and the power consumption of a single transport task is added to the total schedulable power. The total third power demand and the total schedulable power are recalculated until the total schedulable power is greater than or equal to the total second power demand. If the total schedulable power is greater than or equal to the total second power demand, then the total second power demand is subtracted from the total schedulable power to obtain the buffer power. Compare the buffered power with the total third power consumption demand; If the buffer power is less than the total third power consumption demand, then select a transportation task from the third-level task set and delete it. The power consumption of a single transportation task is deducted from the total third power consumption demand, and the power consumption of a single transportation task is added to the buffer power. The total third power consumption demand and the buffer power are recalculated until the buffer power is greater than or equal to the total third power consumption demand. If the buffer power is greater than or equal to the total third power consumption requirement, then a transport instruction is issued to each AGV according to all transport tasks retained in the first-level task set, the second-level task set, and the third-level task set.

[0050] Further, in step S5, the step of recalculating the total schedulable power if the total available power is less than the first total power demand, until the total available power is greater than or equal to the first total power demand, specifically includes: According to the preset power adjustment step size, the target power of each AGV to be charged is reduced one by one. After each reduction, the total power consumption for power replenishment and the total amount of schedulable power are recalculated. When the total schedulable power is greater than or equal to the first total power demand, the reduction stops; When the number of reductions reaches the preset iteration limit, the reduction stops and the current total schedulable power is taken as the final total schedulable power.

[0051] S6: Each AGV executes the corresponding handling task according to the handling instruction.

[0052] It should be noted that, for steps S4, S5, and S6, the scheduling system has calculated the first total power demand as 117.6 amp-hours, the second total power demand as 75.3 amp-hours, and the third total power demand as 61.0 amp-hours. In steps S1 and S2, the system records the status of each AGV.

[0053] Assume there are currently 5 AGVs, each with a rated battery capacity of 100 amp-hours, and remaining battery power of: AGV 185 amp-hours, AGV 225 amp-hours, AGV 370 amp-hours, AGV 415 amp-hours, and AGV 545 amp-hours respectively.

[0054] The low battery threshold is set to 20 amp-hours, therefore AGV4 is marked as an AGV awaiting charging, with a charging requirement of 1 unit. There are a total of 3 charging stations, with 1 currently in use, leaving 2 available charging stations. Since the charging requirement of 1 unit is less than the available charging stations of 2, all AGVs awaiting charging can start charging simultaneously.

[0055] The system reads the initial value of the target power level for replenishment, which is 80% of the battery's rated capacity, or 80 amp-hours. For AGV4, the current remaining power is 15 amp-hours, and the target power level for replenishment is 80 amp-hours, resulting in a difference of 65 amp-hours. This is the total power consumption for replenishment.

[0056] The total available power is the sum of the remaining power of all AGVs: 85 + 25 + 70 + 15 + 45 = 240 amp-hours. Next, we calculate the total dispatchable power. According to the formula, the basic power consumption needs to be deducted.

[0057] The basic power consumption of each AGV in the current scheduling cycle (including power consumption for non-transportation operations such as empty driving to the task start point, waiting, and turning) is 5 amp-hours based on historical statistics. Multiplying this by 1.2 gives 6 amp-hours. The total basic power consumption of the 5 AGVs is 30 amp-hours. The total dispatchable power = cumulative available power 240 - total replenishment power consumption 65 - total basic power consumption 30 = 145 amp-hours.

[0058] Execute step S5, comparing the total dispatchable power supply of 145 amp-hours with the first total power demand of 117.6 amp-hours. 145 is greater than 117.6, therefore there is no need to reduce the target power supply. Subtract the first total power demand from the total dispatchable power supply to obtain the total dispatchable power supply = 145 - 117.6 = 27.4 amp-hours.

[0059] Compare the total dispatchable power of 27.4 amp-hours with the total second power demand of 75.3 amp-hours. 27.4 is less than 75.3, indicating that the power is insufficient to simultaneously complete the first and second level tasks. In this case, tasks need to be removed from the third level task set to free up power. The third level task set contains 5 tasks with power demands of 12.4, 14.1, 9.8, 11.2, and 13.5 amp-hours respectively.

[0060] The tasks are sorted by power consumption from highest to lowest before deletion. The task with the highest power consumption (14.1 amp-hours) is deleted first. Its power consumption is then deducted from the total third-tier power demand, resulting in a new total third-tier power demand of 61.0 - 14.1 = 46.9 amp-hours. Simultaneously, this power consumption is added to the total dispatchable power supply, resulting in a new total dispatchable power supply of 27.4 + 14.1 = 41.5 amp-hours.

[0061] Re-compare 41.5 and 75.3; it's still less. Continue by deleting the next largest task, the 13.5 amp-hour task. After this second deletion, the total third-generation power demand becomes 46.9 - 13.5 = 33.4 amp-hours, and the total dispatchable power becomes 41.5 + 13.5 = 55.0 amp-hours. 55.0 is still less than 75.3. Next, delete the 12.4 amp-hour task; the total third-generation power demand becomes 33.4 - 12.4 = 21.0 amp-hours, and the total dispatchable power becomes 55.0 + 12.4 = 67.4 amp-hours. 67.4 is still less than 75.3. Next, delete the 11.2 amp-hour task; the total third-generation power demand becomes 21.0 - 11.2 = 9.8 amp-hours, and the total dispatchable power becomes 67.4 + 11.2 = 78.6 amp-hours. At this point, 78.6 is greater than 75.3, satisfying the condition. At this point, only one task remained in the third-level task set (consuming 9.8 amp-hours of power). The system stopped deleting tasks.

[0062] The total available power supply of 78.6 amp-hours is greater than the total second power demand of 75.3 amp-hours. Subtracting the total second power demand from the first, we get the buffer power supply = 78.6 - 75.3 = 3.3 amp-hours.

[0063] Comparing the buffer power of 3.3 amp-hours with the total power demand of the third level of tasks (9.8 amp-hours), the total power demand of the third level has now become the power consumption of the remaining task (9.8 amp-hours). 3.3 is less than 9.8, indicating that the buffer power is insufficient to complete the remaining third-level tasks. Therefore, tasks need to be further removed from the third-level task set. Currently, only one task remains, so the deletion process is executed. The power consumption of this task (9.8 amp-hours) is deducted from the total power demand of the third level, resulting in 0. Simultaneously, the buffer power is added, resulting in a new buffer power of 3.3 + 9.8 = 13.1 amp-hours. At this point, the buffer power of 13.1 is greater than the total power demand of the third level (0), satisfying the condition. Finally, the third-level task set is empty, meaning all third-level tasks have been deleted.

[0064] At this point, the retained tasks are: 4 tasks in the first-level task set, 4 tasks in the second-level task set, and 0 tasks in the third-level task set. The system issues transport instructions to each AGV according to these 8 retained tasks. When issuing instructions, tasks need to be assigned to specific AGVs. The system calculates the empty travel distance based on the current position of each AGV and the task's starting coordinates, and assigns tasks one by one using an allocation strategy that minimizes the total empty travel distance. For example, AGV1, currently located near area A, is assigned a first-level task; AGV2, located near area B, is assigned another first-level task. After allocation, each transport instruction includes the starting coordinates, the ending coordinates, and the travel path calculated by the path planning module.

[0065] Step S6: After receiving the handling instruction, each AGV automatically navigates to the starting point to load the goods according to the path in the instruction, and then travels to the destination to unload the goods. For deleted third-level tasks, the system marks them as "postponed to the next scheduling cycle," waiting for the next scheduling opportunity. The entire scheduling cycle ends. In this specific example, due to power shortages, all third-level tasks are sacrificed to ensure the execution of first- and second-level tasks. If power is sufficient, all third-level tasks can be retained.

[0066] It should be noted that the specific calculation method for the power consumption of a single handling operation includes: After obtaining the starting and ending coordinates of each handling task, the system calls the path planning module of the warehouse map. The path planning module uses the starting coordinates as the starting point and the ending coordinates as the ending point, employing the A* algorithm to search for the shortest travel path on the warehouse map's road network topology. The shortest travel path consists of a series of grid node coordinates arranged sequentially. The system then sums the Euclidean distances between adjacent nodes to obtain the travel path length for that handling task.

[0067] Read the power consumption per unit distance of unloaded travel and the power consumption coefficient per unit load of the AGV. The power consumption per unit distance of unloaded travel is obtained by taking the average value after multiple measurements of the power consumed by the AGV traveling a unit distance at a standard operating speed under unloaded conditions.

[0068] The power consumption coefficient per unit load is obtained by measuring the power consumed by the AGV when traveling a unit distance at a standard operating speed under different load conditions, subtracting the power consumption when unloaded, and then dividing by the load value.

[0069] The calculation method for the power consumption of a single handling operation is as follows: multiply the power consumption per unit distance for unloaded travel by the travel path length to obtain the power consumption for unloaded travel; multiply the power consumption coefficient per unit load by the weight of the goods and then by the travel path length to obtain the additional power consumption for loaded goods; add the two parts together to obtain the power consumption per handling operation for this task. The calculation formula is: Power consumption per handling trip = (Power consumption per unit distance when traveling empty × Length of travel route) + (Power consumption coefficient per unit load × Weight of goods × Length of travel route) The total power consumption of an AGV when performing a transport task consists of two parts: the power consumed by the AGV itself while traveling in the warehouse aisles, and the additional power consumed by transporting goods. Both parts are proportional to the length of the travel path, and the second part is also proportional to the weight of the goods.

[0070] Furthermore, in step S5 of this embodiment, the specific implementation method of gradually reducing the target power for power replenishment includes: When the system determines that the total dispatchable power is less than the total power demand of the first stage, it initiates a process to reduce the target power consumption for replenishment. The current target power consumption is subtracted by a power adjustment step size to obtain the new target power consumption. The power adjustment step size is preset to 5% of the battery's rated capacity. This step size ensures that the change in total power consumption after each adjustment is observable and measurable, avoiding insufficient replenishment due to excessively large adjustments or excessive cycles due to excessively small adjustments.

[0071] Re-execute step S4 with the new target power replenishment amount to calculate the total power replenishment consumption and the total dispatchable power. Each time the target power replenishment amount is reduced, the total power replenishment consumption decreases, and the total dispatchable power increases accordingly. Compare the updated total dispatchable power again with the first total power demand.

[0072] If the updated total available power is still less than the first total power demand, the system repeats the above reduction operation, each time reducing the target power by one step, i.e., another 5%, until the condition that the total available power is greater than or equal to the first total power demand is met.

[0073] The lower limit for the target power replenishment is set at 50% of the battery's rated capacity. If the total available power is still less than the initial power demand after the target power replenishment is reduced to 50%, the system will stop further reducing the target power, use the current total available power as the final total available power, and send a power shortage warning signal to the warehouse dispatch center.

[0074] Furthermore, the lower limit is set as follows: when the remaining battery power of the AGV is less than 50%, the remaining battery power will be lower than the low battery threshold (20%) after performing a medium-distance transport task, which will cause the AGV to have to be charged immediately after the task is completed, affecting the task arrangement of subsequent scheduling cycles.

[0075] In some specific embodiments, the specific rules for deleting the transport task from the third-level task set in step S5 include: When the system determines that the total available power is less than the total second power demand, or the buffered power is less than the total third power demand, the third-level task deletion process is initiated. All currently retained transport tasks in the third-level task set and their corresponding single-transport power consumption are retrieved, and all transport tasks in the third-level task set are sorted from largest to smallest single-transport power consumption.

[0076] From the sorted set of third-level tasks, select the top-ranked transport task (i.e., the task with the highest single-transport power consumption in the current set of third-level tasks) and delete it. Deduct the power consumption of this task from the total third-level power demand, and add it to the total schedulable power in the second round of comparison, or to the buffer power in the third round of comparison. The system recalculates the updated total third-level power demand and the updated total schedulable power, or the updated buffer power, and performs the corresponding comparison judgment again.

[0077] If the updated total schedulable power is still less than the second total power demand, or the updated buffer power is still less than the third total power demand, the system repeats the above deletion operation, each time deleting the transport task with the highest single transport power consumption from the remaining tasks in the current third-level task set, until the corresponding termination condition is met.

[0078] The rationale for prioritizing the deletion of the most power-consuming tasks is that when it is necessary to reduce power consumption or release power, deleting one power-consuming task releases far more power than deleting multiple power-consuming tasks to release the same amount of power, requiring fewer tasks to be deleted.

[0079] With the goal of releasing 15 units of power, if the power consumption of each task in the third-level task set is [1,2,3,4,5,6,7,8,9,10], deleting tasks from largest to smallest only requires deleting tasks 10 and 9 (releasing 19 units of power), while deleting tasks from smallest to largest requires deleting tasks 1,2,3,4, and5 (releasing 15 units of power). Prioritizing the deletion of tasks with higher power consumption allows more tasks to be executed in the current scheduling cycle while meeting power constraints, reducing the number of tasks postponed to subsequent scheduling cycles.

[0080] If all transport tasks in the third-level task set are deleted, and the total available power is still less than the total power demand of the second level, or the buffer power is still less than the total power demand of the third level, the system will send a power shortage warning signal to the warehouse dispatch center, indicating that even if all third-level tasks are canceled within the current dispatch cycle, the total power demand of the first and second level tasks still cannot be met.

[0081] Optionally, the specific rules for deleting transport tasks from the third-level task set can also be sorted by task weight from smallest to largest for deletion.

[0082] Each task is assigned a weight value; a lower weight indicates a less important task. Third-level tasks are then sorted by weight from lowest to highest, with the task with the lowest weight being deleted first. This strategy is suitable for scenarios where task importance varies significantly, ensuring that important tasks are retained first.

[0083] You can also sort and delete tasks by creation time from latest to earliest. Sort third-level tasks by creation time from latest to earliest, prioritizing the deletion of the most recently created tasks. This strategy is suitable for scenarios where timeliness is not critical, but you want to retain as many historical backlog tasks as possible.

[0084] In some specific embodiments, the scheduling cycle is a pre-set fixed time period, optionally 30 minutes, 40 minutes, or 60 minutes. The selection method is as follows: the arrival rate of handling tasks in the warehousing environment is relatively stable within a 30-minute time window, the average handling task execution time of AGV is about 5 to 15 minutes, and the 30-minute scheduling cycle can cover the complete execution process of 2 to 6 handling tasks, ensuring the timeliness of scheduling.

[0085] The low battery threshold is set at 20% of the battery's rated capacity. This is because continuing to discharge a lithium battery after its remaining charge has fallen below 20% will shorten its lifespan. Additionally, the AGV consumes approximately 5% to 10% of the battery's rated capacity to travel from any location within the warehouse to the nearest charging station. Using 20% ​​as the threshold ensures that the AGV still has sufficient power to reach the charging station after the charging signal is triggered.

[0086] The initial value of the target charge for recharging is 80% of the battery's rated capacity. The method for determining this value is as follows: lithium batteries have the highest charging and discharging efficiency within the charge range of 20% to 80%; the time required to charge the AGV to 80% is approximately 60% of the time required to charge the battery from 20% to 100%, which can restore most of the usable power in a relatively short time.

[0087] The lower limit for the target power of the recharge is set at 50% of the battery's rated capacity. The method of setting this value is as follows: the power consumption of the AGV to perform one shortest transport task accounts for about 5% to 10% of the battery's rated capacity. Setting 50% as the lower limit can ensure that the AGV can perform at least 4 to 10 shortest transport tasks after recharging, maintaining basic transport operation capabilities.

[0088] The power adjustment step size is set at 5% of the battery's rated capacity. This value is based on the fact that a 5% adjustment step size ensures that the change in total power consumption after each adjustment is approximately the power consumption of a single AGV performing a medium-distance transport task, and this change is within an observable and measurable range.

[0089] In some specific embodiments, step S5, which involves issuing handling instructions to each AGV according to all handling tasks retained in the first-level task set, the second-level task set, and the third-level task set, specifically includes: Based on the current location of each AGV and the coordinates of the starting point of each transport task, calculate the empty travel distance of each AGV to the starting point of each transport task; based on the empty travel distance and all the transport tasks to be retained, adopt an allocation strategy that minimizes the total empty travel distance to allocate the retained transport tasks to each AGV; issue a transport instruction to each AGV containing the coordinates of the starting point, the coordinates of the ending point, and the travel path of the target transport task.

[0090] The allocation strategy for minimizing total empty driving distance specifically includes: S51: Obtain the current location of each AGV and the coordinates of the starting point of each handling task. The current location of each AGV is provided by the warehouse positioning system, and the location is the actual coordinates of the AGV when it stops and waits at the beginning of the current scheduling cycle or after completing the task of the previous cycle.

[0091] The starting point coordinates of each handling task are read from the task database, and each task record already contains the starting point coordinates field. The current position of each AGV is used as the row index of the matrix, and the starting point coordinates of each handling task are used as the column index of the matrix.

[0092] For each element in the matrix, the Manhattan distance between the AGV position in the row containing the element and the starting point of the transport task in the column containing the element is calculated. The distance is defined as the path length required for the AGV to travel from its current position to the task starting point in the warehouse channel network.

[0093] The calculated distance values ​​are then filled into the corresponding row and column intersection positions in the matrix. The number of rows in the matrix represents the number of currently available AGVs, and the number of columns represents the number of transport tasks to be assigned.

[0094] S52. Scan all currently undeleted numerical elements in the matrix and find the element with the smallest value. The row corresponding to the smallest element represents a specific AGV, and the column corresponding to the smallest element represents a specific transport task. Assign the AGV and the transport task to each other.

[0095] Remove the transport task from the list of tasks to be assigned and mark it as the task for this AGV.

[0096] After the assignment is performed, all distance values ​​in the row containing the AGV are deleted from the empty travel distance matrix, and all distance values ​​in the column containing the transport task are also deleted. After the row is deleted, the AGV will no longer participate in subsequent assignments, and after the column is deleted, the task will no longer be selected by subsequent AGVs.

[0097] Here, the next step is to select the global minimum distance and perform the allocation, which is the optimal choice among the remaining candidate combinations. This process is repeated, with each round of allocation taking the minimum value among the remaining combinations, ultimately minimizing the total empty driving distance of all tasks among all possible allocation schemes.

[0098] Optionally, a greedy strategy is employed to successively select the allocation with the minimum global distance, ensuring optimality for each allocation step. Simultaneous row and column deletion effectively isolates allocated and unallocated resources, preventing allocated AGVs from being selected again and assigned tasks from being duplicated, thus avoiding task conflicts and AGV over-allocation. The data range required for each decision step continuously decreases, and the computational load decreases with each allocation round, enabling rapid output of allocation results in large-scale AGV scheduling scenarios.

[0099] S53. Each time step S52 is executed, a transport task is assigned to an AGV, and the number of rows and columns of the empty driving distance matrix decreases by one.

[0100] When the number of columns in the empty driving distance matrix decreases to zero, it means that all reserved transport tasks have been assigned to each AGV.

[0101] Stop repetitive execution. The system iterates through the records of each AGV and reads the starting and ending coordinates of the handling task assigned to that AGV.

[0102] The system invokes the path planning module to generate a specific driving path from the starting point to the ending point on the warehouse map, using the coordinates of the starting and ending points as the origin and destination. The system then encapsulates this driving path, along with the coordinates of the starting and ending points, into a handling instruction message and sends it to the corresponding AGV.

[0103] In this way, the number of rows in the matrix represents the number of available AGVs, and the number of columns represents the number of tasks to be assigned. Each round of allocation reduces both a row and a column, ensuring that the number of tasks assigned is always equal to the smaller of the two values. When the number of columns reaches zero, all tasks have been assigned, and the allocation process terminates.

[0104] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0105] The following are embodiments of a warehouse AGV scheduling system based on task allocation and charging planning provided in this disclosure. This system and the warehouse AGV scheduling methods based on task allocation and charging planning in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the warehouse AGV scheduling system based on task allocation and charging planning, please refer to the embodiments of the warehouse AGV scheduling methods based on task allocation and charging planning described above.

[0106] like Figure 2 As shown, the system includes: Data acquisition module 101 is used to read the remaining power and current location of each AGV in the warehouse environment at the start of the scheduling cycle; The status recognition and statistics module 102 is used to mark the AGVs to be charged according to the remaining power and count the number as the number of units required for power replenishment, and count the sum of the remaining power of all AGVs as the cumulative available power. The task analysis and calculation module 103 is used to obtain all handling tasks and read the starting coordinates, ending coordinates and weight of goods for each task, calculate the travel path length and power consumption of each handling task, divide all tasks into three-level task sets according to priority rules, and calculate the total power consumption of each level of task set. The charging and power budget module 104 is used to obtain the number of available charging piles and calculate the total power consumption for power replenishment based on the number of charging piles required for power replenishment. The total power consumption for power replenishment is deducted from the cumulative available power to obtain the total dispatchable power. The hierarchical allocation and adjustment module 105 is used to deduct the total power consumption of the three-level task set from the total schedulable power amount. If the power of a certain level is insufficient, the power replenishment target of the AGV to be charged is reduced or the task in the third-level task set is deleted to release the power until the power demand of each level of task is met and the transportation instruction is issued. The transport execution module 106 is used to receive transport instructions issued by the hierarchical allocation and adjustment module, and control each AGV to execute the corresponding transport task according to the transport instructions.

[0107] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A warehouse AGV scheduling method based on task allocation and charging planning, characterized in that the method... include: S1: Read the remaining power and current position of each AGV in the warehouse environment at the start of the scheduling cycle; S2: Mark the AGVs to be charged according to the remaining power and count the number as the number of units required for power replenishment. Calculate the sum of the remaining power of all AGVs as the cumulative available power. S3: Obtain all handling tasks and read the starting coordinates, ending coordinates and cargo weight of each task. Calculate the travel path length and power consumption per handling for each task. Divide all tasks into three-level task sets according to priority rules and calculate the total power consumption of each level of task set. S4: Obtain the number of available charging piles and calculate the total power consumption for power replenishment based on the number of charging piles required for power replenishment. Subtract the total power consumption for power replenishment from the cumulative available power to obtain the total dispatchable power. S5: Subtract the total power consumption of the three-level task set from the total available power supply level by level. If the power supply of a certain level is insufficient, reduce the power supply target of the AGV to be charged or delete the task in the third-level task set to release power until the power demand of each level of task is met, and then issue the transport instruction. S6: Each AGV executes the transport task according to the transport instructions.

2. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, Step S5 specifically includes: Based on the current location of each AGV and the coordinates of the starting point of each transport task, calculate the empty travel distance of each AGV to the starting point of each transport task; based on the empty travel distance and all the transport tasks to be retained, adopt an allocation strategy that minimizes the total empty travel distance to allocate the retained transport tasks to each AGV; issue a transport instruction to each AGV containing the coordinates of the starting point, the coordinates of the ending point, and the travel path of the target transport task.

3. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 2, characterized in that, The allocation strategy that minimizes the total empty driving distance specifically includes: Based on all the transport tasks retained in the first, second, and third level task sets of the three-level task set, transport instructions are issued to each AGV, specifically including: S51: Obtain the current location of each AGV and the coordinates of the starting point of each handling task, calculate the empty driving distance of each AGV from its current location to the coordinates of the starting point of each handling task, and construct an empty driving distance matrix. S52: Select the current global minimum empty driving distance value from the empty driving distance matrix, form an allocation pair between the AGV corresponding to the minimum empty driving distance value and the transport task, allocate the transport task in the allocation pair to the AGV in the allocation pair, and delete all distance values ​​in the row where the AGV is located and all distance values ​​in the column where the transport task is located from the empty driving distance matrix. S53: Repeat step S52, each time selecting the current global minimum empty driving distance value from the updated empty driving distance matrix and forming an allocation pair until all reserved handling tasks are allocated to each AGV; according to the starting point coordinates, ending point coordinates, and driving path of the handling task assigned to each AGV, issue handling instructions to each AGV respectively.

4. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, Step S2 specifically includes: The current location, remaining power value, and estimated travel distance to the nearest charging station of each AGV to be charged are associated and stored to form an AGV information list to be charged; the total number of all AGVs to be charged is counted and recorded as the number of units required for recharging. The number of records in the list of AGVs to be charged is counted, and the count result is used as the number of AGVs required for recharging.

5. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, In step S3, calculating the travel path length for each task specifically includes: Using the starting point coordinates of the cargo location as the starting point and the ending point coordinates as the ending point, a shortest path algorithm is used to calculate the travel path from the starting point to the ending point on the road network topology map of the warehouse map, and the path length of the travel path is used as the travel path length of the handling task; the step of calculating the single handling power consumption required for each handling task based on the travel path length and the weight of the goods specifically includes: The power consumption per transport task is obtained by multiplying the travel path length, the weight of the goods, and the preset power consumption coefficient per unit distance and weight.

6. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, In step S3, all tasks are divided into three levels of task sets according to priority rules, and the total power consumption of each level of task set is calculated. Specifically, this includes: Transport tasks with time constraints that will cause production line downtime are classified into the first-level task set; temporary transport tasks without time constraints but which need to be completed within the current scheduling cycle are classified into the second-level task set; and regular transport tasks that can tolerate execution delays and can be postponed to subsequent scheduling cycles are classified into the third-level task set.

7. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, In step S4, obtaining the number of available charging stations specifically includes: Obtain the total number of charging piles in the warehouse environment, count the number of charging piles currently in use, and subtract the number of charging piles currently in use from the total number to obtain the available number of charging piles; The target power for replenishment is the amount of power required to bring the remaining power of the AGV to a preset target power level. The target power for replenishment is a preset percentage of the rated capacity of the AGV battery.

8. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, Step S5 specifically includes: According to the preset power adjustment step size, the target power of each AGV to be charged is reduced one by one. After each reduction, the total power consumption for power replenishment and the total amount of schedulable power are recalculated. When the total schedulable power supply is greater than or equal to the first total power demand, the reduction stops. When the number of reductions reaches the preset iteration limit, the reduction stops and the current total schedulable power is taken as the final total schedulable power.

9. The warehouse AGV scheduling method based on task allocation and charging planning according to claim 1, characterized in that, In step S5, deleting tasks in the third-level task set to release power specifically includes: sorting each transport task in the third-level task set according to the power consumption per transport in descending order, and deleting the transport task with the highest power consumption per transport in the sorting order. Alternatively, sort and delete tasks by creation time from latest to earliest. Sort third-level tasks by creation time from latest to earliest, and delete the most recently created tasks first.

10. A warehouse AGV scheduling system based on task allocation and charging planning, characterized in that, The system is used to implement the warehouse AGV scheduling method based on task allocation and charging planning as described in any one of claims 1 to 9; The system includes: The data acquisition module is used to read the remaining power and current location of each AGV in the warehouse environment at the start of the scheduling cycle; The status recognition and statistics module is used to mark the AGVs to be charged according to the remaining power and count the number as the number of units required for power replenishment, and to count the sum of the remaining power of all AGVs as the cumulative available power. The task analysis and calculation module is used to obtain all handling tasks and read the starting coordinates, ending coordinates and weight of goods for each task. It calculates the travel path length and power consumption per handling for each task, divides all tasks into three levels of task sets according to priority rules, and calculates the total power consumption of each level of task set. The charging and power budget module is used to obtain the number of available charging piles and calculate the total power consumption for power replenishment based on the number of charging piles required for power replenishment. The total power consumption for power replenishment is deducted from the cumulative available power to obtain the total dispatchable power. The hierarchical allocation and adjustment module is used to deduct the total power consumption of the three-level task set from the total available power. If the power of a certain level is insufficient, the power replenishment target of the AGV to be charged is reduced or the task in the third-level task set is deleted to release power until the power demand of each level of task is met and the transportation instruction is issued. The transport execution module is used to receive transport instructions issued by the hierarchical allocation and adjustment module, and control each AGV to execute the corresponding transport task according to the transport instructions.

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