物流分拣中心作为快递转运的重要枢纽，其分拣效率在一定程度上影响着快递的配送时间。为了提高自动引导小车 (Automatic Guided Vehicle，AGV)在物流分拣中心的调度效率，根据采用纯电力驱动的AGV在运输过程中存在电量消耗和充电需求的特性，考虑了AGV执行充电任务和包裹出库的发车时间对实际作业的影响。以最小化分拣作业周期为目标，在考虑AGV剩余电量和包裹时间窗等约束条件的基础上，建立了混合整数规划(MIP)模型。然后提出了相应的约束规划(CP)模型，模型中使用区间变量表示任务的执行情况，借助累积函数记录电量的变化情况。通过不同规模的算例分析验证了约束规划模型的求解效率，同时考虑了充电速率对目标函数的影响，并将问题的约束进行了拓展分析以便求解相关问题。
Logistics sorting center is the important hub for express delivery, and its sorting efficiency is closely related to the delivery time of express delivery to a certain extent. In order to improve the scheduling efficiency of Automatic Guided Vehicle (AGV) in the logistics sorting centers, the characteristics of pure electric driven AGV should be considered, including the electricity consumption and charging demand in the process of transportation. Therefore the effect of AGV's charging task and the departure time of the package out of warehouse on the actual operation should be analyzed. In order to minimize the sorting cycle time, a mixed integer programming (MIP) model was established with the consideration of AGV remaining power and package time window. Then, a constraint programming (CP) model is proposed, in which interval variables are used to represent the performance of tasks and cumulative functions are used to record the changes of electric quantity. The solution efficiency of the constraint programming model is verified by different instances, and the effect of charging rate on the objective function is considered. The constraints of the problem are extended to solve the related problems.