Active Power Distribution Scheduling System for Patrol Vehicles Based on Edge Computing

Abstract

The present invention discloses an active power distribution scheduling system for inspection vehicles based on edge computing, belonging to the technical field of power distribution scheduling. The present invention includes an inspection vehicle information acquisition module, a power distribution analysis module, a power distribution module, an inspection trajectory planning module, and an inspection vehicle scheduling module; the inspection vehicle information acquisition module is used to collect relevant information of the inspection vehicle, predict the active power distribution situation and active inspection situation of the inspection vehicle according to the collected content, and transmit the prediction results to the power distribution analysis module; the power distribution analysis module is used to receive the prediction results transmitted by the inspection vehicle information acquisition module, analyze whether the nearby inspection vehicles can perform power distribution for the inspection vehicle to be powered according to the prediction results, and transmit the analysis results to the power distribution module; the power distribution module is used to receive the analysis results transmitted by the power distribution analysis module and implement the power distribution situation of each inspection vehicle according to the analysis results.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution dispatching, and specifically to an active distribution dispatching system for inspection vehicles based on edge computing. Background Art

[0002] An electric vehicle refers to a vehicle powered by an on-vehicle power source and driven by an electric motor to drive the wheels, meeting the requirements of road traffic and safety regulations. Due to its low energy consumption, it is often used for inspection operations in public places. However, during the inspection operation, there may be a situation where the inspection operation is interrupted due to the negligence of the staff.

[0003] Existing active distribution dispatching systems for inspection vehicles usually arrange for staff to tow the vehicle with interrupted operation to the charging area according to the position where the inspection vehicle's operation is interrupted. After it is fully charged, the inspection operation is carried out again, which reduces the inspection efficiency of the inspection vehicle and increases the incidence of accidents in public places. In addition, when the existing active distribution dispatching system distributes power to the inspection vehicle, it cannot achieve power distribution between vehicles. External force is required to distribute power to the inspection vehicle, increasing power resource waste. Moreover, when distributing power between vehicles, it is impossible to accurately predict the power distribution amount, resulting in the inspection vehicle providing power being unable to complete the inspection task, which is not conducive to the smooth progress of the inspection work. Summary of the Invention

[0004] The purpose of the present invention is to provide an active distribution dispatching system for inspection vehicles based on edge computing to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: including an inspection vehicle information collection module, a power distribution analysis module, a power distribution module, an inspection trajectory planning module, and an inspection vehicle scheduling module;

[0006] The inspection vehicle information collection module is used to collect the number information, remaining power information, status information, and geographical location information of the inspection vehicle, predict the active power distribution situation and active inspection situation of the inspection vehicle according to the collected content, and transmit the prediction results to the power distribution analysis module;

[0007] The power distribution analysis module is used to receive the prediction results transmitted by the inspection vehicle information collection module, analyze whether the nearby inspection vehicles can distribute power to the inspection vehicle to be powered according to the prediction results, and transmit the analysis results to the power distribution module;

[0008] The power distribution module is used to receive the analysis results transmitted by the power distribution analysis module, realize the power distribution situation of each inspection vehicle according to the analysis results, and transmit the power distribution position information to the inspection trajectory planning module;

[0009] The inspection path planning module is used to receive the power distribution location information transmitted by the power distribution module, re-plan the operation paths of nearby inspection vehicles according to the power distribution location information, and transmit the path planning information to the inspection vehicle scheduling module;

[0010] The inspection vehicle scheduling module is used to receive the path planning information transmitted by the inspection path planning module and schedule the corresponding inspection vehicles according to the received content.

[0011] Furthermore, the inspection vehicle information acquisition module includes an inspection vehicle statistics and matching unit, an inspection vehicle remaining power acquisition unit, an inspection vehicle status information acquisition unit, and an inspection vehicle geographical location acquisition unit;

[0012] Let the set , where n = 1, 2, 3…, represents the serial number information of the inspection vehicle, represents the remaining power of the inspection vehicle, represents the status information of the inspection vehicle, represents the geographical location information of the inspection vehicle, represents the target geographical location of the inspection vehicle, represents the information set collected by the inspection vehicle;

[0013] Use the inspection vehicle statistics and matching unit to statistically number the vehicles participating in the inspection, and place the serial numbers of each inspection vehicle into the corresponding positions of the set ;

[0014] Use the inspection vehicle remaining power acquisition unit to collect the remaining power on the inspection vehicle and transmit the collected content to the corresponding positions of the set , and mark the sets with remaining power not meeting the minimum value;

[0015] Use the inspection vehicle status information acquisition unit to collect the status information of the inspection vehicle and transmit the collected content to the corresponding positions of the set ;

[0016] Use the inspection vehicle geographical location acquisition unit to collect the geographical location information of the inspection vehicle and transmit the collected content to the corresponding positions of the set , screen the inspection vehicles in the marginal positions, analyze the screened inspection vehicles, and analyze the active power distribution and operation conditions of the inspection vehicles according to the analysis results and the above marking situations.

[0017] Furthermore, the specific method for the inspection vehicle information acquisition module to analyze the active power distribution and operation conditions of the inspection vehicle is:

[0018] Step1: Match the set after marker processing with the filtered set one by one, and put the successfully matched set into set M = {Z1, …, Z k}, and put the filtered set into set N = {Z1, …, Z m}, where, ;

[0019] Step2: Based on set Extract the inspection vehicle number , geographical location , remaining power and target geographical location , and predict whether the inspection vehicle can complete active power distribution according to the extracted data. Based on set Extract the inspection vehicle number , geographical location , remaining power and target geographical location , and predict whether the inspection vehicle can actively complete the inspection according to the extraction result;

[0020] Step3: According to the prediction result in Step2, analyze the operation conditions of the vehicles near the inspection vehicles that need active power distribution through the power distribution analysis module, and transmit the analysis result to the power distribution module.

[0021] Furthermore, the specific steps of predicting whether the inspection vehicle can complete active power distribution according to the extracted data in Step2 are:

[0022] Step2 (Ⅰ). Construct a coordinate system according to the inspection trajectory of the inspection vehicle, then the geographical location , the nearest active power distribution position on the inspection trajectory ;

[0023] Step2 (Ⅱ). Based on Step2 (Ⅰ), calculate the distance between , two points. The specific calculation formula is:

[0024] ;

[0025] ;

[0026] Then , the curve distance between two points is:

[0027] ;

[0028] where, i = 1, 2, 3, 4…, Indicates the th turning point passed through in the trajectory from the geographical location to the nearest active power distribution location, represents the th turning point and the th turning point, the curve distance between them, represents the curve distance between the geographical location and the first turning point, represents the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point, represents the th turning point and the th turning point, the proportionality coefficient between the true value and the calculated value of the distance between them, The value has a greater correlation with the angle between two points, represents the horizontal distance between the second turning point and the first turning point, represents the included angle between the second turning point, the first turning point and the axis. Calculate the curve distance between two points through the angle to ensure that the calculated distance conforms to the actual situation;

[0029] Step2 (Ⅲ). Based on Step2 (Ⅱ), construct the active power distribution prediction model for the inspection vehicle , the specific prediction model is:

[0030] ;

[0031] Among them, represents the , curve distance between two points, represents the remaining power of the inspection vehicle, represents the minimum remaining power of the inspection vehicle before stopping operation, represents the battery power consumption rate of the inspection vehicle, represents the inspection speed of the inspection vehicle, represents the maximum time that the inspection vehicle can travel with the existing power, represents the maximum distance that the inspection vehicle can travel, represents the distance between the inspection vehicle and the target geographical location. When , it means that the inspection vehicle can complete active power distribution. When , it means that the inspection vehicle cannot complete active power distribution.

[0032] Furthermore, the specific steps for predicting whether the inspection vehicle can actively complete the inspection according to the extracted data in Step2 are:

[0033] Step2 (1). Based on the coordinate system constructed in Step2 (Ⅰ), for and the curve distance between the two points is calculated as follows:

[0034] ;

[0035] where j = 1, 2, 3, 4…, represents the curve distance between the th turning point and the th turning point in the trajectory from the geographical location to the target geographical location, represents the curve distance between the geographical location and the first turning point, represents the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point, represents the th turning point and the th turning point, the proportionality coefficient between the true value and the calculated value of the distance therebetween, represents and the curve distance between the two points;

[0036] Step2 (2): Construct an inspection vehicle active inspection prediction model , and the specific prediction model is:

[0037] ;

[0038] where represents and the curve distance between the two points, represents and the curve distance between the two points, d n represents and the curve distance between the two points. When , and , it means that the inspection vehicle can complete the inspection after active power distribution. When , and , it means that the inspection vehicle needs passive power distribution and cannot complete the inspection actively. When , and , it means that the inspection vehicle can still complete the inspection actively without power distribution at the active power distribution position. When , and , it means that the inspection vehicle needs passive power distribution and cannot complete the inspection actively. Passive power distribution means relying on other inspection vehicles for power distribution;

[0039] Step 2(3): Put the vehicle information that needs to be passively powered and cannot actively complete the inspection into the set P = {Z1, …, Z h}, where and transmit the set to the power distribution analysis module.

[0040] Furthermore, the power distribution analysis module includes a nearby inspection vehicle collection unit, a nearby inspection vehicle power collection unit, and a power distribution analysis unit;

[0041] The nearby inspection vehicle collection unit receives the set and collects the numbers of other inspection vehicles that appear near the inspection track of the inspection vehicle according to the inspection vehicles recorded in the set , and transmits the inspection vehicle number information to the nearby inspection vehicle power collection unit;

[0042] The nearby inspection vehicle power collection unit receives the inspection vehicle number information transmitted by the nearby inspection vehicle collection unit, collects the power of the corresponding inspection vehicle according to the number, and transmits the power information of the inspection vehicle to the power distribution analysis unit;

[0043] The power distribution analysis unit receives the power information of the inspection vehicle transmitted by the nearby inspection vehicle power collection unit, and analyzes whether the inspection vehicle can power the vehicle to be powered according to the power information and inspection track information of the inspection vehicle.

[0044] Furthermore, the specific analysis method for whether the power distribution analysis unit can power the vehicle to be powered by the nearby inspection vehicle is as follows:

[0045] ① Calculate the curve distance between the location of the nearby inspection vehicle and its target geographical location, and the calculation method is the same as the calculation method of;

[0046] ② Based on the calculation result of ①, predict the remaining power of the nearby inspection vehicle when it reaches the target geographical location. The specific prediction formula is:

[0047] ;

[0048] where represents the remaining power of the nearby inspection vehicle during the second information collection, represents the power required for the nearby inspection vehicle to reach its target geographical location during the second information collection, Indicates the remaining available power when the nearby inspection vehicle reaches its target geographical location during the second information collection. When it indicates that there is remaining available power when the nearby inspection vehicle reaches its target geographical location. When it indicates that the nearby inspection vehicle cannot reach its target geographical location and the inspection vehicle needs power distribution. When it indicates that the nearby inspection vehicle needs to actively distribute power when it reaches its target geographical location;

[0049] ③ Based on the calculation results in ②, calculate the shortest distance between the nearby inspection vehicle and the inspection vehicle to be powered. According to the calculation results and the remaining available power of the nearby inspection vehicle, predict the maximum power distribution to the inspection vehicle to be powered after removing the power consumption when the nearby inspection vehicle reaches the inspection vehicle to be powered. The specific prediction formula is:

[0050] ;

[0051] Among them, represents the driving distance required for the nearby inspection vehicle to return along the original route when it reaches the location of the inspection vehicle to be powered and there is no optimal trajectory to reach its target geographical location.

[0052] Furthermore, the power distribution module receives the power distribution analysis results transmitted by the power distribution analysis module, completes the active power distribution and passive power distribution of each inspection vehicle according to the analysis results, and transmits the position information of the nearby inspection vehicle after power distribution to the inspection vehicle to the inspection trajectory planning module.

[0053] Furthermore, the inspection trajectory planning module receives the position information of the nearby inspection vehicle after power distribution to the inspection vehicle transmitted by the power distribution module, re-plans the running trajectory of the nearby inspection vehicle according to the power distribution position information, and transmits the trajectory planning information to the inspection vehicle scheduling module.

[0054] Furthermore, the inspection vehicle scheduling module receives the trajectory planning information transmitted by the inspection trajectory planning module and transmits the received content to the inspection vehicle with the corresponding number. The inspection vehicle drives to the power distribution position for power distribution according to the received information.

[0055] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0056] 1. The present invention constructs a coordinate system based on the inspection trajectory of the inspection vehicle, calculates the curve distance between the inspection vehicle at the edge position or with insufficient power and the nearest active power distribution point or the target geographical location based on the coordinate system, predicts whether the inspection vehicle can achieve active power distribution or actively complete the inspection task. When it is predicted that the inspection vehicle cannot achieve active power distribution or actively complete the inspection task, an inspection vehicle that can provide power distribution requirements is searched for near its inspection trajectory, eliminating the need to arrange staff to tow the vehicle with interrupted operation to the charging area when the inspection vehicle interrupts the inspection operation due to insufficient power, further improving the inspection efficiency of the inspection vehicle and reducing the incidence of accidents in public places.

[0057] 2. The present invention predicts the remaining available power of the inspection vehicles near the inspection vehicle to be powered, and determines whether it can power the inspection vehicle to be powered under the condition of changing the operation trajectory, without the intervention of other external forces, further reducing the waste of power resources and realizing the full utilization of electric energy.

[0058] 3. The present invention calculates the distance between the inspection vehicle nearby during the second information collection and the inspection vehicle to be powered, and the distance between the inspection vehicle nearby during the second information collection and its target geographical location, and accurately predicts the maximum power distribution amount of the inspection vehicle nearby according to the calculation results, ensuring that the inspection vehicle nearby can ensure that the inspection vehicle to be powered can complete the inspection operation or actively distribute power to the greatest extent on the premise of completing its own inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0060] Figure 1 is a schematic structural diagram of the working principle of the active power distribution scheduling system for inspection vehicles based on edge computing of the present invention;

[0061] Figure 2 is a schematic diagram of the working process of the inspection vehicle information collection module of the active power distribution scheduling system for inspection vehicles based on edge computing of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] Please refer to Figure 1-2, the present invention provides a technical solution, including an inspection vehicle information collection module S1, a power distribution analysis module S2, a power distribution module S3, an inspection trajectory planning module S4, and an inspection vehicle scheduling module S5;

[0064] The inspection vehicle information collection module S1 is used to collect the number information, remaining power information, status information, and geographical location information of the inspection vehicle, predict the active power distribution situation and active inspection situation of the inspection vehicle according to the collected content, and transmit the prediction results to the power distribution analysis module S2; the inspection vehicle information collection module S1 includes an inspection vehicle statistics matching unit S11, an inspection vehicle remaining power collection unit S12, an inspection vehicle status information collection unit S13, and an inspection vehicle geographical location collection unit S14;

[0065] Let the set , where n = 1, 2, 3…, represents the number information of the inspection vehicle, represents the remaining power of the inspection vehicle, represents the status information of the inspection vehicle, represents the geographical location information of the inspection vehicle, represents the target geographical location of the inspection vehicle, represents the information set collected by the inspection vehicle;

[0066] Use the inspection vehicle statistics matching unit S11 to statistically number the vehicles participating in the inspection, and put the numbers of each inspection vehicle into the set at the corresponding positions;

[0067] Use the inspection vehicle remaining power collection unit S12 to collect the remaining power on the inspection vehicle, and transmit the collected content to the set at the corresponding positions, and mark the sets with remaining power not meeting the minimum value;

[0068] Use the inspection vehicle status information collection unit S13 to collect the status information of the inspection vehicle, and transmit the collected content to the set at the corresponding positions;

[0069] Use the inspection vehicle geographical location collection unit S14 to collect the geographical location information of the inspection vehicle, and transmit the collected content to the set at the corresponding positions, screen the inspection vehicles in the marginal positions, analyze the screened inspection vehicles, and analyze the active power distribution and operation conditions of the inspection vehicles according to the analysis results and the above marking situations;

[0070] The specific method for the inspection vehicle information collection module S1 to analyze the active power distribution and operation conditions of the inspection vehicle is:

[0071] Step1: Match the set after marker processing with the filtered set one by one, and put the successfully matched set into set M = {Z1, …, Z k}, and put the filtered set into set N = {Z1, …, Z m}, where, ;

[0072] Step2: Based on set Extract the inspection vehicle number , geographical location , remaining power and target geographical location . Predict whether the inspection vehicle can complete active power distribution according to the extracted data. Based on set Extract the inspection vehicle number , geographical location , remaining power and target geographical location . Predict whether the inspection vehicle can actively complete the inspection according to the extraction result;

[0073] The specific steps to predict whether the inspection vehicle can complete active power distribution according to the extracted data in Step2 are:

[0074] Step2 (Ⅰ). Construct a coordinate system according to the inspection trajectory of the inspection vehicle, then the geographical location , the nearest active power distribution position on the inspection trajectory ;

[0075] Step2 (Ⅱ). Based on Step2 (Ⅰ), calculate the distance between , two points. The specific calculation formula is:

[0076] ;

[0077] ;

[0078] Then , the curve distance between two points is:

[0079] ;

[0080] Among them, i = 1, 2, 3, 4…, represents the th turning point passed in the trajectory from the geographical location to the nearest active power distribution position, represents the th turning point and the The curved distance between turning points Indicates the curved distance between the geographical location and the first turning point Indicates the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point Indicates the th turning point and the th turning point, the proportionality coefficient between the true value and the calculated value of the distance therebetween The value has a greater correlation with the angle between two points Indicates the horizontal distance between the second turning point and the first turning point Indicates the included angle between the second turning point and the first turning point and the axis. The curved distance between two points is calculated through the angle to ensure that the calculated distance conforms to the actual situation

[0081] Step2Ⅲ. Construct an active power distribution prediction model for the inspection vehicle based on Step2Ⅱ , and the specific prediction model is as follows

[0082] ;

[0083] Wherein Indicates , The curved distance between two points Indicates the remaining power of the inspection vehicle Indicates the minimum remaining power of the inspection vehicle before stopping operation Indicates the battery power consumption rate of the inspection vehicle Indicates the inspection speed of the inspection vehicle Indicates the maximum time that the inspection vehicle can travel with the existing power Indicates the maximum distance that the inspection vehicle can travel Indicates the distance between the inspection vehicle and the target geographical location. When , it indicates that the inspection vehicle can complete active power distribution. When , it indicates that the inspection vehicle cannot complete active power distribution

[0084] The specific steps for predicting whether the inspection vehicle can actively complete the inspection according to the extracted data in Step2 are as follows

[0085] Step2 (1). Based on the coordinate system constructed in Step2 (Ⅰ), for , The curved distance between two points is calculated, then

[0086] ;

[0087] where j = 1, 2, 3, 4… represents the curve distance between the th turning point and the th turning point in the trajectory from the geographical location to the target geographical location, represents the curve distance between the geographical location and the first turning point, represents the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point, represents the th turning point and the th turning point, and the proportionality coefficient between the true value and the calculated value of the distance therebetween, represents , the curve distance between two points;

[0088] Step2 (2): Construct a patrol vehicle active patrol prediction model , and the specific prediction model is:

[0089] ;

[0090] where represents , the curve distance between two points, represents , the curve distance between two points, d n represents , the curve distance between two points. When , and , it means that the patrol vehicle can complete the patrol after active power distribution. When , and , it means that the patrol vehicle needs passive power distribution and cannot complete the patrol actively. When , and , it means that the patrol vehicle can still complete the patrol actively without power distribution at the active power distribution position. When , and , it means that the patrol vehicle needs passive power distribution and cannot complete the patrol actively. Passive power distribution means relying on other patrol vehicles for power distribution;

[0091] Step2 (3): Put the vehicle information that needs passive power distribution and cannot complete the patrol actively into the set P = {Z1, …, Z h} where , and put the set Transmitted to the power distribution analysis module;

[0092] Step 3: According to the prediction results in Step 2, the power distribution analysis module S2 analyzes the operation conditions of the vehicles near the inspection vehicle that needs active power distribution, and transmits the analysis results to the power distribution module S3.

[0093] The power distribution analysis module S2 is used to receive the prediction results transmitted by the inspection vehicle information collection module S1, analyze whether the nearby inspection vehicles can distribute power to the inspection vehicle to be powered according to the prediction results, and transmit the analysis results to the power distribution module S3; the power distribution analysis module S2 includes a nearby inspection vehicle collection unit S21, a nearby inspection vehicle power collection unit S22, and a power distribution analysis unit S23; the nearby inspection vehicle collection unit S21 receives the and collects the numbers of other inspection vehicles that appear near the inspection track of the inspection vehicle according to the inspection vehicles recorded in the and transmits the inspection vehicle number information to the nearby inspection vehicle power collection unit S22;

[0094] The nearby inspection vehicle power collection unit S22 receives the inspection vehicle number information transmitted by the nearby inspection vehicle collection unit S21, collects the power of the corresponding inspection vehicle according to the number, and transmits the power information of the inspection vehicle to the power distribution analysis unit S23; the power distribution analysis unit S23 receives the power information of the inspection vehicle transmitted by the nearby inspection vehicle power collection unit S22, and analyzes whether the inspection vehicle can distribute power to the vehicle to be powered according to the power information and inspection track information of the inspection vehicle;

[0095] The specific analysis method of the power distribution analysis unit S23 for whether the nearby inspection vehicle can distribute power to the vehicle to be powered is as follows:

[0096] ① Calculate the curve distance between the location of the nearby inspection vehicle and its target geographical location, and the calculation method is the same as the calculation method;

[0097] ② Based on the calculation result of ①, predict the remaining power when the nearby inspection vehicle reaches the target geographical location. The specific prediction formula is:

[0098] ;

[0099] Among them, represents the remaining power of the nearby inspection vehicle during the second information collection, represents the power required for the nearby inspection vehicle to reach its target geographical location during the second information collection, ​Indicates the remaining available power when the nearby inspection vehicle reaches its target geographical location during the second information collection. When it indicates that there is remaining available power when the nearby inspection vehicle reaches its target geographical location. When it indicates that the nearby inspection vehicle cannot reach its target geographical location and the inspection vehicle needs power distribution. When it indicates that the nearby inspection vehicle needs to actively distribute power when it reaches its target geographical location;

[0100] ③ Calculate the shortest distance between the nearby inspection vehicle and the inspection vehicle to be powered based on the calculation results in ②. According to the calculation results and the remaining available power of the nearby inspection vehicle, predict the maximum power distribution to the inspection vehicle to be powered after removing the power consumption when the nearby inspection vehicle reaches the inspection vehicle to be powered. The specific prediction formula is:

[0101] ;

[0102] where represents the driving distance required for the nearby inspection vehicle to return along the original route when it reaches the location of the inspection vehicle to be powered and there is no optimal trajectory to reach its target geographical location.

[0103] The power distribution module S3 is used to receive the power distribution analysis results transmitted by the power distribution analysis module S2, complete the active power distribution and passive power distribution of each inspection vehicle according to the analysis results, and transmit the position information of the nearby inspection vehicle after power distribution to the inspection vehicle to the inspection trajectory planning module S4.

[0104] The inspection trajectory planning module S4 is used to receive the position information of the nearby inspection vehicle after power distribution to the inspection vehicle transmitted by the power distribution module S3, re-plan the running trajectory of the nearby inspection vehicle according to the power distribution position information, and transmit the trajectory planning information to the inspection vehicle scheduling module S5.

[0105] The inspection vehicle scheduling module S5 is used to receive the trajectory planning information transmitted by the inspection trajectory planning module S4 and transmit the received content to the inspection vehicle with the corresponding number. The inspection vehicle drives to the power distribution position for power distribution according to the received information.

[0106] Example: Let , , , , The number of inflection points between two points and is 2, and the inflection point coordinates are and respectively. The number of inflection points between two points is 1, and the inflection point coordinate is , , , , then:

[0107] ;

[0108] ;

[0109] ;

[0110] Then 、 The curved distance between two points is:

[0111] ;

[0112] The active power distribution prediction model of the inspection vehicle is:

[0113] ;

[0114] Indicates that the distance traveled by the inspection vehicle with the existing power is ;

[0115] Similarly, it can be obtained that:

[0116] ;

[0117] Then the active inspection prediction model of the inspection vehicle is:

[0118] ;

[0119] Indicates 、 The curved distance between two points .

[0120] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such process, method, article or device.

[0121] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An active power distribution scheduling system for inspection vehicles based on edge computing, characterized in that: It includes an inspection vehicle information collection module (S1), a power distribution analysis module (S2), a power distribution module (S3), an inspection trajectory planning module (S4), and an inspection vehicle scheduling module (S5); The inspection vehicle information collection module (S1) is used to collect the number information, remaining power information, status information, and geographical location information of the inspection vehicle, predict the active power distribution situation and active inspection situation of the inspection vehicle according to the collected content, and transmit the prediction results to the power distribution analysis module (S2); The inspection vehicle information collection module (S1) includes an inspection vehicle statistics matching unit (S11), an inspection vehicle remaining power collection unit (S12), an inspection vehicle status information collection unit (S13), and an inspection vehicle geographical location collection unit (S14); Let the set , where n = 1, 2, 3…, represents the serial number information of the inspection vehicle, represents the remaining power of the inspection vehicle, represents the status information of the inspection vehicle, represents the geographical location information of the inspection vehicle, represents the target geographical location of the inspection vehicle, represents the information set collected by the inspection vehicle; Use the inspection vehicle statistics matching unit (S11) to statistically number the vehicles participating in the inspection, and place the numbers of each inspection vehicle into the corresponding positions of the set respectively; The remaining power collection unit (S12) of the inspection vehicle is used to collect the remaining power on the inspection vehicle and transmit the collected content to the corresponding position of the set and mark the set whose remaining power does not meet the minimum value; The patrol vehicle status information acquisition unit (S13) is used to collect the status information of the patrol vehicle and transmit the collected content to the corresponding position of the set ; Collect the geographical location information of the inspection vehicle using the inspection vehicle geographical location collection unit (S14), and transmit the collected content to the corresponding position of the set to screen the inspection vehicles in the edge position, analyze the screened inspection vehicles, and analyze the active power distribution and operation conditions of the inspection vehicles according to the analysis results and the above marking conditions; The power distribution analysis module (S2) is used to receive the prediction results transmitted by the inspection vehicle information collection module (S1), analyze whether the nearby inspection vehicles can perform power distribution for the to-be-powered inspection vehicle according to the prediction results, and transmit the analysis results to the power distribution module (S3); The power distribution analysis module (S2) includes a nearby inspection vehicle collection unit (S21), a nearby inspection vehicle power collection unit (S22), and a power distribution analysis unit (S23); The nearby inspection vehicle collection unit (S21) receives the set and, based on the inspection vehicles recorded in the set , collects the numbers of other inspection vehicles that appear near the inspection trajectories of the inspection vehicles, and transmits the inspection vehicle number information to the nearby inspection vehicle power collection unit (S22). The set P is used to store information about vehicles that are passively powered and unable to actively complete inspections; The nearby inspection vehicle power collection unit (S22) receives the inspection vehicle number information transmitted by the nearby inspection vehicle collection unit (S21), collects the power of the corresponding inspection vehicle according to the number, and transmits the power information of the inspection vehicle to the power distribution analysis unit (S23); The power distribution analysis unit (S23) receives the power information of the inspection vehicle transmitted by the nearby inspection vehicle power collection unit (S22), and analyzes whether the inspection vehicle can perform power distribution for the to-be-powered vehicle according to the power information and inspection trajectory information of the inspection vehicle. The specific analysis method is as follows: ① Calculate the curvilinear distance between the location of the nearby patrol vehicle and its target geographical location. The calculation method is the same as that of , which represents , the curvilinear distance between two points. ②Based on the calculation result of ①, predict the remaining power when the nearby inspection vehicle arrives at the target geographical location The specific prediction formula is as follows: ； Among them, represents the remaining power of the nearby inspection vehicle during the second information collection, represents the power required for the nearby inspection vehicle to reach its target geographical location during the second information collection, represents the battery power consumption rate of the inspection vehicle, represents the inspection speed of the inspection vehicle, represents the remaining available power of the nearby inspection vehicle when it reaches its target geographical location during the second information collection. When it means that the nearby inspection vehicle has remaining available power when it reaches its target geographical location. When it means that the nearby inspection vehicle cannot reach its target geographical location and the inspection vehicle needs power distribution. When it means that the nearby inspection vehicle needs to actively distribute power when it reaches its target geographical location; ③ Calculate the shortest distance between the nearby inspection vehicle and the to-be-powered inspection vehicle based on the calculation result in ②, and predict the maximum power distribution amount for the to-be-powered inspection vehicle after removing the power consumption when the nearby inspection vehicle arrives at the to-be-powered inspection vehicle according to the calculation result and the remaining available power of the nearby inspection vehicle. The specific prediction formula is: ； Among them, represents the driving distance required for the nearby inspection vehicle to return along the original route when it arrives at the location of the power distribution inspection vehicle to be inspected and there is no optimal trajectory to reach its target geographical location. The power distribution module (S3) is used to receive the analysis results transmitted by the power distribution analysis module (S2), realize the power distribution situation of each inspection vehicle according to the analysis results, and transmit the power distribution location information to the inspection trajectory planning module (S4); The inspection trajectory planning module (S4) is used to receive the power distribution location information transmitted by the power distribution module (S3), re-plan the running trajectories of the nearby inspection vehicles according to the power distribution location information, and transmit the trajectory planning information to the inspection vehicle scheduling module (S5); The inspection vehicle scheduling module (S5) is used to receive the trajectory planning information transmitted by the inspection trajectory planning module (S4), and schedule the corresponding inspection vehicle according to the received content.

2. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 1, characterized in that: The specific method for the inspection vehicle information collection module (S1) to analyze the active power distribution and operation of the inspection vehicle is as follows: Step1: Match the set after marker processing with the filtered set one by one, and put the successfully matched set into set M = {Z1, …, Z k}, put the filtered set into set N = {Z1, …, Z m}, where, ; Step 2: Based on the set Number the inspection vehicles , geographical location , remaining power and the target geographical location for extraction. Predict whether the inspection vehicle can complete active power distribution based on the extracted data. Based on the set the inspection vehicle number of the inspection vehicle , geographical location , remaining power and the target geographical location for extraction. Predict whether the inspection vehicle can actively complete the inspection according to the extraction results; Step 3: According to the prediction results in Step 2, the power distribution analysis module (S2) analyzes the operation conditions of the vehicles near the inspection vehicle that needs active power distribution, and transmits the analysis results to the power distribution module (S3).

3. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 2, characterized in that: The specific steps for predicting whether the inspection vehicle can complete active power distribution based on the extracted data in Step 2 are as follows: Step2 (I). Construct a coordinate system based on the inspection trajectory of the inspection vehicle, then the geographical location , the nearest active power distribution position on the inspection trajectory ; Step2 (Ⅱ). Based on Step2 (Ⅰ), and calculate the distance between the two points. The specific calculation formula is as follows: ； ； Then 、 The curved distance between two points is: d n = d1 * β1 + d 12 * β 12 + … + d (i-1)i * β (i-1)i ; where \(i = 1, 2, 3, 4,\cdots\), represents the th turning point passed through in the trajectory from the geographical location to the nearest active power distribution location, represents the th turning point and the th turning point, represents the curvilinear distance between the geographical location and the first turning point, represents the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point, represents the th turning point and the th turning point, The value has a greater correlation with the angle between two points, represents the horizontal distance between the second turning point and the first turning point; Step2 (Ⅲ). Construct an active power distribution prediction model for the inspection vehicle based on Step2 (Ⅱ) , and the specific prediction model is as follows: ； Among them, represents the remaining power of the inspection vehicle, represents the minimum remaining power of the inspection vehicle before it stops running.

4. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 3, wherein: The specific steps for predicting whether the inspection vehicle can actively complete the inspection based on the extracted data in Step 2 are as follows: Step2 (1). Based on the coordinate system constructed in Step2 (Ⅰ), for and the curve distance between two points is calculated as follows: d′ n = d′1 * β′1 + d′ 12 * β′ 12 + … + d′ (j-1)j * β′ (j-1)j ; where j = 1, 2, 3, 4…, represents the curved distance between the th turning point and the th turning point in the trajectory from the geographical location to the target geographical location, represents the curved distance between the geographical location and the first turning point, represents the proportionality coefficient between the true value and the calculated value of the distance between the geographical location and the first turning point, represents the th turning point and the th turning point, the proportionality coefficient between the true value and the calculated value of the distance therebetween, represents , the curved distance between two points; Step2(2): Build an active inspection prediction model for inspection vehicles , the specific prediction model is as follows: ； Among them, represents , the curvilinear distance between two points represents , the curvilinear distance between two points, d n represents , the curvilinear distance between two points; Step2 (3): Put the vehicle information that needs to be passively powered and cannot actively complete the inspection into the set P = {Z1, …, Z h}, where , and transmit the set to the power distribution analysis module (S2).

5. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 4, wherein: The power distribution module (S3) receives the power distribution analysis results transmitted by the power distribution analysis module (S2), and completes the active power distribution and passive power distribution of each inspection vehicle according to the analysis results, and transmits the position information of the nearby inspection vehicles after power distribution to the inspection trajectory planning module (S4).

6. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 5, wherein: The inspection trajectory planning module (S4) receives the position information of the nearby inspection vehicles after power distribution to the inspection vehicle to be powered transmitted by the power distribution module (S3), re-plans the operation trajectories of the nearby inspection vehicles according to the power distribution position information, and transmits the trajectory planning information to the inspection vehicle scheduling module (S5).

7. The active power distribution scheduling system for inspection vehicles based on edge computing according to claim 6, wherein: The inspection vehicle scheduling module (S5) receives the trajectory planning information transmitted by the inspection trajectory planning module (S4), and transmits the received content to the inspection vehicle with the corresponding number. The inspection vehicle drives to the position to be powered according to the received information for power distribution.

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