A service area mobile charging robot energy management and control system

Abstract

The application provides a service area mobile charging robot energy management and control system, which comprises a mobile charging robot and a monitoring server; a control module is in communication connection with the monitoring server through a communication module; a perception and navigation module measures distance and establishes an environment map in real time, supports navigation decision and obstacle avoidance; the control module controls the horizontal movement module to move based on the information obtained by the perception and navigation module; a charging device module is provided with a storage battery, a charging and discharging socket and a charging and discharging control unit; the control module controls the charging and discharging operation of the storage battery; an environment sensing module is used for sensing the environment information where the mobile charging robot is located, and sends the environment information to the control module; the control module controls the operation of the mobile charging robot in combination with the environment information; the mobile charging robot can flexibly move in the charging area, and provides personalized charging service according to the requirement, solves the problem of limited space caused by the construction of fixed charging stations, and improves the convenience and flexibility of charging.

Description

Technical Field

[0001] This invention belongs to the field of mobile charging technology, and in particular relates to an energy management system for a mobile charging robot in a service area. Background Technology

[0002] Electric vehicles are now widely used, not only to meet people's transportation needs but also to transport materials in production plants. They can also be used to power equipment such as delivery robots in the logistics sector.

[0003] The widespread adoption of electric vehicles has created a huge demand for charging infrastructure, and service areas are equipped with numerous charging stations and charging piles. For example, application number CN201920299015.0 discloses a multi-functional charging pile for highway service areas. This document includes a base, a charging pile, a protective cover, a support frame, and a solar panel. The charging pile is connected to the top of the base and is a high-speed DC charging pile. The front of the charging pile is equipped with a protective cover, and the top surface of the charging pile is equipped with a support frame on which the solar panel is mounted. A telescopic rod is located in the middle of the top surface of the charging pile, and an adjustment knob is located on the upper part of the arc-shaped side of the bottom of the telescopic rod. This document ensures that the charging piles in highway service areas are well protected and provide charging functionality to the service areas.

[0004] It can be seen that the charging piles involved in this document are fixed charging piles. These charging piles have limited space, and in some service areas, due to unreasonable layouts, traffic congestion prevents the effective use of charging piles. Currently, some service areas use mobile charging piles. For example, the existing document discloses mobile charging piles, which include a charging pile shell; a charging control device inside the shell; an input cable connector on the shell; an inwardly recessed groove on one side; an output port within the groove; a protective cover outside the groove; and at least four locking casters fixedly connected to the bottom of the shell. This document discloses that the charging piles can be moved, but they cannot be effectively moved according to the user's charging location. The charging process cannot be controlled, mobile charging piles are not managed, abnormalities cannot be detected in a timely manner, and the charging method cannot be adjusted according to the status of the vehicle being charged. Summary of the Invention

[0005] This invention provides an energy management system for mobile charging robots in service areas, which solves the drawbacks of limited space and lack of flexibility in fixed charging stations, and improves the convenience and flexibility of charging.

[0006] The system includes: a mobile charging robot and a monitoring server;

[0007] The mobile charging robot is equipped with a horizontal movement module, a perception and navigation module, a control module, a communication module, a charging equipment module, an environmental sensing module, and a user interaction module.

[0008] The control module communicates with the monitoring server through the communication module, sending the mobile charging robot's operating information to the monitoring server and receiving control commands from the monitoring server.

[0009] The perception and navigation module, based on an integrated camera, image processing software, lidar, and ultrasonic sensors, measures distances in real time and builds an environmental map to support navigation decisions and obstacle avoidance. It also acquires the position and obstacle information of the mobile charging robot during horizontal movement and enables the control module to control the horizontal movement module based on the information acquired by the perception and navigation module.

[0010] The charging equipment module is equipped with a battery, a charging / discharging socket, and a charging / discharging control unit;

[0011] The control module controls the charging and discharging operation of the battery based on a preset charging and discharging program and a charging and discharging control unit.

[0012] The environmental sensing module is used to sense the environmental information of the mobile charging robot and send the environmental information to the control module; the control module uses the environmental information to control the operation of the mobile charging robot.

[0013] The user interaction module provides a user-friendly mobile application client, allowing users to view charging status in real time, select charging services, and interact with the mobile charging robot; it also collects user feedback information and uploads it to the monitoring server through the communication module.

[0014] Preferably, the control module also obtains a discharge command based on the charging / discharging socket and retrieves a preset charging / discharging program;

[0015] In the preset charging and discharging program, the matching conditions between the remaining battery power information and the power to be charged are set.

[0016] If the control module obtains information that the amount of power to be charged is less than or equal to the remaining power of the battery, it controls the charge and discharge control unit to discharge and execute the discharge process.

[0017] If the control module obtains information that the amount of electricity to be charged is greater than the remaining amount of electricity in the battery, it will control the charging and discharging control unit to remain inactive and display that the current charging process cannot be completed through the user interaction module.

[0018] Preferably, the monitoring server defines the movement range of the mobile charging robot based on the size of the service area, and sets up an electronic fence at the boundary of the movement range;

[0019] The monitoring server also sets up a moving two-dimensional coordinate system. Based on the previous position information of the perception and navigation module, the position of each mobile charging robot in the moving two-dimensional coordinate system is marked, and the operating status of each mobile charging robot is displayed.

[0020] Preferably, the monitoring server defines the electricity price for charging time;

[0021] The user interaction module is also used to obtain the charging time and charging location set by the user.

[0022] The control module controls the mobile charging robot to move to the charging location based on the user-set charging time and location.

[0023] The control module obtains the charging time required for the preset charging amount based on the power required by the device being charged, and calculates the charging process information based on the charging power, charging time and electricity price, and displays it to the user through the user interaction module.

[0024] Preferably, the monitoring server is also used to obtain the user's registration information, configure the user's charging identity ID based on the registration information, configure the user's charging identity ID to the mobile charging robot after encryption, and set the login validity period of the charging identity ID;

[0025] The mobile charging robot obtains user access information, decrypts the encrypted charging identity ID, verifies it against the user access information, and executes the charging process after successful verification. This allows the mobile charging robot to perform user authentication even when offline.

[0026] Preferably, the user sends coordinate information based on a dynamic two-dimensional coordinate system to the monitoring server. The monitoring server will obtain the location information of each mobile charging robot, determine the mobile charging robot that is closest to the user's coordinate information, move it to the user's location, and execute the charging process.

[0027] Preferably, the control module is also used to adjust the charging state in real time according to the preset charging and discharging program, and to configure the charging control process;

[0028] The execution process of the charging control process is as follows: the control module obtains the voltage information of the device being charged through the charging device module. When the voltage information of the device being charged is less than the first preset voltage threshold, the control module charges the device being charged according to the preset charging and discharging program and the first charging power.

[0029] When the voltage of the device being charged is greater than the first preset voltage threshold and less than the second preset voltage threshold, the device is charged with the second charging power based on the historical average charging time; when the charging time of the device being charged reaches the preset duration according to the second charging power, the device is trickle charged.

[0030] Preferably, the control module further calculates the charging time based on the remaining battery power and the battery capacity of the device being charged; the control module compares the required charging time with the actual charging time; if the actual charging time is not greater than the required charging time, the charging process is executed based on the charging control process; if the actual charging time is greater than the required charging time, a fast charging control process is configured; the control module charges the device being charged based on the fast charging control process; the fast charging control process is defined as charging the device being charged at a first charging power throughout the entire charging process.

[0031] Preferably, the monitoring server is also used to receive charging control commands and charging power requirements input by the user, and define priorities according to the time points of the charging power requirements; detect the working status of all mobile charging robots; when a mobile charging robot is in an idle state, it moves to the charging device according to the priority to perform the charging state, and monitors the charging status in real time. At the same time, the mobile charging robot feeds back the charging energy usage information to the monitoring server.

[0032] When all mobile charging robots are in use, the monitoring server compares the remaining power of the mobile charging robots in the system; combined with the charging demand of the device being charged, it finds the mobile charging robot that meets the charging demand of the device being charged, and sends the location of the mobile charging robot to the device being charged, so that the device being charged can move to the vicinity of the mobile charging robot and start charging.

[0033] Preferably, the mobile charging robot is also equipped with a storage device that stores the operating information of the mobile charging robot.

[0034] As can be seen from the above technical solutions, the present invention has the following advantages:

[0035] The mobile charging robot energy management system provided by this invention ensures efficient utilization of the mobile charging robot for charging processes and achieves intelligent scheduling. A monitoring server collects user charging demand data, including charging time periods and charging power requirements. Big data analytics are used to process the collected data and establish a charging schedule that meets user needs. The monitoring server can monitor the status of the mobile charging robot in real time, including battery level and charging efficiency, and detect abnormal robot states through algorithms. The system can also receive user feedback and adjust charging point processing strategies accordingly to improve system operating efficiency and ensure stable system operation.

[0036] This invention provides offline identity authentication, enabling mobile charging robots to authenticate users and perform charging operations offline, thus improving charging convenience. After logging in, users can check charging status, view charging progress, and make online payments through the user interaction module. They can also schedule charging sessions to improve the utilization rate of charging stations. Furthermore, the added security verification methods protect user information and enhance system security. Attached Figure Description

[0037] 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.

[0038] Figure 1 A schematic diagram of the energy management system for mobile charging robots in service areas;

[0039] Figure 2 This is a schematic diagram of a mobile charging robot. Detailed Implementation

[0040] The mobile charging robot energy management system provided by this invention can be applied to highway service areas, parking lots, and even limited factory or residential areas. The system can charge devices, such as vehicles or other electrical appliances. The system charges devices based on the movement of the mobile charging robot, offering greater flexibility compared to fixed charging stations.

[0041] The following will combine Figure 1 This invention provides a detailed description of the service area mobile charging robot energy management system. This system can be applied, for example, to charging electric vehicles in service areas, and also to vehicles requiring charging within factory areas. The mobile charging robot can automatically find its way, move automatically, and easily reach charging equipment, thus improving charging convenience.

[0042] 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.

[0043] Please see Figures 1 to 2The diagram shown is a schematic of a service area mobile charging robot energy management system in a specific embodiment. The system includes a mobile charging robot and a monitoring server.

[0044] The mobile charging robot is equipped with a storage module, a horizontal movement module, a sensing and navigation module, a control module, a communication module, a charging equipment module, an environmental sensing module, and a user interaction module. The storage module stores the mobile charging robot's operational information.

[0045] The horizontal movement module may include omnidirectional wheels and servo motors to drive the mobile charging robot to move horizontally.

[0046] The control module communicates with the monitoring server via the communication module, sending operational information of the mobile charging robot to the monitoring server and receiving control commands from the monitoring server. The communication module supports various communication protocols, including TCP, UDP, and RTP. The control module uses these protocols to communicate with the monitoring server and also with the user's handheld terminal. It can also receive remote control commands from the monitoring server to control the mobile charging robot's operation, ensuring operational safety and service quality.

[0047] The control module can be implemented using at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), processor, controller, microcontroller, microprocessor, or electronic unit designed to perform the functions described herein. In some cases, such implementations can be implemented within a controller. For software implementations, implementations such as processes or functions can be implemented with separate software modules that allow the performance of at least one function or operation. The software code can be implemented by a software application (or program) written in any suitable programming language, and the software code can be stored in memory and executed by the controller.

[0048] The perception and navigation module, based on an integrated camera, image processing software, lidar, and ultrasonic sensors, measures distances in real time and builds environmental maps to support navigation decisions and obstacle avoidance. It also acquires the position and obstacle information of the mobile charging robot during horizontal movement, and enables the control module to control the horizontal movement module based on the information acquired by the perception and navigation module.

[0049] To facilitate location tracking and remote control of the service area, this embodiment defines the movement range of the mobile charging robots based on the size of the service area and sets up electronic fences at the boundaries of the movement range, allowing the mobile charging robots to move within the defined area. The monitoring server also sets up a mobile two-dimensional coordinate system. Based on the previous location information from the perception and navigation modules, the server marks the position of each mobile charging robot in the mobile two-dimensional coordinate system and displays the operating status of each robot. The monitoring server can identify the position of each mobile charging robot based on the mobile two-dimensional coordinate system, and the mobile charging robots can also be located using the mobile two-dimensional coordinate system to obtain the position of the device being charged. In other words, the mobile charging robots obtain the position of the device being charged based on coordinates. Obstacles and buildings within the service area can be marked within the mobile two-dimensional coordinate system, allowing the mobile charging robots to avoid areas containing obstacles and buildings. Alternatively, a walking path can be set within the mobile two-dimensional coordinate system. The mobile charging robots move according to the preset walking path, and the system uses cameras, image processing software, LiDAR, and ultrasound to acquire real-time information about people and vehicles along the walking path for detour.

[0050] For example, a dedicated walking lane can be set up for the mobile charging robot, which can increase the walking speed of the mobile charging robot, reduce the computational load of the mobile charging robot, and improve the data processing efficiency of the system.

[0051] According to embodiments of this application, the charging equipment module is configured with a battery, a charging / discharging socket, and a charging / discharging control unit. The control module controls the charging and discharging operation of the battery based on a preset charging / discharging program and the charging / discharging control unit. The charging / discharging control unit can be a relay or a charging / discharging circuit, etc. The control module adjusts the charging power and time in real time according to user needs and system load based on the preset charging / discharging program. The charging / discharging socket can be designed as a universal charging socket to adapt to different types and brands of electric vehicles, improving the applicability of the system.

[0052] The environmental sensing module detects the environment in which the mobile charging robot is located and sends this information to the control module. The control module then uses this environmental information to control the robot's operation. The environmental sensing module can monitor environmental conditions in real time, including temperature and wind speed, by combining meteorological data and energy supply information, providing data support to the control module. The control module uses the ambient temperature and wind speed to control the mobile charging robot's operation. If it rains or the wind speed exceeds a threshold, the robot stops moving and returns to its initial position.

[0053] As an example, the user sends coordinate information based on a dynamic two-dimensional coordinate system to the monitoring server. The monitoring server will obtain the location information of each mobile charging robot, determine the mobile charging robot that is closest to the user's coordinate information, move it to the user's location, and execute the charging process.

[0054] The user interaction module provides a user-friendly mobile application client, allowing users to view charging status in real time, select charging services, and interact with the mobile charging robot; it also collects user feedback information and uploads it to the monitoring server through the communication module.

[0055] Optionally, the monitoring server can collect data during the charging process, including charging power and charging time, for subsequent performance analysis and system optimization. Utilizing big data analytics, the monitoring server monitors the charging robot's operation in real time, optimizing charging routes and service scheduling to improve overall system efficiency. The monitoring server's scalable system architecture supports the integration of more charging robots and the expansion of service areas.

[0056] The monitoring server has the function of displaying the system's operating status, and can display information processed by the mobile charging robot through the display unit. For example, when the mobile charging robot is in charging or discharging mode, the display unit can display the relevant user interface (UI) or graphical user interface (GUI) of the mobile charging robot.

[0057] In an exemplary embodiment, the control module further obtains a discharge command based on the charging and discharging socket and retrieves a preset charging and discharging program. The preset program sets matching conditions between the remaining battery capacity and the amount to be charged. If the control module obtains that the amount to be charged is less than or equal to the remaining battery capacity, it controls the charging and discharging control unit to discharge, executing the discharge process. If the control module obtains that the amount to be charged is greater than the remaining battery capacity, it controls the charging and discharging control unit to remain inactive, and displays that the current charging process cannot be completed through the user interaction module.

[0058] As an example, the monitoring server defines the electricity price for charging time; the user interaction module is also used to obtain the charging time and location set by the user; the control module controls the mobile charging robot to move to the charging location based on the charging time and location set by the user; the control module obtains the charging time required for the preset charging amount based on the power required by the device being charged, and calculates the charging process information according to the charging power, charging time and electricity price, and displays it to the user through the user interaction module.

[0059] In this embodiment, the control module obtains the charging time required for the preset charging amount based on the power required by the device being charged, and calculates the charging process information according to the charging power, charging time and electricity price, and displays it to the user through the user interaction module.

[0060] In this embodiment, an initial time point is defined as tc, a charging end time point as tj, and a charging duration as T. The time-of-use (TOU) electricity price for the period from tc to tj is obtained based on the initial time point tc, the charging end time point tj, and the electricity price for different charging times. The TOU electricity price for the period from tc to tj is segmented and measured in ascending order of price, resulting in electricity price information for multiple time periods. The user selects the time period with the lowest electricity price based on the user interaction module. If the charging duration T is greater than the lowest price time period, then charging is performed based on the charging duration T, according to the electricity price information for multiple time periods in ascending order, so that the actual charging duration equals T.

[0061] In this embodiment, the monitoring server can train and learn based on stored past charging data of the mobile charging robot. By learning from the accumulated data on user charging times and usage frequency, it automatically optimizes the charging plan. This allows for effective use of the mobile charging robot, avoiding situations where concentrated use leads to insufficient charging capacity during certain time periods. The user interaction module displays electricity prices and usage frequency for different time periods and recommends suitable times, enhancing the user charging experience. The module also displays charging process information and mobile charging robot operation information in multi-dimensional ways, using charts or graphs. It displays data such as electricity consumption, charging orders, walking paths, charging frequency, and device utilization, allowing users to gain a deeper understanding of the mobile charging robot's operation data and adjust its operation strategy accordingly.

[0062] In this embodiment, the monitoring server is also used to obtain the user's registration information, configure the user's charging identity ID based on the registration information, configure the user's charging identity ID to the mobile charging robot after encryption, and set the login validity period of the charging identity ID.

[0063] The mobile charging robot obtains user access information, decrypts the encrypted charging identity ID, verifies it against the user access information, and executes the charging process after successful verification. This allows the mobile charging robot to perform user authentication even when offline.

[0064] In this embodiment, the system provides offline identity authentication, enabling the mobile charging robot to authenticate its identity and perform charging operations offline, thus improving charging convenience. After logging in, users can check the charging status, view the charging progress, and make online payments through the user interaction module. They can also schedule charging sessions to improve the utilization rate of charging stations. Furthermore, the addition of security verification methods protects user information and enhances system security.

[0065] According to another embodiment of the present invention, the control module is further configured to adjust the charging state in real time according to a preset charging and discharging program, and configure the charging control process; the execution process of the charging control process is as follows: the control module obtains the voltage information of the device being charged through the charging device module, and when the voltage information of the device being charged is less than a first preset voltage threshold, the control module charges the device being charged according to the preset charging and discharging program and the first charging power.

[0066] When the voltage of the device being charged is greater than the first preset voltage threshold and less than the second preset voltage threshold, the device is charged with the second charging power based on the historical average charging time; when the charging time of the device being charged reaches the preset duration according to the second charging power, the device is trickle charged.

[0067] It should be noted that the system can adjust the charging power and control the charging time of the device being charged. Based on the device's status and type, when the voltage of the device being charged is less than a first preset voltage threshold, it indicates that the device's battery level is too low. In this case, the control module charges the device according to a preset charging and discharging program at the first charging power; that is, it first performs rapid charging at high power. Since the voltage of the device being charged is monitored in real time, when the voltage is greater than the first preset voltage threshold but less than the second preset voltage threshold, it indicates that the device's battery level has reached a certain threshold, which could be 75% or 85%. Based on the average charging time obtained from the user's historical charging records, the system charges the device at a second charging power and sets the charging time, which can be determined based on the historical average charging time. While the device is charging at the second charging power, trickle charging is performed to compensate for the capacity loss caused by self-discharge after the battery is fully charged. This compensates for self-discharge and keeps the device fully charged.

[0068] As another example, the control module also calculates the charging time based on the remaining battery power and the battery capacity of the device being charged. The control module compares the required charging time with the actual charging time. If the actual charging time is not greater than the required charging time, the charging process is executed based on the charging control process. If the actual charging time is greater than the required charging time, a fast charging control process is configured. The control module charges the device being charged based on the fast charging control process. The fast charging control process is defined as charging the device at a first charging power throughout the entire charging process.

[0069] In this embodiment, if the actual charging time is no greater than the required charging time, the normal charging control process can meet the charging needs. Conversely, if the actual charging time is greater than the required charging time, a fast charging control process is configured. Of course, a suitable charging mode can also be selected based on the user's needs to meet charging requirements and improve the user experience. Using a charging control process can protect the device being charged. If the charging time is short, a fast charging control process can be used to ensure that the device's power is quickly replenished. If there are many devices requiring charging in the service area, the mobile charging robot can be forced to use a fast charging control process.

[0070] The monitoring server is also used to receive user-input charging control commands and charging power requirements, and to define priorities according to the time points of the charging power requirements; to detect the working status of all mobile charging robots; when a mobile charging robot is idle, it moves to the device being charged according to priority to perform charging, and monitors the charging status in real time, while the mobile charging robot feeds back charging energy usage information to the monitoring server; when all mobile charging robots are in use, the monitoring server compares the remaining power status of the mobile charging robots in the system; combined with the charging demand of the device being charged, it finds the mobile charging robot that meets the charging demand of the device being charged, and sends the location of the mobile charging robot to the device being charged, so that the device being charged can move to the vicinity of the mobile charging robot to perform charging.

[0071] In this embodiment, when multiple mobile charging robots are idle, the monitoring server allocates charging tasks based on the charging demand of the device being charged, the available power of the mobile charging robots, and the distance between the mobile charging robots and the devices being charged. When no mobile charging robots are idle, the mobile charging robot with the most remaining available power in the system can be selected to provide charging again. Mobile charging robots can provide charging for multiple devices.

[0072] Based on the above system, the system can efficiently utilize mobile charging robots to execute the charging process, achieving intelligent scheduling. The monitoring server collects user charging demand data, including charging time periods and charging power requirements. Big data analytics are used to process the collected data, establishing a charging schedule that meets user needs. The monitoring server can monitor the status of the mobile charging robots in real time, including battery level and charging efficiency, and detect abnormal robot states through algorithms. The system can also receive user feedback and adjust charging point processing strategies accordingly to improve system efficiency and ensure stable system operation.

[0073] The service area mobile charging robot energy management system provided by this invention comprises the units and algorithm steps of various examples described in conjunction with the embodiments disclosed herein. It can be implemented using electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0074] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0075] 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 service area mobile charging robot energy management system, characterized in that, include: Mobile charging robot and monitoring server; The mobile charging robot is equipped with a horizontal movement module, a perception and navigation module, a control module, a communication module, a charging equipment module, an environmental sensing module, and a user interaction module. The control module communicates with the monitoring server through the communication module, sending the mobile charging robot's operating information to the monitoring server and receiving control commands from the monitoring server. The perception and navigation module, based on an integrated camera, image processing software, lidar, and ultrasonic sensors, measures distances in real time and builds an environmental map to support navigation decisions and obstacle avoidance. It also acquires the position and obstacle information of the mobile charging robot during horizontal movement and enables the control module to control the horizontal movement module based on the information acquired by the perception and navigation module. The charging equipment module is equipped with a battery, a charging / discharging socket, and a charging / discharging control unit; The control module controls the charging and discharging operation of the battery based on a preset charging and discharging program and a charging and discharging control unit. The environmental sensing module is used to sense the environmental information of the mobile charging robot and send the environmental information to the control module; the control module uses the environmental information to control the operation of the mobile charging robot. The user interaction module provides a user-friendly mobile application client, allowing users to view charging status in real time, select charging services, and interact with the mobile charging robot; it also collects user feedback information and uploads it to the monitoring server through the communication module. The control module is also used to adjust the charging status in real time according to the preset charging and discharging program, and to configure the charging control process; The execution process of the charging control process is as follows: the control module obtains the voltage of the device being charged through the charging device module. When the voltage of the device being charged is less than the first preset voltage threshold, the control module charges the device being charged according to the preset charging and discharging program and the first charging power. When the voltage of the device being charged is greater than the first preset voltage threshold and less than the second preset voltage threshold, the device is charged with the second charging power based on the historical average charging time; when the charging time of the device being charged reaches the preset duration according to the second charging power, the device is trickle charged. The control module also calculates the charging time based on the remaining battery power and the battery capacity of the device being charged. The control module compares the required charging time with the actual charging time. If the actual charging time is not greater than the required charging time, the charging process is executed based on the charging control process. If the actual charging time is greater than the required charging time, a fast charging control process is configured. The control module charges the device being charged based on the fast charging control process. The fast charging control process is defined as charging the device being charged at the first charging power throughout the entire charging process. The monitoring server is also used to receive user input charging control commands and charging power requirements, and define priorities according to the time points of the charging power requirements; detect the working status of all mobile charging robots; when a mobile charging robot is idle, it moves to the charging device according to priority to perform charging, and monitors the charging status in real time. At the same time, the mobile charging robot feeds back the charging energy usage information to the monitoring server. When all mobile charging robots are in use, the monitoring server compares the remaining power of the mobile charging robots in the system; combined with the charging demand of the device being charged, it finds the mobile charging robot that meets the charging demand of the device being charged, and sends the location of the mobile charging robot to the device being charged, so that the device being charged can move to the vicinity of the mobile charging robot and start charging.

2. The service area mobile charging robot energy management system according to claim 1, characterized in that, The control module also obtains discharge commands based on the charging and discharging socket and retrieves preset charging and discharging programs; The preset charging and discharging program sets the matching conditions between the remaining battery capacity and the capacity to be charged. If the control module obtains that the amount of electricity to be charged is less than or equal to the remaining amount of the battery, it controls the charge and discharge control unit to discharge and execute the discharge process. If the control module detects that the amount of electricity to be charged is greater than the remaining amount of electricity in the battery, it will control the charging and discharging control unit to remain inactive and display that the current charging process cannot be completed through the user interaction module.

3. The service area mobile charging robot energy management system according to claim 1, characterized in that, The monitoring server defines the movement range of the mobile charging robot based on the size of the service area and sets up electronic fences at the boundaries of the movement range. The monitoring server is also equipped with a moving two-dimensional coordinate system. Based on the previous position information of the perception and navigation module, the position of each mobile charging robot is marked in the moving two-dimensional coordinate system, and the operating status of each mobile charging robot is displayed.

4. The service area mobile charging robot energy management system according to claim 1, characterized in that, The monitoring server defines the electricity price for charging time; The user interaction module is also used to obtain the charging time and charging location set by the user. The control module controls the mobile charging robot to move to the charging location based on the user-set charging time and location. The control module obtains the charging time required for the preset charging amount based on the power required by the device being charged, and calculates the charging process information based on the charging power, charging time and electricity price, and displays it to the user through the user interaction module.

5. The service area mobile charging robot energy management system according to claim 1, characterized in that, The monitoring server is also used to obtain users' registration information, configure users' charging identity IDs based on the registration information, configure users' charging identity IDs to mobile charging robots after encryption, and set the login validity period of the charging identity IDs. The mobile charging robot obtains user access information, decrypts the encrypted charging identity ID, verifies it against the user access information, and executes the charging process after successful verification. This allows the mobile charging robot to perform user authentication even when offline.

6. The service area mobile charging robot energy management system according to claim 3, characterized in that, The user sends coordinate information based on a mobile two-dimensional coordinate system to the monitoring server. The monitoring server will obtain the location information of each mobile charging robot, determine the mobile charging robot that is closest to the user's coordinate information, move it to the user's location, and execute the charging process.

7. The service area mobile charging robot energy management system according to claim 1, characterized in that, The mobile charging robot is also equipped with a storage device that stores the robot's operating information.

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