Vehicle mobile charging control method, electronic device and storage medium

Abstract

The present application provides a vehicle mobile charging control method, electronic device and storage medium, which belongs to the field of new energy vehicle charging technology. The method includes: receiving a mobile charging request, determining the coordinates of the target parking space associated with the mobile charging request; determining at least one callable robot based on the first state information of each robot in the mobile robot set; determining at least one callable charging pile based on the second state information of each charging pile in the mobile charging pile set; determining the target robot and the target charging pile according to the first position information of each callable robot, the second position information of each callable charging pile and the target parking space coordinates; calling the target robot to carry the target charging pile to the target parking space coordinates, so that the vehicle in the target parking space can be charged through the target charging pile. The present application can solve the problems of low utilization of charging piles and long waiting time for users in the prior art.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle charging technology, and in particular to a vehicle mobile charging control method, electronic equipment and storage medium. Background Art

[0002] In modern electric vehicle charging infrastructure, efficient scheduling and management of charging piles are crucial. With the rapid growth of the number of electric vehicles, the demand for charging piles has also increased, making the reasonable allocation of charging pile resources a major challenge. Traditional static scheduling methods are difficult to adapt to dynamically changing charging needs, often leading to problems such as low utilization of charging piles, long waiting times for users, and unbalanced grid load.

[0003] The existing dynamic scheduling algorithms mainly rely on preset rules and simple queuing mechanisms, lacking the ability to fully utilize real-time data and intelligent decision-making. Therefore, there is an urgent need for a new mobile charging algorithm that can fully realize the dynamic optimization allocation of charging pile resources and improve charging efficiency and user experience. Summary of the invention

[0004] The purpose of this application is to provide a vehicle mobile charging control method, electronic device and storage medium to solve the above problems.

[0005] To achieve the above objectives, in a first aspect, the present application proposes a vehicle mobile charging control method, the method comprising:

[0006] receiving a mobile charging request, and determining the coordinates of a target parking space associated with the mobile charging request;

[0007] Determine at least one callable robot based on first state information of each robot in the mobile robot set;

[0008] Determine at least one available charging pile based on the second status information of each charging pile in the mobile charging pile set;

[0009] Determine the target robot and the target charging pile according to the first position information of each of the callable robots, the second position information of each of the callable charging piles, and the target parking space coordinates;

[0010] The target robot is called to carry the target charging pile to the target parking space coordinates, so that the vehicle in the target parking space can be charged through the target charging pile.

[0011] In some embodiments, determining the target robot and the target charging pile according to the first position information of each of the callable robots, the second position information of each of the callable charging piles, and the target parking space coordinates includes:

[0012] Calculate a first distance from each of the callable robots to each of the callable charging posts according to the first position information and the second position information;

[0013] Calculate the second distance from each of the callable charging piles to the target parking space coordinates according to the second position information and the target parking space coordinates;

[0014] Calculating the sum of the first distance and the second distance associated with each of the callable charging piles;

[0015] The target charging pile and the target robot are determined according to the available charging pile and the available robot associated with the shortest added distance.

[0016] In some implementations, after receiving the mobile charging request, the method further includes:

[0017] Determine the type of charging pile associated with the mobile charging request, the charging pile type including a DC charging pile or an AC charging pile;

[0018] The determining at least one callable charging pile based on the second status information of each charging pile in the mobile charging pile set includes:

[0019] At least one callable charging pile matching the charging pile type is determined based on the second status information of each charging pile in the mobile charging pile set.

[0020] In some embodiments, the first state information includes a working state, an idle state, and a charging state, the second state information includes a working state and an idle state, and the determining of at least one callable robot based on the first state information of each robot in the mobile robot set includes:

[0021] When there are robots in an idle state, at least one robot in an idle state is determined from the mobile robot set as the callable robot.

[0022] The determining at least one callable charging pile based on the second status information of each charging pile in the mobile charging pile set includes:

[0023] When there is an idle charging pile, at least one idle charging pile is determined from the mobile charging pile set as the callable charging pile.

[0024] In some implementations, determining at least one callable robot based on the first state information of each robot in the mobile robot set includes:

[0025] When it is detected that there is no robot in an idle state, a handling task list of a robot in a working state and a charging task list of a robot in a charging state are obtained;

[0026] Determining the waiting time of the corresponding robot according to the transport task list and the charging task list;

[0027] The mobile robot with the shortest waiting time is used as the callable robot;

[0028] After the shortest waiting time has elapsed, the step of determining at least one available charging pile based on the second status information of each charging pile in the mobile charging pile set is performed.

[0029] In some embodiments, determining at least one callable charging pile based on the second status information of each charging pile in the mobile charging pile set includes:

[0030] When it is detected that there is no charging pile in an idle state, obtaining a work task list of the charging pile in a working state;

[0031] Interruptible tasks and / or waitable tasks are identified from the work task list, and the charging pile that executes the interruptible task and / or the charging pile that executes the waitable task is used as the callable charging pile.

[0032] In some implementations, the mobile charging request further includes a charging priority, and identifying the interruptible task and / or the waitable task from the work task list includes:

[0033] Identify charging tasks whose priority is lower than the charging priority from the work task list, and obtain the estimated remaining charging time of each charging task;

[0034] The charging task whose estimated remaining charging time is less than or equal to the preset waiting time is regarded as a waiting task; and / or

[0035] The charging tasks whose estimated remaining charging time is greater than the preset waiting time are taken as tasks to be screened, the estimated remaining parking time of the vehicles corresponding to the tasks to be screened is obtained, and the interruptible tasks are determined from the tasks to be screened according to the estimated remaining parking time.

[0036] In some implementations, the obtaining of the estimated remaining parking time of the vehicle corresponding to the task to be screened, and determining the interruptible task from the tasks to be screened according to the estimated remaining parking time, further includes:

[0037] Obtaining the estimated remaining parking time of the vehicle corresponding to the task to be screened;

[0038] Calculating a task interruption feasibility index according to the estimated remaining charging time and the estimated remaining parking time of the task to be screened;

[0039] According to the task interruption feasibility index, interruptible tasks are determined from the tasks to be screened.

[0040] In some embodiments, the target charging pile is a charging pile that performs an interruptible task. After determining the target robot and the target charging pile according to the first position information of each of the callable robots, the second position information of each of the callable charging piles, and the target parking space coordinates, the method further includes:

[0041] Generate a pending mobile charging request based on the original charging task of the target charging pile and the task execution progress;

[0042] Updating the priority of the pending mobile charging request according to the estimated remaining charging time and the estimated remaining parking time of the vehicle corresponding to the original charging task;

[0043] A charging pile is allocated for the pending mobile charging request based on the updated priority.

[0044] In a second aspect, the present application provides an electronic device, comprising:

[0045] one or more processors;

[0046] a memory for storing one or more programs,

[0047] When the one or more programs are executed by the one or more processors, the one or more processors execute the vehicle mobile charging control method as described above.

[0048] In a third aspect, the present application proposes a storage medium, which stores executable instructions. When the instructions are executed by a processor, the processor executes the vehicle mobile charging control method as described above.

[0049] Compared with the prior art, the beneficial effects of this application include:

[0050] First, through dynamic monitoring and optimized scheduling of the real-time status information of mobile robots and charging piles, it can ensure that charging resources are used most effectively, reduce the waste of resources caused by idle charging piles, and thus improve the turnover rate and utilization rate of charging piles.

[0051] Secondly, by accurately matching the available robots and charging piles to the target parking spaces, unnecessary movement and energy consumption are reduced, and the efficiency of the entire charging process is improved. This not only reduces energy waste, but also reduces operating costs, making charging services more economical and efficient.

[0052] Thirdly, by reducing the number of fixed charging piles, the parking lot occupancy is reduced, freeing up more space for vehicle parking or other purposes. This optimized use of space is particularly beneficial for parking lots or urban environments with limited space.

[0053] Fourthly, the present application can reduce the waiting time of users and improve the user experience. Users do not need to wait for a long time for the charging pile to become available, nor do they need to return to the vehicle immediately after charging is completed, which greatly enhances the convenience and satisfaction of users.

[0054] Fifthly, this application improves the automation of the charging process through intelligent decision-making, reduces manual intervention, and reduces scheduling problems caused by human errors. This intelligent control strategy not only improves the reliability of charging services, but also lays the foundation for the further development of future charging technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope of the present application.

[0056] Figure 1 This is a flow chart of an embodiment of a vehicle mobile charging control method of the present application;

[0057] Figure 2 A schematic diagram of the area code of a parking lot in an embodiment of a vehicle mobile charging control method of the present application;

[0058] Figure 3 This is a schematic diagram of the head and tail of the robot in an embodiment of the vehicle mobile charging control method of the present application;

[0059] Figure 4 This is a schematic diagram of a process for determining a target robot and a target charging pile in an embodiment of a vehicle mobile charging control method of the present application;

[0060] Figure 5 A schematic diagram of a flow chart of determining an interruptible task in an embodiment of a vehicle mobile charging control method of the present application;

[0061] Figure 6 This is a schematic diagram of the subsequent processing flow of an interrupted task in an embodiment of the vehicle mobile charging control method of the present application;

[0062] Figure 7 It is a structural schematic diagram of the electronic device involved in the vehicle mobile charging control method in the embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] All terms (including technical and scientific terms) used in this application have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used here should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0065] For example, the terms "first", "second", etc. used in this application may be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, the first position information may be referred to as the second position information, and similarly, the second position information may be referred to as the first position information. Both the first position information and the second position information are position information, but they are not the same position information.

[0066] For another example, the terms “include”, “comprising”, etc. used in this application indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0067] As mentioned above, the existing dynamic scheduling algorithms mainly rely on preset rules and simple queuing mechanisms, lacking the ability to fully utilize real-time data and intelligent decision-making. To this end, this application proposes a vehicle mobile charging control method, electronic device and storage medium, which not only solves the problems of low utilization rate of charging piles and long waiting time for users in the prior art, but also provides a flexible, efficient and user-friendly charging solution, while providing parking lot operators with a flexible and scalable charging infrastructure.

[0068] Among them, the vehicle mobile charging control method referred to in this application is applied to a mobile charging system, the hardware architecture of which is composed of multiple key components, including a movable robot, a movable charging pile, a track system, a charging docking unit, a centralized docking station, and a power supply device.

[0069] Before the mobile charging system is started, all charging piles and robots are placed in a centralized docking station, which not only provides storage functions but also can charge robots. When the mobile charging system is running, the robot uses the track system to accurately move the charging pile to the charging docking station corresponding to the parking space that has issued a charging request. The charging docking station is set near the parking space in the parking lot. A corresponding charging docking station can be set at a suitable position in each parking space (or two adjacent parking spaces) as needed. The charging docking station includes a charging gun and a mains power interface (or power supply device interface). Once docked with the mobile charging pile, the electrical energy can be transmitted to the charging gun, thereby providing power for the new energy vehicle connected to the charging gun.

[0070] In addition, in this embodiment, the track system can be arranged as an aerial track, and the charging docking part will also be arranged above the parking space. The design of the aerial track can reduce the occupation of ground space, improve space utilization, and can adapt to different parking lot layouts and space restrictions.

[0071] Based on this, the embodiment of the present application provides a vehicle mobile charging control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle mobile charging control method of the present application.

[0072] In this embodiment, the vehicle mobile charging control method includes steps S10 to S40:

[0073] Step S10: receiving a mobile charging request and determining the coordinates of a target parking space associated with the mobile charging request.

[0074] In this embodiment, the mobile charging request refers to a request signal sent by the user terminal to charge the new energy vehicle. The request can be sent through a mobile application, an on-site control panel or other communication methods to start the mobile charging system to provide charging services for vehicles in a specific parking space. When a user sends a mobile charging request through a user terminal (such as a mobile phone), the electronic device executing this embodiment (for the sake of ease of description, the electronic device is referred to as the execution subject of this application) will receive this request and determine the specific location that needs service based on the information contained in the request (such as the area number of the target parking space).

[0075] As an optional implementation method for issuing a mobile request, in the parking lot used in this embodiment, a QR code is drawn next to each parking space or on the charging gun. Users can issue mobile charging requests by scanning these QR codes through the user terminal. The advantage of this implementation method is that the issued mobile charging request can be automatically bound to the target parking space that needs service, thereby simplifying the user's input process and improving the convenience and accuracy of the mobile charging request.

[0076] As another optional implementation method for issuing a mobile request, the user can open the relevant applet or software to issue a mobile charging request. In this way, the user needs to enter the information of the target parking space in the user terminal, such as the parking space number or other identification information. Although this implementation method requires the user to perform additional operations, it provides greater flexibility and allows the user to issue a mobile charging request remotely, that is, without a QR code identification.

[0077] In this embodiment, the target parking space coordinates refer to the spatial position coordinates of the parking space of the target area number associated with the mobile charging request issued by the user. These coordinates can be pre-set based on the layout design of the parking lot and expressed in the form of X, Y, and Z coordinates. If this embodiment is applied to a flat parking lot, the Z coordinate is 0. If this embodiment is applied to a three-dimensional parking garage, that is, there is a lifting device that can transport across floors, the Z coordinate is set according to the floor. And if Figure 2 As shown, each parking space has its corresponding area number. The area number is used to indicate the area where the parking space is located. One area number uniquely corresponds to one parking space, and the parking space number of the parking space can be used as the area number.

[0078] Step S20: determining at least one callable robot based on the first state information of each robot in the mobile robot set.

[0079] Step S30: determining at least one available charging pile based on the second status information of each charging pile in the mobile charging pile set.

[0080] In this embodiment, the first state information and the second state information describe the current states of the robot and the charging pile, respectively. The first state information involves three possible states of the robot: working state, idle state, and charging state. The working state indicates that the robot is performing the task of carrying the charging pile. The idle state indicates that the robot is not currently performing a task, is on standby, and is ready to respond to new charging requests. The charging state indicates that the robot is charging. It should be noted that the charging state can be superimposed on the idle state, which means that although the robot is charging, if the power reaches a preset power threshold, it can interrupt the charging process and switch to performing tasks. This embodiment improves the flexibility and response speed of the mobile charging system, ensuring that the robot can respond quickly to urgent or high-priority charging needs.

[0081] The second status information refers to the current status of the charging pile, which is divided into working status and idle status. Working status means that the charging pile is providing charging services for the vehicle. Idle status means that the charging pile is not currently in use.

[0082] The callable robot in this embodiment refers to a robot that can be selected by the electronic device to perform a handling task. The callable charging pile in this embodiment refers to a charging pile that can be assigned by the electronic system to perform a charging task.

[0083] The execution order of step S20 and step S30 is not limited. For example, step S20 may be executed first and then step S30. Step S20 and step S30 may also be executed simultaneously.

[0084] As a feasible implementation method for determining the callable charging robot and the callable charging pile, when there is an idle robot, at least one idle robot is determined from the mobile robot set as the callable robot. And, when there is an idle charging pile, at least one idle charging pile is determined from the mobile charging pile set as the callable charging pile.

[0085] The mobile robot set in this embodiment refers to the sum of all available robots in the mobile charging system. These robots are designed to carry charging piles to designated parking spaces for charging operations. Each robot is equipped with sensors, control systems, and necessary drive mechanisms, enabling it to move autonomously on the track and perform handling tasks. Each robot in the mobile robot set can be monitored and scheduled by electronic equipment. The mobile charging pile set in this embodiment refers to the sum of all available charging piles in the mobile charging system. These charging piles are designed to be movable so that they can be carried to different parking spaces by robots.

[0086] In this embodiment, when the electronic device receives a mobile charging request, it first checks the first state information of each robot in the mobile robot set and identifies all robots in an idle state. The idle state means that the robot is not currently performing a task and is fully charged or at a power level that can perform a task. Similarly, the system checks the second state information of each mobile charging pile in the mobile charging pile set and identifies all charging piles in an idle state. Charging piles in an idle state refer to those charging piles that are not providing charging services to vehicles.

[0087] As another feasible implementation method for determining the callable charging robot, when it is detected that there is no robot in an idle state, the handling task list of the robot in the working state and the charging task list of the robot in the charging state are obtained. According to the handling task list and the charging task list, the waiting time of the corresponding robot is determined, and the robot with the shortest waiting time is used as the callable robot. This waiting time indicates the time to wait for the corresponding robot to execute the mobile charging request. For the robot in the handling task list, the waiting time refers to the time to wait for the robot in the working state to complete its currently assigned handling task. For the robot in the charging task list, the waiting time refers to the time to wait for the battery of the robot in the charging state to reach a preset battery threshold. The battery threshold can be a pre-set appropriate battery percentage value or battery value. When the battery of the robot reaches the battery threshold, it means that it has sufficient power to carry out the charging pile handling work.

[0088] The handling task list includes the robot identification of the robot in the working state and the corresponding work task information, and the work task information includes the work time of one or more handling tasks assigned to it. Based on the work time, the waiting time of the corresponding robot can be determined. The charging task list includes the robot identification of the robot in the charging state and the charging progress information. Based on the charging progress information, the waiting time of the robot can be calculated.

[0089] The electronic device compares the waiting times of all robots and selects the robot with the shortest waiting time as the callable robot.

[0090] For example, suppose there are multiple robots in a parking lot, some of which are carrying charging piles or charging. When the electronic device receives a mobile charging request, it detects the first state information of all robots. It is found that robots R1 and R2 are currently in working state, while robot R3 is in charging state. Among them, robot R1 has been assigned a handling task, and it is carrying a charging pile to the parking space. It is estimated that it will take another 3 minutes to complete the handling task, so the waiting time of robot R1 is 3 minutes. Robot R2 has been assigned three handling tasks. Based on the task time of each of its handling tasks, it is calculated that it will take 8 minutes to complete the three handling tasks, so its corresponding waiting time is 8 minutes. Robot R3 is charging, and it is estimated that it will take another 10 minutes to reach the preset power threshold, so the waiting time of robot R3 is 10 minutes. In this case, the electronic device can select robot R1 as the callable charging robot because it has the shortest waiting time, will complete the current handling task the fastest and can be used to execute the mobile charging request. Through this implementation, the electronic device can intelligently dispatch the robot to ensure that mobile charging requests can be completed efficiently and timely, while maximizing the robot's utilization and response speed.

[0091] It is understandable that when all available charging robots are performing handling tasks or charging and cannot be interrupted immediately, since there is currently no callable robot that can execute the mobile charging request, this embodiment executes step S30 after the shortest waiting time. In addition, during the waiting period, the electronic device can notify the user of the estimated waiting time through a mobile application or SMS, providing a transparent service experience and allowing the user to make decisions based on real-time information.

[0092] As another feasible implementation method for determining the callable charging pile, when it is detected that there is no charging pile in an idle state, a work task list of the charging pile in a working state is obtained, interruptible tasks and / or waitable tasks are identified from the work task list, and the charging pile that executes the interruptible task and / or the charging pile that executes the waitable task is used as the callable charging pile.

[0093] Specifically, the work task list in this embodiment includes detailed information on the charging tasks being performed by the charging pile, including one or more of the priority of the charging task, charging power, target charging amount, charged amount, expected parking time of the charging vehicle, parking time of the charging vehicle, etc., as well as one or more of the expected charging time, expected remaining charging time, and expected remaining parking time calculated based on the above information. It should be noted that the expected charging time refers to the time required to complete the charging task, the expected remaining charging time refers to the time required to complete the charging task, and the expected remaining parking time refers to the time the charging vehicle is expected to be parked. Identify the charging tasks whose priority is less than the charging priority of the mobile charging request from the work task list, and obtain the expected remaining charging time of each charging task.

[0094] The first implementation method for determining available charging piles is to treat charging tasks with an estimated remaining charging time less than or equal to a preset waiting time as waiting tasks. This is to take into account the fact that some charging tasks are close to completion. A preset waiting time, such as five or ten minutes, can be set. Charging tasks less than or equal to this preset waiting time will be marked as waiting tasks by the electronic device, and the electronic device will choose to wait for these charging tasks to end naturally instead of interrupting them.

[0095] For example, suppose a charging pile is charging an electric car and it is estimated that it will take another 4 minutes to complete the charging. In this case, the electronic device will mark the charging task as a waitable task and wait for 4 minutes before the charging pile naturally becomes idle.

[0096] In addition, considering that the first state information of the robot may change during the waiting time, step S20 may be performed after the waiting time is over, that is, after there is an idle charging pile.

[0097] The second implementation method for determining the available charging piles is to use the charging tasks whose estimated remaining charging time is greater than the preset waiting time as the tasks to be screened. And according to the estimated remaining parking time of the vehicle corresponding to the task to be screened, the interruptible tasks are determined from the tasks to be screened. This is to take into account that the charging pile that performs the waitable task may not have the best transportation efficiency. For example, if the charging pile that performs the waitable task is located in an area of ​​the parking lot that is far away from the target parking space, the waiting time and low transportation efficiency will have a great impact on the execution efficiency of the mobile charging request. In this case, choosing to interrupt a charging task that is closer to the target parking space can respond to the mobile charging request more quickly, thereby improving the overall charging service efficiency.

[0098] In practical applications, these two implementations can be used alone or in combination to achieve better allocation of charging resources.

[0099] In addition, based on any of the above implementations, under the premise that the mobile charging system used in this application supports multiple types of charging piles, such as DC charging piles, 7KW (220V, 32A) AC charging piles, 11KW (380v, 16A) AC charging piles, 21kw (380v, 32A) AC charging piles, etc., it is necessary to determine the type of charging equipment associated with the mobile charging request, and determine at least one callable charging pile that matches the charging pile type based on the second state information of each charging pile in the mobile charging pile set.

[0100] Step S40, determining the target robot and the target charging pile according to the first position information of each callable robot, the second position information of each callable charging pile and the coordinates of the target parking space.

[0101] In this embodiment, the first position information indicates the current position coordinates of the robot. The second position information indicates the current position coordinates of the charging pile. The target parking space coordinates indicate the specific position coordinates of the parking space that needs charging service.

[0102] The robot itself integrates a corresponding positioning module, through which the robot's own first position information can be obtained. Figure 3 As shown, the robot has specific dimensions and a strict upstream and downstream relationship. This application creates a corresponding coordinate system based on the space of the parking lot, selects the midpoint of the boundary line in the direction of the robot's head as the robot's zero point, and determines the robot's first position information based on the coordinate position of the robot's zero point in the coordinate system. The first position information can specifically be the coordinates of the robot's zero point in the coordinate system. The same is true for the position information of the charging pile.

[0103] Furthermore, the mobile charging system also has position calibration devices fixed at multiple different positions on the track. The position calibration devices are used to calibrate the position of the robot and eliminate the accumulated error in distance calculation during the movement of the robot, so as to ensure that the mobile charging robot can still maintain high-precision positioning and operation after long-term operation.

[0104] When it is detected that the robot passes through a position calibration device, the position calibration device will generate a robot passing signal, and determine the first position information of the robot according to the position of the position calibration device and the passing signal, or correct the first position information of the robot, thereby improving the positioning accuracy of the robot.

[0105] Specifically, the passing signal may include a rising edge signal of 0-1 and a falling edge signal of 1-0. The rising edge signal of 0-1 is used for robot arrival calibration, and the falling edge signal of 1-0 is used for robot departure calibration. In order to achieve accurate real-time tracking, the robot's own size information such as length, width and height needs to be used as fixed parameters. When the robot first arrives at the position calibration device, the position calibration device generates a rising edge signal of 0-1; when the robot leaves the position calibration device, the position calibration device generates a falling edge signal of 1-0. Through the rising edge signal of 0-1 and the falling edge signal of 1-0, it can ensure that the robot maintains accurate position control during the entire movement process.

[0106] The electronic device can generate driving paths for each callable robot via a callable charging pile to the target parking space coordinates based on the target parking space coordinates, at least one first position information, and at least one second position information, and calculate the duration and / or total transportation distance of the corresponding driving path. Based on each duration and / or total transportation distance, the optimal driving path is determined, and the callable robot corresponding to the optimal driving path is used as the target robot, and the callable charging pile corresponding to the optimal driving path is used as the target charging pile.

[0107] Reference Figure 4 , the above step S40 includes:

[0108] Step S41, calculating a first distance from each callable robot to each of the callable charging posts according to the first position information and the second position information.

[0109] Step S42, calculating the second distance from each available charging pile to the target parking space coordinates according to the second position information and the target parking space coordinates.

[0110] In this embodiment, the first distance and the second distance may be path planning distances or Euclidean distances (or other applicable distance metrics), which is not limited in this embodiment.

[0111] Step S43, calculating the sum of the first distance and the second distance associated with each available charging pile.

[0112] Step S44, determining the target charging pile and the target robot according to the available charging piles and available robots associated with the shortest added distance.

[0113] In this embodiment, the added distance represents the total transportation distance of a callable robot to reach a callable charging pile and transport the callable charging pile to the target parking space. By arranging all the combination schemes of callable charging piles and callable robots and calculating the added distances corresponding to all the combination schemes, the callable charging pile and callable robot associated with the combination scheme with the shortest added distance are selected as the target charging pile and target robot.

[0114] Exemplarily, assuming that there are three callable robots R1, R2, and R3 and two charging piles P1 and P2, as well as a target parking space, the electronic device first calculates the first distance from each callable robot to each callable charging pile, and then adds the first distance to the second distance from each callable charging pile to the target parking space to obtain the added distance. For example, the electronic device calculates that the distance from R1 to P1 is 10 meters, and the distance from P1 to the target parking space is 5 meters, so the combined added distance of R1 and P1 is 15 meters. Similarly, the electronic device also calculates the added distances from R2 to P1, R3 to P1, R1 to P2, R2 to P2, and R3 to P2, which are 17 meters, 13 meters, 25 meters, 28 meters, and 16 meters, respectively. By comparing the added distances of all these combinations, the electronic device finds that the combination of R3 to P1 has the shortest added distance, i.e., 13 meters. Therefore, the electronic device selects R3 as the target robot and P1 as the target charging pile to ensure that the charging task can be completed with the least moving distance and the highest efficiency. This embodiment not only optimizes resource allocation, but also reduces energy consumption caused by unnecessary movement, thereby improving the operating efficiency of the entire mobile charging system.

[0115] Step S50, calling the target robot to transport the target charging pile to the target parking space coordinates, so that the vehicle in the target parking space can be charged through the target charging pile.

[0116] After the target robot and the target charging pile are determined in this embodiment, a specific charging task scheduling will be performed. At this time, the electronic device will send instructions to the target robot to navigate to the location of the target charging pile and complete the carrying task of the target charging pile, and then transport the charging pile to the charging position docking part of the target parking space. Once the target charging pile is correctly placed and connected, the electronic device will start the charging process, so that the vehicle in the target parking space can be charged through the target charging pile. At this time, the charging interface of the vehicle is connected to the charging gun hanging from the charging position docking part, and the target charging pile begins to deliver electrical energy to the vehicle battery.

[0117] In some embodiments, according to the first position information of the target robot and the second position information of the target charging pile, the first area number corresponding to the first position information of the target robot and the second area number corresponding to the second position information of the target charging pile are determined. According to the first area number and the second area number, an extract charging pile instruction containing the robot's driving path is generated. When the robot has obtained the charging pile, a charging pile transportation instruction containing the robot's driving path is generated according to the second area number and the target area number corresponding to the target parking space.

[0118] The charging pile extraction instruction and the charging pile transportation instruction both contain a series of area numbers and action codes. The action code is a code used to instruct the robot how to move and the direction of movement of the robot when moving between different areas. The action code indicates the walking direction of the robot. Figure 2 As shown, a corresponding coordinate system (z-axis not shown) is established according to the parking lot information, and the coordinate position of each area number in the coordinate system and the direction relationship of each area number in the coordinate system are reflected in the coordinate system. For example, the action code "2" indicates the forward direction along the X-axis; the action code "3" indicates the backward direction along the x-axis; the action code "4" indicates the forward direction along the y-axis; the action code "5" indicates the backward direction along the y-axis; the action code "6" indicates the forward direction along the Z-axis; the action code "7" indicates the backward direction along the Z-axis; and the action code "99" indicates waiting in place.

[0119] Taking the dispatch target robot moving from the first area number 57900 to the second area number 57920 as an example, the generated instruction may be: (579002, 579052, 579102, 579152), indicating that the robot is instructed to walk from area number 57900 along the X-axis forward direction, passing through area numbers 57905, 57910, and 57915 in sequence, and then reaching area number 57920. For another example, moving from area number 51932 to area number 51933, walking along the Y-axis, when the robot reaches the position of area number 51932, the instruction received is (51933 4).

[0120] In addition, in order to ensure that these robots do not interfere with each other when performing tasks, when there is an area where the path of other robots is locked on the route planned by one robot, it is necessary to wait for the other robots to be released before executing the task.

[0121] In this embodiment, on the one hand, by dynamically monitoring and optimizing the real-time status information of the mobile robot and the charging pile, it is possible to ensure that charging resources are used most effectively, reduce the waste of resources caused by idle charging piles, and thus improve the turnover rate and utilization rate of the charging piles.

[0122] Secondly, by accurately matching the available robots and charging piles to the target parking spaces, unnecessary movement and energy consumption are reduced, and the efficiency of the entire charging process is improved. This not only reduces energy waste, but also reduces operating costs, making charging services more economical and efficient.

[0123] Thirdly, by reducing the number of fixed charging piles, the parking lot occupancy is reduced, freeing up more space for vehicle parking or other purposes. This optimized use of space is particularly beneficial for parking lots or urban environments with limited space.

[0124] Fourthly, the present application can reduce the waiting time of users and improve the user experience. Users do not need to wait for a long time for the charging pile to become available, nor do they need to return to the vehicle immediately after charging is completed, which greatly enhances the convenience and satisfaction of users.

[0125] Fifthly, this application improves the automation of the charging process through intelligent decision-making, reduces manual intervention, and reduces scheduling problems caused by human errors. This intelligent control strategy not only improves the reliability of charging services, but also lays the foundation for the further development of future charging technology.

[0126] In one embodiment, referring to Figure 5 , obtaining the estimated remaining parking time of the vehicle corresponding to the task to be screened, and determining the interruptible tasks from the tasks to be screened according to the estimated remaining parking time, including:

[0127] Step A10, obtaining the estimated remaining parking time of the vehicle corresponding to the task to be screened.

[0128] In this embodiment, the electronic device can calculate the estimated remaining parking time based on the estimated parking time filled in by the user corresponding to the task to be screened when issuing a task request and the monitored parking time of the vehicle corresponding to the task to be screened.

[0129] Step A20, calculating the task interruption feasibility index according to the estimated remaining charging time and the estimated remaining parking time of the task to be screened.

[0130] In this embodiment, the task interruption feasibility index indicates the probability that the task can still be completed after being interrupted. The task interruption feasibility index is negatively correlated with the estimated remaining charging time and positively correlated with the estimated remaining parking time. The smaller the estimated remaining charging time and the larger the estimated remaining parking time, the higher the task interruption feasibility index.

[0131] It can be calculated by simple division, that is, the estimated remaining parking time is divided by the estimated remaining charging time, and the quotient is the mission interruption feasibility index.

[0132] More factors and variables can also be introduced to generate simulated remaining charging requests based on the estimated remaining charging time and the estimated remaining parking time of the tasks to be screened. The simulated remaining charging request represents the remaining charging demand after each screenable task is interrupted. The simulated remaining charging requests are input into the parking lot flow simulation model respectively. The parking lot flow simulation model has learned a large amount of historical parking lot charging request data and can predict the demand for new charging requests received by electronic devices in the future. Therefore, the task interruption feasibility index of each simulated remaining charging request is calculated and output based on the demand for the new charging request.

[0133] Step A30, determining interruptible tasks from the tasks to be screened according to the task interruption feasibility index.

[0134] In one embodiment, an index threshold is set, and tasks to be screened whose task interruption feasibility index is higher than the index threshold are regarded as interruptible tasks.

[0135] In one embodiment, all tasks to be screened are sorted from low to high according to their indexes, and a screening ratio is set. Tasks within this screening ratio, such as the top 20 percent of tasks with the highest index, can be interrupted.

[0136] In addition to the index, other factors can also be combined, such as sending an inquiry message to the user terminal of the task to be screened, asking whether it can accept the temporary interruption of the charging task. The electronic device can give some compensation to the user who accepts it.

[0137] In this embodiment, by obtaining the estimated remaining parking time of the vehicle and calculating the task interruption feasibility index, the electronic device can more efficiently use limited resources and avoid unnecessary waste, thereby improving resource utilization. Secondly, allowing tasks to be interrupted and rescheduled enables the electronic device to respond to emergencies and changes more flexibly, thereby enhancing the adaptability and response speed of the electronic device.

[0138] In one embodiment, the target charging pile is defined as a charging pile that performs an interruptible task. After the target charging pile is interrupted from performing the original charging task, Figure 6 As shown, the steps include:

[0139] B10, based on the original charging task of the target charging pile and the task execution progress, a pending mobile charging request is generated.

[0140] The original charging task in this embodiment refers to the charging task being executed when the target charging pile is interrupted, and the pending mobile charging request refers to the new charging task generated based on the remaining charging demand after the original charging task of the target charging pile is interrupted.

[0141] Specifically, the detailed information of the original charging task is obtained, including the charging type, the estimated total charging time, the estimated parking time, and the current task execution progress. According to the current task execution progress and the parking time, the remaining charging demand and the estimated remaining parking time are calculated. And a new pending mobile charging request is generated according to the remaining charging demand and the estimated remaining parking time.

[0142] For example, suppose the original charging task of the vehicle corresponding to the target charging pile is to charge at a Class A charging pile for 1 hour, and the expected parking time is 3 hours. The current task execution progress is 30 minutes of charging, and the parking time is 40 minutes. Therefore, the generated pending mobile charging request is that the vehicle in the parking space corresponding to the original charging task needs to charge at a Class A charging pile for 30 minutes, and the expected parking time is 2 hours and 20 minutes.

[0143] B20, updating the priority of the mobile charging request to be processed according to the estimated remaining charging time and the estimated remaining parking time of the vehicle corresponding to the original charging task.

[0144] When the original charging task is interrupted, in order to make up for the charging needs of the interrupted vehicle, the electronic device will give an initial priority to its newly generated pending mobile charging request. This design logic is intended to ensure that the interrupted charging task can obtain a higher priority in subsequent processing, thereby increasing the possibility of it being met as soon as possible.

[0145] However, considering that some vehicles may not be in urgent need of charging, the priority setting is not fixed but is dynamically adjusted according to the urgency of time.

[0146] Specifically, the electronic device determines the frequency and amplitude of the priority update according to the estimated remaining charging time and the estimated remaining parking time of the vehicle corresponding to the original charging task, and updates the priority of the pending mobile charging request according to the frequency and amplitude of the priority update.

[0147] For example, assuming that the estimated remaining charging time of the interrupted vehicle is 30 minutes and the estimated remaining parking time is 140 minutes. The initial priority can be set to a base value (e.g., 1). After each update period (30 minutes), the priority increases by one unit (e.g., +1). If two update periods (60 minutes) have passed, the priority increases by two units (e.g., +2), and so on, until the charging task is completed or the vehicle leaves.

[0148] B30, allocating charging piles for pending mobile charging requests based on the updated priorities.

[0149] In this embodiment, the main difference between the newly generated pending mobile charging request and the charging request normally initiated by the user terminal in processing is the priority setting and adjustment mechanism. In addition, in terms of processing flow and method, there is no essential difference between the newly generated pending mobile charging request and the charging request normally initiated by the user terminal, and both are operated according to the standardized processing flow.

[0150] When resources are sufficient, electronic devices can process multiple charging requests at the same time and use a multi-objective solution method to optimize resource allocation. However, when resources are insufficient, electronic devices will allocate resources based on priority. For pending mobile charging requests, since their priorities may have been dynamically adjusted, they will receive more attention and priority in resource allocation.

[0151] In this embodiment, this dynamic priority adjustment mechanism based on time urgency can ensure that the charging requests of interrupted vehicles are processed first while avoiding excessive priority for non-emergency vehicles, thereby achieving reasonable allocation and utilization of resources. In this way, this embodiment can not only improve the overall work efficiency of the mobile charging system, but also improve user experience and satisfaction, and ultimately achieve the purpose of optimizing task scheduling and decision-making processes.

[0152] In one embodiment, a storage medium is provided, on which executable instructions are stored. When the instructions are executed by a processor, the processor executes the steps in the above-mentioned method embodiments.

[0153] In one embodiment, an electronic device is also provided, including one or more processors; a memory, in which one or more programs are stored, wherein when the one or more programs are executed by one or more processors, the one or more processors execute the steps in the above-mentioned method embodiments.

[0154] In one embodiment, Figure 7 As shown, it shows a schematic diagram of the structure of an electronic device for implementing an embodiment of the present application. The electronic device 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 to a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0155] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage section 708 as needed.

[0156] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, including a computer-readable medium carrying instructions, in such an embodiment, the instructions can be downloaded and installed from a network through a communication part 709, and / or installed from a removable medium 711. When the instructions are executed by a central processing unit (CPU) 701, the various method steps described in the present application are executed.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0158] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present application, and should not be regarded as an admission or in any form to imply that the information constitutes prior art already known to those skilled in the art.

Claims

1. A vehicle mobile charging control method, characterized in that: The method comprises: receiving a mobile charging request, and determining the coordinates of a target parking space associated with the mobile charging request; Determine at least one callable robot based on first state information of each robot in the mobile robot set; Determining at least one callable charging pile based on the second state information of each charging pile in the mobile charging pile set, including: when it is detected that there is no charging pile in an idle state, obtaining a work task list of the charging pile in a working state, identifying interruptible tasks and / or waitable tasks from the work task list, and using the charging pile that executes the interruptible task and / or the charging pile that executes the waitable task as the callable charging pile, wherein the second state information includes a working state and an idle state; Determine the target robot and the target charging pile according to the first position information of each of the callable robots, the second position information of each of the callable charging piles, and the target parking space coordinates; Calling the target robot to carry the target charging pile to the target parking space coordinates, so that the vehicle in the target parking space can be charged through the target charging pile; The mobile charging request also includes a charging priority, and the identifying of interruptible tasks and / or waitable tasks from the work task list includes: identifying charging tasks whose priority is less than the charging priority from the work task list, and obtaining an estimated remaining charging time of each of the charging tasks, taking the charging tasks whose estimated remaining charging time is greater than a preset waiting time as tasks to be screened, obtaining an estimated remaining parking time of the vehicle corresponding to the tasks to be screened, calculating a task interruption feasibility index based on the estimated remaining charging time and the estimated remaining parking time of the tasks to be screened, and determining the interruptible tasks from the tasks to be screened based on the task interruption feasibility index.

2. The vehicle mobile charging control method according to claim 1, characterized in that: The step of determining the target robot and the target charging pile according to the first position information of each of the callable robots, the second position information of each of the callable charging piles, and the target parking space coordinates includes: Calculate a first distance from each of the callable robots to each of the callable charging posts according to the first position information and the second position information; Calculate the second distance from each of the callable charging piles to the target parking space coordinates according to the second position information and the target parking space coordinates; Calculating the sum of the first distance and the second distance associated with each of the callable charging piles; The target charging pile and the target robot are determined according to the available charging pile and the available robot associated with the shortest added distance.

3. The vehicle mobile charging control method according to claim 1, characterized in that: After receiving the mobile charging request, the method further includes: Determine the type of charging pile associated with the mobile charging request, the charging pile type including a DC charging pile or an AC charging pile; The determining at least one callable charging pile based on the second status information of each charging pile in the mobile charging pile set includes: At least one callable charging pile matching the charging pile type is determined based on the second status information of each charging pile in the mobile charging pile set.

4. The vehicle mobile charging control method according to claim 1, characterized in that: The first state information includes a working state, an idle state, and a charging state. The determining of at least one callable robot based on the first state information of each robot in the mobile robot set includes: When there is an idle robot, determining at least one idle robot from the mobile robot set as the callable robot; The determining at least one callable charging pile based on the second status information of each charging pile in the mobile charging pile set includes: When there is an idle charging pile, at least one idle charging pile is determined from the mobile charging pile set as the callable charging pile.

5. The vehicle mobile charging control method according to claim 4, characterized in that: The step of determining at least one callable robot based on the first state information of each robot in the mobile robot set comprises: When it is detected that there is no robot in an idle state, a handling task list of a robot in a working state and a charging task list of a robot in a charging state are obtained; Determining the waiting time of the corresponding robot according to the transport task list and the charging task list; The mobile robot with the shortest waiting time is used as the callable robot; After the shortest waiting time has elapsed, the step of determining at least one available charging pile based on the second status information of each charging pile in the mobile charging pile set is performed.

6. The vehicle mobile charging control method according to claim 1, characterized in that: The step of identifying interruptible tasks and / or waitable tasks from the work task list further includes: The charging task whose estimated remaining charging time is less than or equal to the preset waiting time is regarded as a waitable task.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the vehicle mobile charging control method as claimed in any one of claims 1 to 6.

8. A storage medium, characterized in that: The storage medium stores executable instructions, and when the instructions are executed by the processor, the processor executes the vehicle mobile charging control method according to any one of claims 1 to 6.

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