Charging scheduling method and system for mobile charging vehicle

Abstract

The invention provides a mobile charging vehicle charging scheduling method and system, and the method comprises the steps: obtaining a to-be-charged posture corresponding to each to-be-charged vehicle, guiding each to-be-charged vehicle to adjust the corresponding to-be-charged posture based on a standard charging posture, and obtaining basic information corresponding to each to-be-charged vehicle, and establishing a plurality of demand selection conditions of current charging in combination with charging demands uploaded by corresponding users, screening corresponding execution target mobile charging vehicles according to the demand selection conditions, constructing guide moving directions corresponding to the target mobile charging vehicles, and controlling each target mobile charging vehicle to advance according to the corresponding guide moving direction. The real-time video stream corresponding to each target mobile charging vehicle is collected, the target mobile charging vehicle is guided to perform real-time obstacle avoidance, and according to the charging demand of the user, the nearby coincident mobile charging vehicle can be scheduled to move to perform mobile charging, so that the purposes of improving the charging efficiency, reducing the waiting time of the user and reducing the workload of management personnel are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated scheduling, and in particular to a charging scheduling method and system for a mobile charging vehicle. Background Art

[0002] As the world's environmental problems and energy crises become increasingly prominent, finding cars with no pollution or less pollution has long become a goal pursued by people. Under this background, the future development of new energy electric vehicles has become inevitable. On the other hand, with the development of electric vehicles, the problem of difficulty and inconvenience in charging electric vehicles has become increasingly prominent. In order to solve such charging problems, electric mobile charging vehicles have appeared, which can flexibly provide users with convenient charging services. However, climate change, energy and environmental problems are long-term problems faced by human society. The sales of electric vehicles have also increased year by year. However, due to the constraints of battery technology, the current range of electric vehicles is generally around 200 kilometers, and the charging time required is relatively long; for example, using fast charging technology, it generally takes 40-60 minutes to fully charge.

[0003] Currently, the mobile charging vehicles on the market are manually controlled, have a low level of intelligence, and cannot meet the current tight charging needs.

[0004] Therefore, the present invention provides a charging scheduling method and system for a mobile charging vehicle. Summary of the invention

[0005] The present invention provides a mobile charging vehicle charging scheduling method and system, which can schedule nearby mobile charging vehicles that meet the charging needs of users to perform mobile charging, so as to improve charging efficiency, reduce user waiting time, and reduce the workload of managers.

[0006] The present invention provides a charging scheduling method for a mobile charging vehicle, comprising:

[0007] Step 1: Obtain the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture;

[0008] Step 2: Obtain the basic information corresponding to each of the vehicles to be charged, and establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user;

[0009] Step 3: Filter the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle;

[0010] Step 4: Control each of the target mobile charging vehicles to move forward in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

[0011] In one practicable manner,

[0012] Also includes:

[0013] Obtaining the remaining power corresponding to each of the mobile charging vehicles, and locating the low-power position corresponding to the low-power mobile charging vehicle whose remaining power is less than the standard remaining power;

[0014] Obtain a charging pile distribution map, and map each of the low-power locations to the charging pile distribution map, respectively, to determine the path length between each of the low-power mobile charging vehicles and different charging piles;

[0015] Matching a corresponding target charging pile to each of the low-power mobile charging vehicles based on the path length;

[0016] Control the low-power mobile charging vehicle to move to the corresponding target charging pile for charging.

[0017] In one practicable manner,

[0018] The step 1 comprises:

[0019] Step 11: obtaining a state image of the corresponding vehicle to be charged in the charging place, performing contour extraction on the state image, generating a contour distribution map of the charging place, and screening a number of passable positions in the contour distribution map of the charging place by using the appearance contour specifications of the mobile charging vehicle;

[0020] Step 12: Locate the vehicle contour features corresponding to the vehicle to be charged in the state image, establish the charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged, and locate several charging positions in the state image according to the charging posture;

[0021] Step 13: determining a first executable probability corresponding to each of the chargeable positions based on the appearance profile specification distribution, constructing a plurality of movement paths corresponding to the vehicle to be charged according to the passable positions, and establishing a second executable probability corresponding to each of the chargeable positions based on the intersection relationship between different movement paths and each of the chargeable positions;

[0022] Step 14: When the first executable probability or the second executable probability is lower than the standard execution probability, find the charging position with the shortest distance from the vehicle to be charged in the state image, and establish the standard charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged. According to the posture difference between the posture to be charged and the standard charging posture, establish a posture guidance plan to guide each of the vehicles to be charged to adjust the corresponding posture to be charged.

[0023] In one practicable manner,

[0024] The step 2 comprises:

[0025] Step 21: Obtain basic information of each of the vehicles to be charged, and construct a virtual conceptual model corresponding to the vehicle to be charged according to the basic information;

[0026] Step 22: respectively running each of the virtual conceptual models, and establishing a number of conceptual parameters corresponding to the vehicle to be charged based on the output information corresponding to each of the virtual conceptual models;

[0027] Step 23: Acquire the charging demand uploaded by the corresponding user, construct a plurality of demand dimensions according to the charging demand, reorganize the conceptual parameters according to the demand dimensions, and generate a plurality of demand selection conditions corresponding to the vehicle to be charged.

[0028] In one practicable manner,

[0029] The step 3 comprises:

[0030] Step 31: establishing charging screening rules corresponding to the vehicle to be charged according to the demand selection conditions, and determining the required charging time corresponding to the vehicle to be charged according to the demand selection conditions;

[0031] Step 32: Obtain the work schedule timeline corresponding to each of the mobile charging vehicles, locate the required charging time in each of the work schedule timelines, and analyze the status information of each of the mobile charging vehicles corresponding to the required charging time;

[0032] Step 33: Filter the state information using the charging screening rule to obtain a target mobile charging vehicle corresponding to the demand selection condition, determine the activity trajectory of the target mobile charging vehicle according to the target work schedule time axis corresponding to the target mobile charging vehicle, and obtain the parking position range of the target mobile charging vehicle corresponding to the required charging time;

[0033] Step 34: Obtain a scene distribution map corresponding to the charging scene, determine the charging position of the vehicle to be charged based on the current charging posture of the vehicle to be charged, mark the charging position and the parking position range corresponding to the target mobile charging vehicle in the scene distribution map, and generate the guided moving direction of the target mobile charging vehicle in the scene distribution map.

[0034] In one practicable manner,

[0035] Also includes:

[0036] Each of the mobile charging vehicles is provided with a forward shooting device and a backward shooting device;

[0037] In one practicable manner,

[0038] The step 4 comprises:

[0039] Step 41: Control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles;

[0040] Step 42: determining the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, drawing the real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determining a number of obstacle objects contained in the real-time forward image;

[0041] Step 43: Analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects;

[0042] Step 44: locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guided moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

[0043] In one practicable manner,

[0044] The step 44 comprises:

[0045] Step 441: locating dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, performing appearance recognition on each of the dangerous obstacle objects in the real-time forward image, determining the object attributes corresponding to each of the dangerous obstacle objects, and retrieving the working range corresponding to each of the dangerous obstacle objects;

[0046] Step 442: locate each of the working ranges in the real-time forward image, determine the avoidance range of the corresponding target mobile charging vehicle, analyze the real-time forward speed of the corresponding target mobile charging vehicle according to the real-time forward information, and determine the estimated time for the target mobile charging vehicle to reach each avoidance range;

[0047] Step 443: Locate the target avoidance range with the shortest estimated time in the real-time forward image, determine the drivable range corresponding to the target avoidance range, draw a corresponding forward route within the drivable range using the guided moving direction, and analyze the path adjustment time corresponding to this obstacle avoidance based on the distance between the forward route and the real-time position of the corresponding target mobile charging vehicle;

[0048] Step 444: correcting the real-time forward speed of the corresponding target mobile charging vehicle based on the path adjustment duration, generating obstacle avoidance measures for the corresponding target mobile charging vehicle in combination with the corresponding forward path, and controlling the corresponding target mobile charging vehicle to implement the corresponding obstacle avoidance measures.

[0049] The present invention provides a mobile charging vehicle charging scheduling system, comprising:

[0050] A posture acquisition module, used to acquire the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture;

[0051] A condition building module is used to obtain the basic information corresponding to each of the vehicles to be charged, and to establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user;

[0052] A preliminary guidance module, used to select the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle;

[0053] The scheduling execution module is used to control each of the target mobile charging vehicles to move in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

[0054] In one practicable manner,

[0055] The scheduling execution module includes:

[0056] The first execution unit is used to control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles;

[0057] A second execution unit is used to determine the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, draw a real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determine a number of obstacle objects contained in the real-time forward image;

[0058] A third execution unit is used to analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects;

[0059] The fourth execution unit is used to locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guiding moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

[0060] The achievable beneficial effects of the above technical solution are as follows: in order to improve charging efficiency while reducing the waiting time of users, when the vehicle to be charged enters the charging place, its charging posture is analyzed, and it is guided to adjust its posture when necessary, so as to facilitate the subsequent smooth charging work and avoid the phenomenon that the mobile charging vehicle cannot reach the charging port. Then, before charging, the demand selection conditions are constructed according to the basic information of the vehicle and the needs of the user, and the conditions are used to screen the target mobile charging vehicle that can perform the charging work, and the guiding moving direction of the target mobile charging vehicle is established. At this time, the target mobile charging vehicle can start to search for the vehicle to be charged along the established guiding moving direction, and collect its forward video stream during the search process, and then perform real-time obstacle avoidance analysis to avoid the target mobile charging vehicle from colliding with other objects. In this way, the influence of the external environment can be solved in the early stage of charging, and the mobile charging vehicle can move to the position of the vehicle to be charged to charge it by itself, getting rid of manual control and effectively improving the allocation efficiency of mobile charging vehicles.

[0061] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0062] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0064] Figure 1 A schematic diagram of a working process of a charging scheduling method for a mobile charging vehicle in an embodiment of the present invention;

[0065] Figure 2 The figure is a schematic diagram of the composition of a charging scheduling system for a mobile charging vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] Example 1

[0068] This embodiment provides a charging scheduling method and system for a mobile charging vehicle, such as Figure 1 As shown, including:

[0069] Step 1: Obtain the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture;

[0070] Step 2: Obtain the basic information corresponding to each of the vehicles to be charged, and establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user;

[0071] Step 3: Filter the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle;

[0072] Step 4: Control each of the target mobile charging vehicles to move forward in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

[0073] In this example, the posture to be charged is generated by the parking position and parking angle of the vehicle to be charged, regarding the parking posture of the vehicle to be charged;

[0074] In this example, the standard charging posture refers to the posture of the charging parking position and parking angle corresponding to different brands of vehicles to be charged, which is set in advance. Generally speaking, all brands of vehicles to be charged can be parked in the specified charging place, and the charging port position must be exposed at the outside when parking;

[0075] In this example, the basic information refers to the information presented by the vehicle to be charged before charging, including the remaining power of the vehicle to be charged, the charging speed, and the location of the charging port, etc.;

[0076] In this example, the charging requirement indicates the requirements put forward by the user for this charging work, such as: specifying the charging start and end time, specifying the charging speed, etc.;

[0077] In this example, the guiding moving direction indicates the direction from the target mobile charging vehicle to the vehicle to be charged;

[0078] In this example, during charging, a mobile charging vehicle provides charging services for a vehicle to be charged.

[0079] The working principle and beneficial effects of the above technical solution: In order to improve charging efficiency and reduce the waiting time of users, when the vehicle to be charged enters the charging place, its charging posture is analyzed, and it is guided to adjust its posture when necessary to facilitate the subsequent smooth charging work and avoid the phenomenon that the mobile charging vehicle cannot reach the charging port. Then, before charging, the demand selection conditions are constructed according to the basic information of the vehicle and the needs of the user. The conditions are used to screen the target mobile charging vehicle that can perform this charging work, and the guiding moving direction of the target mobile charging vehicle is established. At this time, the target mobile charging vehicle can start to search for the vehicle to be charged along the established guiding moving direction, and collect its forward video stream during the search process, and then perform real-time obstacle avoidance analysis to avoid the target mobile charging vehicle from colliding with other objects. In this way, the influence of the external environment can be solved in the early stage of charging, and the mobile charging vehicle can move to the position of the vehicle to be charged to charge it, getting rid of manual control and effectively improving the allocation efficiency of mobile charging vehicles.

[0080] Example 2

[0081] Based on Example 1, the mobile charging vehicle charging scheduling method further includes:

[0082] Obtaining the remaining power corresponding to each of the mobile charging vehicles, and locating the low-power position corresponding to the low-power mobile charging vehicle whose remaining power is less than the standard remaining power;

[0083] Obtain a charging pile distribution map, and map each of the low-power locations to the charging pile distribution map, respectively, to determine the path length between each of the low-power mobile charging vehicles and different charging piles;

[0084] Matching a corresponding target charging pile to each of the low-power mobile charging vehicles based on the path length;

[0085] Control the low-power mobile charging vehicle to move to the corresponding target charging pile for charging.

[0086] In this example, the standard remaining power is 10%.

[0087] In this example, the charging pile can charge a mobile charging vehicle or a vehicle.

[0088] The working principle and beneficial effects of the above technical solution: In order to improve the working efficiency of the mobile charging vehicle, when the remaining power of the mobile charging vehicle is too low, a charging pile nearby is selected and the charging vehicle is guided to the charging pile for timely charging. This can reduce the power consumption of the mobile charging vehicle and shorten the standby time of the mobile charging vehicle.

[0089] Example 3

[0090] On the basis of Example 1, the mobile charging vehicle charging scheduling method, step 1, comprises:

[0091] Step 11: obtaining a state image of the corresponding vehicle to be charged in the charging place, performing contour extraction on the state image, generating a contour distribution map of the charging place, and screening a number of passable positions in the contour distribution map of the charging place by using the appearance contour specifications of the mobile charging vehicle;

[0092] Step 12: Locate the vehicle contour features corresponding to the vehicle to be charged in the state image, establish the charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged, and locate several charging positions in the state image according to the charging posture;

[0093] Step 13: determining a first executable probability corresponding to each of the chargeable positions based on the appearance profile specification distribution, constructing a plurality of movement paths corresponding to the vehicle to be charged according to the passable positions, and establishing a second executable probability corresponding to each of the chargeable positions based on the intersection relationship between different movement paths and each of the chargeable positions;

[0094] Step 14: When the first executable probability or the second executable probability is lower than the standard execution probability, find the charging position with the shortest distance from the vehicle to be charged in the state image, and establish the standard charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged. According to the posture difference between the posture to be charged and the standard charging posture, establish a posture guidance plan to guide each of the vehicles to be charged to adjust the corresponding posture to be charged.

[0095] In this example, the field contour distribution map includes the distribution of each item in the charging place;

[0096] In this example, the location can be represented by a location where the mobile charging vehicle can pass;

[0097] In this example, the chargeable position indicates a position where the mobile charging vehicle can be parked after the mobile charging vehicle reaches the charging port of the vehicle to be charged;

[0098] In this example, the first executable probability represents the probability of the mobile charging vehicle affecting other mobile charging vehicles when the mobile charging vehicle is parked at a charging location;

[0099] In this example, the second executable probability represents a probability generated according to the degree of intersection between the moving path and the charging position;

[0100] In this example, the standard execution probability is 75%.

[0101] The working principle and beneficial effects of the above technical solution: Since vehicles of different brands have different vehicle sizes and the charging port positions of different matching vehicles are not necessarily the same, a contour analysis is first performed in the state image of the charging place before charging to determine the contour distribution of objects in the charging place, and then the appearance contour specifications of the mobile charging vehicle are used to determine the passable positions in the charging place, further locate the contour features of the vehicle to be charged, determine the position of its charging port, further analyze the executable probability of each chargeable position, and then generate a standard charging posture, and finally guide the vehicle to be charged to adjust its current posture so that the mobile charging vehicle can smoothly dock with the charging port of the vehicle to be charged.

[0102] Example 4

[0103] On the basis of Example 1, the mobile charging vehicle charging scheduling method, step 2, includes:

[0104] Step 21: Obtain basic information of each of the vehicles to be charged, and construct a virtual conceptual model corresponding to the vehicle to be charged according to the basic information;

[0105] Step 22: respectively running each of the virtual conceptual models, and establishing a number of conceptual parameters corresponding to the vehicle to be charged based on the output information corresponding to each of the virtual conceptual models;

[0106] Step 23: Acquire the charging demand uploaded by the corresponding user, construct a plurality of demand dimensions according to the charging demand, reorganize the conceptual parameters according to the demand dimensions, and generate a plurality of demand selection conditions corresponding to the vehicle to be charged.

[0107] In this example, the conceptual parameters represent the parameters of various positions of the vehicle to be charged, such as the vehicle specifications, remaining power, and total battery capacity, expressed by means of a model;

[0108] In this example, the demand dimension represents the angles corresponding to the different demands uploaded by the user, such as: charging time and location, charging speed dimension, charging reminder dimension, etc.

[0109] The working principle and beneficial effects of the above technical solution: In order to improve the user's experience and build a more automated charging method, a virtual concept model is first constructed based on the basic information of the vehicle to be charged, and then the concept parameters of the corresponding vehicle to be charged are determined based on the model. In this way, the appearance specifications of vehicles of different brands and models can be analyzed without the need for on-site measurements, which improves work efficiency. Then, the demand dimensions are determined in combination with the charging needs uploaded by the user, so that the concept parameters are reorganized and a number of demand selection conditions are established. These conditions not only take into account the characteristics of the vehicle itself, but also can establish corresponding conditions based on the user's needs, so as to facilitate the subsequent screening of mobile charging vehicles that meet the user's wishes.

[0110] Example 5

[0111] On the basis of Example 1, the mobile charging vehicle charging scheduling method, step 3, includes:

[0112] Step 31: establishing charging screening rules corresponding to the vehicle to be charged according to the demand selection conditions, and determining the required charging time corresponding to the vehicle to be charged according to the demand selection conditions;

[0113] Step 32: Obtain the work schedule timeline corresponding to each of the mobile charging vehicles, locate the required charging time in each of the work schedule timelines, and analyze the status information of each of the mobile charging vehicles corresponding to the required charging time;

[0114] Step 33: Filter the state information using the charging screening rule to obtain a target mobile charging vehicle corresponding to the demand selection condition, determine the activity trajectory of the target mobile charging vehicle according to the target work schedule time axis corresponding to the target mobile charging vehicle, and obtain the parking position range of the target mobile charging vehicle corresponding to the required charging time;

[0115] Step 34: Obtain a scene distribution map corresponding to the charging scene, determine the charging position of the vehicle to be charged based on the current charging posture of the vehicle to be charged, mark the charging position and the parking position range corresponding to the target mobile charging vehicle in the scene distribution map, and generate the guided moving direction of the target mobile charging vehicle in the scene distribution map.

[0116] In this example, the required charging time refers to the time set in advance by the user for charging the vehicle to be charged, or the time when the vehicle to be charged queues and waits for charging;

[0117] In this example, the work arrangement timeline includes the status of a mobile charging vehicle in different time periods, including: executing work, charging itself, and waiting;

[0118] In this example, the activity trajectory of the target mobile charging vehicle represents a trajectory generated by the range of activities of the target mobile charging vehicle in different time periods.

[0119] The working principle and beneficial effects of the above technical solution are as follows: the charging vehicle screening rules are constructed by selecting demand conditions, and the charging time required for each vehicle to be charged is determined at the same time. The rule is further combined with the work schedule of different mobile charging vehicles to select the target charging vehicles for the vehicles to be charged. In order to further clarify the guiding moving direction of the target mobile charging vehicle, the guiding moving direction is constructed by analyzing the parking position range of the target mobile charging vehicle and coordinating the charging position of the vehicle to be charged. In this way, the target mobile charging vehicle can be pointed out in the right direction and its work efficiency can be improved.

[0120] Example 6

[0121] Based on Example 1, the mobile charging vehicle charging scheduling method further includes:

[0122] Each of the mobile charging vehicles is provided with a forward shooting device and a backward shooting device;

[0123] A scene shooting device is provided in the charging scene.

[0124] The working principle and beneficial effects of the above technical solution are as follows: by providing a shooting device for the mobile charging vehicle and the charging scene to perform real-time shooting, it is ensured that each mobile charging vehicle in the charging scene can work in an orderly manner.

[0125] Example 7

[0126] On the basis of Example 1, the mobile charging vehicle charging scheduling method, step 4, includes:

[0127] Step 41: Control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles;

[0128] Step 42: determining the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, drawing the real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determining a number of obstacle objects contained in the real-time forward image;

[0129] Step 43: Analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects;

[0130] Step 44: locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guided moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

[0131] In this example, the obstacle objects refer to objects that may collide if the target mobile charging vehicle travels in a straight line along the predetermined route, including stationary objects and moving objects;

[0132] In this example, the object movement feature represents the feature of the obstacle object moving. The movement feature of a stationary object is 0. The movement feature of a moving object is related to its moving direction and speed. The movement feature of a moving object is determined based on its movement information in the working video stream.

[0133] In this example, the preset probability is 30%;

[0134] In this example, the obstacle avoidance measure refers to a measure for guiding the target mobile charging vehicle to avoid dangerous obstacles.

[0135] The working principle and beneficial effects of the above technical solution: In order to ensure that the target mobile charging vehicle can smoothly reach the location of the vehicle to be charged to charge it, video is taken when the target mobile charging vehicle moves in the guided moving direction, thereby constructing real-time forward information of the target mobile charging vehicle, and drawing a real-time forward image. By analyzing the movement characteristics of obstacle objects in the real-time forward image, the probability of collision with the target mobile vehicle is analyzed, thereby constructing obstacle avoidance measures to prevent collisions from affecting charging work.

[0136] Example 8

[0137] On the basis of Embodiment 7, the mobile charging vehicle charging scheduling method, step 44, includes:

[0138] Step 441: locating dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, performing appearance recognition on each of the dangerous obstacle objects in the real-time forward image, determining the object attributes corresponding to each of the dangerous obstacle objects, and retrieving the working range corresponding to each of the dangerous obstacle objects;

[0139] Step 442: locate each of the working ranges in the real-time forward image, determine the avoidance range of the corresponding target mobile charging vehicle, analyze the real-time forward speed of the corresponding target mobile charging vehicle according to the real-time forward information, and determine the estimated time for the target mobile charging vehicle to reach each avoidance range;

[0140] Step 443: Locate the target avoidance range with the shortest estimated time in the real-time forward image, determine the drivable range corresponding to the target avoidance range, draw a corresponding forward route within the drivable range using the guided moving direction, and analyze the path adjustment time corresponding to this obstacle avoidance based on the distance between the forward route and the real-time position of the corresponding target mobile charging vehicle;

[0141] Step 444: correcting the real-time forward speed of the corresponding target mobile charging vehicle based on the path adjustment duration, generating obstacle avoidance measures for the corresponding target mobile charging vehicle in combination with the corresponding forward path, and controlling the corresponding target mobile charging vehicle to implement the corresponding obstacle avoidance measures.

[0142] The working principle and beneficial effects of the above technical solution: In order to effectively avoid obstacles, many factors need to be considered. Dangerous obstacles are now located in the real-time forward image, and then the working range of the dangerous obstacle objects is determined by analyzing the properties of the dangerous obstacle objects, thereby determining the avoidance range of the target mobile charging vehicle, and further analyzing the time it takes to reach the avoidance range. Within this time, the forward speed of the target mobile charging vehicle is adjusted, and finally an effective obstacle avoidance measure is generated, which greatly reduces the probability of accidents involving the target mobile charging vehicle and ensures the smooth progress of charging work.

[0143] Example 9

[0144] This embodiment provides a mobile charging vehicle charging scheduling system, such as Figure 2 As shown, including:

[0145] A posture acquisition module, used to acquire the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture;

[0146] A condition building module is used to obtain the basic information corresponding to each of the vehicles to be charged, and to establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user;

[0147] A preliminary guidance module, used to select the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle;

[0148] The scheduling execution module is used to control each of the target mobile charging vehicles to move in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

[0149] In this example, the posture to be charged is generated by the parking position and parking angle of the vehicle to be charged, regarding the parking posture of the vehicle to be charged;

[0150] In this example, the standard charging posture refers to the posture of the charging parking position and parking angle corresponding to different brands of vehicles to be charged, which is set in advance. Generally speaking, all brands of vehicles to be charged can be parked in the specified charging place, and the charging port position must be exposed at the outside when parking;

[0151] In this example, the basic information refers to the information presented by the vehicle to be charged before charging, including the remaining power of the vehicle to be charged, the charging speed, and the location of the charging port, etc.;

[0152] In this example, the charging requirement indicates the requirements put forward by the user for this charging work, such as: specifying the charging start and end time, specifying the charging speed, etc.;

[0153] In this example, the guiding moving direction indicates the direction from the target mobile charging vehicle to the vehicle to be charged;

[0154] In this example, during charging, a mobile charging vehicle provides charging services for a vehicle to be charged.

[0155] The working principle and beneficial effects of the above technical solution: In order to improve charging efficiency and reduce the waiting time of users, when the vehicle to be charged enters the charging place, its charging posture is analyzed, and it is guided to adjust its posture when necessary to facilitate the subsequent smooth charging work and avoid the phenomenon that the mobile charging vehicle cannot reach the charging port. Then, before charging, the demand selection conditions are constructed according to the basic information of the vehicle and the needs of the user. The conditions are used to screen the target mobile charging vehicle that can perform this charging work, and the guiding moving direction of the target mobile charging vehicle is established. At this time, the target mobile charging vehicle can start to search for the vehicle to be charged along the established guiding moving direction, and collect its forward video stream during the search process, and then perform real-time obstacle avoidance analysis to avoid the target mobile charging vehicle from colliding with other objects. In this way, the influence of the external environment can be solved in the early stage of charging, and the mobile charging vehicle can move to the position of the vehicle to be charged to charge it, getting rid of manual control and effectively improving the allocation efficiency of mobile charging vehicles.

[0156] Example 10

[0157] On the basis of Embodiment 9, the mobile charging vehicle charging scheduling system, the scheduling execution module includes:

[0158] The first execution unit is used to control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles;

[0159] A second execution unit is used to determine the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, draw a real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determine a number of obstacle objects contained in the real-time forward image;

[0160] A third execution unit is used to analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects;

[0161] The fourth execution unit is used to locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guiding moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

[0162] In this example, the obstacle objects refer to objects that may collide if the target mobile charging vehicle travels in a straight line along the predetermined route, including stationary objects and moving objects;

[0163] In this example, the object movement feature represents the feature of the obstacle object moving. The movement feature of a stationary object is 0. The movement feature of a moving object is related to its moving direction and speed. The movement feature of a moving object is determined based on its movement information in the working video stream.

[0164] In this example, the preset probability is 30%;

[0165] In this example, the obstacle avoidance measure refers to a measure for guiding the target mobile charging vehicle to avoid dangerous obstacles.

[0166] The working principle and beneficial effects of the above technical solution: In order to ensure that the target mobile charging vehicle can smoothly reach the location of the vehicle to be charged to charge it, video is taken when the target mobile charging vehicle moves in the guided moving direction, thereby constructing real-time forward information of the target mobile charging vehicle, and drawing a real-time forward image. By analyzing the movement characteristics of obstacle objects in the real-time forward image, the probability of collision with the target mobile vehicle is analyzed, thereby constructing obstacle avoidance measures to prevent collisions from affecting charging work.

[0167] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A charging scheduling method for a mobile charging vehicle, characterized in that: include: Step 1: Obtain the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture; Step 2: Obtain the basic information corresponding to each of the vehicles to be charged, and establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user; Step 3: Filter the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle; Step 4: Control each of the target mobile charging vehicles to move forward in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

2. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: Also includes: Obtaining the remaining power corresponding to each of the mobile charging vehicles, and locating the low-power position corresponding to the low-power mobile charging vehicle whose remaining power is less than the standard remaining power; Obtain a charging pile distribution map, and map each of the low-power locations to the charging pile distribution map, respectively, to determine the path length between each of the low-power mobile charging vehicles and different charging piles; Matching a corresponding target charging pile to each of the low-power mobile charging vehicles based on the path length; Control the low-power mobile charging vehicle to move to the corresponding target charging pile for charging.

3. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: The step 1 comprises: Step 11: obtaining a state image of the corresponding vehicle to be charged in the charging place, performing contour extraction on the state image, generating a contour distribution map of the charging place, and screening a number of passable positions in the contour distribution map of the charging place by using the appearance contour specifications of the mobile charging vehicle; Step 12: Locate the vehicle contour features corresponding to the vehicle to be charged in the state image, establish the charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged, and locate several charging positions in the state image according to the charging posture; Step 13: determining a first executable probability corresponding to each of the chargeable positions based on the appearance profile specification distribution, constructing a plurality of movement paths corresponding to the vehicle to be charged according to the passable positions, and establishing a second executable probability corresponding to each of the chargeable positions based on the intersection relationship between different movement paths and each of the chargeable positions; Step 14: When the first executable probability or the second executable probability is lower than the standard execution probability, find the charging position with the shortest distance from the vehicle to be charged in the state image, and establish the standard charging posture of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged. According to the posture difference between the posture to be charged and the standard charging posture, establish a posture guidance plan to guide each of the vehicles to be charged to adjust the corresponding posture to be charged.

4. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: The step 2 comprises: Step 21: Obtain basic information of each of the vehicles to be charged, and construct a virtual conceptual model corresponding to the vehicle to be charged according to the basic information; Step 22: respectively running each of the virtual conceptual models, and establishing a number of conceptual parameters corresponding to the vehicle to be charged based on the output information corresponding to each of the virtual conceptual models; Step 23: Acquire the charging demand uploaded by the corresponding user, construct a plurality of demand dimensions according to the charging demand, reorganize the conceptual parameters according to the demand dimensions, and generate a plurality of demand selection conditions corresponding to the vehicle to be charged.

5. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: The step 3 comprises: Step 31: establishing charging screening rules corresponding to the vehicle to be charged according to the demand selection conditions, and determining the required charging time corresponding to the vehicle to be charged according to the demand selection conditions; Step 32: Obtain the work schedule timeline corresponding to each of the mobile charging vehicles, locate the required charging time in each of the work schedule timelines, and analyze the status information of each of the mobile charging vehicles corresponding to the required charging time; Step 33: Filter the state information using the charging screening rule to obtain a target mobile charging vehicle corresponding to the demand selection condition, determine the activity trajectory of the target mobile charging vehicle according to the target work schedule time axis corresponding to the target mobile charging vehicle, and obtain the parking position range of the target mobile charging vehicle corresponding to the required charging time; Step 34: Obtain a scene distribution map corresponding to the charging scene, determine the charging position of the vehicle to be charged based on the current charging posture of the vehicle to be charged, mark the charging position and the parking position range corresponding to the target mobile charging vehicle in the scene distribution map, and generate the guided moving direction of the target mobile charging vehicle in the scene distribution map.

6. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: Also includes: Each of the mobile charging vehicles is provided with a forward shooting device and a backward shooting device; A scene shooting device is provided in the charging scene.

7. A charging scheduling method for a mobile charging vehicle as claimed in claim 1, characterized in that: The step 4 comprises: Step 41: Control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles; Step 42: determining the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, drawing the real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determining a number of obstacle objects contained in the real-time forward image; Step 43: Analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects; Step 44: locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guided moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

8. A charging scheduling method for a mobile charging vehicle as claimed in claim 7, characterized in that: The step 44 comprises: Step 441: locating dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, performing appearance recognition on each of the dangerous obstacle objects in the real-time forward image, determining the object attributes corresponding to each of the dangerous obstacle objects, and retrieving the working range corresponding to each of the dangerous obstacle objects; Step 442: locate each of the working ranges in the real-time forward image, determine the avoidance range of the corresponding target mobile charging vehicle, analyze the real-time forward speed of the corresponding target mobile charging vehicle according to the real-time forward information, and determine the estimated time for the target mobile charging vehicle to reach each avoidance range; Step 443: Locate the target avoidance range with the shortest estimated time in the real-time forward image, determine the drivable range corresponding to the target avoidance range, draw a corresponding forward route within the drivable range using the guided moving direction, and analyze the path adjustment time corresponding to this obstacle avoidance based on the distance between the forward route and the real-time position of the corresponding target mobile charging vehicle; Step 444: correcting the real-time forward speed of the corresponding target mobile charging vehicle based on the path adjustment duration, generating obstacle avoidance measures for the corresponding target mobile charging vehicle in combination with the corresponding forward path, and controlling the corresponding target mobile charging vehicle to implement the corresponding obstacle avoidance measures.

9. A mobile charging vehicle charging scheduling system, characterized in that: include: A posture acquisition module, used to acquire the charging posture corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture; A condition building module, used to obtain the basic information corresponding to each of the vehicles to be charged, and to establish several demand selection conditions for this charging in combination with the charging demand uploaded by the corresponding user; A preliminary guidance module, used to select the corresponding execution target mobile charging vehicle according to the demand selection conditions, and construct the guidance movement direction corresponding to the target mobile charging vehicle; The scheduling execution module is used to control each of the target mobile charging vehicles to move in the corresponding guided moving direction, collect the real-time video stream corresponding to each of the target mobile charging vehicles, and guide the target mobile charging vehicles to avoid obstacles in real time.

10. A mobile charging vehicle charging scheduling system as claimed in claim 9, characterized in that: The scheduling execution module includes: The first execution unit is used to control the shooting device corresponding to each of the target mobile charging vehicles to shoot a video, guide the target mobile charging vehicle to move forward in the corresponding guiding moving direction, and obtain the working video stream corresponding to each of the target mobile charging vehicles; A second execution unit is used to determine the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, draw a real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determine a number of obstacle objects contained in the real-time forward image; A third execution unit is used to analyze the object movement characteristics corresponding to each of the obstacle objects based on the real-time forward information, and determine the collision probability between the corresponding target mobile charging vehicle and each of the obstacle objects; The fourth execution unit is used to locate dangerous obstacle objects with a collision probability higher than a preset probability in the real-time forward image, establish obstacle avoidance measures based on the avoidance range corresponding to the dangerous obstacle objects and in combination with the guiding moving direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measures.

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