A Charging Scheduling Method and System for a Mobile Charging Vehicle

Abstract

The present invention provides a charging scheduling method and system for mobile charging vehicles, including: obtaining the charging postures to be charged corresponding to each vehicle to be charged, guiding each vehicle to be charged to adjust the corresponding charging postures to be charged respectively based on the standard charging postures, obtaining the basic information corresponding to each vehicle to be charged, establishing several demand selection conditions for the current charging in combination with the charging requirements uploaded by the corresponding users, screening the corresponding target mobile charging vehicles according to the demand selection conditions, constructing the guiding moving directions corresponding to the target mobile charging vehicles, controlling each target mobile charging vehicle to move forward according to the corresponding guiding moving directions, collecting the real-time video streams corresponding to each target mobile charging vehicle, guiding the target mobile charging vehicles to avoid obstacles in real time, and can schedule the nearby compliant mobile charging vehicles to perform mobile charging according to the charging requirements of the users, so as to achieve the purposes of improving the charging efficiency, reducing the waiting time of the users, and reducing the work burden of the management personnel.

Description

Technical Field

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

[0002] With the increasingly prominent world environmental protection issues and energy crises, finding cars with little or no pollution has long become the goal pursued by people. Against this background, the future development of new energy electric vehicles has become inevitable. On the other hand, with the development of electric vehicles, the problems of difficult and inconvenient charging of electric vehicles have become increasingly prominent. To solve such charging difficulties, electric mobile charging vehicles have emerged. Electric mobile charging vehicles can flexibly provide convenient charging services for users. However, climate change, energy, and environmental issues are long-term problems that human society faces together. The sales volume of electric vehicles has also increased year by year. However, due to the constraints of battery technology, the current cruising range of electric vehicles is generally about two hundred kilometers, and the required charging time is relatively long. For example, when 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, with low intelligence and unable to meet the current urgent charging needs.

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

[0005] A charging scheduling method and system for a mobile charging vehicle according to the present invention can schedule nearby eligible mobile charging vehicles to perform mobile charging according to the charging needs of users, so as to achieve the purposes of improving charging efficiency, reducing the waiting time of users, and reducing the work burden of management personnel.

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

[0007] Step 1: Obtain the charging posture corresponding to each vehicle to be charged, and respectively 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 vehicle to be charged, and establish several demand selection conditions for the current charging in combination with the charging needs uploaded by the corresponding user;

[0009] Step 3: Screen the corresponding target mobile charging vehicles according to the demand selection conditions, and construct the guiding moving direction corresponding to the target mobile charging vehicles;

[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 an implementable manner,

[0012] It further includes:

[0013] Obtain the remaining power corresponding to each of the mobile charging vehicles, and locate the low-power positions corresponding to the low-power mobile charging vehicles with the remaining power less than the standard remaining power;

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

[0015] Based on the path lengths, match corresponding target charging piles for each of the low-power mobile charging vehicles;

[0016] Control the low-power mobile charging vehicles to move to the corresponding target charging piles for charging operations.

[0017] In an implementable manner,

[0018] The said Step 1 includes:

[0019] Step 11: Obtain the status image of the vehicle to be charged in the charging site, extract the contours of the status image to generate the in-site contour distribution map of the charging site, and screen several passable positions in the in-site contour distribution map 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 status image, establish the charging posture to be charged of the vehicle to be charged in combination with the vehicle charging port position corresponding to the vehicle to be charged, and locate several chargeable positions in the status image according to the charging posture to be charged;

[0021] Step 13: Judge the first executable probability corresponding to each of the chargeable positions based on the appearance contour specification distribution, construct several moving paths corresponding to the vehicle to be charged according to the passable positions, and establish the second executable probability corresponding to each of the chargeable positions based on the intersection relationship between different moving 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 rechargeable position with the minimum distance from the vehicle to be charged in the status image, establish the standard charging posture of the vehicle to be charged in combination with the position of the vehicle charging port corresponding to the vehicle to be charged, establish an attitude guidance scheme based on the attitude difference between the to-be-charged posture and the standard charging posture, and respectively guide each vehicle to be charged to adjust the corresponding to-be-charged posture.

[0023] In an implementable manner,

[0024] The step 2 includes:

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

[0026] Step 22: Run each virtual concept model respectively, and establish a number of concept parameters corresponding to the vehicle to be charged based on the output information corresponding to each virtual concept model;

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

[0028] In an implementable manner,

[0029] The step 3 includes:

[0030] Step 31: Establish a charging screening rule corresponding to the vehicle to be charged according to the demand selection conditions, and at the same time determine the required charging moment corresponding to the vehicle to be charged according to the demand selection conditions;

[0031] Step 32: Obtain the working arrangement time axis corresponding to each mobile charging vehicle, locate the required charging moment in each working arrangement time axis respectively, and analyze the status information corresponding to each mobile charging vehicle at the required charging moment;

[0032] Step 33: Use the charging screening rule to screen the status information to obtain the target mobile charging vehicle corresponding to the demand selection conditions, determine the activity trajectory of the target mobile charging vehicle according to the target working arrangement time axis corresponding to the target mobile charging vehicle, and obtain the parking position range corresponding to the target mobile charging vehicle at the corresponding required charging moment;

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

[0034] In an implementable manner,

[0035] It further includes:

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

[0037] In an implementable manner,

[0038] The step 4 includes:

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

[0040] Step 42: Determine the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, draw the real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determine a number of obstacle items included in the real-time forward image;

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

[0042] Step 44: Locate the dangerous obstacle items with a collision probability higher than the preset probability in the real-time forward image, establish an obstacle avoidance measure based on the avoidance range corresponding to the dangerous obstacle items 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 measure.

[0043] In an implementable manner,

[0044] The step 44 includes:

[0045] Step 441: Locate the dangerous obstacle items with a collision probability higher than the preset probability in the real-time forward image, perform appearance recognition on each of the dangerous obstacle items in the real-time forward image respectively, determine the item attributes corresponding to each dangerous obstacle item, and retrieve the working range corresponding to each dangerous obstacle item;

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

[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 the current 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: Correct the real-time forward speed of the corresponding target mobile charging vehicle based on the path adjustment time, generate an obstacle avoidance measure for the corresponding target mobile charging vehicle in combination with the corresponding forward path, and control the corresponding target mobile charging vehicle to implement the corresponding obstacle avoidance measure.

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

[0050] An attitude acquisition module, configured to acquire the charging attitudes corresponding to each vehicle to be charged, and respectively guide each vehicle to be charged to adjust the corresponding charging attitude based on the standard charging attitude;

[0051] A condition construction module, configured to acquire the basic information corresponding to each vehicle to be charged, and establish a plurality of demand selection conditions for the current charging in combination with the charging requirements uploaded by the corresponding user;

[0052] A preliminary guidance module, configured to screen the corresponding target mobile charging vehicles according to the demand selection conditions, and construct a guided moving direction corresponding to the target mobile charging vehicles;

[0053] A scheduling execution module, configured to control each target mobile charging vehicle to move forward according to the corresponding guided moving direction, collect the real-time video stream corresponding to each target mobile charging vehicle, and guide the target mobile charging vehicle to perform real-time obstacle avoidance.

[0054] In an implementable manner,

[0055] The scheduling execution module includes:

[0056] A first execution unit, configured to control the shooting device corresponding to each target mobile charging vehicle to perform video shooting, guide the target mobile charging vehicle to move forward according to the corresponding guided moving direction, and acquire the working video stream corresponding to each target mobile charging vehicle;

[0057] A second execution unit, configured to determine real-time forward information of a 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 items included in the real-time forward image;

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

[0059] A fourth execution unit, configured to locate dangerous obstacle items with a collision probability higher than a preset probability in the real-time forward image, establish an obstacle avoidance measure by combining the avoidance range corresponding to the dangerous obstacle item and the guided movement direction corresponding to the target mobile charging vehicle, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measure.

[0060] The achievable beneficial effects of the above technical solution are as follows: In order to improve the charging efficiency and reduce the waiting time of users, when the vehicle to be charged enters the charging site, its charging posture is analyzed, and when necessary, it is guided to adjust its posture to facilitate the subsequent smooth charging work, and to avoid the phenomenon that the mobile charging vehicle cannot reach the position of the charging port. Then, before charging, according to the basic information of the vehicle and the needs of the user, a demand selection condition is constructed, and this condition is used to screen the target mobile charging vehicle that can perform the current charging work, and at the same time, the guided movement direction of the target mobile charging vehicle is established. At this time, the target mobile charging vehicle can start looking for the vehicle to be charged along the established guided movement direction, and collect the video stream of its forward movement during the search, and then perform real-time obstacle avoidance analysis to avoid collisions between the target mobile charging vehicle and other items. 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 by itself to charge it, getting rid of manual control and effectively improving the distribution efficiency of the mobile charging vehicle.

[0061] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the drawings.

[0062] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

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

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

[0065] Figure 2 It 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 implementation manners

[0066] The following is a description of the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used for explaining and illustrating the present invention and are not used to limit the present invention.

[0067] Embodiment 1

[0068] This embodiment provides a charging scheduling method and system for a mobile charging vehicle. As Figure 1 shown, it includes:

[0069] Step 1: Obtain the charging posture corresponding to each vehicle to be charged, and respectively 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 vehicle to be charged, and establish several demand selection conditions for this charging in combination with the charging requirements uploaded by the corresponding user;

[0071] Step 3: Screen the corresponding target mobile charging vehicles according to the demand selection conditions, and construct the guiding moving direction corresponding to the target mobile charging vehicles;

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

[0073] In this example, the charging posture 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 represents the posture of the charging parking position and parking angle corresponding to the vehicles to be charged of different brands set in advance. Generally speaking, all brands of vehicles to be charged can be parked in the specified charging places, and the charging port position needs to be exposed outside when parking;

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

[0076] In this example, the charging requirement represents the requirements put forward by the user for this charging operation. For example, the start and end times of charging are specified, and the charging speed is specified, etc.;

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

[0078] In this example, during the charging operation, 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 the charging efficiency and reduce the waiting time of the user, when the vehicle to be charged enters the charging site, its charging posture is analyzed, and if necessary, it is guided to adjust its posture to facilitate the subsequent smooth charging operation, and to avoid the phenomenon that the mobile charging vehicle cannot reach the position of the charging port. Then, before charging, according to the basic information of the vehicle and the user's needs, the demand selection conditions are constructed, and the target mobile charging vehicle that can perform this charging operation is screened using these conditions. At the same time, the guiding movement direction of the target mobile charging vehicle is determined. At this time, the target mobile charging vehicle can start looking for the vehicle to be charged along the established guiding movement direction, and collect the video stream of its forward movement during the search process, and then perform real-time obstacle avoidance analysis to avoid the target mobile charging vehicle 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 by itself to charge it, getting rid of manual control and effectively improving the allocation efficiency of the mobile charging vehicle.

[0080] Embodiment 2

[0081] Based on Embodiment 1, the method for charging and dispatching a mobile charging vehicle further includes:

[0082] Obtain the remaining power corresponding to each mobile charging vehicle, and locate the low-power position corresponding to the low-power mobile charging vehicle with the remaining power less than the standard remaining power;

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

[0084] Based on the path length, match a corresponding target charging pile for each low-power mobile charging vehicle;

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

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

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

[0088] Working principle and beneficial effects of the above technical solution: To improve the working efficiency of the mobile charging vehicle, when the remaining power of the mobile charging vehicle is too low, select a charging pile near it and guide it to reach the charging vehicle in time for charging. On the one hand, it can reduce the power consumption of the mobile charging vehicle, and on the other hand, it can shorten the standby time of the mobile charging vehicle.

[0089] Embodiment 3

[0090] Based on Embodiment 1, for the method for charging scheduling of a mobile charging vehicle, Step 1 includes:

[0091] Step 11: Obtain the state image of the vehicle to be charged in the charging place, extract the contour of the state image to generate the in-site contour distribution map in the charging place, and screen several passable positions in the in-site contour distribution map by using the appearance contour specifications of the mobile charging vehicle;

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

[0093] Step 13: Judge the first executable probability corresponding to each chargeable position based on the appearance contour specification distribution, construct several moving paths corresponding to the vehicle to be charged according to the passable positions, and establish the second executable probability corresponding to each chargeable position based on the intersection relationship between different moving paths and each chargeable position;

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

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

[0096] In this example, the passable position represents the position where the mobile charging vehicle can pass;

[0097] In this example, the chargeable position represents the position where the mobile charging vehicle can park after reaching the charging port of the vehicle to be charged;

[0098] In this example, the first executable probability represents the influence probability on other mobile charging vehicles when a mobile charging vehicle is parked at a rechargeable position.

[0099] In this example, the second executable probability represents the probability generated according to the degree of intersection between the moving path and the rechargeable 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, contour analysis is first performed on the state image of the charging site before charging to determine the contour distribution of items in the charging site. Then, the appearance contour specifications of the mobile charging vehicle are used to determine the passable positions in the charging site, further locate the contour features of the vehicle to be charged, determine its charging port position, further analyze the executable probability of each rechargeable position, and then generate a standard charging posture. Finally, the vehicle to be charged is guided 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] Embodiment 4

[0103] Based on Embodiment 1, for the method for charging and scheduling a mobile charging vehicle, Step 2 includes:

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

[0105] Step 22: Run each virtual concept model respectively, and establish several concept parameters corresponding to the vehicle to be charged based on the output information corresponding to each virtual concept model.

[0106] Step 23: Obtain the charging requirements uploaded by the corresponding user, construct several demand dimensions according to the charging requirements, and reorganize the concept parameters according to the demand dimensions to generate several demand selection conditions corresponding to the vehicle to be charged.

[0107] In this example, the concept parameters represent the parameters of each position of the vehicle to be charged expressed in the form of a model, such as the vehicle specifications, remaining power, and total battery volume.

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

[0109] Working principle and beneficial effects of the above technical solution: In order to improve the user 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 corresponding to the vehicle to be charged are determined according to this model. In this way, it is possible to analyze the appearance specifications of vehicles of different brands and models without the need for on-site measurement, which improves work efficiency. Then, the demand dimension is determined by combining the charging requirements uploaded by the user, and the concept parameters are reorganized to establish several demand selection conditions. These conditions not only consider the characteristics of the vehicle itself but also can establish corresponding conditions according to the user's needs, facilitating the subsequent screening of mobile charging vehicles that meet the user's preferences.

[0110] Example 5

[0111] Based on Example 1, for the mobile charging vehicle charging scheduling method, step 3 includes:

[0112] Step 31: Establish a charging screening rule for the vehicle to be charged according to the demand selection conditions, and at the same time determine the charging time required for the vehicle to be charged according to the demand selection conditions;

[0113] Step 32: Obtain the working arrangement time axis corresponding to each mobile charging vehicle, locate the charging time required in each working arrangement time axis respectively, and analyze the status information of each mobile charging vehicle corresponding to the charging time required;

[0114] Step 33: Use the charging screening rule to screen the status information to obtain the target mobile charging vehicle corresponding to the demand selection conditions, and determine the activity trajectory of the target mobile charging vehicle according to the target working arrangement time axis corresponding to the target mobile charging vehicle, so as to obtain the parking position range of the target mobile charging vehicle corresponding to the charging time required;

[0115] Step 34: Obtain the 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 of the corresponding target mobile charging vehicle on the scene distribution map, and generate the guiding moving direction of the target mobile charging vehicle on the scene distribution map.

[0116] In this example, the charging time required 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 up for charging;

[0117] In this example, the working arrangement time axis includes the status of a mobile charging vehicle at different time periods, including: performing work, self-charging, standby, etc.;

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

[0119] The working principle and beneficial effects of the above technical solution: By selecting conditions according to requirements to construct a screening rule for charging vehicles, and at the same time determining the charging time required for each vehicle to be charged, further combining the working schedule time axis of different mobile charging vehicles to use this rule to screen target charging vehicles for the vehicles to be charged. In order to further clarify the guiding movement direction of the target mobile charging vehicle, by analyzing the parking position range of the target mobile charging vehicle in cooperation with the position to be charged of the vehicle to be charged, a guiding movement direction is constructed, so that the forward direction can be pointed out for the target mobile charging vehicle and its working efficiency can be improved.

[0120] Embodiment 6

[0121] Based on Embodiment 1, the method for charging scheduling of a mobile charging vehicle 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: By setting shooting devices for the mobile charging vehicle and the charging scene for real-time shooting, it is ensured that each mobile charging vehicle in the charging scene can work in an orderly manner.

[0125] Embodiment 7

[0126] Based on Embodiment 1, in the method for charging scheduling of a mobile charging vehicle, Step 4 includes:

[0127] Step 41: Control the shooting device corresponding to each target mobile charging vehicle to perform video shooting, guide the target mobile charging vehicle to move forward according to the corresponding guiding movement direction, and obtain the working video stream corresponding to each target mobile charging vehicle;

[0128] Step 42: Determine the real-time forward information of the corresponding target mobile charging vehicle according to the working video stream, draw the real-time forward image of the corresponding target mobile charging vehicle according to the real-time forward information, and determine several obstacle items included in the real-time forward image;

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

[0130] Step 44: Locate dangerous obstacle items in the real-time forward image with a collision probability higher than a preset probability. Based on the avoidance range corresponding to the dangerous obstacle items, combine the guided movement direction corresponding to the target mobile charging vehicle to establish an obstacle avoidance measure, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measure.

[0131] In this example, an obstacle item refers to an item that will collide if the target mobile charging vehicle travels in a straight line along a predetermined route, including stationary items and moving items.

[0132] In this example, the item movement feature represents the feature of the obstacle item moving. The movement feature of a stationary item is 0. The movement feature of a moving item is related to its movement direction and speed. The movement feature of a moving item is determined according to 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 to guide the target mobile charging vehicle to avoid dangerous obstacle items.

[0135] The working principle and beneficial effects of the above technical solution: To ensure that the target mobile charging vehicle can smoothly reach the position of the vehicle to be charged for charging, video is taken when the target mobile charging vehicle moves forward according to the guided movement direction, so as to construct the real-time forward information of the target mobile charging vehicle and draw a real-time forward image. By analyzing the item movement features of the obstacle items in the real-time forward image, the probability of collision between the target mobile vehicle and the obstacle is analyzed, and then an obstacle avoidance measure is constructed to avoid collision and affect the charging work.

[0136] Embodiment 8

[0137] Based on Embodiment 7, for the mobile charging vehicle charging scheduling method, Step 44 includes:

[0138] Step 441: Locate dangerous obstacle items in the real-time forward image with a collision probability higher than a preset probability. Perform appearance recognition on each of the dangerous obstacle items in the real-time forward image to determine the item attribute corresponding to each dangerous obstacle item, and retrieve the working range corresponding to each dangerous obstacle item.

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

[0140] Step 443: Locate the target avoidance range with the shortest estimated duration 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 movement direction, and analyze the path adjustment duration 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: Correct the real-time forward speed of the corresponding target mobile charging vehicle based on the path adjustment duration, generate an obstacle avoidance measure for the corresponding target mobile charging vehicle in combination with the corresponding forward route, and control the corresponding target mobile charging vehicle to implement the corresponding obstacle avoidance measure.

[0142] The working principle and beneficial effects of the above technical solution: To perform effective obstacle avoidance, multiple factors need to be considered. First, locate dangerous obstacle items in the real-time forward image, and then determine their working ranges by analyzing the attributes of the dangerous obstacle items, thereby determining the avoidance range of the target mobile charging vehicle. Further analyze the duration for it to reach the avoidance range, adjust the forward speed of the target mobile charging vehicle within this duration, and finally generate an effective obstacle avoidance measure, greatly reducing the probability of accidents of the target mobile charging vehicle and ensuring the smooth progress of the charging work.

[0143] Embodiment 9

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

[0145] An attitude acquisition module, configured to acquire the charging attitude corresponding to each vehicle to be charged, and guide each vehicle to be charged to adjust the corresponding charging attitude based on the standard charging attitude respectively.

[0146] A condition construction module, configured to acquire the basic information corresponding to each vehicle to be charged, and establish several demand selection conditions for this charging in combination with the charging requirements uploaded by the corresponding user.

[0147] A preliminary guidance module, configured to screen the corresponding target mobile charging vehicles according to the demand selection conditions, and construct the guided movement direction corresponding to the target mobile charging vehicles.

[0148] A scheduling execution module, configured to control each target mobile charging vehicle to move forward according to the corresponding guided movement direction, collect the real-time video stream corresponding to each target mobile charging vehicle, and guide the target mobile charging vehicle to perform real-time obstacle avoidance.

[0149] In this example, the charging attitude is generated from the parking position and parking angle of the vehicle to be charged, regarding the parking attitude 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 the vehicles to be charged of different brands, which is set in advance. Generally speaking, the vehicles to be charged of all brands can be parked in the specified charging places, and the charging port position needs to be exposed at the outer end 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 situation, charging speed situation, charging port position situation, etc. of the vehicle to be charged;

[0152] In this example, the charging requirement refers to the requirements put forward by the user for this charging work. For example, the start and end times of charging are specified, and the charging speed is specified, etc.;

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

[0154] In this example, when carrying out the charging work, 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 the 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 if necessary, it is guided to adjust its posture to facilitate the subsequent smooth charging work and avoid the phenomenon that the mobile charging vehicle cannot reach the position of the charging port. Then, before charging, according to the basic information of the vehicle and the user's needs, a demand selection condition is constructed, and this condition is used to screen the target mobile charging vehicle that can perform this charging work, and at the same time, the guiding movement 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 movement direction, and collect the video stream of its forward movement during the search process, and then perform real-time obstacle avoidance analysis to avoid the target mobile charging vehicle 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 by itself to charge it, getting rid of manual control and effectively improving the distribution efficiency of the mobile charging vehicle.

[0156] Embodiment 10

[0157] Based on Embodiment 9, for 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 target mobile charging vehicle to perform video shooting, guide the target mobile charging vehicle to move forward according to the corresponding guiding movement direction, and obtain the working video stream corresponding to each target mobile charging vehicle;

[0159] A second execution unit, configured to determine real-time forward information of a 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 included in the real-time forward image;

[0160] A third execution unit, configured 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 target mobile charging vehicle and each of the obstacle objects;

[0161] A fourth execution unit, configured to locate dangerous obstacle objects in the real-time forward image whose collision probability is higher than a preset probability, establish an obstacle avoidance measure in combination with the guided movement direction corresponding to the target mobile charging vehicle based on the avoidance range corresponding to the dangerous obstacle objects, and control the target mobile charging vehicle to execute the corresponding obstacle avoidance measure.

[0162] In this example, an obstacle object refers to an object that will collide when the target mobile charging vehicle travels in a straight line along a predetermined route, including stationary objects and moving objects;

[0163] In this example, the object movement characteristics refer to the characteristics of the movement of the obstacle object. The movement characteristics of a stationary object are 0. The movement characteristics of a moving object are related to its movement direction and speed. The movement characteristics of a moving object are determined according to 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 to guide the target mobile charging vehicle to avoid dangerous obstacle objects.

[0166] The working principle and beneficial effects of the above technical solution: In order to ensure that the target mobile charging vehicle can reach the position of the vehicle to be charged smoothly and charge it, video is taken when the target mobile charging vehicle moves forward in the guided movement direction, so as to construct the real-time forward information of the target mobile charging vehicle, draw a real-time forward image, analyze the object movement characteristics of the obstacle objects in the real-time forward image to analyze the collision probability with the target moving vehicle, and thus construct an obstacle avoidance measure to avoid collisions and affect the 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 equivalent technologies, the present invention is also intended to include these changes 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; 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: Determine the first executable probability corresponding to each of the chargeable positions based on the appearance profile specification, construct a plurality of movement paths corresponding to the vehicle to be charged according to the passable positions, and establish 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.

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 low-power mobile charging vehicle 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 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.

4. 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.

5. 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.

6. 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.

7. A charging scheduling method for a mobile charging vehicle as claimed in claim 6, 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.

8. 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 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; 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; A scheduling execution module, 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; The posture acquisition module acquires the charging posture corresponding to each vehicle to be charged, and guides each vehicle to be charged to adjust the corresponding charging posture based on the standard charging posture, including: Acquire a state image of the corresponding vehicle to be charged in the charging place, perform contour extraction on the state image, generate a contour distribution map of the charging place, and screen a number of passable positions in the contour distribution map of the charging place using the appearance contour specifications of the mobile charging vehicle; Locating the vehicle contour features corresponding to the vehicle to be charged in the state image, establishing 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 locating a plurality of charging positions in the state image according to the charging posture; Based on the appearance profile specification, a first executable probability corresponding to each of the chargeable positions is determined respectively, a plurality of moving paths corresponding to the vehicle to be charged are constructed according to the passable positions, and a second executable probability corresponding to each of the chargeable positions is established based on the intersection relationship between different moving paths and each of the chargeable positions; When the first executable probability or the second executable probability is lower than the standard execution probability, the charging position with the shortest distance from the vehicle to be charged in the state image is searched, and the standard charging posture of the vehicle to be charged is established 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, a posture guidance scheme is established to guide each of the vehicles to be charged to adjust the corresponding posture to be charged.

9. A mobile charging vehicle charging scheduling system as claimed in claim 8, 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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