Multi-machine scheduling method and device in guide rail movable type shared charging robot area, computer equipment and parking lot vehicle charging system

Abstract

The invention relates to a multi-machine scheduling method and device in a guide rail movable type shared charging robot area, computer equipment and a parking lot vehicle charging system. The method comprises the following steps: determining position information of each parking space and position information and use state information of each shared charging robot; according to the position information and the use state information of each shared charging robot and the position information of the to-be-charged parking space, one shared charging robot is successively determined as a to-be-dispatched robot from the plurality of shared charging robots in an idle state according to the distance priority from near to far, and the to-be-dispatched robot is dispatched according to the to-be-dispatched robot. The shared charging robot in the use state does not exist between the position of the to-be-dispatched robot and the position of the to-be-charged parking space on the guide rail map; and controlling the to-be-scheduled robot to move to the to-be-charged parking space on the linear guide rail. When the method is adopted for an application scene of a linear guide rail, collision and congestion among the robots can be effectively avoided, and smooth movement and safe operation of the shared charging robot are ensured.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle charging technology, and in particular to a method, device, computer equipment and parking lot vehicle charging system for a rail-mobile shared charging robot with multiple machines in the area. Background Art

[0002] With the rapid development of the electric vehicle market, the demand for convenient and efficient charging solutions is growing. Traditional fixed charging piles are gradually unable to meet the growing charging demand due to problems such as large footprint and poor scalability.

[0003] In the prior art, in order to meet the charging needs, rail-mobile charging robots have emerged. In order to achieve effective scheduling of multiple rail-mobile charging robots, a method of using a track-changing mechanism has been proposed. By setting up an additional rail conversion device, the robot can switch between different rails to avoid path conflicts. However, the design and manufacturing costs of the track-changing mechanism are high, which increases the complexity of the entire system. Secondly, frequent track-changing operations may reduce the stability and reliability of the system, and also increase the difficulty of maintenance. In addition, the above scheduling method is not suitable for single linear rails.

[0004] Therefore, developing an efficient, reliable and easy-to-implement scheduling solution for multiple rail-mobile charging robots on linear guides has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] Based on this, it is necessary to provide a multi-machine scheduling method, device, computer equipment and parking lot vehicle charging system for a rail-mobile shared charging robot area in response to the above technical problems.

[0006] In a first aspect, the present application provides a method for dispatching multiple shared charging robots in a rail-mobile area, wherein multiple shared charging robots can be movably arranged on a linear rail, and the linear rail is arranged along a parking space layout area, and the method includes:

[0007] Determine the location information of each parking space, the location information of each shared charging robot, and the usage status information; wherein the location information of the parking space refers to the location information of the parking space on the pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail;

[0008] According to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, from among multiple shared charging robots in an idle state, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, one shared charging robot is determined in sequence from near to far as the robot to be scheduled according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide map; the parking space to be charged is one of the parking spaces that has a charging demand;

[0009] According to the position information of the robot to be scheduled and the position information of the parking space to be charged, the robot to be scheduled is controlled to move to the parking space to be charged on the linear guide rail.

[0010] In one embodiment, from among a plurality of shared charging robots in an idle state, based on the distance between each of the plurality of shared charging robots in an idle state and the parking space to be charged, a shared charging robot is determined in sequence from near to far according to the distance priority as a robot to be scheduled, including:

[0011] Determine a shared charging robot that is closest to a parking space to be charged among multiple shared charging robots in an idle state as a robot to be dispatched;

[0012] The robot to be scheduled is taken as the main node, and the location information of other parking spaces between the robot to be scheduled and the parking space to be charged on the guide rail map, except for the parking space to be charged, and the usage status information of the shared charging robot are taken as child nodes and descendant nodes to construct a binary tree data structure;

[0013] Traverse the binary tree data structure. If there is a shared charging robot in use in the descendant node, the shared charging robot that is second farthest from the parking space to be charged among multiple shared charging robots in idle state is updated to the robot to be scheduled, and enter the step of taking the robot to be scheduled as the main node.

[0014] In one embodiment, the method further comprises:

[0015] After the robot to be scheduled completes the charging operation in the parking space to be charged, the robot to be scheduled is controlled to be in an initial state.

[0016] In one of the embodiments, the initial state of the robot to be scheduled includes a standby state.

[0017] In one embodiment, determining the location information of each parking space and the location information of each shared charging robot includes:

[0018] According to the linear guide rail, a guide rail map is constructed, and a starting origin is selected on the linear guide rail, and the starting origin is used as the coordinate origin of the guide rail map;

[0019] Determine the location information of each parking space based on the coordinate origin and the relative distance between each parking space and the starting origin;

[0020] Based on the coordinate origin and the relative distance between each shared charging robot and the starting origin, the position information of each shared charging robot is determined.

[0021] In a second aspect, the present application also provides a rail-mobile shared charging robot area multi-machine scheduling device, the device comprising:

[0022] An information determination module is used to determine the location information of each parking space, the location information of each shared charging robot, and the usage status information; wherein the location information of the parking space is the location information of the parking space on the pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail;

[0023] The module for determining robots to be scheduled is used to determine one shared charging robot as a robot to be scheduled from among multiple shared charging robots in an idle state according to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, in order from near to far according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand;

[0024] The mobile control module is used to control the robot to be scheduled to move to the parking space to be charged on the linear guide rail according to the position information of the robot to be scheduled and the position information of the parking space to be charged.

[0025] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0026] In a fourth aspect, the present application also provides a parking lot vehicle charging system, the system comprising:

[0027] Linear guide rails, which are arranged along the parking space layout area;

[0028] Multiple shared charging robots, which can be movably arranged on a linear guide rail;

[0029] And the computer device in the above embodiment, the computer device is connected to multiple shared charging robots.

[0030] In a fifth aspect, the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0031] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the method in the above embodiment when the computer program is executed by a processor.

[0032] The above-mentioned rail-mobile shared charging robot area multi-machine scheduling method, device, computer equipment and parking lot vehicle charging system have at least the following beneficial effects:

[0033] In the application scenario of parking lot charging dispatch built with linear guide rails, the rapid response and accurate positioning of the charging robot are ensured based on the precise guide rail map and the real-time updated position and status information. The distance priority algorithm is used to select the robot to be dispatched, which not only optimizes the utilization rate of the robot, but also reduces the waiting time of the user and improves the user experience. In particular, for the application scenario of linear guide rails, the above method can effectively avoid collisions and congestion between robots, ensuring the smooth movement and safe operation of the shared charging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] FIG1 is an application environment diagram of a method for scheduling multiple machines in a rail-mobile shared charging robot area in one embodiment;

[0036] FIG2 is a schematic flow chart of a method for scheduling multiple machines in a rail-mobile shared charging robot area in one embodiment;

[0037] FIG3 is a schematic diagram of the positions of each shared charging robot and each parking space in one embodiment;

[0038] FIG4 is a flowchart of a step of determining one shared charging robot as a robot to be scheduled from among multiple shared charging robots in an idle state based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, according to the distance priority from near to far;

[0039] FIG5 is a schematic diagram of a binary tree data structure constructed in one embodiment;

[0040] FIG6 is a schematic diagram of the positions of each shared charging robot and each parking space in another embodiment;

[0041] FIG7 is a structural block diagram of a multi-machine dispatching device in a rail-mobile shared charging robot area in one embodiment;

[0042] FIG. 8 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The multi-machine scheduling method for a rail-mobile shared charging robot area provided in an embodiment of the present application can be applied to the application environment shown in Figure 1. There are multiple parking spaces (such as parking spaces 1-5) arranged in the parking space layout area, and a linear guide rail is arranged along the parking space layout area. Each parking space has its own corresponding position on the linear guide rail, such as the corresponding position of parking space 1 on the linear guide rail is X1, and the corresponding position of parking space 2 on the linear guide rail is X2. By analogy, multiple shared charging robots (such as shared charging robot AF) can be movably arranged on the linear guide rail. Based on this, the position of the parking space and the position of the shared charging robot can be calibrated on the pre-constructed rail map to represent the position information of the parking space and the position information of the shared charging robot. The cloud or server determines the location information of each parking space, the location information of each shared charging robot and the usage status information; wherein the location information of the parking space is the location information of the parking space on the pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail; according to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, from multiple shared charging robots in an idle state, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, one shared charging robot is determined in sequence from near to far according to the distance priority as the robot to be scheduled, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand; according to the location information of the robot to be scheduled and the location information of the parking space to be charged, the robot to be scheduled is controlled to move to the parking space to be charged on the linear guide rail.

[0045] In an exemplary embodiment, as shown in FIG2 , a method for scheduling multiple machines in a rail-mobile shared charging robot region is provided, comprising the following steps S202 to S206 . Among them:

[0046] S202, determine the location information of each parking space, the location information of each shared charging robot and the usage status information; wherein, the location information of the parking space refers to the location information of the parking space on a pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on a pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail.

[0047] For example, in order to determine the location information of each parking space, the location information and usage status information of each shared charging robot, it is necessary to pre-build a detailed rail map based on the linear rails inside the parking lot. The rail map accurately marks the specific location of each parking space in the rail system, as well as the initial position of each shared charging robot. At the same time, through the sensors or positioning devices installed on the rails, the current position of the shared charging robot can be tracked in real time, and its usage status information can be updated in combination with its working status (such as charging the vehicle, on the way to the next task point, or on standby). Based on this, managing and analyzing these data through the cloud or server can ensure that the location information of each parking space, the location information and usage status information of each shared charging robot can be accurately determined in real time, so that available charging robots and idle parking spaces can be quickly found to achieve effective use of resources.

[0048] S204, according to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, from multiple shared charging robots in an idle state, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, determine one shared charging robot in sequence as the robot to be scheduled according to the distance priority from near to far, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand.

[0049] For example, as shown in Figure 1, assuming that parking space 4 is a parking space to be charged, its corresponding position on the linear guide rail is X4. If the cloud or server learns that the shared charging robots AF are all in an idle state, then at this time, according to the distance between the shared charging robot and the parking space to be charged, a shared charging robot will be determined one by one from near to far as the robot to be scheduled, according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map. Specifically, as can be seen from Figure 1, the shared charging robot closest to parking space 4 is D, and there is no shared charging robot in use between shared charging robot D and X4. At this time, shared charging robot D can be used as a robot to be scheduled to prepare for subsequent charging scheduling. As shown in Figure 3, if parking space 3 is a parking space to be charged, its corresponding position on the linear guide rail is X3. If the shared charging robots A, B, C, E, and F are all in an idle state, and the shared charging robot D is in use, then it is necessary to select the shared charging robot closest to parking space 3 from the shared charging robots A, B, C, E, and F as the robot to be dispatched. It can be seen from Figure 3 that at the current moment, the shared charging robot closest to parking space 3 is E, but because there is a shared charging robot D between the shared charging robot E and the parking space 3 at position X4 corresponding to parking space 4, charging the vehicle in parking space 4, the shared charging robot E cannot move to position X3 via position X4 on the linear guide rail. At this time, it is necessary to reselect the shared charging robot that is second closest to position X3 corresponding to parking space 3 from shared charging robots A, B, C, and F as the robot to be scheduled according to the distance priority from near to far. As can be seen from Figure 3, the shared charging robot with the second closest distance is C, and there is no shared robot in use between shared charging robot C and parking space 3. Therefore, shared charging robot C can be used as the robot to be scheduled to prepare for subsequent charging demand scheduling.

[0050] S206, according to the position information of the robot to be scheduled and the position information of the parking space to be charged, controlling the robot to be scheduled to move to the parking space to be charged on the linear guide rail.

[0051] Exemplarily, after the robot to be scheduled is determined, a moving path is planned on the linear guide rail according to the location information of the robot to be scheduled and the location information of the parking space to be charged, so as to control the robot to be scheduled to move on the linear guide rail to the parking space to be charged, so as to provide charging service for the vehicle.

[0052] The above-mentioned method for dispatching multiple machines in the area of ​​the rail-mobile shared charging robot ensures the rapid response and precise positioning of the charging robot in the application scenario of parking lot charging dispatching constructed with linear rails based on the precise rail map and real-time updated position and status information. The use of the distance priority algorithm to select the robot to be dispatched not only optimizes the utilization rate of the robot, but also reduces the waiting time of the user and improves the user experience. In particular, for the application scenario of linear rails, the above-mentioned method can effectively avoid collisions and congestion between robots, ensuring the smooth movement and safe operation of the shared charging robot.

[0053] In an exemplary embodiment, as shown in FIG4 , from among a plurality of shared charging robots in an idle state, based on the distance between each of the plurality of shared charging robots in an idle state and the parking space to be charged, a shared charging robot is determined in sequence from near to far according to the distance priority as a robot to be scheduled, including:

[0054] S402, determining that a shared charging robot that is closest to a parking space to be charged among a plurality of shared charging robots in an idle state is a robot to be dispatched;

[0055] S404, taking the robot to be scheduled as the main node, and the location information of other parking spaces between the robot to be scheduled and the parking space to be charged on the guide rail map except the parking space to be charged and the usage status information of the shared charging robot as child nodes and descendant nodes, to construct a binary tree data structure;

[0056] S406, traverse the binary tree data structure. If there is a shared charging robot in use among the descendant nodes, the shared charging robot that is second farthest from the parking space to be charged among the multiple shared charging robots in idle state is updated to the robot to be scheduled, and the step of taking the robot to be scheduled as the main node is entered.

[0057] For example, taking Figure 1 as an example, assuming that parking space 3 is a parking space to be charged, and its corresponding position on the linear guide rail is X3, if the cloud or server learns that the shared charging robots AF are all in an idle state, then at this time, according to the distance between the shared charging robot and the parking space to be charged, a shared charging robot will be determined as the robot to be scheduled according to the distance priority from near to far. Specifically, as can be seen from Figure 1, the shared charging robots closest to position X3 are C and D. Therefore, shared charging robots C and D can both be selected as robots to be scheduled, with shared charging robots C and D as the main nodes, and the position information of other parking spaces (such as positions X1-X5) between the positions of the robots to be scheduled and the parking spaces to be charged on the guide rail map, except for the parking spaces to be charged, and the use status information of the shared charging robots (such as whether there are robots in use) as child nodes and descendant nodes, to construct a binary tree data structure as shown in Figure 5. By traversing the above binary tree data structure, it is determined whether there is a shared charging robot in use at the descendant node (that is, whether there is a shared charging robot in use on the path where the robot to be scheduled moves to the parking space to be charged through the linear guide rail). If there is, it means that there is a shared charging robot in use on the path where the robot to be scheduled moves to the parking space to be charged through the linear guide rail. At this time, the moving path is blocked, and the robot to be scheduled cannot provide charging services for the vehicle in the parking space to be charged. Therefore, at this time, it is necessary to update the shared charging robot that is the second farthest from the parking space to be charged among the multiple shared charging robots in the idle state to the robot to be scheduled, and reconstruct the binary tree data structure based on the updated robot to be scheduled, and re-traverse until there is no shared charging robot in use at the descendant node of the constructed binary tree data structure, that is, until there is no shared charging robot in use between the determined robot to be scheduled and the parking space to be charged on the guide rail map.

[0058] In this embodiment, the scheduling process of the shared charging robot is optimized by constructing a binary tree data structure, which significantly improves the efficiency and reliability of the charging service. Specifically, this method can quickly screen out the most suitable robot to be scheduled to ensure that it will not encounter other shared charging robots in use during the process of moving to the parking space to be charged, thereby avoiding service interruptions caused by path conflicts. In addition, by continuously updating and reconstructing the binary tree, this method can dynamically adapt to changes in the parking lot to ensure that the scheduling of the charging robot always remains in the optimal state. This method not only improves the utilization rate of the charging robot and shortens the user's waiting time, but also enhances the flexibility and robustness of the system, providing strong support for the efficient operation of smart parking lots.

[0059] In an exemplary embodiment, the method further includes:

[0060] After the robot to be scheduled completes the charging operation in the parking space to be charged, the robot to be scheduled is controlled to be in an initial state.

[0061] The initial state may refer to the state in which the shared charging robot returns to the preset starting position after completing the charging task. This position is usually the standby point of the charging robot so that it is ready to accept the next charging task at any time. It should be noted that if there is a shared charging robot in use on the path where the robot to be scheduled moves to the initial position, it is necessary to wait for the shared charging robot in use to complete the charging operation before the robot to be scheduled can continue to move to the initial position. The shared charging robot in the initial state is in an idle state, which means that it has completed the current task and is ready to perform the next scheduling.

[0062] In this embodiment, by ensuring that the shared charging robot returns to its initial state after completing the charging operation, the orderly operation of the entire system can be maintained, avoiding the robot from being parked arbitrarily after completing the task, causing waste of resources or interfering with the normal scheduling of other robots. This not only helps to improve the utilization efficiency of the shared charging robot, but also ensures that the system can respond quickly when faced with sudden demands, further improving the reliability of the charging service and user experience.

[0063] In an exemplary embodiment, the initial state of the robot to be scheduled includes a standby state.

[0064] In this embodiment, the "standby state" of the robot to be scheduled refers to the state in which the robot returns to the designated starting position and enters a low-power mode after completing the charging task, ready to receive the next task instruction. This state not only saves energy, but also ensures that the robot is always in the best standby position and can quickly respond to new charging requests. By setting the standby state, the energy consumption of the shared charging robot can be effectively reduced, its service life can be extended, and the system's ability to respond quickly to charging needs can be guaranteed, thereby improving the overall service efficiency and user experience.

[0065] In an exemplary embodiment, determining the location information of each parking space and the location information of each shared charging robot includes:

[0066] Step 1: construct a guide rail map based on the linear guide rail, select a starting point on the linear guide rail, and use the starting point as the coordinate origin of the guide rail map;

[0067] Step 2: Determine the location information of each parking space based on the coordinate origin and the relative distance between each parking space and the starting origin;

[0068] Step three: Determine the position information of each shared charging robot based on the coordinate origin and the relative distance between each shared charging robot and the starting origin.

[0069] For example, according to the specific layout of the parking lot, a linear guide network covering the entire parking area is designed and installed, wherein the laying of the linear guide is ensured to not only meet the needs of vehicle parking, but also provide a path for the movement of the shared charging robot. After the installation of the physical linear guide is completed, a digital guide map can be created using high-precision mapping technology, and the guide map is used as the basis for the operation of the system. By installing RFID tags or other types of wireless beacons at each parking space, the specific location of the parking space is identified based on the coordinate origin of the guide map. The shared charging robot is equipped with a power system that can move freely along the guide rail, and sensors (such as laser radar, ultrasonic sensors, etc.) for accurately locating its own position. In addition, the robot can also communicate with the cloud or server, and based on the coordinate origin and the relative distance of each shared charging robot from the starting origin, it can regularly report its current position and working status (for example: idle, charging, on the way to the target location, etc.).

[0070] In this embodiment, by constructing an accurate guide map and using high-precision positioning technology, it is ensured that the shared charging robot can move to the target parking space efficiently and accurately in the parking lot, greatly improving the response speed and accuracy of the charging service. At the same time, by installing RFID tags or other wireless beacons in each parking space and equipping the shared charging robot with advanced positioning sensors, real-time location tracking and status monitoring of the parking space and the robot are achieved, ensuring the intelligent management level of the system.

[0071] In an exemplary embodiment, the method further includes:

[0072] Step 1: Determine a chargeable parking space based on the location information of each parking space, the location information and usage status information of each shared charging robot, where the chargeable parking space is a parking space where no parking spaces on at least one side have charging requirements;

[0073] Step 2: Control the prompt module to work to prompt the user to use the chargeable parking space as the parking space to be charged.

[0074] Exemplarily, by obtaining the location information and usage status information of each shared charging robot, determining the location of each shared charging robot and whether it is in use, and combining the location information of each parking space, it is possible to determine which parking spaces can be used as rechargeable parking spaces and provide charging services. Specifically, as shown in FIG6 , it can be seen from the figure that both parking spaces 2 and 4 have charging needs, and there are shared charging robots charging vehicles in parking spaces 2 and 4. Therefore, for parking space 3, since there are shared charging robots in use on both sides of it, other shared charging robots cannot move to parking space 3 via positions X2 and X4 corresponding to the parking spaces on both sides. It can be seen that parking space 3 cannot be used as a rechargeable parking space at this time, and on the contrary, parking spaces 1 and 5 can be used as rechargeable parking spaces. After the rechargeable parking space is determined, the user can be prompted by the control prompt module that the rechargeable parking space can be used as a parking space to be charged to provide charging services.

[0075] In this embodiment, by comprehensively analyzing the location and usage status information of parking spaces and shared charging robots, rechargeable parking spaces are intelligently identified, effectively avoiding the delay or failure of charging services caused by mutual obstruction of shared charging robots between parking spaces. In particular, when charging robots are already working around certain parking spaces, the cloud or server can promptly recommend other suitable rechargeable parking spaces to users, which not only improves the efficiency of the use of charging robots and the accessibility of charging services, but also optimizes the user's parking and charging experience and reduces the user's waiting time.

[0076] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0077] Based on the same inventive concept, the embodiment of the present application also provides a multi-machine scheduling device in a rail-mobile shared charging robot area for implementing the multi-machine scheduling method in a rail-mobile shared charging robot area involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the multi-machine scheduling device in a rail-mobile shared charging robot area provided below can be referred to the limitations of the multi-machine scheduling method in a rail-mobile shared charging robot area above, and will not be repeated here.

[0078] In an exemplary embodiment, as shown in FIG7 , a multi-machine dispatching device for a rail-mobile shared charging robot area is provided, comprising:

[0079] The information determination module 702 is used to determine the location information of each parking space, the location information of each shared charging robot, and the usage status information; wherein the location information of the parking space is the location information of the parking space on the pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail;

[0080] The robot to be scheduled determination module 704 is used to determine one shared charging robot as the robot to be scheduled from among multiple shared charging robots in an idle state according to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, in order from near to far according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand;

[0081] The movement control module 706 is used to control the robot to be scheduled to move to the parking space to be charged on the linear guide rail according to the position information of the robot to be scheduled and the position information of the parking space to be charged.

[0082] In an exemplary embodiment, the to-be-scheduled robot determination module 704 includes:

[0083] A distance determination unit, used to determine that a shared charging robot that is closest to a parking space to be charged among a plurality of shared charging robots in an idle state is a robot to be scheduled;

[0084] A binary tree data structure construction unit is used to construct a binary tree data structure with the robot to be scheduled as the main node, and the location information of other parking spaces between the robot to be scheduled and the parking space to be charged on the guide rail map except the parking space to be charged and the usage status information of the shared charging robot as child nodes and descendant nodes;

[0085] The binary tree data structure traversal unit is used to traverse the binary tree data structure. If there is a shared charging robot in use in the descendant node, the shared charging robot that is second farthest from the parking space to be charged among multiple shared charging robots in idle state is updated to the robot to be scheduled, and the step of taking the robot to be scheduled as the main node is entered.

[0086] In an exemplary embodiment, the above-mentioned rail-mobile shared charging robot area multi-machine scheduling device further includes:

[0087] The reset module is used to control the robot to be scheduled to be in an initial state after the robot to be scheduled completes the charging operation in the parking space to be charged.

[0088] In an exemplary embodiment, the information determination module 702 includes:

[0089] A guide rail map construction unit is used to construct a guide rail map according to the linear guide rail, and select a starting origin on the linear guide rail, and use the starting origin as the coordinate origin of the guide rail map;

[0090] A parking space position determination module is used to determine the position information of each parking space based on the coordinate origin and the relative distance between each parking space and the starting origin;

[0091] The robot position determination module is used to determine the position information of each shared charging robot based on the coordinate origin and the relative distance between each shared charging robot and the starting origin.

[0092] Each module in the above-mentioned rail-mobile shared charging robot area multi-machine scheduling device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0093] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG8. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the location information of each parking space, the location information of each shared charging robot and the usage status information data. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a multi-machine scheduling method in a guide rail mobile shared charging robot area is implemented.

[0094] Those skilled in the art will understand that the structure shown in FIG. 8 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0095] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0096] In an exemplary embodiment, a parking lot vehicle charging system includes: a linear guide rail, a plurality of shared charging robots, and the computer device in the above embodiment. The linear guide rail is arranged along the parking space layout area; the plurality of shared charging robots are movably arranged on the linear guide rail; and the computer device is connected to the plurality of shared charging robots.

[0097] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0098] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0099] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0100] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0101] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for dispatching multiple machines in a rail-mobile shared charging robot area, characterized in that: A plurality of shared charging robots can be movably arranged on a linear guide rail, and the linear guide rail is arranged along a parking space layout area. The method includes: Determine the location information of each parking space, the location information of each shared charging robot and the usage status information; wherein the location information of the parking space is the location information of the parking space on a pre-constructed guide rail map; the location information of the shared charging robot is the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed according to the linear guide rail; According to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, from a plurality of shared charging robots in an idle state, based on the distance between each of the plurality of shared charging robots in an idle state and the parking space to be charged, one shared charging robot is determined in sequence from near to far as a robot to be scheduled according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand; According to the position information of the robot to be scheduled and the position information of the parking space to be charged, the robot to be scheduled is controlled to move to the parking space to be charged on the linear guide rail.

2. The method for dispatching multiple machines in a rail-type shared charging robot area according to claim 1, characterized in that: The method of determining, from among the plurality of shared charging robots in an idle state, one shared charging robot as a robot to be scheduled according to distance priority from near to far based on the distance between each of the plurality of shared charging robots in an idle state and the parking space to be charged, comprises: Determine that a shared charging robot that is closest to the parking space to be charged among the plurality of shared charging robots in an idle state is a robot to be scheduled; The robot to be scheduled is used as the main node, and the location information of other parking spaces between the robot to be scheduled and the parking space to be charged on the guide rail map except the parking space to be charged and the usage status information of the shared charging robot are used as child nodes and descendant nodes to construct a binary tree data structure; The binary tree data structure is traversed. If a shared charging robot in use exists in the descendant node, the shared charging robot that is second farthest from the parking space to be charged among the multiple shared charging robots in idle state is updated to the robot to be scheduled, and the step of taking the robot to be scheduled as the main node is entered.

3. The method for dispatching multiple machines in a rail-mobile shared charging robot area according to claim 1, characterized in that: The method further comprises: After the robot to be scheduled completes the charging operation in the parking space to be charged, the robot to be scheduled is controlled to be in an initial state.

4. The method for dispatching multiple machines in a rail-mobile shared charging robot area according to claim 3, characterized in that: The initial state of the robot to be scheduled includes a standby state.

5. The method for dispatching multiple machines in a rail-type shared charging robot area according to claim 1, characterized in that: The determining of the location information of each parking space and the location information of each shared charging robot includes: According to the linear guide rail, the guide rail map is constructed, and a starting origin is selected on the linear guide rail, and the starting origin is used as the coordinate origin of the guide rail map; Determine the position information of each parking space based on the coordinate origin and the relative distance between each parking space and the starting origin; Based on the coordinate origin and the relative distance between each shared charging robot and the starting origin, the position information of each shared charging robot is determined.

6. A multi-machine dispatching device in a rail-mobile shared charging robot area, characterized in that: The device comprises: An information determination module is used to determine the location information of each parking space, the location information of each shared charging robot and the usage status information; wherein the location information of the parking space is the location information of the parking space on a pre-constructed guide rail map; the location information of the shared charging robot refers to the location information of the shared charging robot on the pre-constructed guide rail map; the usage status information indicates whether the shared charging robot is in an idle state; the guide rail map is constructed based on the linear guide rail; The module for determining the robot to be scheduled is used to determine, according to the location information and usage status information of each shared charging robot and the location information of the parking space to be charged, one shared charging robot as the robot to be scheduled from among multiple shared charging robots in an idle state, based on the distance between each of the multiple shared charging robots in an idle state and the parking space to be charged, in order from near to far according to the distance priority, until there is no shared charging robot in use between the robot to be scheduled and the parking space to be charged on the guide rail map; the parking space to be charged is one of the parking spaces that has a charging demand; The mobile control module is used to control the robot to be scheduled to move to the parking space to be charged on the linear guide rail according to the position information of the robot to be scheduled and the position information of the parking space to be charged.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A parking lot vehicle charging system, characterized in that: The system comprises: A linear guide rail, wherein the linear guide rail is arranged along a parking space layout area; A plurality of shared charging robots, wherein the plurality of shared charging robots are movably arranged on the linear guide rail; And the computer device as described in claim 7, which is connected to the multiple shared charging robots.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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