A method for dynamically scheduling power bank distribution and recycling

Abstract

The present invention belongs to the technical field of shared charging, and specifically relates to a method for dynamically scheduling power bank delivery and recovery. By comprehensively considering the position, power status and power bank loading situation of the robot, as well as the specific needs of the user, efficient and accurate scheduling and path planning are achieved. Through multi-dimensional screening and evaluation, it is ensured that the selected robot has sufficient power and available power banks, thereby improving the task completion rate and user satisfaction. After the robot completes the delivery task, a reasonable return path is planned according to the return information provided by the user, thereby reducing energy consumption and return time and improving overall operational efficiency. The transaction data in the delivery and recovery process is recorded and managed in real time, which is convenient for subsequent data analysis and service optimization, improves service quality, and effectively solves the problems of low scheduling efficiency, unreasonable path planning and imperfect data management existing in the prior art.

Description

Technical Field

[0001] The present invention belongs to the technical field of shared charging, and in particular relates to a method for dynamically scheduling power bank distribution and recycling. Background Art

[0002] With the popularity of mobile devices, the demand for power banks is increasing. In order to meet users' charging needs anytime and anywhere, many companies have launched power bank sharing services. Existing power bank sharing services usually adopt a fixed-site borrowing and returning model, that is, users need to borrow and return power banks at designated sites. This model has the following problems:

[0003] Inconvenience: Users need to walk or drive to a fixed station to borrow and return power banks, which is particularly inconvenient in emergency situations. Low resource utilization: The uneven distribution of fixed stations may result in a shortage of power banks at some stations, while other stations have a large number of power banks idle. Poor user experience: Users may encounter station failures, power bank damage, and other problems during the borrowing and returning process, affecting the overall service quality.

[0004] In order to solve these problems, the existing technology uses delivery robots to provide power bank delivery and recycling services. However, the existing robot delivery solutions still have the following technical problems:

[0005] When selecting delivery robots, existing dispatch systems often only consider the robot's location information, but ignore the robot's power status and the loading status of power banks. This may cause the robot to be unable to complete the task due to insufficient power or no available power banks, thus affecting delivery efficiency and service quality. Summary of the invention

[0006] The purpose of the present invention is to provide a method for dynamically scheduling power bank distribution and recovery, which achieves efficient and accurate scheduling and path planning by comprehensively considering the position, power status and power bank loading situation of the robot, as well as the specific needs of the user, so as to solve the problems raised in the above background technology.

[0007] To achieve the above purpose, the present invention adopts the following technical solution: a method for dynamically scheduling power bank distribution and recycling, comprising the following steps:

[0008] Receive a power bank demand request sent by a user through a terminal device, the request including user location information, and select a set of candidate robots within a preset range from a plurality of delivery robots according to the user location information;

[0009] For each candidate robot, obtain and evaluate its current power status, ensure that the selected robot has enough power to complete the delivery task and return, check the power bank loading status of the candidate robots, and determine which robots are equipped with available power banks;

[0010] According to the inspection results, combined with the distance between the current location of the candidate robots and the user's location, the closest robot is selected to perform the delivery task, and a delivery instruction is sent to the selected robot, including the target address, estimated delivery time and power bank number;

[0011] The robot updates its location information in real time while traveling to the target location, and feeds this information back to the dispatch center through the communication module. When the robot arrives at the target location, it confirms with the user that the power bank has been delivered and records the relevant data of the transaction.

[0012] After delivery is completed, the robot's return path is planned based on the return information provided by the user to ensure that the robot can return safely and complete the recycling of the power bank.

[0013] Preferably, the receiving of a power bank demand request sent by a user via a terminal device comprises the following steps:

[0014] Parse the power bank demand request sent by the user through the terminal device and extract the location coordinate data (x, y);

[0015] The location coordinate data (x, y) is converted into geographic location information using a geographic information system. The calculation formula is: G(x ,y )=(Z x ,Z y ), where G represents the geographic information conversion function, L x and L y Respectively represent the longitude and latitude of the converted user;

[0016] Based on the geographic location information, a database is queried to obtain the service scope and available resource status of the area, and a preliminary service response is generated for the user according to the service scope and available resource status, including an estimated waiting time and the number of available power banks.

[0017] Preferably, the step of selecting a set of candidate robots located within a preset range from a plurality of delivery robots according to the user location information comprises the following steps:

[0018] Calculate the straight-line distance D between each delivery robot and the user's location i , using the formula Where L xi and L yi Respectively represent the longitude and latitude of the i-th candidate delivery robot;

[0019] Set a preset range R and filter out all the i The delivery robots that meet the conditions of ≤R form a preliminary set of candidate robots;

[0020] For each robot in the preliminary candidate robot set, calculate the actual path length P from the robot to the user's location. i , considering the actual road conditions, using the path planning formula P i =f(D i ,RoadCondition i ), where RoadCondition i Represents the road condition between the i-th robot and the user's position;

[0021] According to the calculated actual path length P i , screen out the robots whose shortest path length is less than or equal to the preset threshold T, and finally determine the set of candidate robots.

[0022] Preferably, for each candidate robot, obtaining and evaluating its current power state comprises the following steps:

[0023] Get the current power value E of each candidate robot i , calculate the minimum power E required for each candidate robot to complete the delivery task and return min,i , using Formula E min,i = k·P i , where k is the power consumption per unit distance;

[0024] Compare the current power value E i and the minimum required power E min,i , filter out the i ≥E min,i Conditional robots;

[0025] For each robot selected, calculate its remaining power E r,i =E i -E min,i , to evaluate the remaining power status of the robot after completing the task.

[0026] Preferably, the step of checking the power bank loading status of the candidate robots and determining which robots are equipped with available power banks comprises the following steps:

[0027] Query the power bank loading information of each candidate robot, and record the number of power banks N for each robot. i and the status S of each power bank ij , where j represents the jth power bank on the i-th robot;

[0028] Define the available status standard of the power bank. If the power bank status S ij >S o , then the power bank is considered to be usable, where S o is the preset minimum available status threshold;

[0029] According to the availability status standard, the number of available power banks N on each candidate robot is counted usable,i , using the formula , where [S ij >S o ] is a Boolean expression that evaluates to 1 if the condition is true, otherwise 0;

[0030] Filter out N usable,i >0 robots to form the final set of candidate robots, ensuring that each candidate robot is equipped with at least one available power bank.

[0031] Preferably, the method of combining the distance between the current position of the candidate robots and the user's position and selecting the robot closest to perform the delivery task comprises the following steps:

[0032] For the final set of candidate robots, recalculate the straight-line distance D′ between each robot and the user’s position i , using the formula , where L xi and L yi is the longitude and latitude of the candidate robot, L x and L y are the user's longitude and latitude;

[0033] Based on the straight-line distance D′ i , calculate the weighted distance score W of each candidate robot i , considering the current power value E of the robot i and the number of available power banks N usable,i , using the formula Where E min,i It is the minimum amount of electricity required to complete the task;

[0034] The weighted distance score W of all calculated candidate robots i Sort them and select the robot with the lowest score as the target robot to perform the delivery task;

[0035] Confirm that the selected target robot meets the power requirements and power bank loading conditions to ensure that it can successfully complete the delivery task and return safely.

[0036] Preferably, sending a delivery instruction to the selected robot comprises the following steps:

[0037] According to the selected target robot, the path information P of the target address is generated from the user's location information t , based on the path information P t , estimate the travel time T of the target robot to reach the user's location d , using the formula T d =P t / V a , where V a is the average driving speed of the target robot;

[0038] Combined with the current time T c and the estimated travel time T d , calculate the estimated delivery time T e , using the formula T e =T c +T d ;

[0039] Select a power bank number B from the list of available power banks n , and compare it with the path information P of the target address t and estimated delivery time T e Together, they form a complete delivery instruction and are sent to the target robot through the communication module.

[0040] Preferably, the robot updates its position information in real time while traveling to the target location, and feeds this information back to the dispatch center through the communication module, including the following steps:

[0041] After the target robot starts the delivery task, it periodically collects its current location information (L x,i ,L y,i ), where i represents the i-th location update;

[0042] Using the collected current position information, calculate the remaining straight-line distance D between the current position of the target robot and the target address r , using the formula , its L xt and L yt is the longitude and latitude of the target address;

[0043] Based on the remaining straight line distance D r , estimate the remaining time T for the target robot to reach the target address r , using the formula T r =D r / V a , where V a is the average driving speed of the target robot;

[0044] The current location information (L x,i ,L y,i) and the remaining time T r Real-time feedback is provided to the dispatch center through the communication module.

[0045] Preferably, when the robot arrives at the target location, it confirms with the user that the power bank has been delivered, and records the relevant data of the transaction, including the following steps:

[0046] When the target robot detects the remaining straight-line distance D between its own position and the target address r Less than the preset arrival distance threshold D t□ When the target robot reaches the target location, it determines that the target robot has arrived. The target robot sends an arrival notification to the user through the communication module and asks the user to confirm whether he is ready to receive the power bank.

[0047] The user responds to the confirmation message through the terminal device. After receiving the confirmation message, the target robot unlocks the power bank and completes the delivery process. After completion, the target robot records the relevant data of the transaction and uploads the data to the dispatch center database.

[0048] Preferably, planning the robot's return path according to the return information provided by the user comprises the following steps:

[0049] Receive the power bank return information sent by the user through the terminal device, the return information includes the location information of the user's desired return location (L xr ,L yr );

[0050] According to the return location information (L xr ,L yr ) and the current position information of the target robot (L x,i ,L y,i ), calculate the straight-line distance P′ from the current position to the return location r , using the formula

[0051] Based on the straight-line distance P′ from the current position to the return location r , use the path planning algorithm to calculate the actual path of the target robot from the current position to the return location and the estimated return time T′ r , using the formula Where V a is the average driving speed of the target robot;

[0052] The actual path and estimated return time are sent to the target robot, and the robot returns to the return location according to the planned path. At the same time, the estimated return time is fed back to the dispatch center through the communication module.

[0053] Technical effects and advantages of the present invention: Compared with the prior art, the present invention provides a method for dynamically scheduling power bank distribution and recycling, which has the following advantages:

[0054] The present invention realizes efficient and accurate scheduling and path planning by comprehensively considering the position, power status and power bank loading situation of the robot, as well as the specific needs of the user. Through multi-dimensional screening and evaluation, it ensures that the selected robot has sufficient power and available power banks, thereby improving the task completion rate and user satisfaction. After the robot completes the delivery task, it plans a reasonable return path according to the return information provided by the user, reduces energy consumption and return time, and improves overall operational efficiency. It records and manages transaction data during the delivery and recovery process in real time, which is convenient for subsequent data analysis and service optimization, improves service quality, and effectively solves the problems of low scheduling efficiency, unreasonable path planning, and imperfect data management in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The present invention is a flow chart of a method for dynamically scheduling power bank distribution and recycling. DETAILED DESCRIPTION

[0056] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0057] The present invention provides Figure 1 A method for dynamically scheduling power bank distribution and recycling is shown, comprising the following steps:

[0058] Receiving a power bank demand request sent by a user through a terminal device, wherein the request includes user location information; specifically comprising the following steps:

[0059] When parsing a power bank request sent by a user through a smartphone or other terminal device, the system first receives the request, which contains the user's location coordinate data, usually longitude and latitude coordinates (for example, GPS coordinates). Extract the location coordinate data (x, y) of the user's specific location coordinates;

[0060] After extracting the user's location coordinates, the location coordinate data (x, y) is converted into geographic location information using a geographic information system (GIS). The calculation formula is: G(x, y) = (Z x ,Z y), where G represents the geographic information conversion function, L x and L y Respectively represent the converted longitude and latitude of the user; this process includes converting the latitude and longitude coordinates into easy-to-understand address information, such as street name, city, zip code, etc. This step helps the system better understand and process the user's location information.

[0061] The converted geographic location information is used to query the system's database. Based on the geographic location information, the database is queried to obtain the service scope and available resource status of the area. Based on the service scope and available resource status, a preliminary service response is generated for the user, including the estimated waiting time and the number of available power banks. The available resource status includes how many available power banks are in each area, and the status of these power banks (such as whether they have been borrowed, whether they need repair, etc.).

[0062] Based on the queried service scope and available resource status, the system generates a preliminary service response. This response includes the following:

[0063] Estimated waiting time: Calculates the time the user may need to wait based on the number of robots near the user's location and their current task status. If there are multiple idle robots nearby and there are enough power banks, the estimated waiting time will be shorter; otherwise, it may be longer.

[0064] Number of available power banks: Informs the user how many available power banks are near the current location. If there are a lot of them, the user can choose multiple power banks; if there are a few, the user may need to wait or choose other services.

[0065] According to the user location information, a set of candidate robots located within a preset range is selected from a plurality of delivery robots; specifically, the following steps are included:

[0066] The system first calculates the straight-line distance D between each delivery robot and the user's location i , using the formula Where L xi and L yi Respectively represent the longitude and latitude of the i-th candidate delivery robot; this step is achieved by comparing the longitude and latitude coordinates of the user with the longitude and latitude coordinates of each robot. The calculation of the straight-line distance can help the system quickly screen out robots that are closer to the user.

[0067] The system sets a preset range R (e.g. 5 km) and selects all the iDelivery robots that meet the conditions of ≤R form a preliminary candidate robot set; these robots are added to the preliminary candidate robot set. This ensures that only robots near the user are considered, thereby improving response speed and service efficiency.

[0068] For each robot in the set of preliminary candidate robots, the system further calculates its actual path length P to the user's location. i , considering the actual road conditions, using the path planning formula P i =f(D i ,RoadCondition i ), where RoadCondition i represents the road condition between the ith robot and the user's location; the calculation of the actual path length not only takes into account the straight-line distance, but also the actual road conditions, such as traffic conditions, road congestion, route complexity, etc. This step is implemented through the path planning algorithm to ensure that the selected path is the optimal one.

[0069] The system calculates the actual path length P i , select the robots whose shortest path length is less than or equal to the preset threshold T (e.g., 10-minute driving time), and finally determine the candidate robot set. These robots are determined as the final candidate robot set. This ensures that the selected robots are not only close to the user, but also can reach the user's location quickly, thereby improving the timeliness and reliability of the service.

[0070] By calculating the straight-line distance and setting a preset range, the system can quickly select robots that are closer to the user, reducing unnecessary calculation and processing time and improving response speed. By considering the actual road conditions, the system can select the optimal path to avoid delays caused by traffic congestion or other factors, ensuring that the robot can quickly reach the user's location. By selecting robots whose actual path length is less than or equal to the preset threshold, the system can ensure that the selected robots can complete the delivery task within a reasonable time, improving service reliability and user satisfaction. Through multi-dimensional screening and evaluation, the system can make full use of existing resources, avoid resource waste, and improve overall operational efficiency.

[0071] For each candidate robot, obtain and evaluate its current power status to ensure that the selected robot has sufficient power to complete the delivery task and return; specifically, the following steps are included:

[0072] The system first obtains the current power value E of each candidate robot i This step is usually achieved through the robot's built-in sensors or battery management system. The power value is expressed as a percentage or a specific amount of charge (such as watt-hours).

[0073] The system calculates the minimum power E required for each candidate robot to complete the delivery task and return based on the actual path length between the candidate robot and the user's location and the power consumption coefficient per unit distance. min,i , using Formula E min,i = k·P i , where k is the power consumption coefficient per unit distance; this calculation takes into account various situations that the robot may encounter during the delivery process, such as road conditions, traffic congestion, etc., to ensure the accuracy of the estimation.

[0074] The system compares the current power value of each candidate robot with the minimum power required to complete the task, that is, the current power value E i and the minimum required power E min,i , filter out the i ≥E min,i Only robots whose current power value is greater than or equal to the minimum required power will be selected. This ensures that the selected robots can successfully complete the delivery task and return safely.

[0075] For each robot selected, calculate its remaining power E r,i =E i -E min,i , to evaluate the remaining power status of the robot after completing the task. Specifically, the system subtracts the power required to complete the task from the current power value to obtain the remaining power. This step helps to evaluate whether the robot still has enough power to perform other tasks or return to the charging station after completing the task.

[0076] Check the power bank loading status of the candidate robots to determine which robots are equipped with available power banks; specifically, the following steps are included:

[0077] The system queries the power bank loading information of each candidate robot, including the number of power banks carried by each robot and the specific status of each power bank. The status of the power bank can include the power level, whether it has been borrowed, whether it needs maintenance, etc. Record the number of power banks N for each robot i and the status S of each power bank ij , where j represents the jth power bank on the i-th robot;

[0078] The system defines the available status standard of the power bank. If the power bank status S ij >S o , then the power bank is considered to be usable, where S oIt is the preset minimum available state threshold; specifically, if the state value of a power bank is greater than the preset minimum available state threshold (for example, the power level is higher than a certain percentage), the power bank is considered available. This threshold can be adjusted according to actual needs to ensure that the power bank can meet the needs of users when in use.

[0079] The system counts the number of available power banks N on each candidate robot according to the available status standard usable,i , using the formula Among them [S ij >S o ] is a Boolean expression that evaluates to 1 if the condition is true, otherwise 0; specifically, for each power bank on each robot, the system checks whether its status meets the available criteria. If it does, the count is increased by 1; otherwise, the count remains unchanged. In this way, the system can accurately know how many available power banks are on each robot.

[0080] The system screens out N usable,i >0 robots form the final set of candidate robots, ensuring that each candidate robot is equipped with at least one usable power bank. This ensures that the selected robots not only have enough power to complete the task, but also carry usable power banks, so that they can smoothly provide services to users.

[0081] According to the inspection results, combined with the distance between the current position of the candidate robots and the user's position, the robot with the closest distance is selected to perform the delivery task; specifically, the following steps are included:

[0082] The system forms a final set of candidate robots after screening by battery level and power bank status, and recalculates the straight-line distance D′ between each robot and the user’s position i , using the formula Where L xi and L yi is the longitude and latitude of the candidate robot, L x and L y is the user's longitude and latitude; this step is achieved by comparing the user's longitude and latitude coordinates with the longitude and latitude coordinates of each candidate robot. The calculation of the straight-line distance helps to quickly determine which robots are closest to the user.

[0083] The system is based on the straight-line distance D′ i , further calculate the weighted distance score W of each candidate robot i , considering the current power value E of the robot i and the number of available power banks N usable,i , using the formula Where E min,iThe minimum amount of power required to complete the task; the weighted distance score not only takes into account the straight-line distance, but also the current power value of the robot and the number of available power banks. Specifically, the scoring formula will weight the straight-line distance, the current power value, and the number of available power banks to ensure that the selected robot is not only close in distance, but also has enough power and power banks to complete the task and return safely.

[0084] The system calculates the weighted distance score W of all candidate robots i The robot with the lowest score is selected as the target robot for the delivery task; the lowest score means that the robot is the best choice after comprehensively considering the distance, power and number of power banks. This ensures that the selected robot can complete the delivery task efficiently and reliably.

[0085] The system confirms that the selected target robot meets the power conditions and power bank loading conditions to ensure that it can successfully complete the delivery task and return safely. Specifically, the system verifies again whether the current power value of the target robot is greater than or equal to the minimum power required to complete the task, and confirms whether the number of power banks it carries is sufficient. If the target robot meets these conditions, it is confirmed as the robot that will eventually perform the delivery task; otherwise, the system will reselect the next lowest-scoring robot until a robot that meets all conditions is found.

[0086] Send a delivery instruction to the selected robot, including the target address, estimated delivery time and power bank number; specifically, the following steps are included:

[0087] The system generates the path information P of the target address from the user's location information according to the selected target robot. t ,This step is usually implemented through a Geographic Information System (GIS), which converts the user’s latitude and longitude coordinates into a specific address and ,plans the best path from the robot’s current location to the user’s location. Path information includes detailed ,routes, turning points, traffic conditions, and so on.

[0088] Based on the path information P t , estimate the travel time T of the target robot to reach the user's location d , using the formula T d =P t / V a , where V a is the average speed of the target robot; this step takes into account factors such as path length, road conditions, and traffic flow. The system uses the average speed of the target robot to calculate the estimated travel time. The average speed can be a value dynamically adjusted based on historical data or real-time road conditions.

[0089] The system combines the current time T c(e.g., time obtained from the system clock) and the estimated travel time T d , calculate the estimated delivery time T e , using the formula T e =T c +T d ; This can provide users with an accurate estimate of delivery time and increase the transparency and reliability of the service.

[0090] The system selects a power bank number B from the list of available power banks n , and compare it with the path information P of the target address t and estimated delivery time T e Together, they form a complete delivery instruction and are sent to the target robot through the communication module.

[0091] When selecting a power bank ID, the system can consider factors such as the power bank's status and power level to ensure the best quality of service. This command contains the following:

[0092] Target address: The user's specific location information.

[0093] Estimated Delivery Time: The estimated arrival time calculated by the system.

[0094] Power Bank Number: The unique identification number of the selected power bank.

[0095] The system sends this complete delivery instruction to the selected target robot through a communication module (such as wireless network, cellular network, etc.). After receiving the instruction, the robot will perform the delivery task according to the specified path and time.

[0096] By generating detailed route information and calculating the estimated delivery time, the system can quickly generate and send delivery instructions, reducing processing time and waiting time, and improving response speed. By comprehensively considering the route length, road conditions and traffic flow, the system can plan the optimal route, reduce driving time and energy consumption, and improve delivery efficiency. By providing accurate estimated delivery times, the system increases the transparency of the service, allowing users to better arrange their time and improve the user experience. By selecting power banks in good condition and including their numbers in the delivery instructions, the system can ensure that the power banks provided meet the needs of users, improving the reliability and satisfaction of the service. Through precise route planning and estimated delivery times, the system can provide more efficient and reliable services, enhancing users' trust and satisfaction.

[0097] When the robot is on its way to the target location, it updates its location information in real time and feeds this information back to the dispatch center through the communication module. The specific steps include:

[0098] When the target robot starts to perform the delivery task, the system will periodically (for example, every 10 seconds or every 30 seconds) collect the robot's current location information (L x,i ,L y,i ), where i represents the i-th position update; this step is usually achieved through the robot's built-in GPS module or other positioning sensors. Each position update will record the current longitude and latitude coordinates and mark it as the i-th position update.

[0099] Using the collected current position information, calculate the remaining straight-line distance D between the current position of the target robot and the target address r , using the formula Its L xt and L yt is the longitude and latitude of the target address; this step is achieved by comparing the longitude and latitude coordinates of the current location with the longitude and latitude coordinates of the target address. The remaining straight-line distance can help the system quickly understand how far the robot is from the target address.

[0100] Based on the remaining straight line distance D r , estimate the remaining time T for the target robot to reach the target address r , using the formula T r =D r / V a , where V a is the average driving speed of the target robot; this step takes into account the average driving speed of the target robot. The average driving speed can be a value dynamically adjusted based on historical data or real-time traffic conditions. Based on the remaining straight-line distance and the average driving speed, the system can estimate how much time it will take for the robot to reach the target address.

[0101] The current location information (L x,i ,L y,i ) and the remaining time T r Feedback to the dispatch center in real time through communication modules (such as wireless networks, cellular networks, etc.), including:

[0102] Current location information: the current longitude and latitude coordinates of the target robot.

[0103] Remaining time: The estimated time required to reach the destination address.

[0104] After receiving this information, the dispatch center can monitor the robot's position and progress in real time and deal with possible problems in a timely manner, such as traffic congestion, route changes, etc. In addition, the dispatch center can also send real-time updates to users based on this information to inform users of the delivery progress and estimated delivery time.

[0105] When the robot arrives at the destination, it confirms with the user that the power bank has been delivered and records the relevant data of the transaction. The specific steps include:

[0106] When the target robot detects the remaining straight-line distance D between its own position and the target address r Less than the preset arrival distance threshold D t□ When the robot reaches the target location, the system will continuously monitor the remaining straight-line distance between its current location and the target address. Once it detects that this distance is less than the preset arrival distance threshold (e.g. 50 meters), the system will determine that the robot has reached the target location. This threshold can be adjusted according to actual needs to ensure that the robot is considered to have arrived within a reasonable range.

[0107] The target robot sends an arrival notification to the user through a communication module (such as a wireless network, cellular network, etc.). This notification informs the user that the robot has arrived and asks the user to confirm whether they are ready to receive the power bank. The user can respond by clicking the confirmation button in the notification or replying to the message, and asks the user to confirm whether they are ready to receive the power bank;

[0108] The user responds to the confirmation message through the terminal device, indicating that he is ready to receive the power bank. After receiving the confirmation message, the target robot unlocks the power bank and completes the delivery process. After completion, the target robot records the relevant data of the transaction and uploads the data to the dispatch center database. After the power bank is delivered, the target robot will record the relevant data of the transaction. These data include but are not limited to:

[0109] Delivery task number: unique task identifier.

[0110] User ID: The unique identifier of the user.

[0111] Power Bank Number: The unique identification of the delivered power bank.

[0112] Delivery start time: The time when the robot starts delivery.

[0113] Estimated Delivery Time: The estimated delivery time calculated by the system.

[0114] Actual delivery time: the time when the robot actually arrives at the destination.

[0115] User feedback information: User evaluation or feedback on this service (if any).

[0116] The target robot uploads this data to the database of the dispatch center through the communication module. The dispatch center can use this data for subsequent data analysis and service optimization to improve the overall service quality and user experience.

[0117] After delivery is completed, the robot's return path is planned according to the return information provided by the user to ensure that the robot can return safely and complete the recycling of the power bank; the specific steps include:

[0118] When a user needs to return the power bank, he can send a return request through a terminal device (such as a smart phone). The return information includes the location information (L xr ,L yr ), usually including latitude and longitude coordinates or a specific address;

[0119] After receiving the return information from the user, the system will obtain the current location information of the target robot. Then, according to the return location information (L xr ,L yr ) and the current position information of the target robot (L x,i ,L y,i ), calculate the straight-line distance P′ from the current position to the return location r , using the formula This step is achieved by comparing the longitude and latitude coordinates of the two locations. The calculation of the straight-line distance helps to preliminarily determine the approximate direction and distance of the robot's return.

[0120] Based on the straight-line distance P′ from the current position to the return location r , use the path planning algorithm (such as Dijkstra algorithm) to calculate the actual path of the target robot from the current position to the return location and the estimated return time T′ r , using the formula Where V a is the average speed of the target robot; the path planning algorithm takes into account factors such as actual road conditions, traffic conditions, route complexity, etc. to generate the optimal path. At the same time, the system also calculates the estimated return time, taking into account the average speed of the target robot. The average speed can be a value dynamically adjusted based on historical data or real-time traffic conditions.

[0121] The system sends the calculated actual path and estimated return time to the target robot through the communication module (such as wireless network, cellular network, etc.). After receiving this information, the robot will return to the return location according to the planned path. At the same time, the system will also feed back the estimated return time to the dispatch center so that the dispatch center can monitor the robot's return progress.

[0122] The target robot returns to the return location according to the path planned by the system. During the return process, the robot will continuously update its location information and feed this information back to the dispatch center in real time through the communication module. The dispatch center can monitor the robot's return progress based on this information and deal with possible problems in a timely manner, such as traffic congestion, route changes, etc.

[0123] By accurately calculating the straight-line distance and using the path planning algorithm, the system can generate the optimal return path, reduce unnecessary detours and delays, and improve return efficiency. The path planning algorithm takes into account the actual road conditions and traffic conditions to ensure that the robot can choose the most appropriate path to return and avoid delays caused by traffic congestion or other factors.

[0124] By providing real-time feedback of location information and estimated return time, the dispatch center can monitor the robot's return process, identify and handle problems in a timely manner, and ensure that the robot can return safely and complete the recycling of the power bank. Users can understand the progress of the power bank's return through the system, reducing the uncertainty and anxiety of waiting, and improving user satisfaction and trust. The system records and uploads data during the return process, which is helpful for subsequent data analysis and service optimization, and improves overall service quality and operational efficiency.

[0125] In summary, the present invention ensures that the robot can efficiently and safely return to the return location and complete the recycling of the power bank through detailed path planning and real-time feedback mechanism. This not only improves the overall efficiency and service quality of the system, but also enhances the user's trust and satisfaction with the service.

[0126] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for dynamically scheduling power bank distribution and recycling, characterized in that: The following steps are involved: Receive a power bank demand request sent by a user through a terminal device, the request including user location information, and select a set of candidate robots within a preset range from a plurality of delivery robots according to the user location information; For each candidate robot, obtain and evaluate its current power status, ensure that the selected robot has enough power to complete the delivery task and return, check the power bank loading status of the candidate robots, and determine which robots are equipped with available power banks; According to the inspection results, combined with the distance between the current location of the candidate robots and the user's location, the closest robot is selected to perform the delivery task, and a delivery instruction is sent to the selected robot, including the target address, estimated delivery time and power bank number; The robot updates its location information in real time while traveling to the target location, and feeds this information back to the dispatch center through the communication module. When the robot arrives at the target location, it confirms with the user that the power bank has been delivered and records the relevant data of the transaction. After delivery is completed, the robot's return path is planned based on the return information provided by the user to ensure that the robot can return safely and complete the recycling of the power bank.

2. A method for dynamically scheduling power bank distribution and recycling according to claim 1, characterized in that: The receiving of a power bank demand request sent by a user through a terminal device comprises the following steps: Parse the power bank demand request sent by the user through the terminal device and extract the location coordinate data (x, y); The location coordinate data (x, y) is converted into geographical location information using a geographic information system. The calculation formula is: G(x, y) = (Z x ,Z y ), where G represents the geographic information conversion function, L x and L y Respectively represent the longitude and latitude of the converted user; Based on the geographic location information, a database is queried to obtain the service scope and available resource status of the area, and a preliminary service response is generated for the user according to the service scope and available resource status, including an estimated waiting time and the number of available power banks.

3. A method for dynamically scheduling power bank distribution and recycling according to claim 2, characterized in that: The step of selecting a set of candidate robots located within a preset range from a plurality of delivery robots according to the user location information comprises the following steps: Calculate the straight-line distance D between each delivery robot and the user's location i , using the formula Where L xi and L yi Respectively represent the longitude and latitude of the i-th candidate delivery robot; Set a preset range R and filter out all the i The delivery robots that meet the conditions of ≤R form a preliminary set of candidate robots; For each robot in the preliminary candidate robot set, calculate the actual path length P from the robot to the user's location. i , considering the actual road conditions, using the path planning formula P i =f(D i ,RoadCondition i ), where RoadCondition i Represents the road condition between the i-th robot and the user's position; According to the calculated actual path length P i , screen out the robots whose shortest path length is less than or equal to the preset threshold T, and finally determine the set of candidate robots.

4. A method for dynamically scheduling power bank distribution and recycling according to claim 3, characterized in that: For each candidate robot, obtaining and evaluating its current power state includes the following steps: Get the current power value E of each candidate robot i , calculate the minimum power E required for each candidate robot to complete the delivery task and return min,i , using Formula E min,i = k·P i , where k is the power consumption per unit distance; Compare the current power value E i and the minimum required power E min,i , filter out the i ≥E min,i Conditional robots; For each robot selected, calculate its remaining power E r,i =E i -E min,i , to evaluate the remaining power status of the robot after completing the task.

5. A method for dynamically scheduling power bank distribution and recycling according to claim 4, characterized in that: The step of checking the power bank loading status of the candidate robots and determining which robots are equipped with available power banks comprises the following steps: Query the power bank loading information of each candidate robot, and record the number of power banks N for each robot. i and the status S of each power bank ij , where j represents the jth power bank on the i-th robot; Define the available status standard of the power bank. If the power bank status S ij >S o , then the power bank is considered to be usable, where S o is the preset minimum available status threshold; According to the availability status standard, the number of available power banks N on each candidate robot is counted usable,i , using the formula Among them [S ij >S o ] is a Boolean expression that evaluates to 1 if the condition is true, otherwise 0; Filter out N usable,i >0 robots to form the final set of candidate robots, ensuring that each candidate robot is equipped with at least one available power bank.

6. A method for dynamically scheduling power bank distribution and recycling according to claim 5, characterized in that: The method of combining the distance between the current position of the candidate robots and the user's position and selecting the robot closest to perform the delivery task includes the following steps: For the final set of candidate robots, recalculate the straight-line distance D between each robot and the user's position i ′, using the formula Where L xi and L yi is the longitude and latitude of the candidate robot, L x and L y are the user's longitude and latitude; Based on the straight line distance D i ′, calculate the weighted distance score W of each candidate robot i , considering the current power value E of the robot i and the number of available power banks N usable,i , using the formula Where E min,i It is the minimum amount of electricity required to complete the task; The weighted distance score W of all calculated candidate robots i Sort them and select the robot with the lowest score as the target robot to perform the delivery task; Confirm that the selected target robot meets the power requirements and power bank loading conditions to ensure that it can successfully complete the delivery task and return safely.

7. A method for dynamically scheduling power bank distribution and recycling according to claim 6, characterized in that: The sending of the delivery instruction to the selected robot comprises the following steps: According to the selected target robot, the path information P of the target address is generated from the user's location information t , based on the path information P t , estimate the travel time T of the target robot to reach the user's location d , using the formula T d =P t / V a , where V a is the average driving speed of the target robot; Combined with the current time T c and the estimated travel time T d , calculate the estimated delivery time T e , using the formula T e =T c +T d ; Select a power bank number B from the list of available power banks n , and compare it with the path information P of the target address t and estimated delivery time T e Together, they form a complete delivery instruction and are sent to the target robot through the communication module.

8. A method for dynamically scheduling power bank distribution and recycling according to claim 7, characterized in that: The robot updates its position information in real time while traveling to the target location, and feeds this information back to the dispatch center through the communication module, including the following steps: After the target robot starts the delivery task, it periodically collects its current location information (L x,i ,L y,i ), where i represents the i-th location update; Using the collected current position information, calculate the remaining straight-line distance D between the current position of the target robot and the target address r , using the formula Its L xt and L yt are the longitude and latitude of the target address; Based on the remaining straight line distance D r , estimate the remaining time T for the target robot to reach the target address r , using the formula T r =D r / V a , where V a is the average driving speed of the target robot; The current location information (L x,i ,L y,i ) and the remaining time T r Real-time feedback is provided to the dispatch center through the communication module.

9. A method for dynamically scheduling power bank distribution and recycling according to claim 8, characterized in that: When the robot arrives at the target location, it confirms with the user that the power bank has been delivered and records the relevant data of the transaction, including the following steps: When the target robot detects the remaining straight-line distance D between its own position and the target address r Less than the preset arrival distance threshold D t□ When the target robot reaches the target location, it determines that the target robot has arrived. The target robot sends an arrival notification to the user through the communication module and asks the user to confirm whether he is ready to receive the power bank. The user responds to the confirmation message through the terminal device. After receiving the confirmation message, the target robot unlocks the power bank and completes the delivery process. After completion, the target robot records the relevant data of the transaction and uploads the data to the dispatch center database.

10. A method for dynamically scheduling power bank distribution and recycling according to claim 9, characterized in that: The method of planning the robot's return path according to the return information provided by the user includes the following steps: Receive the power bank return information sent by the user through the terminal device, the return information includes the location information of the user's desired return location (L xr ,L yr ); According to the return location information (L xr ,L yr ) and the current position information of the target robot (L x,i ,L y,i ), calculate the straight-line distance P from the current position to the return location r ′, using the formula Based on the straight-line distance P from the current position to the return location r ′, use the path planning algorithm to calculate the actual path of the target robot from the current position to the return location and the estimated return time T r ′, using the formula Where V a is the average driving speed of the target robot; The actual path and estimated return time are sent to the target robot, and the robot returns to the return location according to the planned path. At the same time, the estimated return time is fed back to the dispatch center through the communication module.

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