A method for power bank distribution and recycling positioning based on QR code and distribution machine

Abstract

The present invention discloses a method for distributing and recovering power banks based on QR codes and distribution machines, in which the positions of various QR codes are entered into a preset area to form a database. The distribution robot starts from a power bank storage station and navigates to a target location in the database according to the task instructions. If the robot does not receive the user's confirmation of receipt within a predetermined time, the real-time location update mode is started, and the current location information is periodically sent to the user's mobile terminal. The robot adjusts the direction of travel according to the optimal path and gradually approaches the user's location. When the robot arrives near the user, the user can take out the power bank. After the delivery is completed, the user performs a secondary location confirmation on the mobile terminal, and the system updates the final location record of the distribution task. This method improves the flexibility, reliability and user experience of the distribution service, provides accurate data support for service providers, and helps to improve service quality and efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of shared power banks, and in particular relates to a power bank distribution and recycling positioning method based on a QR code and a distribution machine. Background Art

[0002] With the rapid development of the sharing economy, power bank rental services have become one of the effective ways to solve the problem of insufficient mobile phone battery when people go out. Traditional power bank rental services mostly rely on fixed rental sites, and users need to go to designated locations to rent or return power banks, which to a certain extent limits the convenience of the service and user experience. In recent years, in order to improve the flexibility and efficiency of power bank rental services, the industry has introduced delivery robots for the delivery and recycling of power banks. However, existing delivery robot solutions usually face problems such as low delivery accuracy, difficulty for users to track the robot's location in real time, and inaccurate location confirmation after delivery.

[0003] In particular, during the delivery process, if the user fails to arrive at the delivery point in time to sign for the power bank for some reason, the delivery robot lacks an effective means to keep in touch with the user, resulting in low delivery efficiency and poor user experience. In addition, after the delivery task is completed, there is a lack of an effective mechanism to confirm the final location, which affects the subsequent service evaluation and optimization work. Summary of the invention

[0004] The purpose of the present invention is to provide a power bank delivery and recycling positioning method based on QR code and delivery machine, aiming to solve the problems in the prior art that the delivery robot cannot effectively communicate with the user when the user's confirmation receipt information is not received on time, and there is a lack of accurate location confirmation mechanism after the delivery task is completed.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: a method for power bank distribution and recycling positioning based on QR code and distribution machine, comprising the following steps:

[0006] In the preset area, the location of each QR code is entered to form a QR code location database. According to the task instructions, the delivery robot starts from the power bank storage station and uses the built-in positioning module to navigate to one of the entered QR code locations;

[0007] After the delivery robot arrives at the target location, if the delivery robot does not receive the confirmation receipt information from the requester within a predetermined time, the real-time location update mode is started. In the real-time location update mode, the delivery robot starts to periodically send the current location information to the mobile terminal of the requester;

[0008] The sent location information is displayed in the form of a map in the applet on the requester's mobile terminal. At the same time, the mobile terminal calculates the best path to the delivery robot's location based on the requester's current location information;

[0009] The delivery robot adjusts its own direction of travel according to the optimal path information and gradually approaches the actual location of the requester;

[0010] When the delivery robot arrives near the determined requester's location, the requester can take out the power bank from the robot. After completing the delivery of the power bank, the requester conducts a second location confirmation on the mobile terminal, and the system updates the final location record of the delivery task accordingly.

[0011] Preferably, the position of each QR code is entered in the preset area to form a QR code position database, including:

[0012] Select multiple fixed reference points in the preset area, set a unique QR code mark on each reference point, and use the geographic information system to convert the coordinate data of each reference point into location information under a unified coordinate system;

[0013] For each coordinate position, apply the distance calculation formula where x 1 ,y 1 represents the coordinates of the reference point A, x 2 ,y 2 Indicates the coordinates of another reference point B, so as to verify whether the relative positions between the reference points meet the preset standard spacing;

[0014] Integrate the verified QR code location information into the QR code location database.

[0015] Preferably, the delivery robot starts from the power bank storage station according to the task instruction and uses the built-in positioning module to navigate to one of the entered QR code locations, including:

[0016] The delivery robot receives a task instruction from the central control system, wherein the task instruction includes the location information of the target QR code, and the location information comes from the QR code location database;

[0017] The robot parses the task instructions and determines the coordinates of the target QR code (x t ,y t ) and its current position (x r ,y r ), and calculate the straight-line distance between the two

[0018] Based on the calculated distance D rt,The robot uses the built-in positioning module to plan the shortest path from the current position to the target QR code location;

[0019] The robot drives along the planned path while continuously monitoring the remaining distance between the current position and the target position until the remaining distance is less than the preset threshold ΔD, and it is considered to have reached the target position.

[0020] Preferably, after the delivery robot arrives at the target location, if the delivery robot does not receive the confirmation receipt information from the requester within a predetermined time, the real-time location update mode is started, including:

[0021] After the robot reaches the target QR code location, it starts the timer and sets the predetermined waiting time to T. w minutes, at the set time T w The robot continuously listens for the requester's confirmation signal. If a confirmation signal is received, the robot stops the timer and proceeds to the next step. Otherwise, when the timer reaches T w When the device is in the real-time location update mode, it will automatically switch to the real-time location update mode;

[0022] After entering the real-time position update mode, the robot uses the built-in positioning module to obtain the current position coordinates (x r ′,y r ′), and calculate the distance change between the current position and the most recently recorded position Where (x r ,y r ) is the last recorded position;

[0023] The robot calculates the distance change ΔD′ and the current position coordinates (x′ r ,y′ r ) is sent to the central control system, which further processes it and sends the updated robot position information to the requester's mobile terminal.

[0024] Preferably, in the real-time location update mode, the delivery robot starts to periodically send current location information to the requester's mobile terminal, including:

[0025] In the real-time position update mode, the robot calls the built-in positioning module to obtain its current position coordinates (x rn ,y rn );

[0026] The robot will obtain the current position coordinates (x rn ,y rn ) and the last sent position coordinates (x rn-1 ,y rn-1 ) to compare and calculate the distance difference between the two

[0027] If the distance difference ΔD calculated in sub-step 4b is n Greater than the preset minimum moving distance threshold ΔD min , the robot sends the current location information to the requester's mobile terminal through the wireless communication module, including but not limited to the location coordinates (x rn ,y rn ) and timestamp, after which the robot updates the internally recorded position coordinates to (x rn ,y rn ), and use this as the starting position for the next distance difference calculation, and then continue to perform the periodic position update process.

[0028] Preferably, the sent location information is displayed in the form of a map in a small program on the requester's mobile terminal, including:

[0029] The mobile terminal of the requester receives the current position information sent by the robot through the wireless communication module, including the position coordinates (x rn ,y rn ) and timestamp;

[0030] The applet on the mobile terminal uses the received location information and the built-in map data to mark the current location of the robot on the map interface, and displays a timestamp to indicate the timeliness of the location information;

[0031] The applet calculates the straight-line distance between the robot's current location and the requester's current location Where (x u ,y u ) is the current location coordinates of the requester;

[0032] The applet displays directions from the requester's current location to the robot's current location.

[0033] Preferably, the mobile terminal calculates the best path to the delivery robot according to the current location information of the requester, including:

[0034] The applet on the mobile terminal obtains the current location coordinates of the requester (x u ,y u ) and the robot's current position coordinates (x rn ,y rn );

[0035] Based on the obtained location coordinates, the applet calls the map service interface to query the current location of the requester (x u ,y u ) to the robot's current position (x rn ,y rn) and calculate the estimated travel time T for each path i and the total distance L i , where i represents the i-th path;

[0036] The applet uses the weighted average method to comprehensively evaluate the pros and cons of each path. The specific calculation formula is S i =w T ·T i +w L ·L i , where w T and w L are time weight and distance weight respectively, S i represents the comprehensive score of the i-th path;

[0037] Mini Program Selection Comprehensive Rating S i The lowest path is taken as the best path and is presented to the requester in a visual manner on the map interface, while providing specific guidance on the path.

[0038] Preferably, the delivery robot adjusts its own moving direction according to the optimal path information and gradually approaches the actual location of the requester, including:

[0039] The robot receives the best path information forwarded by the mobile terminal applet through the central control system, which includes the information from the requester's current location (x u ,y u ) to the robot's current position (x rn ,y rn )’s turning prompts and distance prompts;

[0040] The robot analyzes the optimal path information and extracts the position coordinates of the first turning point (x t1 ,y t1 ) and the straight-line distance between it and the robot’s current position

[0041] The robot calculates the straight-line distance D t1 Adjust the speed and direction. When the robot reaches the first turning point (x t1 ,y t1 ), the process of parsing the best path is repeated until the robot gradually approaches the actual position of the requester according to the best path information.

[0042] Preferably, when the delivery robot arrives near the determined location of the requester, the requester can take out the power bank from the robot, including:

[0043] When the best path information provided by the robot approaches the requester’s location, the robot continuously monitors the current location of the requester (x u ,yu ), when the distance is less than the preset proximity threshold D t□ When the request is received, it is judged to have arrived near the requester's location;

[0044] After arriving near the requester's location, the robot sends an arrival notification to the requester's mobile terminal through the wireless communication module, and activates the interactive interface on the robot, preparing to provide power bank delivery service;

[0045] After the requester confirms receiving the notification of the power bank on the mobile terminal, the robot unlocks the power bank storage area, allowing the requester to open and take out the power bank. After taking out the power bank, the requester completes the treasure retrieval confirmation operation on the mobile terminal. The robot records the success of the delivery and feeds back the status information to the central control system to complete the entire delivery process.

[0046] Preferably, after the power bank is delivered, the requester performs a second location confirmation on the mobile terminal, and the system updates the final location record of the delivery task accordingly, including:

[0047] After the requester completes the treasure retrieval confirmation operation on the mobile terminal, the mobile terminal displays a secondary location confirmation prompt, and the requester needs to click the confirmation button again to verify the current location;

[0048] After clicking confirm, the mobile terminal obtains the precise coordinates of the requester’s current location (x f ,y f ), and send the coordinate information to the central control system via a wireless network;

[0049] The final position coordinates (x f ,y f ) and compare it with all historical location information related to the delivery task;

[0050] The central control system will verify the correct final position coordinates (x f ,y f ) is updated to the delivery task database as the final location record of the delivery task.

[0051] Technical effects and advantages of the present invention: Compared with the prior art, the present invention provides a method for distributing and locating power banks based on a QR code and a distribution machine, which has the following advantages:

[0052] The power bank delivery and recycling positioning method based on QR code and delivery robot proposed by the present invention can not only actively send real-time location information to the user's mobile terminal when the delivery robot fails to receive the user's confirmation information on time, so as to achieve instant communication with the user, but also ensure the accuracy of the final location record of the delivery task through the user's secondary location confirmation after the delivery task is completed. This method significantly improves the flexibility, reliability and user experience of the power bank delivery service, and also provides more accurate data support for service providers, which helps to improve service quality and service efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 The present invention is a flow chart of a method for power bank distribution and recycling positioning based on a QR code and a distribution machine. DETAILED DESCRIPTION

[0054] 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.

[0055] The present invention provides a method for power bank distribution and recycling positioning based on a QR code and a distribution machine, such as Figure 1 As shown, the following steps are included:

[0056] Step 1: In a preset area, the position of each QR code is entered to form a QR code position database; further comprising the following steps:

[0057] Step 1a: Use high-precision surveying tools, such as total stations or GPS devices, to select multiple fixed reference points within the preset area, ensuring that each reference point has a unique and non-repeatable identifier. This process ensures the accuracy and reliability of subsequent location information entry.

[0058] Step 1b: Use a geographic information system (GIS) to convert the coordinate data of each reference point in step 1a into location information in a unified coordinate system. Specifically, convert the longitude and latitude coordinates of each reference point into coordinates in a unified plane rectangular coordinate system to ensure that all location information is managed and used in the same coordinate system. This step eliminates the errors caused by different coordinate systems and improves the consistency and accuracy of location information;

[0059] Step 1c: For each coordinate location in step 1b, apply the distance calculation formula where x 1 ,y 1 represents the coordinates of the reference point A, x 2 ,y 2 Indicates the coordinates of another reference point B to verify whether the relative positions between the reference points meet the preset standard spacing; calculates the straight-line distance between any two reference points and compares it with the preset standard spacing. If the deviation between the calculated distance and the standard spacing is within the allowable range, the position information of the two reference points is considered accurate. This process ensures that the distribution of all reference points in the physical space meets the design requirements and avoids incorrect entry of position information.

[0060] Step 1d: Integrate the QR code location information verified in step 1c into the QR code location database to ensure that each QR code identifier accurately matches its corresponding physical location. During the integration process, ensure that each QR code identifier accurately matches its corresponding physical location. Specifically, the QR code identifier of each reference point is associated with its converted coordinate information to form a structured database record. This step ensures the integrity and accuracy of the QR code location database and provides reliable basic data support for subsequent delivery robot navigation.

[0061] Step 2: The delivery robot starts from the power bank storage station according to the task instruction and uses the built-in positioning module to navigate to one of the QR code locations entered in step 1; further comprising the following steps:

[0062] Step 2a: The delivery robot first receives the task instruction from the central control system. The task instruction contains the location information of the target QR code, which comes from the QR code location database formed in step 1. The robot receives the task instruction through the wireless communication module and stores it in the internal memory to ensure the accuracy and completeness of the task instruction;

[0063] Step 2b: The robot parses the task instruction and determines the coordinates of the target QR code (x t ,y t ) and its current position (x r ,y r ), and calculate the straight-line distance between the two Specifically, the robot parses the task instructions and extracts the coordinate information of the target QR code. At the same time, it uses the built-in positioning module (such as GPS or inertial navigation system) to obtain its current position coordinates. The robot calculates the straight-line distance between the target QR code position and its current position to evaluate the complexity and time required for the task. This step provides basic data support for subsequent path planning.

[0064] Step 2c: Based on the distance D calculated in step 2b rtThe robot uses the built-in positioning module to plan the shortest path from the current location to the target QR code location, ensuring that the route avoids known obstacles; during the path planning process, the robot will refer to the pre-stored map data to ensure that the route avoids known obstacles (such as buildings, trees, other robots, etc.). This step ensures that the robot can reach the target location safely and efficiently, and improves the success rate of the delivery task.

[0065] Step 2d: The robot drives along the path planned in step 2c, while continuously monitoring the remaining distance between the current position and the target position, until the remaining distance is less than the preset threshold ΔD, and it is considered to have reached the target position. During this process, every time the robot passes a known QR code position point, it will recalculate the distance between the current position and the target position to correct the route;

[0066] Specifically, the robot travels along the path planned in step 2c while continuously monitoring the remaining distance between the current position and the target position. The robot's built-in positioning module regularly updates the current position coordinates and calculates the remaining distance between the current position and the target position. When the remaining distance is less than the preset threshold, the robot considers that it has reached the target position. During this process, every time the robot passes a known QR code location point, it recalculates the distance between the current position and the target position to correct the route and ensure the accuracy of navigation. In addition, the robot will detect the surrounding environment in real time and dynamically adjust the path to deal with emergencies (such as temporary obstacles).

[0067] Step 3: After reaching the target location of step 2, if the robot does not receive the confirmation receipt information from the requester within a predetermined time, the real-time location update mode is started; further comprising the following steps:

[0068] Step 3a: After the robot reaches the target QR code location, start the timer and set the predetermined waiting time to T w minutes; this scheduled waiting time is to give the requester enough time to arrive and confirm receipt of the power bank.

[0069] Step 3b: At the time T set in step 3a w The robot continuously listens for the requester's confirmation signal. If a confirmation signal is received, the robot stops the timer and proceeds to the next step. Otherwise, when the timer reaches T w When the device is in the real-time location update mode, it will automatically switch to the real-time location update mode; specifically:

[0070] The confirmation signal can be sent by the requester's mobile terminal, for example, by clicking the confirmation button in the mini program. If the robot receives the confirmation signal within this period of time, the timer will stop and proceed to the next step, such as opening the power bank storage area for the requester to use. If the timer reaches 5 minutes and no confirmation signal is received, the robot will automatically switch to real-time location update mode.

[0071] Step 3c: After entering the real-time position update mode, the robot uses the built-in positioning module to obtain the current position coordinates (x r ′,y r ′), and calculate the distance change between the current position and the most recently recorded position Where (x r ,y r ) is the last recorded position; this step is used to monitor whether the robot is moving and the distance it has moved.

[0072] Step 3d: The robot calculates the distance change ΔD′ and the current position coordinate (x′ r ,y′ r ) is sent to the central control system, which further processes and sends the updated robot location information to the requester's mobile terminal. The requester can view the robot's location in real time through the applet on the mobile terminal, so as to find the robot better. The central control system sends the real-time location information to the requester's mobile terminal, which enhances the communication and interaction between the robot and the requester, and improves the transparency of the delivery task and user satisfaction.

[0073] Step 4: In the real-time location update mode of step 3, the robot begins to periodically send current location information to the requester's mobile terminal; further comprising the following steps:

[0074] Step 4a: In the real-time position update mode, the robot calls the built-in positioning module (such as GPS or inertial navigation system) to obtain its current position coordinates (x rn ,y rn ); This step ensures that the robot can regularly update its own location information and provide accurate data for subsequent location transmission.

[0075] Step 4b: The robot takes the current position coordinates (x rn ,y rn ) and the last sent position coordinates (x rn-1 ,y rn-1 ) to compare and calculate the distance difference between the two This step is used to determine whether the robot has moved significantly, so as to decide whether new location information needs to be sent to the requester.

[0076] Step 4c: If the distance difference ΔD calculated in step 4b n Greater than the preset minimum moving distance threshold ΔD min (e.g. 5 meters), the robot sends the current location information, including but not limited to the location coordinates (x rn ,y rn ) and timestamp; this step ensures that new location information is sent only when the robot moves significantly, reducing unnecessary communication overhead while ensuring the real-time and accuracy of the location information.

[0077] Step 4d: After step 4c, the robot updates the internally recorded position coordinates to (x rn ,y rn ), and uses this as the starting position for the next distance difference calculation, and then returns to step 4a to continue the periodic position update process. This step ensures the continuity and accuracy of the position information, allowing the requester to understand the latest position of the robot in real time. The robot updates the internally recorded position coordinates after each position information is sent, ensuring the continuity and accuracy of the position information, providing reliable navigation support for the requester and improving the success rate of the delivery task.

[0078] Step 5: The location information sent in step 4 is displayed in the form of a map in the mini program on the requester's mobile terminal, so that the requester can understand the current location of the robot; further comprising the following steps:

[0079] Step 5a: The mobile terminal of the requester receives the current position information sent by the robot through the wireless communication module, including the position coordinates (x rn ,y rn ) and timestamp; the timestamp is used to indicate the timeliness of the location information and ensure that the requester understands the latest information.

[0080] Step 5b: The mini program on the mobile terminal will mark the current location of the robot on the map interface based on the received location information and the built-in map data, and will display a timestamp to indicate the timeliness of the location information; specifically, the mini program will mark the current location of the robot on the map with an icon (e.g., a robot icon) and display a timestamp next to the icon to indicate the time when the location information was collected. This step allows the requester to intuitively see the current location of the robot and the timeliness of the information.

[0081] Step 5c: The applet calculates the straight-line distance between the robot’s current location and the requester’s current location Where (x u ,y u ) is the current location coordinates of the applicant; this step helps the applicant understand the approximate distance between himself and the robot and provides a reference for subsequent navigation.

[0082] Step 5d: Based on step 5c, the mini program displays directional guidance from the requester's current location to the robot's current location to help the requester quickly find the robot. The directional guidance includes but is not limited to text descriptions (e.g., "walk 100 meters north") and arrow instructions (e.g., an arrow pointing to the robot is displayed on a map). These instructions help the requester quickly find the specific location of the robot, improving the user's convenience and experience. Through real-time location display and directional guidance, the interaction between the requester and the robot is enhanced, and the completion rate of the delivery task and the overall service quality are improved.

[0083] Step 6: At the same time, the mobile terminal calculates the best path to the robot position in step 5 according to the current location information of the requester; further comprising the following steps:

[0084] Step 6a: The applet on the mobile terminal obtains the current location coordinates of the requester (x u ,y u ) and the robot’s current position coordinates (x rn ,y rn ); these coordinate information are obtained through the built-in positioning module (such as GPS) and the position information sent from the robot.

[0085] Step 6b: Based on the location coordinates obtained in step 6a, the applet calls the map service interface to query the current location of the requester (x u ,y u ) to the robot's current position (x rn ,y rn ) and calculate the estimated travel time T for each path i and the total distance L i , where i represents the i-th path; for each path, the applet calculates its estimated walking time and total distance. Such path information includes but is not limited to the starting point, end point, intermediate nodes, estimated walking time and total distance of the path.

[0086] Step 6c: The applet uses the weighted average method to comprehensively evaluate the pros and cons of each path. Specifically, the applet calculates the comprehensive score of each path based on the estimated walking time and total distance of each path, combined with the preset time weight and distance weight. The time weight and distance weight can be adjusted according to the actual situation to meet different needs. The specific calculation formula is S i =w T ·T i +w L ·L i , where w T and w L are time weight and distance weight respectively, S i represents the comprehensive score of the i-th path;

[0087] Step 6d: Mini Program Selection Comprehensive Rating S i The lowest path is used as the best path and is presented to the requester in a visual manner on the map interface, while providing specific guidance for the path, including but not limited to turn prompts and distance prompts. Specific guidance includes but is not limited to turn prompts and distance prompts. For example, the mini program can display the starting point, end point, and intermediate nodes of the path on the map, and provide turn prompts (such as "turn left", "turn right") and distance prompts (such as "100 meters ahead") at each node. This step helps the requester find the robot quickly and accurately, improving user convenience and satisfaction.

[0088] Step 7: The robot adjusts its own direction of travel according to the optimal path information provided in step 6, and gradually approaches the actual position of the requester; further comprising the following steps:

[0089] Step 7a: The robot receives the best path information forwarded by the mobile terminal applet through the central control system. The information includes the best path information from the requester's current location (x u ,y u ) to the robot's current position (x rn ,y rn )’s turning prompts and distance prompts; the optimal path information usually includes a series of turning point coordinates and corresponding turning instructions.

[0090] Step 7b: The robot analyzes the optimal path information and extracts the position coordinates of the first turning point (x t1 ,y t1 ) and the straight-line distance between it and the robot’s current position This step ensures that the robot can clearly know the specific location and distance of the next target turning point, providing a basis for subsequent movement adjustments.

[0091] Step 7c: The robot calculates the straight-line distance D according to step 7b t1Adjust the speed and direction to ensure smooth and efficient movement to the first turning point; specifically, the robot will adjust the speed according to the distance to ensure smooth and efficient movement to the first turning point. At the same time, the robot will adjust the direction according to the turning prompt to ensure that it can accurately reach the turning point. This step ensures the stability and efficiency of the robot during the movement.

[0092] Step 7d: When the robot reaches the first turning point (x t1 ,y t1 ), extract the position coordinates of the next turning point and the straight-line distance between it and the current robot position, and adjust the travel speed and direction according to the new distance and turning prompt. The robot will continue this process until it gradually approaches the actual position of the requester according to the optimal path information. This step ensures that the robot can efficiently and accurately reach the requester's position along the optimal path.

[0093] Step 8: When the robot arrives near the requester's location determined in step 7, the requester can take out the power bank from the robot; further comprising the following steps:

[0094] Step 8a: When the robot approaches the requester's location based on the optimal path information provided in step 7, the robot continuously monitors the current location of the requester (x u ,y u ), when the distance is less than the preset proximity threshold D t□ When the robot reaches the requester's location, it is judged to have arrived near the requester's location; the robot obtains its current location through the built-in positioning module (such as GPS or inertial navigation system) and calculates the straight-line distance between itself and the requester's current location. When the distance is less than the preset proximity threshold (for example, 10 meters), the robot is judged to have arrived near the requester's location. This step ensures that the robot can accurately determine when it has arrived near the requester's location and prepare for subsequent operations.

[0095] Step 8b: After arriving near the requester's location, the robot sends an arrival notification to the requester's mobile terminal through the wireless communication module. The notification content may include information such as the robot's current location and arrival time. At the same time, the robot activates its own interactive interface and is ready to provide power bank delivery services. At the same time, the interactive interface on the robot is activated to provide power bank delivery services; the interactive interface can display information such as the status of the power bank and the guide to picking up the treasure, helping the requester to successfully complete the treasure picking operation. This step ensures that the requester can promptly understand that the robot has arrived and is ready to pick up the treasure.

[0096] Step 8c: After the requester confirms receiving the notification of the power bank on the mobile terminal, the robot unlocks the power bank storage area, allowing the requester to open and take out the power bank. The unlocking operation can be triggered by a confirmation signal sent by the mobile terminal, ensuring that the power bank storage area can only be opened after the requester confirms. This step increases security and prevents unauthorized persons from taking the power bank.

[0097] Step 8d: After taking out the power bank, the requester completes the confirmation operation on the mobile terminal. The robot records the successful delivery and feeds back the status information to the central control system to complete the entire delivery process. The confirmation operation can be completed by clicking the confirmation button in the applet. After receiving the confirmation signal for taking out the power bank, the robot records the successful delivery and feeds back the status information to the central control system. The central control system will update the status of the delivery task and complete the entire delivery process. This step ensures the complete record of the delivery task and provides data support for subsequent service evaluation and optimization.

[0098] Step 9: After the power bank is delivered, the requester performs a second location confirmation on the mobile terminal, and the system updates the final location record of the delivery task accordingly; further comprising the following steps:

[0099] Step 9a: After the requester completes the treasure retrieval confirmation operation on the mobile terminal, the mobile terminal will display a secondary location confirmation prompt. The prompt content can be a pop-up window or notification, reminding the requester to click the confirmation button again to verify the current location. The requester needs to click the confirmation button again to verify the current location; this step ensures that the requester has performed a secondary location confirmation after taking the treasure, which improves the accuracy of the location information.

[0100] Step 9b: After clicking OK, the mobile terminal obtains the precise coordinates of the requester’s current location (x f ,y f ) and sends the coordinate information to the central control system via a wireless network; this step ensures that the central control system can receive the requester's latest location information and provide accurate data support for subsequent location records.

[0101] Step 9c: The central control system receives the final position coordinates (x f ,y f ) and compare it with all the historical location information related to the delivery task to ensure the accuracy of the final location record; the comparison process includes checking the consistency of the final location coordinates with the historical location information, and verifying whether the final location coordinates are within a reasonable range. This step ensures the accuracy and reliability of the final location record.

[0102] Step 9d: The central control system sends the final position coordinates (x f ,yf ) is updated to the delivery task database as the final location record of the delivery task, so as to facilitate subsequent service evaluation and optimization. The updated final location record will be used for subsequent service evaluation and optimization, such as analyzing delivery efficiency and optimizing route planning. This step ensures the complete record of the delivery task and provides data support for the continuous improvement of the service.

[0103] In summary, the power bank delivery and recycling positioning method based on QR code and delivery robot proposed by the present invention can not only actively send real-time location information to the user's mobile terminal when the delivery robot fails to receive the user's confirmation information on time, and realize instant communication with the user, but also ensure the accuracy of the final location record of the delivery task through the user's secondary location confirmation after the delivery task is completed. This method significantly improves the flexibility, reliability and user experience of the power bank delivery service, and also provides more accurate data support for service providers, which helps to improve service quality and service efficiency.

[0104] 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 power bank distribution and recycling positioning based on QR code and distribution machine, characterized in that: The following steps are involved: In the preset area, the location of each QR code is entered to form a QR code location database. According to the task instructions, the delivery robot starts from the power bank storage station and uses the built-in positioning module to navigate to one of the entered QR code locations; After the delivery robot arrives at the target location, if the delivery robot does not receive the confirmation receipt information from the requester within a predetermined time, the real-time location update mode is started. In the real-time location update mode, the delivery robot starts to periodically send the current location information to the mobile terminal of the requester; The sent location information is displayed in the form of a map in the applet on the requester's mobile terminal. At the same time, the mobile terminal calculates the best path to the delivery robot's location based on the requester's current location information; The delivery robot adjusts its own direction of travel according to the optimal path information and gradually approaches the actual location of the requester; When the delivery robot arrives near the determined requester's location, the requester can take out the power bank from the robot. After completing the delivery of the power bank, the requester conducts a second location confirmation on the mobile terminal, and the system updates the final location record of the delivery task accordingly.

2. According to claim 1, a method for power bank distribution and recycling positioning based on QR code and distribution machine, characterized in that: The position of each QR code in the preset area is entered to form a QR code position database, including: Select multiple fixed reference points in the preset area, set a unique QR code mark on each reference point, and use the geographic information system to convert the coordinate data of each reference point into location information under a unified coordinate system; For each coordinate position, apply the distance calculation formula Where x1, y1 represent the coordinates of reference point A, and x2, y2 represent the coordinates of another reference point B, so as to verify whether the relative positions between the reference points meet the preset standard spacing; Integrate the verified QR code location information into the QR code location database.

3. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 2, characterized in that: The delivery robot starts from the power bank storage station according to the task instruction and uses the built-in positioning module to navigate to one of the entered QR code locations, including: The delivery robot receives a task instruction from the central control system, wherein the task instruction includes the location information of the target QR code, and the location information comes from the QR code location database; The robot parses the task instructions and determines the coordinates of the target QR code (x t ,y t ) and its current position (x r ,y r ), and calculate the straight-line distance between the two Based on the calculated distance D rt ,The robot uses the built-in positioning module to plan the shortest path from the current position to the target QR code location; The robot drives along the planned path while continuously monitoring the remaining distance between the current position and the target position until the remaining distance is less than the preset threshold ΔD, and it is considered to have reached the target position.

4. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 3, characterized in that: After the delivery robot arrives at the target location, if the delivery robot does not receive the confirmation receipt information from the requester within a predetermined time, the real-time location update mode is started, including: After the robot reaches the target QR code location, it starts the timer and sets the predetermined waiting time to T. w minutes, at the set time T w The robot continuously listens for the requester's confirmation signal. If a confirmation signal is received, the robot stops the timer and proceeds to the next step. Otherwise, when the timer reaches T w When the device is in the real-time location update mode, it will automatically switch to the real-time location update mode; After entering the real-time position update mode, the robot uses the built-in positioning module to obtain the current position coordinates (x r ′,y r ′), and calculate the distance change between the current position and the most recently recorded position Where (x r ,y r ) is the last recorded position; The robot calculates the distance change ΔD′ and the current position coordinates (x r ′,y r ′) is sent to the central control system, which further processes and sends the updated robot position information to the requester's mobile terminal.

5. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 4, characterized in that: In the real-time location update mode, the delivery robot begins to periodically send current location information to the requester's mobile terminal, including: In the real-time position update mode, the robot calls the built-in positioning module to obtain its current position coordinates (x rn ,y rn ); The robot will obtain the current position coordinates (x rn ,y rn ) and the last sent position coordinates (x rn-1 ,y rn-1 ) to compare and calculate the distance difference between the two If the distance difference ΔD calculated in sub-step 4b is n Greater than the preset minimum moving distance threshold ΔD min , the robot sends the current location information to the requester's mobile terminal through the wireless communication module, including but not limited to the location coordinates (x rn ,y rn ) and timestamp, after which the robot updates the internally recorded position coordinates to (x rn ,y rn ), and use this as the starting position for the next distance difference calculation, and then continue to perform the periodic position update process.

6. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 5, characterized in that: The sent location information is displayed in the form of a map in the mini program on the requester's mobile terminal, including: The mobile terminal of the requester receives the current position information sent by the robot through the wireless communication module, including the position coordinates (x rn ,y rn ) and timestamp; The applet on the mobile terminal uses the received location information and the built-in map data to mark the current location of the robot on the map interface, and displays a timestamp to indicate the timeliness of the location information; The applet calculates the straight-line distance between the robot's current location and the requester's current location Where (x u ,y u ) is the current location coordinates of the requester; The applet displays directions from the requester's current location to the robot's current location.

7. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 6, characterized in that: The mobile terminal calculates the best path to the delivery robot according to the current location information of the requester, including: The applet on the mobile terminal obtains the current location coordinates of the requester (x u ,y u ) and the robot's current position coordinates (x rn ,y rn ); Based on the obtained location coordinates, the applet calls the map service interface to query the current location of the requester (x u ,y u ) to the robot's current position (x rn ,y rn ) and calculate the estimated travel time T for each path i and the total distance L i , where i represents the i-th path; The applet uses the weighted average method to comprehensively evaluate the pros and cons of each path. The specific calculation formula is S i =w T ·T i +w L ·L i , where w T and w L are time weight and distance weight respectively, S i represents the comprehensive score of the i-th path; Mini Program Selection Comprehensive Rating S i The lowest path is taken as the best path and is presented to the requester in a visual manner on the map interface, while providing specific guidance on the path.

8. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 7, characterized in that: The delivery robot adjusts its own direction of travel according to the optimal path information and gradually approaches the actual location of the requester, including: The robot receives the best path information forwarded by the mobile terminal applet through the central control system, which includes the information from the requester's current location (x u ,y u ) to the robot's current position (x rn ,y rn )’s turning prompts and distance prompts; The robot analyzes the optimal path information and extracts the position coordinates of the first turning point (x t1 ,y t1 ) and the straight-line distance between it and the robot’s current position The robot calculates the straight-line distance D t1 Adjust the speed and direction. When the robot reaches the first turning point (x t1 ,y t1 ), the process of parsing the best path is repeated until the robot gradually approaches the actual position of the requester according to the best path information.

9. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 8, characterized in that: When the delivery robot arrives near the determined location of the requester, the requester can take out the power bank from the robot, including: When the best path information provided by the robot approaches the requester’s location, the robot continuously monitors the current location of the requester (x u ,y u ), when the distance is less than the preset proximity threshold D t□ When the request is received, it is judged to have arrived near the requester's location; After arriving near the requester's location, the robot sends an arrival notification to the requester's mobile terminal through the wireless communication module, and activates the interactive interface on the robot, preparing to provide power bank delivery service; After the requester confirms receiving the notification of the power bank on the mobile terminal, the robot unlocks the power bank storage area, allowing the requester to open and take out the power bank. After taking out the power bank, the requester completes the treasure retrieval confirmation operation on the mobile terminal. The robot records the success of the delivery and feeds back the status information to the central control system to complete the entire delivery process.

10. A method for power bank distribution and recycling positioning based on QR code and distribution machine according to claim 9, characterized in that: After the power bank is delivered, the requester performs a second location confirmation on the mobile terminal, and the system updates the final location record of the delivery task accordingly, including: After the requester completes the treasure retrieval confirmation operation on the mobile terminal, the mobile terminal displays a secondary location confirmation prompt, and the requester needs to click the confirmation button again to verify the current location; After clicking confirm, the mobile terminal obtains the precise coordinates of the requester’s current location (x f ,y f ), and send the coordinate information to the central control system via a wireless network; The final position coordinates (x f ,y f ) and compare it with all historical location information related to the delivery task; The central control system will verify the correct final position coordinates (x f ,y f ) is updated to the delivery task database as the final location record of the delivery task.

Images