Mobile charging and storage integrated dispatching system and method

Abstract

The invention discloses a mobile charging and storage integrated dispatching system and method, and relates to the technical field of mobile charging and storage robots. Map data of a service range of a charging robot is obtained, and the service range of a target robot is obtained according to current coordinates and remaining mileage of the target robot; charging robots having road coincidence with the service range of the target robot are screened as neighborhood robots, sector areas are divided with the target robot as the center, the frequency and length of coincidence roads in all sectors are counted, and the modulus length and direction of feedback vectors are determined according to the difference between the coincidence proportion and the coincidence degree of the roads and a threshold value; calculating the modulus length of an offset vector based on the residual electric quantity of the target robot, taking the direction of the nearest charging device of the target robot as the direction of the offset vector, combining the feedback vector and the offset vector, generating a displacement compensation vector, and updating the coordinates of the target robot according to the displacement compensation vector. And verifying whether the service range coincidence proportion of the charging robot at the update position is in a preset interval.

Description

Technical Field

[0001] This invention relates to the field of mobile charging and storage robot technology, specifically a mobile charging and storage integrated scheduling system and method. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the flexibility and efficiency of charging services have become key requirements. Integrated charging and storage robots, which combine energy storage modules and charging service capabilities, are gradually attracting attention, providing timely charging services for related electrical equipment through portable energy storage devices.

[0003] In the process of multi-robot collaborative service, the remaining power, location distribution and service range of each robot change dynamically over time, which can easily lead to overlapping service areas or gaps in coverage. Traditional scheduling methods mostly rely on static path planning or preset service area division, lacking dynamic collaborative analysis of the robot's real-time location, remaining mileage and the service range of neighboring robots. This makes it difficult to accurately control the overlap of service ranges, thus making it difficult to realize the effectiveness of mobile charging and storage robot charging services. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile charging and storage integrated scheduling system and method to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mobile charging and storage integrated scheduling method, the method comprising:

[0006] Step S100: Obtain map data of the service range of the charging robot. Based on the current coordinates and remaining mileage of the target robot, obtain the service range of the target robot and filter out charging robots whose service range overlaps with the target robot's service range as neighboring robots.

[0007] Step S200: Connect the coordinates of the neighboring robots and the target robot to generate a target area. When the overlap of the service range of the target robot and the neighboring robots in the target area exceeds a threshold, proceed to the control step.

[0008] Step S300: Divide the target robot into fan-shaped regions, count the frequency and length of overlapping roads in each fan, and determine the magnitude and direction of the feedback vector based on the overlap ratio and the difference between the overlap degree and the threshold. Then, synthesize the total feedback vector.

[0009] Step S400: Calculate the magnitude of the offset vector based on the remaining power of the target robot, take the direction of the nearest charging device of the target robot as the direction of the offset vector, merge the feedback vector and the offset vector to generate the displacement compensation vector;

[0010] Step S500: Update the target robot coordinates according to the displacement compensation vector, and verify whether the overlap ratio of the charging robot service range at the updated position is within the preset range. If it is within the preset range, plan the movement path of the target robot. If it is not within the preset range, trigger an alarm.

[0011] Furthermore, step S100 includes:

[0012] Step S101: Obtain a map of the service area of ​​the charging robot, obtain road information in the map, obtain the location of each charging device in the map, and mark the charging devices of the charging robot in the map.

[0013] Step S102: Take a charging robot that has completed power supply as the target robot, take the moment when the target robot completes power supply as the target moment, obtain the geographic coordinates and remaining driving mileage of the target robot, obtain all roads with the geographic coordinates of the target robot as the starting point and the length as the remaining driving mileage, and collect all roads to obtain the service range set of the target robot.

[0014] Step S103: Obtain the service range set of all charging robots at the target time, and take the charging robots that have roads that overlap with the service range set of the target robot as the neighboring robots of the target robot.

[0015] By defining the service range of the target robot and other charging robots, neighboring robots whose service ranges overlap with roads are screened out, avoiding interference from other irrelevant robots in the robot management system. This ensures that subsequent operations focus on robots with actual connections, improving the pertinence and efficiency of system analysis.

[0016] Furthermore, step S200 includes:

[0017] Step S201: Obtain the geographic coordinates of the neighboring robot, connect the geographic coordinates of the neighboring robot with the geographic coordinates obtained by the target robot, obtain the circumscribed polygons of all connecting line segments, and record the area enclosed by the circumscribed polygons in the map as the target area.

[0018] Step S202: Obtain the total length L0 of roads in the target area, obtain the overlapping roads between the service range set of the neighboring robots and the service range set of the target robot in the target area, obtain the total length L1 of the overlapping roads, calculate the road overlap ratio α=L1 / L0, obtain the overlap ratio reference value ω in the service area, ω>0, set the difference threshold c0, when |ω-α|>c0, execute step S300, when |ω-α|≤c0, the target robot keeps the current coordinates unchanged.

[0019] By constructing target areas and calculating the service coverage overlap ratio, and combining reference values ​​and difference thresholds to determine whether adjustment is needed, situations of excessive service coverage overlap or insufficient coverage can be identified in a timely manner, providing clear triggering conditions for subsequent adjustments and ensuring the rationality of service resource allocation.

[0020] Furthermore, step S300 includes:

[0021] Step S301: Using the geographic coordinates obtained by the target robot as the center, draw a circle with a diameter of d on the map plane, divide the circle into several sector areas, obtain the overlapping roads in each sector area, and obtain the number of times each road overlaps.

[0022] Step S302: Calculate the feedback value p of the i-th sector region. i , Where n represents the number of times the road overlaps, N represents the total number of types of road overlap, kn represents the road length corresponding to the nth type of overlap, and the value of the feedback value of the i-th sector is used as the magnitude of the feedback vector of the i-th sector.

[0023] Step S303: Obtain the angle bisector of the i-th sector region. When ω-α>0, take the direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector. When ω-α<0, take the opposite direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector.

[0024] Based on the magnitude and direction of the feedback vector, establish the feedback vector for the i-th sector, collect the feedback vectors of all sector regions, and calculate the resultant vector β1 of the feedback vectors of all sector regions.

[0025] When ω-α > 0, that is, α is less than the threshold, the overlapping area in this direction is less than the threshold, and the local arrangement of the charging robots is relatively scattered. At this time, the position of the target robot is adjusted in the direction of increasing the overlap of the service area. Conversely, when ω-α < 0, that is, α is greater than the threshold, the overlapping area in this direction is greater than the threshold, and the local arrangement of the charging robots is relatively concentrated. At this time, the position of the target robot is adjusted in the direction of reducing the overlap of the service area.

[0026] By dividing the area into sector regions and statistically analyzing overlapping roads, the overlap difference is transformed into a specific feedback vector, providing a precise quantitative basis for robot position adjustment. This process takes into account the overlap of different areas, making the adjustment direction and magnitude more in line with actual needs.

[0027] Furthermore, step S400 includes:

[0028] Step S401: Set the charging robot's power warning value V0, obtain the target robot's remaining power A1, and when the remaining power A1 > A0, calculate the power redundancy coefficient e, e = (A1 - A0) / A, where A represents the target robot's total power. Set the cheap unit modulus m, and calculate the modulus g of the target robot's offset vector. , where ε represents a constant that satisfies the condition 0 < ε < 1;

[0029] Step S402: Obtain the location of the charging device closest to the target robot on the map, and use the straight line direction from the geographic coordinates of the target robot to the location of the charging device as the direction of the offset vector. Establish the offset vector based on the magnitude and direction of the offset vector.

[0030] Step S403: Denote the vector sum of the offset vector and the resultant vector β1 as the displacement compensation vector γ, and obtain the direction of the displacement compensation vector γ.

[0031] By combining the remaining power to calculate the offset vector and synthesizing the displacement compensation vector with the feedback vector, the mechanism takes into account both the service range optimization requirements and the robot's own power constraints. This ensures that the robot will not be affected by insufficient power when adjusting its position, thus balancing service efficiency and operational safety and enhancing the practicality of the strategy.

[0032] Furthermore, step S500 includes:

[0033] Step S501: Obtain the geographic coordinates of the target robot, move the geographic coordinates in the direction of the compensation vector γ, and update the service range set of the target robot.

[0034] Step S502: When the geographic coordinates of the target robot move to position q, obtain the service range set at the target time, and record the service range set of the target robot's geographic coordinates at position q at the target time as the update service set;

[0035] Step S503: Obtain the road overlap ratio αq of the target robot at position q. When |ω-αq|≤c0 is satisfied, adjust the position q as the target, plan the path of the target robot from the geographic coordinates to position q, and move the target robot to position q.

[0036] Step S504: When any position f in the direction of the displacement compensation vector γ cannot satisfy |ω-αf|≤c0, where αf represents the road overlap ratio of the target robot at position f, an alarm is issued to the manager of the target robot.

[0037] By updating the service range and verifying the overlap of adjusted locations, the system ensures that the adjusted locations meet the requirements of a reasonable range, thus achieving dynamic optimization of the service range. At the same time, timely alerts are issued for situations where requirements cannot be met, ensuring timely handling of problems, avoiding service interruptions or resource waste, and improving the reliability and fault tolerance of the system.

[0038] To better implement the above methods, a mobile charging and storage integrated scheduling system is also proposed. The system includes: a neighborhood robot management module, a region overlap detection module, a feedback vector synthesis module, a displacement compensation vector management module, and a control verification module.

[0039] The neighborhood robot management module is used to filter out neighboring robots whose service range overlaps with that of the target robot by acquiring map data, the service range of the target robot and the charging robot. The area overlap detection module is used to manage the target area, calculate the overlap of the service range of the charging robot within the target area, and determine whether to enter the control step. The feedback vector synthesis module is used to divide and manage the sector area, calculate and synthesize the total feedback vector by combining the difference between the road overlap ratio and the threshold. The displacement compensation vector management module is used to calculate the offset vector by combining the remaining power of the target robot, and fuse the feedback vector and the offset vector to generate the displacement compensation vector. The control verification module is used to verify whether the service range overlap of the new location meets the standard based on the updated target robot coordinates, plan and adjust the path or trigger an alarm.

[0040] Furthermore, the neighborhood robot management module includes: a map information management unit, a service range management unit, and a neighborhood robot filtering unit. The map information management unit is used to manage road information and the service range map of charging robots, locate the position of each charging device on the map and mark it. The service range management unit is used to determine all roads with the current geographical coordinates as the starting point and the length equal to the remaining mileage based on the current geographical coordinates and the remaining driving mileage, forming a service range set for the target robot. The neighborhood robot filtering unit is used to filter out charging robots that have roads that overlap with the service range set of the target robot as neighborhood robots.

[0041] Furthermore, the regional overlap detection module includes a target area management unit and an overlap determination unit. The target area management unit is used to obtain the geographic coordinates of the neighboring robots and the target robot, form line segments by connecting the coordinates and construct circumscribed polygons, and determine the area enclosed by the polygons as the target area. The overlap determination unit is used to calculate the road overlap ratio within the target area and determine whether to trigger the control step.

[0042] Furthermore, the feedback vector synthesis module includes a sector management unit and a feedback vector management unit. The sector management unit is used to manage sector areas and count the degree of road overlap in each sector area. The feedback vector management unit calculates the feedback vector for each sector area and aggregates all feedback vectors to obtain the composite vector of the feedback vectors.

[0043] Furthermore, the displacement compensation vector management module includes: an offset vector magnitude calculation unit, an offset vector management unit, and a displacement compensation vector management unit. The offset vector magnitude calculation unit is used to calculate the magnitude of the offset vector by obtaining the remaining power of the target robot. The offset vector management unit is used to obtain the charging device closest to the target robot, determine the direction of the offset vector by the straight line pointing the target robot coordinates to the charging device, and construct a complete offset vector. The displacement compensation vector management unit is used to superimpose the offset vector with the total feedback vector to generate a displacement compensation vector.

[0044] Furthermore, the control and verification module includes: an update service range management unit, a location verification unit, and an anomaly alarm unit. The update service range management unit is used to move the target robot coordinates according to the direction of the displacement compensation vector and update its service range set. The location verification unit is used to calculate the road overlap ratio of the new location. If the condition is met, the location q is set as the target adjustment location, and a path from the current coordinates to location q is planned. The anomaly alarm unit is used to send an alarm prompt to the management personnel if the overlap condition is not met, and to report the abnormality of the location adjustment.

[0045] Compared with the prior art, the beneficial effects of the present invention are:

[0046] 1. This invention achieves dynamic optimization of the service range of a charging robot by screening neighboring robots, detecting the overlap of service ranges, generating feedback and displacement compensation vectors, and verifying and adjusting the position.

[0047] 2. Based on geographic information and road data, the robot's location is precisely adjusted to ensure that the overlap of service areas is within a reasonable range. This can avoid resource waste caused by excessive overlap of service coverage and prevent service efficiency from being affected by coverage gaps.

[0048] 3. By dynamically adjusting the movement strategy based on the remaining battery power, the flexibility, reliability, and resource utilization of robot services are improved. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of a mobile charging and storage integrated scheduling system according to the present invention;

[0050] Figure 2 This is a flowchart illustrating a mobile charging and storage integrated scheduling method according to the present invention. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Example: Figures 1-2 As shown, the present invention provides a technical solution, a mobile charging and storage integrated scheduling system and method, the method comprising:

[0053] Step S100: Obtain map data of the service range of the charging robot. Based on the current coordinates and remaining mileage of the target robot, obtain the service range of the target robot and filter out charging robots whose service range overlaps with the target robot's service range as neighboring robots.

[0054] Step S100 includes:

[0055] Step S101: Obtain a map of the service area of ​​the charging robot, obtain road information in the map, obtain the location of each charging device in the map, and mark the charging devices of the charging robot in the map.

[0056] Step S102: Take a charging robot that has completed power supply as the target robot, take the moment when the target robot completes power supply as the target moment, obtain the geographic coordinates and remaining driving mileage of the target robot, obtain all roads with the geographic coordinates of the target robot as the starting point and the length as the remaining driving mileage, and collect all roads to obtain the service range set of the target robot.

[0057] Step S103: Obtain the service range set of all charging robots at the target time, and take the charging robots that have roads that overlap with the service range set of the target robot as the neighboring robots of the target robot.

[0058] In this embodiment, the road is further divided into road segments based on the road nodes or important markers to improve the accuracy of the service range. After a charging task is completed, the service range of the target robot can cover five roads: V1, V2, V3, V4 and V5. The starting point of these five roads is calculated based on the position of the target robot when the charging task is completed.

[0059] For example, V1 is divided into sub-segments l11, l12, l13, l14 and l15, V2 is divided into sub-segments l21, l22, l23, l24 and l25, and V3 is divided into sub-segments l31, l32 and l13.

[0060] Step S200: Connect the coordinates of the neighboring robots and the target robot to generate a target area. When the overlap of the service range of the target robot and the neighboring robots in the target area exceeds a threshold, proceed to the control step.

[0061] Step S200 includes:

[0062] Step S201: Obtain the geographic coordinates of the neighboring robot, connect the geographic coordinates of the neighboring robot with the geographic coordinates obtained by the target robot, obtain the circumscribed polygons of all connecting line segments, and record the area enclosed by the circumscribed polygons in the map as the target area.

[0063] Step S202: Obtain the total length L0 of roads in the target area, obtain the overlapping roads between the service range set of the neighboring robots and the service range set of the target robot in the target area, obtain the total length L1 of the overlapping roads, calculate the road overlap ratio α=L1 / L0, obtain the overlap ratio reference value ω in the service area, ω>0, set the difference threshold c0, when |ω-α|>c0, execute step S300, when |ω-α|≤c0, the target robot keeps the current coordinates unchanged.

[0064] Identify charging robots that have overlapping service ranges with the target robot, gather all neighboring robots into a neighboring robot set, obtain the positions of the target robot's neighboring robots on the map, and denote them as Er1, Er2, and Er3 respectively. Obtain the position of the target robot when it completes the charging task and denote it as Em. Connect Er1 and Em, Er2 and Em, and Er3 and Em. The area covered by the circumscribed triangle formed by Er1, Er2, and Er3 is taken as the target area.

[0065] Obtain all roads in the target area, and divide the roads in the target area into roads or road segments with overlapping services and roads or road segments without overlapping services according to whether the service range of the target robot and the neighboring robots overlap. Calculate the road overlap ratio based on the length of the road or road segment.

[0066] Step S300: Divide the target robot into fan-shaped regions, count the frequency and length of overlapping roads in each fan, and determine the magnitude and direction of the feedback vector based on the overlap ratio and the difference between the overlap degree and the threshold. Then, synthesize the total feedback vector.

[0067] Step S300 includes:

[0068] Step S301: Using the geographic coordinates obtained by the target robot as the center, draw a circle with a diameter of d on the map plane, divide the circle into several sector areas, obtain the overlapping roads in each sector area, and obtain the number of times each road overlaps.

[0069] Step S302: Calculate the feedback value p of the i-th sector region. i , Where n represents the number of times the road overlaps, N represents the total number of types of road overlap, kn represents the road length corresponding to the nth type of overlap, and the value of the feedback value of the i-th sector is used as the magnitude of the feedback vector of the i-th sector.

[0070] Step S303: Obtain the angle bisector of the i-th sector region. When ω-α>0, take the direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector. When ω-α<0, take the opposite direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector.

[0071] Based on the magnitude and direction of the feedback vector, establish the feedback vector for the i-th sector, collect the feedback vectors of all sector regions, and calculate the resultant vector β1 of the feedback vectors of all sector regions.

[0072] In this embodiment, a sector-shaped area in the target robot's service range set includes road V1. In V1, the overlapping roads between the target robot and the first neighboring robot are l11 and l12, and the overlapping roads between the target robot and the second neighboring robot are l12 and l13.

[0073] Therefore, the number of times l11 and l13 overlap is 1, and the number of times l12 overlaps is 2. The lengths of l11 and l13 are obtained and denoted as k1, and the length of l12 is obtained and denoted as k2. The feedback value of the sector region is calculated as p = k1 + 2 × k2.

[0074] Step S400: Calculate the magnitude of the offset vector based on the remaining power of the target robot, take the direction of the nearest charging device of the target robot as the direction of the offset vector, merge the feedback vector and the offset vector to generate the displacement compensation vector;

[0075] Step S400 includes:

[0076] Step S401: Set the charging robot's power warning value V0, obtain the target robot's remaining power A1, and when the remaining power A1 > A0, calculate the power redundancy coefficient e, e = (A1 - A0) / A, where A represents the target robot's total power. Set the cheap unit modulus m, and calculate the modulus g of the target robot's offset vector. , where ε represents a constant that satisfies the condition 0 < ε < 1;

[0077] Step S402: Obtain the location of the charging device closest to the target robot on the map, and use the straight line direction from the geographic coordinates of the target robot to the location of the charging device as the direction of the offset vector. Establish the offset vector based on the magnitude and direction of the offset vector.

[0078] Step S403: Denote the vector sum of the offset vector and the resultant vector β1 as the displacement compensation vector γ, and obtain the direction of the displacement compensation vector γ.

[0079] When the remaining battery power of the target robot is close to the battery threshold, the value of e decreases, and the value of g increases. In order to prevent A1-A0 from having a small value, a protection constant ε is set to prevent the value of g from being too large.

[0080] During implementation, the unit of electricity is usually ampere-hour or watt-hour. When A1 < A0, the target robot issues an alarm message or prioritizes navigation to the charging device for charging.

[0081] Step S500: Update the target robot coordinates according to the displacement compensation vector, and verify whether the overlap ratio of the charging robot service range at the updated position is within the preset range. If it is within the preset range, plan the movement path of the target robot. If it is not within the preset range, trigger an alarm.

[0082] Step S500 includes:

[0083] Step S501: Obtain the geographic coordinates of the target robot, move the geographic coordinates in the direction of the compensation vector γ, and update the service range set of the target robot.

[0084] Step S502: When the geographic coordinates of the target robot move to position q, obtain the service range set at the target time, and record the service range set of the target robot's geographic coordinates at position q at the target time as the update service set;

[0085] Step S503: Obtain the road overlap ratio αq of the target robot at position q. When |ω-αq|≤c0 is satisfied, adjust the position q as the target, plan the path of the target robot from the geographic coordinates to position q, and move the target robot to position q.

[0086] Step S504: When any position f in the direction of the displacement compensation vector γ cannot satisfy |ω-αf|≤c0, where αf represents the road overlap ratio of the target robot at position f, an alarm is issued to the manager of the target robot.

[0087] In this embodiment, the overlapping area of ​​the service range is simulated by numerical simulation. By changing the position in the direction of the compensation vector, a new service range is simulated to adjust the current service overlap range with the neighboring robot. When the service overlap range meets the conditions, the target robot is navigated. When there is no matching location in the direction of the compensation vector, the target robot issues a prompt message.

[0088] The system includes: a neighborhood robot management module, a region overlap detection module, a feedback vector synthesis module, a displacement compensation vector management module, and a control verification module;

[0089] The neighborhood robot management module is used to obtain map data, the service range of the target robot and the charging robot, and filter out neighborhood robots whose service range overlaps with that of the target robot. The neighborhood robot management module includes: a map information management unit, a service range management unit and a neighborhood robot filtering unit. The map information management unit is used to manage road information and the service range map of the charging robot, locate the position of each charging device on the map and mark it. The service range management unit is used to determine all roads with the current geographical coordinates as the starting point and the length equal to the remaining mileage based on the current geographical coordinates and the remaining driving mileage, forming the service range set of the target robot. The neighborhood robot filtering unit is used to filter out the charging robots whose service ranges overlap with the service range set of the target robot as neighborhood robots.

[0090] The area overlap detection module is used to manage the target area, calculate the overlap of the service range of the charging robot within the target area, and determine whether to enter the control step. The area overlap detection module includes a target area management unit and an overlap determination unit. The target area management unit is used to obtain the geographical coordinates of the neighboring robots and the target robot, form line segments by connecting the coordinates and construct the circumscribed polygon, and determine the area enclosed by the polygon as the target area. The overlap determination unit is used to calculate the road overlap ratio within the target area and determine whether to trigger the control step.

[0091] The feedback vector synthesis module is used to divide and manage sector areas. It calculates and synthesizes the total feedback vector by combining the difference between the road overlap ratio and the threshold. The feedback vector synthesis module includes a sector management unit and a feedback vector management unit. The sector management unit is used to manage sector areas and count the degree of road overlap in each sector area. The feedback vector management unit calculates the feedback vector of each sector area and collects all feedback vectors to obtain the sum vector of the feedback vectors.

[0092] The displacement compensation vector management module is used to calculate the offset vector by combining the remaining power of the target robot, and to generate the displacement compensation vector by fusing the feedback vector and the offset vector. The displacement compensation vector management module includes: an offset vector magnitude calculation unit, an offset vector management unit, and a displacement compensation vector management unit. The offset vector magnitude calculation unit is used to calculate the magnitude of the offset vector by obtaining the remaining power of the target robot. The offset vector management unit is used to obtain the charging device closest to the target robot, determine the direction of the offset vector by the straight line from the target robot coordinates to the charging device, and construct the complete offset vector. The displacement compensation vector management unit is used to vector superimpose the offset vector and the total feedback vector to generate the displacement compensation vector.

[0093] The control and verification module is used to verify whether the service range overlap of the new location meets the standard based on the updated target robot coordinates, plan the adjustment path or trigger an alarm. The control and verification module includes: an update service range management unit, a location verification unit, and an anomaly alarm unit. The update service range management unit is used to move the target robot coordinates according to the direction of the displacement compensation vector and update its service range set. The location verification unit is used to calculate the road overlap ratio of the new location. If the condition is met, the location q is set as the target adjustment location, and a path from the current coordinates to the location q is planned. The anomaly alarm unit is used to send an alarm prompt to the management personnel if the overlap condition is not met, and to report the abnormality of the location adjustment.

[0094] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mobile charging and storage integrated scheduling method, characterized in that: The method includes the following steps: Step S100: Obtain map data of the service range of the charging robot. Based on the current coordinates and remaining mileage of the target robot, obtain the service range of the target robot and filter out charging robots whose service range overlaps with the target robot's service range as neighboring robots. Step S200: Connect the coordinates of the neighboring robots and the target robot to generate a target area. When the overlap of the service range of the target robot and the neighboring robots in the target area exceeds a threshold, proceed to the control step. Step S300: Divide the target robot into fan-shaped regions, count the frequency and length of overlapping roads in each fan, and determine the magnitude and direction of the feedback vector based on the overlap ratio and the difference between the overlap degree and the threshold. Then, synthesize the total feedback vector. Step S400: Calculate the magnitude of the offset vector based on the remaining power of the target robot, take the direction of the nearest charging device of the target robot as the direction of the offset vector, merge the feedback vector and the offset vector to generate the displacement compensation vector; Step S500: Update the target robot coordinates according to the displacement compensation vector, and verify whether the overlap ratio of the charging robot service range at the updated position is within the preset range. If it is within the preset range, plan the movement path of the target robot. If it is not within the preset range, trigger an alarm.

2. The mobile charging and storage integrated scheduling method according to claim 1, characterized in that: Step S100 includes: Step S101: Obtain a map of the service area of ​​the charging robot, obtain road information in the map, obtain the location of each charging device in the map, and mark the charging devices of the charging robot in the map. Step S102: Take a charging robot that has completed power supply as the target robot, take the moment when the target robot completes power supply as the target moment, obtain the geographic coordinates and remaining driving mileage of the target robot, obtain all roads with the geographic coordinates of the target robot as the starting point and the length as the remaining driving mileage, and collect all roads to obtain the service range set of the target robot. Step S103: Obtain the service range set of all charging robots at the target time, and take the charging robots that have roads that overlap with the service range set of the target robot as the neighboring robots of the target robot.

3. The mobile charging and storage integrated scheduling method according to claim 2, characterized in that: Step S200 includes: Step S201: Obtain the geographic coordinates of the neighboring robot, connect the geographic coordinates of the neighboring robot with the geographic coordinates obtained by the target robot, obtain the circumscribed polygons of all connecting line segments, and record the area enclosed by the circumscribed polygons in the map as the target area. Step S202: Obtain the total length L0 of roads in the target area, obtain the overlapping roads between the service range set of the neighboring robots and the service range set of the target robot in the target area, obtain the total length L1 of the overlapping roads, calculate the road overlap ratio α=L1 / L0, obtain the overlap ratio reference value ω in the service area, ω>0, set the difference threshold c0, when |ω-α|>c0, execute step S300, when |ω-α|≤c0, the target robot keeps the current coordinates unchanged.

4. The mobile charging and storage integrated scheduling method according to claim 3, characterized in that: Step S300 includes: Step S301: Using the geographic coordinates obtained by the target robot as the center, draw a circle with a diameter of d on the map plane, divide the circle into several sector areas, obtain the overlapping roads in each sector area, and obtain the number of times each road overlaps. Step S302: Calculate the feedback value p of the i-th sector region. i , , where n represents the number of times the road overlaps, N represents the total number of types of road overlap, kn represents the road length corresponding to the nth type of overlap, and the value of the feedback value of the i-th sector is used as the magnitude of the feedback vector of the i-th sector. Step S303: Obtain the angle bisector of the i-th sector region. When ω-α>0, take the direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector. When ω-α<0, take the opposite direction of the arc on the angle bisector pointing to the sector as the direction of the feedback vector. Based on the magnitude and direction of the feedback vector, establish the feedback vector for the i-th sector, collect the feedback vectors of all sector regions, and calculate the resultant vector β1 of the feedback vectors of all sector regions.

5. The mobile charging and storage integrated scheduling method according to claim 4, characterized in that: Step S400 includes: Step S401: Set the charging robot's power warning value V0, obtain the target robot's remaining power A1, and when the remaining power A1 > A0, calculate the power redundancy coefficient e, e = (A1 - A0) / A, where A represents the target robot's total power. Set the cheap unit modulus m, and calculate the modulus g of the target robot's offset vector. , where ε represents a constant that satisfies the condition 0 < ε < 1; Step S402: Obtain the location of the charging device closest to the target robot on the map, and use the straight line direction from the geographic coordinates of the target robot to the location of the charging device as the direction of the offset vector. Establish the offset vector based on the magnitude and direction of the offset vector. Step S403: Denote the vector sum of the offset vector and the resultant vector β1 as the displacement compensation vector γ, and obtain the direction of the displacement compensation vector γ.

6. The mobile charging and storage integrated scheduling method according to claim 5, characterized in that: Step S500 includes: Step S501: Obtain the geographic coordinates of the target robot, move the geographic coordinates in the direction of the compensation vector γ, and update the service range set of the target robot. Step S502: When the geographic coordinates of the target robot move to position q, obtain the service range set at the target time, and record the service range set of the target robot's geographic coordinates at position q at the target time as the update service set; Step S503: Obtain the road overlap ratio αq of the target robot at position q. When |ω-αq|≤c0 is satisfied, adjust the position q as the target, plan the path of the target robot from the geographic coordinates to position q, and move the target robot to position q. Step S504: When any position f in the direction of the displacement compensation vector γ cannot satisfy |ω-αf|≤c0, where αf represents the road overlap ratio of the target robot at position f, an alarm is issued to the manager of the target robot.

7. A mobile charging and storage integrated scheduling system, used to execute the mobile charging and storage integrated scheduling method according to any one of claims 1-6, characterized in that: The system includes: The module includes a neighborhood robot management module, a region overlap detection module, a feedback vector synthesis module, a displacement compensation vector management module, and a control verification module. The neighborhood robot management module is used to filter out neighboring robots whose service range overlaps with that of the target robot by acquiring map data, the service range of the target robot and the charging robot. The area overlap detection module is used to manage the target area, calculate the overlap of the service range of the charging robot within the target area, and determine whether to enter the control step. The feedback vector synthesis module is used to divide and manage the sector area, calculate and synthesize the total feedback vector by combining the difference between the road overlap ratio and the threshold. The displacement compensation vector management module is used to calculate the offset vector by combining the remaining power of the target robot, and fuse the feedback vector and the offset vector to generate the displacement compensation vector. The control verification module is used to verify whether the service range overlap of the new location meets the standard based on the updated target robot coordinates, plan and adjust the path or trigger an alarm.

8. A mobile charging and storage integrated scheduling system according to claim 7, characterized in that: The neighborhood robot management module includes: a map information management unit, a service area management unit, and a neighborhood robot screening unit; The map information management unit is used to manage road information and charging robot service range map, locate the position of each charging device on the map and mark it. The service range management unit is used to determine all roads with the current geographical coordinates as the starting point and the length equal to the remaining mileage based on its current geographical coordinates and remaining driving mileage, forming the service range set of the target robot. The neighboring robot filtering unit is used to filter out charging robots that have roads that overlap with the service range set of the target robot as neighboring robots. The regional overlap detection module includes: a target region management unit and an overlap determination unit; The target area management unit is used to obtain the geographic coordinates of the neighboring robots and the target robot. By connecting the coordinates to form line segments and constructing circumscribed polygons, the area enclosed by the polygons is determined as the target area. The overlap determination unit is used to calculate the road overlap ratio within the target area and determine whether to trigger the control step.

9. A mobile charging and storage integrated scheduling system according to claim 7, characterized in that: The feedback vector synthesis module includes: a sector management unit and a feedback vector management unit; The sector management unit is used to manage sector areas and count the degree of road overlap in each sector area. The feedback vector management unit calculates the feedback vector for each sector area and collects all the feedback vectors to obtain the sum vector of the feedback vectors. The displacement compensation vector management module includes: an offset vector magnitude calculation unit, an offset vector management unit, and a displacement compensation vector management unit; The offset vector magnitude calculation unit is used to calculate the magnitude of the offset vector by obtaining the remaining power of the target robot. The offset vector management unit is used to obtain the charging device closest to the target robot, determine the direction of the offset vector by the straight line from the target robot coordinates to the charging device, and construct the complete offset vector. The displacement compensation vector management unit is used to superimpose the offset vector and the total feedback vector to generate the displacement compensation vector.

10. A mobile charging and storage integrated scheduling system according to claim 7, characterized in that: The control and verification module includes: an update service range management unit, a location verification unit, and an anomaly alarm unit; The service range management unit is used to move the target robot coordinates according to the direction of the displacement compensation vector and update its service range set. The position verification unit is used to calculate the road overlap ratio of the new position. If the condition is met, the position q is set as the target adjustment position and the path from the current coordinates to the position q is planned. The abnormal alarm unit is used to send an alarm prompt to the management personnel if the overlap condition is not met, and to report the abnormal position adjustment situation.

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