Multi-robot shared plug-in energy supplement scheduling system

Abstract

A multi-robot shared plug-in energy supplement scheduling system is characterized in that a mobile robot is provided with a standardized quick-change interface which is used for being in mechanical butt joint and electric connection with a plug-in energy supplement module, and a central scheduling server is in two-way communication connection with each mobile robot, the plug-in energy supplement module and an energy supplement transfer station through a wireless network; and generating a scheduling instruction of the plug-in energy complementing module, and issuing the scheduling instruction to the corresponding mobile robot or the energy complementing transfer station to execute replacement operation of the plug-in energy complementing module. Through the standardized quick-change interface and the modular energy unit, the mobile robot interface adopts an electromagnetic driving buckle structure to be matched with a central power supply contact array and an annular data communication contact layout, and the external energy supplementing module realizes self-adaptive crimping through an elastic conductive column and a flexible circuit contact; contact abrasion or electric arc risks caused by alignment deviation of a traditional plug-in interface are avoided.

Description

Technical Field

[0001] This invention belongs to the field of multi-robot scheduling technology, specifically a multi-robot shared external power replenishment scheduling system. Background Technology

[0002] With the rapid growth in demand for clustered operations of autonomous mobile robots (AMRs) in smart manufacturing, smart logistics, unmanned warehousing, and emergency rescue scenarios, multi-robot collaborative systems are developing towards high-density, long-term, and continuous operation. However, energy supply has become a core bottleneck restricting the large-scale deployment and efficient operation of such systems. In existing technologies, robot recharging mainly relies on two modes: one is the entire robot returning to a fixed charging station for contact charging; the other is using a replaceable battery compartment, with batteries replaced manually or using dedicated battery swapping equipment. While these methods can maintain basic operation in small-scale, low-frequency scenarios, the following technical problems have been exposed in large-scale, highly dynamic, and unmanned multi-robot systems.

[0003] First, existing charging methods heavily rely on fixed infrastructure, lacking flexibility and scalability. Traditional charging stations need to be pre-installed in specific locations, requiring robots to interrupt their tasks and travel long distances to recharge, thus compressing effective operating time. In large warehouses or complex terrains, some areas are far from charging stations, and low-battery robots are often forced to stop because they cannot return to the charging station, resulting in task failure or requiring manual intervention to tow them back, reducing the system's autonomy.

[0004] Secondly, even if some systems introduce automatic battery swapping mechanisms, their interfaces often use universal pluggable connectors or simple snap-fit ​​structures, without spatial isolation or anti-interference layout for power and communication contacts. In actual operation, interface misalignment caused by uneven ground, robot docking deviations, or vibrations can easily lead to loose contacts, increased contact resistance, or even arcing, affecting charging efficiency and posing safety hazards.

[0005] Furthermore, existing automated battery swapping stations mostly only have storage and mechanical handling functions, lacking integrated temperature-controlled charging and vision-guided alignment. During fast charging, batteries are prone to overheating due to poor heat dissipation, accelerating aging and even causing thermal runaway. The loading and unloading mechanisms rely on open-loop control without real-time visual feedback, and alignment accuracy depends on the robot's parking accuracy. Once the deviation exceeds the tolerance range, the swapping fails, requiring multiple retries or manual intervention. Simultaneously, the robots themselves lack robust positioning markers, making it difficult for visual or laser positioning systems to accurately identify the docking position in environments with changing lighting, reflective surfaces, or electromagnetic interference, further reducing the automation success rate. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, the present invention provides a multi-robot shared external power replenishment scheduling system to at least partially solve the above-mentioned technical problems.

[0007] The technical solution adopted in this invention is as follows: This invention proposes a multi-robot shared external power replenishment scheduling system, comprising: Several mobile robots, several detachable external power supply modules, at least one power supply transfer station, and a central dispatch server; The mobile robot is equipped with a standardized quick-change interface for mechanical docking and electrical connection with the external power supply module; The external power supply module has a built-in battery unit, communication unit and positioning unit, and is equipped with a docking port that matches the quick-swap interface; The power replenishment transfer station is equipped with multiple storage slots for external power replenishment modules, an automatic loading and unloading mechanism, and a communication module for receiving, storing, and releasing the external power replenishment modules. The central dispatch server establishes bidirectional communication connections with each mobile robot, each external power replenishment module, and the power replenishment transfer station via a wireless network. Based on the remaining power information, task status, and location information of each mobile robot, as well as the power status, location information, and availability of each external power replenishment module, the server generates dispatch instructions for the external power replenishment modules and sends these instructions to the corresponding mobile robot or power replenishment transfer station to execute the replacement operation of the external power replenishment modules.

[0008] In one embodiment of the present invention, the standardized quick-change interface of the mobile robot includes a mechanical locking mechanism, a power contact array, and a data communication contact array. The mechanical locking mechanism is an electromagnetically driven snap-fit ​​structure. The power contact array and the data communication contact array are arranged on the bottom surface of the interface perpendicular to the docking direction, with the power contact array located in the central region and the data communication contact array surrounding the power contact array. The docking port of the external power supply module is provided with a locking groove that cooperates with the mechanical locking mechanism, an elastic conductive post aligned with the power contact array, and a flexible circuit contact aligned with the data communication contact array. The elastic conductive post and the flexible circuit contact are all embedded in an insulating substrate on the surface of the docking port.

[0009] In one embodiment of the present invention, the automatic loading and unloading mechanism of the energy replenishment transfer station includes a horizontal slide rail, a vertical lifting arm, a rotating clamping head, and a vision alignment module; the horizontal slide rail is arranged laterally along the interior of the energy replenishment transfer station, the vertical lifting arm is slidably installed on the horizontal slide rail, and the rotating clamping head is installed at the end of the vertical lifting arm for grabbing or releasing the external energy replenishment module. The visual alignment module includes a camera and a light source fixed to the rotating gripper head, which is used to acquire the relative positional deviation between the external power supply module and the storage position or mobile robot in real time during the loading and unloading process, and feed it back to the local controller of the power supply transfer station to adjust the gripper head posture.

[0010] In one embodiment of the present invention, the communication unit of the external power supply module adopts a low-power wide-area network communication chip, supports LoRa or NB-IoT protocols, and integrates an independent microcontroller for periodically reporting its own power, temperature, health status and location coordinates to the central dispatch server; the positioning unit is a UWB ultra-wideband positioning module, whose antenna array is arranged at the four corners of the outer shell of the external power supply module for ranging with UWB base stations deployed in the working area to achieve centimeter-level indoor positioning.

[0011] In one embodiment of the present invention, the central scheduling server is configured with a task queue management module, a power prediction module, a path planning module, and a resource allocation module. The task queue management module is used to maintain the current task priority and estimated completion time of all mobile robots. The power prediction module dynamically predicts the remaining range of each mobile robot based on its historical energy consumption curve, current load, and environmental resistance parameters. The path planning module calculates the optimal path for the mobile robot to reach a designated refueling transfer station or external refueling module handover point by combining map information and traffic constraints. The resource allocation module allocates a uniquely identified external refueling module to each mobile robot that needs refueling based on the prediction results and the inventory status of external refueling modules, and generates a scheduling task package containing the target location, handover time window, and docking instructions.

[0012] In one embodiment of the present invention, the storage space for the external power replenishment module of the power replenishment transfer station is provided with an independent charging interface and a temperature control device; the charging interface is a spring-loaded contact terminal that physically connects with the charging contacts at the bottom of the external power replenishment module; the temperature control device includes a thermoelectric cooling chip embedded in the bottom plate of the storage space and a temperature sensor, the temperature sensor being attached to the bottom shell of the external power replenishment module for monitoring the battery temperature and providing feedback to control the start and stop of the thermoelectric cooling chip, so as to maintain the temperature in the storage space within the range of 15°C to 30°C.

[0013] In one embodiment of the present invention, the mobile robot is further equipped with auxiliary positioning markers, which are high-contrast QR codes or magnetic nail arrays, arranged around the quick-change interface of the mobile robot; when the mobile robot enters a power supply transfer station or a designated handover area, the visual alignment module of the power supply transfer station or a third-party collaborative robot determines the precise spatial coordinates of the quick-change interface by recognizing the auxiliary positioning markers, so as to guide the external power supply module to complete millimeter-level alignment.

[0014] In one embodiment of the present invention, the outer shell of the external power supply module adopts a split structure, including an upper cover, a middle frame and a bottom shell. The middle frame is made of high-strength aluminum alloy and has built-in heat dissipation fins. The bottom shell is provided with a waterproof sealing ring and a pressure relief valve. The battery unit is fixed to the inside of the middle frame by bolts. The communication unit and the positioning unit are integrated on a flexible circuit board. The flexible circuit board is fixed to the inside of the upper cover by a snap-fit ​​structure and is electrically connected to the management system of the battery unit through a board-to-board connector.

[0015] In one embodiment of the present invention, the central dispatch server and the power replenishment transfer station adopt redundant communication links, including a primary Ethernet link and a backup 4G / 5G wireless link; when the primary link is interrupted for more than a preset threshold time, the system automatically switches to the backup link and triggers a local caching mechanism to temporarily store the most recent valid dispatch instruction in the local controller of the power replenishment transfer station, so as to ensure that critical operation instructions are not lost due to communication interruption during the installation and removal of external power replenishment modules.

[0016] In one embodiment of the present invention, the system adopts a "relay" power replenishment mode: when a mobile robot A has insufficient power but has not reached the power replenishment transfer station, the central dispatch server assigns a nearby mobile robot B with sufficient power to carry a fully charged external power replenishment module to a preset handover point; at the handover point, mobile robot B releases the external power replenishment module to the ground tray through its quick-change interface, and mobile robot A then drives in and picks up the module to complete the replacement; the ground tray is equipped with a magnetic positioning seat and a temporary communication relay module, which are used to keep the position of the external power replenishment module stable during the handover process and to transmit the handover status back to the central dispatch server.

[0017] The beneficial effects of the technical solution of this invention are as follows: This invention utilizes a standardized quick-change interface and modular energy unit. The mobile robot interface employs an electromagnetic drive snap-fit ​​structure combined with a central power contact array and a ring-shaped data communication contact layout. The external power supply module achieves adaptive pressing with elastic conductive pillars and flexible circuit contacts. This not only ensures low-impedance electrical connection and stable communication even under vibration, tilt, or dusty environments, but also avoids the risk of contact wear or arcing caused by alignment deviations in traditional plug-in interfaces.

[0018] This invention achieves centimeter-level real-time positioning through a built-in UWB ultra-wideband positioning unit in collaboration with an indoor base station via a four-corner antenna array. The communication unit uses a LoRa or NB-IoT low-power wide-area network chip, coupled with an independent microcontroller, to periodically report battery level, temperature, health status, and location coordinates. The automatic loading and unloading mechanism employs a three-degree-of-freedom configuration of a horizontal slide rail, a vertical lifting arm, and a rotating gripper head. Combined with a vision alignment module consisting of a camera and light source integrated into the gripper head, it can correct millimeter-level deviations between the module and the storage location or robot in real time during loading and unloading, ensuring the reliability of each gripping and releasing operation. Simultaneously, each storage location is equipped with a spring-loaded charging interface and an active temperature control system based on a thermoelectric cooler. Closed-loop regulation using a temperature sensor attached to the bottom of the module maintains the charging environment stably within the optimal range of 15℃–30℃. Furthermore, a high-contrast QR code or magnetic nail array around the mobile robot's quick-change interface provides a highly robust positioning reference for the vision or magnetic sensing system, further ensuring alignment accuracy during human-machine / machine-machine interactions.

[0019] This invention achieves a paradigm shift from "passive response" to "proactive prediction" in scheduling through the collaborative operation of four modules: task queue management, power prediction, route planning, and resource allocation. The power prediction module dynamically extrapolates the remaining range by combining historical energy consumption models, current load, and terrain resistance parameters. The route planning module integrates map topology and real-time traffic flow to avoid congestion and optimize traffic efficiency. The resource allocation module performs optimal matching in a global module pool to generate a structured task package containing target location, time window, and operation instructions.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a module framework diagram of the multi-robot shared external power replenishment scheduling system proposed in an embodiment of the present invention; Figure 2 This is a first functional flowchart of the multi-robot shared external power replenishment scheduling system proposed in an embodiment of the present invention; Figure 3 This is a second functional flowchart of the multi-robot shared external power replenishment scheduling system proposed in an embodiment of the present invention; Figure 4 This is a flowchart of the third function of the multi-robot shared external power replenishment scheduling system proposed in an embodiment of the present invention. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] The following describes an embodiment of the present invention, a multi-robot shared external power replenishment scheduling system, with reference to the accompanying drawings.

[0024] like Figures 1 to 4 As shown, this embodiment of the invention provides a multi-robot shared external power replenishment scheduling system, including: several mobile robots, several detachable external power replenishment modules, at least one power replenishment transfer station, and a central scheduling server; The mobile robot is equipped with a standardized quick-change interface for mechanical docking and electrical connection with an external power supply module; the external power supply module has a built-in battery unit, communication unit and positioning unit, and is equipped with a docking port that matches the quick-change interface; The power replenishment transfer station is equipped with multiple storage slots for external power replenishment modules, an automatic loading and unloading mechanism, and a communication module for receiving, storing, and releasing external power replenishment modules. The central dispatch server establishes bidirectional communication connections with each mobile robot, each external power replenishment module, and the power replenishment transfer station via a wireless network. Based on the remaining power information, task status, and location information of each mobile robot, as well as the power status, location information, and availability of each external power replenishment module, the server generates dispatch instructions for the external power replenishment modules and sends these instructions to the corresponding mobile robot or power replenishment transfer station to execute the replacement operation of the external power replenishment modules.

[0025] In practical applications of this invention, after the system is started, all mobile robots continuously collect their own status data through their built-in sensors, including but not limited to remaining battery power, current task type, task progress, movement speed, load weight, and geographical coordinates. This information is periodically uploaded to the central dispatch server via a wireless communication link. Simultaneously, each external power replenishment module is an intelligent energy carrier with autonomous sensing and communication capabilities. Its integrated communication and positioning units enable it to independently report its battery level, health status (such as cycle count and internal resistance changes), temperature parameters, and location (regardless of whether it is currently installed on a robot, stored in a power replenishment transfer station, or en route) to the central dispatch server. The power replenishment transfer station, as the energy hub node in the system, not only provides physical storage space but also, through its configured automatic loading and unloading mechanism and communication module, provides real-time feedback on the occupancy status of each storage location, module charging progress, and equipment operating status.

[0026] The central dispatch server continuously receives and integrates data streams from three parties to construct a global energy-task situation map. Based on this, the task scheduling engine inside the server no longer responds simply based on static thresholds (such as "recharge is required when battery level is below 20%), but makes forward-looking decisions by combining multi-dimensional dynamic factors: for example, if a robot is performing a high-priority urgent task and is expected to arrive at the edge of the work area in 30 minutes, but its remaining battery level only supports another 25 minutes of operation, the system will reserve a fully charged external recharge module for it in advance and plan an optimal path to the nearest recharge transfer station; as another example, when multiple robots approach the low battery threshold at the same time, but the inventory at nearby transfer stations is tight, the scheduling algorithm will dynamically adjust the recharge order and resource allocation strategy based on task urgency, robot return distance, and module transportation cost weighting factors to avoid local congestion or task interruption.

[0027] Once a scheduling decision is generated, the central scheduling server issues a structured scheduling instruction package to the target mobile robot and / or the target power supply transfer station. This package contains not only high-level semantics such as "which transfer station to go to" and "which module number to replace," but also embedded low-level operational parameters, such as docking posture correction offset, quick-change interface locking timing, and data handshake protocol version. Upon receiving the instruction, the mobile robot autonomously navigates to the designated location. During approach, auxiliary positioning markers (such as high-contrast QR codes or magnetic nail arrays) around its quick-change interface are identified by the power supply transfer station's vision alignment module or collaborative robotic arm, guiding the robot to fine-tune its docking position. Simultaneously, the power supply transfer station's automatic loading and unloading mechanism, consisting of a horizontal slide rail, a vertical lifting arm, a rotating gripper head, and a visual feedback system, is activated. It retrieves the target external power supply module from the designated storage location and, under the real-time guidance of the vision alignment module, precisely delivers it to the front of the robot's interface.

[0028] During the mechanical docking phase, the standardized quick-change interface of the mobile robot and the docking port of the external power supply module are quickly locked together via an electromagnetically driven snap-fit ​​structure. Simultaneously, the power contact array in the central area of ​​the interface's bottom surface presses against the elastic conductive posts on the module end to form a low-impedance power path, while the surrounding data communication contact array establishes a stable signal connection with the flexible circuit contacts. This process is completed within seconds without manual intervention. After replacement, the newly installed module immediately registers its ownership status with the central dispatch server, while the original module is retrieved by the transfer station to an idle storage location and connected to a spring-loaded charging interface for constant current and constant voltage charging. Simultaneously, the temperature control device, based on feedback from the temperature sensor on the bottom of the module, activates the thermoelectric cooling element to maintain a suitable charging temperature, ensuring battery life and safety.

[0029] In one specific implementation, the standardized quick-change interface of the mobile robot includes a mechanical locking mechanism, a power contact array, and a data communication contact array. The mechanical locking mechanism is an electromagnetically driven snap-fit ​​structure. The power contact array and the data communication contact array are arranged on the bottom surface of the interface perpendicular to the docking direction, with the power contact array located in the central area and the data communication contact array surrounding the power contact array. The docking port of the external power supply module is provided with a locking groove that cooperates with the mechanical locking mechanism, an elastic conductive post aligned with the power contact array, and a flexible circuit contact aligned with the data communication contact array. The elastic conductive post and the flexible circuit contact are both embedded in an insulating substrate on the surface of the docking port.

[0030] In a specific application of this invention, after the mobile robot enters the power replenishment area and completes its initial positioning, its standardized quick-change interface at the bottom is ready for docking. At this time, the external power replenishment module is guided to the area directly below the interface by an automatic loading and unloading mechanism (such as a robotic arm or conveyor platform). As the distance between the two gradually decreases to the millimeter level, the power contact array arranged in the center area of ​​the interface's bottom surface first contacts the elastic conductive post at the module end. The elastic conductive post is made of a high-conductivity copper alloy and integrates a micro-spring structure inside, which can generate controllable deformation under pressure, thereby ensuring a stable low contact resistance path even with minor assembly tolerances or surface contamination. At the same time, the data communication contact array surrounding the power contacts is also simultaneously pressed onto the corresponding flexible circuit contacts at the module end. The latter uses a flexible printed circuit with a polyimide substrate and a gold-plated surface to enhance wear resistance and signal integrity.

[0031] Simultaneously with the establishment of the electrical connection, the mechanical locking action is triggered, activating the electromagnetic drive latch structure within the mobile robot interface and pushing the latch arm outward. Once the module is fully in place, the control system cuts off the current to the electromagnetic coil, causing the latch arm to quickly rebound under the action of the return spring, embedding itself into the pre-set locking groove at the docking port of the external power supply module, forming a secure mechanical engagement. The locking groove adopts an inverted trapezoidal cross-section, combined with the wedge structure on the latch end face, giving it self-locking characteristics after locking, effectively resisting vibration and impact loads generated by the robot during high-speed movement, sudden stops, or on bumpy surfaces.

[0032] Furthermore, all conductive contacts are embedded within an insulating substrate made of high-strength engineering plastic or ceramic, with micron-level grooves and a hydrophobic coating on the surface to prevent dust accumulation or liquid intrusion that could cause short circuits. Simultaneously, upon successful docking, the module's internal Battery Management System (BMS) immediately sends a handshake signal to the robot's main control unit via data communication contacts, including key parameters such as module ID, remaining capacity, health status, and maximum output current. The robot uses this information to determine whether to allow the loading of the energy module and dynamically adjusts its power allocation strategy. If a module malfunction is detected (such as over-temperature, over-discharge, or communication verification failure), the system will refuse to enable the module and trigger an unlocking command: re-energizing the electromagnetic latch, releasing the locking state, and allowing the loading / unloading mechanism to remove it.

[0033] When the task is completed or the module's power is depleted, the central dispatch system issues a replacement command. The robot first cuts off the power supply to the external module's load, then sends an unlocking pulse to the electromagnetic locking mechanism of the quick-change interface. The latch retracts, releasing the mechanical constraint; at this point, the automatic loading and unloading mechanism supports the module from below and slowly pulls it away from the contact. Because both the elastic conductive post and the flexible circuit contact have spring-back reset capability, the contact surface automatically cleans itself and returns to its initial height after separation, preparing for the next docking.

[0034] In one specific implementation, the automatic loading and unloading mechanism of the power replenishment transfer station includes a horizontal slide rail, a vertical lifting arm, a rotating gripper head, and a vision alignment module. The horizontal slide rail is arranged laterally inside the power replenishment transfer station, the vertical lifting arm is slidably mounted on the horizontal slide rail, and the rotating gripper head is mounted at the end of the vertical lifting arm for gripping or releasing the external power replenishment module. The vision alignment module includes a camera and a light source fixed on the rotating gripper head, used to acquire the relative positional deviation between the external power replenishment module and the storage location or mobile robot in real time during the loading and unloading process, and feed it back to the local controller of the power replenishment transfer station to adjust the gripper head posture. The communication unit of the external power replenishment module adopts a low-power wide-area network communication chip, supports LoRa or NB-IoT protocols, and integrates an independent microcontroller for periodically reporting its own power, temperature, health status, and location coordinates to the central dispatch server. The positioning unit is a UWB ultra-wideband positioning module, whose antenna array is arranged at the four corners of the external power replenishment module shell for ranging with UWB base stations deployed in the working area to achieve centimeter-level indoor positioning.

[0035] In a specific application of this invention, when the central dispatch server determines that a mobile robot needs to replace its external power supply module, it sends a dispatch instruction to the target power supply transfer station containing the module number, the target robot ID, and the estimated arrival time. Upon receiving the instruction, the local controller at the transfer station immediately activates the automatic loading and unloading mechanism: first, the horizontal slide rail drives the vertical lifting arm to move laterally to directly above the designated storage location of the external power supply module; then, the vertical lifting arm descends, bringing the rotating gripper head at its end close to the module. At this time, the vision alignment module fixed to the gripper head simultaneously starts, and its integrated high-resolution camera, in conjunction with a ring LED light source, acquires images of the module's top features (such as QR codes, positioning marks, or structural contours) within the storage location. Through real-time image processing algorithms (such as template matching or edge detection), the system calculates the minute deviation between the module's actual position and its theoretical coordinates (including X / Y translation offset and angular rotation error), and feeds the deviation data back to the local controller.

[0036] The local controller then generates compensation commands, driving the rotating gripper head to make micro-angle adjustments, and coordinating with the horizontal slide rail and vertical lifting arm to achieve sub-millimeter-level alignment. Once alignment is complete, the pneumatic or electric grippers inside the gripper head close, firmly grasping the module. During lifting, the gripper head can also rotate around the Z-axis according to task requirements, adjusting the module to face the docking direction of the mobile robot. Simultaneously, the gripped external power module continuously sends heartbeat packets to the central scheduling server through its built-in low-power wide-area network communication unit (such as LoRa or NB-IoT chip), including current battery level, battery temperature, cycle life status, and real-time three-dimensional coordinates calculated by the UWB positioning unit. The UWB positioning unit, through antenna arrays arranged at the four corners of the casing, performs bidirectional time-of-flight (ToF) ranging with multiple pre-set UWB base stations in the operating area, using a polygonal positioning algorithm to achieve centimeter-level position tracking accuracy. Even when the module is in a gripped and moving state, its position information can still be updated at a frequency of over 10Hz, ensuring that the scheduling system always has a precise grasp of the physical state of each power module.

[0037] Once the mobile robot enters the transfer station's handover area, it reports its docking position via onboard sensors. At this point, the automated loading and unloading mechanism restarts the vision alignment process: the camera aligns with auxiliary markings (such as high-contrast QR codes or magnetic arrays) around the robot's quick-change interface, and combined with coarse positioning information provided by UWB, quickly establishes the relative spatial relationship between the robot interface and the gripping module. Based on this, the local controller plans the final 50mm approximation trajectory, controlling the gripping head to deliver the module into the docking area at a low speed and with high stability. Throughout the approach process, the vision system continuously monitors the parallelism and center offset of the docking surfaces. If any deviation exceeds the tolerance range (e.g., tilt exceeding 0.5 degrees or offset greater than 2 mm), the operation is immediately paused and fine-tuned until the geometric conditions for reliable mechanical locking and electrical contact are met.

[0038] After release, the gripper head retracts, and the module is finally secured by the robot's own quick-change interface locking mechanism. At this point, the module's communication unit immediately switches its communication context from "transfer station management state" to "robot attached state" and sends a state change event to the central scheduling server. The transfer station local controller records this operation log and prepares for the next scheduling task. If a low-battery module needs to be retrieved, the process is reversed: the gripper head picks up the removed module, the vision system confirms its integrity, and then transports it to a designated empty storage location; during placement, vision alignment is also used to ensure the module accurately falls into the compartment equipped with charging pins and a temperature control device, triggering the automatic charging process.

[0039] In one specific implementation, the central scheduling server is configured with a task queue management module, a power prediction module, a path planning module, and a resource allocation module. The task queue management module is used to maintain the current task priority and estimated completion time of all mobile robots. The power prediction module dynamically predicts the remaining range of each mobile robot based on its historical energy consumption curve, current load, and environmental resistance parameters. The path planning module calculates the optimal path for the mobile robot to reach the designated refueling transfer station or external refueling module handover point by combining map information and traffic constraints. The resource allocation module allocates a uniquely identified external refueling module to each mobile robot that needs refueling based on the prediction results and the inventory status of external refueling modules, and generates a scheduling task package containing the target location, handover time window, and docking instructions.

[0040] In practical applications of this invention, during system operation, the central scheduling server first continuously receives and integrates work instructions issued from the upper-level task management system or human-machine interface through the task queue management module. These instructions are parsed into structured task units, each containing the task type (e.g., handling, inspection, delivery), target location, time window constraints, priority level, and required load capacity attributes. The task queue management module not only maintains the current task allocation status of all robots but also dynamically adjusts the task execution order based on task dependencies, deadline urgency, and robot capability matching, and estimates the theoretical completion time for each task.

[0041] Meanwhile, the power prediction module works in parallel, continuously analyzing the energy consumption behavior of each mobile robot. It not only reads the current remaining power but also calls upon individual energy consumption models from the historical database. These models record the robot's power consumption curves per unit distance under different speeds, loads, and ground materials (such as smooth tiles, rough cement, and slopes). Combining the load weight required for the current task, elevation changes along the planned path, and real-time drag coefficients (such as wind resistance and friction coefficients) from environmental sensors, the power prediction module can accurately predict the robot's energy consumption rate over the next few minutes and calculate the "effective range" or "sustainable operating time." When the predicted value falls below a safety threshold (e.g., insufficient to support the robot in completing the current task and returning to the nearest refueling point), the system triggers a refueling warning.

[0042] Once it is determined that a robot needs recharging, the path planning module immediately intervenes, calling up a high-precision digital map (including obstacle distribution, channel width, traffic rules such as one-way traffic zones and no-stopping zones), and integrating real-time traffic conditions (such as the current location of other robots, expected intersection points, and congestion hotspots), and using an improved A or DLite algorithm to generate a navigation path for it to the optimal recharging node.

[0043] After the path is determined, the resource allocation module starts the core scheduling logic. First, it queries the global external power replenishment module resource pool to obtain the real-time status of all available modules, including their location (position 3 in transfer station A, being transported by robot B, or in the charging recovery phase), remaining power, health index (such as internal resistance growth, number of cycles), and model compatibility.

[0044] Ultimately, all the above decision results are encapsulated into structured scheduling task packages and sent to the relevant entities: for mobile robots, the task package includes the coordinates of the target refueling point, the recommended driving speed, the estimated arrival time window, and docking preparation instructions; for the target refueling transfer station, the task package includes the unique ID of the module to be released, the handover time window, the robot identification code, and the loading and unloading priority; for the assigned external refueling module (if it has active communication capabilities), a status change notification is pushed synchronously, so that it enters the "pending handover" mode in advance.

[0045] In one specific implementation, the storage space for the external power supply module in the power supply transfer station is equipped with an independent charging interface and a temperature control device. The charging interface is a spring-loaded contact terminal that physically connects with the charging contacts at the bottom of the external power supply module. The temperature control device includes a thermoelectric cooling chip embedded in the bottom plate of the storage space and a temperature sensor. The temperature sensor is attached to the bottom shell of the external power supply module to monitor the battery temperature and provide feedback to control the thermoelectric cooling chip to start and stop, so as to maintain the temperature in the storage space within the range of 15°C to 30°C. The mobile robot is also equipped with auxiliary positioning markers, which are high-contrast QR codes or magnetic nail arrays, arranged around the quick-change interface of the mobile robot. When the mobile robot enters the power supply transfer station or the designated handover area, the visual alignment module of the power supply transfer station or a third-party collaborative robot determines the precise spatial coordinates of the quick-change interface by recognizing the auxiliary positioning markers, so as to guide the external power supply module to complete millimeter-level alignment.

[0046] In practical applications of this invention, when a low-battery or removed external charging module is automatically loaded and unloaded into a designated storage location, the entire maintenance process is initiated. First, the module is precisely placed on the storage base, and its pre-set charging contacts on the bottom naturally engage with the spring-loaded contact terminals built into the base. The spring-loaded terminals are made of highly elastic phosphor bronze, gold-plated to reduce contact resistance and prevent oxidation. Their internal spring structure provides constant positive pressure, maintaining a reliable electrical connection even with minor deformation or dust accumulation on the module's casing. Once physical contact is established, the charging management system immediately detects the module's identity and battery status, and dynamically selects an appropriate charging strategy (such as a constant current-constant voltage-trickle charge three-stage system) based on its current voltage, temperature, and battery health, thereby maximizing charging efficiency while ensuring safety.

[0047] Simultaneously, a temperature control mechanism intervenes. Temperature sensors, positioned within the storage base plate and close to the bottom of the module housing, collect real-time temperature data from the core battery area. These sensors boast a measurement accuracy of ±0.5℃ and millisecond-level response time, enabling them to accurately detect temperature rises during fast charging. When the detected temperature exceeds a preset upper limit (e.g., 30℃), the control system immediately activates the thermoelectric cooling element (Peltier element) embedded in the base plate. Utilizing the semiconductor thermoelectric effect, the cooling element absorbs and dissipates heat simultaneously upon energization, actively dissipating heat from the bottom of the module and releasing it to the external environment through internal air ducts or a liquid cooling system. Conversely, if the ambient temperature is too low (e.g., below 15℃ in a winter workshop), the system can reverse power to put the thermoelectric element into heating mode, preventing increased internal resistance, decreased charging efficiency, and even the risk of lithium plating in lithium-ion batteries due to low temperatures.

[0048] On the other side, when a mobile robot requiring recharging enters the transfer station's handover area to receive a new module, the alignment process unfolds simultaneously. Once the robot comes to a stop, the auxiliary positioning markers around its quick-change interface—whether high-contrast black-and-white QR codes or embedded magnetic nail arrays—immediately become the recognition targets for the vision or magnetic sensing systems. If a vision-based approach is used, an industrial camera on the top of the transfer station or on the robotic arm captures images of the markers with the aid of a ring light source. Sub-pixel edge detection and perspective transformation algorithms are then used to calculate the precise coordinates (X, Y, Z) and attitude angles (pitch, yaw, roll) of the quick-change interface in three-dimensional space. If a magnetic nail approach is used, a multi-axis magnetic sensor array deployed on the ground detects local magnetic field distortion and inverts the robot's chassis pose relative to a preset coordinate system. Regardless of the method, the final output is interface position information with millimeter-level precision.

[0049] The location information is transmitted in real time to the local controller at the transfer station and used to guide the end effector of the automated loading and unloading mechanism. The controller combines the module's current pose in the gripper head, the target coordinates of the robot interface, and the relative kinematic model between the two. In the final 10-centimeter docking phase, the system adopts a "coarse positioning + fine adjustment" strategy: first, it quickly approaches to a safe distance, and then fine-tunes in 0.1-millimeter increments, while continuously refreshing visual or magnetic feedback, until the center deviation between the module docking port and the robot quick-change interface is less than ±0.5 mm and the angular deviation is less than ±0.3 degrees.

[0050] In one specific implementation, the external power replenishment module housing adopts a split structure, including an upper cover, a middle frame, and a bottom shell. The middle frame is made of high-strength aluminum alloy and has built-in heat dissipation fins, while the bottom shell is equipped with a waterproof sealing ring and a pressure relief valve. The battery unit is fixed inside the middle frame with bolts. The communication unit and positioning unit are integrated on a flexible circuit board. The flexible circuit board is fixed to the inside of the upper cover by a snap-fit ​​structure and is electrically connected to the battery unit's management system through a board-to-board connector. Redundant communication links are used between the central dispatch server and the power replenishment transfer station, including a primary Ethernet link and a backup 4G / 5G wireless link. When the primary link is interrupted for more than a preset threshold time, the system automatically switches to the backup link and triggers a local caching mechanism to temporarily store the most recent valid dispatch instruction in the local controller of the power replenishment transfer station, so as to ensure that critical operation instructions are not lost due to communication interruption during the loading and unloading of the external power replenishment module.

[0051] In practical applications, the modules of this invention frequently undergo loading, unloading, transportation, exposure to varying temperature and humidity environments, and even minor collisions during actual use. In these situations, the high-strength aluminum alloy frame not only provides overall structural rigidity, but its integrated heat dissipation fins also form a passive thermal management channel: the heat generated by the battery cells during high-rate charging and discharging is rapidly conducted to the fin surface through the metal frame, and efficiently dissipated through convection or contact with the temperature control base plate of the transfer station, effectively suppressing localized temperature rise and avoiding safety risks caused by heat accumulation. Simultaneously, an IP67-level protection is achieved between the bottom shell and the middle frame through a compression-type waterproof sealing ring, preventing moisture and particulate matter from intruding into the internal circuitry even in humid, dusty, or occasionally spilled industrial environments. The mechanical pressure relief valve integrated into the bottom shell serves as a safety redundancy; in extreme cases (such as internal battery short circuits leading to gas accumulation), it can automatically open to release internal pressure, preventing the shell from bursting and ensuring the safety of personnel and equipment.

[0052] In terms of electrical integration, the battery unit is rigidly fixed to the center of the frame with mechanical bolts to ensure that it does not shift or loosen under vibration conditions. The communication unit and positioning unit are integrated together on a flexible circuit board. The circuit board is installed on the inside of the top cover through a non-metallic snap-fit ​​structure, which avoids electromagnetic interference caused by direct contact with the metal battery shell, and utilizes the bending resistance of the flexible substrate to adapt to the slight deformation of the shell. The flexible circuit board is electrically connected to the battery management system (BMS) through a highly reliable board-to-board connector. The connector is designed to prevent incorrect insertion, withstand insertion and removal (>10,000 times), and resist vibration and detachment, ensuring that the signal path remains stable during frequent disassembly and assembly.

[0053] Meanwhile, a primary and backup redundant communication link is established between the central dispatch server and each refueling transfer station: during daily operation, the high-speed, low-latency industrial Ethernet serves as the primary link, carrying dispatch instructions, status reports, and high-bandwidth video stream data; while the 4G / 5G wireless link serves as a hot backup, always in standby mode. When the local controller of a transfer station detects an Ethernet link interruption (such as fiber breakage or switch failure) and the duration exceeds a preset threshold (e.g., 3 seconds), the system immediately and seamlessly switches to the wireless link. The entire process is transparent to upper-layer applications, and the transmission of dispatch instructions is uninterrupted. At the moment of switching, the local controller automatically activates the local caching mechanism: the most recently received valid dispatch task packet from the central server (including the target robot ID, module number, operation type, and complete time window parameters) is temporarily stored in non-volatile memory, and the task continues to be executed. Even if the wireless link fails briefly afterward, the loading and unloading mechanism can still complete the current module's grabbing, alignment, and release operations based on the cached instructions.

[0054] In one specific implementation, the system adopts a "relay" power replenishment mode: when a mobile robot A is low on power but has not reached the power replenishment transfer station, the central dispatch server assigns a nearby mobile robot B with sufficient power to carry a fully charged external power replenishment module to a preset handover point; at the handover point, mobile robot B releases the external power replenishment module to the ground tray through its quick-change interface, and mobile robot A then drives in and picks up the module to complete the replacement; the ground tray is equipped with a magnetic positioning seat and a temporary communication relay module, which are used to keep the position of the external power replenishment module stable during the handover process and to transmit the handover status back to the central dispatch server.

[0055] In a specific application of this invention, when the central dispatch server detects through real-time monitoring that the remaining battery power of mobile robot A is below the safety threshold and its current task path is too far from the nearest recharge station (e.g., exceeding 70% of its remaining range), the system immediately activates the relay recharge plan. The dispatch engine first scans other robots within a certain radius (e.g., 50 meters) around robot A based on the global location map and communication topology, filtering out candidates that meet three conditions: first, sufficient battery power (e.g., above 80%); second, a low current task priority or being idle; and third, possessing at least one redundant external recharge module (i.e., carrying a spare module in addition to its own). Assuming mobile robot B is selected, the server issues an "energy support" command to it, including the handover point coordinates, the target robot ID, the module number to be transferred, and the expected rendezvous time window.

[0056] Upon receiving the instruction, Robot B immediately adjusts its route and autonomously navigates to the pre-set handover point. The handover point is typically chosen in a flat, unobstructed, and well-communicationed open area, pre-marked as a "temporary refueling zone" on a digital map by the system. Simultaneously, Robot A also receives guidance instructions and moves synchronously to the same location. To ensure timely arrival and avoid conflict, the central dispatch server dynamically coordinates their speeds and paths, introducing virtual traffic rules (such as specifying arrival order or stopping locations) when necessary.

[0057] Once robot B arrives at the handover point, it performs a module release operation: the electromagnetic locking mechanism of the quick-change interface unlocks, and the automatic loading and unloading auxiliary device (or gravity guide rail) smoothly places the designated fully charged external power supply module onto the ground tray. The tray integrates a magnetic positioning seat and a temporary communication relay module as an intelligent handover terminal. The magnetic positioning seat has a built-in strong magnetic array that forms an attraction force with the ferromagnetic material or embedded magnetic sheet in the bottom shell of the module, so that the module is immediately and firmly fixed after placement. Even if there is slight tilt or vibration on the ground, it can maintain a horizontal posture, providing a geometric reference for subsequent accurate picking. At the same time, the temporary communication relay module built into the tray (usually using Bluetooth Low Energy or Zigbee protocol) is automatically activated after detecting the module's placement. It establishes a connection with the module through a short-range wireless link, reads its identity, power level, and health status, and immediately transmits the confirmation information "module in place, normal status" back to the central dispatch server via 4G / 5G or Mesh network.

[0058] Almost simultaneously, Robot A enters the handover area. Its onboard vision system or UWB positioning unit identifies alignment marks (such as QR codes or magnetic nails) on the ground pallet. Combining this with the precise coordinates of the module fed back from the pallet, it fine-tunes its docking position so that the quick-change interface is directly above the module. Subsequently, Robot A lowers its chassis or extends its docking mechanism to complete the pickup action: the quick-change interface's latching structure relocks the module, power and communication contacts are connected, and after a successful BMS handshake, the system determines that the replacement is complete. At this point, the relay module on the pallet detects that the module has been removed and reports the "handover complete" event again. The central scheduling server then updates the module's ownership status, transferring it from Robot B to Robot A, and releases Robot B from its support mission, allowing it to return to its original task queue.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A multi-robot shared external power replenishment scheduling system, characterized in that, include: Several mobile robots, several detachable external power supply modules, at least one power supply transfer station, and a central dispatch server; The mobile robot is equipped with a standardized quick-change interface for mechanical docking and electrical connection with the external power supply module; The external power supply module has a built-in battery unit, communication unit and positioning unit, and is equipped with a docking port that matches the quick-swap interface; The power replenishment transfer station is equipped with multiple storage slots for external power replenishment modules, an automatic loading and unloading mechanism, and a communication module for receiving, storing, and releasing the external power replenishment modules. The central dispatch server establishes bidirectional communication connections with each mobile robot, each external power replenishment module, and the power replenishment transfer station via a wireless network. Based on the remaining power information, task status, and location information of each mobile robot, as well as the power status, location information, and availability of each external power replenishment module, the server generates dispatch instructions for the external power replenishment modules and sends these instructions to the corresponding mobile robot or power replenishment transfer station to execute the replacement operation of the external power replenishment modules.

2. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The standardized quick-change interface of the mobile robot includes a mechanical locking mechanism, a power contact array, and a data communication contact array. The mechanical locking mechanism is an electromagnetically driven snap-fit ​​structure. The power contact array and the data communication contact array are arranged on the bottom surface of the interface perpendicular to the docking direction, with the power contact array located in the central area and the data communication contact array surrounding the power contact array. The docking port of the external power supply module is provided with a locking groove that cooperates with the mechanical locking mechanism, an elastic conductive post aligned with the power contact array, and a flexible circuit contact aligned with the data communication contact array. The elastic conductive post and the flexible circuit contact are all embedded in an insulating substrate on the surface of the docking port.

3. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The automatic loading and unloading mechanism of the energy replenishment transfer station includes a horizontal slide rail, a vertical lifting arm, a rotating gripping head, and a vision alignment module. The horizontal slide rail is arranged laterally inside the energy replenishment transfer station. The vertical lifting arm is slidably installed on the horizontal slide rail. The rotating gripping head is installed at the end of the vertical lifting arm and is used to grab or release the external energy replenishment module. The vision alignment module includes a camera and a light source fixed to the rotating gripper head, which is used to acquire the relative positional deviation between the external power supply module and the storage position or mobile robot in real time during the loading and unloading process, and feed it back to the local controller of the power supply transfer station to adjust the gripper head posture.

4. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The communication unit of the external power supply module adopts a low-power wide-area network communication chip, supports LoRa or NB-IoT protocols, and integrates an independent microcontroller for periodically reporting its own power, temperature, health status, and location coordinates to the central dispatch server; the positioning unit is a UWB ultra-wideband positioning module, whose antenna array is arranged at the four corners of the external power supply module shell for ranging with UWB base stations deployed in the working area to achieve centimeter-level indoor positioning.

5. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The central scheduling server is equipped with a task queue management module, a power prediction module, a path planning module, and a resource allocation module. The task queue management module is used to maintain the current task priority and estimated completion time of all mobile robots. The power prediction module dynamically predicts the remaining range of each mobile robot based on its historical energy consumption curve, current load, and environmental resistance parameters. The path planning module calculates the optimal path for the mobile robot to reach the designated refueling transfer station or external refueling module handover point by combining map information and traffic constraints. The resource allocation module assigns a uniquely identified external refueling module to each mobile robot that needs refueling based on the prediction results and the inventory status of external refueling modules, and generates a scheduling task package containing the target location, handover time window, and docking instructions.

6. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The external charging module storage space of the charging transfer station is equipped with an independent charging interface and a temperature control device. The charging interface is a spring-loaded contact terminal that physically connects with the charging contacts at the bottom of the external charging module. The temperature control device includes a thermoelectric cooling chip embedded in the bottom plate of the storage space and a temperature sensor. The temperature sensor is attached to the bottom shell of the external charging module and is used to monitor the battery temperature and provide feedback to control the thermoelectric cooling chip to start and stop, so as to maintain the temperature in the storage space within the range of 15°C to 30°C.

7. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The mobile robot is also equipped with auxiliary positioning markers, which are high-contrast QR codes or magnetic nail arrays, arranged around the quick-change interface of the mobile robot. When the mobile robot enters the power supply transfer station or the designated handover area, the visual alignment module of the power supply transfer station or the third-party collaborative robot determines the precise spatial coordinates of the quick-change interface by recognizing the auxiliary positioning markers, so as to guide the external power supply module to complete millimeter-level alignment.

8. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The external power supply module has a split structure, including a top cover, a middle frame, and a bottom shell. The middle frame is made of high-strength aluminum alloy and has built-in heat dissipation fins. The bottom shell is equipped with a waterproof sealing ring and a pressure relief valve. The battery unit is fixed to the inside of the middle frame with bolts. The communication unit and the positioning unit are integrated on a flexible circuit board. The flexible circuit board is fixed to the inside of the top cover with a snap-fit ​​structure and is electrically connected to the battery unit's management system through a board-to-board connector.

9. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The central dispatch server and the power replenishment transfer station use redundant communication links, including a primary Ethernet link and a backup 4G / 5G wireless link. When the primary link is interrupted for more than a preset threshold time, the system automatically switches to the backup link and triggers a local caching mechanism to temporarily store the most recent valid dispatch instruction in the local controller of the power replenishment transfer station to ensure that critical operation instructions are not lost due to communication interruption during the installation and removal of external power replenishment modules.

10. The multi-robot shared external power replenishment scheduling system according to claim 1, characterized in that, The system adopts a "relay" power replenishment mode: when a mobile robot A is low on power but has not reached the power replenishment transfer station, the central dispatch server assigns a nearby mobile robot B with sufficient power to carry a fully charged external power replenishment module to a preset handover point; at the handover point, mobile robot B releases the external power replenishment module to the ground tray through its quick-change interface, and mobile robot A then drives in and picks up the module to complete the replacement; the ground tray is equipped with a magnetic positioning seat and a temporary communication relay module, which are used to keep the position of the external power replenishment module stable during the handover process and to transmit the handover status back to the central dispatch server.

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