Intelligent delivery vehicle low power back charging control method and device and related equipment

Abstract

The application relates to a low-power return charging control method and device for an intelligent delivery vehicle and related equipment. The method comprises the following steps: calculating the remaining available power and the total required energy of the intelligent delivery vehicle according to the current state of charge, coordinates and charging device distribution coordinates of the intelligent delivery vehicle. It is judged whether the remaining available power is less than the total required energy. If yes, a return charging warning is triggered. Otherwise, the remaining task is continued to be executed, and the changes of the two are continuously detected until the return charging warning is triggered. After the return charging warning is triggered, if the remaining available power of the main battery meets the required energy for completing the remaining task and the remaining available power of the super capacitor meets the required energy for return charging, the main battery is used for power supply until the remaining task is completed, then the power supply is switched to the super capacitor and return charging is performed, otherwise the remaining task is interrupted and immediate return charging is triggered. By using the method, the current task, driving path information and surrounding charging facility distribution can be combined for judgment, and the method has active and intelligent decision-making and execution ability under the condition of low power.

Description

Technical Field

[0001] This application relates to the technical field of vehicle recharge control, and in particular to a method, device and related equipment for controlling the low battery recharge of an intelligent delivery vehicle. Background Technology

[0002] As intelligent delivery vehicles become increasingly prevalent in last-mile logistics, their power supply systems are gradually shifting towards new energy sources, with various clean energy sources such as lithium batteries, solar energy, and wind power being integrated into vehicle platforms. However, in actual operation, the vehicle's energy management system exhibits significant shortcomings in intelligent power decision-making and autonomous management.

[0003] Currently, most intelligent delivery vehicles only have basic battery monitoring and alarm functions, lacking the ability to proactively and intelligently make decisions and execute actions when the battery level is low. When the battery level falls below a preset safety threshold, the vehicle can usually only issue an alarm or passively stop operating, requiring subsequent manual intervention or remote dispatch center intervention. This not only reduces delivery efficiency but also increases operational manpower and coordination costs. Furthermore, intelligent delivery vehicles fail to fully integrate data such as current delivery tasks, driving route information, and the distribution of surrounding charging facilities for comprehensive judgment, resulting in isolated and unsupported battery energy management. This makes it difficult to achieve seamless charging scheduling or task adjustment in low-battery situations, impacting overall reliability and operational efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and related equipment for intelligent delivery vehicles to control low-battery recharging in order to fully integrate environmental and status data and make recharging decisions and schedule execution in low-battery conditions, in order to address the above-mentioned technical problems.

[0005] A method for controlling the low battery recharge of an intelligent delivery vehicle includes the following steps: S1: Based on the rated capacity and current state of charge of the power supply unit of the intelligent delivery vehicle, calculate the remaining available power of the power supply unit of the intelligent delivery vehicle; the power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor; S2: Based on the current coordinates of the smart delivery vehicle and the distribution coordinates of the charging devices, obtain the energy required for the smart delivery vehicle to return to the nearest available charging device for recharging. Based on the energy required for recharging and the energy required to complete the remaining tasks, obtain the total energy required for the smart delivery vehicle. S3: Determine whether the remaining available power of the power supply unit is less than the total required energy. If so, trigger a recharge warning to remind staff that there is a smart delivery vehicle waiting to be recharged, and execute S4; otherwise, use the smart delivery vehicle to continue to perform the remaining tasks, and continuously monitor the changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered, and execute S4. S4: If the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharging, then the main battery is used to power the intelligent delivery vehicle until the remaining tasks are completed, and S5 is executed; if the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharging, the execution of the remaining tasks is interrupted, and S6 is executed. S5: Use the remaining available power of the supercapacitor to power the intelligent delivery vehicle, drive the intelligent delivery vehicle to the nearest available charging device along the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. S6: Record the current task breakpoint, trigger immediate recharge, obtain the safe available power of the main battery, and obtain the total energy that can be safely called based on the safe available power of the main battery and the remaining available power of the supercapacitor; S7: If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0006] Preferably, calculating the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge includes: Based on the current state of charge of the main battery and the rated capacity of the main battery. Calculate the remaining usable power of the main battery. The expression is:

[0007] Based on the current state of charge C_SoC of the supercapacitor and the rated capacity of the supercapacitor. Calculate the remaining usable power of the supercapacitor. The expression is:

[0008] Calculate the remaining available power of the intelligent delivery vehicle's power supply unit. The expression is: .

[0009] Preferably, the step of obtaining the energy required for the intelligent delivery vehicle to return to the nearest available charging device for recharging, based on the current coordinates of the intelligent delivery vehicle and the pre-acquired distribution coordinates of the charging devices, includes: Obtain the coordinates of the nearest available charging device to the smart delivery vehicle's current travel distance; Using the coordinates of the available charging devices as the coordinates of the target charging device, estimate the energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device for recharging. The expression is:

[0010] in, Risk dynamic adjustment coefficient The risk is greater than 1, and includes: uncertainty of driving path, uncertainty of energy consumption, uncertainty of error, and uncertainty of charging device idle time. Adjustments are made dynamically based on risk; the higher the risk, the better. This represents the basic energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device. Based on the energy required for recharging and the pre-acquired energy required to complete the remaining tasks, the total energy required for the intelligent delivery vehicle is obtained. :

[0011] in, The energy required to complete the remaining tasks.

[0012] Preferably, before executing S5, the method further includes: monitoring the remaining available power of the main battery; if the remaining available power of the main battery decreases to a first power threshold, pre-charging the supercapacitor to put the supercapacitor in a fully charged pre-powered state; the safe available power of the main battery is the portion of the remaining power of the main battery that is greater than the first power threshold.

[0013] Preferably, the power supply unit further includes a DC bus, a first converter, and a second converter. The main battery is connected to the DC bus through the first converter; the supercapacitor is connected to the DC bus through the second converter, and the DC bus supplies power to the intelligent delivery vehicle. In S5, before using the remaining available power of the supercapacitor to power the intelligent delivery vehicle, the main battery powering the intelligent delivery vehicle is switched to the supercapacitor. The process is as follows: Start the second converter to precharge the supercapacitor to match the voltage of the DC bus; The second converter is controlled to connect the supercapacitor to the DC bus; Set the main battery output power to 100% of the current intelligent delivery vehicle's required power and the supercapacitor output power to 0%. Calculate the switching time window T based on the current intelligent delivery vehicle's required power and the supercapacitor's power output capability. Within the switching time window T, the output power of the main battery is controlled to decrease linearly, while the output power of the supercapacitor is controlled to increase linearly. During this process, the total output power of the power supply unit is always equal to the power required by the intelligent delivery vehicle, and the voltage of the DC bus is kept stable. When the supercapacitor output power reaches 100% of the power required by the intelligent delivery vehicle and the main battery output power drops to 0%, the intelligent delivery vehicle is powered only by the supercapacitor, and the connection between the main battery and the DC bus is disconnected.

[0014] Preferably, in S5, while driving the smart delivery vehicle along the route back to the nearest available charging device, the maximum speed of the smart delivery vehicle is limited, and unnecessary onboard loads are turned off.

[0015] Preferably, in S5, the main battery is charged using the nearest available charging device. If the remaining available power of the main battery rises to a first power threshold, the supercapacitor that powers the intelligent delivery vehicle is switched to the main battery to resume the execution of the remaining tasks or standby.

[0016] This invention also proposes a low-battery recharge control device for intelligent delivery vehicles, used to implement a low-battery recharge control method for intelligent delivery vehicles, comprising: The remaining power monitoring module is used to calculate the remaining available power of the intelligent delivery vehicle power supply unit based on the rated capacity and current state of charge of the power supply unit; the power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor; The required energy acquisition module is used to acquire the energy required for the intelligent delivery vehicle to return to the nearest available charging device for recharging based on the current coordinates of the intelligent delivery vehicle and the pre-acquired distribution coordinates of the charging devices, and to acquire the total required energy of the intelligent delivery vehicle based on the recharging required energy and the pre-acquired energy required to complete the remaining tasks. The recharge warning decision module is used to determine whether the remaining available power of the power supply unit is less than the total required energy. If so, a recharge warning is triggered to remind the staff that there is an intelligent delivery vehicle waiting to be recharged, and the recharge mode decision module is entered. Otherwise, the intelligent delivery vehicle continues to perform the remaining tasks and continuously monitors the changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered and the recharge mode decision module is entered. The recharge mode decision module, if the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharge, then based on the remaining available power of the main battery, uses the main battery to power the intelligent delivery vehicle until the remaining tasks are completed, and enters the first recharge planning module; if the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharge, then the execution of the remaining tasks is interrupted, and enters the second recharge planning module; The first recharge planning module is used to power the intelligent delivery vehicle with the remaining available power of the supercapacitor, drive the intelligent delivery vehicle to the nearest available charging device according to the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. The second recharge planning module records the current task breakpoint, triggers immediate recharge, obtains the safe available power of the main battery, and obtains the total energy that can be safely called upon based on the safe available power of the main battery and the remaining available power of the supercapacitor. If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0017] The present invention also proposes an electronic device, comprising: a memory, a processor, and a program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps of a low-battery recharge control method for an intelligent delivery vehicle.

[0018] A smart delivery vehicle is provided, wherein the smart delivery vehicle is equipped with a low battery recharge control device, and the smart delivery vehicle uses the low battery recharge control device to implement the steps in a smart delivery vehicle low battery recharge control method.

[0019] Compared with the prior art, the beneficial effects of the technical solution of the present invention are: This invention proposes a method, device, and related equipment for controlling the low-battery recharge of an intelligent delivery vehicle. Based on the intelligent delivery vehicle's current state of charge, coordinates, and the distribution coordinates of charging devices, the remaining available power and total required energy are calculated. It determines whether the remaining available power of the power supply unit is less than the total required energy. If so, a recharge warning is triggered, alerting staff that an intelligent delivery vehicle awaits recharge. Otherwise, the remaining tasks continue, continuously monitoring changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered. After a recharge warning is triggered, if the remaining available power of the main battery is sufficient to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient for recharge, the remaining tasks are completed using the main battery power. Then, the system switches to supercapacitor power, travels along the route to the nearest available charging device, and charges the main battery. If the remaining available power of the main battery is insufficient to meet the energy requirements for completing the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy requirements for recharging, the remaining tasks are interrupted, the task breakpoint is recorded, and immediate recharging is triggered. The system obtains the safe available power of the main battery and the total energy that can be safely accessed. If the total energy that can be safely accessed is not less than the energy required for recharging, the system uses a staged mixed power supply from the main battery and supercapacitor to drive to a charging station for charging; otherwise, it sends a distress signal and stops at the nearest safe area. This invention can comprehensively judge based on data such as the current task, driving route information, and the distribution of surrounding charging facilities, possessing proactive and intelligent decision-making and execution capabilities in low-power situations, reducing operational manpower and coordination costs. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a low-battery recharge control method for an intelligent delivery vehicle proposed in one embodiment. Figure 2 This is a structural diagram of a smart delivery vehicle low-battery recharge control device proposed in one embodiment; Figure 3 This is a structural diagram of an electronic device proposed in one embodiment; Figure 4 This is a structural diagram of an intelligent delivery vehicle proposed in one embodiment. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] Example 1 This embodiment provides a low-battery recharge control method for intelligent delivery vehicles. The flowchart of this method is shown below. Figure 1 This includes the following steps: S1: Based on the rated capacity and current state of charge of the power supply unit of the intelligent delivery vehicle, calculate the remaining available power of the power supply unit of the intelligent delivery vehicle; the power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor; S2: Based on the current coordinates of the smart delivery vehicle and the distribution coordinates of the charging devices, obtain the energy required for the smart delivery vehicle to return to the nearest available charging device for recharging. Based on the energy required for recharging and the energy required to complete the remaining tasks, obtain the total energy required for the smart delivery vehicle. S3: Determine whether the remaining available power of the power supply unit is less than the total required energy. If so, trigger a recharge warning to remind staff that there is a smart delivery vehicle waiting to be recharged, and execute S4; otherwise, use the smart delivery vehicle to continue to perform the remaining tasks, and continuously monitor the changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered, and execute S4. S4: If the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharging, then the main battery is used to power the intelligent delivery vehicle until the remaining tasks are completed, and S5 is executed; if the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharging, the execution of the remaining tasks is interrupted, and S6 is executed. S5: Use the remaining available power of the supercapacitor to power the intelligent delivery vehicle, drive the intelligent delivery vehicle to the nearest available charging device along the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. S6: Record the current task breakpoint, trigger immediate recharge, obtain the safe available power of the main battery, and obtain the total energy that can be safely called based on the safe available power of the main battery and the remaining available power of the supercapacitor; S7: If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0023] In this embodiment, the remaining available power of the intelligent delivery vehicle's power supply unit is calculated based on its rated capacity and current state of charge. The power supply unit includes a main battery and a supercapacitor, and the remaining available power includes the remaining available power of the main battery and the remaining available power of the supercapacitor. Based on the current coordinates of the intelligent delivery vehicle and the distribution coordinates of the charging devices, the energy required for the intelligent delivery vehicle to return to the nearest available charging device is obtained. Based on the energy required for recharging and the pre-acquired energy required to complete the remaining tasks, the total energy required by the intelligent delivery vehicle is obtained.

[0024] Step S3 is an early and safe warning point. When the remaining available power of the power supply unit is insufficient to cover the remaining tasks and the safe redundancy of the return trip, the smart delivery vehicle must begin to consider recharging.

[0025] Step S4 makes a recharge decision after the warning. Based on the relationship between the remaining available power of the main battery, the energy required to complete the remaining tasks, the remaining available power of the supercapacitor, and the energy required for recharge, it determines when the intelligent delivery vehicle should recharge.

[0026] If the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharging, then the main battery will be used to power the intelligent delivery vehicle until the remaining tasks are completed. After that, the remaining available power of the supercapacitor will be used to power the intelligent delivery vehicle. The vehicle will then be driven to the nearest available charging device along the route back to the nearest available charging device, where the main battery will be charged.

[0027] If the remaining available power of the main battery is insufficient to meet the energy requirements for completing the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy requirements for recharging, the execution of the remaining tasks is interrupted, the current task breakpoint is recorded, immediate recharging is triggered, the safe available power of the main battery is obtained, and the total available energy can be safely accessed based on the safe available power of the main battery and the remaining available power of the supercapacitor. If the total available energy is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded mixed manner to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total available energy is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0028] This embodiment can make comprehensive judgments by fully combining data such as the current task, driving route information, and the distribution of surrounding charging facilities. It has proactive and intelligent decision-making and execution capabilities when the battery is low, reducing the number of task interruptions, improving delivery efficiency, and reducing the manpower and coordination costs of operation.

[0029] Example 2 In this embodiment, calculating the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge includes: Based on the current state of charge of the main battery and the rated capacity of the main battery. Calculate the remaining usable power of the main battery. The expression is:

[0030] Based on the current state of charge C_SoC of the supercapacitor and the rated capacity of the supercapacitor. Calculate the remaining usable power of the supercapacitor. The expression is:

[0031] Calculate the remaining available power of the intelligent delivery vehicle's power supply unit. The expression is: .

[0032] The process of obtaining the energy required for the intelligent delivery vehicle to return to the nearest available charging device based on the current coordinates of the intelligent delivery vehicle and the pre-acquired distribution coordinates of the charging devices includes: Obtain the coordinates of the nearest available charging device to the smart delivery vehicle's current travel distance; Using the coordinates of the available charging devices as the coordinates of the target charging device, estimate the energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device for recharging. The expression is:

[0033] in, Risk dynamic adjustment coefficient The risk is greater than 1, and includes: uncertainty of driving path, uncertainty of energy consumption, uncertainty of error, and uncertainty of charging device idle time. Adjustments are made dynamically based on risk; the higher the risk, the better. This represents the basic energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device. Based on the energy required for recharging and the pre-acquired energy required to complete the remaining tasks, the total energy required for the intelligent delivery vehicle is obtained. :

[0034] in, The energy required to complete the remaining tasks.

[0035] Specifically, the risk dynamic adjustment coefficient Option 1.2 or 1.3 can be selected to address uncertainties, including: Driving route uncertainty: the actual driving route may be longer and more congested than planned; Energy consumption uncertainty: energy consumption fluctuations caused by changes in road slope, wind resistance, and load; Error uncertainty: errors in power estimation and sensor errors; Charging device availability uncertainty: planned idle charging devices may be occupied when the smart delivery vehicle arrives, requiring it to move to the next available charging device. This also applies to situations such as inclement weather (rain or snow), nighttime driving, high charging station traffic, and poor battery health. Increase. Risk dynamic adjustment coefficient. A safety margin has been introduced to ensure sufficient power to cope with unexpected situations.

[0036] To obtain the coordinates of the available charging device closest to the current coordinates of the smart delivery vehicle, the vehicle's onboard communication unit is typically used to retrieve the coordinates and real-time availability status of all charging devices within the service coverage area of ​​the smart delivery vehicle from the remote dispatch server. Unavailable charging devices that are faulty, occupied, or fully loaded are filtered out. Then, combined with the vehicle's current real-time coordinates output by the GPS navigation module, the actual traversable path distance from the vehicle to each available charging point is calculated. After comparing all distances, the coordinates of the available charging device with the shortest travel distance are selected.

[0037] This embodiment provides an optimal calculation method for obtaining the energy required to complete the remaining tasks: It acquires basic input data such as the remaining task path length, road conditions, estimated duration, and current vehicle auxiliary power demand; based on the remaining task path length and current vehicle auxiliary power demand, it calculates the sum of driving energy consumption and non-driving auxiliary power consumption for each road segment to obtain the basic total energy consumption; it estimates the remaining self-generated electricity from solar and wind power during the driving process, combined with the estimated duration of the remaining tasks; and based on the basic total energy consumption and remaining self-generated electricity, combined with a safety margin coefficient of 1.1~1.3, it calculates the energy required for the remaining tasks. During the driving process, the onboard MCU dynamically updates and corrects the results based on actual energy consumption and actual power generation, providing accurate data support for the vehicle's low-battery recharging decision.

[0038] Before executing S5, the method further includes: monitoring the remaining available power of the main battery; if the remaining available power of the main battery drops to a first power threshold, pre-charging the supercapacitor to put the supercapacitor in a fully charged pre-powered state; the safe available power of the main battery is the portion of the remaining power of the main battery that is greater than the first power threshold.

[0039] Specifically, in this embodiment, the first power threshold is preferably 50% of the main battery's full power. When the remaining usable power of the main battery drops to the first power threshold, the supercapacitor is replenished to full power using the main battery or regenerative braking.

[0040] The power supply unit also includes a DC bus, a first converter, and a second converter. The main battery is connected to the DC bus through the first converter; the supercapacitor is connected to the DC bus through the second converter. The DC bus supplies power to the intelligent delivery vehicle. In S5, before using the remaining available power of the supercapacitor to power the intelligent delivery vehicle, the main battery powering the intelligent delivery vehicle is switched to the supercapacitor. The process is as follows: Start the second converter to precharge the supercapacitor to match the voltage of the DC bus; The second converter is controlled to connect the supercapacitor to the DC bus; The main battery output power is set to 100% of the current power demand of the intelligent delivery vehicle, and the supercapacitor output power is 0%. Based on the current power demand of the intelligent delivery vehicle and the power output capacity of the supercapacitor, the switching time window T is calculated. Specifically, when calculating the switching time window: Obtain the total power demand of the current intelligent delivery vehicle The current remaining charge C_SoC of the supercapacitor is also given; based on the supercapacitor's factory-calibrated characteristic curve, the maximum safe power ramp-up rate allowed by the supercapacitor under the current remaining charge C_SoC is obtained from a table. ; Set the minimum allowed switching time and maximum switching time ; The theoretical switching time is calculated, during which the supercapacitor needs to ramp up its output power from 0 to 100%. The total power change is ΔP= The theoretical minimum switching time required is:

[0041] Based on the theoretical switching time, boundary limiting is applied to ultimately obtain the switching time window: like < Then take T= To avoid switching to low-load conditions too quickly and to suppress impact; like > Then take T= This avoids slow switching under high load and improves efficiency. In other cases, T = .

[0042] Within the switching time window T, the output power of the main battery is controlled to decrease linearly, while the output power of the supercapacitor is controlled to increase linearly. During this process, the total output power of the power supply unit is always equal to the power required by the intelligent delivery vehicle, and the voltage of the DC bus is kept stable. When the supercapacitor output power reaches 100% of the power required by the intelligent delivery vehicle and the main battery output power drops to 0%, the intelligent delivery vehicle is powered only by the supercapacitor, and the connection between the main battery and the DC bus is disconnected.

[0043] In this embodiment, the process of switching the main battery that powers the intelligent delivery vehicle to the supercapacitor is controlled by the vehicle control unit (VCU). Both the first and second converters are bidirectional DC-DC converters. The intelligent delivery vehicle's drive motor, auxiliary loads, etc., all draw power from the DC bus. The VCU monitors the bus voltage in real time and maintains a stable bus voltage through closed-loop control (voltage outer loop, current inner loop) of the two DC-DC converters.

[0044] Specifically, the VCU starts the second converter to precharge the voltage of the supercapacitor to match the voltage of the DC bus, thus synchronizing the voltage on the supercapacitor side with the voltage of the DC bus.

[0045] Once the supercapacitor voltage matches the DC bus voltage, the VCU controls the second converter to connect the supercapacitor to the DC bus.

[0046] At this time, both the main battery and the supercapacitor supply power to the DC bus, and the VCU controls their output power through the first and second converters. First, the main battery output power is set to 100% of the current power demand of the intelligent delivery vehicle, and the supercapacitor output power is set to 0%. Based on the current power demand of the intelligent delivery vehicle and the power output capacity of the supercapacitor, the switching time window T is calculated. The current power demand of the intelligent delivery vehicle is determined by factors such as the accelerator pedal, vehicle speed, and load.

[0047] Within the switching time window T, the VCU controls the main battery output power to decrease linearly, while simultaneously controlling the supercapacitor output power to increase linearly. During this process, the total output power of the power supply unit is always equal to the power required by the intelligent delivery vehicle. The VCU monitors the DC bus voltage in real time and maintains the DC bus voltage stable through two bidirectional DC-DC converters.

[0048] When the supercapacitor output power reaches 100% of the power required by the intelligent delivery vehicle and the main battery output power drops to 0%, the switching is complete. At this time, only the supercapacitor is used to power the intelligent delivery vehicle, the connection between the main battery and the DC bus is disconnected, the VCU controls the first converter to stop working, and the main battery enters a low-power standby state.

[0049] In S5, while driving the smart delivery vehicle along the route back to the nearest available charging device, the maximum speed of the smart delivery vehicle is limited, and unnecessary onboard loads are turned off.

[0050] Specifically, during the process of driving the intelligent delivery vehicle to the nearest available charging device along the route back to the nearest available charging device, the maximum speed of the intelligent delivery vehicle is preferably 15km / h, and unnecessary loads such as air conditioning, display screens, and additional sensors in the intelligent delivery vehicle are turned off.

[0051] In S5, the main battery is charged using the nearest available charging device. If the remaining available power of the main battery rises to a first power threshold, the supercapacitor that powers the intelligent delivery vehicle is switched to the main battery to resume the execution of the remaining tasks or standby.

[0052] Specifically, after the intelligent delivery vehicle arrives at the charging device, it automatically connects to the charging interface via infrared, wireless, or mechanical means to charge the main battery. Once the remaining usable power of the main battery rises to 50%, the intelligent delivery vehicle can resume its original mission or remain on standby.

[0053] Example 3 This embodiment provides a low-battery recharge control device for intelligent delivery vehicles, such as... Figure 2 As shown, it includes: The remaining power monitoring module is used to calculate the remaining available power of the intelligent delivery vehicle power supply unit based on the rated capacity and current state of charge of the power supply unit; the power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor; The required energy acquisition module is used to acquire the energy required for the intelligent delivery vehicle to return to the nearest available charging device for recharging based on the current coordinates of the intelligent delivery vehicle and the pre-acquired distribution coordinates of the charging devices, and to acquire the total required energy of the intelligent delivery vehicle based on the recharging required energy and the pre-acquired energy required to complete the remaining tasks. The recharge warning decision module is used to determine whether the remaining available power of the power supply unit is less than the total required energy. If so, a recharge warning is triggered to remind the staff that there is an intelligent delivery vehicle waiting to be recharged, and the recharge mode decision module is entered. Otherwise, the intelligent delivery vehicle continues to perform the remaining tasks and continuously monitors the changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered and the recharge mode decision module is entered. The recharge mode decision module, if the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharge, then based on the remaining available power of the main battery, uses the main battery to power the intelligent delivery vehicle until the remaining tasks are completed, and enters the first recharge planning module; if the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharge, then the execution of the remaining tasks is interrupted, and enters the second recharge planning module; The first recharge planning module is used to power the intelligent delivery vehicle with the remaining available power of the supercapacitor, drive the intelligent delivery vehicle to the nearest available charging device according to the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. The second recharge planning module records the current task breakpoint, triggers immediate recharge, obtains the safe available power of the main battery, and obtains the total energy that can be safely called upon based on the safe available power of the main battery and the remaining available power of the supercapacitor. If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0054] This embodiment also provides an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the various processes of the above-described intelligent delivery vehicle low battery recharge control method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0055] For details, see Figure 3 This application also provides an electronic device, including a bus 401, a transceiver 402, an antenna 403, a bus interface 404, a processor 405, and a memory 406.

[0056] The transceiver 402 is used to obtain at least one of the remaining available power and the total required power of the power supply unit; The processor 405 is configured to execute the following steps: S1: Calculate the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge; the power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor; S2: Based on the current coordinates of the intelligent delivery vehicle and the distribution coordinates of the charging devices, obtain the energy required for the intelligent delivery vehicle to return to the nearest available charging device for recharging, and based on the energy required for recharging and the pre-acquired energy required to complete the remaining tasks, obtain the total energy required by the intelligent delivery vehicle; S3: Determine whether the remaining available power of the power supply unit is less than the total energy required. If so, trigger a recharging warning to remind staff that there is an intelligent delivery vehicle waiting to be recharged, and execute S4; otherwise, continue to perform the remaining tasks using the intelligent delivery vehicle, and continuously monitor the changes in the remaining available power of the power supply unit and the total energy required until a recharging warning is triggered, and execute S4; S4: If the remaining available power of the main battery meets the energy required to complete the remaining tasks and the remaining available power of the supercapacitor meets the energy required for recharging, then based on the... The remaining available power of the main battery is used to power the intelligent delivery vehicle until the remaining task is completed, and S5 is executed. If the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining task and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharging, the execution of the remaining task is interrupted, and S6 is executed. S5: The remaining available power of the supercapacitor is used to power the intelligent delivery vehicle, and the intelligent delivery vehicle is driven to the nearest available charging device along the route back to the nearest available charging device, and the main battery is charged using the nearest available charging device. S6: The current task breakpoint is recorded, an immediate recharging is triggered, the safe available power of the main battery is obtained, and the total energy that can be safely called up is obtained based on the safe available power of the main battery and the remaining available power of the supercapacitor. S7: If the total energy that can be safely called up is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded mixed manner to power the intelligent delivery vehicle, and the intelligent delivery vehicle is driven to the nearest available charging device, and the main battery is charged using the nearest available charging device. If the total energy that can be safely called up is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

[0057] exist Figure 3In this context, a bus architecture (represented by bus 401) is used. Bus 401 can include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 405 and memory represented by memory 406. Bus 401 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 404 provides an interface between bus 401 and transceiver 402. Transceiver 402 can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 405 is transmitted over a wireless medium via antenna 403, which further receives data and transmits data to processor 405.

[0058] Processor 405 is responsible for managing bus 401 and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. Memory 406 can be used to store data used by processor 405 during operation.

[0059] Example 4 This embodiment provides an intelligent delivery vehicle equipped with a low-battery recharge control device. The intelligent delivery vehicle utilizes the low-battery recharge control device to implement a low-battery recharge control method for intelligent delivery vehicles.

[0060] like Figure 4As shown, the intelligent delivery vehicle includes an energy and signal acquisition unit 1, a control unit 2, an energy and drive unit 3, a charging interface 4, and a cargo compartment 5. The energy acquisition unit 1, located on the roof, includes solar panels, a wind power generation device, and a GPS navigation module. It converts solar and wind energy into electrical energy, providing a clean energy source for the vehicle and providing basic location data for navigation. The control unit 2, located in the driver's cab control area, includes an onboard MCU, a communication unit, and a low-battery recharge control device. It serves as the core of the intelligent delivery vehicle's decision-making and control, scheduling various modules to complete delivery tasks and supporting the operation of the low-battery automatic recharge device. The energy and drive unit 3 includes a main battery, a supercapacitor, a drive system, a steering system, and a power supply interface. It stores the vehicle's main power source, supplies power to various vehicle loads, and acts as an execution module to control vehicle movement and steering. The charging interface 4 is an external interface for the intelligent delivery vehicle, connecting to the charging device. The charging interface 4 can be equipped with an infrared sensor to assist the intelligent delivery vehicle in autonomous charging. The cargo compartment 5 includes a sensor array for storing goods to be delivered and monitoring their temperature, humidity, integrity, and weight in real time. When the battery is low, a recharge warning and decision are triggered. The intelligent delivery vehicle automatically navigates to the charging device and charges through charging interface 4. The cooperation of various modules enables autonomous intelligent delivery with low dependence on external charging.

Claims

1. A method for controlling the low battery recharge of an intelligent delivery vehicle, characterized in that, Includes the following steps: S1: Calculate the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge. The power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor. S2: Based on the current coordinates of the smart delivery vehicle and the distribution coordinates of the charging devices, obtain the energy required for the smart delivery vehicle to return to the nearest available charging device for recharging. Based on the energy required for recharging and the energy required to complete the remaining tasks, obtain the total energy required for the smart delivery vehicle. S3: Determine whether the remaining available power of the power supply unit is less than the total required energy. If so, trigger a recharge warning to remind staff that there is a smart delivery vehicle waiting to be recharged, and execute S4; otherwise, use the smart delivery vehicle to continue to perform the remaining tasks, and continuously monitor the changes in the remaining available power of the power supply unit and the total required energy until a recharge warning is triggered, and execute S4. S4: If the remaining available power of the main battery is sufficient to meet the energy required to complete the remaining tasks and the remaining available power of the supercapacitor is sufficient to meet the energy required for recharging, then the main battery is used to power the intelligent delivery vehicle until the remaining tasks are completed, and S5 is executed; if the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharging, the execution of the remaining tasks is interrupted, and S6 is executed. S5: Use the remaining available power of the supercapacitor to power the intelligent delivery vehicle, drive the intelligent delivery vehicle to the nearest available charging device along the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. S6: Record the current task breakpoint, trigger immediate recharge, obtain the safe available power of the main battery, and obtain the total energy that can be safely called based on the safe available power of the main battery and the remaining available power of the supercapacitor; S7: If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

2. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 1, characterized in that, The calculation of the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge includes: Based on the current state of charge of the main battery and the rated capacity of the main battery. Calculate the remaining usable power of the main battery. The expression is: Based on the current state of charge C_SoC of the supercapacitor and the rated capacity of the supercapacitor. Calculate the remaining usable power of the supercapacitor. The expression is: Calculate the remaining available power of the intelligent delivery vehicle's power supply unit. The expression is: .

3. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 2, characterized in that, The process of obtaining the energy required for the intelligent delivery vehicle to return to the nearest available charging device based on the current coordinates of the intelligent delivery vehicle and the distribution coordinates of the charging devices includes: Obtain the coordinates of the nearest available charging device to the smart delivery vehicle's current travel distance; Using the coordinates of the available charging devices as the coordinates of the target charging device, estimate the energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device for recharging. The expression is: in, Risk dynamic adjustment coefficient The risk is greater than 1, and includes: uncertainty of driving path, uncertainty of energy consumption, uncertainty of error, and uncertainty of charging device idle time. Adjustments are made dynamically based on risk; the higher the risk, the better. This represents the basic energy required for the intelligent delivery vehicle to travel from its current coordinates to the coordinates of the target charging device. Based on the energy required for recharging and the pre-acquired energy required to complete the remaining tasks, the total energy required for the intelligent delivery vehicle is obtained. : in, The energy required to complete the remaining tasks.

4. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 1, characterized in that, Before executing S5, the method further includes: monitoring the remaining available power of the main battery; if the remaining available power of the main battery drops to a first power threshold, pre-charging the supercapacitor to put the supercapacitor in a fully charged pre-powered state; the safe available power of the main battery is the portion of the remaining power of the main battery that is greater than the first power threshold.

5. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 1, characterized in that, The power supply unit also includes a DC bus, a first converter, and a second converter. The main battery is connected to the DC bus through the first converter; the supercapacitor is connected to the DC bus through the second converter. The DC bus supplies power to the intelligent delivery vehicle. In S5, before using the remaining available power of the supercapacitor to power the intelligent delivery vehicle, the main battery powering the intelligent delivery vehicle is switched to the supercapacitor. The process is as follows: Start the second converter to precharge the supercapacitor to match the voltage of the DC bus; The second converter is controlled to connect the supercapacitor to the DC bus; Set the main battery output power to 100% of the current intelligent delivery vehicle's required power and the supercapacitor output power to 0%. Calculate the switching time window T based on the current intelligent delivery vehicle's required power and the supercapacitor's power output capability. Within the switching time window T, the output power of the main battery is controlled to decrease linearly, while the output power of the supercapacitor is controlled to increase linearly. During this process, the total output power of the power supply unit is always equal to the power required by the intelligent delivery vehicle, and the voltage of the DC bus is kept stable. When the supercapacitor output power reaches 100% of the power required by the intelligent delivery vehicle and the main battery output power drops to 0%, the intelligent delivery vehicle is powered only by the supercapacitor, and the connection between the main battery and the DC bus is disconnected.

6. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 1, characterized in that, In S5, while driving the smart delivery vehicle along the route back to the nearest available charging device, the maximum speed of the smart delivery vehicle is limited, and unnecessary onboard loads are turned off.

7. The method for controlling low battery recharge of an intelligent delivery vehicle according to claim 1, characterized in that, In S5, the main battery is charged using the nearest available charging device. If the remaining available power of the main battery rises to a first power threshold, the supercapacitor that powers the intelligent delivery vehicle is switched to the main battery to resume the execution of the remaining tasks or standby.

8. A low-battery recharge control device for intelligent delivery vehicles, used to implement the low-battery recharge control method for intelligent delivery vehicles as described in any one of claims 1 to 7, characterized in that, include: The remaining power monitoring module is used to calculate the remaining available power of the intelligent delivery vehicle power supply unit based on its rated capacity and current state of charge. The power supply unit includes a main battery and a supercapacitor, and the remaining available power of the power supply unit includes the remaining available power of the main battery and the remaining available power of the supercapacitor. The required energy acquisition module is used to acquire the energy required for the intelligent delivery vehicle to return to the nearest available charging device for recharging based on the current coordinates of the intelligent delivery vehicle and the pre-acquired distribution coordinates of the charging devices, and to acquire the total required energy of the intelligent delivery vehicle based on the recharging required energy and the pre-acquired energy required to complete the remaining tasks. The recharge warning decision module is used to determine whether the remaining available power of the power supply unit is less than the total required energy. If so, it triggers a recharge warning to remind staff that there are smart delivery vehicles waiting to be recharged and enters the recharge mode decision module. Otherwise, the remaining tasks will continue to be performed using the intelligent delivery vehicle, and the remaining available power of the power supply unit and the changes in the total required energy will be continuously monitored until a recharge warning is triggered and the recharge mode decision module is entered. The recharge mode decision module, if the remaining available power of the main battery meets the energy required to complete the remaining task and the remaining available power of the supercapacitor meets the energy required for recharge, then based on the remaining available power of the main battery, the main battery is used to power the intelligent delivery vehicle until the remaining task is completed, and then the first recharge planning module is entered. If the remaining available power of the main battery is insufficient to meet the energy required to complete the remaining tasks and / or the remaining available power of the supercapacitor is insufficient to meet the energy required for recharging, the execution of the remaining tasks will be interrupted and the second recharging planning module will be entered. The first recharge planning module is used to power the intelligent delivery vehicle with the remaining available power of the supercapacitor, drive the intelligent delivery vehicle to the nearest available charging device according to the route back to the nearest available charging device, and use the nearest available charging device to charge the main battery. The second recharge planning module records the current task breakpoint, triggers immediate recharge, obtains the safe available power of the main battery, and obtains the total energy that can be safely called upon based on the safe available power of the main battery and the remaining available power of the supercapacitor. If the total energy that can be safely accessed is not less than the energy required for recharging, the main battery and supercapacitor are used in a graded hybrid configuration to power the intelligent delivery vehicle, driving the intelligent delivery vehicle to the nearest available charging device, and the main battery is charged using the nearest available charging device; if the total energy that can be safely accessed is less than the energy required for recharging, a rescue signal is sent, and the intelligent delivery vehicle is driven to the nearest safe area to stop.

9. An electronic device, comprising: A memory, a processor, and a program stored in the memory and executable on the processor; characterized in that the processor is configured to read the program in the memory to implement the steps of a low-battery recharge control method for an intelligent delivery vehicle as described in any one of claims 1 to 7.

10. An intelligent delivery vehicle, characterized in that, The intelligent delivery vehicle is equipped with a low-battery recharge control device as described in claim 8, and the intelligent delivery vehicle uses the low-battery recharge control device to implement the steps in the intelligent delivery vehicle low-battery recharge control method as described in any one of claims 1 to 7.

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