CN116957307A - Guide rail movable type shared charging robot scheduling method, device, equipment and medium - Google Patents

Guide rail movable type shared charging robot scheduling method, device, equipment and medium Download PDF

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CN116957307A
CN116957307A CN202311218352.XA CN202311218352A CN116957307A CN 116957307 A CN116957307 A CN 116957307A CN 202311218352 A CN202311218352 A CN 202311218352A CN 116957307 A CN116957307 A CN 116957307A
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guide rail
vehicle
information
shared charging
parking space
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CN116957307B (en
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欧阳开一
邱鹏
肖旋平
王齐
石绍辉
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Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd
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Zhongke Kaichuang Guangzhou Intelligent Technology Development Co ltd
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B60L53/665—Methods related to measuring, billing or payment
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06V20/00—Scenes; Scene-specific elements
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    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract

The application belongs to the technical field of new energy automobile charging, and discloses a guide rail mobile type shared charging robot scheduling method, a guide rail mobile type shared charging robot scheduling device, guide rail mobile type shared charging robot scheduling equipment and a guide rail mobile type shared charging robot medium, wherein vehicle images acquired in real time by a vehicle barrier system are received and analyzed to obtain license plate information of a vehicle corresponding to the vehicle images; determining the position information and the residual electric quantity information of a parking space of the vehicle according to license plate information; judging whether the vehicle needs to be charged or not according to the residual electric quantity information; if necessary, determining a target guide rail movable type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail movable type shared charging robots in the parking lot; and sending scheduling information to the target guide rail mobile type shared charging robot. According to the method and the device, before the vehicle does not reach the parking space, the charging robot is started in advance to go to the parking space, so that the time for a user to wait for the charging robot is saved, the charging operation flow is simplified, and the user experience is improved.

Description

Guide rail movable type shared charging robot scheduling method, device, equipment and medium
Technical Field
The application belongs to the technical field of new energy automobile charging, and particularly relates to a dispatching method, a dispatching device, dispatching equipment and dispatching medium of a guide rail mobile type shared charging robot.
Background
At present, along with the increasing number of electric vehicles, the requirement of the charging pile is also increased. If charging piles are arranged for each electric automobile or each parking space, the huge resource waste can be caused, and the electric automobiles can be charged through the guide rail movable type shared charging robot (namely, the movable charging piles), so that one charging pile can supply power for a plurality of electric automobiles to solve the problem that the number of the charging piles is not matched with that of the electric automobiles. According to the current scheme, if a user wants to charge, the user firstly needs to arrive at a parking lot, then a mobile phone is used for scanning a two-dimensional code on the parking lot, the mobile phone for scanning the two-dimensional code can obtain the position of the parking lot corresponding to the two-dimensional code, the mobile phone can display all the guide rail mobile type shared charging robots in an idle state, and then the user selects one guide rail mobile type shared charging robot from the guide rail mobile type shared charging robots to go to the parking lot for charging. When the guide rail movable type shared charging robot detects that the guide rail movable type shared charging robot is selected, the guide rail movable type shared charging robot can go to the parking space according to the received position information of the parking space. This also means that this approach requires the user to wait for the robot to come to the parking space to charge, and cannot wait as well as the anchor pile.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present application and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The application mainly aims to provide a guide rail mobile type shared charging robot scheduling method, and aims to solve the technical problems that in the existing mode, a user needs to wait for a robot to come to a parking space to charge and cannot wait like a fixed pile.
In order to achieve the above object, a first aspect of the present application provides a method for dispatching a rail-mounted shared charging robot, where the rail-mounted shared charging robot is movable on a rail, and the rail is disposed on top of a parking lot, and the method includes:
the cloud receives a vehicle image acquired by a vehicle barrier system in real time and analyzes the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image;
the cloud end judges whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information;
if so, the cloud end searches the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, position information of a parking space and residual electric quantity information according to the license plate information; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle;
The cloud end judges whether the vehicle needs to be charged or not according to the residual electric quantity information of the vehicle obtained through searching;
if necessary, the cloud acquires the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail;
the cloud determines a target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot;
the cloud end transmits scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
Further, the step of determining, by the cloud terminal, whether the vehicle needs to be charged according to the searched remaining capacity information of the vehicle includes:
the cloud acquires a corresponding charging threshold according to the license plate information; the charging threshold is set by a user through a user terminal and uploaded to the cloud;
the cloud end judges whether the searched residual electric quantity information of the vehicle is smaller than the charging threshold value;
if yes, judging that the vehicle needs to be charged;
if not, it is determined that the vehicle does not need to be charged.
Further, the step of determining the target track mobile type shared charging robot by the cloud according to the position information of the parking space of the vehicle, the position information and the state information of all track mobile type shared charging robots in the parking lot includes:
the cloud determines all the guide rail mobile type shared charging robots in an idle state according to the state information of all the guide rail mobile type shared charging robots in the parking lot;
judging whether the number of the guide rail movable type shared charging robots in the idle state is larger than 1;
if the distance between the guide rail mobile type shared charging robot in the idle state and the parking space of the vehicle is calculated according to the position information of the guide rail mobile type shared charging robot in the idle state and the position information of the parking space of the vehicle;
Determining the shortest distance according to the distance from all the guide rail movable shared charging robots in the idle state to the parking space of the vehicle;
and determining the guide rail movable type shared charging robot corresponding to the shortest distance as the target guide rail movable type shared charging robot.
Further, a plurality of mileage identification points are arranged on a guide rail line of the guide rail map, the guide rail line comprises a main guide rail line and a branch guide rail line, the mileage identification points on the branch guide rail line are in one-to-one correspondence with the position information of the parking space, and the step of calculating the distance from the guide rail movable type shared charging robot in the idle state to the parking space of the vehicle according to the position information of the guide rail movable type shared charging robot in the idle state and the position information of the parking space of the vehicle comprises the following steps:
taking the position information of the guide rail movable type shared charging robot in the idle state as the position information of a starting point, taking the position information of a parking space of the vehicle as the position information of an ending point, traversing all mileage identification points between the starting point and the ending point, and continuously traversing the branch guide rail line when encountering the branch guide rail line until all path information reaching the ending point is found;
Comparing the mileage of each path information to obtain a path with the shortest mileage;
and taking the path with the shortest mileage as the path distance from the guide rail movable type shared charging robot in the idle state to the parking space of the vehicle.
Further, the mileage identification point comprises a two-dimensional code and an RFID tag.
Further, the scheduling information comprises shortest path information from the target guideway-movable shared charging robot to a parking space of the vehicle; the shortest path information refers to path information with the shortest path distance.
Further, the target guide rail mobile type shared charging robot comprises a wire coiling mechanism and a charging handle, and after the step of the cloud terminal sending the scheduling information to the target guide rail mobile type shared charging robot, the method further comprises the following steps:
the cloud end transmits the unique identification information of the target guide rail mobile type shared charging robot to a user terminal associated with the license plate information;
the cloud receives a charging instruction sent by a user terminal; the charging instruction carries unique identification information of the target guide rail mobile type shared charging robot;
the cloud end issues the charging instruction to the target guide rail mobile shared charging robot according to the unique identification information;
After the target guide rail movable type shared charging robot reaches a parking space of the vehicle, the coil winding mechanism is controlled to lower the charging handle in response to the charging instruction, so that a user inserts the charging handle into a charging port of the vehicle to charge.
In a second aspect, an embodiment of the present application provides a track-moving type shared charging robot scheduling device, where the track-moving type shared charging robot can move on a track, the track is arranged on top of a parking lot, and the device is applied to a cloud, and includes:
the receiving module is used for receiving the vehicle image acquired by the vehicle barrier system in real time and analyzing the vehicle image to obtain license plate information of the vehicle corresponding to the vehicle image;
the first judging module is used for judging whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information;
the searching module is used for searching the residual electric quantity information of the vehicle in an association relation table recorded with the position information-residual electric quantity information of license plate information-parking space according to the license plate information if the vehicle is in the vehicle; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle;
The second judging module is used for judging whether the vehicle needs to be charged or not according to the searched residual electric quantity information of the vehicle;
the acquisition module is used for acquiring the position information of the parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail;
the determining module is used for determining the target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot;
the scheduling information issuing module is used for issuing scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the steps of the method for scheduling a rail-mounted shared charging robot according to any one of the above embodiments.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the rail-mobile shared charging robot scheduling method according to any one of the above.
According to the embodiment of the application, the license plate information of the vehicle corresponding to the vehicle image is obtained by receiving the vehicle image acquired by the vehicle barrier system in real time and analyzing the vehicle image; judging whether the vehicle has a fixed parking space in the parking lot or not; if so, searching the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, parking space position information and residual electric quantity information according to the license plate information; judging whether the vehicle needs to be charged or not according to the searched residual electric quantity information of the vehicle; if necessary, acquiring the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; determining a target guide rail movable type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail movable type shared charging robots in the parking lot; dispatching information is issued to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating that the target guide rail mobile type shared charging robot is going to the parking space of the vehicle, so that the charging robot can be started to go to the parking space in advance before the vehicle does not reach the parking space.
Drawings
Fig. 1 is a schematic flow chart of a method for dispatching a rail-mounted shared charging robot according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a track-moving type shared charging robot dispatching device according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a computer device according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any module and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the application provides a guide rail movable type shared charging robot scheduling method, wherein the guide rail movable type shared charging robot can move on a guide rail, the guide rail is arranged at the top of a parking lot, and the method comprises steps S1-S7, as shown in figure 1.
In the embodiment of the application, as described above, the rail-moving type shared charging robot is a robot that can move on a rail and can charge a vehicle. For convenience of description, such a rail-mounted shared charging robot is sometimes simply referred to as a charging robot. Specifically, the charging robot comprises a power module, a charging module, a communication module and a navigation module. The power module enables the charging robot to move on the guide rail; the navigation module comprises a positioning unit and a navigation unit, and enables the charging robot to obtain the position information of the charging robot, conduct path planning according to the position information of the charging robot and the position information of the destination, and go to the destination according to the planned path. The positioning unit may be an RFID tag or a GPS module or the like. The charging module can charge the charging robot and charge the vehicle, and comprises a charging main body, a charging cable, a charging handle and a winding mechanism. The charging main body is connected with a charging cable, and the charging cable is connected with a charging handle. The winding mechanism controls the retraction of the charging cable, thereby controlling the retraction of the charging handle. The communication module is used for enabling the charging robot to communicate with the outside, including communication with the cloud, direct/indirect communication with a user terminal (such as a mobile phone) or communication with a sensing device, so that data information is obtained. In order to realize power supply, a trolley wire is arranged in the guide rail, the trolley wire is connected with a power supply (mains supply), a trolley is arranged at the top of the charging robot, the trolley is connected with a trolley arm, and the trolley arm is connected with a charging module. It should be appreciated that trolley line (Isolated conductor rail (ICR)) is a set of power transmission devices that power mobile devices, such as electric cars. The use of trolley lines allows the mobile device (e.g., a trolley) to be charged during operation to ensure a continuous supply of electrical energy, thereby ensuring continuous operation and reliability of the mobile device (e.g., a trolley).
S1, a cloud receives a vehicle image acquired by a vehicle barrier system in real time and analyzes the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image.
In step S1, the vehicle barrier system includes a vehicle sensor, a camera, and a communication module. When the vehicle sensor senses that the vehicle is near the barrier gate, namely, when the vehicle is in the sensing range of the vehicle sensor, the camera uploads the vehicle image acquired at the moment to the cloud end through the communication module of the vehicle barrier gate system to carry out license plate recognition, and license plate information of the vehicle is obtained.
S2, the cloud end judges whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information.
In step S2, the cloud end receives data information uploaded by a vehicle having a vehicle networking module in real time. The internet of vehicles is used for sensing the state information of vehicles, and realizing intelligent management of traffic, intelligent decision of traffic information service and intelligent control of vehicles by means of a wireless communication network and a modern intelligent information processing technology. The communication between the vehicle and the cloud platform (i.e. cloud) refers to that the vehicle realizes information transmission with the Internet of vehicles service platform through satellite wireless communication or mobile cellular and other wireless communication technologies. And a vehicle management database capable of being updated in real time is pre-constructed on the cloud, and the database records license plate information, position information of a parking space and residual electric quantity information. License plate information and position information of a parking space can be input by a user through user terminal equipment, and can also be input by a parking lot manager. Specifically, the vehicle barrier system is bound with a corresponding database through the cloud, for example, the vehicle barrier system of the cell A is bound with the vehicle management database of the cell A through the cloud, and when the cloud receives data information uploaded by a certain vehicle barrier system, the cloud accesses the vehicle management database corresponding to the vehicle barrier system and searches the vehicle management database according to license plate information. If the position information of the parking space corresponding to the license plate information cannot be searched, the fact that the vehicle has no fixed parking space in the parking lot is meant, the process is ended, and subsequent steps are not needed to be executed. If the position information of the parking space corresponding to the license plate information is obtained by searching, the fact that the vehicle has a fixed parking space in the parking space means that the parking space of the vehicle can be known in advance, so that the charging robot can be started in advance to go to the parking space, the position information of the parking space is not required to be obtained through code scanning after the charging robot reaches the parking space, and then the robot is selected to go to the parking space according to the position information of the parking space. Because the parking spaces in the cell are generally purchased by owners, i.e. vehicles entering the cell generally have fixed parking spaces, the method provided by the embodiment of the application is particularly suitable for the scenes such as the cell. In addition, since the charging robot has arrived at the parking space when the vehicle owner arrives at the parking space, the mobile shared charging robot has the advantage of fixing the charging stake, that is, the user does not need to wait, or the waiting time is short compared with the existing method.
S3, if so, the cloud end searches the residual electric quantity information of the vehicle in a correlation table recorded with license plate information, position information of a parking space and residual electric quantity information according to the license plate information; and updating the residual electric quantity information in the association relation table according to the residual electric quantity information uploaded to the cloud in real time by the vehicle.
And S4, the cloud end judges whether the vehicle needs to be charged or not according to the residual electric quantity information of the vehicle obtained through searching.
In steps S3 and S4, when the electric quantity is sufficient, the vehicle does not need to be charged, and when the electric quantity is insufficient, the vehicle needs to be charged. Whether the electric quantity is sufficient or not is judged according to the residual electric quantity, when the residual electric quantity is smaller than a preset threshold value, the electric quantity is judged to be required to be charged, and otherwise, the electric quantity is judged to be not required to be charged. When it is determined that charging is not necessary, the flow is ended without executing the following steps. As described above, since all vehicles entering the cell do not upload the remaining power information to the cloud end, it is necessary to search according to the license plate information in the association table in which license plate information, position information of the parking space, and remaining power information are recorded, and it is only necessary to continuously determine whether the charging robot needs to be started in advance to go to the corresponding parking space if the remaining power information of the vehicle is searched.
S5, if necessary, the cloud acquires position information of a parking space of the vehicle, position information and state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; and the parking lot guide rail map is constructed according to the guide rail.
S6, the cloud determines a target guide rail movable type shared charging robot according to the position information of the parking space of the vehicle and the position information and state information of all guide rail movable type shared charging robots in the parking lot;
in steps S5 and S6, all the charging robots in the parking lot of the district can upload their respective position information and status information to the cloud end in real time through heartbeat, where the position information refers to the position information on a parking lot guide rail map, and the parking lot guide rail map is generated according to the guide rails laid on the parking lot. When the vehicle is judged to be required to be charged, the cloud end can acquire the position information of the parking space of the vehicle, the position information and the state information of all the shared charging robots in the parking lot, and then select one free charging robot as a target charging robot (the target charging robot is short for the target guide rail mobile shared charging robot) to go to the parking space of the vehicle according to the information. When there are a plurality of free charging robots, the charging robot closest to the parking space (destination) of the vehicle may be selected as the target charging robot, or one free charging robot may be selected at random as the target charging robot. The nearest charging robot is selected so that the robot can reach the parking space in the shortest time. The free charging robots are randomly selected as target charging robots, so that the calculated amount of the cloud can be reduced, and which charging robot is used as the target charging robot can be more quickly determined. Through the mobile shared charging robot with the target guide rail automatically determined by the cloud, manual selection of a user is not needed, the charging operation flow of the user is simplified, and the optimal charging robot can be selected for the user.
S7, the cloud end transmits scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
In step S7, after determining the target charging robot, the path information may be issued to the target charging robot after the cloud planning of the path, and the target charging robot may travel to the parking space (i.e., the destination) of the vehicle according to the issued path information, i.e., the scheduling information includes the path information. In addition, the position information of the parking space may be issued to the target charging robot, and then the target charging robot performs path planning according to its own position information and the position information of the parking space, and proceeds to the parking space (i.e., destination) of the vehicle according to the planned path.
According to the embodiment of the application, the license plate information of the vehicle corresponding to the vehicle image is obtained by receiving the vehicle image acquired by the vehicle barrier system in real time and analyzing the vehicle image; judging whether the vehicle has a fixed parking space in the parking lot or not; if so, searching the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, parking space position information and residual electric quantity information according to the license plate information; judging whether the vehicle needs to be charged or not according to the searched residual electric quantity information of the vehicle; if necessary, acquiring the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; determining a target guide rail movable type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail movable type shared charging robots in the parking lot; dispatching information is issued to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating that the target guide rail mobile type shared charging robot is going to the parking space of the vehicle, so that the charging robot can be started to go to the parking space in advance before the vehicle does not reach the parking space.
In one embodiment, the step of determining whether the vehicle needs to be charged according to the searched remaining capacity information of the vehicle by the cloud end includes:
the cloud acquires a corresponding charging threshold according to the license plate information; the charging threshold is set by a user through a user terminal and uploaded to the cloud;
the cloud end judges whether the searched residual electric quantity information of the vehicle is smaller than the charging threshold value;
if yes, judging that the vehicle needs to be charged;
if not, it is determined that the vehicle does not need to be charged.
In the embodiment of the present application, the charging threshold is set by a user, for example, when the user a sets the remaining capacity to be less than 50%, the charging is required, and when the user B sets the remaining capacity to be less than 60%. Setting the charging threshold by the user can meet the charging requirements of different users. Specifically, the user logs in the charging applet/application program through the user terminal (such as a mobile phone) of the courage, and sets a charging threshold in the charging applet/application program, and the charging threshold is updated to the vehicle management database in real time, that is, the vehicle management database records not only license plate information, namely the position information of the parking space, namely the residual electric quantity information, but also the charging threshold, that is, the license plate information, namely the position information of the parking space, namely the residual electric quantity information, namely the charging threshold. The charging applet logs in through an account, and the account is bound with a license plate. The account number may be a cell phone number or the like. In addition, the user can update the charging threshold through the user terminal (such as a mobile phone), for example, assuming that the usual charging threshold of the user A is 50%, assuming that the user A needs to go to a place farther and needs to be fully charged, the user can set the charging threshold to be the current residual electric quantity, such as 70%, before the vehicle reaches the vehicle barrier system, so that the charging requirements of the same user in different time periods can be met, and the user experience is improved.
In some embodiments, the charge threshold may also be set by the developer.
In some embodiments, the step of determining the target track-movable shared charging robot by the cloud according to the position information of the parking space of the vehicle, the position information and the state information of all track-movable shared charging robots in the parking lot includes:
the cloud determines all the guide rail mobile type shared charging robots in an idle state according to the state information of all the guide rail mobile type shared charging robots in the parking lot;
judging whether the number of the guide rail movable type shared charging robots in the idle state is larger than 1;
if the distance between the guide rail mobile type shared charging robot in the idle state and the parking space of the vehicle is calculated according to the position information of the guide rail mobile type shared charging robot in the idle state and the position information of the parking space of the vehicle;
determining the shortest distance according to the distance from all the guide rail movable shared charging robots in the idle state to the parking space of the vehicle;
and determining the guide rail movable type shared charging robot corresponding to the shortest distance as the target guide rail movable type shared charging robot.
In the embodiment of the application, when the number of the guide rail movable type shared charging robots in the idle state is equal to 1, the guide rail movable type shared charging robots are used as target guide rail movable type shared charging robots. When the number of the rail-mounted mobile shared charging robots in the idle state is greater than 1, it is necessary to select a robot closest to the parking space distance of the vehicle from among the rail-mounted mobile shared charging robots in the idle state as a target rail-mounted mobile shared charging robot. It should be noted that, since the guideway may be designed to have multiple paths leading to the same destination, that is, the guideway-mobile shared charging robots may have multiple paths leading to the same parking space, it is necessary in this case to calculate the distance between each guideway-mobile shared charging robot in an idle state and the parking space of the vehicle, and then compare these distances, so as to obtain the shortest distance (that is, the minimum distance). The distance of travel here refers to the distance the charging robot moves on the guide rail. According to the embodiment of the application, the robot closest to the parking space distance of the vehicle is selected from all the guide rail mobile type shared charging robots in the idle state as the target guide rail mobile type shared charging robot, namely, the robot closest to the parking space distance of the vehicle is selected to go to the parking space of the vehicle, so that the robot can reach the parking space in the shortest time.
In some embodiments, a plurality of mileage identification points are disposed on a guideway route of the guideway map of the parking lot, the guideway route includes a main guideway route and a branch guideway route, the mileage identification points on the branch guideway route are in one-to-one correspondence with position information of a parking space, and the step of calculating a path distance from the guideway mobile type shared charging robot in the idle state to the parking space of the vehicle according to the position information of the guideway mobile type shared charging robot in the idle state and the position information of the parking space of the vehicle includes:
taking the position information of the guide rail movable type shared charging robot in the idle state as the position information of a starting point, taking the position information of a parking space of the vehicle as the position information of an ending point, traversing all mileage identification points between the starting point and the ending point, and continuously traversing the branch guide rail line when encountering the branch guide rail line until all path information reaching the ending point is found;
comparing the mileage of each path information to obtain a path with the shortest mileage;
and taking the path with the shortest mileage as the path distance from the guide rail movable type shared charging robot in the idle state to the parking space of the vehicle.
In the embodiment of the application, the mileage identification points (which can be uniformly identified) for identifying road sections are distributed on all the guide rails distributed on the parking lot, and the mileage identification points on the guide rails of the branch lines are in one-to-one correspondence with the positions of the parking spaces. And the mileage identification points arranged on the guide rail comprise RFID tags and two-dimensional codes. Correspondingly, a plurality of mileage identification points (virtual mileage identification points) are arranged on the parking lot guide rail map, the guide rail line comprises a main guide rail line and a branch guide rail line, and the mileage identification points on the branch guide rail line are in one-to-one correspondence with the position information of the parking spaces. When a path is planned on a guide rail map of a parking lot, the position information of the guide rail mobile type shared charging robot in the idle state is used as the position information of a starting point, the position information of a parking space of a vehicle is used as the position information of an ending point, all mileage identification points between the starting point and the ending point are traversed, when a branch guide rail line is encountered, the branch guide rail line is continuously traversed, all path information reaching the ending point can be found, the path with the shortest mileage can be obtained by comparing the mileage of each path information, and the path with the shortest mileage is used as the path distance from the guide rail mobile type shared charging robot in the idle state to the parking space of the vehicle, so that the robot with the nearest parking space distance of the vehicle can be selected. It should be noted that, the robot needs to interact with the mileage identification point in the moving process, specifically, the robot needs to scan the two-dimensional code as the mileage identification point and sense the RFID tag in the walking process, so as to determine the dual mileage information. In addition, the RFID tag can also be used for positioning the article attached with the RFID tag, and the RFID tag serving as the mileage identification point is attached to the track, so that the position of the track attached with the mileage identification point can be positioned. It should be appreciated that RFID (Radio Frequency Identification ) is a wireless communication method by coupling with an alternating magnetic field or an electromagnetic field, belongs to the category of automatic identification technology, and can be performed without direct contact with a tracking object. The RFID positioning system is based on an RFID technology, an RFID reader-writer is used for identifying and reading the article with the RFID tag, and the position of the article is positioned by calculating information such as signal transmission time difference, signal intensity and the like. The RFID positioning system comprises two parts, namely hardware and software. The hardware includes RFID tags, RFID readers, antennas, etc. The software includes RFID applications, positioning algorithms, etc. Correspondingly, the guide rail position attached with the RFID tag is positioned, an RFID positioning system is required to be arranged in the parking lot, namely, hardware devices such as an RFID reader-writer and an antenna are required to be arranged besides the RFID tag, and the RFID positioning is the prior art, so that the embodiment of the application is not repeated.
In some embodiments, the scheduling information includes shortest path information of the target guideway-mobile shared charging robot to a parking space of the vehicle; the shortest path information refers to path information with the shortest path distance.
In the embodiment of the application, the shortest path information from the target guide rail mobile type shared charging robot to the parking space of the vehicle is issued to the target guide rail mobile type shared charging robot, so that the target guide rail mobile type shared charging robot can reach the parking space in the shortest time.
In some embodiments, if the design of the guide rail makes a line collision problem possible to occur to multiple charging robots, in this case, in order to avoid the collision problem of multiple charging robots in operation, when the charging robots detect that the charging robots collide with another charging robot in the parking space, the charging robots with low priority avoid to change the track, so that the robots with high priority walk first and then change back to the previous track.
In an embodiment of the present application, the target rail mobile type shared charging robot includes a wire winding mechanism and a charging handle, and after the step of the cloud end sending scheduling information to the target rail mobile type shared charging robot, the method further includes:
The cloud end transmits the unique identification information of the target guide rail mobile type shared charging robot to a user terminal associated with the license plate information;
the cloud receives a charging instruction sent by a user terminal; the charging instruction carries unique identification information of the target guide rail mobile type shared charging robot;
the cloud end issues the charging instruction to the target guide rail mobile shared charging robot according to the unique identification information;
after the target guide rail movable type shared charging robot reaches a parking space of the vehicle, the coil winding mechanism is controlled to lower the charging handle in response to the charging instruction, so that a user inserts the charging handle into a charging port of the vehicle to charge.
In the embodiment of the application, after the cloud transmits the scheduling information to the target guide rail mobile type shared charging robot, the unique identification information of the target guide rail mobile type shared charging robot is transmitted to the user terminal associated with the license plate information, the unique identification information is bound with the charging button (the charging button displayed by the charging applet/the charging application program) displayed on the user terminal, and the charging instruction is generated after the charging button is clicked.
In some embodiments, after the target track mobile type shared charging robot reaches the parking space of the vehicle, the step of controlling the winding mechanism to lower the charging handle in response to the charging instruction, so that the user inserts the charging handle into the charging port of the vehicle to charge, further comprises:
the target guide rail movable shared charging robot monitors whether the vehicle is charged;
if yes, the target guide rail movable type shared charging robot determines a standby area;
the target guide rail movable type shared charging robot acquires the position information of the standby area;
the target guide rail movable type shared charging machine plans a path to the standby area according to the position information of the standby area and the position information of the parking space of the vehicle;
and the target guide rail movable type shared charging machine is moved to the standby area according to the planned path which is moved to the standby area.
In the embodiment of the application, the standby area is an area which does not prevent the charging robot from moving on the track, the standby area may include a plurality of standby areas, specifically, the nearest standby area may be selected as a target standby area, a path to the standby area is planned according to the position information of the target standby area and the position information of the parking space of the vehicle, the charging robot moves to the standby area according to the path to the standby area, the charging robot can reach the standby area in the shortest time, and the problem that the charging robot collides with other robots due to too long movement on the track is avoided. In addition, the specific method for the target guide rail mobile type shared charging robot to monitor whether the vehicle is charged is as follows:
The vehicle BMS (Battery MANAGEMENT SYSTEM, power management System) communicates with the charging module to comprehensively determine whether the charging is completed according to the charging current, voltage, and BATTERY capacity and user pre-charge rate.
In addition to the above manner, the user may of course select the charging robot to move to the parking space by scanning the two-dimensional code on the parking space, specifically, charging may be achieved through the following procedures:
the user terminal scans the two-dimensional code on the parking space, and searches for a nearby charging robot;
the user terminal detects whether a charging button (displayed by a charging application program or an applet) displayed on the user terminal is pressed (triggered), and if so, the user terminal generates a charging instruction and uploads the charging instruction to the cloud;
after receiving a charging instruction, the cloud transmits the position information of the parking space associated with the two-dimension code to the charging robot, after receiving the position information of the parking space, the charging robot plans a path to the corresponding parking space by combining the position information of the charging robot (the path planning method is adopted in path planning), after the charging robot reaches the parking space, the charging robot controls the winding mechanism to lower the charging handle, a user inserts a corresponding charging port after taking the handle, starts charging, the charging robot detects that the voltage and the current reach a full state, and finishes supplying power, the cloud transmits a charging end state to the charging applet or the application program app, the charging applet or the application program app receives an end popup window, the user pulls out the charging gun head, the robot winding mechanism retracts the gun head, and the robot returns to a standby area to end the current use flow.
The embodiment of the application also provides a guide rail movable shared charging robot scheduling device, wherein the guide rail movable shared charging robot can move on a guide rail, the guide rail is arranged at the top of a parking lot, and the device is applied to a cloud, as shown in fig. 2, and comprises:
the receiving module 1 is used for receiving a vehicle image acquired by the vehicle barrier system in real time and analyzing the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image;
the first judging module 2 is used for judging whether the vehicle has a fixed parking space in the parking lot according to the license plate information;
the searching module 3 is used for searching the residual electric quantity information of the vehicle in an association relation table recorded with the position information-residual electric quantity information of the license plate information-parking space according to the license plate information if any; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle;
a second judging module 4, configured to judge whether the vehicle needs to be charged according to the searched remaining power information of the vehicle;
the acquiring module 5 is used for acquiring the position information of the parking space of the vehicle, the position information and the state information of all the guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail;
The determining module 6 is used for determining the target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all the guide rail mobile type shared charging robots in the parking lot;
the scheduling information issuing module 7, the method comprises the steps of sending scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
In some embodiments, the second determining module 4 includes:
the first acquisition unit is used for acquiring a corresponding charging threshold according to the license plate information; the charging threshold is set by a user through a user terminal and uploaded to the cloud;
a first judging unit, configured to judge whether the searched remaining capacity information of the vehicle is smaller than the charging threshold;
the first judging unit is used for judging that the vehicle needs to be charged if yes;
and the second judging unit is used for judging that the vehicle does not need to be charged if not.
In some embodiments, the determining module 6 comprises:
the first determining unit is used for determining all the guide rail mobile type shared charging robots in an idle state according to the state information of all the guide rail mobile type shared charging robots in the parking lot;
The second judging unit is used for judging whether the number of the guide rail movable type shared charging robots in the idle state is larger than 1;
the first calculation unit is used for calculating the distance from the guide rail mobile type shared charging robot in the idle state to the parking space of the vehicle according to the position information of the guide rail mobile type shared charging robot in the idle state and the position information of the parking space of the vehicle if the distance is larger than the first distance;
the second determining unit is used for determining the shortest distance according to the distance from the guide rail movable shared charging robot in the idle state to the parking space of the vehicle;
and the third determining unit is used for determining the guide rail movable type shared charging robot corresponding to the shortest distance as the target guide rail movable type shared charging robot.
In some embodiments, a plurality of mileage identification points are provided on a guideway line of the guideway map, the guideway line includes a main guideway line and a branch guideway line, the mileage identification points on the branch guideway line correspond to position information of the parking space one by one, and the first calculating unit includes:
a traversing subunit, configured to take the position information of the guide rail mobile type shared charging robot in the idle state as position information of a starting point, take the position information of a parking space of the vehicle as position information of an end point, traverse all mileage identification points between the starting point and the end point, and continue traversing the branch guide rail line when encountering the branch guide rail line until all path information reaching the end point is found;
The comparison subunit is used for comparing the mileage of each piece of path information to obtain a path with the shortest mileage;
and the first equivalent unit is used for taking the path with the shortest mileage as the path distance from the guide rail movable type shared charging robot in the idle state to the parking space of the vehicle.
In some embodiments, the mileage identification point includes a two-dimensional code and an RFID tag.
In some embodiments, the scheduling information includes shortest path information of the target guideway-mobile shared charging robot to a parking space of the vehicle; the shortest path information refers to path information with the shortest path distance.
In some embodiments, the target rail mobile type shared charging robot includes a wire winding mechanism and a charging handle, and after the step of the cloud end sending the scheduling information to the target rail mobile type shared charging robot, the method further includes:
the cloud end transmits the unique identification information of the target guide rail mobile type shared charging robot to a user terminal associated with the license plate information;
the cloud receives a charging instruction sent by a user terminal; the charging instruction carries unique identification information of the target guide rail mobile type shared charging robot;
The cloud end issues the charging instruction to the target guide rail mobile shared charging robot according to the unique identification information;
after the target guide rail movable type shared charging robot reaches a parking space of the vehicle, the coil winding mechanism is controlled to lower the charging handle in response to the charging instruction, so that a user inserts the charging handle into a charging port of the vehicle to charge.
The embodiment of the present application further provides a computer device with reference to fig. 3, and the internal structure of the computer device may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating device, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing data of a guide rail mobile type shared charging robot scheduling method and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. Further, the above-mentioned computer apparatus may be further provided with an input device, a display screen, and the like. The above computer program when executed by a processor is configured to implement a method for dispatching a rail-mounted shared charging robot, where the rail-mounted shared charging robot is movable on a rail, and the rail is disposed on top of a parking lot, the method comprising: the cloud receives a vehicle image acquired by a vehicle barrier system in real time and analyzes the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image; the cloud end judges whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information; if so, the cloud end searches the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, position information of a parking space and residual electric quantity information according to the license plate information; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle; the cloud end judges whether the vehicle needs to be charged or not according to the residual electric quantity information of the vehicle obtained through searching; if necessary, the cloud acquires the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information characterizes the guide rail mobile sharing whether the charging robot is in an idle state; the parking lot guide rail map is constructed according to the guide rail; the cloud determines a target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot; the cloud end transmits scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle. It will be appreciated by those skilled in the art that the architecture shown in fig. 3 is merely a block diagram of a portion of the architecture in connection with the present inventive arrangements and is not intended to limit the computer devices to which the present inventive arrangements are applicable.
An embodiment of the present application further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for dispatching a rail-mounted shared charging robot, the rail-mounted shared charging robot being movable on a rail, the rail being disposed at a top of a parking lot, the method comprising: the cloud receives a vehicle image acquired by a vehicle barrier system in real time and analyzes the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image; the cloud end judges whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information; if so, the cloud end searches the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, position information of a parking space and residual electric quantity information according to the license plate information; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle; the cloud end judges whether the vehicle needs to be charged or not according to the residual electric quantity information of the vehicle obtained through searching; if necessary, the cloud acquires the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail; the cloud determines a target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot; the cloud end transmits scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle. It is understood that the computer readable storage medium in this embodiment may be a volatile readable storage medium or a nonvolatile readable storage medium.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided by the present application and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the application.

Claims (10)

1. A method of dispatching a rail-mobile shared charging robot, wherein the rail-mobile shared charging robot is movable on rails disposed on top of a parking lot, the method comprising:
The cloud receives a vehicle image acquired by a vehicle barrier system in real time and analyzes the vehicle image to obtain license plate information of a vehicle corresponding to the vehicle image;
the cloud end judges whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information;
if so, the cloud end searches the residual electric quantity information of the vehicle in an association relation table recorded with license plate information, position information of a parking space and residual electric quantity information according to the license plate information; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle;
the cloud end judges whether the vehicle needs to be charged or not according to the residual electric quantity information of the vehicle obtained through searching;
if necessary, the cloud acquires the position information of a parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail;
The cloud determines a target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot;
the cloud end transmits scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
2. The method for dispatching the guide rail mobile type shared charging robot according to claim 1, wherein the step of determining whether the vehicle needs to be charged according to the searched remaining capacity information of the vehicle by the cloud comprises:
the cloud acquires a corresponding charging threshold according to the license plate information; the charging threshold is set by a user through a user terminal and uploaded to the cloud;
the cloud end judges whether the searched residual electric quantity information of the vehicle is smaller than the charging threshold value;
if yes, judging that the vehicle needs to be charged;
if not, it is determined that the vehicle does not need to be charged.
3. The method for dispatching the rail mobile type shared charging robots according to claim 1, wherein the step of determining the target rail mobile type shared charging robots by the cloud according to the position information of the parking space of the vehicle, the position information and the state information of all the rail mobile type shared charging robots in the parking lot comprises:
The cloud determines all the guide rail mobile type shared charging robots in an idle state according to the state information of all the guide rail mobile type shared charging robots in the parking lot;
judging whether the number of the guide rail movable type shared charging robots in the idle state is larger than 1;
if the distance between the guide rail mobile type shared charging robot in the idle state and the parking space of the vehicle is calculated according to the position information of the guide rail mobile type shared charging robot in the idle state and the position information of the parking space of the vehicle;
determining the shortest distance according to the distance from all the guide rail movable shared charging robots in the idle state to the parking space of the vehicle;
and determining the guide rail movable type shared charging robot corresponding to the shortest distance as the target guide rail movable type shared charging robot.
4. The guideway mobile shared charging robot scheduling method according to claim 3, wherein a plurality of mileage identification points are provided on a guideway line of the guideway map, the guideway line comprises a main guideway line and a branch guideway line, the mileage identification points on the branch guideway line correspond to position information of a parking space one by one, and the step of calculating a distance from the guideway mobile shared charging robot in an idle state to the parking space of the vehicle according to the position information of the guideway mobile shared charging robot in the idle state and the position information of the parking space of the vehicle comprises:
Taking the position information of the guide rail movable type shared charging robot in the idle state as the position information of a starting point, taking the position information of a parking space of the vehicle as the position information of an ending point, traversing all mileage identification points between the starting point and the ending point, and continuously traversing the branch guide rail line when encountering the branch guide rail line until all path information reaching the ending point is found;
comparing the mileage of each path information to obtain a path with the shortest mileage;
and taking the path with the shortest mileage as the path distance from the guide rail movable type shared charging robot in the idle state to the parking space of the vehicle.
5. The guideway mobile shared charging robot scheduling method according to claim 4, wherein the mileage identification point comprises a two-dimensional code and an RFID tag.
6. The guideway mobile shared charging robot scheduling method according to claim 1, wherein the scheduling information comprises shortest path information of the target guideway mobile shared charging robot to a parking space of the vehicle; the shortest path information refers to path information with the shortest path distance.
7. The method for dispatching the rail mobile type shared charging robot according to claim 1, wherein the target rail mobile type shared charging robot comprises a wire winding mechanism and a charging handle, and the cloud terminal further comprises, after the step of issuing dispatching information to the target rail mobile type shared charging robot:
the cloud end transmits the unique identification information of the target guide rail mobile type shared charging robot to a user terminal associated with the license plate information;
the cloud receives a charging instruction sent by a user terminal; the charging instruction carries unique identification information of the target guide rail mobile type shared charging robot;
the cloud end issues the charging instruction to the target guide rail mobile shared charging robot according to the unique identification information;
after the target guide rail movable type shared charging robot reaches a parking space of the vehicle, the coil winding mechanism is controlled to lower the charging handle in response to the charging instruction, so that a user inserts the charging handle into a charging port of the vehicle to charge.
8. The utility model provides a portable sharing charge robot dispatch device of guide rail, its characterized in that, portable sharing charge robot of guide rail can remove on the guide rail, the guide rail is laid at the top in parking area, the device is applied to the high in the clouds, includes:
The receiving module is used for receiving the vehicle image acquired by the vehicle barrier system in real time and analyzing the vehicle image to obtain license plate information of the vehicle corresponding to the vehicle image;
the first judging module is used for judging whether the vehicle has a fixed parking space in the parking lot or not according to the license plate information;
the searching module is used for searching the residual electric quantity information of the vehicle in an association relation table recorded with the position information-residual electric quantity information of license plate information-parking space according to the license plate information if the vehicle is in the vehicle; the method comprises the steps that residual electric quantity information in the association relation table is updated according to residual electric quantity information uploaded to a cloud end in real time by a vehicle;
the second judging module is used for judging whether the vehicle needs to be charged or not according to the searched residual electric quantity information of the vehicle;
the acquisition module is used for acquiring the position information of the parking space of the vehicle, the position information and the state information of all guide rail movable shared charging robots in the parking lot; the position information of the parking space refers to the position information of the parking space on a pre-constructed parking lot guideway map; the position information of the guide rail mobile type shared charging robot refers to the position information of the guide rail mobile type shared charging robot on the pre-constructed parking lot guide rail map; the state information represents whether the guide rail movable type shared charging robot is in an idle state or not; the parking lot guide rail map is constructed according to the guide rail;
The determining module is used for determining the target guide rail mobile type shared charging robot according to the position information of the parking space of the vehicle, the position information and the state information of all guide rail mobile type shared charging robots in the parking lot;
the scheduling information issuing module is used for issuing scheduling information to the target guide rail mobile type shared charging robot; the scheduling information is used for indicating the target guide rail mobile type shared charging robot to go to a parking space of the vehicle.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the rail-mobile shared charging robot scheduling method of any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the rail-mobile shared charging robot scheduling method of any one of claims 1 to 7.
CN202311218352.XA 2023-09-21 2023-09-21 Guide rail movable type shared charging robot scheduling method, device, equipment and medium Active CN116957307B (en)

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