CN118003929A

CN118003929A - Autonomous power-free power supply system, autonomous power-free power supply method and storage medium

Info

Publication number: CN118003929A
Application number: CN202410165862.3A
Authority: CN
Inventors: 安向京; 张球; 刘临风; 冷昌槐; 吴豫曌; 陈斌华
Original assignee: Changsha Xingshen Intelligent Technology Co Ltd
Current assignee: Changsha Xingshen Intelligent Technology Co Ltd
Priority date: 2024-02-05
Filing date: 2024-02-05
Publication date: 2024-05-10
Anticipated expiration: 2044-02-05
Also published as: CN118003929B

Abstract

The application relates to an autonomous power-free system, an autonomous power-free method and a storage medium. The system comprises: the sensing control module and the power supply modules. The perception control module responds to the charging tasks of the target devices returned by the server, performs path planning according to the charging tasks, and generates first path information for combining with the power supply module and second path information separated from the power supply module. And when the perception control module moves according to the first path information and is in communication connection with the power supply module, the perception control module is combined with the power supply module according to a preset combination mode. When the sensing control module moves to the position of the target equipment according to the second path information, the sensing control module is separated from the power supply module according to a preset separation mode, so that the power supply module and the target equipment are subjected to interactive power supply. By adopting the method, the concurrent power supply efficiency of a plurality of devices can be improved.

Description

Autonomous power-free power supply system, autonomous power-free power supply method and storage medium

Technical Field

The present application relates to the field of power supply technologies, and in particular, to an autonomous power supply system, an autonomous power supply method, and a storage medium.

Background

Due to popularization of electric automobiles, in urban construction, along with the increment and upgrade of facilities such as mobile charging piles, parking autonomous charging piles and the like, the application of autonomous power supply technology is more and more extensive, and the mobile charging piles are usually designed to be portable and can be flexibly deployed to places needing to be charged, such as parking lots, movable sites or temporary construction sites. In order to meet the demands of users, the mobile charging pile generally adopts a quick charging technology, so that enough electric quantity can be charged for a battery in a short time, and the charging efficiency is improved.

Currently, many mobile charging piles have an intelligent function, can be connected to a network, and are monitored and managed through application programs. Such intelligence helps to improve the efficiency of use of the charging stake and provides a better user experience.

However, different vehicles may require different types of charging interfaces or charging specifications, which may lead to interoperability issues. Because of the installation and configuration of the charging piles, the layout and distribution of the charging piles are required to be considered so as to meet the requirements of different areas and places, the charging area is limited, and the charging input cost is high. Therefore, there have been proposed a non-electric charging method by a practitioner, in which power is distributed to a charging pile by using a manual or mobile vehicle without an external power source, and electric vehicles of different models are supplied with power. However, the charging technology is generally low in efficiency, and compared with a fixed charging pile, the charging technology takes longer time to charge equipment, and is limited by communication of networking in the environment, so that abnormal supply of vehicle-mounted power supply distribution occurs, the stability is poor, or the power supply is manually distributed, the labor cost is increased, the flexibility is poor, and the charging efficiency is low.

Disclosure of Invention

In view of the above, it is necessary to provide an autonomous power supply system, an autonomous power supply method, and a storage medium that can improve power supply efficiency.

An autonomous power-free system, the system comprising: the sensing control module and the power supply modules.

The perception control module responds to the charging tasks of the target devices returned by the server, performs path planning according to the charging tasks, and generates first path information for combining with the power supply module and second path information separated from the power supply module.

And when the perception control module moves according to the first path information and is in communication connection with the power supply module, the perception control module is combined with the power supply module according to a preset combination mode.

When the sensing control module moves to the position of the target equipment according to the second path information, the sensing control module is separated from the power supply module according to a preset separation mode, so that the power supply module and the target equipment are subjected to interactive power supply.

In one embodiment, the perception control module comprises: and an integrated control sub-module. And the integrated control sub-module is used for responding to the charging tasks of the plurality of target devices returned by the server, acquiring the target device information of each target device and the power supply device information of the power supply module matched with the target device information through analyzing the charging tasks, and performing path planning according to the power supply device information to generate first path information.

In one embodiment, the power module includes: and an information processing sub-module. After the information processing submodule establishes communication connection with the integrated control submodule by adopting a Thomas communication protocol, identifying and updating the identification of the sensing control equipment information of the sensing control module, and uploading the power supply equipment information to the integrated control submodule so that the integrated control submodule generates a combination instruction according to a preset combination mode.

In one embodiment, the perception control module further comprises: sensing the mobile chassis and the connection module. And the sensing mobile chassis is used for receiving a first action control instruction generated by the integrated control sub-module according to the first path information, and pulling the sensing control module to move to the position of the power supply module according to the first action control instruction. The connection module is used for receiving the combination instruction generated by the integrated control submodule, combining the combination instruction with the connection platform of the power supply module, receiving the separation instruction generated by the integrated control submodule, and separating the combination instruction from the connection platform of the power supply module according to the separation instruction.

In one embodiment, the power supply module further comprises: the power supply mobile chassis, the locking mechanism and the output connector. The power supply mobile chassis is used for receiving a second action control instruction generated by the integrated control sub-module according to the second path information, and dragging the perception control module to move to the position of the target equipment according to the second action control instruction; the locking mechanism is used for receiving a locking instruction generated by the information processing sub-module, locking the information processing sub-module with the connection module of the perception control module according to the locking instruction, receiving a separation instruction generated by the integrated control sub-module, and unlocking the information processing sub-module according to the separation instruction and the connection module of the perception control module. And the output connector is used for carrying out power supply communication connection between the power supply module and the target equipment.

In one embodiment, the sensing control module moves to the position of the power supply module according to the first path information, establishes communication connection with the power supply module by adopting a Thomas communication protocol, and generates a combination instruction according to a preset combination mode so as to enable the power supply module and the sensing control module to be combined.

In one embodiment, the integrated control sub-module is further configured to perform path planning according to the power supply device information, generate sub-path information corresponding to each charging task, enter a thomas communication protocol mode if each sub-path information is consistent, generate an integrated instruction corresponding to each sub-path information, and plan the first path information and the integrated instruction set according to the sub-path information and the integrated instruction. Otherwise, uploading the abnormal information to the server.

In one embodiment, the integrated control sub-module is further configured to, in a thomas communication protocol mode, control the sensing mobile chassis to move to a position of the power supply module in the first path information according to the first path information, establish communication connection with the information processing sub-modules, and send a combined instruction set to each information processing sub-module, and control the connection module to connect with the connection platform according to a preset combined mode and the combined instruction set, so that the movement control of the sensing control module is switched from the sensing mobile chassis to the power supply mobile chassis, and the combined operation of the sensing control module and the power supply module is completed.

In one embodiment, the integrated control sub-module is further configured to, in a thomas communication protocol mode, control the power supply mobile chassis of the integrated power supply module to move to a position of the power supply module corresponding to the next sub-path information according to the first path information, and send a combination instruction corresponding to the next power supply module to an output connector of the integrated power supply module, so that the output connector of the integrated power supply module and a connection platform of the next power supply module are connected end to end, and a queue module is obtained.

In one embodiment, the power supply module of the queue module is configured to receive, by using the current power supply module, a set of power supply equipment information to be uploaded of a next power supply module in the queue module, and send the set of power supply equipment information to be uploaded and the power supply equipment information to be uploaded of the current power supply module to a previous power supply module in the queue module, so that the sensing control module obtains the set of power supply equipment information of the power supply module in the queue module, and generates the action control instruction set.

In one embodiment, the sensing control module of the queue module is configured to perform path planning by acquiring sensing information of the sensing submodule, position information of the target device and position information of the queue module through multimode calculation in a thomas communication protocol mode, generate second path information and an action control instruction set, and control the power supply mobile chassis of the queue module to move to a position of the target device corresponding to the charging task according to the second path information and the action control instruction set.

In one embodiment, when the sensing control module of the queue module controls the power supply mobile chassis of the queue module to move to the position of the target device corresponding to the charging task according to the second path information, the sensing control module of the queue module enters a preset separation mode to generate a separation instruction, and the sensing control module and the power supply module directly connected with the sensing control module are controlled to separate from the queue module according to the separation instruction, so that the power supply module directly connected with the sensing control module is in power supply connection with the target device.

In one embodiment, a target device includes: and (5) equipment to be charged. After the power supply module directly connected with the sensing control module is in power supply connection with the equipment to be charged, the power supply module uploads a power supply control switching instruction to the sensing control module so that the sensing control module generates a separation instruction, the connection module is controlled to be separated from the connection platform according to the separation instruction, and the separation operation of the sensing control module and the power supply module is completed.

In one embodiment, after the power supply module finishes supplying power to the device to be charged, the power storage requirement is uploaded to the server, so that the sensing control module responds to the power storage task issued by the server and generates third path information for combining with the power supply module.

In one embodiment, the target device further comprises: an electricity storage device. After the sensing control module is combined with the power supply module, when the sensing control module moves to the position of the power storage equipment according to the third path information, the sensing control module is separated from the power supply module according to a preset separation module, so that the power storage equipment supplies power to the power supply module for connection.

In one embodiment, the connection module is configured to receive a connection control instruction generated by the integrated control sub-module when the connection module is driven to the position of the power supply module by the sensing mobile chassis, and lift the connection module to a position consistent with the height of the connection platform according to the connection control instruction, so that the connection platform is embedded into the connection space between the connection module and the sensing mobile chassis, and the connection of the connection module and the connection platform is completed.

An autonomous power-free method, the method comprising:

And carrying out path planning according to the charging tasks of the target devices returned by the server, and respectively generating first path information and second path information.

And establishing communication connection between the perception control module and the power supply module according to the first path information so as to enable the perception control module and the power supply module to be combined.

And moving the combined sensing control module and the power supply module to the target position according to the second path information to separate so as to enable the power supply module and the target equipment to supply power interactively.

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

And establishing communication connection between the perception control module and the power supply module according to the first path information so as to enable the perception control module to be combined with the power supply module.

According to the autonomous power-free power supply system, the autonomous power-free power supply method and the storage medium, the charging tasks of the target devices returned by the server are responded by the sensing control module, and the problem of charging demand management of the target devices is solved. The perception control module performs path planning according to the charging task, and the problem of path selection to be followed when the power supply module and the target equipment move is solved. The sensing control module moves while being in communication connection with the power supply module, so that the problem that cooperative operation between the power supply module and the sensing control module is required to be realized is solved. The sensing control module is used as a control center of a queue formed after the combination, and the movement, communication, sensing, separation and the like of the whole queue are controlled in a total way, so that power supply without a power supply is realized, and the target equipment can independently complete the charging process through the cooperative operation of the sensing control module and the power supply module, and the autonomy and the flexibility of the system are improved. In addition, through the path planning of the perception control module, the system can optimize the moving path between the power supply module and the target equipment, thereby improving the overall efficiency and reducing the energy waste. Through charge task management and path planning of the perception control module, the system can more effectively supply power to a plurality of target devices orderly in sequence, so that the charge efficiency of executing concurrent charge tasks is improved, and the charge time is reduced.

Drawings

FIG. 1 is a block diagram of an autonomous, power-free system in one embodiment;

FIG. 2 is a block diagram of a perception control module in one embodiment;

FIG. 3 is a block diagram of a power module in one embodiment;

FIG. 4 is a flow chart of an autonomous power-free method in one embodiment;

FIG. 5 is a schematic diagram of a shepherd dog Thomas communication protocol mode, in one embodiment;

FIG. 6 is a schematic diagram of the workflow of an autonomous power-free system in one embodiment;

fig. 7 is a block diagram of an autonomous power-free system responsive to charging in one embodiment.

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.

In one embodiment, as shown in fig. 1, an autonomous power-free system is provided, the system comprising: the system comprises a perception control module 100, a plurality of power supply modules 200, a server 300 and a target device 400. The device is connected with the equipment in a communication mode, the broken line indicates that the module and the equipment, or the server and the module, or the server and the equipment are connected in a communication mode which can be WIFI, bluetooth, NFC, GPRS and the like, the solid line indicates that the equipment and the module can be directly connected through a physical wiring or connection platform, and equipment information and an instruction set are transmitted.

The sensing control module 100 may be chained with a plurality of power supply modules 200 (1, 2, …, n) to form a shepherd queue, where the sensing control module 100 may be an AGV cart, a movable sensing device, an intelligent vehicle frame, an unmanned vehicle, etc. as the shepherd of the queue. The power supply module 200 may be a portable power source, an intelligent power supply vehicle, or the like as a sheep in a train. Wherein, the perception control module includes: the system comprises a sensing submodule, an integrated control submodule, a sensing mobile chassis and a plugging submodule; the power supply module includes: the device comprises a power supply mobile chassis, an information processing sub-module, an energy storage power supply, a connection platform, a locking mechanism and an output connector.

In addition, the target device may be a device to be charged, such as a new energy automobile, a charging pile, an electric storage power source, an energy storage device, or the like.

The perception control module 100 responds to the charging tasks of the plurality of target devices 400 returned by the server 300, performs path planning according to the charging tasks, and generates first path information for combining with the power supply module 200 and second path information separated from the power supply module 200.

In an actual application scenario, a server generates charging tasks of a plurality of target devices according to charging requirements, the charging tasks are issued to each perception control module in a current communication environment, the perception control module 100 analyzes the charging tasks to obtain a plurality of subtasks, a path is planned for each subtask according to reservation time sequence of the charging requirements, and if sub path information corresponding to each subtask is consistent, first path information is generated, wherein the first path information comprises: the location of power module 200 in the subtask, the location of target device 400 in the subtask, and the location of perception control module 100; and searching the power supply module 200 in the subtask for the combination according to the first path information.

Specifically, the sensing control module 100 receives the charging task issued by the server 300, and the sensing control module 100 as a shepherd adjusts the communication state of the sensing control module 100 as a ready-to-combine state through the integrated control sub-module, searches the power supply module 200 with the nearby communication state as a to-be-combined state in the current network environment state, and controls the sensing sub-module and the sensing mobile chassis to move to the position of the power supply module 200 corresponding to the charging task instruction.

It should be noted that, the charging task issued by the server 300 may be a charging requirement of the device to be charged, which is input by the user through the APP or the touch screen device in the service scenario, or may be a charging requirement task that the power supply module 200 uploads its own power storage requirement to the server 300 after completing power supply to the target device, and the server 300 generates the power supply module 200.

When the sensing control module 100 moves according to the first path information and is in communication connection with the power supply module 200, the sensing control module and the power supply module 200 are combined according to a preset combination mode.

It should be noted that, when the perception control module 100 approaches to the power supply module 200 (i.e., the sheep module), the information processing submodule of the power supply module 200 first identifies the information identifier ID of the perception control module 100, then uploads the information identifier of the self module to the integrated control submodule, and at the same time, recodes according to the information identifier ID bit of the perception control module 100, updates the information identifier ID of the power supply module 200, and completes the confirmation of the communication link between the perception control module 100 and the power supply module 200. Furthermore, the integrated control submodule of the perception control module 100 generates a connection control instruction, controls the perception mobile chassis to drive the connection module to be in spatial position connection with the connection platform, and the power supply module 200 uploads the state information after the connection to the integrated control submodule through the information processing submodule, generates a locking instruction, closes the locking structure, completes the connection of the perception control module 100 and the power supply module 200, and combines the perception control module 100 and the power supply module 200 to obtain the initial queue module.

Further, the power supply module 200 is newly added to the initial queue module to be accessed, the information identification ID of the power supply module 200 at the tail part in the initial queue module needs to be identified by the newly added power supply module 200, the information identification ID of the power supply module 200 at the tail part is automatically recoded after the power supply module is accessed to the initial queue module, the coded address ID is marked along with the information identification ID of the power supply module 200 at the tail part so as to confirm new communication connection, the number of the power supply modules 200 of the initial queue module is enlarged, and the split type queue modules are obtained by combination.

It should be noted that, after the sensing control module 100 completes the combination of all the power supply modules 200 in the charging task to form a split type queue module corresponding to a plurality of charging subtasks, the second path information for executing the charging task is planned according to the current position of the split type queue module and the position of the target device, and an action control instruction set is generated, and the action control instruction set is issued to each power supply module 200 in the split type queue module through the thomas communication protocol mode to control the movement, the steering, the speed and the like of each power supply mobile chassis in the queue. In addition, the Thomas communication protocol is obtained according to the communication position relationship of each power supply module 200 of the split type queue module.

When the perception control module 100 moves to the position of the target device according to the second path information, the perception control module is separated from the power supply module according to a preset separation mode, so that the power supply module 200 and the target device 400 supply power interactively.

It should be noted that, under the condition of the shepherd thomas communication protocol, the integrated control sub-module coordinates the power and the speed of each power supply module 200 through its own multi-mode calculation and control; when the power supply module 200 is over-bent, according to the radius of the over-bending, the length of the power supply module 200 is subjected to differential calculation to obtain the rotating speed, the turning angle and the like of each power supply mobile chassis, and the result is distributed to the power supply mobile chassis of each power supply module 200; after entering a first task area, an integrated control sub-module of the perception control module 100 gives an unlocking instruction to two devices to be unlocked, and a first power supply module 200 and the perception control module which are directly connected with the perception control module 100 are separated from the whole and are in butt joint with target equipment or a non-electric charging pile or other equipment; after receiving the confirmation of completion of the docking and communication of the two modules, the perception control module 100 is separated from the power supply module 200, then combined with the first power supply module 200 arranged in front in the original split type queue module, and continues to travel to the next task point, and the previous operation is repeated until the last task is completed.

In one embodiment, the power supply module further comprises: the power supply mobile chassis, the locking mechanism and the output connector. The power supply mobile chassis is used for receiving a second action control instruction generated by the integrated control sub-module according to the second path information, and pulling the perception control module to move to the position of the target equipment according to the second action control instruction. The locking mechanism is used for receiving a locking instruction generated by the information processing sub-module, locking the information processing sub-module with the connection module of the perception control module according to the locking instruction, receiving a separation instruction generated by the integrated control sub-module, and unlocking the information processing sub-module according to the separation instruction and the connection module of the perception control module. And the output connector is used for carrying out power supply communication connection between the power supply module and the target equipment.

It should be noted that, in an actual service scenario, the server will receive charging demands of the target devices 400 entered by multiple users at the same time, and generate multiple target charging tasks, where each target charging task has a one-to-one correspondence between a target device 400 and a power supply device 200. Further, after the server 100 issues a plurality of target charging tasks to the integrated control sub-module, the integrated control sub-module searches for the position of the power supply device 200 according to the charging reservation time, and is integrated with the power supply device 200. Further, according to the position of the target device, controlling the power supply of the power supply device 200 to move the chassis to a target charging task area with the previous charging time reserved by the user; or the integrated control sub-module searches the position of the power supply equipment 200 according to the charging reservation time uploaded by the power supply equipment 200, and is combined with the power supply equipment 200, so that the power supply equipment 200 is brought to a waiting scheduling area for electricity storage.

In one embodiment, the integrated control sub-module is further configured to, in a thomas communication protocol mode, control the sensing mobile chassis to move to a position of the power supply module in the first path information according to the first path information, establish communication connection with the information processing sub-modules, and send a combined instruction set to each information processing sub-module, and control the connection module to connect with the connection platform according to the preset combined mode and the combined instruction set, so that the movement control of the sensing control module is switched from the sensing mobile chassis to the power supply mobile chassis, and complete the combined operation of the sensing control module and the power supply module.

In one embodiment, as shown in FIG. 2, the perception control module 100 includes: the perception sub-module 110, the integrated control sub-module 120, the docking module 130, and the perception mobile chassis 140.

In one embodiment, as shown in fig. 3, the power module 200 includes: the system comprises an information processing sub-module 240, a power supply mobile chassis 230, an output connector 220, an energy storage power supply 210, a locking structure 250 and a docking platform 260.

In one embodiment, as shown in fig. 4, an autonomous power-free power supply method is provided, which specifically includes the following steps:

step 402, performing path planning according to charging tasks of a plurality of target devices returned by the server, and generating first path information and second path information respectively.

And step 404, establishing communication connection between the perception control module and the power supply module according to the first path information so as to enable the perception control module to be combined with the power supply module.

And step 406, moving the combined sensing control module and the power supply module to the target position according to the second path information to separate, so that the power supply module and the target device can supply power interactively.

In one embodiment, the split type queue module separates a common mobile charging vehicle into a perception control module 100 and a power supply module 200, and each module has respective functions and is not interfered and affected; when tasks are needed, the two can be combined together, and the two can cooperate through mutual communication, so that the two can make up for the deficiencies of each other and the issued instruction can be completed.

It should be noted that, the sensing control module 100 and the power supply module 200 are not in a one-to-one correspondence relationship, and may be combined and matched with each other in an efficient manner according to practical situations. The state information of the sensing control module 100 and the power supply module 200 are uploaded to the background server, when a user places an order, the background server 300 can be combined and matched according to the order requirement, or can issue a task to the sensing control module 100, and the power supply modules 200 with the surrounding meeting conditions are found to be combined preferentially.

The sensing control module 100 and the power supply module 200 have the functions of automatic combination and automatic separation; after the automatic combination is finished, the sensing control device can drive the power supply device to move, turn and the like through the control unit of the sensing control device; the two are kept in a separated state in general, after receiving a task, the power supply device is kept in a parking state after the task is received and the power supply device is integrated to the user's demand, and the perception control module 100 is separated to go to the next destination or task; when the power supply module 200 completes the power supply task, the background server 300 mobilizes the sensing control module 100 meeting the condition to be combined with the power supply module 200, and goes to the next task or returns to the energy supplementing point for standby; throughout the process and task, both are combined and separated according to their respective roles.

The perception control module 100 has the functions of identification, patrol, scheduling, inspection and the like, and plays a role of an administrator of the power supply module 200 in the running process; the perception control module 100 can perform on-site scheduling and management through a combination mode with the power supply module 200, and can also obtain the state of the peripheral power supply module 200 through wireless communication (or by using super addresses), give out judgment after analysis, and then perform corresponding actions or report the state of the peripheral power supply module by a reporting platform. The perception control module 100 can also interact with a plurality of power supply modules 200 at the same time to perform comprehensive dispatching and control; the power supply modules 200 are combined, the chain communication ID is defined and only communicates with the adjacent devices, each module is provided with a level, the distance and the turning angle are calculated in the moving process, and the sensing control module 100 performs step-by-step issuing.

In one embodiment, in actual implementation, power module 200 may be plugged or docked with a different device through standard output connectors and mechanical arrangements; for example, the device can be inserted with a non-electric charging pile to provide power for the non-electric charging pile; the charging gun end of the charging gun can be manually operated by a manager or a user, and the charging gun end can be directly inserted into a charging port of a new energy charging vehicle to be charged; the device can also be connected with other power supply devices by a platform, mechanically locked, communicated and the like; the connectivity and communicability of the power module 200 include the above, but are not limited thereto.

In addition, the integrated control submodule of the perception control module 100 is provided with a region management mode, the perception control module 100 can manage, patrol, communicate and search states through region division, the platform distributes tasks-is passively executed, analysis, judgment-is actively maintained, combined and communicated with each other is in an interconnection mode, and the platform is uniformly scheduled through the internet of things.

In one embodiment, as shown in fig. 5, a shepherd's dog thomas communication protocol mode is provided, where movement status information of power module 200 is sent to sensing and control module 100. The Thomas communication protocol is obtained according to the communication position relationship of each power supply module 200 in the queue module. After the perception control module 100 analyzes the movement state information to obtain the action control command, the action control command is distributed to each power supply module 200 according to the thomas communication protocol.

In one embodiment, the charging tasks of the plurality of devices to be charged returned by the server are analyzed to obtain power supply device information of a power supply module, wherein the target device information of each device to be charged is matched with the target device information, so that the perception control module performs path planning according to the power supply device information to generate first path information.

In one embodiment, after the sensing control module moves to the position of the power supply module according to the first path information, communication connection is established between the sensing control module and the power supply module by adopting a Thomas communication protocol, and a combination instruction is generated according to a preset combination mode so as to enable the power supply module and the sensing control module to be combined.

In one embodiment, path planning is performed according to power supply equipment information, sub-path information corresponding to each charging task is generated, if each sub-path information is consistent, the perception control module enters a Thomas communication protocol mode, a combination instruction corresponding to each sub-path information is generated, and a first path information and a combination instruction set are planned according to the sub-path information and the combination instruction; otherwise, uploading the abnormal information to the server.

In one embodiment, in a thomas communication protocol mode, after the power supply mobile chassis of the combined power supply module is controlled to move to the position of the power supply module corresponding to the next sub-path information according to the first path information, the output connector of the combined power supply module is connected with the connection platform of the next power supply module end to end according to the combination instruction corresponding to the next power supply module, so as to obtain the queue module.

In one embodiment, in the thomas communication protocol mode, the perception control module obtains perception information, position information of the target device and position information of the queue module through multimode calculation to conduct path planning, generates second path information and an action control instruction set, and controls the power supply mobile chassis of the queue module to move to the position of the target device corresponding to the charging task according to the second path information and the action control instruction set.

In one embodiment, when the sensing control module of the queue module controls the power supply mobile chassis of the queue module to move to the position of the target device corresponding to the charging task according to the second path information, the sensing control module of the queue module enters a preset separation mode to generate a separation instruction. And controlling the power supply module which is connected with the perception control module directly according to the separation instruction, so that the power supply module which is connected with the perception control module directly is in power supply connection with the target equipment.

In one embodiment, as shown in fig. 6, a workflow of an autonomous power-free system is provided, specifically including the following steps:

After a user parks, a charging gun of a service vehicle is inserted into charging equipment preset in a parking lot, then a two-dimensional code on the charging equipment is scanned through a mobile phone APP, or the charging requirement information such as user information, charging reservation time and the like is input by logging in an autonomous power supply system through the two-dimensional code on a touch screen of the charging equipment and submitted to a background server. The server receives a plurality of service demands in the same period, sorts the service demands according to the reserved charging time, performs conditional configuration on each service demand, comprehensively plans the reserved charging period and the required electric quantity condition of each automobile, configures a power supply module closest to the reserved charging period and the required electric quantity condition, generates charging tasks of a plurality of target devices, and transmits the charging tasks to a sensing control device in a communication network.

Further, after analyzing the charging task, the sensing control device selects from the matchable power supply devices, goes to the selected power supply device, and combines.

Further, the perception control device identifies and confirms the service vehicle and the electroless charging pile, and assists the power supply device to complete the ground butt joint connection with the electroless charging pile.

Further, the connection of the vehicle, the electroless pile and the power supply device is confirmed to be completed, the vehicle enters a charging state, then the perception control device is separated from the power supply device, the vehicle enters a non-task mode, and the power supply device uploads charging information in real time until the charging is completed.

Further, the background server selects a peripheral sensing control device of the power supply device, the sensing control device goes to the power supply device, and is combined, scheduling is carried out according to task requirements, and the two combined device information is uploaded, and the background server sends charging completion information to a vehicle owner.

Further, the car owner takes down the charging gun to return to the original position, pays for the charging through the mobile phone applet or APP or the two-dimension code of the scanning charging equipment, and the charging task is finished.

In one embodiment, as shown in fig. 7, a structure of responding to charging of an autonomous power-free system is provided, and the perception control module 100 performs overall planning of paths in a multi-task state. If the routes of the tasks are consistent, a "thomas mode" is entered, i.e., the multiple power modules 200 are connected in tandem. In this mode, the sensing control module 100 and the power supply module 200 are combined to adjust the positions thereof, then separated and combined with the next vehicle, platform connection of the two vehicles is completed through sensing, control, judgment and the like, and connection confirmation is performed through communication, so that platform connection of a plurality of power supply modules 200 is performed; after the connection work is completed, the sensing control module 100 is kept combined with the forefront power supply module 200 to manage the whole system.

In the autonomous power supply method, the charging tasks of the target devices returned by the server are responded by the perception control module, so that the charging demand management problem of the target devices is solved. The perception control module performs path planning according to the charging task, and the problem of path selection to be followed when the power supply module and the target equipment move is solved. The sensing control module moves while being in communication connection with the power supply module, so that the problem that cooperative operation between the power supply module and the sensing control module is required to be realized is solved. The sensing control module is used as a control center of a queue formed after the combination, and the movement, communication, sensing, separation and the like of the whole queue are controlled in a total way, so that power supply without a power supply is realized, and the target equipment can independently complete the charging process through the cooperative operation of the sensing control module and the power supply module, and the autonomy and the flexibility of the system are improved. In addition, through the path planning of the perception control module, the moving path between the power supply module and the target equipment can be optimized, the overall efficiency is improved, and the energy waste is reduced. Through charge task management and path planning of the perception control module, orderly power supply can be more effectively performed on a plurality of target devices in sequence, the charge efficiency of executing concurrent charge tasks is improved, and the charge time is reduced.

It should be understood that, although the steps in the flowcharts of fig. 4 and 6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 4, 6 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or alternately with at least a portion of the other steps or sub-steps of other steps.

It will be appreciated by persons skilled in the art that the structures shown in fig. 1 and 7 are block diagrams of only some of the structures associated with the present application and are not intended to limit the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

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 used in embodiments provided herein 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), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. An autonomous power-free power supply system, comprising: the sensing control module and a plurality of power supply modules;

The sensing control module responds to charging tasks of a plurality of target devices returned by the server, performs path planning according to the charging tasks, and generates first path information for combining with the power supply module and second path information separated from the power supply module;

When the sensing control module moves according to the first path information and is in communication connection with the power supply module, the sensing control module is combined with the power supply module according to a preset combining mode;

When the perception control module moves to the position of the target equipment according to the second path information, the perception control module is separated from the power supply module according to a preset separation mode, so that the power supply module and the target equipment are subjected to interactive power supply.

2. The autonomous power-free system of claim 1, wherein the perception control module comprises: an integrated control sub-module;

The integrated control sub-module is used for responding to charging tasks of a plurality of target devices returned by the server, acquiring target device information of each target device and power supply device information of the power supply module matched with the target device information through analyzing the charging tasks, and performing path planning according to the power supply device information to generate first path information.

3. The autonomous power supply system of claim 2, wherein the power supply module comprises: an information processing sub-module;

After the information processing sub-module establishes communication connection with the integrated control sub-module by adopting a Thomas communication protocol, identifying the perception control equipment information of the perception control module for identification updating, and uploading the power supply equipment information to the integrated control sub-module so that the integrated control sub-module generates a combination instruction according to a preset combination mode.

4. The autonomous power-free system of claim 2, wherein the perception control module further comprises: sensing the mobile chassis and the connection module;

The sensing mobile chassis is used for receiving a first action control instruction generated by the integrated control sub-module according to the first path information, and pulling the sensing control module to move to the position of the power supply module according to the first action control instruction;

the connection module is used for receiving the combination instruction generated by the integrated control sub-module, combining the combination instruction with the connection platform of the power supply module according to the combination instruction, receiving the separation instruction generated by the integrated control sub-module, and separating the combination instruction from the connection platform of the power supply module according to the separation instruction.

5. The autonomous power supply system of claim 4, wherein the power supply module further comprises: the power supply mobile chassis, the locking mechanism and the output connector;

the power supply mobile chassis is used for receiving a second action control instruction generated by the integrated control sub-module according to second path information, and dragging the perception control module to move to the position of the target equipment according to the second action control instruction;

The locking mechanism is used for receiving a locking instruction generated by the information processing sub-module, locking the information processing sub-module with the connection module of the perception control module according to the locking instruction, receiving a separation instruction generated by the integrated control sub-module, and unlocking the information processing sub-module according to the separation instruction and the connection module of the perception control module;

the output connector is used for carrying out power supply communication connection between the power supply module and the target equipment.

6. The autonomous power supply system of any one of claims 2 to 5, wherein the sensing control module moves to a position of the power supply module according to the first path information, establishes communication connection with the power supply module by adopting a thomas communication protocol, and generates a combination instruction according to a preset combination mode so as to combine the power supply module with the sensing control module.

7. The autonomous power supply system according to any one of claims 2 to 5, wherein the integrated control sub-module is further configured to perform path planning according to the power supply device information, generate sub-path information corresponding to each charging task, enter a thomas communication protocol mode if each sub-path information is consistent, generate a combined instruction corresponding to each sub-path information, and plan a first path information and a combined instruction set according to the sub-path information and the combined instruction; otherwise, uploading the abnormal information to the server.

8. The autonomous power supply system of claim 5, wherein the integrated control submodule is further configured to, in a thomas communication protocol mode, control the perceived mobile chassis to move to a position of the power supply module in the first path information according to the first path information, establish communication connection with the information processing submodule, issue a combined instruction set to each of the information processing submodules, and control the connection module to connect to the connection platform according to a preset combined mode and the combined instruction set, so that movement control of the perceived control module is switched from the perceived mobile chassis to the power supply mobile chassis, and complete combined operation of the perceived control module and the power supply module.

9. The autonomous power-free system according to claim 5, wherein the integrated control submodule is further configured to control, in a thomas communication protocol mode, the power-supply mobile chassis of the integrated power supply module to move to a position of the power supply module corresponding to the next sub-path information according to the first path information, and then issue a combined instruction corresponding to the next power supply module to an output connector of the integrated power supply module, so that the output connector of the integrated power supply module is connected end to end with a connection platform of the next power supply module, and a queue module is obtained.

10. The autonomous power supply system of claim 9, wherein the power supply module of the queue module is configured to receive, by the current power supply module, a set of power supply device information to be uploaded for a next power supply module in the queue module and send the set of power supply device information to be uploaded for the current power supply module and the power supply device information to be uploaded for the current power supply module to a previous power supply module in the queue module in a thomas communication protocol mode, so that the sensing control module obtains the set of power supply device information for the power supply modules in the queue module, and generates an action control instruction set.

11. The autonomous power supply system according to claim 9, wherein the sensing control module of the queue module is configured to perform path planning by acquiring the sensing information of the sensing submodule, the position information of the target device, and the position information of the queue module through multimode calculation in a thomas communication protocol mode, generate second path information and an action control instruction set, and control the power supply mobile chassis of the queue module to move to the position of the target device corresponding to the charging task according to the second path information and the action control instruction set.

12. The autonomous power-free system according to claim 9, wherein when the sensing control module of the queue module controls the power-supply mobile chassis of the queue module to move to the position of the target device corresponding to the charging task according to the second path information, the sensing control module of the queue module enters a preset separation mode to generate a separation instruction, and controls the power-supply module directly connected with the sensing control module to separate from the queue module according to the separation instruction, so that the power-supply module directly connected with the sensing control module is in power-supply connection with the target device.

13. The autonomous power-free system of claim 12, wherein the target device comprises: the equipment to be charged;

After the power supply module directly connected with the perception control module is in power supply connection with the equipment to be charged, the power supply module uploads a power supply control switching instruction to the perception control module so that the perception control module generates a separation instruction, the connection module is controlled to be separated from the connection platform according to the separation instruction, and the separation operation of the perception control module and the power supply module is completed.

14. The autonomous power-free system of claim 12, wherein the power module uploads a power storage requirement to the server after the power module completes power supply to the device to be charged, so that the sensing control module responds to a power storage task issued by the server to generate third path information for integration with the power module.

15. The autonomous power-free system of claim 14, wherein the target device further comprises: an electricity storage device;

After the sensing control module is combined with the power supply module, when the sensing control module moves to the position of the power storage equipment according to the third path information, the sensing control module is separated from the power supply module according to a preset separation module, so that the power storage equipment supplies power to the power supply module for connection.

16. The autonomous power supply system of any of claims 8-15, wherein the docking module is configured to receive a docking control instruction generated by the integrated control sub-module when driven to the position of the power supply module by the perceived mobile chassis, and raise the docking platform to a position consistent with the height of the docking platform according to the docking control instruction, so that the docking platform is embedded in a docking space between the docking module and the perceived mobile chassis, and the integration of the docking module and the docking platform is completed.

17. An autonomous power-free method, applied to the autonomous power-free system of any of claims 1 to 16, the method comprising:

Path planning is carried out according to charging tasks of a plurality of target devices returned by a server, and first path information and second path information are respectively generated;

Establishing communication connection between a perception control module and a power supply module according to the first path information so as to enable the perception control module and the power supply module to be combined;

and moving the combined sensing control module and the power supply module to the position of the target according to the second path information to separate so as to enable the power supply module and the target equipment to supply power interactively.

18. The autonomous power-free method of claim 17, further comprising:

and analyzing the charging tasks of the plurality of devices to be charged returned by the server to obtain the power supply equipment information of the power supply module, wherein the target equipment information of each device to be charged is matched with the target equipment information, so that the perception control module performs path planning according to the power supply equipment information to generate first path information.

19. The autonomous power-free method of claim 17, further comprising:

after the sensing control module moves to the position of the power supply module according to the first path information, communication connection is established between the sensing control module and the power supply module by adopting a Thomas communication protocol, and a combination instruction is generated according to a preset combination mode so that the power supply module and the sensing control module are combined.

20. The autonomous power-free method of claim 18, wherein the perception control module performs path planning according to the power supply equipment information, generating first path information, comprising:

Carrying out path planning according to the power supply equipment information, generating sub-path information corresponding to each charging task, and if each sub-path information is consistent, enabling the perception control module to enter a Thomas communication protocol mode, generating a combined instruction corresponding to each sub-path information, and planning a first path information and a combined instruction set according to the sub-path information and the combined instruction; otherwise, uploading the abnormal information to the server.

21. The autonomous power-free method of claim 20, further comprising:

And in a Thomas communication protocol mode, after the power supply mobile chassis of the combined power supply module is controlled to move to the position of the power supply module corresponding to the next sub-path information according to the first path information, the output connector of the combined power supply module is connected with the connection platform of the next power supply module end to end according to the combination instruction corresponding to the next power supply module, so as to obtain a queue module.

22. The autonomous power-free method of claim 21, further comprising:

and under the Thomas communication protocol mode, the perception control module obtains perception information, the position information of the target equipment and the position information of the queue module through multi-mode calculation to conduct path planning, generates second path information and an action control instruction set, and controls the power supply mobile chassis of the queue module to move to the position of the target equipment corresponding to the charging task according to the second path information and the action control instruction set.

23. The autonomous power-free method of claim 21, further comprising:

when the perception control module of the queue module controls the power supply mobile chassis of the queue module to move to the position of the target equipment corresponding to the charging task according to the second path information, the perception control module of the queue module enters a preset separation mode to generate a separation instruction;

and controlling and separating the power supply module directly connected with the perception control module according to the separation instruction so as to enable the power supply module directly connected with the perception control module to be in power supply connection with the target equipment.

24. 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 method of any of claims 17 to 23.