CN116307312A - Positioning method and system for parking charging base station of shared electric automobile - Google Patents

Positioning method and system for parking charging base station of shared electric automobile Download PDF

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CN116307312A
CN116307312A CN202310039219.1A CN202310039219A CN116307312A CN 116307312 A CN116307312 A CN 116307312A CN 202310039219 A CN202310039219 A CN 202310039219A CN 116307312 A CN116307312 A CN 116307312A
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charging
route
base station
positioning
module
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陈华权
陈珑
凌端文
蔡雍
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Shenzhen Weiyu Zhitong Technology Co ltd
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    • 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
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    • 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
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Abstract

The invention discloses a positioning method and a positioning system for a parking charging base station of a shared electric automobile, and relates to the technical field of electric automobile charging. The method comprises the steps of uploading positioning information of each charging base station to a cloud platform, acquiring a charging request sent by an electric vehicle and real-time positioning of the electric vehicle when the charging request is sent, planning an optimal charging route and an alternative charging route, preferentially sending the optimal charging route to the cloud platform, and comparing timeliness of the optimal charging route according to a real-time working state and the real-time positioning of the electric vehicle. According to the invention, according to the positioning position of the charging base station and the working state of the charging pile in the charging base station, the shared electric automobile can reach the charging base station to complete charging under the premise of shortest time and shortest path by dynamically planning the charging path, so that the problem of difficult charging of the electric automobile and random charging position is solved, and the electric automobile is ensured not to be interrupted due to insufficient electric quantity in normal driving journey.

Description

Positioning method and system for parking charging base station of shared electric automobile
Technical Field
The invention relates to the technical field of electric vehicle charging, in particular to a method and a system for positioning a parking charging base station of a shared electric vehicle.
Background
As the shared bicycle spreads rapidly in large cities across the country, the concept of "shared economy" is spreading rapidly, and shared automobiles also have come into the field of view of people. Although the number of vehicles and network sites put on each platform is small, certain adverse effects are caused on the market. The appearance of sharing automobiles brings convenience and quickness to the life of people.
In order to respond to the national advocations of environmental protection and energy saving, also based on cost consideration, most of the shared automobiles in the prior market are new energy electric automobiles, the electric automobiles need to be charged through charging piles when in use, the charging piles are similar to oiling machines in gas stations in function, can be fixed on the ground or walls, are installed in public buildings (public buildings, malls, public parking lots and the like) and resident district parking lots or charging stations, and can charge electric automobiles of various types according to different voltage levels. The input end of the charging pile is directly connected with an alternating current power grid, and the output end of the charging pile is provided with a charging plug for charging the electric automobile.
The rapid development of electric vehicles rapidly needs the construction of matched charging facilities coordinated with the rapid development of electric vehicles, in order to reduce the investment cost of the charging facilities, the quantity and the position of charging stations are required to be planned, the charging requirements of regional electric vehicles are optimally met, the optimization problem is called the mobile charging positioning problem, the charging base stations are too small in number to meet the charging requirements, the charging queuing time is too long and the charging is difficult to be carried out in time, the cost is greatly increased due to the excessive number of the charging base stations, the environment protection and energy conservation are not facilitated, the existing charging base stations cannot be counted one by one, the position of the charging base stations can be searched only by one destination in the process of using the electric vehicles, and the problem that the electric vehicles cannot run due to too low electric quantity is easy to occur.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a positioning method and a positioning system for a parking charging base station of a shared electric automobile, which solve the problems that the positions of the existing charging base stations cannot be counted one by one, the positions of the charging base stations can be searched only by reaching a certain destination in the process of using the electric automobile, and the electric automobile cannot run due to the fact that the electric quantity is too low.
Technical proposal
In order to achieve the above purpose, the invention is realized by the following technical scheme: a positioning method of a parking charging base station of a shared electric automobile comprises the following steps:
s1: uploading positioning information of each charging base station to a cloud platform, wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
s2: acquiring a charging request sent by an electric automobile and real-time positioning of the electric automobile when the charging request is sent, and planning an optimal charging route and an alternative charging route;
s3: preferentially sending an optimal charging circuit to the cloud platform, simultaneously acquiring the real-time working state of each charging pile in the charging base station, and comparing the timeliness of the optimal charging circuit according to the real-time working state and the real-time positioning of the electric automobile;
s4: and if the timeliness of the original optimal charging circuit is reduced, sending the alternative charging circuit to the cloud platform.
Preferably, the operating states of each charging pile of S1) include a charging mode and an idle mode, and a remaining charging time in the charging mode.
Preferably, the optimal criterion of the optimal charging route in S2) is determined based on the shortest distance and the shortest time, the timeliness of the route is determined according to the real-time working state of each charging pile in the charging base station, and the charging base station with the most charging piles in the idle mode has the optimal timeliness.
Preferably, in S4), the working states of the charging piles in the destination charging base station of the original optimal charging route are compared with the working states of the charging piles in the destination charging base station of the alternative charging route, and if the number of the charging piles in the idle mode in the original optimal route charging base station is relatively reduced, the original alternative route is switched to be the optimal route.
The invention also provides a shared electric automobile parking charging base station positioning device, which comprises an information acquisition module, a route planning module, a dynamic adjustment module and a route selection module, wherein:
the information acquisition module is used for uploading positioning information of each charging base station to the cloud platform, wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the route planning module is used for acquiring a charging request sent by the electric automobile and the real-time positioning of the electric automobile when the charging request is sent, and planning an optimal charging route and an alternative charging route;
the dynamic adjustment module is used for preferentially sending the optimal charging circuit to the cloud platform, acquiring the real-time working state of each charging pile in the charging base station, and comparing the timeliness of the optimal charging circuit according to the real-time working state and the real-time positioning of the electric automobile;
and the route selection module is used for sending the alternative charging circuit to the cloud platform if the timeliness of the original optimal charging circuit is reduced.
The invention also provides a shared electric automobile parking charging base station positioning system, which comprises an automobile positioning unit, a cloud platform, a base station information management unit, a charging request connection unit and a route guiding unit, wherein:
the automobile positioning unit is used for acquiring real-time positioning and charging parameters of the shared electric automobile;
the cloud platform receives the data information and the charging request information of the automobile positioning unit and performs route planning according to the base station information;
the base station information management unit is used for carrying out positioning management on the charging base stations in the area range and comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the charging request connection unit is used for sending a charging request to the cloud platform;
and the route guiding unit is used for guiding the shared electric automobile to search the target charging base station according to the route planned by the cloud platform.
Preferably, the automobile positioning unit comprises a GPS positioning module, a charging parameter recording module and a residual electric quantity counting module, wherein:
the GPS positioning module is used for acquiring the position of the electric automobile in real time through satellite positioning and transmitting information to the cloud platform;
the charging parameter recording module is used for recording the charging parameters of the vehicle type into the RFID chips by installing the RFID chips in the shared electric vehicle, and the charging pile reads the RFID chips in the corresponding vehicle through the RFID identification module during charging so as to acquire the charging parameters;
and the residual electric quantity counting module is used for counting the residual electric quantity of the shared electric automobile and planning a route according to the mileage of the residual electric quantity.
Preferably, the base station information management unit includes a charging base station positioning module and a charging pile working state recording module, wherein:
the charging base station positioning module is used for counting the number and the positions of the charging base stations in the area and defining a charging base station positioning map according to the area division;
and the charging pile working state recording module is used for detecting the charging pile working states in the charging base stations in real time and acquiring the number of the idle mode charging piles and the remaining working time of the charging piles in the working states.
Preferably, the charging request connection unit includes a charging reminding module and a request sending module, wherein:
the charging reminding module is used for sending out charging reminding to the driver according to the detection data of the residual electric quantity counting module;
and the request sending module sends a charging request to the cloud platform after the driver receives the charging reminding information.
Preferably, the route guiding unit includes an optimal route receiving module, a route navigation module, and a route updating module, wherein:
the optimal route receiving module is used for receiving the optimal route planned by the cloud platform;
the route navigation module is used for navigating according to the optimal route received by the optimal route receiving module and guiding a driver to travel to the target charging base station according to the route
And the route updating module is used for carrying out route replacement according to the optimal route updated by the cloud platform in real time.
Advantageous effects
The invention has the following beneficial effects: according to the positioning method and the positioning system for the parking charging base station of the shared electric automobile, according to the positioning position of the charging base station and the working state of the charging pile in the charging base station, the charging path is dynamically planned, so that the shared electric automobile can reach the charging base station to complete charging under the premise of shortest time and shortest path, the problems of difficult charging and random charging position of the electric automobile are solved, and the electric automobile is prevented from being broken due to insufficient electric quantity in normal driving journey.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flow chart of the system of the present invention.
In the figure, 1, an automobile positioning unit; 11. a GPS positioning module; 12. a charging parameter recording module; 13. a residual electric quantity statistics module; 2. a cloud platform; 3. a base station information management unit; 31. a charging base station positioning module; 32. the charging pile working state recording module; 4. a charging request connection unit; 41. a charging reminding module; 42. a request sending module; 5. a route guiding unit; 51. an optimal route receiving module; 52. a route navigation module; 53. and a route updating module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-2, an embodiment of the present invention provides a technical solution: a positioning method of a parking charging base station of a shared electric automobile comprises the following steps:
s1: uploading positioning information of each charging base station to the cloud platform 2, wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile, and the working state of each charging pile comprises a charging mode, an idle mode and the residual charging time in the charging mode;
s2: acquiring a charging request sent by an electric automobile and real-time positioning of the electric automobile when the charging request is sent, planning an optimal charging route and an alternative charging route, wherein an optimal criterion of the optimal charging route is judged based on the shortest distance and the shortest time, the timeliness of the route is judged according to the real-time working state of each charging pile in a charging base station, and the charging base station with the largest number of charging piles in an idle mode has optimal timeliness;
s3: the optimal charging circuit is preferentially sent to the cloud platform 2, the real-time working state of each charging pile in the charging base station is obtained, and the timeliness of the optimal charging circuit is compared according to the real-time working state and the real-time positioning of the electric automobile;
s4: and comparing the working states of the charging piles in the destination charging base station of the original optimal charging route with the working states of the charging piles in the destination charging base station of the alternative charging route, and if the number of the charging piles in the idle mode in the charging base station of the original optimal route is relatively reduced, switching the original alternative route to the optimal route at the moment, and sending the alternative charging route to the cloud platform 2.
The invention also provides a shared electric automobile parking charging base station positioning device, which comprises an information acquisition module, a route planning module, a dynamic adjustment module and a route selection module, wherein:
the information acquisition module is used for uploading positioning information of each charging base station to the cloud platform 2, wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the route planning module is used for acquiring a charging request sent by the electric automobile and the real-time positioning of the electric automobile when the charging request is sent, and planning an optimal charging route and an alternative charging route;
the dynamic adjustment module is used for preferentially sending the optimal charging circuit to the cloud platform 2, acquiring the real-time working state of each charging pile in the charging base station, and comparing the timeliness of the optimal charging circuit according to the real-time working state and the real-time positioning of the electric automobile;
and the route selection module is used for sending the alternative charging route to the cloud platform 2 if the timeliness of the original optimal charging route is reduced.
The invention also provides a shared electric automobile parking charging base station positioning system, which comprises an automobile positioning unit 1, a cloud platform 2, a base station information management unit 3, a charging request connection unit 4 and a route guiding unit 5, wherein:
the automobile positioning unit 1 is used for acquiring real-time positioning and charging parameters of the shared electric automobile;
the cloud platform 2 receives the data information and the charging request information of the automobile positioning unit 1 and performs route planning according to the base station information;
the base station information management unit 3 is used for carrying out positioning management on the charging base stations in the area range, and comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the charging request connection unit 4 sends a charging request to the cloud platform 2;
and the route guiding unit 5 is used for guiding the shared electric automobile to search for the target charging base station according to the route planned by the cloud platform 2.
Further, the automobile positioning unit 1 includes a GPS positioning module 11, a charging parameter recording module 12, and a remaining power statistics module 13, wherein:
the GPS positioning module 11 is used for acquiring the position of the electric automobile in real time through satellite positioning and transmitting information to the cloud platform 2;
the charging parameter recording module 12 is used for recording the charging parameters of the vehicle type into the RFID chips by installing the RFID chips in the shared electric vehicle, and the charging pile reads the RFID chips in the corresponding vehicle through the RFID identification module during charging so as to acquire the charging parameters;
the remaining power statistics module 13 is used for counting the remaining power of the shared electric automobile and planning a route according to mileage of the remaining power.
Further, the base station information management unit 3 includes a charging base station positioning module 31 and a charging pile operation state recording module 32, wherein:
the charging base station positioning module 31 counts the number and the positions of the charging base stations in the area and defines a charging base station positioning map according to the area division;
the charging pile operating state recording module 32 detects the charging pile operating states in each charging base station in real time, and obtains the number of the idle mode charging piles and the remaining operating time of the charging piles in the operating state.
Further, the charging request connection unit 4 includes a charging alert module 41 and a request transmission module 42, wherein:
the charging reminding module 41 is configured to send a charging reminder to the driver according to the detection data of the remaining power statistics module 13;
the request sending module 42 sends a charging request to the cloud platform 2 after receiving the charging reminding information.
Further, the route guiding unit 5 includes an optimal route receiving module 51, a route navigation module 52, and a route updating module 53, wherein:
an optimal route receiving module 51, configured to receive an optimal route planned by the cloud platform 2;
the route navigation module 52 performs navigation according to the optimal route received by the optimal route receiving module 51, and guides the driver to travel to the target charging base station according to the route
The route updating module 53 performs route replacement according to the optimal route updated in real time by the cloud platform 2.
When in use (working): uploading positioning information of each charging base station to the cloud platform 2, wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile, and the working state of each charging pile comprises a charging mode, an idle mode and the residual charging time in the charging mode;
acquiring a charging request sent by an electric automobile and real-time positioning of the electric automobile when the charging request is sent, planning an optimal charging route and an alternative charging route, wherein an optimal criterion of the optimal charging route is judged based on the shortest route and the shortest time, timeliness of the route is judged according to real-time working states of charging piles in a charging base station, the charging base station with the largest number of charging piles in an idle mode has optimal timeliness, the optimal charging route is preferentially sent to a cloud platform 2, meanwhile, the real-time working states of all the charging piles in the charging base station are acquired, and timeliness of the optimal charging route is compared according to the real-time working states and the real-time positioning of the electric automobile;
and comparing the working states of the charging piles in the destination charging base station of the original optimal charging route with the working states of the charging piles in the destination charging base station of the alternative charging route, and if the number of the charging piles in the idle mode in the charging base station of the original optimal route is relatively reduced, switching the original alternative route to the optimal route at the moment, and sending the alternative charging route to the cloud platform 2.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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, method, article, or apparatus.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (10)

1. The positioning method of the parking charging base station of the shared electric automobile is characterized by comprising the following steps of:
s1: uploading positioning information of each charging base station to a cloud platform (2), wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
s2: acquiring a charging request sent by an electric automobile and real-time positioning of the electric automobile when the charging request is sent, and planning an optimal charging route and an alternative charging route;
s3: preferentially sending an optimal charging circuit to the cloud platform (2), simultaneously acquiring the real-time working state of each charging pile in the charging base station, and comparing the timeliness of the optimal charging circuit according to the real-time working state and the real-time positioning of the electric automobile;
s4: and if the timeliness of the original optimal charging circuit is reduced, sending the alternative charging circuit to the cloud platform (2).
2. The method for positioning a parking charging base station of a shared electric automobile according to claim 1, wherein the method comprises the following steps: the working states of the charging piles of the S1) comprise a charging mode and an idle mode, and the remaining charging time in the charging mode.
3. The method for positioning a parking charging base station of a shared electric automobile according to claim 1, wherein the method comprises the following steps: the optimal criterion of the optimal charging route in the S2) is judged based on the shortest distance and the shortest time, the timeliness of the route is judged according to the real-time working state of each charging pile in the charging base station, and the charging base station with the largest number of charging piles in the idle mode has the optimal timeliness.
4. The method for positioning a parking charging base station of a shared electric automobile according to claim 1, wherein the method comprises the following steps: and S4) comparing the working states of the charging piles in the destination charging base station of the original optimal charging route with the working states of the charging piles in the destination charging base station of the alternative charging route, and switching the original alternative route to be the optimal route if the number of the charging piles in the idle mode in the charging base station of the original optimal route is relatively reduced.
5. The utility model provides a sharing electric automobile parks charging base station positioner which characterized in that: the system comprises an information acquisition module, a route planning module, a dynamic adjustment module and a route selection module, wherein:
the information acquisition module is used for uploading positioning information of each charging base station to the cloud platform (2), wherein the positioning information comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the route planning module is used for acquiring a charging request sent by the electric automobile and the real-time positioning of the electric automobile when the charging request is sent, and planning an optimal charging route and an alternative charging route;
the dynamic adjustment module is used for preferentially sending the optimal charging circuit to the cloud platform (2), acquiring the real-time working state of each charging pile in the charging base station, and comparing the timeliness of the optimal charging circuit according to the real-time working state and the real-time positioning of the electric automobile;
and the route selection module is used for sending the alternative charging circuit to the cloud platform (2) if the timeliness of the original optimal charging circuit is reduced.
6. The utility model provides a sharing electric automobile parks charging base station positioning system which characterized in that: the vehicle-mounted intelligent charging system comprises an automobile positioning unit (1), a cloud platform (2), a base station information management unit (3), a charging request connection unit (4) and a route guiding unit (5), wherein:
the automobile positioning unit (1) is used for acquiring real-time positioning and charging parameters of the shared electric automobile;
the cloud platform (2) receives the data information and the charging request information of the automobile positioning unit (1) and performs route planning according to the base station information;
the base station information management unit (3) is used for carrying out positioning management on the charging base stations in the area range and comprises the positions of the charging base stations, the number of charging piles in the charging base stations and the real-time working state of each charging pile;
the charging request connection unit (4) is used for sending a charging request to the cloud platform (2);
and the route guiding unit (5) is used for guiding the shared electric automobile to search for a target charging base station according to the route planned by the cloud platform (2).
7. The shared electric vehicle parking charging base station positioning system of claim 6, wherein: the automobile positioning unit (1) comprises a GPS positioning module (11), a charging parameter recording module (12) and a residual electric quantity counting module (13), wherein:
the GPS positioning module (11) is used for acquiring the position of the electric automobile in real time through satellite positioning and transmitting information to the cloud platform (2);
the charging parameter recording module (12) is used for recording the charging parameters of the vehicle type into the RFID chips by installing the RFID chips in the shared electric vehicle, and the charging pile reads the RFID chips in the corresponding vehicle through the RFID identification module during charging so as to acquire the charging parameters;
and the residual electric quantity counting module (13) counts the residual electric quantity of the shared electric automobile and plans a route according to mileage of the residual electric quantity.
8. The shared electric vehicle parking charging base station positioning system of claim 6, wherein: the base station information management unit (3) comprises a charging base station positioning module (31) and a charging pile working state recording module (32), wherein:
the charging base station positioning module (31) is used for counting the number and the positions of the charging base stations in the area and defining a charging base station positioning map according to the area division;
and the charging pile working state recording module (32) is used for detecting the charging pile working states in the charging base stations in real time and acquiring the number of the idle mode charging piles and the residual working time of the charging piles in the working states.
9. The shared electric vehicle parking charging base station positioning system of claim 6, wherein: the charging request connection unit (4) comprises a charging reminding module (41) and a request sending module (42), wherein:
the charging reminding module (41) is used for sending out charging reminding to the driver according to the detection data of the residual electric quantity counting module (13);
and the request sending module (42) sends a charging request to the cloud platform (2) after receiving the charging reminding information.
10. The shared electric vehicle parking charging base station positioning system of claim 6, wherein: the route guiding unit (5) comprises an optimal route receiving module (51), a route navigation module (52) and a route updating module (53), wherein:
the optimal route receiving module (51) is used for receiving the optimal route planned by the cloud platform (2);
a route navigation module (52) for navigating according to the optimal route received by the optimal route receiving module (51) and guiding the driver to travel to the target charging base station according to the route
And the route updating module (53) is used for replacing the route according to the optimal route updated by the cloud platform (2) in real time.
CN202310039219.1A 2023-01-12 2023-01-12 Positioning method and system for parking charging base station of shared electric automobile Pending CN116307312A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116957307A (en) * 2023-09-21 2023-10-27 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot scheduling method, device, equipment and medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116957307A (en) * 2023-09-21 2023-10-27 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot scheduling method, device, equipment and medium
CN116957307B (en) * 2023-09-21 2023-11-24 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot scheduling method, device, equipment and medium

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